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Jev computes and chooses the actual commands.", "no_new_tiles_guard": false, "sim_time_limit_s": 180, "executed_action_overrides": 0, "state_access": "privileged simulator telemetry and future centerline waypoints, not pixels", "recorded_prompt_and_source": "evidence/control/racing-focused-v2-K20-resolution0.02-seed7.tar.gz" } } ], "featured_run_id": "racing-focused-v2-K20-resolution0.005-seed7", "success_criterion": "Environment reports lap_finished after visiting every track tile.", "config": { "continuous": true, "state_access": "Privileged car telemetry and future centerline waypoints; no pixels." }, "notes": [ "Shown: seed 7, lap finished, reward 579.40.", "The featured recording is a selected example after prompt development. All earlier failures and all new attempts remain in the history below.", "Revised prompts state a steering formula and speed decision table in each question, using current telemetry without previous-command history. Jev selects every numeric action." ] }, { "id": "lunarlander", "title": "Lunar Lander", "description": "Two engine commands; land softly on the central pad.", "environment": "LunarLander-v3", "action_dimensions": 2, "runs": [ { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -458.24575468717114, "success": false, "stop_reason": "crash", "steps": 62, "sim_seconds": 1.24, "api_calls": 26, "decision_count": 13, "mean_action_latency_s": 0.6420899523565402, "p95_action_latency_s": 1.3875583834946144, "wall_seconds": 8.997375521808863, "id": "lunarlander-seed7-v1", "media": { "gif": "media/control/lunarlander-seed7-v1/preview.gif", "video": "media/control/lunarlander-seed7-v1/replay.mp4", "poster": "media/control/lunarlander-seed7-v1/poster.png" }, "trace": "evidence/control/lunarlander-seed7-v1.tar.gz", "config": { "attempt": "v1", "guidance": "Explicit arithmetic control guidance adapted from the Gymnasium lunar-lander heuristic; targets are computed by Jev through choices, not by Python.", "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "action_hold_frames": 5, "success_definition": "environment terminated, lander asleep, and no body crash", "simulation_time_note": "MountainCar has discrete steps, displayed seconds use its 30-fps render rate; Box2D games integrate at 50 Hz.", "preview_start_seconds": 0, "preview_duration_seconds": 1.4 } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -508.56137741433656, "success": false, "stop_reason": "crash", "steps": 71, "sim_seconds": 1.42, "api_calls": 30, "decision_count": 15, "mean_action_latency_s": 0.48028379355867706, "p95_action_latency_s": 0.5560893375426531, "wall_seconds": 7.9018395356833935, "id": "lunarlander-seed19-v1", "media": { "gif": "media/control/lunarlander-seed19-v1/preview.gif", "video": "media/control/lunarlander-seed19-v1/replay.mp4", "poster": "media/control/lunarlander-seed19-v1/poster.png" }, "trace": "evidence/control/lunarlander-seed19-v1.tar.gz", "config": { "attempt": "v1", "guidance": "Explicit arithmetic control guidance adapted from the Gymnasium lunar-lander heuristic; targets are computed by Jev through choices, not by Python.", "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "action_hold_frames": 5, "success_definition": "environment terminated, lander asleep, and no body crash", "simulation_time_note": "MountainCar has discrete steps, displayed seconds use its 30-fps render rate; Box2D games integrate at 50 Hz.", "preview_start_seconds": 0, "preview_duration_seconds": 1.6 } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -100.63963241127243, "success": false, "stop_reason": "crash", "steps": 66, "sim_seconds": 1.32, "api_calls": 28, "decision_count": 14, "mean_action_latency_s": 0.5108114143035242, "p95_action_latency_s": 0.6741098066791892, "wall_seconds": 7.820860270410776, "id": "lunarlander-seed7-v2", "media": { "gif": "media/control/lunarlander-seed7-v2/preview.gif", "video": "media/control/lunarlander-seed7-v2/replay.mp4", "poster": "media/control/lunarlander-seed7-v2/poster.png" }, "trace": "evidence/control/lunarlander-seed7-v2.tar.gz", "config": { "attempt": "v2", "guidance": "Expanded explicit arithmetic control guidance adapted from the Gymnasium lunar-lander heuristic, with sign/deadzone reminders; Jev computes all choices from raw observations.", "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "action_hold_frames": 5, "success_definition": "environment terminated, lander asleep, and no body crash", "simulation_time_note": "MountainCar has discrete steps, displayed seconds use its 30-fps render rate; Box2D games integrate at 50 Hz.", "preview_start_seconds": 0, "preview_duration_seconds": 1.5 } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -128.29755466185338, "success": false, "stop_reason": "crash", "steps": 73, "sim_seconds": 1.46, "api_calls": 30, "decision_count": 15, "mean_action_latency_s": 0.5133292074004809, "p95_action_latency_s": 0.5967529281973838, "wall_seconds": 8.332958430051804, "id": "lunarlander-seed19-v2", "media": { "gif": "media/control/lunarlander-seed19-v2/preview.gif", "video": "media/control/lunarlander-seed19-v2/replay.mp4", "poster": "media/control/lunarlander-seed19-v2/poster.png" }, "trace": "evidence/control/lunarlander-seed19-v2.tar.gz", "config": { "attempt": "v2", "guidance": "Expanded explicit arithmetic control guidance adapted from the Gymnasium lunar-lander heuristic, with sign/deadzone reminders; Jev computes all choices from raw observations.", "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "action_hold_frames": 5, "success_definition": "environment terminated, lander asleep, and no body crash", "simulation_time_note": "MountainCar has discrete steps, displayed seconds use its 30-fps render rate; Box2D games integrate at 50 Hz.", "preview_start_seconds": 0, "preview_duration_seconds": 1.6 } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -36.41998268444928, "success": false, "stop_reason": "crash", "steps": 92, "sim_seconds": 1.84, "api_calls": 38, "decision_count": 19, "mean_action_latency_s": 0.533511042006706, "p95_action_latency_s": 0.6480286024510861, "wall_seconds": 10.8947062343359, "id": "lunarlander-seed7-v3", "media": { "gif": "media/control/lunarlander-seed7-v3/preview.gif", "video": "media/control/lunarlander-seed7-v3/replay.mp4", "poster": "media/control/lunarlander-seed7-v3/poster.png" }, "trace": "evidence/control/lunarlander-seed7-v3.tar.gz", "config": { "attempt": "v3", "guidance": "Verbal braking/tilt heuristic and per-interval physical-effect labels. No computed target commands or hidden controller.", "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "action_hold_frames": 5, "success_definition": "environment terminated, lander asleep, and no body crash", "simulation_time_note": "MountainCar has discrete steps, displayed seconds use its 30-fps render rate; Box2D games integrate at 50 Hz.", "preview_start_seconds": 0, "preview_duration_seconds": 2.0 } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -256.98230756097735, "success": false, "stop_reason": "out_of_bounds", "steps": 125, "sim_seconds": 2.5, "api_calls": 50, "decision_count": 25, "mean_action_latency_s": 0.5093735641241074, "p95_action_latency_s": 0.6297016762197016, "wall_seconds": 13.63199158385396, "id": "lunarlander-seed19-v3", "media": { "gif": "media/control/lunarlander-seed19-v3/preview.gif", "video": "media/control/lunarlander-seed19-v3/replay.mp4", "poster": "media/control/lunarlander-seed19-v3/poster.png" }, "trace": "evidence/control/lunarlander-seed19-v3.tar.gz", "config": { "attempt": "v3", "guidance": "Verbal braking/tilt heuristic and per-interval physical-effect labels. No computed target commands or hidden controller.", "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "action_hold_frames": 5, "success_definition": "environment terminated, lander asleep, and no body crash", "simulation_time_note": "MountainCar has discrete steps, displayed seconds use its 30-fps render rate; Box2D games integrate at 50 Hz.", "preview_start_seconds": 0, "preview_duration_seconds": 2.6 } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -105.97308357749482, "success": false, "stop_reason": "crash", "steps": 66, "sim_seconds": 1.32, "api_calls": 28, "decision_count": 14, "mean_action_latency_s": 0.488266259431839, "p95_action_latency_s": 0.5721129259094596, "wall_seconds": 7.497998420149088, "id": "lunarlander-seed7-v4", "media": { "gif": "media/control/lunarlander-seed7-v4/preview.gif", "video": "media/control/lunarlander-seed7-v4/replay.mp4", "poster": "media/control/lunarlander-seed7-v4/poster.png" }, "trace": "evidence/control/lunarlander-seed7-v4.tar.gz", "config": { "attempt": "v4", "guidance": "Verbal braking/tilt heuristic and per-interval physical-effect labels. No computed target commands or hidden controller.", "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "action_hold_frames": 5, "success_definition": "environment terminated, lander asleep, and no body crash", "simulation_time_note": "MountainCar has discrete steps, displayed seconds use its 30-fps render rate; Box2D games integrate at 50 Hz.", "preview_start_seconds": 0, "preview_duration_seconds": 1.5 } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -114.63515058061371, "success": false, "stop_reason": "crash", "steps": 77, "sim_seconds": 1.54, "api_calls": 32, "decision_count": 16, "mean_action_latency_s": 0.5102335715200752, "p95_action_latency_s": 0.5754562085494399, "wall_seconds": 8.838476411998272, "id": "lunarlander-seed19-v4", "media": { "gif": "media/control/lunarlander-seed19-v4/preview.gif", "video": "media/control/lunarlander-seed19-v4/replay.mp4", "poster": "media/control/lunarlander-seed19-v4/poster.png" }, "trace": "evidence/control/lunarlander-seed19-v4.tar.gz", "config": { "attempt": "v4", "guidance": "Verbal braking/tilt heuristic and per-interval physical-effect labels. No computed target commands or hidden controller.", "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "action_hold_frames": 5, "success_definition": "environment terminated, lander asleep, and no body crash", "simulation_time_note": "MountainCar has discrete steps, displayed seconds use its 30-fps render rate; Box2D games integrate at 50 Hz.", "preview_start_seconds": 0, "preview_duration_seconds": 1.7 } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 121.37217632106376, "success": true, "stop_reason": "safe_landing", "steps": 491, "sim_seconds": 9.82, "api_calls": 198, "decision_count": 99, "mean_action_latency_s": 0.45423124734349923, "p95_action_latency_s": 0.5868044093251228, "wall_seconds": 47.43557960167527, "score_threshold_met": false, "final_observation": { "x": -0.43584, "y": -0.023871, "vx": 0.0, "vy": 0.0, "angle": -0.330538, "angular_velocity": 0.0, "leg0_contact": 1.0, "leg1_contact": 1.0 }, "id": "lunarlander-seed19-v10", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed19-v10/preview.gif", "video": "media/control/lunarlander-seed19-v10/replay.mp4", "poster": "media/control/lunarlander-seed19-v10/poster.png" }, "trace": "evidence/control/lunarlander-seed19-v10.tar.gz", "config": { "prompt_variant": "v10", "attempt": "v10", "guidance": "v7 with current raw observation only; historical observations/actions and broad rules removed from request state.", "changes_from_original": "v7 with current raw observation only; historical observations/actions and broad rules removed from request state. