Compare fused ensembles against separate-world command submissions. Choose sparse debris or settling piles, then inspect completion latency, throughput, GPU buffer storage and final poses. The fused mode uses one solver graph with collision-domain isolation. It has a shared contact budget and rollback boundary, and does not retain an extra reset checkpoint.

The diagnostic projection uses CPU pose readback after timing. These are simulation benchmarks, not rendering benchmarks. See the qualification protocol.