CartPole Baseline GRU (Before Fix)

Deployment Robustness

FAIL

Return 23% (jitter / delay / spike)

Stress Robustness

FAIL

Return 12% (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)	66%	52%–83% ***	1.61x	+33.9%
Deployment	Observation delay (1 step)	82%	72%–94% ***	0.97x	+17.8%
Deployment	Mid-episode spike (1-5-1)	23%	18%–30% ***	1.32x	+77.1%
Stress	5x Speed (unseen frequency)	12%	9%–16% ***	1.78x	+87.7%

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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