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. No historical actions in the model request.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed19-v10.tar.gz" } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 21.28123091191344, "success": false, "stop_reason": "crash", "steps": 102, "sim_seconds": 2.04, "api_calls": 42, "decision_count": 21, "mean_action_latency_s": 0.4756389586698441, "p95_action_latency_s": 0.5872024074196815, "wall_seconds": 10.73456434160471, "score_threshold_met": false, "final_observation": { "x": -0.066747, "y": -0.036546, "vx": 0.070643, "vy": -0.08884, "angle": 0.075825, "angular_velocity": -0.503764, "leg0_contact": 1.0, "leg1_contact": 1.0 }, "id": "lunarlander-seed19-v11", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed19-v11/preview.gif", "video": "media/control/lunarlander-seed19-v11/replay.mp4", "poster": "media/control/lunarlander-seed19-v11/poster.png" }, "trace": "evidence/control/lunarlander-seed19-v11.tar.gz", "config": { "prompt_variant": "v11", "attempt": "v11", "guidance": "v6 per-axis arithmetic guide and current-observation repetition, with current raw telemetry only.", "changes_from_original": "v6 per-axis arithmetic guide and current-observation repetition, with current raw telemetry only. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. No historical actions in the model request.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed19-v11.tar.gz" } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -650.0910721732644, "success": false, "stop_reason": "crash", "steps": 84, "sim_seconds": 1.68, "api_calls": 34, "decision_count": 17, "mean_action_latency_s": 0.4655694023651235, "p95_action_latency_s": 0.5947247616946696, "wall_seconds": 8.636248584836721, "score_threshold_met": false, "final_observation": { "x": 0.842404, "y": 0.230157, "vx": 2.646702, "vy": -0.445002, "angle": -2.866795, "angular_velocity": -8.200573, "leg0_contact": 0.0, "leg1_contact": 0.0 }, "id": "lunarlander-seed19-v12", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed19-v12/preview.gif", "video": "media/control/lunarlander-seed19-v12/replay.mp4", "poster": "media/control/lunarlander-seed19-v12/poster.png" }, "trace": "evidence/control/lunarlander-seed19-v12.tar.gz", "config": { "prompt_variant": "v12", "attempt": "v12", "guidance": "Current telemetry only; main-engine altitude/descent-speed ordered rules; side engine simple error formula with +/-0.65 or zero.", "changes_from_original": "Current telemetry only; main-engine altitude/descent-speed ordered rules; side engine simple error formula with +/-0.65 or zero. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. No historical actions in the model request.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed19-v12.tar.gz" } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 224.72275130690713, "success": true, "stop_reason": "safe_landing", "steps": 287, "sim_seconds": 5.74, "api_calls": 116, "decision_count": 58, "mean_action_latency_s": 0.47874174761618005, "p95_action_latency_s": 0.5684229513630271, "wall_seconds": 29.283331405371428, "score_threshold_met": true, "final_observation": { "x": 0.102951, "y": -0.001152, "vx": 0.0, "vy": 0.0, "angle": 0.001688, "angular_velocity": 0.0, "leg0_contact": 0.0, "leg1_contact": 1.0 }, "id": "lunarlander-seed19-v14", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed19-v14/preview.gif", "video": "media/control/lunarlander-seed19-v14/replay.mp4", "poster": "media/control/lunarlander-seed19-v14/poster.png" }, "trace": "evidence/control/lunarlander-seed19-v14.tar.gz", "config": { "prompt_variant": "v14", "attempt": "v14", "guidance": "Current telemetry only; main-engine altitude/descent-speed ordered rules; lateral engine explicit arithmetic stabilization formula. Observation repeated directly in each question.", "changes_from_original": "Current telemetry only; main-engine altitude/descent-speed ordered rules; lateral engine explicit arithmetic stabilization formula. Observation repeated directly in each question. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. No historical actions in the model request.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed19-v14.tar.gz" } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 211.97233307050107, "success": true, "stop_reason": "safe_landing", "steps": 328, "sim_seconds": 6.56, "api_calls": 132, "decision_count": 66, "mean_action_latency_s": 0.5052074245882757, "p95_action_latency_s": 0.6623674491420388, "wall_seconds": 35.04193797707558, "score_threshold_met": true, "final_observation": { "x": 0.213826, "y": -0.015654, "vx": 0.0, "vy": 0.0, "angle": -0.114137, "angular_velocity": 0.0, "leg0_contact": 1.0, "leg1_contact": 1.0 }, "id": "lunarlander-seed19-v14-replicate", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed19-v14-replicate/preview.gif", "video": "media/control/lunarlander-seed19-v14-replicate/replay.mp4", "poster": "media/control/lunarlander-seed19-v14-replicate/poster.png" }, "trace": "evidence/control/lunarlander-seed19-v14-replicate.tar.gz", "config": { "prompt_variant": "v14", "attempt": "v14-replicate", "guidance": "Current telemetry only; main-engine altitude/descent-speed ordered rules; lateral engine explicit arithmetic stabilization formula. Observation repeated directly in each question.", "changes_from_original": "Current telemetry only; main-engine altitude/descent-speed ordered rules; lateral engine explicit arithmetic stabilization formula. Observation repeated directly in each question. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. No historical actions in the model request.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed19-v14-replicate.tar.gz" } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 178.8792885950046, "success": true, "stop_reason": "safe_landing", "steps": 282, "sim_seconds": 5.64, "api_calls": 114, "decision_count": 57, "mean_action_latency_s": 0.4872568172582409, "p95_action_latency_s": 0.5762992464005946, "wall_seconds": 29.257441114634275, "score_threshold_met": false, "final_observation": { "x": -0.42223, "y": -0.025579, "vx": 0.0, "vy": 0.0, "angle": -0.258144, "angular_velocity": 0.0, "leg0_contact": 1.0, "leg1_contact": 1.0 }, "id": "lunarlander-seed19-v15", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed19-v15/preview.gif", "video": "media/control/lunarlander-seed19-v15/replay.mp4", "poster": "media/control/lunarlander-seed19-v15/poster.png" }, "trace": "evidence/control/lunarlander-seed19-v15.tar.gz", "config": { "prompt_variant": "v15", "attempt": "v15", "guidance": "Current telemetry only; main-engine ordered rules; side engine ordered uprightness and angular-velocity damping rules, without horizontal navigation.", "changes_from_original": "Current telemetry only; main-engine ordered rules; side engine ordered uprightness and angular-velocity damping rules, without horizontal navigation. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. No historical actions in the model request.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed19-v15.tar.gz" } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -134.73203906997676, "success": false, "stop_reason": "crash", "steps": 73, "sim_seconds": 1.46, "api_calls": 30, "decision_count": 15, "mean_action_latency_s": 0.49640629813075066, "p95_action_latency_s": 0.6090659696608779, "wall_seconds": 8.090377781540155, "score_threshold_met": false, "final_observation": { "x": -0.092339, "y": -0.033703, "vx": -0.202403, "vy": -0.958633, "angle": -0.109752, "angular_velocity": 5.916486, "leg0_contact": 1.0, "leg1_contact": 1.0 }, "id": "lunarlander-seed19-v5", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed19-v5/preview.gif", "video": "media/control/lunarlander-seed19-v5/replay.mp4", "poster": "media/control/lunarlander-seed19-v5/poster.png" }, "trace": "evidence/control/lunarlander-seed19-v5.tar.gz", "config": { "prompt_variant": "v5", "attempt": "v5", "guidance": "Full per-axis arithmetic guide in question.instructions; raw observation plus original rules/history retained.", "changes_from_original": "Full per-axis arithmetic guide in question.instructions; raw observation plus original rules/history retained. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. Original rules and four previous observations/actions also present.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed19-v5.tar.gz" } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -146.77985729742957, "success": false, "stop_reason": "crash", "steps": 73, "sim_seconds": 1.46, "api_calls": 30, "decision_count": 15, "mean_action_latency_s": 0.5852282886703809, "p95_action_latency_s": 0.850611321255564, "wall_seconds": 9.422427330166101, "score_threshold_met": false, "final_observation": { "x": -0.091055, "y": -0.036352, "vx": -0.280509, "vy": -0.978579, "angle": -0.068783, "angular_velocity": 6.324929, "leg0_contact": 1.0, "leg1_contact": 1.0 }, "id": "lunarlander-seed19-v7", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed19-v7/preview.gif", "video": "media/control/lunarlander-seed19-v7/replay.mp4", "poster": "media/control/lunarlander-seed19-v7/poster.png" }, "trace": "evidence/control/lunarlander-seed19-v7.tar.gz", "config": { "prompt_variant": "v7", "attempt": "v7", "guidance": "v5 plus arithmetic-expression/interval-classification framing; raw observation plus original rules/history retained.", "changes_from_original": "v5 plus arithmetic-expression/interval-classification framing; raw observation plus original rules/history retained. