Gate PASS in simulation.

60 episodes (3 seeds x 20): random launch offset ≤ 1.0 m, tilt ≤ 30.0 deg, drift ≤ 0.2 m/s, gusts 3.25 N (0.25 g) every [1.5, 3.0] s, 12.0 s each

Success 60/60; 95% confidence the true rate is ≥ 0.94 (Wilson lower bound).

Canaries are deliberately broken robots flown with this policy. The gate must fail every one; a canary that passes would mean the gate has a blind spot, and nothing ships.

Probes are faults a real robot will have. They are not part of the gate, so they do not block delivery, but each failure below is a reason this policy is not ready for hardware as is.

Parsed from train.log. Every iteration is in training/learning_curve.csv in the package.

✓Deploy PASS deploy-aff9479d. Jetson deploy OK (multirotor: TensorRT engine on the Orin GPU, parity vs ONNX, then 30 s ROS 2 flight loop on the GPU with 0.25 g gusts and a hover-target move; cost $0)

ENGINE_RC=0
parity TensorRT vs ONNX (CPU reference), 200 random obs: max |diff| = 2.86e-06 PASS
t=15s rtf=1.00 mean_err=0.109m crashes=0 gusts_recovered=5/5 max_recovery_s=0.53 gust_gate=PASS lag_events=0 radius=0.150 gust_frac=0.25
backend=TensorRT-GPU infer_ms p50=0.672 p99=0.864 max=0.868 period_ms=100
t=20s rtf=1.00 mean_err=0.171m crashes=0 gusts_recovered=6/6 max_recovery_s=0.55 gust_gate=PASS lag_events=0 radius=0.150 gust_frac=0.25
backend=TensorRT-GPU infer_ms p50=0.639 p99=0.733 max=0.762 period_ms=100
t=25s rtf=1.00 mean_err=0.058m crashes=0 gusts_recovered=9/9 max_recovery_s=0.55 gust_gate=PASS lag_events=0 radius=0.150 gust_frac=0.25
backend=TensorRT-GPU infer_ms p50=0.639 p99=0.726 max=0.750 period_ms=100
t=30s rtf=1.00 mean_err=0.065m crashes=0 gusts_recovered=11/11 max_recovery_s=0.56 gust_gate=PASS lag_events=0 radius=0.150 gust_frac=0.25
backend=TensorRT-GPU infer_ms p50=0.635 p99=0.686 max=0.687 period_ms=100
t=34s rtf=1.00 mean_err=0.071m crashes=0 gusts_recovered=13/13 max_recovery_s=0.56 gust_gate=PASS lag_events=0 radius=0.150 gust_frac=0.25

On the Jetson: build the TensorRT engine (it must match ONNX or the script stops), build the ROS 2 package, launch the policy node. Topics, observation order and a simulator-only launch are in README.md.

unzip skydio_x2-v1-2026-11-04.zip && cd skydio_x2-v1-2026-11-04 && export PKG=$PWD
./jetson-build-engine.sh policy/policy.onnx fp32
cp -r ros2/pf_policy ~/pf_ws/src/ && (cd ~/pf_ws && colcon build --packages-select pf_policy)
ros2 launch pf_policy multirotor.launch.py role:=policy backend:=trt \
  policy:=$PKG/policy/policy.engine robot_dir:=$PKG/robot

Contents of skydio_x2-v1-2026-11-04.zip

• MANIFEST.json
• README.md
• gate/report.json
• gate/summary.md
• jetson-build-engine.sh
• media/clip_0000.mp4
• media/x2_customer_scene.mp4
• media/x2_ros2_steered.mp4
• policy/policy.onnx
• policy/policy.onnx.data
• report.html
• robot/robot.json
• selftest/selftest.json
• selftest/selftest.md
• training/learning_curve.csv
• ros2/pf_policy/ (27 files)
• lineage/ (4 manifests)

• Simulation only. Trained in Isaac Sim (PhysX) and gated in MuJoCo, a second physics engine. Nothing here has run on the physical robot; agreement between two simulators is not evidence about the real one.
• latency 1 step: fails. Gate checks that broke: crashes, success_rate, p95_gust_recovery_s, mean_final_err.
• latency 2 steps: fails. Gate checks that broke: crashes, success_rate, p95_gust_recovery_s, mean_final_err.
• sensor noise 0.05: fails. Gate checks that broke: success_rate, p95_gust_recovery_s, mean_final_err.
• gusts 4x the spec: fails. Gate checks that broke: mean_final_err.
• Latency. One policy step is 100 ms. The policy expects fresh state; measure your estimator and bus latency, and retrain with latency randomization if it reaches a step.
• Not tested: real sensors and state estimation, actuators/ESCs, battery sag, terrain or flight conditions outside the gate scenarios, communication loss, any other task.
• First hardware tests need a safety pilot or e-stop and a human sign-off.

Each stage is a black box that wrote a hashed manifest; this delivery checked every one before reading it. The manifests are in lineage/.

Policy: run/exported/policy.onnx. Gate manifest: gate-979a1e6a.