{
  "schemaVersion": 1,
  "protocols": [
    {
      "id": "canonical15-v1",
      "title": "Published uniform-chain task, fifteen links",
      "linksMin": 15,
      "linksMax": 15,
      "source": {
        "url": "https://github.com/corbensorenson/cartpole/tree/b84c6413974d5c0831cdf261ce15e58ba65cd3f5",
        "commit": "b84c6413974d5c0831cdf261ce15e58ba65cd3f5"
      },
      "fingerprint": "cf4987abf008e8dc5f7b744e55f00e920f23f5ebc18cb209e73a842ed4237808",
      "requirements": {
        "durationSeconds": 30,
        "commandsPerEpisode": 1500,
        "actionHz": 50,
        "uprightAngleRad": 0.15,
        "uprightConsecutiveSteps": 250,
        "railLimitMeters": 3,
        "forceLimitNewtons": 80,
        "calibrationTolerance": 1e-08,
        "integration": {
          "engine": "MuJoCo",
          "engineVersion": "3.3.5",
          "precision": "binary64",
          "integrator": "RK4",
          "timestepSeconds": 0.005,
          "substeps": 4
        },
        "mechanics": {
          "cartMassKg": 1,
          "totalLinkMassKg": 1,
          "totalChainLengthMeters": 3,
          "capsuleRadiusMeters": 0.025,
          "armature": 0.0005,
          "totalHingeDamping": 0.015,
          "cartDamping": 0.02,
          "frictionLoss": 0
        },
        "reset": {
          "position": "relative [0, pi, 0, ...]",
          "noiseStd": 0.05,
          "cartPositionNoiseStd": 0,
          "rngOrder": "cart position zero-scale draw; joint positions; all velocities; replacement cart velocity"
        },
        "acceptance": {
          "angleConvention": "wrapped cumulative absolute",
          "angleComparison": "strictly-less-than",
          "samples": "post-command only",
          "fullEpisodeRequired": true,
          "stateOverwriteAfterInit": false,
          "liveRetriesAllowed": false,
          "allFiniteRequired": true
        },
        "cohorts": [
          {
            "id": "calibration",
            "stage": "calibration",
            "noise": "exact",
            "required": 1
          },
          {
            "id": "dev20",
            "stage": "development",
            "noise": "noisy",
            "required": 20
          },
          {
            "id": "dev100",
            "stage": "development",
            "noise": "noisy",
            "required": 100
          },
          {
            "id": "reserved-noisy20",
            "stage": "reserved",
            "noise": "noisy",
            "required": 20,
            "seedStart": 215000,
            "seedEnd": 215019
          },
          {
            "id": "reserved-noisy100",
            "stage": "reserved",
            "noise": "noisy",
            "required": 100,
            "seedStart": 215100,
            "seedEnd": 215199
          },
          {
            "id": "reserved-exact20",
            "stage": "reserved",
            "noise": "exact",
            "required": 20,
            "seedStart": 215200,
            "seedEnd": 215219
          },
          {
            "id": "video",
            "stage": "video",
            "noise": "noisy",
            "required": 1,
            "seedStart": 215500,
            "seedEnd": 215500
          }
        ]
      }
    },
    {
      "id": "canonical16-v1",
      "title": "Published uniform-chain task, sixteen links",
      "linksMin": 16,
      "linksMax": 16,
      "source": {
        "url": "https://github.com/corbensorenson/cartpole/tree/b84c6413974d5c0831cdf261ce15e58ba65cd3f5",
        "commit": "b84c6413974d5c0831cdf261ce15e58ba65cd3f5"
      },
      "fingerprint": "3aae935e152f9b22f15ca2c3b9f59809bd3abfc56086fef7ea0d27aee5cfb9d3",
      "requirements": {
        "durationSeconds": 30,
        "commandsPerEpisode": 1500,
        "actionHz": 50,
        "uprightAngleRad": 0.15,
