Criteria: tasks/chain10_criteria.md (pre-registered). fd_ripple is documentation-only (H1 killed by code audit); r2’s path drivers are counterfactual (its orbit path was disabled).
peak phases: [0.2178, 0.9824, 0.9371, 0.2037, 0.9592, 0.9122, 0.2036, 0.9347, 0.2178, 0.7356] peak heights: [2766119.6, 896116.9, 771710.7, 615009.6, 506475.0, 457486.5, 450787.8, 450461.0, 446289.1, 351116.0]
| driver | Cliff’s d (peak vs control) | Spearman (height vs driver) |
|---|---|---|
| derate | +0.500 | +nan |
| fd_ripple | +0.100 | +nan |
| path_curv | +0.100 | +nan |
| reach_b | +0.600 | -0.430 |
| sin_elbow | +0.020 | -0.430 |
| sin_wrist2 | +0.120 | +0.200 |
| ze_err | -0.540 | -0.321 |
peak phases: [0.8963, 1.0, 1.0, 0.9078, 0.7314, 0.2205, 1.0, 1.0, 0.2205, 1.0] peak heights: [9303638.1, 2237206.9, 1888929.5, 1627847.7, 887505.7, 800199.4, 503582.1, 492954.1, 371428.7, 342319.4]
| driver | Cliff’s d (peak vs control) | Spearman (height vs driver) |
|---|---|---|
| derate | +0.500 | +nan |
| fd_ripple | +0.100 | +nan |
| path_curv | +0.100 | +nan |
| reach_b | +0.140 | -0.079 |
| sin_elbow | -0.320 | -0.030 |
| sin_wrist2 | +0.660 | +0.067 |
| ze_err | -0.860 | +0.006 |
peak phases: [0.9366, 0.9895, 0.9572, 1.0, 1.0, 1.0, 0.2019, 1.0, 1.0, 1.0] peak heights: [1960861.9, 1960028.2, 1170957.2, 1064617.1, 933120.9, 767531.4, 757092.6, 649648.2, 645452.6, 568680.6]
| driver | Cliff’s d (peak vs control) | Spearman (height vs driver) |
|---|---|---|
| derate | +0.500 | +nan |
| fd_ripple | +0.100 | +nan |
| path_curv | +0.100 | +nan |
| reach_b | +0.240 | +0.491 |
| sin_elbow | -0.340 | +0.527 |
| sin_wrist2 | +0.020 | -0.309 |
| ze_err | -0.180 | -0.188 |
peak phases: [0.3168, 0.966, 0.1809, 0.3167, 0.269, 0.3168, 1.0, 0.0316, 0.6752, 0.966] peak heights: [10913.5, 6803.3, 4053.5, 2599.4, 2488.9, 2482.4, 2188.2, 2123.5, 1577.5, 1407.0]
| driver | Cliff’s d (peak vs control) | Spearman (height vs driver) |
|---|---|---|
| derate | +0.500 | +nan |
| fd_ripple | -0.100 | +0.052 |
| path_curv | -0.100 | +0.052 |
| reach_b | -0.420 | +0.103 |
| sin_elbow | -0.040 | -0.176 |
| sin_wrist2 | -0.160 | -0.370 |
| ze_err | +0.480 | -0.079 |
peak phases: [0.3494, 0.3494, 0.3493, 0.2915, 0.3524, 0.3492, 0.2917, 0.2913, 0.3495, 0.0135] peak heights: [9321.5, 1605.1, 1568.0, 1563.0, 508.5, 423.9, 415.3, 413.3, 395.5, 249.2]
| driver | Cliff’s d (peak vs control) | Spearman (height vs driver) |
|---|---|---|
| derate | +0.800 | +nan |
| fd_ripple | +0.100 | -0.181 |
| path_curv | +0.100 | -0.181 |
| reach_b | +0.200 | -0.273 |
| sin_elbow | -0.190 | -0.534 |
| sin_wrist2 | -0.720 | +0.188 |
| ze_err | +0.580 | -0.673 |
peak phases: [0.0307, 0.0499, 0.0652, 0.0479, 0.0503, 0.0142, 0.0306, 0.0308, 0.0163, 0.0603] peak heights: [1048.4, 1004.3, 546.4, 281.6, 280.9, 279.1, 277.5, 246.8, 244.2, 214.8]
| driver | Cliff’s d (peak vs control) | Spearman (height vs driver) |
|---|---|---|
| derate | +1.000 | +nan |
| fd_ripple | -0.900 | -0.103 |
| path_curv | -0.900 | -0.103 |
| reach_b | +0.820 | +0.394 |
| sin_elbow | +0.540 | +0.418 |
| sin_wrist2 | -0.520 | +0.115 |
| ze_err | +0.940 | -0.382 |
peak phases: [1.0, 0.0504, 0.3208, 0.1998, 0.3333, 1.0, 1.0, 0.1453, 1.0, 0.0503] peak heights: [3958.8, 2824.2, 2737.9, 1737.3, 1292.3, 1279.3, 999.0, 891.1, 772.5, 722.9]
| driver | Cliff’s d (peak vs control) | Spearman (height vs driver) |
|---|---|---|
| derate | +0.700 | +nan |
| fd_ripple | -0.170 | -0.138 |
| path_curv | -0.170 | -0.138 |
| reach_b | +0.280 | +0.127 |
| sin_elbow | -0.060 | -0.042 |
| sin_wrist2 | -0.060 | -0.116 |
| ze_err | +0.260 | -0.103 |
peak phases: [0.9829, 1.0, 0.0316, 0.8921, 0.4796, 0.8751, 0.9913, 0.983, 0.0671, 0.9826] peak heights: [3068.0, 2172.0, 2123.5, 2099.4, 1731.5, 1438.9, 910.2, 757.7, 727.0, 722.5]
| driver | Cliff’s d (peak vs control) | Spearman (height vs driver) |
|---|---|---|
| derate | +0.500 | +nan |
| fd_ripple | -0.180 | +0.022 |
| path_curv | -0.180 | +0.022 |
| reach_b | +0.060 | -0.297 |
| sin_elbow | -0.120 | -0.006 |
| sin_wrist2 | -0.160 | -0.406 |
| ze_err | +0.640 | -0.042 |
| run | episodes (entries) | total dwell [s] | stalled fraction |
|---|---|---|---|
| r0_6dof_path | 6 | 631.5 | 0.1401 |
| r0_6dof_minus2pct | 7 | 655.2 | 0.1486 |
| r0_6dof_plus2pct | 8 | 614.1 | 0.1360 |
| r1_7dof_path | 23 | 430.9 | 0.0148 |
| r1_7dof_minus2pct | 14 | 231.0 | 0.0016 |
| r1_7dof_plus2pct | 2 | 3.3 | 0.0000 |
| r2_7dof_reactive | 27 | 299.6 | 0.0209 |
| r3_7dof_anchor | 33 | 185.1 | 0.0031 |