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Robot_Arm/docs/experiment_round32_uniform_latency.json
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{
"device": "cuda float64",
"torch": "2.10.0+cu130",
"kin_fp": "2ebcbf17",
"roots_per_call": 2,
"pairs": 24,
"warm": 3,
"reps": 7,
"segment_sample": "docs/experiment_round31_certificates.json 的 48 段两两成对",
"design": "每对根轮流按正序/逆序测完全部配置(3次预热+7次计时);uniform_auto 的宽相位=最大子段界+2eps,uniform_cap20 固定 20 mm,bisect 为第31轮逐层二分口径",
"results": [
{
"kind": "uniform_auto",
"n_or_budget": 8,
"points": 18,
"cap_used_mm": 5.9191,
"calls": 168,
"p50_ms": 9.684,
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"p99_ms": 15.157,
"max_ms": 17.537,
"over_20ms": 0,
"roots": 48,
"safe": 26,
"collision": 1,
"rejected": 21
},
{
"kind": "uniform_auto",
"n_or_budget": 16,
"points": 34,
"cap_used_mm": 2.9597,
"calls": 168,
"p50_ms": 14.137,
"p90_ms": 18.454,
"p99_ms": 20.866,
"max_ms": 21.632,
"over_20ms": 5,
"roots": 48,
"safe": 30,
"collision": 1,
"rejected": 17
},
{
"kind": "uniform_auto",
"n_or_budget": 32,
"points": 66,
"cap_used_mm": 1.4799,
"calls": 168,
"p50_ms": 20.209,
"p90_ms": 27.88,
"p99_ms": 32.268,
"max_ms": 35.563,
"over_20ms": 87,
"roots": 48,
"safe": 34,
"collision": 1,
"rejected": 13
},
{
"kind": "uniform_auto",
"n_or_budget": 64,
"points": 130,
"cap_used_mm": 0.7401,
"calls": 168,
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"p90_ms": 48.751,
"p99_ms": 57.697,
"max_ms": 62.084,
"over_20ms": 165,
"roots": 48,
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"collision": 1,
"rejected": 11
},
{
"kind": "uniform_auto",
"n_or_budget": 128,
"points": 258,
"cap_used_mm": 0.3701,
"calls": 168,
"p50_ms": 59.761,
"p90_ms": 89.063,
"p99_ms": 109.086,
"max_ms": 117.345,
"over_20ms": 168,
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"collision": 1,
"rejected": 9
},
{
"kind": "uniform_cap20",
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"points": 18,
"cap_used_mm": 20.0,
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"p50_ms": 13.129,
"p90_ms": 16.44,
"p99_ms": 20.963,
"max_ms": 24.67,
"over_20ms": 3,
"roots": 48,
"safe": 26,
"collision": 1,
"rejected": 21
},
{
"kind": "uniform_cap20",
"n_or_budget": 32,
"points": 66,
"cap_used_mm": 20.0,
"calls": 168,
"p50_ms": 28.415,
"p90_ms": 39.579,
"p99_ms": 53.023,
"max_ms": 59.983,
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"roots": 48,
"safe": 34,
"collision": 1,
"rejected": 13
},
{
"kind": "uniform_cap20",
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"points": 130,
"cap_used_mm": 20.0,
"calls": 168,
"p50_ms": 50.85,
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"roots": 48,
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},
{
"kind": "uniform_cap20",
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"points": 258,
"cap_used_mm": 20.0,
"calls": 168,
"p50_ms": 98.46,
"p90_ms": 139.982,
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"max_ms": 177.743,
"over_20ms": 168,
"roots": 48,
"safe": 38,
"collision": 1,
"rejected": 9
},
{
"kind": "bisect",
"n_or_budget": 32,
"points": null,
"cap_used_mm": 20.0,
"calls": 168,
"p50_ms": 54.885,
"p90_ms": 82.151,
"p99_ms": 117.205,
"max_ms": 118.716,
"over_20ms": 133,
"roots": 48,
"safe": 37,
"collision": 1,
"rejected": 10
},
{
"kind": "bisect",
"n_or_budget": 65,
"points": null,
"cap_used_mm": 20.0,
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"p50_ms": 71.825,
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"roots": 48,
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"rejected": 6
}
],
"wall_s": 108.63
}