DVIDIA RESEARCH
Probe, adapt, complete
Paired authored PiPER contact-history pilot, privileged native state and synthetic rigid blocks. No learned policy, sensor pipeline, calibrated contact, shoe competence or physical robot qualification.
confirmation · all 84 planned attempts retained.
Full report · Frozen protocol · Stored and decoded integrity
Independent recorded 20ms boundaries, not detector accuracy or physics recomputation. Motion windows retain actual native movement after commands, not instantaneous arrest. Settled, resumed and completed are separate; no observed true-slip opportunity is not a perfect score.
Attempt wall includes asset verification, compilation, settling, authored planning/IK, physics, contact scoring and recorded state construction. Protocol/report/trace disk serialization, rendering, training, physical sensing, transport and actuation are excluded. Control computation windows are not sensor-to-actuator reaction times.
Every attempt
- friction080-mass040-layout00--baseline_placement: completed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass040-layout00--baseline_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass040-layout00--probe_only_placement: completed · 11.78s following observed. Retries 0.
11.18s probe started (slow_load_bearing_check), 11.78s acquisition qualified (sustained_table_free_probe) · complete JSON gzip - friction080-mass040-layout00--probe_only_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass040-layout00--history_placement: completed · 11.78s following observed. Retries 0.
11.18s probe started (slow_load_bearing_check), 11.78s acquisition qualified (sustained_table_free_probe) · complete JSON gzip - friction080-mass040-layout00--history_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass040-layout00--hold: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass040-layout01--baseline_placement: completed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass040-layout01--baseline_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass040-layout01--probe_only_placement: completed · 11.76s following observed. Retries 0.
11.16s probe started (slow_load_bearing_check), 11.76s acquisition qualified (sustained_table_free_probe) · complete JSON gzip - friction080-mass040-layout01--probe_only_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass040-layout01--history_placement: completed · 11.76s following observed. Retries 0.
11.16s probe started (slow_load_bearing_check), 11.76s acquisition qualified (sustained_table_free_probe) · complete JSON gzip - friction080-mass040-layout01--history_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass040-layout01--hold: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass060-layout00--baseline_placement: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass060-layout00--baseline_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass060-layout00--probe_only_placement: failed · 11.80s following observed. Retries 0.
11.18s probe started (slow_load_bearing_check), 11.80s acquisition qualified (sustained_table_free_probe) · complete JSON gzip - friction080-mass060-layout00--probe_only_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass060-layout00--history_placement: completed · 11.80s following observed. Retries 0.
11.18s probe started (slow_load_bearing_check), 11.80s acquisition qualified (sustained_table_free_probe), 11.92s slowdown started (persistent_local_offset_trend), 12.00s reassessment started (persistent_bilateral_contact_loss), 12.24s carry resumed (sustained_loaded_relative_settling)
11.92s slowdown started: actual TCP mean speed 93.13mm/s before → 88.10mm/s after; TCP path 8.81mm / object path 4.07mm over complete 100ms window; 12.00s reassessment started: actual TCP mean speed 108.51mm/s before → 14.64mm/s after; TCP path 1.46mm / object path 1.28mm over complete 100ms window; 12.24s carry resumed: actual TCP mean speed 3.99mm/s before → 26.94mm/s after; TCP path 2.69mm / object path 2.04mm over complete 100ms window · complete JSON gzip - friction080-mass060-layout00--history_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass060-layout00--hold: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass060-layout01--baseline_placement: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass060-layout01--baseline_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass060-layout01--probe_only_placement: failed · 11.78s following observed. Retries 0.
11.16s probe started (slow_load_bearing_check), 11.78s acquisition qualified (sustained_table_free_probe) · complete JSON gzip - friction080-mass060-layout01--probe_only_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass060-layout01--history_placement: completed · 11.78s following observed. Retries 0.