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. Original rules and four previous observations/actions also present.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed19-v7.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 144.89930326333422, "success": true, "stop_reason": "safe_landing", "steps": 647, "sim_seconds": 12.94, "api_calls": 260, "decision_count": 130, "mean_action_latency_s": 0.466091018771896, "p95_action_latency_s": 0.5514464899897575, "wall_seconds": 63.7151952534914, "score_threshold_met": false, "final_observation": { "x": 0.245008, "y": 0.031317, "vx": 0.0, "vy": 0.0, "angle": 0.284314, "angular_velocity": 0.0, "leg0_contact": 0.0, "leg1_contact": 0.0 }, "id": "lunarlander-seed7-v10", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed7-v10/preview.gif", "video": "media/control/lunarlander-seed7-v10/replay.mp4", "poster": "media/control/lunarlander-seed7-v10/poster.png" }, "trace": "evidence/control/lunarlander-seed7-v10.tar.gz", "config": { "prompt_variant": "v10", "attempt": "v10", "guidance": "v7 with current raw observation only; historical observations/actions and broad rules removed from request state.", "changes_from_original": "v7 with current raw observation only; historical observations/actions and broad rules removed from request state. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. No historical actions in the model request.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed7-v10.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 41.79526857971115, "success": false, "stop_reason": "crash", "steps": 105, "sim_seconds": 2.1, "api_calls": 42, "decision_count": 21, "mean_action_latency_s": 0.4647519960999489, "p95_action_latency_s": 0.5411943309009075, "wall_seconds": 10.491513960063457, "score_threshold_met": false, "final_observation": { "x": -0.164322, "y": -0.037879, "vx": 0.167444, "vy": -0.018174, "angle": -0.051978, "angular_velocity": 0.100605, "leg0_contact": 1.0, "leg1_contact": 1.0 }, "id": "lunarlander-seed7-v11", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed7-v11/preview.gif", "video": "media/control/lunarlander-seed7-v11/replay.mp4", "poster": "media/control/lunarlander-seed7-v11/poster.png" }, "trace": "evidence/control/lunarlander-seed7-v11.tar.gz", "config": { "prompt_variant": "v11", "attempt": "v11", "guidance": "v6 per-axis arithmetic guide and current-observation repetition, with current raw telemetry only.", "changes_from_original": "v6 per-axis arithmetic guide and current-observation repetition, with current raw telemetry only. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. No historical actions in the model request.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed7-v11.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -736.2778309100028, "success": false, "stop_reason": "out_of_bounds", "steps": 99, "sim_seconds": 1.98, "api_calls": 40, "decision_count": 20, "mean_action_latency_s": 0.5051564339548349, "p95_action_latency_s": 0.7164106337353587, "wall_seconds": 10.948655158281326, "score_threshold_met": false, "final_observation": { "x": 1.036256, "y": -0.13015, "vx": 3.748502, "vy": -1.562023, "angle": -3.108489, "angular_velocity": -4.058226, "leg0_contact": 0.0, "leg1_contact": 0.0 }, "id": "lunarlander-seed7-v12", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed7-v12/preview.gif", "video": "media/control/lunarlander-seed7-v12/replay.mp4", "poster": "media/control/lunarlander-seed7-v12/poster.png" }, "trace": "evidence/control/lunarlander-seed7-v12.tar.gz", "config": { "prompt_variant": "v12", "attempt": "v12", "guidance": "Current telemetry only; main-engine altitude/descent-speed ordered rules; side engine simple error formula with +/-0.65 or zero.", "changes_from_original": "Current telemetry only; main-engine altitude/descent-speed ordered rules; side engine simple error formula with +/-0.65 or zero. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. No historical actions in the model request.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed7-v12.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 243.90748180320796, "success": true, "stop_reason": "safe_landing", "steps": 312, "sim_seconds": 6.24, "api_calls": 126, "decision_count": 63, "mean_action_latency_s": 0.5131238661115132, "p95_action_latency_s": 0.6590369015932083, "wall_seconds": 34.014813866466284, "score_threshold_met": true, "final_observation": { "x": 0.109949, "y": -0.001274, "vx": 0.0, "vy": 0.0, "angle": 0.00122, "angular_velocity": 0.0, "leg0_contact": 0.0, "leg1_contact": 1.0 }, "id": "lunarlander-seed7-v14", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed7-v14/preview.gif", "video": "media/control/lunarlander-seed7-v14/replay.mp4", "poster": "media/control/lunarlander-seed7-v14/poster.png" }, "trace": "evidence/control/lunarlander-seed7-v14.tar.gz", "config": { "prompt_variant": "v14", "attempt": "v14", "guidance": "Current telemetry only; main-engine altitude/descent-speed ordered rules; lateral engine explicit arithmetic stabilization formula. Observation repeated directly in each question.", "changes_from_original": "Current telemetry only; main-engine altitude/descent-speed ordered rules; lateral engine explicit arithmetic stabilization formula. Observation repeated directly in each question. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. No historical actions in the model request.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed7-v14.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 254.83750487213834, "success": true, "stop_reason": "safe_landing", "steps": 261, "sim_seconds": 5.22, "api_calls": 106, "decision_count": 53, "mean_action_latency_s": 0.5016114330797825, "p95_action_latency_s": 0.6108383908867836, "wall_seconds": 28.154659055173397, "score_threshold_met": true, "final_observation": { "x": 0.071605, "y": -0.000647, "vx": 0.0, "vy": 0.0, "angle": 0.000771, "angular_velocity": 0.0, "leg0_contact": 1.0, "leg1_contact": 1.0 }, "id": "lunarlander-seed7-v14-replicate", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed7-v14-replicate/preview.gif", "video": "media/control/lunarlander-seed7-v14-replicate/replay.mp4", "poster": "media/control/lunarlander-seed7-v14-replicate/poster.png" }, "trace": "evidence/control/lunarlander-seed7-v14-replicate.tar.gz", "config": { "prompt_variant": "v14", "attempt": "v14-replicate", "guidance": "Current telemetry only; main-engine altitude/descent-speed ordered rules; lateral engine explicit arithmetic stabilization formula. Observation repeated directly in each question.", "changes_from_original": "Current telemetry only; main-engine altitude/descent-speed ordered rules; lateral engine explicit arithmetic stabilization formula. Observation repeated directly in each question. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. No historical actions in the model request.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed7-v14-replicate.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 241.58614373328214, "success": true, "stop_reason": "safe_landing", "steps": 303, "sim_seconds": 6.06, "api_calls": 122, "decision_count": 61, "mean_action_latency_s": 0.48404571817058034, "p95_action_latency_s": 0.5731361024081707, "wall_seconds": 31.237396724522114, "score_threshold_met": true, "final_observation": { "x": -0.083453, "y": -0.000949, "vx": 0.0, "vy": 0.0, "angle": 0.00299, "angular_velocity": 0.0, "leg0_contact": 0.0, "leg1_contact": 0.0 }, "id": "lunarlander-seed7-v15", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed7-v15/preview.gif", "video": "media/control/lunarlander-seed7-v15/replay.mp4", "poster": "media/control/lunarlander-seed7-v15/poster.png" }, "trace": "evidence/control/lunarlander-seed7-v15.tar.gz", "config": { "prompt_variant": "v15", "attempt": "v15", "guidance": "Current telemetry only; main-engine ordered rules; side engine ordered uprightness and angular-velocity damping rules, without horizontal navigation.", "changes_from_original": "Current telemetry only; main-engine ordered rules; side engine ordered uprightness and angular-velocity damping rules, without horizontal navigation. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. No historical actions in the model request.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed7-v15.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -147.29820464584157, "success": false, "stop_reason": "crash", "steps": 66, "sim_seconds": 1.32, "api_calls": 28, "decision_count": 14, "mean_action_latency_s": 0.5715573171951941, "p95_action_latency_s": 0.7295061519369482, "wall_seconds": 8.658496502786875, "score_threshold_met": false, "final_observation": { "x": -0.232602, "y": -0.022396, "vx": -0.103152, "vy": 0.009013, "angle": -0.25719, "angular_velocity": -0.061803, "leg0_contact": 1.0, "leg1_contact": 1.0 }, "id": "lunarlander-seed7-v5", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed7-v5/preview.gif", "video": "media/control/lunarlander-seed7-v5/replay.mp4", "poster": "media/control/lunarlander-seed7-v5/poster.png" }, "trace": "evidence/control/lunarlander-seed7-v5.tar.gz", "config": { "prompt_variant": "v5", "attempt": "v5", "guidance": "Full per-axis arithmetic guide in question.instructions; raw observation plus original rules/history retained.", "changes_from_original": "Full per-axis arithmetic guide in question.instructions; raw observation plus original rules/history retained. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. Original rules and four previous observations/actions also present.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed7-v5.