CartPole Speed-Randomized GRU (After Fix)

Deployment Robustness

DEGRADED

Return 62% (jitter / delay / spike)

Stress Robustness

FAIL

Return 49% (5x speed)

Deployment Fragile

Agent degrades under deployment timing conditions. Recommended fix: train with speed randomization (jitter/delay/spike augmentation).

1. Robustness Test — Timing Perturbations

Wraps the environment with timing perturbations. The agent runs normally — no internal intervention. Deployment scenarios (jitter, delay, spike) model realistic conditions. Stress scenarios (5x speed) test extreme resilience.

Robustness Under Timing Perturbations

Robustness Detail

Category	Scenario	Return (% nominal)	95% CI	RMSE ratio	Return Change
Deployment	Speed jitter (2 +/- 1)	115%	103%–129%	1.04x	-14.9%
Deployment	Observation delay (1 step)	95%	89%–102%	1.03x	+4.5%
Deployment	Mid-episode spike (1-5-1)	62%	46%–79% ***	1.33x	+37.6%
Stress	5x Speed (unseen frequency)	49%	33%–67% ***	1.59x	+51.0%

Recommendation

Agent degrades under deployment timing conditions. Recommended fix: train with speed randomization (jitter/delay/spike augmentation).

Speeds tested: [1, 2, 3, 5, 8] | Episodes per condition: 30 | Intervention support: False

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