        "uprightConsecutiveSteps": 250,
        "railLimitMeters": 3,
        "forceLimitNewtons": 80,
        "calibrationTolerance": 1e-08,
        "integration": {
          "engine": "MuJoCo",
          "engineVersion": "3.3.5",
          "precision": "binary64",
          "integrator": "RK4",
          "timestepSeconds": 0.005,
          "substeps": 4
        },
        "mechanics": {
          "cartMassKg": 1,
          "totalLinkMassKg": 1,
          "totalChainLengthMeters": 3,
          "capsuleRadiusMeters": 0.025,
          "armature": 0.0005,
          "totalHingeDamping": 0.015,
          "cartDamping": 0.02,
          "frictionLoss": 0
        },
        "reset": {
          "position": "relative [0, pi, 0, ...]",
          "noiseStd": 0.05,
          "cartPositionNoiseStd": 0,
          "rngOrder": "cart position zero-scale draw; joint positions; all velocities; replacement cart velocity"
        },
        "acceptance": {
          "angleConvention": "wrapped cumulative absolute",
          "angleComparison": "strictly-less-than",
          "samples": "post-command only",
          "fullEpisodeRequired": true,
          "stateOverwriteAfterInit": false,
          "liveRetriesAllowed": false,
          "allFiniteRequired": true
        },
        "cohorts": [
          {
            "id": "calibration",
            "stage": "calibration",
            "noise": "exact",
            "required": 1
          },
          {
            "id": "dev20",
            "stage": "development",
            "noise": "noisy",
            "required": 20
          },
          {
            "id": "dev100",
            "stage": "development",
            "noise": "noisy",
            "required": 100
          },
          {
            "id": "reserved-noisy20",
            "stage": "reserved",
            "noise": "noisy",
            "required": 20,
            "seedStart": 216000,
            "seedEnd": 216019
          },
          {
            "id": "reserved-noisy100",
            "stage": "reserved",
            "noise": "noisy",
            "required": 100,
            "seedStart": 216100,
            "seedEnd": 216199
          },
          {
            "id": "reserved-exact20",
            "stage": "reserved",
            "noise": "exact",
            "required": 20,
            "seedStart": 216200,
            "seedEnd": 216219
          },
          {
            "id": "video",
            "stage": "video",
            "noise": "noisy",
            "required": 1,
            "seedStart": 216500,
            "seedEnd": 216500
          }
        ]
      }
    }
  ],
  "records": [
    {
      "id": "rage-mill-canonical15-20261016",
      "type": "result",
      "protocolId": "canonical15-v1",
      "protocolFingerprint": "cf4987abf008e8dc5f7b744e55f00e920f23f5ebc18cb209e73a842ed4237808",
      "links": 15,
      "qualified": true,
      "entrant": {
        "id": "rage-industries",
        "name": "Rage Industries / NeuralYogi",
        "url": "https://neuralyogi.com"
      },
      "method": {
        "name": "Bounded native route planning",
        "summary": "Full-state native-model controller: sixteen seconds of hanging settle, then a frozen ordered search over at most 32 native forecast profiles. The first passing forecast is executed once in the live episode; all internal forecasts are retained.",
        "wallClockRealtime": false,
        "usesObservedStateOnly": true,
        "disclosures": [
          "Simulation only. Exact native model and full-state feedback are used.",
          "A 50 Hz simulated action cadence is not a wall-clock realtime guarantee. Development episode control time: median 4.25 s; maximum 34.12 s.",
          "No post-initialization disturbance, hardware, numerical portability, or global-priority claim."
