DVIDIA · Research preview · PiPER

Probe, verify, hold.

A bounded native simulation study compares an evidence-based short-lift gate with a fixed timer gate. Both stop in a measured-position hold; neither performs full placement or transport.

24attempt records

24/24valid native runs

24planned attempts

Authored short-lift/hold controllers with privileged native simulator state. No full placement, learned policy, camera tracking, calibrated physical sensing or hardware qualification.

Evidence policy · 12 attempts

Primary admissions 6/12 · audited false qualifications 0 · conservative abstentions 0 · terminal policy statuses: invalidated_hold 10, qualified_hold 2.

Attempt / scene	Native run	Primary admission event	Terminal event / state	Final 1 ms evidence	Audited claims: false qual · abstention · disagreement	Final planning gate	Policy CPU mean / p95	Whole-step CPU mean / p95
m40-f80-p0-evidence	valid	evidence_qualified @ 11.86s	no invalidation · qualified_hold	admissible	false qualification 0 · conservative abstention 0 · disagreements 0	ready_for_simulated_transport	0.04 / 0.07 ms	1.68 / 2.26 ms
m40-f80-p1-evidence	valid	evidence_qualified @ 12.12s	hold_invalidated: probe_height_not_retained	not admissible	false qualification 0 · conservative abstention 0 · disagreements 0	test_lift_required	0.04 / 0.06 ms	1.63 / 2.28 ms
m40-f55-p0-evidence	valid	evidence_qualified @ 11.86s	no invalidation · qualified_hold	admissible	false qualification 0 · conservative abstention 0 · disagreements 0	ready_for_simulated_transport	0.04 / 0.07 ms	1.72 / 2.42 ms
m40-f55-p1-evidence	valid	evidence_qualified @ 12.12s	hold_invalidated: probe_height_not_retained	not admissible	false qualification 0 · conservative abstention 0 · disagreements 0	test_lift_required	0.05 / 0.06 ms	1.66 / 2.37 ms
m40-f15-p0-evidence	valid	no admission	abort: retry_budget_exhausted:object_not_following	not admissible	false qualification 0 · conservative abstention 0 · disagreements 0	test_lift_required	0.04 / 0.07 ms	1.60 / 3.30 ms
m40-f15-p1-evidence	valid	no admission	abort: retry_budget_exhausted:object_not_following	not admissible	false qualification 0 · conservative abstention 0 · disagreements 0	test_lift_required	0.05 / 0.07 ms	1.59 / 3.34 ms
m60-f80-p0-evidence	valid	evidence_qualified @ 11.88s	hold_invalidated: probe_height_not_retained	not admissible	false qualification 0 · conservative abstention 0 · disagreements 0	test_lift_required	0.05 / 0.09 ms	2.11 / 3.86 ms
m60-f80-p1-evidence	valid	evidence_qualified @ 12.16s	hold_invalidated: probe_height_not_retained	not admissible	false qualification 0 · conservative abstention 0 · disagreements 0	test_lift_required	0.04 / 0.09 ms	1.92 / 2.75 ms
m60-f55-p0-evidence	valid	no admission	abort: relative_slip	not admissible	false qualification 0 · conservative abstention 0 · disagreements 0	test_lift_required	0.04 / 0.07 ms	1.62 / 2.44 ms
m60-f55-p1-evidence	valid	no admission	abort: retry_budget_exhausted:object_not_following	not admissible	false qualification 0 · conservative abstention 0 · disagreements 0	test_lift_required	0.04 / 0.07 ms	1.63 / 2.82 ms
m60-f15-p0-evidence	valid	no admission	abort: retry_budget_exhausted:object_not_following	not admissible	false qualification 0 · conservative abstention 0 · disagreements 0	test_lift_required	0.06 / 0.09 ms	1.68 / 3.30 ms
m60-f15-p1-evidence	valid	no admission	abort: retry_budget_exhausted:object_not_following	not admissible	false qualification 0 · conservative abstention 0 · disagreements 0	test_lift_required	0.05 / 0.07 ms	1.64 / 3.32 ms

Timer policy · 12 attempts

Primary admissions 12/12 · audited false qualifications 8 · conservative abstentions 0 · terminal policy statuses: invalidated_hold 10, timer_hold 2.

