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Its held-out performance is also reported.","developmentNotice":"保留了旧路径控制器的 24 代、2,664 次完整评估，以及拐点、落地预算和支撑姿态的诊断失败。它们属于结构研发，未混入这轮冻结控制器的训练曲线。","sourceHashes":{"unified_controller.py":"af6afff428209280458c0e8e3b973c25cbf048009adc11882b26602979fa01e8","train.py":"e49448f319b2f0780a2700cd4b821b4d0308e99148b523798436c86dcb975e49","config.json":"2a80ef48d1917dfc0c962f1e2c8309080134ddf8f82eabdfbb0f9e210bcdef21","controller.mjs":"f1732e7c9275e91219f6af6099f64b377de89e6617f30a90052d52b8abc0d677","browser-runtime.mjs":"fa9e43c629e93eb3b10b3384be2670a124355b76e1b7d68bdecdeb15679d0f59","world.xml":"905df17507d76128f48906ac1be1508a67b8c55c936aa990592216c104a662e1"},"stepAudit":{"trials":80,"successChanges":2,"oneMsSuccesses":17,"twoMsSuccesses":19},"timing":{"revision":"unified-airborne-v4","controllerSha256":"af6afff428209280458c0e8e3b973c25cbf048009adc11882b26602979fa01e8","timestamp":"2026-10-17T23:01:04.344Z","cpu":"Apple M1 Pro","engine":"MuJoCo 3.15.0 WASM","scope":"Six fixed demonstration cases in Node. Includes failure cases; excludes WebGL, communication and loading. Not a worst-case execution-time or hard real-time guarantee.","controller":{"count":1112,"p95":1.201791999999955,"max":8.49087499999996,"over20ms":0},"controlAndPhysics":{"count":1112,"p95":1.7056250000000546,"max":9.072167000000036,"over20ms":0},"cases":[{"id":"inverted","status":"success","success":true},{"id":"stationary-spin","status":"success","success":true},{"id":"moving-spin","status":"success","success":true},{"id":"oblique","status":"success","success":true},{"id":"oblique-spin","status":"hard_contact","success":false},{"id":"low-boundary","status":"body_contact","success":false}]}}