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -116.67704474771575, "success": false, "stop_reason": "crash", "steps": 68, "sim_seconds": 1.36, "api_calls": 28, "decision_count": 14, "mean_action_latency_s": 0.6254226160900933, "p95_action_latency_s": 0.9583899637684223, "wall_seconds": 9.415367938578129, "score_threshold_met": false, "final_observation": { "x": -0.195894, "y": -0.012757, "vx": -0.008069, "vy": -0.346921, "angle": -0.400136, "angular_velocity": 3.941505, "leg0_contact": 1.0, "leg1_contact": 0.0 }, "id": "lunarlander-seed7-v7", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/lunarlander-seed7-v7/preview.gif", "video": "media/control/lunarlander-seed7-v7/replay.mp4", "poster": "media/control/lunarlander-seed7-v7/poster.png" }, "trace": "evidence/control/lunarlander-seed7-v7.tar.gz", "config": { "prompt_variant": "v7", "attempt": "v7", "guidance": "v5 plus arithmetic-expression/interval-classification framing; raw observation plus original rules/history retained.", "changes_from_original": "v5 plus arithmetic-expression/interval-classification framing; raw observation plus original rules/history retained. All variants use criterion identifiers c00..c19 and exact physical-effect labels at leaf intervals. All commands are unmodified recorded Jev selections.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "main_engine", "lateral_engine" ], "success_definition": "environment terminated, lander asleep, and no body crash", "state_access": "Current normalized Gymnasium observation rounded to 6 decimal places; no images, privileged state, computed target actions or controller outputs. Original rules and four previous observations/actions also present.", "recorded_prompt_and_source": "evidence/control/lunarlander-seed7-v7.tar.gz" } } ], "featured_run_id": "lunarlander-seed7-v14", "success_criterion": "environment terminated, lander asleep, and no body crash", "config": { "continuous": true }, "notes": [ "Shown: seed 7, safe landing, reward 243.91.", "The featured recording is a selected example after prompt development. All earlier failures and all new attempts remain in the history below.", "Focused per-engine prompts: an altitude/descent-speed table for main thrust and an arithmetic rule for lateral correction. Current observations only; K=20, spacing 0.005, actions held for 5 frames." ] }, { "id": "mountaincar", "title": "Continuous Mountain Car", "description": "One continuous motor force; build momentum and reach the right hilltop.", "environment": "MountainCarContinuous-v0", "action_dimensions": 1, "runs": [ { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 91.7155498902321, "success": true, "stop_reason": "goal_reached", "steps": 84, "sim_seconds": 2.8, "api_calls": 42, "decision_count": 21, "mean_action_latency_s": 0.526194113173655, "p95_action_latency_s": 0.6588711403310299, "wall_seconds": 12.421686306595802, "id": "mountaincar-seed7-v1", "media": { "gif": "media/control/mountaincar-seed7-v1/preview.gif", "video": "media/control/mountaincar-seed7-v1/replay.mp4", "poster": "media/control/mountaincar-seed7-v1/poster.png" }, "trace": "evidence/control/mountaincar-seed7-v1.tar.gz", "config": { "attempt": "v1", "guidance": "Explicit qualitative energy-pumping heuristic and exact environment transition equation, with no precomputed action supplied.", "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "motor_force" ], "action_hold_frames": 4, "success_definition": "environment terminated with position >=0.45 and velocity >=0", "simulation_time_note": "MountainCar has discrete steps, displayed seconds use its 30-fps render rate; Box2D games integrate at 50 Hz.", "preview_start_seconds": 0, "preview_duration_seconds": 2.9 } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 91.91553989025118, "success": true, "stop_reason": "goal_reached", "steps": 82, "sim_seconds": 2.7333333333333334, "api_calls": 42, "decision_count": 21, "mean_action_latency_s": 0.5693970521291097, "p95_action_latency_s": 0.7072482816874981, "wall_seconds": 12.926541551947594, "id": "mountaincar-seed19-v1", "media": { "gif": "media/control/mountaincar-seed19-v1/preview.gif", "video": "media/control/mountaincar-seed19-v1/replay.mp4", "poster": "media/control/mountaincar-seed19-v1/poster.png" }, "trace": "evidence/control/mountaincar-seed19-v1.tar.gz", "config": { "attempt": "v1", "guidance": "Explicit qualitative energy-pumping heuristic and exact environment transition equation, with no precomputed action supplied.", "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "motor_force" ], "action_hold_frames": 4, "success_definition": "environment terminated with position >=0.45 and velocity >=0", "simulation_time_note": "MountainCar has discrete steps, displayed seconds use its 30-fps render rate; Box2D games integrate at 50 Hz.", "preview_start_seconds": 0, "preview_duration_seconds": 2.9 } } ], "featured_run_id": "mountaincar-seed7-v1", "success_criterion": "environment terminated with position >=0.45 and velocity >=0", "config": { "continuous": true }, "notes": [ "Shown: seed 7, goal reached, reward 91.72.", "The featured recording is a selected example after prompt development. All earlier failures and all new attempts remain in the history below.", "Original successful episodes retained; explicit dynamics and energy-pumping guidance were supplied." ] }, { "id": "bipedalwalker", "title": "Bipedal Walker", "description": "Four continuous joint commands; attempt forward walking on normal terrain.", "environment": "BipedalWalker-v3", "action_dimensions": 4, "runs": [ { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -115.31374030560255, "success": false, "stop_reason": "fall", "steps": 75, "sim_seconds": 1.5, "api_calls": 30, "decision_count": 15, "mean_action_latency_s": 0.6882053166627884, "p95_action_latency_s": 1.1769910987466565, "wall_seconds": 11.186496336013079, "id": "bipedalwalker-seed7-v1", "media": { "gif": "media/control/bipedalwalker-seed7-v1/preview.gif", "video": "media/control/bipedalwalker-seed7-v1/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v1.tar.gz", "config": { "attempt": "v1", "guidance": "Qualitative alternating support/swing gait, joint tracking, and balance guidance; Jev infers gait and all four commands from observations/history.", "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "action_hold_frames": 5, "success_definition": "environment terminated beyond the right terrain finish without falling", "simulation_time_note": "MountainCar has discrete steps, displayed seconds use its 30-fps render rate; Box2D games integrate at 50 Hz.", "preview_start_seconds": 0, "preview_duration_seconds": 1.6 } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -117.58299421425909, "success": false, "stop_reason": "fall", "steps": 99, "sim_seconds": 1.98, "api_calls": 40, "decision_count": 20, "mean_action_latency_s": 0.5722152026370168, "p95_action_latency_s": 0.6760897224768999, "wall_seconds": 12.397700611501932, "id": "bipedalwalker-seed19-v1", "media": { "gif": "media/control/bipedalwalker-seed19-v1/preview.gif", "video": "media/control/bipedalwalker-seed19-v1/replay.mp4", "poster": "media/control/bipedalwalker-seed19-v1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed19-v1.tar.gz", "config": { "attempt": "v1", "guidance": "Qualitative alternating support/swing gait, joint tracking, and balance guidance; Jev infers gait and all four commands from observations/history.", "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "action_hold_frames": 5, "success_definition": "environment terminated beyond the right terrain finish without falling", "simulation_time_note": "MountainCar has discrete steps, displayed seconds use its 30-fps render rate; Box2D games integrate at 50 Hz.", "preview_start_seconds": 0, "preview_duration_seconds": 2.1 } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -109.3890466572484, "success": false, "stop_reason": "fall", "steps": 246, "sim_seconds": 4.92, "api_calls": 738, "decision_count": 246, "mean_action_latency_s": 0.8120415368518694, "p95_action_latency_s": 0.9741925802081823, "wall_seconds": 201.85841884091496, "score_threshold_met": false, "final_observation": { "torso_angle": 0.715303, "torso_angular_velocity_scaled": -0.015459, "vx_scaled": -0.051813, "vy_scaled": -0.017364, "leg0": { "hip_angle": 1.102256, "hip_speed": -0.0, "knee_angle_plus1": 0.043495, "knee_speed": 0.676908, "ground_contact": 1.0 }, "leg1": { "hip_angle": 1.102529, "hip_speed": 0.0, "knee_angle_plus1": 0.96546, "knee_speed": 0.626955, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.163022, 0.164873, 0.170643, 0.181045, 0.197522, 0.222802, 0.262257, 0.327635, 0.449891, 0.744368 ], "privileged_torso_x": 4.5831, "privileged_torso_y": 4.2028 }, "id": "bipedalwalker-seed19-v15_fixed0_inequality-hold1", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed19-v15_fixed0_inequality-hold1/preview.gif", "video": "media/control/bipedalwalker-seed19-v15_fixed0_inequality-hold1/replay.mp4", "poster": "media/control/bipedalwalker-seed19-v15_fixed0_inequality-hold1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed19-v15_fixed0_inequality-hold1.tar.gz", "config": { "attempt": "v15_fixed0_inequality-hold1", "guidance": "Sequential Jev gait case with explicit predicate candidates; fixed0.0 support-knee ANGLE template replaces dynamic memory; NumericJev motor choices use true-inequality candidates. No Python motor computation.", "action_hold_frames": 1, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "Raw Gymnasium torso/joint/contact/speed observations embedded in focused prompts. No rendered images, lidar, or privileged torso position in these API requests. Full observations including torso position are logged separately for audit.", "intermediate_gait_protocol": "Three sequential API calls per motor decision: model gait case1, four motor numerical refinements2. Support knee angle is a fixed disclosed0.0 policy constant. Templates choose ANGLE goals only; actual torques all model-selected. Controlfrequency hold1.