68 lines
3.3 KiB
Markdown
68 lines
3.3 KiB
Markdown
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# Calibration and Evidence-Locking Policy
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This document defines when a numerical setting may move from development to a
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locked experiment. Calibration output is engineering evidence, not a paper
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result.
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## Evidence states
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Every setting or implementation contract receives one of four states:
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1. **Verified contract**: a deterministic identity or accounting invariant has
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passed an independent reconstruction from stored arrays.
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2. **Provisional numerical setting**: calibration supports using the setting in
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another calibration or pilot, but not in a locked experiment.
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3. **Frozen setting**: the value, selection rule, analysis configuration, source
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commit, and admissible operating envelope are fixed before locked data are
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inspected.
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4. **Not freeze-ready**: the calibration design is confounded, lacks the
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required comparison, or has an unacceptable safety/transparency trade-off.
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## Freeze gate
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A setting can be frozen only if all of the following are true:
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- trials are generated from a clean, immutable Git commit;
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- paired methods receive identical trajectory, model, sensor, and network
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inputs where the hypothesis requires pairing;
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- calibration instances are genuinely distinct rather than timing-only
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repetitions;
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- failure, invalidity, timeout, clipping, intervention, and exclusion reasons
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are machine-readable and retained;
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- the primary endpoint is numerically well-defined for the selected stratum;
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- the selected value is supported by a parameter scan or an external physical
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calibration, not by a single untested level;
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- tail behavior and failed trials are reviewed before the value is selected;
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- the locked configuration and independent metric configuration receive new
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hashes after the decision.
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## H1--H4 decision boundaries
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- **H1**: freeze only after reach clipping, joint-limit stress,
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low-manipulability stress, and valid branch-continuity trajectories are
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separately identifiable. The experimental unit is a complete trajectory.
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- **H2**: numerical calibration may select a robust DLS region, but physical
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wrench-accuracy claims require an independent six-axis F/T reference,
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timestamp calibration, payload/friction calibration, and a causal
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acceleration estimate.
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- **H3**: the fixed-branch virtual-work identity is a deterministic contract.
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Actual closed-loop power mismatch is a different performance endpoint and
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must not be replaced by the identity check. Near-zero-power trials require a
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preregistered normalizer gate or an absolute mismatch outcome.
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- **H4**: passing the energy-accounting audit verifies implementation
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correctness only. Energy capacity and feedback gain remain not freeze-ready
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if the projection distortion is excessive or the tested network/contact
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envelope is incomplete.
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## Data handling
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Raw batches remain under `output/experiments/` and are intentionally ignored by
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Git because they can be regenerated from the plan, source commit, and recorded
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seeds. The source-controlled audit records plan hashes, source-data hashes,
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anomalies, and freeze decisions. No calibration value may be copied into the
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manuscript Results section.
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Locked experiments must use a new batch directory and must never overwrite a
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calibration batch. A locked run is invalid if the worktree is dirty or if its
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recorded source and model hashes do not match the approved lock record.
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