{
  "qualification": "October 2026 exploratory results; not held-out, not hardware validation",
  "indy7": {
    "gato": {
      "path": "examples/benchmarks/data/sweep_fig8_gato_indy7.csv",
      "sha256": "4f2a17ea342f7b5bc4e696085c88e509d78de39dff0afaf7ec08dd05a14610ec",
      "N": 64,
      "boundary": "internal solver time",
      "median_ms": {
        "1": 0.2655,
        "2": 0.2975,
        "4": 0.338,
        "8": 0.4265,
        "16": 0.633,
        "32": 1.0415,
        "64": 1.875,
        "128": 3.621,
        "256": 7.189,
        "512": 14.3995
      }
    },
    "bt": {
      "path": "examples/benchmarks/data/sweep_fig8_bt_indy7.csv",
      "sha256": "b962daa64dc0e3005c6ca92c79bdddb2abc9f7f3e4a2f8ca3fb8b38f107cbc9a",
      "N": 64,
      "boundary": "internal solver time",
      "median_ms": {
        "1": 2.498,
        "2": 3.1551,
        "4": 3.1693,
        "8": 3.1792,
        "16": 3.3073,
        "32": 6.6757,
        "64": 12.0017,
        "128": 21.9614
      }
    }
  },
  "fig7": {
    "fig7_stop": {
      "path": "examples/paper-figures/data/fig7_stop.pkl",
      "sha256": "609d589ec1d893ec20dffcb7c457e3ad9e1474d860bceb97fb5d44ab568dde3c",
      "source": {
        "sha": "7eb7009e001cc0ec7cc4eb6fe6be2185d7b2d370",
        "short": "7eb7009",
        "dirty": true,
        "date": "2026-10-03T19:55:54"
      },
      "solver_params": {
        "max_sqp_iters": 5,
        "max_pcg_iters": 100,
        "pcg_tol": 1e-06,
        "solve_ratio": 1.0,
        "mu": 10.0,
        "q_cost": 5.0,
        "qd_cost": 0.01,
        "u_cost": 5e-07,
        "N_cost": 50.0,
        "q_lim_cost": 0.0,
        "vel_lim_cost": 0.0,
        "ctrl_lim_cost": 0.0,
        "rho": 0.001
      },
      "mpc_defaults": {
        "goal_timeout": 5.0,
        "goal_threshold": 0.05,
        "velocity_threshold": 1.0,
        "velocity_norm": 2,
        "pace_by_solve_time": false,
        "settle_time": 0.1,
        "goal_ramp": 1.5
      },
      "simulation_protocol": "unit-quaternion-pendulum-v2",
      "successes": {
        "1": [
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          true,
          true,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          true
        ],
        "8": [
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true
        ],
        "32": [
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true
        ],
        "128": [
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true
        ]
      }
    },
    "fig7_pass_through": {
      "path": "examples/paper-figures/data/fig7_pass_through.pkl",
      "sha256": "42c5fe7d2f74c8b9e6247fff5a0b9b1242ffdfe3b4906c54decd031cc6dd160c",
      "source": {
        "sha": "5cb5f7d5a66105c8180cb0bb4495168dd2c0210a",
        "short": "5cb5f7d",
        "dirty": false,
        "date": "2026-10-03T15:48:20"
      },
      "solver_params": {
        "max_sqp_iters": 5,
        "max_pcg_iters": 100,
        "pcg_tol": 1e-06,
        "solve_ratio": 1.0,
        "mu": 10.0,
        "q_cost": 5.0,
        "qd_cost": 0.01,
        "u_cost": 5e-07,
        "N_cost": 50.0,
        "q_lim_cost": 0.0,
        "vel_lim_cost": 0.0,
        "ctrl_lim_cost": 0.0,
        "rho": 0.001
      },
      "mpc_defaults": {
        "goal_timeout": 5.0,
        "goal_threshold": 0.05,
        "velocity_threshold": 1.0,
        "velocity_norm": 2,
        "pace_by_solve_time": false,
        "settle_time": 0.0
      },
      "simulation_protocol": "unit-quaternion-pendulum-v2",
      "successes": {
        "1": [
          false,
          false,
          false,
          true,
          false,
          false,
          true,
          true,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          true,
          true,
          false,
          true,
          false,
          false,
          true,
          true,
          true,
          false,
          false,
          false,
          true,
          true,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          true,
          false,
          false,
          false,
          true,
          false,
          true,
          false,
          false,
          false,
          true,
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          true,
          false,
          false,
          true,
          false,
          true,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          true,
          false,
          true,
          false,
          false,
          true,
          false,
          true,
          false,
          false,
          false,
          false
        ],
        "8": [
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          false,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          false,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          false,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          false,
          true,
          false
        ],
        "32": [
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true
        ],
        "128": [
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true
        ]
      }
    },
    "fig7_pickplace_v2_fe": {
      "path": "examples/paper-figures/data/fig7_pickplace_v2_fe.pkl",
      "sha256": "a0c9be23a97c235a4b6963deb21dbd9fb62af617748cf349c49eede64d94e730",
      "source": {
        "sha": "84257157690b5880130de27c90380ab28cc6f45b",
        "short": "8425715",
        "dirty": false,
        "date": "2026-10-03T11:00:23"
      },
      "solver_params": {
        "max_sqp_iters": 5,
        "max_pcg_iters": 100,
        "pcg_tol": 1e-06,
        "solve_ratio": 1.0,
        "mu": 10.0,
        "q_cost": 5.0,
        "qd_cost": 0.01,
        "u_cost": 5e-07,
        "N_cost": 50.0,
        "q_lim_cost": 0.0,
        "vel_lim_cost": 0.0,
        "ctrl_lim_cost": 0.0,
        "rho": 0.001
      },
      "mpc_defaults": {
        "goal_timeout": 5.0,
        "goal_threshold": 0.05,
        "velocity_threshold": 1.0,
        "velocity_norm": 2,
        "pace_by_solve_time": false,
        "settle_time": 0.0
      },
      "simulation_protocol": "unit-quaternion-pendulum-v2",
      "successes": {
        "1": [
          false,
          true,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          false
        ],
        "8": [
          false,
          false,
          true,
          false,
          false,
          true,
          true,
          true,
          true,
          false,
          false,
          false,
          true,
          false,
          false,
          true,
          true,
          true,
          true,
          false,
          true,
          false,
          true,
          true,
          true,
          true,
          false,
          false,
          false,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          false,
          true,
          false,
          true,
          true,
          false,
          true,
          true,
          true,
          false,
          false,
          true,
          true,
          false,
          true,
          true,
          false,
          true,
          true,
          true,
          false,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          false,
          false,
          false,
          false,
          false,
          false,
          true,
          false,
          false,
          true,
          false,
          false,
          false,
          true,
          true,
          true,
          false,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true
        ],
        "32": [
          true,
          false,
          false,
          true,
          true,
          true,
          true,
          true,
          false,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          false,
          true,
          true,
          false,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          false,
          true,
          true,
          false,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true
        ],
        "128": [
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          false,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          false,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          false,
          false,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true,
          true
        ]
      }
    }
  }
}