Perturbation Detection on MuJoCo HalfCheetah 168 perturbation trials v4 (evaluation)
42Median Latency (windows)IDT (union)
Evaluation results
| Method | Links | ||
|---|---|---|---|
| IDT (union)Protocol=±3σ threshold, Channel=Union of all metrics2026.03 | 42 | 89.3 | |
| IDTMetric=Information Digital Twin union of P, ΔH, Hf, Hb2026.02 | 42 | — | |
| ΔHProtocol=±3σ threshold, Channel=Hf - Hb2026.03 | 67 | 69 | |
| ΔHMetric=predictive asymmetry2026.02 | 67 | — | |
| HfProtocol=±3σ threshold, Channel=H(S'|S, A)2026.03 | 69 | 70.8 | |
| HfMetric=forward uncertainty2026.02 | 69 | — | |
| PProtocol=±3σ threshold, Channel=bi-predictability2026.03 | 74 | 73.2 | |
| PMetric=bi-predictability2026.02 | 74 | — | |
| HbProtocol=±3σ threshold, Channel=H(S, A|S')2026.03 | 75 | 69.6 | |
| HbMetric=backward ambiguity2026.02 | 75 | — | |
| RewardProtocol=±3σ threshold on windowed episodic return, Channel=Episodic Return2026.03 | 184 | 44 | |
| RewardsMetric=reward-based detection2026.02 | 184 | — |