Case 2 held-out evaluation on goal set B (Sim2Sim)
Generated by report_confirm.py from results/confirm_analysis.json (output of analyze_confirm.py).
Goal set B: 75 ID (10-20 m) + 75 OOD (20-40 m) goals, never used before the TR design was fixed.
Primary pool: 12 held-out PPO policies (seeds 2001-2004). Secondary pool: the 12 + released checkpoints 1-4.
Condition 'paper_tr' is the noise-only TR (action and powertrain noise).
Bootstrap: 5000 goal resamples, stratified by range, paired across methods. Ranges are 95 % percentile ranges.
Primary test: delta tau = +0.515 (95 % range +0.33 to +0.73); met = True.
Agreement with Chrono, primary pool (12 policies)
| Condition | tau, all goals (95 % range) | Delta tau vs nominal (95 % range) | tau ID | tau OOD | Spearman | AUC for Chrono success < 0.5 (95 % range) | Resolved pairs | tau with primary TR order |
|---|---|---|---|---|---|---|---|---|
| nominal | 0.21 (0.03 to 0.36) | +0.00 (+0.00 to +0.00) | 0.11 | 0.15 | 0.29 | nan (n/a) | 54/66 | 0.12 |
| tr_rate (primary) | 0.73 (0.61 to 0.82) | +0.52 (+0.33 to +0.73) | 0.24 | 0.64 | 0.83 | nan (n/a) | 60/66 | 1.00 |
| paper_tr | 0.15 (0.00 to 0.27) | -0.06 (-0.18 to +0.03) | 0.27 | 0.09 | 0.27 | nan (n/a) | 60/66 | 0.06 |
| tr_rate_half | 0.67 (0.58 to 0.79) | +0.45 (+0.27 to +0.70) | 0.21 | 0.73 | 0.78 | nan (n/a) | 59/66 | 0.88 |
| tr_rate_double | 0.76 (0.61 to 0.85) | +0.55 (+0.33 to +0.73) | 0.24 | 0.48 | 0.89 | nan (n/a) | 59/66 | 0.91 |
| tr_rate_uniform | 0.76 (0.61 to 0.85) | +0.55 (+0.36 to +0.73) | 0.27 | 0.58 | 0.89 | nan (n/a) | 62/66 | 0.91 |
| tr_delay | 0.70 (0.58 to 0.79) | +0.48 (+0.30 to +0.70) | 0.24 | 0.82 | 0.83 | nan (n/a) | 63/66 | 0.91 |
| det_rate_0.1 | 0.67 (0.55 to 0.79) | +0.45 (+0.24 to +0.70) | 0.15 | 0.76 | 0.78 | nan (n/a) | 55/66 | 0.88 |
| det_calibrated | 0.82 (0.64 to 0.91) | +0.61 (+0.42 to +0.70) | 0.58 | 0.55 | 0.92 | nan (n/a) | 56/66 | 0.67 |
Chrono resolved pairs: 48/66. Chrono success < 0.5: none.
Pairs ordered as Chrono orders them: primary TR 57/66, nominal ROM 40/66. On the 29 pairs where the two disagree, Chrono supports the TR on 23 and nominal ROM on 6.
Per policy, primary pool (mean rank: 1 = best of 12)
| Policy | Training config | Seed | Mean step change of steering (nominal ROM) | Chrono success ID | Chrono success OOD | Chrono mean rank | Nominal ROM success ID / OOD | Nominal ROM mean rank | TR success ID / OOD | TR mean rank |
|---|---|---|---|---|---|---|---|---|---|---|
| robust_s2003 | robust | 2003 | 0.026 | 0.64 | 0.97 | 4.27 | 1.00 / 1.00 | 7.78 | 0.98 / 1.00 | 4.27 |
| robust_s2004 | robust | 2004 | 0.031 | 0.63 | 0.96 | 5.22 | 1.00 / 1.00 | 5.94 | 1.00 / 1.00 | 3.34 |
| release_s2001 | release | 2001 | 0.250 | 0.65 | 0.96 | 5.82 | 1.00 / 1.00 | 5.72 | 0.87 / 0.85 | 5.92 |
| nonoise_s2002 | nonoise | 2002 | 0.458 | 0.64 | 0.95 | 6.24 | 1.00 / 1.00 | 5.97 | 0.83 / 0.80 | 6.72 |
| release_s2003 | release | 2003 | 0.067 | 0.63 | 0.91 | 6.34 | 1.00 / 1.00 | 5.18 | 0.80 / 0.80 | 6.22 |