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed19-v15_fixed0_inequality-hold1.tar.gz" } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -96.46983417654701, "success": false, "stop_reason": "fall", "steps": 81, "sim_seconds": 1.62, "api_calls": 324, "decision_count": 81, "mean_action_latency_s": 1.0249887898932268, "p95_action_latency_s": 1.1535188928246498, "wall_seconds": 84.06141340360045, "score_threshold_met": false, "final_observation": { "torso_angle": -0.749206, "torso_angular_velocity_scaled": 0.017817, "vx_scaled": 0.155631, "vy_scaled": -0.023631, "leg0": { "hip_angle": -0.473515, "hip_speed": -1.499435, "knee_angle_plus1": 0.229457, "knee_speed": 1.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": -0.448354, "hip_speed": -1.120461, "knee_angle_plus1": 0.54386, "knee_speed": 1.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.184034, 0.186124, 0.192638, 0.20438, 0.22298, 0.251519, 0.29606, 0.369864, 0.500373, 0.885872 ], "privileged_torso_x": 7.0844, "privileged_torso_y": 4.3148 }, "id": "bipedalwalker-seed19-v7_reference_cases-hold1", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed19-v7_reference_cases-hold1/preview.gif", "video": "media/control/bipedalwalker-seed19-v7_reference_cases-hold1/replay.mp4", "poster": "media/control/bipedalwalker-seed19-v7_reference_cases-hold1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed19-v7_reference_cases-hold1.tar.gz", "config": { "attempt": "v7_reference_cases-hold1", "guidance": "Full public Gymnasium reference gait evaluated by Jev as explicit planning choices, model-selected goals and dynamic knee memory; then NumericJev direct PD motor choices with gain1.1.", "action_hold_frames": 1, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "structured Gymnasium observations; BipedalWalker additionally exposes privileged torso position; no images", "intermediate_gait_protocol": "Four API calls per motor decision: Jev selects next gait memory, all four joint angle goals, and numeric support-knee memory in2calls;2calls choose motor intervals. Model memory only. Hold1 changes control frequency.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed19-v7_reference_cases-hold1.tar.gz" } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -78.76980806328356, "success": false, "stop_reason": "fall", "steps": 162, "sim_seconds": 3.24, "api_calls": 810, "decision_count": 162, "mean_action_latency_s": 1.2422749957092751, "p95_action_latency_s": 1.449941602908075, "wall_seconds": 202.83753880113363, "score_threshold_met": false, "final_observation": { "torso_angle": -0.667258, "torso_angular_velocity_scaled": 0.041986, "vx_scaled": 0.296177, "vy_scaled": -0.061803, "leg0": { "hip_angle": -0.481318, "hip_speed": -1.572213, "knee_angle_plus1": 0.736097, "knee_speed": 1.0, "ground_contact": 1.0 }, "leg1": { "hip_angle": -0.848657, "hip_speed": -0.698822, "knee_angle_plus1": 0.919831, "knee_speed": 1.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.177855, 0.178397, 0.183066, 0.192662, 0.210196, 0.237098, 0.273717, 0.335599, 0.450124, 0.704488 ], "privileged_torso_x": 11.7078, "privileged_torso_y": 4.2294 }, "id": "bipedalwalker-seed19-v9_sequential-hold1", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed19-v9_sequential-hold1/preview.gif", "video": "media/control/bipedalwalker-seed19-v9_sequential-hold1/replay.mp4", "poster": "media/control/bipedalwalker-seed19-v9_sequential-hold1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed19-v9_sequential-hold1.tar.gz", "config": { "attempt": "v9_sequential-hold1", "guidance": "Sequential Jev gait case, disclosed phase-to-angle-goal templates, Jev numeric knee memory, then NumericJev PD torque selection. Public heuristic with gain1.1; no Python motor computation.", "action_hold_frames": 1, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "Raw Gymnasium torso/joint/contact/speed observations embedded in focused prompts. No rendered images, lidar, or privileged torso position in these API requests. Full observations including torso position are logged separately for audit.", "intermediate_gait_protocol": "Five sequential API calls per motor decision: gait case1, knee-memory numerical refinement2, four motor numerical refinements2. Templates choose ANGLE goals only; actual torques all model-selected. Controlfrequency hold1.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed19-v9_sequential-hold1.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -120.46207710728049, "success": false, "stop_reason": "fall", "steps": 100, "sim_seconds": 2.0, "api_calls": 500, "decision_count": 100, "mean_action_latency_s": 1.2408498990163208, "p95_action_latency_s": 1.5645201532170172, "wall_seconds": 125.18464829400182, "score_threshold_met": false, "final_observation": { "torso_angle": 0.775529, "torso_angular_velocity_scaled": 0.048404, "vx_scaled": -0.145499, "vy_scaled": 0.051237, "leg0": { "hip_angle": 1.108626, "hip_speed": -0.159856, "knee_angle_plus1": 0.023985, "knee_speed": 1.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": 1.13263, "hip_speed": 0.304005, "knee_angle_plus1": 0.057688, "knee_speed": -1.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.169682, 0.171609, 0.177615, 0.188442, 0.205592, 0.231905, 0.272972, 0.341021, 0.468273, 0.774781 ], "privileged_torso_x": 1.6688, "privileged_torso_y": 4.2383 }, "id": "bipedalwalker-seed7-v10_rounded-hold1", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed7-v10_rounded-hold1/preview.gif", "video": "media/control/bipedalwalker-seed7-v10_rounded-hold1/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v10_rounded-hold1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v10_rounded-hold1.tar.gz", "config": { "attempt": "v10_rounded-hold1", "guidance": "Sequential Jev gait case, disclosed phase-to-angle-goal templates, Jev numeric knee memory, then NumericJev PD torque selection. Public heuristic with gain1.1; no Python motor computation.", "action_hold_frames": 1, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "Raw Gymnasium torso/joint/contact/speed observations embedded in focused prompts. No rendered images, lidar, or privileged torso position in these API requests. Full observations including torso position are logged separately for audit.", "intermediate_gait_protocol": "Five sequential API calls per motor decision: gait case1, knee-memory numerical refinement2, four motor numerical refinements2. Templates choose ANGLE goals only; actual torques all model-selected. Controlfrequency hold1.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-v10_rounded-hold1.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -118.24615696561523, "success": false, "stop_reason": "fall", "steps": 224, "sim_seconds": 4.48, "api_calls": 1120, "decision_count": 224, "mean_action_latency_s": 1.2241422845316785, "p95_action_latency_s": 1.4245420213788746, "wall_seconds": 276.10692094638944, "score_threshold_met": false, "final_observation": { "torso_angle": 0.476206, "torso_angular_velocity_scaled": -0.080191, "vx_scaled": -0.310818, "vy_scaled": -0.11923, "leg0": { "hip_angle": 1.132891, "hip_speed": 0.759606, "knee_angle_plus1": 0.934907, "knee_speed": 0.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": 1.155682, "hip_speed": 0.759606, "knee_angle_plus1": 0.934907, "knee_speed": -0.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.133093, 0.134605, 0.139316, 0.147808, 0.16126, 0.181899, 0.214111, 0.267486, 0.367299, 0.607714 ], "privileged_torso_x": 2.8108, "privileged_torso_y": 4.0432 }, "id": "bipedalwalker-seed7-v12_fall_extension-hold1", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed7-v12_fall_extension-hold1/preview.gif", "video": "media/control/bipedalwalker-seed7-v12_fall_extension-hold1/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v12_fall_extension-hold1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v12_fall_extension-hold1.tar.gz", "config": { "attempt": "v12_fall_extension-hold1", "guidance": "Sequential Jev gait case, disclosed phase-to-angle-goal templates, Jev numeric knee memory, then NumericJev PD torque selection. Public heuristic with gain1.1; no Python motor computation. Highest-priority disclosed prompt rule asks Jev to choose maximum positive knee extension if upward torso velocity is below\u22120.12; no code action override.", "action_hold_frames": 1, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "Raw Gymnasium torso/joint/contact/speed observations embedded in focused prompts. No rendered images, lidar, or privileged torso position in these API requests. Full observations including torso position are logged separately for audit.", "intermediate_gait_protocol": "Five sequential API calls per motor decision: gait case1, knee-memory numerical refinement2, four motor numerical refinements2. Templates choose ANGLE goals only; actual torques all model-selected. Controlfrequency hold1.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-v12_fall_extension-hold1.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -82.66514899674803, "success": false, "stop_reason": "fall", "steps": 128, "sim_seconds": 2.56, "api_calls": 640, "decision_count": 128, "mean_action_latency_s": 1.2386896739189979, "p95_action_latency_s": 1.429824725165963, "wall_seconds": 159.90877831727266, "score_threshold_met": false, "final_observation": { "torso_angle": -0.801087, "torso_angular_velocity_scaled": -0.048461, "vx_scaled": 0.281627, "vy_scaled": 0.059877, "leg0": { "hip_angle": -0.322009, "hip_speed": -0.111282, "knee_angle_plus1": 0.621862, "knee_speed": 1.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": -0.837187, "hip_speed": -0.457257, "knee_angle_plus1": 0.64782, "knee_speed": 1.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.18485, 0.18778, 0.196167, 0.210281, 0.230776, 0.261255, 0.317302, 0.405071, 0.544481, 0.926245 ], "privileged_torso_x": 10.6437, "privileged_torso_y": 4.3715 }, "id": "bipedalwalker-seed7-v13_phase_predicates-hold1", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed7-v13_phase_predicates-hold1/preview.gif", "video": "media/control/bipedalwalker-seed7-v13_phase_predicates-hold1/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v13_phase_predicates-hold1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v13_phase_predicates-hold1.tar.gz", "config": { "attempt": "v13_phase_predicates-hold1", "guidance": "Sequential Jev gait case, disclosed phase-to-angle-goal templates, Jev numeric knee memory, then NumericJev PD torque selection. Public heuristic with gain1.1; no Python motor computation. Phase candidates contain complete explicit raw-value AND/OR predicates and are limited by the previous model-chosen phase.", "action_hold_frames": 1, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "Raw Gymnasium torso/joint/contact/speed observations embedded in focused prompts. No rendered images, lidar, or privileged torso position in these API requests. Full observations including torso position are logged separately for audit.", "intermediate_gait_protocol": "Five sequential API calls per motor decision: gait case1, knee-memory numerical refinement2, four motor numerical refinements2. Templates choose ANGLE goals only; actual torques all model-selected. Controlfrequency hold1.