        ]
      },
      "source": {
        "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical15-20261016/canonical15-source.tar.gz",
        "commit": "886267f09ce67d7215c166c92e14a0adaca8e34f",
        "sha256": "0ae9a9f27eee159f95240c4654162b0eabba2f788c9ae5b69a98e88c92fb95d0"
      },
      "model": {
        "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical15-20261016/model.xml",
        "sha256": "73876177ae2950fe42752878f79f72d5334a4344a177d0b619b21af668b349d7"
      },
      "runtime": {
        "engine": "MuJoCo",
        "engineVersion": "3.3.5",
        "language": "Python",
        "languageVersion": "3.12.3",
        "os": "Linux",
        "architecture": "aarch64",
        "precision": "binary64",
        "dependencies": {
          "numpy": "2.5.2",
          "scipy": "1.18.1"
        }
      },
      "timestamps": {
        "runAt": null,
        "frozenAt": "2026-10-16T17:54:52.208417Z",
        "firstPublicAt": "2026-10-16T18:58:00Z",
        "registeredAt": "2026-10-16T18:58:46.153Z"
      },
      "evidence": [
        {
          "id": "audit",
          "kind": "receipt",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical15-20261016/audit.json",
          "sha256": "f13945b629125fc165581c367e5c046da6fe1ed50fc6c9f5a3f7b1abfc03e218",
          "publishedAt": "2026-10-16T18:58:00Z"
        },
        {
          "id": "freeze",
          "kind": "receipt",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical15-20261016/freeze.json",
          "sha256": "874cac1d6ba42af1c9483e20e92a90cbbb78555bdb94412c4b7308d6055172a5",
          "publishedAt": "2026-10-16T18:58:00Z"
        },
        {
          "id": "calibration",
          "kind": "receipt",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical15-20261016/calibration.json",
          "sha256": "780556dd3d696de9923621e4e20f597cac7150c0c91e8fb5d62462a40ebbaf00",
          "publishedAt": "2026-10-16T18:58:00Z"
        },
        {
          "id": "development",
          "kind": "receipt",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical15-20261016/development.json",
          "sha256": "1cdb770ad514e74fb45d54acf4f3a63ab5cff8a381c2014d6c2ea7630e021f31",
          "publishedAt": "2026-10-16T18:58:00Z"
        },
        {
          "id": "reserved",
          "kind": "receipt",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical15-20261016/reserved.json",
          "sha256": "9a14861620db8ed0ae66b8321e7d95f3835c9d8f6250cff84453164a72198735",
          "publishedAt": "2026-10-16T18:58:00Z"
        },
        {
          "id": "video",
          "kind": "receipt",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical15-20261016/video.json",
          "sha256": "7d1072fa5f2db880695f8a4b2f2f1ac2499f011d0e76729f1379100b80180fa8",
          "publishedAt": "2026-10-16T18:58:00Z"
        },
        {
          "id": "heldout-replay",
          "kind": "video",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical15-20261016/canonical15.mp4",
          "sha256": "87d56006cb9a6ee285a9490857cd762a9e176eb374059ef1716ba9f14335bc7f",
          "publishedAt": "2026-10-16T18:58:00Z"
        },
        {
          "id": "full-trajectories-and-forecasts",
          "kind": "trajectory",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical15-20261016/canonical15-evidence.tar.gz",
          "sha256": "1f70a657ddcd50d21cb0620e5551a4fc3c3ff461807a8fcaadbd55a33972be2a",
          "publishedAt": "2026-10-16T18:58:00Z"
        },
        {
          "id": "file-manifest",
          "kind": "receipt",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical15-20261016/files.json",
          "sha256": "da41a9b4362f6454502b96389982c99e77069258759c28ab915ed817a4e11e64",
          "publishedAt": "2026-10-16T18:58:00Z"
        }
      ],
      "cohorts": [
        {
          "id": "calibration",
          "stage": "calibration",
          "noise": "exact",
          "required": 1,
          "attempted": 1,
          "passed": 1,
          "evidenceId": "calibration",
          "seedStart": 3156000,
          "seedEnd": 3156000
        },
        {
          "id": "dev20",
          "stage": "development",
          "noise": "noisy",
          "required": 20,
          "attempted": 20,
          "passed": 20,
          "evidenceId": "development",