| release_s2002 | release | 2002 | 0.446 | 0.63 | 0.87 | 6.58 | 1.00 / 1.00 | 5.85 | 0.80 / 0.77 | 7.09 |
| nonoise_s2001 | nonoise | 2001 | 0.285 | 0.63 | 0.83 | 6.64 | 1.00 / 1.00 | 5.55 | 0.79 / 0.77 | 7.05 |
| robust_s2001 | robust | 2001 | 0.307 | 0.64 | 0.80 | 6.87 | 1.00 / 1.00 | 5.64 | 0.80 / 0.78 | 7.16 |
| nonoise_s2003 | nonoise | 2003 | 0.040 | 0.60 | 0.93 | 6.95 | 1.00 / 1.00 | 7.32 | 0.95 / 0.97 | 5.21 |
| nonoise_s2004 | nonoise | 2004 | 0.273 | 0.65 | 0.85 | 7.01 | 1.00 / 1.00 | 6.79 | 0.80 / 0.80 | 7.22 |
| robust_s2002 | robust | 2002 | 0.881 | 0.64 | 0.80 | 7.72 | 1.00 / 1.00 | 6.85 | 0.79 / 0.74 | 8.39 |
| release_s2004 | release | 2004 | 0.925 | 0.60 | 0.67 | 8.33 | 1.00 / 1.00 | 9.40 | 0.78 / 0.73 | 9.42 |
Order by mean rank:
- Chrono: robust_s2003 > robust_s2004 > release_s2001 > nonoise_s2002 > release_s2003 > release_s2002 > nonoise_s2001 > robust_s2001 > nonoise_s2003 > nonoise_s2004 > robust_s2002 > release_s2004
- Nominal ROM: release_s2003 > nonoise_s2001 > robust_s2001 > release_s2001 > release_s2002 > robust_s2004 > nonoise_s2002 > nonoise_s2004 > robust_s2002 > nonoise_s2003 > robust_s2003 > release_s2004
- Primary TR: robust_s2004 > robust_s2003 > nonoise_s2003 > release_s2001 > release_s2003 > nonoise_s2002 > nonoise_s2001 > release_s2002 > robust_s2001 > nonoise_s2004 > robust_s2002 > release_s2004
Gap magnitude: Chrono time / nominal ROM time on goals both reach = 1.29 to 1.54 (median 1.41) across policies.
Agreement with Chrono, secondary pool (16 policies)
| Condition | tau, all goals (95 % range) | Delta tau vs nominal (95 % range) | tau ID | tau OOD | Spearman | AUC for Chrono success < 0.5 (95 % range) | Resolved pairs | tau with primary TR order |
|---|---|---|---|---|---|---|---|---|
| nominal | 0.55 (0.45 to 0.63) | +0.00 (+0.00 to +0.00) | 0.49 | 0.53 | 0.68 | nan (n/a) | 108/120 | 0.35 |
| tr_rate (primary) | 0.70 (0.52 to 0.75) | +0.15 (-0.03 to +0.25) | 0.47 | 0.42 | 0.88 | nan (n/a) | 101/120 | 1.00 |
| paper_tr | 0.50 (0.42 to 0.57) | -0.05 (-0.10 to +0.02) | 0.58 | 0.48 | 0.66 | nan (n/a) | 114/120 | 0.30 |
| tr_rate_half | 0.13 (0.10 to 0.23) | -0.42 (-0.50 to -0.25) | -0.05 | 0.10 | 0.14 | nan (n/a) | 109/120 | 0.43 |
| tr_rate_double | 0.87 (0.78 to 0.92) | +0.32 (+0.22 to +0.42) | 0.58 | 0.67 | 0.96 | nan (n/a) | 113/120 | 0.80 |
| tr_rate_uniform | 0.82 (0.75 to 0.88) | +0.27 (+0.17 to +0.38) | 0.58 | 0.65 | 0.93 | nan (n/a) | 115/120 | 0.85 |
| tr_delay | 0.52 (0.40 to 0.65) | -0.03 (-0.18 to +0.15) | 0.57 | 0.22 | 0.69 | nan (n/a) | 97/120 | 0.75 |
| det_rate_0.1 | 0.15 (0.08 to 0.22) | -0.40 (-0.52 to -0.25) | -0.08 | 0.10 | 0.14 | nan (n/a) | 103/120 | 0.42 |
| det_calibrated | 0.87 (0.77 to 0.92) | +0.32 (+0.23 to +0.38) | 0.78 | 0.70 | 0.95 | nan (n/a) | 110/120 | 0.63 |
Chrono resolved pairs: 102/120. Chrono success < 0.5: none.
Pairs ordered as Chrono orders them: primary TR 102/120, nominal ROM 93/120. On the 39 pairs where the two disagree, Chrono supports the TR on 24 and nominal ROM on 15.