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-v13_phase_predicates-hold1.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -113.84564179193694, "success": false, "stop_reason": "fall", "steps": 296, "sim_seconds": 5.92, "api_calls": 1480, "decision_count": 296, "mean_action_latency_s": 1.295716783082163, "p95_action_latency_s": 1.4986065523698926, "wall_seconds": 386.00875606387854, "score_threshold_met": false, "final_observation": { "torso_angle": 0.688438, "torso_angular_velocity_scaled": -0.019836, "vx_scaled": -0.09521, "vy_scaled": -0.023179, "leg0": { "hip_angle": 1.172961, "hip_speed": 0.414637, "knee_angle_plus1": 0.781341, "knee_speed": 0.939959, "ground_contact": 0.0 }, "leg1": { "hip_angle": 1.165032, "hip_speed": 0.414637, "knee_angle_plus1": 0.909209, "knee_speed": -0.046762, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.160438, 0.16226, 0.167938, 0.178176, 0.194391, 0.21927, 0.2581, 0.322442, 0.442761, 0.73257 ], "privileged_torso_x": 3.6062, "privileged_torso_y": 4.189 }, "id": "bipedalwalker-seed7-v14_inequality-hold1", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed7-v14_inequality-hold1/preview.gif", "video": "media/control/bipedalwalker-seed7-v14_inequality-hold1/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v14_inequality-hold1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v14_inequality-hold1.tar.gz", "config": { "attempt": "v14_inequality-hold1", "guidance": "Sequential Jev gait case, disclosed phase-to-angle-goal templates, Jev numeric knee memory, then NumericJev PD torque selection. Public heuristic with gain1.1; no Python motor computation.", "action_hold_frames": 1, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "Raw Gymnasium torso/joint/contact/speed observations embedded in focused prompts. No rendered images, lidar, or privileged torso position in these API requests. Full observations including torso position are logged separately for audit.", "intermediate_gait_protocol": "Five sequential API calls per motor decision: gait case1, knee-memory numerical refinement2, four motor numerical refinements2. Templates choose ANGLE goals only; actual torques all model-selected. Controlfrequency hold1.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-v14_inequality-hold1.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -112.74905214784667, "success": false, "stop_reason": "fall", "steps": 359, "sim_seconds": 7.18, "api_calls": 1077, "decision_count": 359, "mean_action_latency_s": 0.8107380280089578, "p95_action_latency_s": 0.9586533851921558, "wall_seconds": 293.86865655332804, "score_threshold_met": false, "final_observation": { "torso_angle": 0.646548, "torso_angular_velocity_scaled": -0.036684, "vx_scaled": -0.109205, "vy_scaled": -0.044247, "leg0": { "hip_angle": 1.135072, "hip_speed": 0.0, "knee_angle_plus1": 0.635141, "knee_speed": 0.439709, "ground_contact": 0.0 }, "leg1": { "hip_angle": 1.118083, "hip_speed": 0.0, "knee_angle_plus1": 0.917038, "knee_speed": 0.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.155696, 0.157464, 0.162975, 0.17291, 0.188646, 0.21279, 0.250472, 0.312912, 0.429675, 0.710919 ], "privileged_torso_x": 4.0622, "privileged_torso_y": 4.1637 }, "id": "bipedalwalker-seed7-v15_fixed0_inequality-hold1", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed7-v15_fixed0_inequality-hold1/preview.gif", "video": "media/control/bipedalwalker-seed7-v15_fixed0_inequality-hold1/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v15_fixed0_inequality-hold1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v15_fixed0_inequality-hold1.tar.gz", "config": { "attempt": "v15_fixed0_inequality-hold1", "guidance": "Sequential Jev gait case with explicit predicate candidates; fixed0.0 support-knee ANGLE template replaces dynamic memory; NumericJev motor choices use true-inequality candidates. No Python motor computation.", "action_hold_frames": 1, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "Raw Gymnasium torso/joint/contact/speed observations embedded in focused prompts. No rendered images, lidar, or privileged torso position in these API requests. Full observations including torso position are logged separately for audit.", "intermediate_gait_protocol": "Three sequential API calls per motor decision: model gait case1, four motor numerical refinements2. Support knee angle is a fixed disclosed0.0 policy constant. Templates choose ANGLE goals only; actual torques all model-selected. Controlfrequency hold1.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-v15_fixed0_inequality-hold1.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -111.41307090828195, "success": false, "stop_reason": "fall", "steps": 391, "sim_seconds": 7.82, "api_calls": 1173, "decision_count": 391, "mean_action_latency_s": 0.7569351983649651, "p95_action_latency_s": 0.9179991725832224, "wall_seconds": 298.9376038275659, "score_threshold_met": false, "final_observation": { "torso_angle": 0.675776, "torso_angular_velocity_scaled": -0.045134, "vx_scaled": -0.035756, "vy_scaled": -0.053626, "leg0": { "hip_angle": 1.178642, "hip_speed": 1.437368, "knee_angle_plus1": 0.004765, "knee_speed": -0.998428, "ground_contact": 1.0 }, "leg1": { "hip_angle": 1.152464, "hip_speed": 0.861041, "knee_angle_plus1": 0.934581, "knee_speed": 1.000007, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.158995, 0.160801, 0.166428, 0.176573, 0.192643, 0.217299, 0.255779, 0.319542, 0.438779, 0.725983 ], "privileged_torso_x": 4.2525, "privileged_torso_y": 4.1813 }, "id": "bipedalwalker-seed7-v16_fixed0_direct-hold1", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed7-v16_fixed0_direct-hold1/preview.gif", "video": "media/control/bipedalwalker-seed7-v16_fixed0_direct-hold1/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v16_fixed0_direct-hold1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v16_fixed0_direct-hold1.tar.gz", "config": { "attempt": "v16_fixed0_direct-hold1", "guidance": "Sequential Jev gait case with explicit predicate candidates; fixed0.0 support-knee ANGLE template replaces dynamic memory; NumericJev direct motor interval choices; v17 optionally simplifies constant feedback coefficients. No Python motor computation.", "action_hold_frames": 1, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "Raw Gymnasium torso/joint/contact/speed observations embedded in focused prompts. No rendered images, lidar, or privileged torso position in these API requests. Full observations including torso position are logged separately for audit.", "intermediate_gait_protocol": "Three sequential API calls per motor decision: model gait case1, four motor numerical refinements2. Support knee angle is a fixed disclosed0.0 policy constant. Templates choose ANGLE goals only; actual torques all model-selected. Controlfrequency hold1.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-v16_fixed0_direct-hold1.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -90.96695509785786, "success": false, "stop_reason": "fall", "steps": 158, "sim_seconds": 3.16, "api_calls": 474, "decision_count": 158, "mean_action_latency_s": 0.7145930154461272, "p95_action_latency_s": 0.8723840160295369, "wall_seconds": 114.44291147962213, "score_threshold_met": false, "final_observation": { "torso_angle": -0.526702, "torso_angular_velocity_scaled": 0.059364, "vx_scaled": 0.143585, "vy_scaled": -0.089706, "leg0": { "hip_angle": -0.65473, "hip_speed": -0.119164, "knee_angle_plus1": 0.628898, "knee_speed": -1.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": -0.824679, "hip_speed": -0.590655, "knee_angle_plus1": 0.670808, "knee_speed": -1.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.1553, 0.157064, 0.162561, 0.17247, 0.188166, 0.210004, 0.242892, 0.295214, 0.401941, 0.741488 ], "privileged_torso_x": 8.7243, "privileged_torso_y": 4.1616 }, "id": "bipedalwalker-seed7-v17_simple_coefficients-hold1", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed7-v17_simple_coefficients-hold1/preview.gif", "video": "media/control/bipedalwalker-seed7-v17_simple_coefficients-hold1/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v17_simple_coefficients-hold1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v17_simple_coefficients-hold1.tar.gz", "config": { "attempt": "v17_simple_coefficients-hold1", "guidance": "Sequential Jev gait case with explicit predicate candidates; fixed0.0 support-knee ANGLE template replaces dynamic memory; NumericJev direct motor interval choices; v17 optionally simplifies constant feedback coefficients. No Python motor computation.", "action_hold_frames": 1, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "Raw Gymnasium torso/joint/contact/speed observations embedded in focused prompts. No rendered images, lidar, or privileged torso position in these API requests. Full observations including torso position are logged separately for audit.", "intermediate_gait_protocol": "Three sequential API calls per motor decision: model gait case1, four motor numerical refinements2. Support knee angle is a fixed disclosed0.0 policy constant. Templates choose ANGLE goals only; actual torques all model-selected. Controlfrequency hold1.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-v17_simple_coefficients-hold1.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -108.52906171046197, "success": false, "stop_reason": "fall", "steps": 55, "sim_seconds": 1.1, "api_calls": 33, "decision_count": 11, "mean_action_latency_s": 0.7666723860258405, "p95_action_latency_s": 0.855786656960845, "wall_seconds": 9.111899573355913, "score_threshold_met": false, "final_observation": { "torso_angle": 0.770856, "torso_angular_velocity_scaled": -0.014507, "vx_scaled": 0.038389, "vy_scaled": -0.015024, "leg0": { "hip_angle": 0.747345, "hip_speed": 1.047676, "knee_angle_plus1": 0.934907, "knee_speed": 0.