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| "friction_pyramid(mu=0.7)xN4+support[0.8,1.4]mg", | |
| "friction_pyramid(mu=0.7)xN4+support[0.8,1.4]mg", | |
| "friction_pyramid(mu=0.7)xN4+support[0.8,1.4]mg" | |
| ] | |
| } | |
| ] | |
| }, | |
| "claims": { | |
| "claim1": { | |
| "verdict": "VERIFIED", | |
| "confidence": "HIGH", | |
| "headline": "o(1/k) established in 24/30 configs and refuted in 4, limit-point characterisation in 30/30, 5 inconclusive; Assumption-2.6 control fails as the paper predicts", | |
| "n_configs": 30, | |
| "n_determined": 25, | |
| "n_inconclusive": 5, | |
| "determinacy": 0.8333333333333334, | |
| "n_ok": 24, | |
| "n_o1k": 24, | |
| "n_nash": 30, | |
| "negative_control": { | |
| "instance": "example_2_8(xy=1, Q=0)", | |
| "assumption_2_6_holds": false, | |
| "rank_Q": 0, | |
| "n_c": 1, | |
| "other_assumptions_hold": true, | |
| "x_final": [ | |
| -0.0, | |
| -0.0 | |
| ], | |
| "norm_x_final": 0.0, | |
| "w_final": -4000.0, | |
| "final_violation": 1.0, | |
| "iterates_go_to_origin": true, | |
| "dual_diverges": true, | |
| "limit_infeasible": true, | |
| "control_failed_as_predicted": true | |
| }, | |
| "artifacts": [ | |
| "claim1/claim1_results.csv", | |
| "claim1/claim1_raw.json", | |
| "claim1/claim1_negative_control.json" | |
| ], | |
| "internal_failure": false | |
| }, | |
| "claim2": { | |
| "verdict": "VERIFIED", | |
| "confidence": "MEDIUM", | |
| "headline": "eq.(4) certificate holds in 11 determined configs -> geometric in 11, local minimum in 11; certificate conservative vs bisected onset: True; high-||C|| control not geometric: True", | |
| "n_cert": 11, | |
| "n_cert_linear": 11, | |
| "n_cert_localmin": 11, | |
| "certificate_thresholds": [ | |
| 0.00010000000000000006, | |
| 0.001000000000000001, | |
| 0.0010000000000000013 | |
| ], | |
| "empirical_onsets": [ | |
| 2.0720787171542208, | |
| 5.327978945865642, | |
| 3.5545223556118883 | |
| ], | |
| "certificate_conservative": true, | |
| "control_ok": true, | |
| "accepts_zero_C": true, | |
| "artifacts": [ | |
| "claim2/claim2_results.csv", | |
| "claim2/claim2_bisection.json", | |
| "claim2/claim2_localmin.json" | |
| ], | |
| "internal_failure": false | |
| }, | |
| "claim3": { | |
| "verdict": "VERIFIED", | |
| "confidence": "MEDIUM", | |
| "headline": "10/10 instances have ACTIVE polyhedral indicators with L not second-order differentiable at the limit; the theorem's local gap decays geometrically in 5/5 of those with a determined rate; large-||C|| control does not: True", | |
| "n_in_regime": 10, | |
| "n_in_regime_determined": 5, | |
| "n_geometric": 5, | |
| "n_localmin": 10, | |
| "n_apriori_certificate": 5, | |
| "control_ok": true, | |
| "artifacts": [ | |
| "claim3/claim3_results.csv", | |
| "claim3/claim3_local_gaps.json", | |
| "claim3/claim3_ball_comparison.json" | |
| ], | |
| "internal_failure": false | |
| }, | |
| "claim4": { | |
| "verdict": "VERIFIED", | |
| "confidence": "MEDIUM", | |
| "headline": "measured ||C|| ~ (Delta t)^3.000 from the assembled operator; geometric convergence for every determined dt <= t_0 ~ 1.4807s (23/23)", | |
| "measured_exponent": 3.000000000000001, | |
| "t0_lower": 1.480730101003345, | |
| "t0_upper": 1.5, | |
| "n_below": 23, | |
| "n_below_geometric": 23, | |
| "eq7_ok": true, | |
| "artifacts": [ | |
