[DEMO] Normal PR control (perf-gate GREEN)

[Neil4561]

Demo PR (not for merge)

GREEN case for the performance smoke-test demo.

Change: documentation only. This PR expands the benchmark_non_rl.py module docstring and does not change benchmark behavior or runtime code.

Why this case exists: this is the healthy control. It shows what a normal PR should look like when the smoke test runs: most cells should stay near or above their historical baselines.

Matrix: Isaac-Cartpole-Direct + Isaac-Factory-GearMesh-Direct-v0 (physx) + Isaac-Velocity-Flat-G1-v0.

Trigger via mirror to pull-request/<N> or workflow_dispatch.

[github-actions]

Performance Smoke Results

Baseline read SHA: fbacaae09d4e

Run context

• GPU: NVIDIA RTX PRO 6000 Blackwell Server Edition
• Runtime: cuda=12.8, driver=595.71.05, warp=1.13.0
• Threshold policy: rolling baseline per row. Each task/backend is compared against its own compatible baseline samples using median/MAD.

How to read this table

• PASS: no meaningful slowdown was detected.
• WARN: suspicious or uncertain result, such as insufficient baselines, retry-only success, or a slowdown in the WARN band.
• BLOCK: a blocking-level regression signal was detected. In this POC, BLOCK is advisory (it flags a regression) and only fails the check when the gate is explicitly configured as blocking.
• HARD_FAILURE: the benchmark did not produce usable FPS data, for example an import/init/runtime failure or config mismatch.
• Delta: change in FPS versus the baseline. + means faster than baseline (speedup); - means slower than baseline (slowdown).
• Threshold policy: explains which comparison rule produced the verdict. rolling_window means each row uses its own compatible baseline median/MAD window, not one shared FPS cutoff.
• Noise: baseline MAD as a percent of baseline FPS. Higher noise means the task/backend naturally varies more from run to run.
• Phase: the stage a HARD_FAILURE happened in (e.g. import, init, runtime); blank when the benchmark ran to completion.
• Retried: yes if the cell only passed after an automatic re-run.

Task	Backend	Verdict	FPS	Baseline	Delta (+ faster / - slower)	Noise	Samples	Phase	Notes	Retried
Isaac-Cartpole-Direct	newton	PASS	1013144.9	1013835.8	-0.07%	1.11%	6		p99/med=1.178; outliers=0	no
Isaac-Cartpole-Direct	physx	PASS	278663.0	281551.3	-1.03%	0.97%	6		p99/med=1.316; outliers=0	no
Isaac-Factory-GearMesh-Direct-v0	physx	PASS	1228.9	1209.0	+1.65%	0.21%	6		p99/med=1.031; outliers=1	no
Isaac-Velocity-Flat-G1-v0	newton	BLOCK	30173.5	33462.9	-9.83%	0.67%	6		block_confirmed(n=1); p99/med=1.133; outliers=0	no
Isaac-Velocity-Flat-G1-v0	physx	PASS	10613.3	10770.8	-1.46%	1.39%	6		p99/med=1.167; outliers=0	no

Updated for 74bab6f · run