          "seedStart": 3156200,
          "seedEnd": 3156219
        },
        {
          "id": "dev100",
          "stage": "development",
          "noise": "noisy",
          "required": 100,
          "attempted": 100,
          "passed": 100,
          "evidenceId": "development",
          "seedStart": 3156300,
          "seedEnd": 3156399
        },
        {
          "id": "reserved-noisy20",
          "stage": "reserved",
          "noise": "noisy",
          "required": 20,
          "seedStart": 215000,
          "seedEnd": 215019,
          "attempted": 20,
          "passed": 20,
          "evidenceId": "reserved"
        },
        {
          "id": "reserved-noisy100",
          "stage": "reserved",
          "noise": "noisy",
          "required": 100,
          "seedStart": 215100,
          "seedEnd": 215199,
          "attempted": 100,
          "passed": 100,
          "evidenceId": "reserved"
        },
        {
          "id": "reserved-exact20",
          "stage": "reserved",
          "noise": "exact",
          "required": 20,
          "seedStart": 215200,
          "seedEnd": 215219,
          "attempted": 20,
          "passed": 20,
          "evidenceId": "reserved"
        },
        {
          "id": "video",
          "stage": "video",
          "noise": "noisy",
          "required": 1,
          "seedStart": 215500,
          "seedEnd": 215500,
          "attempted": 1,
          "passed": 1,
          "evidenceId": "reserved"
        }
      ],
      "metrics": {
        "commandsPerEpisode": 1500,
        "secondsPerEpisode": 30,
        "minUprightSeconds": 6.38,
        "maxCartMeters": 2.7244540435262334,
        "maxNativeDefect": 0,
        "maxInitialGap": 0,
        "auditedEpisodes": 262,
        "auditedCommands": 393000
      },
      "verification": {
        "level": "author-attested"
      },
      "notes": [
        "A separate direct-MuJoCo scorer checked all 262 actual episodes and 393,000 commands. It was run by the same owner; external reproduction is not claimed.",
        "Public source is a byte-preserving export of benchmark-specific frozen files, with new portable inspection adapters. The original private repository history is outside this export.",
        "Reported execution timestamps were not recorded as an external timestamp authority. The controller-freeze time is an author declaration."
      ]
    },
    {
      "id": "rage-mill-canonical16-20261016",
      "type": "result",
      "protocolId": "canonical16-v1",
      "protocolFingerprint": "3aae935e152f9b22f15ca2c3b9f59809bd3abfc56086fef7ea0d27aee5cfb9d3",
      "links": 16,
      "qualified": true,
      "entrant": {
        "id": "rage-industries",
        "name": "Rage Industries / NeuralYogi",
        "url": "https://neuralyogi.com"
      },
      "method": {
        "name": "Frozen trajectory with bounded native launch forecasts",
        "summary": "Full-state native-model control: 850 hanging-settle commands, then a retained 650-command trajectory feedback prefix. At the observed launch state, a fixed ordered search selects the first of at most 11 cart-error offsets whose native forecast completes the remaining episode and upright hold; the live episode executes once.",
        "wallClockRealtime": false,
        "usesObservedStateOnly": true,
        "disclosures": [
          "Simulation only. Exact native model and full-state feedback are used. Commands are delivered immediately as clipped float32 normalized actions; feedback arithmetic is binary64.",
          "50 Hz is simulated action cadence, not a wall-clock realtime guarantee. At most 11 internal 650-command forecasts (7,150 forecast command attempts) are permitted at launch, with no physical state overwrite or additional live reset.",
          "The 650 retained gains and offsets are a prefix of the original 700-step zero-terminal design; they were not recomputed with a zero value at step 650.",
          "DEV100 selected the +0.000001 m cart-error profile in two cases; its other 98 cases and all 141 held-out cases selected zero offset. Every selected shadow matched the actual complete suffix byte for byte.",
          "No hardware, post-initialization disturbance, wall-clock realtime, numerical portability, third-party reproduction, or global-priority claim."
