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feat: consume the single mavros artifact - #515

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BornPsych wants to merge 19 commits into
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feat: consume the single mavros artifact#515
BornPsych wants to merge 19 commits into
ys/ark06-mavros-mainfrom
ys/single-artifact

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@BornPsych

@BornPsych BornPsych commented Oct 21, 2026

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@BornPsych
feat(backend): order mavros inputs with the return guard
0cae4c1
@BornPsych
feat(backend): remap mavros witness columns onto public inputs
df75a0a
@BornPsych
fix(backend): prove mavros circuits through the column map
181d91d
@BornPsych
feat(r1cs-compiler): read the versioned mavros artifact and remap its…
3740c88 
… r1cs
@BornPsych
fix(cli): build the spark matrix from the scheme r1cs for both frontends
062f0cf
@BornPsych
test(cli): cover mavros public-input binding on the power example
e1dbecd
@BornPsych
ci: compare the noir and mavros frontends on a schedule
cb28b30
@BornPsych
chore(common): bump prover and scheme formats to 2.1 for the mavros k…
b3e17f9 
…ey layout

MavrosProver now serializes the column map and WitnessLayout gained the
guard and return fields, so keys written before this branch no longer
parse. Bump the minor so a stale .pkp or .nps is rejected with a version
error instead of a deserialization failure, as #457 did for the previous
MavrosSchemeData change. Verifier files are unchanged.
@BornPsych
chore(deps): pin mavros to the public-first witness layout
f30886a
@BornPsych
feat(backend): compute the mavros return instead of supplying it
c4b40f8
@BornPsych
feat(verifier): accept a transcript session id
e300320
@BornPsych
feat(backend): bind the mavros artifact digest into the transcript
f8a4f03
@BornPsych
chore(examples): drop declared returns from the prover inputs
d28d393
@BornPsych
refactor(backend): drop string and tuple ordering for mavros inputs
3dd9679
@BornPsych
docs(backend): restore the mavros prover module docs
27ba3c6
@BornPsych
docs: drop comments that restate the mavros code
188bbe7
@BornPsych
refactor: merge the mavros permutation, input and spark helpers
1fc2b56
@BornPsych
feat: consume the single mavros artifact
d19b264
@BornPsych
chore: drop the temporary mavros path patch
9c7a454
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@BornPsych
BornPsych added this pull request to stack #516 October 21, 2026 07:15
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CSP benchmarks

Metric Value
Workflow status [PASS] success
Commit 345af9b4e699
Run #39559793563
Circuits benchmarked 21
Iterations averaged per circuit 3

Prover time, peak RSS, peak heap, and verifier time are arithmetic means across the iterations. Peak heap comes from the largest peak memory entry in provekit-cli prove's tracing output; peak RSS is reported by /usr/bin/time -v (max-resident-set-size).

Each metric cell shows the current value followed by the percentage delta against the latest successful main run #39217449505. (new) marks circuits absent from the baseline.

