HalfCheetah PPO — Timing Audit

Deployment Robustness

FAIL

Return 4% (jitter / delay / spike)

Stress Robustness

FAIL

Return -9% (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)	25%	24%–28% ***	2.38x	+74.6%
Deployment	Observation delay (1 step)	4%	2%–5% ***	3.79x	+96.2%
Deployment	Mid-episode spike (1-5-1)	91%	86%–98% ***	1.07x	+9.1%
Stress	5x Speed (unseen frequency)	-9%	-11%–-8% ***	4.82x	+109.3%

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

Generated by deltatau-audit v0.3