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Robot_Arm/docs/experiment_round32_bound_falsification.json
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cbb c6b46b8bb1 exp: 轮次32——均匀细分认证一次调用可证段内碰撞,界经720项检验未证伪,但P50≤20ms的档只能证出54~63%
- certify_uniform:固定 n 个子段一次 gaps 调用,判据与二分同源(子段界=整段界/n),证不出即拒
- 确定界反证:48段×121点×15组对=720项检验 0 违例;有信息量仅 61 项,最紧仍高出 0.035 mm
  (是"未能在真实运动上证伪",不是证明;浮点误差仍未形式化)
- 第180题 1.08-1.10s 漏检段在每个 n>=8 均判碰撞;二次加密(2n+1)反证 0 误放行
- 更正轮次31的"自适应cap无收益":旧公式 bound/2+eps 会把本可通过的子段钳成不可证;
  改为 bound+2eps 后交错实测决策不变、快 1.36~1.65x(n=8 13.13→9.68,n=128 98.46→59.76 ms)
- 负结论:只有 n<=16 能把认证压进 20 ms,但该档仅证出 26-30/48 根,其余必须刹停;
  成本=log(bound/间隙) 决定,故下一步要在反馈后限幅并让安全层要求正余量(现 cap=0.5 会截掉余量)
- 测试 23→26 项:n=5拒/n=6受的解析对照、cap_required 公式、n 张量类型门
2026-10-20 19:30:02 +08:00

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{
"scope": "全部 48 段 × 15 组对 = 720 项检验;观察值按 cap=2.0 mm 钳制,故可检验命题取 min(预测下限, cap)。违例=实测最小间隙低于该下限。",
"checks": 720,
"violations": [],
"worst_margin_mm": 0.0,
"min_slack_mm": 1e-06,
"dense_cap_mm": 2.0,
"grid_points_per_segment": 121,
"supersedes": "docs/experiment_round32_uniform_validation.json 里 bound_checks=61 的部分覆盖版本",
"kin_fp": "2ebcbf17",
"wall_s": 1.66,
"nontrivial": {
"definition": "只有预测下限 < 观察 cap 才是有信息量的检验;其余组对被钳制恒等式自动满足",
"checks": 61,
"min_slack_mm": 0.035347,
"p10_slack_mm": 0.544274,
"violations": 0,
"pred_mm_median_all": 15.8639,
"pred_mm_max_all": 19.9582
},
"note": "720 项总检验 0 违例,其中有信息量的是 61 项;预测下限的中位数 15.9 mm 远大于观察 cap 2 mm,所以大部分组对无法在本网格上证伪"
}