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Robot_Arm/docs/experiment_round32_uniform_validation.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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{
"segments": 48,
"kin_fp": "2ebcbf17",
"dense_cap_mm": 2.0,
"eps_mm": 0.0001,
"bound_falsification": "每条组对:预测下限 (ga+gb-bound)/2 应 ≤ 网格上该组对的最小实测间隙",
"per_segment": [
{
"n": 8,
"safe": 26,
"collision": 1,
"unproven": 21,
"outside_box": 0,
"false_accept_vs_dense": 0,
"cap_required_mm": 5.919107314806348,
"known_missed_segment_collision": true
},
{
"n": 16,
"safe": 30,
"collision": 1,
"unproven": 17,
"outside_box": 0,
"false_accept_vs_dense": 0,
"cap_required_mm": 2.959653657403174,
"known_missed_segment_collision": true
},
{
"n": 32,
"safe": 34,
"collision": 1,
"unproven": 13,
"outside_box": 0,
"false_accept_vs_dense": 0,
"cap_required_mm": 1.479926828701587,
"known_missed_segment_collision": true
},
{
"n": 64,
"safe": 36,
"collision": 1,
"unproven": 11,
"outside_box": 0,
"false_accept_vs_dense": 0,
"cap_required_mm": 0.7400634143507935,
"known_missed_segment_collision": true
},
{
"n": 128,
"safe": 38,
"collision": 1,
"unproven": 9,
"outside_box": 0,
"false_accept_vs_dense": 0,
"cap_required_mm": 0.37013170717539673,
"known_missed_segment_collision": true
}
],
"bound_checks": 61,
"bound_violations": [],
"worst_margin_mm": 0.0
}