Results
Circuit Constraints Witnesses Prover time Peak RSS Peak heap Verifier time Proof size PKP size
ecdsa_p256 143,321 (±0.0%) 258,215 (±0.0%) 1.49 s (-0.7%) 237 MB (-0.1%) 196 MB (±0.0%) 110 ms (±0.0%) 741 KB (+4.3%) 831 KB (±0.0%)
keccak_1024 788,814 (±0.0%) 1,490,812 (±0.0%) 4.20 s (-1.0%) 929 MB (±0.0%) 906 MB (±0.0%) 463 ms (-2.1%) 772 KB (+0.2%) 6.01 MB (±0.0%)
keccak_128 157,522 (±0.0%) 304,529 (±0.0%) 1.05 s (-0.6%) 251 MB (±0.0%) 210 MB (±0.0%) 130 ms (±0.0%) 743 KB (+0.3%) 1.24 MB (±0.0%)
keccak_2048 1,507,374 (±0.0%) 2,840,532 (±0.0%) 8.21 s (-0.8%) 1.75 GB (±0.0%) 1.74 GB (±0.0%) 870 ms (-1.1%) 866 KB (-4.2%) 12.15 MB (±0.0%)
keccak_256 247,782 (±0.0%) 474,010 (±0.0%) 1.24 s (-0.5%) 298 MB (-0.9%) 257 MB (±0.0%) 170 ms (-1.9%) 715 KB (+0.3%) 1.89 MB (±0.0%)
keccak_512 428,126 (±0.0%) 812,944 (±0.0%) 2.21 s (-0.4%) 527 MB (±0.0%) 471 MB (±0.0%) 267 ms (-1.2%) 779 KB (+3.3%) 3.25 MB (±0.0%)
poseidon2_12 479 (±0.0%) 563 (±0.0%) 40 ms (-7.6%) 13.62 MB (-0.5%) 4.17 MB (±0.0%) 10 ms (±0.0%) 227 KB (+0.5%) 437 KB (±0.0%)
poseidon2_16 556 (±0.0%) 719 (±0.0%) 40 ms (-14.3%) 14.36 MB (±0.0%) 4.33 MB (±0.0%) 10 ms (±0.0%) 228 KB (+1.1%) 530 KB (±0.0%)
poseidon2_2 231 (±0.0%) 278 (±0.0%) 37 ms (-8.2%) 12.94 MB (+0.6%) 3.44 MB (±0.0%) 10 ms (±0.0%) 223 KB (-1.7%) 108 KB (±0.0%)
poseidon2_4 529 (±0.0%) 535 (±0.0%) 30 ms (±0.0%) 13.43 MB (+0.9%) 3.63 MB (±0.0%) 10 ms (±0.0%) 225 KB (-1.2%) 31.93 KB (±0.0%)
poseidon2_8 363 (±0.0%) 423 (±0.0%) 40 ms (±0.0%) 13.53 MB (+0.2%) 4.08 MB (±0.0%) 10 ms (±0.0%) 230 KB (+1.2%) 365 KB (±0.0%)
poseidon_12 504 (±0.0%) 524 (±0.0%) 40 ms (±0.0%) 14.07 MB (±0.0%) 4.27 MB (±0.0%) 10 ms (±0.0%) 227 KB (+0.5%) 569 KB (±0.0%)
poseidon_16 609 (±0.0%) 633 (±0.0%) 50 ms (±0.0%) 14.89 MB (+0.3%) 4.93 MB (-0.1%) 10 ms (-24.8%) 227 KB (-0.2%) 717 KB (±0.0%)
poseidon_2 240 (±0.0%) 249 (±0.0%) 30 ms (-9.9%) 12.78 MB (-1.3%) 3.40 MB (±0.0%) 10 ms (±0.0%) 226 KB (+0.4%) 59.38 KB (±0.0%)
poseidon_4 297 (±0.0%) 309 (±0.0%) 40 ms (±0.0%) 13.83 MB (+0.1%) 4.02 MB (±0.0%) 10 ms (±0.0%) 223 KB (-1.3%) 333 KB (±0.0%)
poseidon_8 402 (±0.0%) 418 (±0.0%) 40 ms (±0.0%) 13.87 MB (-0.7%) 4.15 MB (±0.0%) 10 ms (±0.0%) 225 KB (-0.3%) 448 KB (±0.0%)
sha256_1024 196,913 (±0.0%) 339,721 (±0.0%) 1.14 s (-2.6%) 279 MB (+1.2%) 244 MB (±0.0%) 180 ms (-5.3%) 713 KB (-4.2%) 1.87 MB (-0.6%)
sha256_128 46,371 (±0.0%) 80,931 (±0.0%) 310 ms (-1.1%) 75.13 MB (+0.2%) 57.70 MB (±0.0%) 60 ms (±0.0%) 643 KB (+6.1%) 502 KB (±0.0%)
sha256_2048 345,372 (±0.0%) 612,681 (±0.0%) 2.19 s (-0.8%) 502 MB (±0.0%) 456 MB (±0.0%) 323 ms (-2.0%) 746 KB (-4.1%) 3.05 MB (-0.9%)
sha256_256 67,877 (±0.0%) 117,901 (±0.0%) 493 ms (-1.3%) 126 MB (-1.1%) 102 MB (±0.0%) 80 ms (±0.0%) 627 KB (+0.1%) 694 KB (-0.7%)
sha256_512 110,889 (±0.0%) 191,841 (±0.0%) 617 ms (-1.1%) 153 MB (±0.0%) 131 MB (±0.0%) 110 ms (±0.0%) 625 KB (-0.8%) 1.09 MB (-0.1%)

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@BornPsych