Datasets:

harryzhang1018
/

TestRandomization

# 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.py` and `posthoc_confirm.py` only format or summarize the outputs of `analyze_confirm.py`; they run no simulation.

	# 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.py` and `posthoc_confirm.py` only format or summarize the outputs of `analyze_confirm.py`; they run no simulation.