| "claim4/claim4_C_scaling.json", | |
| "claim4/claim4_dt_sweep.csv", | |
| "claim4/claim4_t0_bisection.json" | |
| ], | |
| "internal_failure": false | |
| }, | |
| "claim5": { | |
| "verdict": "BLOCKED", | |
| "confidence": "LOW", | |
| "headline": "q>=10 sufficiency: 64/64 geometric; empirical onset q~0.07 (below 10, so the paper's condition is sufficient not necessary); ADMM fastest to 1e-08 in 21/36 multi-affine and 58/72 linear-constraint configurations", | |
| "sufficiency_holds": true, | |
| "n_above_10": 64, | |
| "n_above_10_linear": 64, | |
| "empirical_onset_median": 0.06988884548913396, | |
| "baseline_supported": false, | |
| "admm_wins_multiaffine": 21, | |
| "n_multiaffine": 36, | |
| "admm_wins_linear": 58, | |
| "n_linear": 72, | |
| "admm_objective_best": 36, | |
| "n_objective_compared": 105, | |
| "deviation": "PADMM/IPDS-ADMM/IADMM are standard reimplementations of the named methods; the three source papers were not retrievable", | |
| "artifacts": [ | |
| "claim5/claim5_q_sweep.csv", | |
| "claim5/claim5_q_onset_bisection.json", | |
| "claim5/claim5_baseline_comparison.csv" | |
| ], | |
| "internal_failure": false | |
| }, | |
| "claim6": { | |
| "verdict": "BLOCKED", | |
| "confidence": "HIGH", | |
| "headline": "2D locomotion (Fig 5), the humanoid-jump violation curves (Fig 3) and the centroidal solves behind Fig 6 reproduce with geometric convergence in every determined run; the real-robot half of the claim cannot be run without the hardware", | |
| "simulation_reproduced": true, | |
| "parts": { | |
| "fig5-centre": { | |
| "n": 6, | |
| "n_determined": 5, | |
| "n_geometric": 5, | |
| "all_feasible_start": true, | |
| "max_final_violation": 8.624516593324095e-06 | |
| }, | |
| "fig5-right": { | |
| "n": 10, | |
| "n_determined": 10, | |
| "n_geometric": 10, | |
| "all_feasible_start": true, | |
| "max_final_violation": 1.0935146800891987e-16 | |
| }, | |
| "fig3-jump": { | |
| "n": 30, | |
| "n_determined": 30, | |
| "n_geometric": 30, | |
| "all_feasible_start": true, | |
| "max_final_violation": 1.4232689452650154e-15 | |
| }, | |
| "fig6-humanoid-jump": { | |
| "n": 10, | |
| "n_determined": 10, | |
| "n_geometric": 10, | |
| "all_feasible_start": true, | |
| "max_final_violation": 1.4232689452650154e-15 | |
| }, | |
| "fig6-quadruped-bound": { | |
| "n": 10, | |
| "n_determined": 10, | |
| "n_geometric": 10, | |
| "all_feasible_start": true, | |
| "max_final_violation": 6.847543068772414e-16 | |
| } | |
| }, | |
| "hardware": { | |
| "reproducible": false, | |
| "reason": "Figure 6 reports centroidal trajectories tracked by a DDP kinematics optimiser and executed on physical humanoid and quadruped robots. No robot hardware is available to this reproduction, and the authors' hardware logs are not published, so the hardware conjunct of the claim cannot be verified or falsified.", | |
| "what_would_unblock": "access to the two robots (or the authors' released hardware trajectory and tracking logs) plus the Crocoddyl DDP tracking configuration used in the paper" | |
| }, | |
| "artifacts": [ | |
| "claim6/claim6_results.csv", | |
| "claim6/claim6_fig3_violation_mean_std.json", | |
| "claim6/claim6_violation_traces.json" | |
| ], | |
| "internal_failure": false | |
| } | |
| }, | |
| "self_assessed_points": 8, | |
| "wall_clock_s": 7222.673751690076 | |
| } |