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odd-conditioned
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Commits on Aug 2, 2026
Add E015-E038 experiments + B̂ certificate writeup
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Consolidate safety_sb3 + RSS under external/ at v0.4.0
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Commits on Jul 21, 2026
E018 set-membership belief estimator: B̂ shrinks to true payload θ (δ*≈0.1-0.2s), empties for OOD 12kg
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Commits on Jul 20, 2026
E014 bifurcation eval + video: payload ODD flips strategy (dodge 4.6m vs brace 0.3m)
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Commits on Jul 19, 2026
Bump RSS submodule: go2_payload decimation=10 (50Hz control)
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Bump RSS submodule: go2_payload dt=0.002 stiff-spring fix
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Bump RSS submodule: go2_payload bifurcation specialists
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Bump RSS submodule: go2_payload njmax fix
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Bump RSS submodule: go2_payload ODD-randomization (rigidity x total-mass)
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Bump RSS submodule: go2_payload robot + task (ODD-conditioned Go2 payload)
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Add robot-safety-sandbox as submodule (external/, branch project/odd-conditioned-go2-payload)
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Sloshy payload: add mass-distribution ODD axis (mass_profile + per-block masses); fix attr spacing
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Sloshy/rigid payload MJCF generator (LINC-POC port for Go2 ODD)
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E013c: raise l/g reach-reward ratio (GOAL_VALUE 0.3->1.0) to break the loiter optimum
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E013 diag: parametrize checkpoint dir (E013_DIR) for flat/annealed A/B
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Pin safety-sb3 to main@f128330 (gamma annealing default ON)
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E013 diag: threshold-sweep + monotonicity + mu-clamp counterfactual
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Commits on Jul 18, 2026
E013: IoU-vs-mu scorer (critic safe-set vs graded-l grid truth)
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E013 (Rung 1): conditioned constant-mu reach-avoid critic training + driver
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FrictionBicycleEnv: mode-switched friction-ODD env (parity-verified vs E011 grid)
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E012 (Rung 0.5): guarantee-horizon kill-test — PASS
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E011: HJ-optimal rollout renderer (corner videos across friction ODD)
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E011 v6.2: fix friction circle never limiting turning (voids v1-v6)
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E011: friction gate geometry iterations — mode-flip achievable, volume-sensitivity is not
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E011: friction-circle 4-D grid gate — correctly rejects the first geometry (no bifurcation)
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E010: c range -> [0.5,1.5] (incl c>1); measure STRATEGY/EFFECTIVENESS vs c, not safe rate
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E009: identifiability gate script (registered result in docs/log)
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E010: quick test — does vanilla ReachAvoidSAC solve dynamic ODD implicitly? (bicycle)
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Commits on Jul 17, 2026
E008c: cap torch threads (34x speedup) + parallel driver — 5 days -> ~50 min
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E008c: the gate attempt 2 — static ODD, normalized feature, wide spawns, gamma anneal, specialist control
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E008b: re-score E008 checkpoints — the '5x over-claim' is mostly scoring artifact
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E008: re-pin safety_sb3 to v0.2.0; p* risk dial RETRACTED
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E007: I was wrong, Buzi was right — safety_sb3's SAC anchor is correct
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E006: register retroactively (skill violation), fix broken table, fix wandb scalars
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E005 result: resonance FAILS (flat), but the value of ODD observation collapses 84%
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