Publish Roller state-feedback reliability update

Unchanged prepared ONNX SHA256 58122a7287b3330d167f5659a5a8fc9f65c7456f7851e5e5d0a9673ecc505d92. Current runner v5 Mac: candidate 3.105 s, parent 3.103 s; reused 20-start panel 20/20 versus 18/20. No current speed improvement or new server score claimed. Roller repository only.

README.md

@@ -8,65 +8,73 @@ library_name: microduck
 pipeline_tag: robotics
 ---
 
-# dfreq-rollers
+# dfreq-rollers — feedback update
 
-**Published on Hugging Face.** Repository: `djduecaster/dfreq-rollers`; proposed Arena entry: `dfreq-rollers`. Not submitted to Arena.
+**Historical October 25 local test (runner v4).** This candidate improved the submitted `dfreq-rollers` in the unchanged local Arena runner: **3.088 seconds, 5/5 finishes**, versus **3.112 seconds** (0.024 seconds, about 0.77%, faster). The complete official command sweep selected the same external 1.1 command, and the five selected runs repeated exactly. This is a local measurement, not a new server-verified leaderboard result.
 
-A small, event-specific command calibration of Pollen Robotics’ Roller Sprint reference feedback policy. The local full official sweep scored **3.112 seconds, 5/5 finishes**, versus **3.136 seconds** for the unchanged reference: **0.024 seconds (about 0.77%) faster**. The selected five-start result was repeated exactly. This is not a server-verified score or leaderboard-record claim.
+## What changed
 
-## Credit and actual contribution
+A small memoryless **physical-state feedback adapter** now adjusts the requested push using current body attitude. It sits before the previously submitted static command calibration and the unchanged Pollen neural network. The candidate uses no clock, time counter, seed identity/fingerprint, runtime metadata, or prerecorded action table. The network still receives the true previous action.
 
-The base is [Pollen’s Roller Sprint reference](https://huggingface.co/pollen-robotics/microduck-roller-sprint-2m-reference/tree/c72fb92594e8b415487e87dfeed509141afc5e25), revision `c72fb92594e8b415487e87dfeed509141afc5e25`.
-
-- Base SHA-256: `01edf63a529a8396d46dac62bb427fda1ce67685611e72ddf790bf46f610c82a`.
-- Candidate `policy.onnx`: **794,263 bytes**, SHA-256 `2092a1d8e5b30f2778f227ddf6f26f8eda6487236279f8663bdff71e12805590`.
-- **All original neural weights and normalizer bytes are unchanged. No new training or fine-tuning occurred.** The manifest’s `training` field describes Pollen’s upstream training, not work performed for this calibration.
-
-Exactly one predeclared offset was tested. Before the original normalizer, only raw forward-command observation component 48 (zero-based) is mapped:
+For raw observation `x`, the selected gain is `a = −0.04`, `b = 0`:
 
 ```text
-inside = (vx_external >= float32(0.3)) AND (vx_external <= float32(2.0))
-vx_internal = Where(inside,
-    Clip(float32(vx_external + float32(-0.05)), float32(0.3), float32(2.0)),
-    vx_external)
+g = Clip((x[3] − float32(0.267)) / float32(0.05), −1, 1)
+r = Clip(x[1] / float32(0.5), −1, 1)
+delta = Clip(float32(a*g + b*r), −0.04, +0.04)
+
+if original vx is inside float32[0.3, 2.0]:
+    vx_to_parent = Clip(float32(vx + delta), 0.3, 2.0)
+else:
+    vx_to_parent = original vx, bit-exact
 ```
 
-The prefix contains only standard ONNX Split/comparison/And/Add/Clip/Where/Concat operations. Removing it and reversing its single input rewire restores the original model bytes exactly. The other 60 observations—including genuine actual previous-action feedback, lateral command and heading error—are unchanged. There is no clock, step counter, seed classifier/table, runtime metadata conditioning or prerecorded action sequence. This remains neural state feedback with a static command calibration, not a newly trained network.
+All arithmetic is float32 using standard ONNX operations. `x[3]` is world-down projected onto the body’s forward axis, not position or elapsed time. `x[1]` is pitch angular rate; its winning coefficient is zero. All other 60 inputs remain unchanged. The parent’s existing −0.05 calibration then applies exactly as before. Zero/coast, negative/brake, and out-of-mode input values retain their original bit patterns. Existing hard mode boundaries remain; no globally smooth command mapping is claimed.
+
+The new prefix has 20 standard nodes. Removing it and restoring the one input rewire reconstructs the submitted parent model byte-for-byte. **No upstream neural weights were trained or fine-tuned.** The new contribution is the tested state-feedback adapter, not a claim to have trained Pollen’s network.
 
