DVIDIA · PiPER retention v0.2

Checking grip retention without changing the squeeze.

Three authored hold strategies across twelve fresh synthetic scenes. The primary question is whether an admitted grasp remains held continuously for five simulated seconds without a false confirmation. A second reported outcome also requires the TCP to stay within the same five-second pose bounds for every variant.

Authored synthetic PiPER probe and short-pause controls with privileged simulator state. Fresh finite development cells; no learning, full placement, physical sensing or hardware qualification.

Measured Joint

12 scheduled · 12/12 valid · 4 first admissions · 0 false initial admissions · 4/12 with complete five-second follow-up · 2 native grip holds · 2 grip plus stationary-tool pauses · 0 false confirmations · 0 conservative abstentions

Attempt	Scene	Variant	Valid run	First admission	Native prefix qualified	Native five-second grip hold	Grip + stationary tool	Controller retained	False confirmation	Conservative abstention	Step p95	Primary reason / error
m45-f75-p0-measured_joint	m45-f75-p0	measured_joint	yes	11.740 s · probe 0	yes	yes	yes	yes	no	no	0.003 s	success
m45-f75-p1-measured_joint	m45-f75-p1	measured_joint	yes	12.040 s · probe 0	yes	yes	yes	yes	no	no	0.003 s	success
m45-f50-p0-measured_joint	m45-f50-p0	measured_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission
m45-f50-p1-measured_joint	m45-f50-p1	measured_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.002 s	no_admission
m45-f20-p0-measured_joint	m45-f20-p0	measured_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission
m45-f20-p1-measured_joint	m45-f20-p1	measured_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.004 s	no_admission
m55-f75-p0-measured_joint	m55-f75-p0	measured_joint	yes	11.760 s · probe 0	yes	no	no	no	no	no	0.003 s	native_predicate_lost
m55-f75-p1-measured_joint	m55-f75-p1	measured_joint	yes	12.060 s · probe 0	yes	no	no	no	no	no	0.003 s	native_predicate_lost
m55-f50-p0-measured_joint	m55-f50-p0	measured_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission
m55-f50-p1-measured_joint	m55-f50-p1	measured_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission
m55-f20-p0-measured_joint	m55-f20-p0	measured_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission
m55-f20-p1-measured_joint	m55-f20-p1	measured_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission

Issued Joint

12 scheduled · 12/12 valid · 4 first admissions · 0 false initial admissions · 4/12 with complete five-second follow-up · 4 native grip holds · 0 grip plus stationary-tool pauses · 0 false confirmations · 0 conservative abstentions

Attempt	Scene	Variant	Valid run	First admission	Native prefix qualified	Native five-second grip hold	Grip + stationary tool	Controller retained	False confirmation	Conservative abstention	Step p95	Primary reason / error
m45-f75-p0-issued_joint	m45-f75-p0	issued_joint	yes	11.740 s · probe 0	yes	yes	no	yes	no	no	0.002 s	success
m45-f75-p1-issued_joint	m45-f75-p1	issued_joint	yes	12.040 s · probe 0	yes	yes	no	yes	no	no	0.002 s	success
m45-f50-p0-issued_joint	m45-f50-p0	issued_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.004 s	no_admission
m45-f50-p1-issued_joint	m45-f50-p1	issued_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.002 s	no_admission
m45-f20-p0-issued_joint	m45-f20-p0	issued_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission
m45-f20-p1-issued_joint	m45-f20-p1	issued_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.004 s	no_admission
m55-f75-p0-issued_joint	m55-f75-p0	issued_joint	yes	11.760 s · probe 0	yes	yes	no	yes	no	no	0.003 s	success
m55-f75-p1-issued_joint	m55-f75-p1	issued_joint	yes	12.060 s · probe 0	yes	yes	no	yes	no	no	0.003 s	success
m55-f50-p0-issued_joint	m55-f50-p0	issued_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.004 s	no_admission
m55-f50-p1-issued_joint	m55-f50-p1	issued_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission
m55-f20-p0-issued_joint	m55-f20-p0	issued_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission
m55-f20-p1-issued_joint	m55-f20-p1	issued_joint	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.004 s	no_admission

Cartesian

Attempt	Scene	Variant	Valid run	First admission	Native prefix qualified	Native five-second grip hold	Grip + stationary tool	Controller retained	False confirmation	Conservative abstention	Step p95	Primary reason / error
m45-f75-p0-cartesian	m45-f75-p0	cartesian	yes	11.740 s · probe 0	yes	yes	no	no	no	yes	0.002 s	success
m45-f75-p1-cartesian	m45-f75-p1	cartesian	yes	12.040 s · probe 0	yes	yes	no	no	no	yes	0.004 s	success
m45-f50-p0-cartesian	m45-f50-p0	cartesian	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission
m45-f50-p1-cartesian	m45-f50-p1	cartesian	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission
m45-f20-p0-cartesian	m45-f20-p0	cartesian	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission
m45-f20-p1-cartesian	m45-f20-p1	cartesian	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission
m55-f75-p0-cartesian	m55-f75-p0	cartesian	yes	11.760 s · probe 0	yes	yes	no	no	no	yes	0.003 s	success
m55-f75-p1-cartesian	m55-f75-p1	cartesian	yes	12.060 s · probe 0	yes	yes	no	no	no	yes	0.004 s	success
m55-f50-p0-cartesian	m55-f50-p0	cartesian	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission
m55-f50-p1-cartesian	m55-f50-p1	cartesian	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission
m55-f20-p0-cartesian	m55-f20-p0	cartesian	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.004 s	no_admission
m55-f20-p1-cartesian	m55-f20-p1	cartesian	yes	none	—	incomplete follow-up	incomplete follow-up	not evaluated	—	—	0.003 s	no_admission

How to read the outcomes

“Native five-second grip hold” is the simulator outcome after first admission. “Grip + stationary tool” additionally requires the TCP to remain within 4 mm and 0.05 rad of its admission pose throughout the five-second window. “Controller retained” is the controller's corresponding qualification claim. A false confirmation is counted only when complete follow-up exists, the native grip hold fails, and the controller claims retention. Conservative abstention is shown separately when the native hold succeeds and the controller does not claim retention. Initial admission against the native prefix is a separate event. Incomplete follow-up is not counted as either mismatch.

Step p95 is unpaced full control-step compute wall time (including dense telemetry); it is not sensor latency or a real-time guarantee. Runs use privileged simulator state and do not establish physical retention.