HalfCheetah PPO — Speed-Randomized Training (After)

Deployment Robustness

PASS

Return 100% (jitter / delay / spike)

Stress Robustness

FAIL

Return 38% (5x speed)

Deployment Ready

Agent maintains performance under deployment timing conditions. No immediate action needed. Consider adding timing awareness for enhanced performance at extreme speeds.

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)	121%	112%–132%	0.52x	-21.3%
Deployment	Observation delay (1 step)	148%	136%–161%	0.80x	-48.0%
Deployment	Mid-episode spike (1-5-1)	113%	102%–126%	0.92x	-13.2%
Stress	5x Speed (unseen frequency)	38%	34%–44% ***	1.01x	+61.6%

Recommendation

Agent maintains performance under deployment timing conditions. No immediate action needed. Consider adding timing awareness for enhanced performance at extreme speeds.

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

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