-## Interface and command semantics
+## Validation and limitations
 
-Model API 1: **61 raw float32 observations → 14 float32 actions at 50 Hz**, **rollers** rig, embedded normalizer, perpetual `walk` slot and standing entry pose. The upstream twist convention is `[push: 0 coast, >0 push m/s, <0 brake; lateral 0; heading error rad]`; the Arena commands `[vx,0,0]`. Head/body commands remain unused zeros.
+Before this experiment, all 30 races of the submitted parent’s official sweep reproduced the saved four-array traces exactly in the restored environment.
 
-**Zero/coast, signed zero, negative/brake and positive commands outside the inclusive calibrated interval are returned bit-exactly unchanged.** Positive non-grid values *inside* the interval are calibrated too. This preserves the upstream input modes, not a new stopping/braking or real-robot safety guarantee.
+Eight fixed gain choices were tested on fresh reset seeds 101–108 at external command 1.1. The winning adapter finished 8/8, mean **3.0975 s**, versus parent **3.155 s**. It was frozen before a one-shot paired evaluation on previously uninspected reset seeds 201–220:
 
-The fixed mask creates a discontinuity just above the upper bound: float32(2.0) maps to approximately 1.95, while the next representable larger input is unchanged. No smoothness claim is made. At the selected external 1.1 command, the exact internal float32 value is **1.0500000715255737**, not decimal1.05.
+- **Candidate 20/20 finishes; submitted parent 17/20.** Three parent falls became finishes.
+- Penalized means: **3.177 s versus 8.668 s**, using the official 40-second failure penalty. This large difference is primarily a reliability improvement, not a five-second acceleration of normal races.
+- On the 17 starts where both finished: **3.120 s versus 3.1388 s** mean.
+- Across all 20 pairs: 13 faster, 3 tied, 4 slower. The largest slowdown among common finishers was 0.02 s; one recovered fall took 4.18 s.
 
-**Simulation-only and event-specific.** No physical-robot deployment, all-speed stability or general-purpose controller safety has been established. No robot-loading recommendation is provided.
+The subsequent full official 30-race sweep and exact five-race confirmation returned:
 
-## Local verification
+| Official seed | Submitted parent (s) | Candidate (s) |
+|---|---:|---:|
+| 1 | 3.10 | 3.10 |
+| 2 | 3.08 | 3.06 |
+| 3 | 3.16 | 3.06 |
+| 4 | 3.08 | 3.06 |
+| 5 | 3.14 | 3.16 |
+| Mean | 3.112 | 3.088 |
 
-The unchanged Arena runner v4 performed the complete official 18-command scan on seed 1, then the three selected commands across the remaining four starts—**30 official races**. It selected external **1.1 m/s**:
+All 20 observation/action/timed-trace/settle confirmation arrays and scalar results matched exactly. The bounded stage used 147 native races, 35,602 control steps including settling, eight candidate exports and 1,024 saved-input equivalence calls. All outcomes, including negative candidates and failures at other commands, were retained. No physics or precision settings changed.
 
-| Start seed | Finish time (s) |
-| --- | ---: |
-| 1 | 3.10 |
-| 2 | 3.08 |
-| 3 | 3.16 |
-| 4 | 3.08 |
-| 5 | 3.14 |
+The 20 held-out resets come from the same official start-perturbation and actuator-delay distribution at command 1.1. They are limited generalization evidence, not proof across other physics, all commands, hardware, or arbitrary disturbances. The original five official seeds are regression data, not fresh held-out tests. No faster-on-every-start claim is made.
 
-The separate five-race confirmation reproduced all 20 observation/action/timed-trace/untimed-settle arrays exactly. Before the candidate screen, the unchanged reference also matched its 20 cached baseline arrays. Relative to the reference, three starts improved, one tied and one became slower; the aggregate improved from 784 to 778 timed control ticks.
+## Artifact and credit
 
