{
  "schemaVersion": 1,
  "status": "measured_not_wcet",
  "generatedAt": "2026-10-16T22:38:38.051Z",
  "revision": "energy-coupled-r6",
  "selectedGeneration": 74,
  "engine": "Official MuJoCo 3.15.0 WebAssembly",
  "environment": {
    "runtime": "Node v26.11.1",
    "platform": "darwin",
    "release": "27.0.0",
    "architecture": "arm64",
    "cpuModel": "Apple M1 Pro",
    "logicalCpuCount": 10,
    "totalMemoryBytes": 34359738368,
    "loadAverageBefore": [
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      9.603515625
    ],
    "loadAverageAfter": [
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  },
  "method": {
    "controlWindowMs": 20,
    "physicsStepMs": 2,
    "physicsStepsPerControl": 10,
    "warmupRoundsPerCase": 1,
    "minimumMeasuredRounds": 4,
    "minimumWindowsPerCase": 600,
    "measuredRoundsRule": "max(4, ceil(600 / steps_in_warmup_episode))",
    "warmup": "每个初态先完整运行一次，预热记录不计入百分位。每轮重置同一初态与最终参数；短失败轨迹重复至每个初态至少600个测量窗口。",
    "controllerScope": "controllerStep 的同步调用：状态反馈、阶段切换、目标力矩、喷口分配；不包括传感器、数据传输或渲染。",
    "stepScope": "完整 step(1)：控制器、10 次 MuJoCo 物理子步、阀门/供气/风机、接触与稳定判定、返回快照；包含计时包装开销。",
    "excluded": "引擎加载、XML 模型创建、每轮 reset、文件读取、UI/Worker 通信与渲染另列或未测；没有实时调度、CPU绑核或强制GC。",
    "percentiles": "nearest-rank：排序后取 ceil(p*N) 项；max 为本次观察最大值。",
    "coverage": "三项标准任务及一个非轴对齐自由姿态；重复测时不等于更多独立物理初态。"
  },
  "engineLoadMs": 51.110833,
  "benchmarkWallSeconds": 2.20900475,
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      "maxMs": 6.398584000000028,
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        "task": "stationary_kickflip",
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      "outcomes": [
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          "round": 0,
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          "status": "success",
          "simulatedSeconds": 4.8,
          "stableSeconds": 1.0040000000000007
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        {
          "round": 1,
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          "stableSeconds": 1.0040000000000007
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        {
          "round": 2,
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        {
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    {
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      "measuredRounds": 4,
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        {
          "round": 1,
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          "stableSeconds": 1.0140000000000007
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        {
          "round": 2,
          "steps": 241,
          "status": "success",
          "simulatedSeconds": 4.82,
          "stableSeconds": 1.0140000000000007
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        {
          "round": 3,
          "steps": 241,
          "status": "success",
          "simulatedSeconds": 4.82,
          "stableSeconds": 1.0140000000000007
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    {
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      "outcomes": [
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          "status": "body_contact",
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        {
          "round": 3,
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          "status": "body_contact",
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        {
          "round": 4,
          "steps": 118,
          "status": "body_contact",
          "simulatedSeconds": 2.36,
          "stableSeconds": 0
        },
        {
          "round": 5,
          "steps": 118,
          "status": "body_contact",
          "simulatedSeconds": 2.36,
          "stableSeconds": 0
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      ],
      "overruns": []
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    {
      "case": {
        "id": "free_attitude",
        "task": "moving_recovery",
        "mass": 2100,
        "fuel": 260,
        "thrust_scale": 1,
        "pos": [
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        "omega": [
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      "measuredRounds": 8,
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      "step20ms": {
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      "outcomes": [
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          "round": 0,
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          "status": "hard_contact",
          "simulatedSeconds": 1.54,
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        },
        {
          "round": 1,
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        {
          "round": 2,
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        },
        {
          "round": 3,
          "steps": 77,
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          "simulatedSeconds": 1.54,
          "stableSeconds": 0
        },
        {
          "round": 4,
          "steps": 77,
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          "simulatedSeconds": 1.54,
          "stableSeconds": 0
        },
        {
          "round": 5,
          "steps": 77,
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          "stableSeconds": 0
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        {
          "round": 6,
          "steps": 77,
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        {
          "round": 7,
          "steps": 77,
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          "stableSeconds": 0
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      ],
      "overruns": []
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  ],
  "sourceHashes": {
    "core.py": "aaccd29a34c10f18c866e079000f4432f65e60e45b3f2e8f6f3f8dcaf619ac13",
    "controller.mjs": "c4dc09b58d263afc9d79c8472596a0d7ecaedbd7c07ff704fd58576331c3c63a",
    "browser-runtime.mjs": "552142cab13027b360f66022257e454bb0441afd2f6ebb8a1d995135ce16723e",
    "world.xml": "905df17507d76128f48906ac1be1508a67b8c55c936aa990592216c104a662e1",
    "benchmark_timing.mjs": "e39bf680dae0cb1e1b068c06a3abcede3d9f65be0fbe04ae05a23d043b4990e7",
    "policies.json": "ca1ff81f974321f1920ecc2e2beb4313b3c485a452fa739469a2c382e904a2b6"
  },
  "limits": [
    "本结果来自当前电脑上的 Node，不能替代浏览器 Worker 实测。",
    "只覆盖列出的轨迹和实际经过的控制分支；快速算完不代表飞行任务成功。",
    "p99 和观察最大值不是最坏执行时间 WCET；即使本次无超时，也不能保证每个 20 ms 窗口。",
    "控制使用模拟器完整状态，尚未测 IMU 噪声、采样延迟、状态融合、真实计算机或执行器链路。"
  ]
}