11.16s probe started (slow_load_bearing_check), 11.78s acquisition qualified (sustained_table_free_probe), 11.90s slowdown started (persistent_local_offset_trend), 11.92s reassessment started (persistent_bilateral_contact_loss), 12.16s carry resumed (sustained_loaded_relative_settling), 12.34s slowdown started (persistent_local_offset_trend), 12.46s reassessment started (bounded_slowdown_complete), 12.68s carry resumed (sustained_loaded_relative_settling)
11.90s slowdown started: actual TCP mean speed 93.41mm/s before → 58.55mm/s after; TCP path 5.86mm / object path 2.54mm over complete 100ms window; 11.92s reassessment started: actual TCP mean speed 118.79mm/s before → 33.07mm/s after; TCP path 3.31mm / object path 2.13mm over complete 100ms window; 12.16s carry resumed: actual TCP mean speed 8.97mm/s before → 27.62mm/s after; TCP path 2.76mm / object path 1.35mm over complete 100ms window; 12.34s slowdown started: actual TCP mean speed 64.45mm/s before → 57.06mm/s after; TCP path 5.71mm / object path 5.44mm over complete 100ms window; 12.46s reassessment started: actual TCP mean speed 54.07mm/s before → 11.25mm/s after; TCP path 1.12mm / object path 1.13mm over complete 100ms window; 12.68s carry resumed: actual TCP mean speed 3.61mm/s before → 26.79mm/s after; TCP path 2.68mm / object path 2.01mm over complete 100ms window · complete JSON gzip - friction080-mass060-layout01--history_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction080-mass060-layout01--hold: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass040-layout00--baseline_placement: completed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass040-layout00--baseline_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass040-layout00--probe_only_placement: completed · 11.78s following observed. Retries 0.
11.18s probe started (slow_load_bearing_check), 11.78s acquisition qualified (sustained_table_free_probe) · complete JSON gzip - friction055-mass040-layout00--probe_only_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass040-layout00--history_placement: completed · 11.78s following observed. Retries 0.
11.18s probe started (slow_load_bearing_check), 11.78s acquisition qualified (sustained_table_free_probe), 11.92s slowdown started (persistent_local_offset_trend), 12.04s reassessment started (bounded_slowdown_complete), 12.26s carry resumed (sustained_loaded_relative_settling)
11.92s slowdown started: actual TCP mean speed 123.95mm/s before → 97.23mm/s after; TCP path 9.72mm / object path 7.98mm over complete 100ms window; 12.04s reassessment started: actual TCP mean speed 78.40mm/s before → 13.33mm/s after; TCP path 1.33mm / object path 1.32mm over complete 100ms window; 12.26s carry resumed: actual TCP mean speed 3.35mm/s before → 28.13mm/s after; TCP path 2.81mm / object path 2.56mm over complete 100ms window · complete JSON gzip - friction055-mass040-layout00--history_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass040-layout00--hold: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass040-layout01--baseline_placement: completed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass040-layout01--baseline_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass040-layout01--probe_only_placement: completed · 11.76s following observed. Retries 0.
11.16s probe started (slow_load_bearing_check), 11.76s acquisition qualified (sustained_table_free_probe) · complete JSON gzip - friction055-mass040-layout01--probe_only_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass040-layout01--history_placement: completed · 11.76s following observed. Retries 0.
11.16s probe started (slow_load_bearing_check), 11.76s acquisition qualified (sustained_table_free_probe), 11.88s slowdown started (persistent_local_offset_trend), 12.00s reassessment started (bounded_slowdown_complete), 12.22s carry resumed (sustained_loaded_relative_settling)
11.88s slowdown started: actual TCP mean speed 94.85mm/s before → 94.44mm/s after; TCP path 9.44mm / object path 7.40mm over complete 100ms window; 12.00s reassessment started: actual TCP mean speed 77.04mm/s before → 13.46mm/s after; TCP path 1.35mm / object path 1.33mm over complete 100ms window; 12.22s carry resumed: actual TCP mean speed 3.37mm/s before → 28.43mm/s after; TCP path 2.84mm / object path 2.60mm over complete 100ms window · complete JSON gzip - friction055-mass040-layout01--history_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass040-layout01--hold: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass060-layout00--baseline_placement: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass060-layout00--baseline_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass060-layout00--probe_only_placement: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following.
11.18s probe started (slow_load_bearing_check), 11.56s alarm (object_not_following), 11.56s retry started (supported_object_only), 13.22s retry completed (open_recenter_complete), 14.10s probe started (slow_load_bearing_check), 14.48s alarm (object_not_following), 14.48s abort (retry_budget_exhausted:object_not_following) · complete JSON gzip - friction055-mass060-layout00--probe_only_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass060-layout00--history_placement: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following.
11.18s probe started (slow_load_bearing_check), 11.56s alarm (object_not_following), 11.56s retry started (supported_object_only), 13.22s retry completed (open_recenter_complete), 14.10s probe started (slow_load_bearing_check), 14.48s alarm (object_not_following), 14.48s abort (retry_budget_exhausted:object_not_following) · complete JSON gzip - friction055-mass060-layout00--history_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass060-layout00--hold: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass060-layout01--baseline_placement: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass060-layout01--baseline_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass060-layout01--probe_only_placement: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:relative_slip.
11.16s probe started (slow_load_bearing_check), 11.54s alarm (object_not_following), 11.54s retry started (supported_object_only), 13.20s retry completed (open_recenter_complete), 14.08s probe started (slow_load_bearing_check), 14.46s alarm (relative_slip), 14.46s abort (retry_budget_exhausted:relative_slip) · complete JSON gzip - friction055-mass060-layout01--probe_only_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass060-layout01--history_placement: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:relative_slip.