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": 1.169832, "hip_speed": 0.852843, "knee_angle_plus1": -0.661269, "knee_speed": -0.173576, "ground_contact": 1.0 }, "lidar_fractions_down_to_forward": [ 0.169209, 0.171131, 0.17712, 0.187917, 0.205019, 0.231258, 0.272211, 0.34007, 0.466967, 0.772621 ], "privileged_torso_x": 4.272, "privileged_torso_y": 4.2358 }, "id": "bipedalwalker-seed7-v2_literal", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed7-v2_literal/preview.gif", "video": "media/control/bipedalwalker-seed7-v2_literal/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v2_literal/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v2_literal.tar.gz", "config": { "prompt_variant": "v2_literal", "attempt": "v2_literal", "guidance": "Explicit public-heuristic inspired six-state gait chosen by Jev, then per-joint raw-value PD expression chosen by NumericJev. No Python motor target or replacement.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "structured Gymnasium observations; BipedalWalker additionally exposes privileged torso position; no images", "intermediate_gait_protocol": "Jev choice among six gait states before four K20x2 motor queries, phase carried only as model memory.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-v2_literal.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -108.0222893897444, "success": false, "stop_reason": "fall", "steps": 54, "sim_seconds": 1.08, "api_calls": 33, "decision_count": 11, "mean_action_latency_s": 0.7538156306201761, "p95_action_latency_s": 1.1158000081777573, "wall_seconds": 8.954566858708858, "score_threshold_met": false, "final_observation": { "torso_angle": 0.759112, "torso_angular_velocity_scaled": -0.012582, "vx_scaled": 0.032993, "vy_scaled": -0.013253, "leg0": { "hip_angle": 1.036789, "hip_speed": 1.692414, "knee_angle_plus1": 0.490385, "knee_speed": -1.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": 1.187687, "hip_speed": 0.758911, "knee_angle_plus1": -0.612999, "knee_speed": -0.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.16811, 0.170019, 0.175969, 0.186696, 0.203687, 0.229756, 0.270443, 0.337861, 0.463933, 0.767602 ], "privileged_torso_x": 4.3499, "privileged_torso_y": 4.2299 }, "id": "bipedalwalker-seed7-v3_verbal", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed7-v3_verbal/preview.gif", "video": "media/control/bipedalwalker-seed7-v3_verbal/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v3_verbal/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v3_verbal.tar.gz", "config": { "prompt_variant": "v3_verbal", "attempt": "v3_verbal", "guidance": "Explicit public-heuristic inspired six-state gait chosen by Jev, then per-joint raw-value PD expression chosen by NumericJev. No Python motor target or replacement.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "structured Gymnasium observations; BipedalWalker additionally exposes privileged torso position; no images", "intermediate_gait_protocol": "Jev choice among six gait states before four K20x2 motor queries, phase carried only as model memory.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-v3_verbal.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -114.32394179329276, "success": false, "stop_reason": "fall", "steps": 70, "sim_seconds": 1.4, "api_calls": 42, "decision_count": 14, "mean_action_latency_s": 0.7754104776041848, "p95_action_latency_s": 0.8652492253109813, "wall_seconds": 11.607266448438168, "score_threshold_met": false, "final_observation": { "torso_angle": 0.712275, "torso_angular_velocity_scaled": 0.001399, "vx_scaled": -0.105043, "vy_scaled": 0.001598, "leg0": { "hip_angle": 1.139732, "hip_speed": 0.373105, "knee_angle_plus1": 0.319706, "knee_speed": -1.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": 1.122854, "hip_speed": 0.685572, "knee_angle_plus1": 0.087692, "knee_speed": 1.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.163082, 0.164934, 0.170706, 0.181112, 0.197595, 0.222884, 0.262354, 0.327756, 0.450058, 0.744644 ], "privileged_torso_x": 3.0679, "privileged_torso_y": 4.2031 }, "id": "bipedalwalker-seed7-v4_tuned", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed7-v4_tuned/preview.gif", "video": "media/control/bipedalwalker-seed7-v4_tuned/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v4_tuned/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v4_tuned.tar.gz", "config": { "prompt_variant": "v4_tuned", "attempt": "v4_tuned", "guidance": "Explicit public-heuristic inspired six-state gait chosen by Jev, then per-joint raw-value PD expression chosen by NumericJev. No Python motor target or replacement.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "structured Gymnasium observations; BipedalWalker additionally exposes privileged torso position; no images", "intermediate_gait_protocol": "Jev choice among six gait states before four K20x2 motor queries, phase carried only as model memory.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-v4_tuned.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -111.8787462245673, "success": false, "stop_reason": "fall", "steps": 59, "sim_seconds": 1.18, "api_calls": 36, "decision_count": 12, "mean_action_latency_s": 0.8302756644164523, "p95_action_latency_s": 1.2295329060405487, "wall_seconds": 10.656713534146547, "score_threshold_met": false, "final_observation": { "torso_angle": 0.794691, "torso_angular_velocity_scaled": 0.022184, "vx_scaled": -0.058902, "vy_scaled": 0.022527, "leg0": { "hip_angle": 1.144538, "hip_speed": 0.382093, "knee_angle_plus1": 0.628223, "knee_speed": 1.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": 1.156325, "hip_speed": 0.382093, "knee_angle_plus1": -0.61719, "knee_speed": -0.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.171536, 0.173484, 0.179555, 0.190501, 0.207838, 0.234438, 0.275954, 0.344746, 0.473388, 0.783245 ], "privileged_torso_x": 3.6498, "privileged_torso_y": 4.2482 }, "id": "bipedalwalker-seed7-v5_tuned_verbal", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed7-v5_tuned_verbal/preview.gif", "video": "media/control/bipedalwalker-seed7-v5_tuned_verbal/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v5_tuned_verbal/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v5_tuned_verbal.tar.gz", "config": { "prompt_variant": "v5_tuned_verbal", "attempt": "v5_tuned_verbal", "guidance": "Explicit public-heuristic inspired six-state gait chosen by Jev, then per-joint raw-value PD expression chosen by NumericJev. No Python motor target or replacement.", "action_hold_frames": 5, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "structured Gymnasium observations; BipedalWalker additionally exposes privileged torso position; no images", "intermediate_gait_protocol": "Jev choice among six gait states before four K20x2 motor queries, phase carried only as model memory.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-v5_tuned_verbal.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -96.42424397123978, "success": false, "stop_reason": "fall", "steps": 89, "sim_seconds": 1.78, "api_calls": 356, "decision_count": 89, "mean_action_latency_s": 1.0190687399734273, "p95_action_latency_s": 1.2136430613696576, "wall_seconds": 91.75001635029912, "score_threshold_met": false, "final_observation": { "torso_angle": -0.700628, "torso_angular_velocity_scaled": 0.034272, "vx_scaled": 0.163521, "vy_scaled": -0.048182, "leg0": { "hip_angle": -0.598992, "hip_speed": -0.98308, "knee_angle_plus1": 0.935607, "knee_speed": 0.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": -0.653396, "hip_speed": -0.720498, "knee_angle_plus1": 0.934745, "knee_speed": -0.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.177927, 0.179948, 0.186245, 0.197599, 0.215581, 0.243173, 0.286236, 0.357591, 0.485282, 0.792084 ], "privileged_torso_x": 7.1167, "privileged_torso_y": 4.2823 }, "id": "bipedalwalker-seed7-v6_reference-hold1", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed7-v6_reference-hold1/preview.gif", "video": "media/control/bipedalwalker-seed7-v6_reference-hold1/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v6_reference-hold1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v6_reference-hold1.tar.gz", "config": { "attempt": "v6_reference-hold1", "guidance": "Full public Gymnasium reference gait evaluated by Jev as explicit planning choices, model-selected goals and dynamic knee memory; then NumericJev direct PD motor choices with gain1.1.", "action_hold_frames": 1, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "structured Gymnasium observations; BipedalWalker additionally exposes privileged torso position; no images", "intermediate_gait_protocol": "Four API calls per motor decision: Jev selects next gait memory, all four joint angle goals, and numeric support-knee memory in2calls;2calls choose motor intervals. Model memory only. Hold1 changes control frequency.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-v6_reference-hold1.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -130.66139252949506, "success": false, "stop_reason": "left_boundary", "steps": 303, "sim_seconds": 6.06, "api_calls": 1212, "decision_count": 303, "mean_action_latency_s": 1.054493927658096, "p95_action_latency_s": 1.2547462310642004, "wall_seconds": 322.05692526325583, "score_threshold_met": false, "final_observation": { "torso_angle": -0.031915, "torso_angular_velocity_scaled": -0.020842, "vx_scaled": -0.281698, "vy_scaled": 0.028303, "leg0": { "hip_angle": 0.764304, "hip_speed": -0.193385, "knee_angle_plus1": -0.144842, "knee_speed": 1.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": 0.300543, "hip_speed": 0.725564, "knee_angle_plus1": 0.660512, "knee_speed": -1.