DVIDIA RESEARCH

Shoe assets: load, drop, settle

Native CPU scene loading, free rigid-shoe gravity and passive table support. Original procedural shoe proxies with assumed physical properties. No shoe grasping, organizing policy, deformation calibration, learned skill or hardware qualification.

54 planned attempts. Failures and invalid attempts remain in the denominator. Support success is expected with the table; zero support successes are expected with its collisions disabled.

Frozen protocol and catalog · Every native trajectory · Report · Integrity

Measurement scope

Native-step timings measure mj_step only on this host; state extraction, mj_forward, compilation, rendering, sensing, training and actuation are excluded. Attempt wall includes verification, compilation, physics and state extraction. Run wall ends before report serialization. Process peak RSS includes prior allocations and is not a minimum memory requirement. These measurements do not establish real-time robot performance.

{
  "attempt_wall": {
    "count": 54,
    "max_seconds": 6.704695750027895,
    "p50_seconds": 0.10058806301094592,
    "p95_seconds": 0.1465771359624341,
    "p99_seconds": 3.3758932149712857,
    "total_seconds": 12.352415461326018
  },
  "compile": {
    "count": 54,
    "max_seconds": 0.4138097499962896,
    "p50_seconds": 0.06565612449776381,
    "p95_seconds": 0.0985709686996415,
    "p99_seconds": 0.37721267603570585,
    "total_seconds": 4.094927620142698
  },
  "native_step": {
    "count": 27000,
    "max_seconds": 0.00011191610246896744,
    "p50_seconds": 8.500181138515472e-06,
    "p95_seconds": 1.5750061720609665e-05,
    "p99_seconds": 2.3417582269757922e-05,
    "total_seconds": 0.2501475957687944
  },
  "process_peak_rss_bytes": 1111916544,
  "run_wall_seconds": 12.361563832964748,
  "scope": "Native-step timings measure mj_step only on this host; state extraction, mj_forward, compilation, rendering, sensing, training and actuation are excluded. Attempt wall includes verification, compilation, physics and state extraction. Run wall ends before report serialization. Process peak RSS includes prior allocations and is not a minimum memory requirement. These measurements do not establish real-time robot performance.",
  "simulated_seconds": 54.0,
  "simulated_seconds_per_run_wall_second": 4.368379335306871
}

Sampled trajectories are privileged native state. The first library checks composition and passive support. A manipulation controller and measured shoe properties are separate evidence requirements.