Per policy, secondary pool (mean rank: 1 = best of 16)
| Policy | Training config | Seed | Mean step change of steering (nominal ROM) | Chrono success ID | Chrono success OOD | Chrono mean rank | Nominal ROM success ID / OOD | Nominal ROM mean rank | TR success ID / OOD | TR mean rank |
|---|---|---|---|---|---|---|---|---|---|---|
| robust_s2003 | robust | 2003 | 0.026 | 0.64 | 0.97 | 4.98 | 1.00 / 1.00 | 7.78 | 0.98 / 1.00 | 5.11 |
| robust_s2004 | robust | 2004 | 0.031 | 0.63 | 0.96 | 5.99 | 1.00 / 1.00 | 5.94 | 1.00 / 1.00 | 4.00 |
| release_s2001 | release | 2001 | 0.250 | 0.65 | 0.96 | 6.56 | 1.00 / 1.00 | 5.75 | 0.87 / 0.85 | 7.55 |
| nonoise_s2002 | nonoise | 2002 | 0.458 | 0.64 | 0.95 | 7.05 | 1.00 / 1.00 | 5.97 | 0.83 / 0.80 | 8.52 |
| release_s2003 | release | 2003 | 0.067 | 0.63 | 0.91 | 7.28 | 1.00 / 1.00 | 5.18 | 0.80 / 0.80 | 7.85 |
| release_s2002 | release | 2002 | 0.446 | 0.63 | 0.87 | 7.59 | 1.00 / 1.00 | 5.85 | 0.80 / 0.77 | 8.93 |
| nonoise_s2001 | nonoise | 2001 | 0.285 | 0.63 | 0.83 | 7.70 | 1.00 / 1.00 | 5.55 | 0.79 / 0.77 | 8.81 |
| nonoise_s2003 | nonoise | 2003 | 0.040 | 0.60 | 0.93 | 7.81 | 1.00 / 1.00 | 7.47 | 0.95 / 0.97 | 6.43 |
| robust_s2001 | robust | 2001 | 0.307 | 0.64 | 0.80 | 8.04 | 1.00 / 1.00 | 5.64 | 0.80 / 0.78 | 8.97 |
| nonoise_s2004 | nonoise | 2004 | 0.273 | 0.65 | 0.85 | 8.15 | 1.00 / 1.00 | 6.79 | 0.80 / 0.80 | 9.02 |
| robust_s2002 | robust | 2002 | 0.881 | 0.64 | 0.80 | 8.91 | 1.00 / 1.00 | 6.85 | 0.79 / 0.74 | 10.47 |
| release_s2004 | release | 2004 | 0.925 | 0.60 | 0.67 | 9.81 | 1.00 / 1.00 | 9.52 | 0.78 / 0.73 | 11.63 |
| rel4 | released (one PPO run) | - | 0.025 | 0.95 | 0.99 | 10.30 | 1.00 / 1.00 | 13.70 | 1.00 / 0.99 | 9.76 |
| rel3 | released (one PPO run) | - | 0.021 | 0.97 | 0.97 | 10.69 | 1.00 / 1.00 | 13.87 | 1.00 / 1.00 | 9.20 |
| rel2 | released (one PPO run) | - | 0.018 | 0.87 | 0.99 | 11.65 | 1.00 / 1.00 | 14.50 | 1.00 / 1.00 | 9.18 |
| rel1 | released (one PPO run) | - | 0.010 | 0.49 | 0.69 | 13.50 | 0.89 / 1.00 | 15.61 | 0.87 / 1.00 | 10.58 |
Order by mean rank:
- Chrono: robust_s2003 > robust_s2004 > release_s2001 > nonoise_s2002 > release_s2003 > release_s2002 > nonoise_s2001 > nonoise_s2003 > robust_s2001 > nonoise_s2004 > robust_s2002 > release_s2004 > rel4 > rel3 > rel2 > rel1
- Nominal ROM: release_s2003 > nonoise_s2001 > robust_s2001 > release_s2001 > release_s2002 > robust_s2004 > nonoise_s2002 > nonoise_s2004 > robust_s2002 > nonoise_s2003 > robust_s2003 > release_s2004 > rel4 > rel3 > rel2 > rel1
- Primary TR: robust_s2004 > robust_s2003 > nonoise_s2003 > release_s2001 > release_s2003 > nonoise_s2002 > nonoise_s2001 > release_s2002 > robust_s2001 > nonoise_s2004 > rel2 > rel3 > rel4 > robust_s2002 > rel1 > release_s2004
Gap magnitude: Chrono time / nominal ROM time on goals both reach = 1.29 to 3.47 (median 1.45) across policies.