11.16s probe started (slow_load_bearing_check), 11.54s alarm (object_not_following), 11.54s retry started (supported_object_only), 13.20s retry completed (open_recenter_complete), 14.08s probe started (slow_load_bearing_check), 14.46s alarm (relative_slip), 14.46s abort (retry_budget_exhausted:relative_slip) · complete JSON gzip - friction055-mass060-layout01--history_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction055-mass060-layout01--hold: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass040-layout00--baseline_placement: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass040-layout00--baseline_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass040-layout00--probe_only_placement: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following.
11.18s probe started (slow_load_bearing_check), 11.52s alarm (object_not_following), 11.52s retry started (supported_object_only), 13.18s retry completed (open_recenter_complete), 14.06s probe started (slow_load_bearing_check), 14.42s alarm (object_not_following), 14.42s abort (retry_budget_exhausted:object_not_following) · complete JSON gzip - friction015-mass040-layout00--probe_only_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass040-layout00--history_placement: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following.
11.18s probe started (slow_load_bearing_check), 11.52s alarm (object_not_following), 11.52s retry started (supported_object_only), 13.18s retry completed (open_recenter_complete), 14.06s probe started (slow_load_bearing_check), 14.42s alarm (object_not_following), 14.42s abort (retry_budget_exhausted:object_not_following) · complete JSON gzip - friction015-mass040-layout00--history_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass040-layout00--hold: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass040-layout01--baseline_placement: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass040-layout01--baseline_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass040-layout01--probe_only_placement: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following.
11.16s probe started (slow_load_bearing_check), 11.50s alarm (object_not_following), 11.50s retry started (supported_object_only), 13.16s retry completed (open_recenter_complete), 14.04s probe started (slow_load_bearing_check), 14.40s alarm (object_not_following), 14.40s abort (retry_budget_exhausted:object_not_following) · complete JSON gzip - friction015-mass040-layout01--probe_only_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass040-layout01--history_placement: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following.
11.16s probe started (slow_load_bearing_check), 11.50s alarm (object_not_following), 11.50s retry started (supported_object_only), 13.16s retry completed (open_recenter_complete), 14.04s probe started (slow_load_bearing_check), 14.40s alarm (object_not_following), 14.40s abort (retry_budget_exhausted:object_not_following) · complete JSON gzip - friction015-mass040-layout01--history_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass040-layout01--hold: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass060-layout00--baseline_placement: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass060-layout00--baseline_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass060-layout00--probe_only_placement: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following.
11.18s probe started (slow_load_bearing_check), 11.54s alarm (object_not_following), 11.54s retry started (supported_object_only), 13.20s retry completed (open_recenter_complete), 14.08s probe started (slow_load_bearing_check), 14.44s alarm (object_not_following), 14.44s abort (retry_budget_exhausted:object_not_following) · complete JSON gzip - friction015-mass060-layout00--probe_only_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass060-layout00--history_placement: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following.
11.18s probe started (slow_load_bearing_check), 11.54s alarm (object_not_following), 11.54s retry started (supported_object_only), 13.20s retry completed (open_recenter_complete), 14.08s probe started (slow_load_bearing_check), 14.44s alarm (object_not_following), 14.44s abort (retry_budget_exhausted:object_not_following) · complete JSON gzip - friction015-mass060-layout00--history_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass060-layout00--hold: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass060-layout01--baseline_placement: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass060-layout01--baseline_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass060-layout01--probe_only_placement: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following.
11.16s probe started (slow_load_bearing_check), 11.50s alarm (object_not_following), 11.50s retry started (supported_object_only), 13.16s retry completed (open_recenter_complete), 14.04s probe started (slow_load_bearing_check), 14.40s alarm (object_not_following), 14.40s abort (retry_budget_exhausted:object_not_following) · complete JSON gzip - friction015-mass060-layout01--probe_only_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass060-layout01--history_placement: failed · no qualification decision. Retries 1. Abort: retry_budget_exhausted:object_not_following.
11.16s probe started (slow_load_bearing_check), 11.50s alarm (object_not_following), 11.50s retry started (supported_object_only), 13.16s retry completed (open_recenter_complete), 14.04s probe started (slow_load_bearing_check), 14.40s alarm (object_not_following), 14.40s abort (retry_budget_exhausted:object_not_following) · complete JSON gzip - friction015-mass060-layout01--history_open_jaw: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip - friction015-mass060-layout01--hold: failed · no qualification decision. Retries 0.
no controller events · complete JSON gzip