        ]
      },
      "source": {
        "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical16-20261016/canonical16-source.tar.gz",
        "sha256": "2214ec1879417cb3b0908a94584185629209261e20273e7eb33bb588877aa083",
        "commit": "d06e1478834519f797d28fc57a1b8bad09c61d67"
      },
      "model": {
        "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical16-20261016/model.xml",
        "sha256": "6351ddc4468533786231ac988cb9707f3bec8e327c46e2c5036cb2f041289639"
      },
      "runtime": {
        "engine": "MuJoCo",
        "engineVersion": "3.3.5",
        "language": "Python",
        "languageVersion": "3.12.3",
        "os": "Linux",
        "architecture": "aarch64",
        "precision": "binary64",
        "dependencies": {
          "numpy": "2.5.2"
        }
      },
      "timestamps": {
        "runAt": null,
        "frozenAt": "2026-10-16T18:41:00Z",
        "firstPublicAt": "2026-10-16T20:08:18Z",
        "registeredAt": "2026-10-16T20:08:18.932Z"
      },
      "evidence": [
        {
          "id": "audit",
          "kind": "receipt",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical16-20261016/audit.json",
          "sha256": "d43a73905b960b659778129cc6a3341e0572db201c6b33bae5baa7b08a7b97de",
          "publishedAt": "2026-10-16T20:08:18Z"
        },
        {
          "id": "freeze",
          "kind": "receipt",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical16-20261016/freeze.json",
          "sha256": "28d97cd6dd8545bdaa5b6c4b9100903fd295e14342f32419cde73a791d1e9571",
          "publishedAt": "2026-10-16T20:08:18Z"
        },
        {
          "id": "calibration",
          "kind": "receipt",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical16-20261016/calibration.json",
          "sha256": "661093ab0c45c180995cb80cd611ee131eaf5e307776324d8d05a94cd611fc10",
          "publishedAt": "2026-10-16T20:08:18Z"
        },
        {
          "id": "development",
          "kind": "receipt",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical16-20261016/development.json",
          "sha256": "f3675813f6b257096274c5e627e10db981546e62d42f47f29e717a037516fd5b",
          "publishedAt": "2026-10-16T20:08:18Z"
        },
        {
          "id": "reserved",
          "kind": "receipt",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical16-20261016/reserved.json",
          "sha256": "93e08c03e1d958e240022dcefcc1543a3019d637b45682917e66fe139c08257a",
          "publishedAt": "2026-10-16T20:08:18Z"
        },
        {
          "id": "video",
          "kind": "receipt",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical16-20261016/video.json",
          "sha256": "7bd2162a3d387c1d602460a56adc0e84e93f708666722fd20ccc95405dab63ac",
          "publishedAt": "2026-10-16T20:08:18Z"
        },
        {
          "id": "heldout-replay",
          "kind": "video",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical16-20261016/canonical16.mp4",
          "sha256": "b585c64607de3369b2ab6f18048555bb739f964d6e841f7269be3910cba119fc",
          "publishedAt": "2026-10-16T20:08:18Z"
        },
        {
          "id": "full-trajectories-and-forecasts",
          "kind": "trajectory",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical16-20261016/canonical16-evidence.tar.gz",
          "sha256": "3f87079284573ac472329af41de8a223aad532675d006b05f6c4144fc6282811",
          "publishedAt": "2026-10-16T20:08:18Z"
        },
        {
          "id": "file-manifest",
          "kind": "receipt",
          "url": "https://github.com/marctheshark3/pendulum-arena/releases/download/canonical16-20261016/files.json",
          "sha256": "2caafd9fe7e56af6a74b005d907c56b85e1582b7d5cb83234764e8ac2a47bff1",
          "publishedAt": "2026-10-16T20:08:18Z"
        }
      ],
      "cohorts": [
        {
          "id": "calibration",
          "stage": "calibration",
          "noise": "exact",
          "required": 1,
          "attempted": 1,
          "passed": 1,
          "seedStart": 3167109,
          "seedEnd": 3167109,
          "evidenceId": "calibration"
        },
        {
          "id": "dev20",
          "stage": "development",
          "noise": "noisy",
          "required": 20,
