Signed receipt#

GPU correctness is attested by a signed pytest-gpu-proof receipt committed at the repository root (gpu-proof.json) and verified without a GPU by the verify-gpu-proof workflow on every push. This page is generated from the committed receipt at documentation build time. What the receipt does and does not attest and how one is produced are in the reference pages.

Current receipt#

Field	Value
Outcome	passed: 508 passed, 0 failed, 0 skipped (508 recorded)
Commit	`196924708f4f8370b24b27ed2fd971e167bf29e9` on `w3-device-arms` (tree clean)
Run	2026-10-20T15:02:20Z to 2026-10-20T15:05:08Z (UTC)
GPU	cuda_visible_devices: None, devices: [{‘compute_capability’: ‘12.0’, ‘driver_version’: ‘615.71.09’, ‘index’: ‘0’, ‘memory’: ‘32607 MiB’, ‘name’: ‘NVIDIA GeForce RTX 5090’, ‘uuid’: ‘GPU-bf781ab0-9632-4b9a-497b-c3b846aae70c’}], source: nvidia-smi
Platform	Linux-7.0.0-38-generic-x86_64-with-glibc2.39, Python 3.12.3, pytest 9.1.1, plugin 0.4.1, schema 3
Signer	GitHub user `plancherb1`, ed25519 key `SHA256:hfyUcDJTDLry3j7nJ9V2X8iEIgNFmFJQKGQirOdyWtY`
Source fingerprint	sha256-manifest-v2, 415 files over `.github`, `.gitmodules`, `CMakeLists.txt`, `MANIFEST.in`, `examples`, `gato`, `pyproject.toml`, `python`, `test`, `tools`; digest `4688400860dcbe05…`

The verifier recomputes the source fingerprint from the checkout, checks the commit’s ancestry, the signature against the signer’s public GitHub keys, the receipt’s age and the policy in test/gpu-proof-policy.yaml; the collected suite must equal test/expected_tests.txt and no test may skip.

Module set the receipt attests#

The suite runs on exactly these solver modules (test/receipt_modules.txt); a missing one refuses the run. Variants: fc = contact-force controls, eh = exact Hessian.

Robot	Horizon N	Variant
`indy7`	8	default
`indy7`	16	default
`indy7`	32	default
`indy7`	46	default
`indy7`	64	default
`indy7`	128	default
`iiwa14`	8	default
`iiwa14`	16	default
`iiwa14`	32	default
`iiwa14`	46	default
`iiwa14`	64	default
`iiwa14`	128	default
`fr3`	64	default
`gen3`	64	default
`ur5e`	64	default
`go2`	16	default
`go2`	16	fc
`indy7`	16	fc
`iiwa14`	16	fc
`indy7`	16	eh
`iiwa14`	16	eh

Verify it yourself#

pip install pytest-gpu-proof==0.4.1 pyyaml
gpu-proof verify --receipt gpu-proof.json --repo . \
    --policy test/gpu-proof-policy.yaml --expected-skips test/expected_skips.txt --require-gpu

A receipt attests the recorded tests at the fingerprinted sources on the lab GPU. It does not certify runtime speed, other robots or settings, or safety on physical hardware.