Add one predeclared mass-four paired VIV exploration

2026-11-01 00:35:34 +08:00
parent 516975ef64
commit 73d3f6214e
3 changed files with 154 additions and 9 deletions
@@ -81,3 +81,40 @@ CUDA_VISIBLE_DEVICES=0 PYTHONPATH=src python research/karman_viv/run.py \
 First `--smoke`: same D40 geometry, warmup32/target2x8/warmup32,
 4x8 response steps each arm; strictly plumbing only. CPU source checks and
 independent exact-tip review precede GPU. Preserve original DynamisLab files.
+
+## One predeclared m*=4 exploration (2026-10-31)
+
+The m*=2 attempt at `516975ef6482f983ace347cb10de7450d2fbd680` stopped
+at the declared travel guard in both arms: zero 10.469375 D/U, PPO 27.5525 D/U.
+Its principal 80–160 D/U paired window is unavailable. Early attenuation is
+not sustained suppression; control-only DTW is not a paired cloaking result.
+Those results remain unchanged and retained.
+
+The sole next candidate doubles M and K together: m*=4, M=15079.644737231,
+K=0.000372075320164, fn=0.000025, C=zeta=0. This increases inertia and stiffness,
+not damping. Half response under an identical prescribed external force is
+the selection rationale only; coupled flow feedback can invalidate it. This
+is an exploratory development case, not independent validation or a sweep.
+
+Reuse the exact saved static release, config, target, model and normalizer.
+`--release-dir` checks precursor metadata, config equality, both DDF/flags
+hashes and clock against the original transfer receipt. Each fresh arm still
+checks its upload against that seed. No warmup, moving restart or new release
+file is generated. All fluid/geometry/EMA/SI/RHS settings, 400SI per arm,
+zero damping, ±D guard and other stop conditions above remain unchanged.
+The original failure stops the remaining run rule also remains unchanged.
+
+```
+CUDA_VISIBLE_DEVICES=0 PYTHONPATH=src python research/karman_viv/run.py \
+  --model /tmp/celeris-karman-viv-assets/model.zip \
+  --norm /tmp/celeris-karman-viv-assets/norm.json --out /tmp/NEW_M4_OUTPUT \
+  --mass-ratio 4 --release-dir /tmp/celeris-results-karman-viv-516975e/pair
+```
+
+Report matched valid windows only, separately retaining mean offset,
+centered RMS, half-range, interval/native forces, crossing/diagnostic counts
+and paired DTW only where both arms have sufficient data. The larger
+controlled force excursions remain unresolved: retained m*=2 data strongly
+associate them with the post-action-reset ramp, not exclusively current-step
+node switching. No force smoothing, action-contract change, enlarged travel
+band or further parameter adjustment follows an unsuccessful outcome.