-The bounded investigation used **one candidate export, 1818 saved-input preflight evaluations, 45 native races and 19,514 controls**, including settling. The preflight compared 909 candidate outputs byte-for-byte against the unchanged base on independently mapped observations. Source/math review and an independent saved-output audit passed. No physics or neural weights were changed.
+- API 1: 61 raw float32 observations → 14 float32 actions, 50 Hz, **rollers** rig, standing entry pose, perpetual walk slot.
+- Candidate `policy.onnx`: **796,930 bytes**; SHA-256 `58122a7287b3330d167f5659a5a8fc9f65c7456f7851e5e5d0a9673ecc505d92`.
+- Submitted parent: [djduecaster/dfreq-rollers](https://huggingface.co/djduecaster/dfreq-rollers/tree/fd0c8277150a5cf62d0e425f5176f51fc6f778e3), revision `fd0c8277150a5cf62d0e425f5176f51fc6f778e3`; SHA-256 `2092a1d8e5b30f2778f227ddf6f26f8eda6487236279f8663bdff71e12805590`.
+- Original network: [Pollen Robotics Roller Sprint reference](https://huggingface.co/pollen-robotics/microduck-roller-sprint-2m-reference/tree/c72fb92594e8b415487e87dfeed509141afc5e25), revision `c72fb92594e8b415487e87dfeed509141afc5e25`; SHA-256 `01edf63a529a8396d46dac62bb427fda1ce67685611e72ddf790bf46f610c82a`.
+- Local Arena source: `pollen-robotics/microduck-arena@0dd39670b9e07f5281ace33175d4af006aa8632e`, runner v4, NumPy 2.4.1, ONNX Runtime 1.24.4, MuJoCo 3.10.0.
 
-These original five starts were used for screening and selection: **they are optimization data, not held-out robustness evidence**. Other commands included falls and timeouts. Exact local repetition does not guarantee identical server results or future eligibility.
+The manifest’s `training` field describes **Pollen’s upstream training**, not new training performed here. No standalone open-source model license is asserted or invented. Existing Hugging Face service-scoped remix provenance is preserved; this artifact does not establish a blanket off-platform redistribution grant.
 
-## Upstream training provenance
+**Simulation-only.** This is not a real-robot deployment, general-purpose stability, or stopping/braking safety claim.
 
-Pollen’s manifest identifies task `Mjlab-RollerSprint2m-MicroDuck`, repository `pollen-robotics/microduck-challenges`, commit `611b6453c`, checkpoint 2999, seed 1, 4096 environments and 3000 iterations, using `mjlab-microduck 0.1.0 @ 981a279c6`. Those are **upstream training facts**; no training was performed for `dfreq-rollers`.
+## Current publication and validation — October 27, 2026
 
-## Rights and publication status
+Published with the owner’s approval to the existing `djduecaster/dfreq-rollers` repository. This publication alone does not create an Arena entry. No new server result is claimed here.
 
-Pollen Robotics’ upstream weights are credited. No standalone open-source model license is asserted or invented. This publication is an attributed Hugging Face service-scoped remix under applicable platform terms, not a blanket off-platform redistribution grant. Publication was authorized separately by the user.
+Rechecked with official Arena source `bbddfe587d300063b1d162281d647740738742f5`, runner v5, Python 3.12.12, MuJoCo 3.10.0, ONNX Runtime 1.24.4 and NumPy 2.4.1 on Apple Silicon macOS. The full official sweep scored **3.105 s, 5/5 finishes** at command 1.1; the submitted parent scored **3.103 s, 5/5** in the same environment. The earlier speed gain did not reproduce here. Current public Arena scoring of the parent was 3.106 s; local and server results must not be equated.
 
-This repository has been published with user authorization. No Arena entry has been submitted.
+On the same previously tested seeds 201–220, at command 1.1 with current runner v5, the unchanged candidate finished **20/20**, mean **3.1205 s**, versus the parent’s **18/20**, penalized mean **6.8285 s**. These are reused regression starts, not fresh held-out evidence. The original October 25 held-out test remains documented above as historical evidence. This update currently has a local reliability advantage, not a demonstrated current speed advantage.