          "attempted": 20,
          "passed": 20,
          "seedStart": 3168000,
          "seedEnd": 3168019,
          "evidenceId": "development"
        },
        {
          "id": "dev100",
          "stage": "development",
          "noise": "noisy",
          "required": 100,
          "attempted": 100,
          "passed": 100,
          "seedStart": 3168100,
          "seedEnd": 3168199,
          "evidenceId": "development"
        },
        {
          "id": "reserved-noisy20",
          "stage": "reserved",
          "noise": "noisy",
          "required": 20,
          "attempted": 20,
          "passed": 20,
          "seedStart": 216000,
          "seedEnd": 216019,
          "evidenceId": "reserved"
        },
        {
          "id": "reserved-noisy100",
          "stage": "reserved",
          "noise": "noisy",
          "required": 100,
          "attempted": 100,
          "passed": 100,
          "seedStart": 216100,
          "seedEnd": 216199,
          "evidenceId": "reserved"
        },
        {
          "id": "reserved-exact20",
          "stage": "reserved",
          "noise": "exact",
          "required": 20,
          "attempted": 20,
          "passed": 20,
          "seedStart": 216200,
          "seedEnd": 216219,
          "evidenceId": "reserved"
        },
        {
          "id": "video",
          "stage": "video",
          "noise": "noisy",
          "required": 1,
          "attempted": 1,
          "passed": 1,
          "seedStart": 216500,
          "seedEnd": 216500,
          "evidenceId": "reserved"
        }
      ],
      "metrics": {
        "commandsPerEpisode": 1500,
        "secondsPerEpisode": 30,
        "minUprightSeconds": 7.34,
        "maxCartMeters": 1.9427948460034268,
        "maxNativeDefect": 0,
        "maxInitialGap": 0,
        "auditedEpisodes": 1,
        "auditedCommands": 1500
      },
      "verification": {
        "level": "author-attested"
      },
      "notes": [
        "All 262 actual calibration/development/reserved episodes and 393,000 recorded commands were rescored from hash-verified saved tapes. The 7.34-second minimum and cart maximum cover all 262, not only held-out cases.",
        "Native defect and initial-gap metrics cover the complete exact source-calibration episode: 1,500 cold transitions and a separate 1,500-command continuous native replay, both exact. They do not claim a cold native audit of all 393,000 commands.",
        "An additional causal policy replay proved all 211,500 held-out raw binary64 and delivered float32 commands plus every selected 650-command shadow/live suffix, including final states, byte for byte. This is separate from native calibration coverage.",
        "Selected forecast arrays are retained; rejected launch forecasts retain summaries rather than complete forecast arrays. Planning forecasts do not count as additional benchmark episodes or native audit coverage.",
        "The previous static 17-second candidate failed 2 of 100 development cases before this profile-selector candidate was frozen. That negative cohort is preserved and is not counted toward this result.",
        "The frozenAt value is the recorded author/committer timestamp of author-generated source snapshot d06e1478834519f797d28fc57a1b8bad09c61d67, which binds the controller/configuration/identity and precedes reserved evaluation. The later gate-freeze JSON has no UTC creation clock. This is not an externally certified experiment timestamp; runAt is unknown.",
        "Checks and peer reviews were produced under the entrant's ownership. The entry is author-attested; no independent third-party reproduction is asserted.",
        "The public source archive preserves curated frozen controller, configuration and evaluation bytes, alongside new relocation and hash-checking adapters. The source commit names the original frozen snapshot; its private Git history and native runtime binaries are excluded from the public export.",
        "The protocol and source lineage credit corbensorenson/cartpole at b84c6413974d5c0831cdf261ce15e58ba65cd3f5 and its earlier fourteen-link route. Different earlier demonstrations remain distinct protocols."
      ]
    }
  ]
}