Conditions and perturbation magnitudes
Units: action noise sd in normalized units (throttle range 0.2-0.5, steering range -1 to 1), per 0.1 s step; tau0 in N m; omega0 in rad/s; steer_rate = largest change of normalized steering per 0.1 s step (Chrono loop: 0.1); delay and hold in 0.1 s steps; wheelbase in m.
| Condition | Role | Perturbation (one draw per trial; noise each step) | Trials per goal |
|---|---|---|---|
| nominal | baseline | none (training ROM) | 1 |
| tr_rate | primary TR | tau0 ~ N(1000, 50); omega0 ~ N(2600, 100); sig_thr = 0.05; sig_steer = 0.05; steer_rate ~ LogU(0.05, 0.5) | 20 |
| paper_tr | secondary (noise-only TR) | tau0 ~ N(1000, 50); omega0 ~ N(2600, 100); sig_thr = 0.05; sig_steer = 0.05 | 20 |
| tr_rate_half | secondary | tau0 ~ N(1000, 50); omega0 ~ N(2600, 100); sig_thr = 0.05; sig_steer = 0.05; steer_rate ~ LogU(0.025, 0.25) | 20 |
| tr_rate_double | secondary | tau0 ~ N(1000, 50); omega0 ~ N(2600, 100); sig_thr = 0.05; sig_steer = 0.05; steer_rate ~ LogU(0.1, 1) | 20 |
| tr_rate_uniform | secondary | tau0 ~ N(1000, 50); omega0 ~ N(2600, 100); sig_thr = 0.05; sig_steer = 0.05; steer_rate ~ U(0.05, 0.5) | 20 |
| tr_delay | secondary | tau0 ~ N(1000, 50); omega0 ~ N(2600, 100); sig_thr = 0.05; sig_steer = 0.05; delay in {0, 1, 2, 3} | 20 |
| det_rate_0.1 | secondary | steer_rate = 0.1 | 1 |
| det_calibrated | secondary | wheelbase = 3.378; steer_rate = 0.1; hold = 10 | 1 |
Post hoc summaries (not part of the fixed primary test, no new simulation; posthoc_confirm.py)
primary pool
| Condition | tau(primary TR) - tau(condition) (95 % range) | Chrono-resolved pairs: same direction | opposite direction | unresolved |
|---|---|---|---|---|
| nominal | +0.52 (+0.33 to +0.73) | 26/48 | 14 | 8 |
| tr_rate | - | 45/48 | 3 | 0 |
| paper_tr | +0.58 (+0.42 to +0.79) | 26/48 | 18 | 4 |
| tr_rate_half | +0.06 (-0.06 to +0.12) | 45/48 | 3 | 0 |
| tr_rate_double | -0.03 (-0.12 to +0.09) | 44/48 | 2 | 2 |
| tr_rate_uniform | -0.03 (-0.09 to +0.06) | 44/48 | 3 | 1 |
| tr_delay | +0.03 (-0.06 to +0.12) | 45/48 | 3 | 0 |
| det_rate_0.1 | +0.06 (-0.09 to +0.15) | 43/48 | 3 | 2 |
| det_calibrated | -0.09 (-0.21 to +0.15) | 43/48 | 0 | 5 |
Steering chatter (mean step change in nominal ROM) versus Chrono success, Spearman across policies: ID -0.03 (p = 0.928), OOD -0.76 (p = 0.004), all -0.73 (p = 0.008).
secondary pool
| Condition | tau(primary TR) - tau(condition) (95 % range) | Chrono-resolved pairs: same direction | opposite direction | unresolved |
|---|---|---|---|---|
| nominal | +0.15 (-0.03 to +0.25) | 80/102 | 14 | 8 |
| tr_rate | - | 79/102 | 10 | 13 |
| paper_tr | +0.20 (+0.02 to +0.28) | 80/102 | 18 | 4 |
| tr_rate_half | +0.57 (+0.37 to +0.58) | 55/102 | 43 | 4 |
| tr_rate_double | -0.17 (-0.33 to -0.12) | 98/102 | 2 | 2 |
| tr_rate_uniform | -0.12 (-0.28 to -0.08) | 97/102 | 3 | 2 |
| tr_delay | +0.18 (-0.05 to +0.28) | 75/102 | 7 | 20 |
| det_rate_0.1 | +0.55 (+0.37 to +0.60) | 51/102 | 43 | 8 |
| det_calibrated | -0.17 (-0.33 to -0.07) | 97/102 | 0 | 5 |
Steering chatter (mean step change in nominal ROM) versus Chrono success, Spearman across policies: ID -0.23 (p = 0.385), OOD -0.58 (p = 0.018), all -0.52 (p = 0.038).
Notes
- Hidden-failure screening (Chrono success < 0.5) is not evaluable on set B: no policy had Chrono success below 0.5 (lowest: rel1 at 0.59, release_s2004 at 0.63).
report_confirm.pyandposthoc_confirm.pyonly format or summarize the outputs ofanalyze_confirm.py; they run no simulation.