{ "bench_version": 1, "track": "dynamics", "model": "rnn_small", "metric_direction": "lower is better", "n_seeds": 8, "baseline": { "best_cfg": { "lr": 0.01, "epochs": 15, "damping": 1.0 }, "sweep": [ { "cfg": { "lr": 0.001, "epochs": 15, "damping": 1.0 }, "mean": 0.016809451510198414 }, { "cfg": { "lr": 0.003, "epochs": 15, "damping": 1.0 }, "mean": 0.005665019620209932 }, { "cfg": { "lr": 0.01, "epochs": 15, "damping": 1.0 }, "mean": 0.0022826905187685043 } ], "full": { "mean": 0.002359520163736306, "std": 0.0007644030858149881, "per_seed": [ 0.001249853172339499, 0.002188401995226741, 0.002345386426895857, 0.0033471204806119204, 0.0033662922214716673, 0.0015826028538867831, 0.0030378259252756834, 0.0017586782341822982 ], "n": 8 } }, "idea": { "mean": 0.0013422396659734659, "std": 0.0003630924813985613, "per_seed": [ 0.001863177865743637, 0.001077942200936377, 0.001123852445743978, 0.0017142429715022445, 0.0011969851329922676, 0.0008323417860083282, 0.0017935478826984763, 0.0011358270421624184 ], "n": 8, "best_cfg": { "lr": 0.01, "epochs": 15, "damping": 0.5, "eps": 0.15, "delta": 0.35 }, "sweep": [ { "cfg": { "lr": 0.001, "epochs": 15, "damping": 0.5, "eps": 0.15, "delta": 0.35 }, "mean": 0.01401310320943594 }, { "cfg": { "lr": 0.001, "epochs": 15, "damping": 0.7, "eps": 0.25, "delta": 0.35 }, "mean": 0.015718030161224306 }, { "cfg": { "lr": 0.001, "epochs": 15, "damping": 0.35, "eps": 0.2, "delta": 0.35 }, "mean": 0.013062152196653187 }, { "cfg": { "lr": 0.003, "epochs": 15, "damping": 0.5, "eps": 0.15, "delta": 0.35 }, "mean": 0.004635538120055571 }, { "cfg": { "lr": 0.003, "epochs": 15, "damping": 0.7, "eps": 0.25, "delta": 0.35 }, "mean": 0.004597917490173131 }, { "cfg": { "lr": 0.003, "epochs": 15, "damping": 0.35, "eps": 0.2, "delta": 0.35 }, "mean": 0.004916691017569974 }, { "cfg": { "lr": 0.01, "epochs": 15, "damping": 0.5, "eps": 0.15, "delta": 0.35 }, "mean": 0.0014448038709815592 }, { "cfg": { "lr": 0.01, "epochs": 15, "damping": 0.7, "eps": 0.25, "delta": 0.35 }, "mean": 0.0021654691954609007 }, { "cfg": { "lr": 0.01, "epochs": 15, "damping": 0.35, "eps": 0.2, "delta": 0.35 }, "mean": 0.0016093126323539764 } ] }, "comparison": { "delta_mean": -0.0010172804977628402, "idea_wins": 7, "n_pairs": 8, "per_seed_diffs": [ 0.0006133246934041381, -0.0011104597942903638, -0.0012215339811518788, -0.0016328775091096759, -0.0021693070884793997, -0.0007502610678784549, -0.001244278042577207, -0.0006228511920198798 ], "p_value": 0.01485, "mde": 0.0006846987059140442, "mde_rel_pct": 29.018557096364123, "verdict": "idea better (significant)", "system_worked": true }, "mechanism_signature": { "prediction": "guard should increase perturbation recovery and reduce local recurrent gain", "observed": [ { "seed": 0, "type": "baseline", "recovery": 0.0, "recurrent_norm": 2.6400585174560547 }, { "seed": 0, "type": "idea", "recovery": 0.0, "recurrent_norm": 2.653230905532837 }, { "seed": 1, "type": "baseline", "recovery": 0.0, "recurrent_norm": 1.7831625938415527 }, { "seed": 1, "type": "idea", "recovery": 0.0, "recurrent_norm": 1.9542343616485596 }, { "seed": 2, "type": "baseline", "recovery": 0.0, "recurrent_norm": 2.5040619373321533 }, { "seed": 2, "type": "idea", "recovery": 0.0, "recurrent_norm": 3.001326322555542 }, { "seed": 3, "type": "baseline", "recovery": 0.0, "recurrent_norm": 3.297189235687256 }, { "seed": 3, "type": "idea", "recovery": 0.0, "recurrent_norm": 2.7743632793426514 }, { "seed": 4, "type": "baseline", "recovery": 0.0, "recurrent_norm": 2.4658541679382324 }, { "seed": 4, "type": "idea", "recovery": 0.0, "recurrent_norm": 3.08595609664917 }, { "seed": 5, "type": "baseline", "recovery": 0.0, "recurrent_norm": 2.731605052947998 }, { "seed": 5, "type": "idea", "recovery": 0.0, "recurrent_norm": 3.1894450187683105 }, { "seed": 6, "type": "baseline", "recovery": 0.0, "recurrent_norm": 2.8795089721679688 }, { "seed": 6, "type": "idea", "recovery": 0.0, "recurrent_norm": 3.512533187866211 }, { "seed": 7, "type": "baseline", "recovery": 0.0, "recurrent_norm": 2.337895154953003 }, { "seed": 7, "type": "idea", "recovery": 0.0, "recurrent_norm": 3.0789902210235596 } ], "predicted_recovery_higher": true, "observed_recovery_delta": 0.0, "confirmed": false }, "structural_match": "Dynamics track: actuated pendulum rollout directly tests recurrent stability/control." }