Attempt / scene	Native run	Primary admission event	Terminal event / state	Final 1 ms evidence	Audited claims: false qual · abstention · disagreement	Final planning gate	Policy CPU mean / p95	Whole-step CPU mean / p95
m40-f80-p0-timer	valid	timer_admitted @ 11.86s	no invalidation · timer_hold	admissible	false qualification 0 · conservative abstention 0 · disagreements 0	ready_for_simulated_transport	0.04 / 0.06 ms	1.65 / 2.30 ms
m40-f80-p1-timer	valid	timer_admitted @ 12.12s	hold_invalidated: probe_height_not_retained	not admissible	false qualification 0 · conservative abstention 0 · disagreements 0	test_lift_required	0.04 / 0.06 ms	1.65 / 2.33 ms
m40-f55-p0-timer	valid	timer_admitted @ 11.86s	no invalidation · timer_hold	admissible	false qualification 0 · conservative abstention 0 · disagreements 0	ready_for_simulated_transport	0.04 / 0.06 ms	1.67 / 2.39 ms
m40-f55-p1-timer	valid	timer_admitted @ 12.12s	hold_invalidated: probe_height_not_retained	not admissible	false qualification 0 · conservative abstention 0 · disagreements 0	test_lift_required	0.04 / 0.06 ms	1.67 / 2.43 ms
m40-f15-p0-timer	valid	timer_admitted @ 11.86s	hold_invalidated: support_returned	not admissible	false qualification 1 · conservative abstention 0 · disagreements 1	test_lift_required	0.04 / 0.06 ms	1.60 / 2.34 ms
m40-f15-p1-timer	valid	timer_admitted @ 12.12s	hold_invalidated: support_returned	not admissible	false qualification 1 · conservative abstention 0 · disagreements 1	test_lift_required	0.05 / 0.09 ms	1.76 / 2.69 ms
m60-f80-p0-timer	valid	timer_admitted @ 11.86s	hold_invalidated: probe_height_not_retained	not admissible	false qualification 1 · conservative abstention 0 · disagreements 1	test_lift_required	0.05 / 0.08 ms	1.89 / 2.77 ms
m60-f80-p1-timer	valid	timer_admitted @ 12.12s	hold_invalidated: probe_height_not_retained	not admissible	false qualification 1 · conservative abstention 0 · disagreements 1	test_lift_required	0.05 / 0.09 ms	1.93 / 2.74 ms
m60-f55-p0-timer	valid	timer_admitted @ 11.86s	hold_invalidated: support_returned	not admissible	false qualification 1 · conservative abstention 0 · disagreements 1	test_lift_required	0.05 / 0.10 ms	1.77 / 2.50 ms
m60-f55-p1-timer	valid	timer_admitted @ 12.12s	hold_invalidated: support_returned	not admissible	false qualification 1 · conservative abstention 0 · disagreements 1	test_lift_required	0.05 / 0.12 ms	1.71 / 2.64 ms
m60-f15-p0-timer	valid	timer_admitted @ 11.86s	hold_invalidated: support_returned	not admissible	false qualification 1 · conservative abstention 0 · disagreements 1	test_lift_required	0.04 / 0.07 ms	1.68 / 2.90 ms
m60-f15-p1-timer	valid	timer_admitted @ 12.12s	hold_invalidated: support_returned	not admissible	false qualification 1 · conservative abstention 0 · disagreements 1	test_lift_required	0.04 / 0.08 ms	1.69 / 2.66 ms

How to read this

The 1 ms evidence audit independently checks recorded native simulator rows. The policy gate is sampled at control boundaries; the report preserves any disagreement. “Final planning gate” combines the simulation receipt with caller-declared load, friction, geometry, force-limit and pose assumptions. It is a planning result, not permission to actuate.

CPU values show per-attempt policy-call and complete-step computation summaries, in milliseconds (mean / p95). They exclude sensors, transport, physical actuation and evidence serialization. Host timing is not a real-time guarantee.

The evidence receipt uses privileged simulator state and an authored synthetic force ceiling. It does not measure real material properties, establish a calibrated force limit, or demonstrate that a physical gripper can hold the object.