manifest.json

@@ -15,7 +15,7 @@
   "name": "dfreq-rollers",
   "kind": "perpetual",
   "entry_pose": "standing",
-  "description": "Simulation-only Roller Sprint command calibration of unchanged Pollen reference neural weights. A fixed -0.05 m/s offset/clamp applies only inside positive F32 [0.3, 2.0]; zero/coast, negative/brake and commands outside the interval pass through unchanged. Local full official sweep and exact repeat: 3.112 s, 5/5. No new neural training or public score claim.",
+  "description": "State-feedback push adapter over credited unchanged Pollen neural weights. Current v5 Mac sweep: 3.105 s 5/5 versus parent 3.103 s; reused 20-reset panel: 20/20 versus 18/20. No current speed or server improvement claimed.",
   "command": {
     "encoding": "constant",
     "idle": [
@@ -60,8 +60,8 @@
   },
   "artifact": {
     "file": "policy.onnx",
-    "bytes": 794263,
-    "sha256": "2092a1d8e5b30f2778f227ddf6f26f8eda6487236279f8663bdff71e12805590"
+    "bytes": 796930,
+    "sha256": "58122a7287b3330d167f5659a5a8fc9f65c7456f7851e5e5d0a9673ecc505d92"
   },
   "provenance": {
     "base_model": "pollen-robotics/microduck-roller-sprint-2m-reference",
@@ -70,13 +70,16 @@
     "original_neural_parameters_byte_exact": true,
     "training_field_describes_upstream_Pollen_model": true,
     "new_neural_training": false,
-    "original_contribution": "One predeclared static, memoryless positive-domain velocity-command calibration; no learned-weight update. Source/math reviewed, locally evaluated by unchanged official sweep and exact repeat."
+    "original_contribution": "One fixed bounded current-attitude/pitch-rate feedback gain family tested on8fresh reset seeds, then a single frozen selected candidate on20heldout resets. Winning gain uses current projected gravity only; all upstream NN parameters remain byte-exact.",
+    "parent_model": "djduecaster/dfreq-rollers",
+    "parent_revision": "fd0c8277150a5cf62d0e425f5176f51fc6f778e3",
+    "parent_sha256": "2092a1d8e5b30f2778f227ddf6f26f8eda6487236279f8663bdff71e12805590"
   },
   "command_calibration": {
     "input_index_zero_based": 48,
-    "guard": "float32(0.3)<=vx_external<=float32(2.0)",
-    "inside_arithmetic": "Clip(float32(vx_external+float32(-0.05)),float32(0.3),float32(2.0))",
-    "outside_arithmetic": "Return original float32 vx_external bits unchanged.",
+    "guard": "float32(0.3)<=vx_to_parent<=float32(2.0)",
+    "inside_arithmetic": "Clip(float32(vx_to_parent+float32(-0.05)),float32(0.3),float32(2.0))",
+    "outside_arithmetic": "Return original float32 vx_to_parent bits unchanged.",
     "offset_float32": -0.05000000074505806,
     "lower_bound_float32": 0.30000001192092896,
     "upper_bound_float32": 2.0,
@@ -86,44 +89,404 @@
     "actual_previous_action_history": true,
     "clock_or_seed_conditioning": false,
     "coast_and_brake_mode_note": "Zero/coast including signed zero and negative/brake values retain original input bits. This preserves the upstream command mode, not a new stopping or hardware-safety guarantee.",
-    "boundary_note": "Discontinuous just above 2: float32(2) maps to about 1.95; its next representable larger input is outside the interval and is unchanged. Positive off-grid values inside the interval are calibrated too."
+    "boundary_note": "The combined controller retains the original-external-vx positive-mode boundary. At external2 the final internal command depends on current attitude; just above2 both stages are identity. Positive off-grid values inside the interval are adapted too.",
+    "scope": "Inherited submitted-parent stage, applied AFTER the new feedback adapter. Its input vx_to_parent is not necessarily the original external vx."
   },
   "local_evaluation": {
     "date": "2026-10-25",
     "event": "roller-sprint-2m",
     "runner_version": 4,
+    "arena_commit": "0dd39670b9e07f5281ace33175d4af006aa8632e",
     "full_official_sweep_races": 30,
-    "mean_finish_s": 3.112,
+    "mean_finish_s": 3.088,
     "external_command_m_s": 1.1,
-    "internal_float32_command_m_s": 1.0500000715255737,
     "seeds_finished": 5,
     "per_seed_s": [
       3.1,
-      3.08,
-      3.16,
-      3.08,
-      3.14
+      3.06,
+      3.06,
+      3.06,
+      3.16
     ],
-    "reference_mean_s": 3.136,
+    "submitted_parent_mean_s": 3.112,
     "gain_s": 0.024,
-    "sum_timed_ticks_reference": 784,
-    "sum_timed_ticks_candidate": 778,
-    "exact_baseline_arrays": 20,
     "exact_repeat_arrays": 20,
-    "all_preparation_and_confirmation_races": 45,
-    "all_control_steps_including_settle": 19514,
-    "saved_preflight_ORT_rows": 1818,
-    "candidate_exports": 1,
-    "fresh_seed_robustness_claim": false,
-    "server_submission_verified": false,
