Gate unsafe motion. Preserve the tradeoff.
Illustrative rollout analysis only. This is not TACTIC, MPPI, a robot controller, a dynamics model, a patient-safety determination, or a benchmark result.
PROGRESS · PEAK FORCE · CONTACT CONTINUITY · JOINT MARGIN · COLLISIONS · FEASIBLE SET · PARETO FRONTIER ·
CANDIDATE ROLLOUT CSV
EXPLICIT FEASIBILITY GATES
Required columns: trajectory, progress, peak_force_n, contact_loss_events, joint_margin_rad, collisions.
Hard gates first.
Tradeoffs second.
ENGINES NOT RUN
—PARSED TRAJECTORIES
—FEASIBLE
—PARETO FRONTIER
NO DOMINANCE TRACE
NO FRONTIER ANALYZED
Nondominated does not mean universally best. The frontier reflects only supplied columns, gates, and illustrative data.