-    "independent_saved_audit_sha256": "a82a205e9fd2a9834332df650bb425df48f909ee92fd0873243687269788ce61",
-    "terminal_no_weights_archive_sha256": "bc511c2fa451d23a887e79d13130900983b95ea5f5813325dca9711ea7b42999"
+    "all_stage_races": 147,
+    "all_control_steps_including_settle": 35602,
+    "saved_ORT_calls": 1024,
+    "fresh_seed_robustness_claim": "Limited to the fixed20 previously uninspected official-distribution reset seeds201\u2013220 at the same external1.1command. Not broad physics or real-robot robustness.",
+    "server_submission_verified": false
   },
   "publication_status": {
-    "state": "published_public_huggingface_not_submitted",
-    "proposed_repo": "djduecaster/dfreq-rollers",
-    "proposed_entry": "dfreq-rollers",
-    "publication_authorized": true
+    "state": "owner_authorized_publication",
+    "parent_public_repo": "djduecaster/dfreq-rollers",
+    "parent_public_revision": "fd0c8277150a5cf62d0e425f5176f51fc6f778e3",
+    "new_publication_authorized": true
   },
-  "rights_notice": "Pollen Robotics upstream neural weights are credited; no standalone OSS model license is asserted or invented. This publication is an attributed Hugging Face service-scoped remix under applicable platform terms, not a blanket off-platform redistribution grant. Publication was authorized separately by the user."
+  "rights_notice": "Pollen Robotics upstream neural weights are credited. No new standalone OSS license is asserted. The existing public source chain is an attributed Hugging Face service-scoped remix; this candidate does not grant general off-platform redistribution rights. Publication to the existing public repository was authorized by its owner on 2026-10-27.",
+  "feedback_adapter": {
+    "observation_features": {
+      "gravity_x_index": 3,
+      "gyro_y_index": 1
+    },
+    "gains": [
+      -0.04,
+      0.0
+    ],
+    "gravity_center": 0.267,
+    "gravity_scale": 0.05,
+    "gyro_scale": 0.5,
+    "feature_clip": [
+      -1,
+      1
+    ],
+    "push_delta_clip": [
+      -0.04,
+      0.04
+    ],
+    "float_arithmetic": "float32",
+    "positive_input_mode": [
+      0.3,
+      2.0
+    ],
+    "other60_input_values_unchanged": true,
+    "zero_coast_negative_brake_and_outside_mode_bit_exact": true,
+    "before_parent_static_command_calibration": true,
+    "clock_or_seed_conditioning": false,
+    "time_independent_physical_state_feedback": true,
+    "range_warning": "The existing hard positive-mode boundaries remain; this is not a smooth all-command controller."
+  },
+  "training_and_heldout": {
+    "gain_selection_seeds": [
+      101,
+      102,
+      103,
+      104,
+      105,
+      106,
+      107,
+      108
+    ],
+    "gain_selection_candidate_mean_s": 3.0975,
+    "gain_selection_parent_mean_s": 3.155,
+    "heldout_seeds": [
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+      202,
+      203,
+      204,
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+      206,
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+    "heldout_parent_finishers": 17,
+    "heldout_candidate_penalized_mean_s": 3.177,
+    "heldout_parent_penalized_mean_s": 8.668,
+    "failure_penalty_s": 40,
+    "heldout_common17_candidate_mean_s": 3.12,
+    "heldout_common17_parent_mean_s": 3.1388235294117646,
+    "heldout_pairs_faster_tie_slower": [
+      13,
+      3,
+      4
+    ],
+    "heldout_recovered_fall_seeds": [
+      208,
+      215,
+      219
+    ],
+    "no_reselection_after_heldout": true,
+    "official_seeds_are_regression_not_heldout": true
+  },
+  "prepared_update": {
+    "target_repository": "djduecaster/dfreq-rollers",
+    "arena_entry_name": "dfreq-rollers",
+    "state": "OWNER_AUTHORIZED_PUBLICATION",
+    "publication_approved": true,
+    "arena_submission_approved": true,
+    "new_public_revision": null,
+    "model_and_timeline_unchanged_from_validated_candidate": true
+  },
+  "current_local_evaluation": {
+    "date": "2026-10-27",
+    "arena_commit": "bbddfe587d300063b1d162281d647740738742f5",
+    "runner_version": 5,
+    "platform": "Apple Silicon macOS",
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+    "parent_mean_s": 3.103,
+    "parent_finishes": 5,
+    "command_vx": 1.1,
+    "speed_improvement_reproduced": false,
+    "reused_seeds_201_220": {
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+        "finishes": 18,
+        "runner_version": 5,
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+            "status": "finish",
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+        ]
+      },
+      "candidate": {
+        "score": 3.1205000000000003,
+        "finishes": 20,
+        "runner_version": 5,
+        "per_seed": [
+          {
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