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 1.0, 0.482259, 0.499137, 0.529563, 0.577757, 0.651703, 0.76711, 0.958343, 1.0, 1.0 ], "privileged_torso_x": -0.0328, "privileged_torso_y": 5.8765 }, "id": "bipedalwalker-seed7-v8_focused_reference-hold1", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed7-v8_focused_reference-hold1/preview.gif", "video": "media/control/bipedalwalker-seed7-v8_focused_reference-hold1/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v8_focused_reference-hold1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v8_focused_reference-hold1.tar.gz", "config": { "attempt": "v8_focused_reference-hold1", "guidance": "Full public Gymnasium reference gait evaluated by Jev as explicit planning choices, model-selected goals and dynamic knee memory; then NumericJev direct PD motor choices with gain1.1.", "action_hold_frames": 1, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "structured Gymnasium observations; BipedalWalker additionally exposes privileged torso position; no images", "intermediate_gait_protocol": "Four API calls per motor decision: Jev selects next gait memory, all four joint angle goals, and numeric support-knee memory in2calls;2calls choose motor intervals. Model memory only. Hold1 changes control frequency.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-v8_focused_reference-hold1.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -55.2583392271772, "success": false, "stop_reason": "fall", "steps": 336, "sim_seconds": 6.72, "api_calls": 1680, "decision_count": 336, "mean_action_latency_s": 1.2314830091892786, "p95_action_latency_s": 1.449584967456758, "wall_seconds": 416.5327821560204, "score_threshold_met": false, "final_observation": { "torso_angle": -0.456066, "torso_angular_velocity_scaled": 0.074716, "vx_scaled": 0.245173, "vy_scaled": -0.145225, "leg0": { "hip_angle": -0.676853, "hip_speed": -0.507648, "knee_angle_plus1": 0.50962, "knee_speed": -1.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": -0.769297, "hip_speed": -0.714444, "knee_angle_plus1": 0.417076, "knee_speed": -1.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.150295, 0.149003, 0.151098, 0.158793, 0.171743, 0.191679, 0.227674, 0.289373, 0.402736, 0.854351 ], "privileged_torso_x": 18.4117, "privileged_torso_y": 4.2046 }, "id": "bipedalwalker-seed7-v9_sequential-hold1", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/bipedalwalker-seed7-v9_sequential-hold1/preview.gif", "video": "media/control/bipedalwalker-seed7-v9_sequential-hold1/replay.mp4", "poster": "media/control/bipedalwalker-seed7-v9_sequential-hold1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-v9_sequential-hold1.tar.gz", "config": { "attempt": "v9_sequential-hold1", "guidance": "Sequential Jev gait case, disclosed phase-to-angle-goal templates, Jev numeric knee memory, then NumericJev PD torque selection. Public heuristic with gain1.1; no Python motor computation.", "action_hold_frames": 1, "grid": { "low_inclusive": -1, "high_exclusive": 1, "points_per_dimension": 400, "depth": 2, "conditional_candidates": "min(K, remaining points)", "execution": "final interval lower endpoint" }, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "state_access": "Raw Gymnasium torso/joint/contact/speed observations embedded in focused prompts. No rendered images, lidar, or privileged torso position in these API requests. Full observations including torso position are logged separately for audit.", "intermediate_gait_protocol": "Five sequential API calls per motor decision: gait case1, knee-memory numerical refinement2, four motor numerical refinements2. Templates choose ANGLE goals only; actual torques all model-selected. Controlfrequency hold1.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-v9_sequential-hold1.tar.gz" } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 215.90687716705725, "success": false, "stop_reason": "api_or_runner_error", "steps": 1075, "sim_seconds": 21.5, "api_calls": 4303, "decision_count": 1075, "mean_action_latency_s": 1.3229203048348426, "p95_action_latency_s": 1.917209481447935, "wall_seconds": 1466.9393307454884, "score_threshold_met": false, "final_observation": { "torso_angle": -0.130906, "torso_angular_velocity_scaled": 0.007603, "vx_scaled": 0.286097, "vy_scaled": 0.029031, "leg0": { "hip_angle": 1.041866, "hip_speed": 0.165948, "knee_angle_plus1": -0.602961, "knee_speed": 0.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": 0.60164, "hip_speed": -0.462554, "knee_angle_plus1": -0.283075, "knee_speed": 0.124489, "ground_contact": 1.0 }, "lidar_fractions_down_to_forward": [ 0.409368, 0.423936, 0.450453, 0.487764, 0.546028, 0.618565, 0.744914, 0.907451, 1.0, 1.0 ], "privileged_torso_x": 62.2428, "privileged_torso_y": 5.5441 }, "id": "bipedalwalker-seed19-comparison-v2", "experiment_stage": "walker-redesign", "media": { "gif": "media/control/bipedalwalker-seed19-comparison-v2/preview.gif", "video": "media/control/bipedalwalker-seed19-comparison-v2/replay.mp4", "poster": "media/control/bipedalwalker-seed19-comparison-v2/poster.png" }, "trace": "evidence/control/bipedalwalker-seed19-comparison-v2.tar.gz", "config": { "protocol": "comparison-v2", "attempt": "comparison-v2", "guidance": "Jev independently classifies four gait comparisons, then locates observed values in fixed comparison-table intervals to select signed feedback contributions. Explicit deterministic addition/clipping combines ONLY model term readouts into motor commands; no exact motor target or fallback.", "state_access": "Jev sees raw joint/body values and input-interval comparisons compiled from fixed control rules, plus four gait comparisons. It does not calculate arithmetic products. No lidar/torso position/image is given. Those fields exist only in diagnostic logs.", "grid": { "term_centers": [ -16, 16 ], "term_grid_spacing": ".005", "term_count": 6401, "bin_boundaries": "half a grid step below/above each center", "term_readout": "selected interval center", "physical_motor_range": [ -1, 0.995 ], "physical_motor_grid_spacing": ".005", "composition": "sum signed integer term units, clip to[-200,199], scale by0.005" }, "action_hold_frames": 1, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "intermediate_gait_protocol": "Four independent binary comparisons in1request; deterministic chained logic combines model booleans. Three K20 requests locate observed values in inverse-threshold intervals and decode signed terms; deterministic integer addition/clipping composes four motors.4APIcalls perphysicsframe.", "executed_action_overrides": 0, "coefficients": [ 0.495, 2.2, 0.1375, 0.495, 0.825, 8.25 ], "difference_from_direct_decoder": "Fixed feedback rules are explicitly compiled into inverse input-interval criteria. Jev chooses each bin from the raw observation; the adapter sums bin-center terms. This is a guided comparison-table controller, not unconstrained motor inference or arithmetic evaluation.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed19-comparison-v2.tar.gz", "error": "ReadTimeout: The read operation timed out" } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 298.9605251965113, "success": false, "stop_reason": "api_or_runner_error", "steps": 1504, "sim_seconds": 30.08, "api_calls": 6021, "decision_count": 1504, "mean_action_latency_s": null, "p95_action_latency_s": null, "wall_seconds": 2071.1155343279243, "score_threshold_met": false, "final_observation": { "torso_angle": -0.118944, "torso_angular_velocity_scaled": 0.007365, "vx_scaled": 0.308102, "vy_scaled": 0.016956, "leg0": { "hip_angle": 1.037355, "hip_speed": 0.224822, "knee_angle_plus1": -0.603218, "knee_speed": 0.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": 0.492383, "hip_speed": -0.487763, "knee_angle_plus1": -0.230074, "knee_speed": 0.139669, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.409379, 0.416436, 0.43467, 0.466293, 0.516232, 0.586437, 0.688066, 0.827452, 1.0, 1.0 ], "privileged_torso_x": 84.3435, "privileged_torso_y": 5.361 }, "id": "bipedalwalker-seed19-comparison-v2-resumed", "experiment_stage": "walker-redesign", "media": { "gif": "media/control/bipedalwalker-seed19-comparison-v2-resumed/preview.gif", "video": "media/control/bipedalwalker-seed19-comparison-v2-resumed/replay.mp4", "poster": "media/control/bipedalwalker-seed19-comparison-v2-resumed/poster.png" }, "trace": "evidence/control/bipedalwalker-seed19-comparison-v2-resumed.tar.gz", "config": { "protocol": "comparison-v2", "attempt": "comparison-v2-resumed", "guidance": "Jev independently classifies four gait comparisons, then locates observed values in fixed comparison-table intervals to select signed feedback contributions. Explicit deterministic addition/clipping combines ONLY model term readouts into motor commands; no exact motor target or fallback.", "state_access": "Jev sees raw joint/body values and input-interval comparisons compiled from fixed control rules, plus four gait comparisons. It does not calculate arithmetic products. No lidar/torso position/image is given. Those fields exist only in diagnostic logs.", "grid": { "term_centers": [ -16, 16 ], "term_grid_spacing": ".005", "term_count": 6401, "bin_boundaries": "half a grid step below/above each center", "term_readout": "selected interval center", "physical_motor_range": [ -1, 0.995 ], "physical_motor_grid_spacing": ".005", "composition": "sum signed integer term units, clip to[-200,199], scale by0.005" }, "action_hold_frames": 1, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "intermediate_gait_protocol": "Four independent binary comparisons in1request; deterministic chained logic combines model booleans. Three K20 requests locate observed values in inverse-threshold intervals and decode signed terms; deterministic integer addition/clipping composes four motors.4APIcalls perphysicsframe.", "executed_action_overrides": 0, "coefficients": [ 0.495, 2.2, 0.1375, 0.495, 0.825, 8.25 ], "difference_from_direct_decoder": "Fixed feedback rules are explicitly compiled into inverse input-interval criteria. Jev chooses each bin from the raw observation; the adapter sums bin-center terms. This is a guided comparison-table controller, not unconstrained motor inference or arithmetic evaluation.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed19-comparison-v2-resumed.tar.gz", "error": "RuntimeError: Jev returned HTTP 402; no automatic retry", "continuation_of": "bipedalwalker-seed19-comparison-v2", "prefix_physics_frames": 1075, "cached_prefix_requests": 4302, "new_network_attempts": 1718, "successful_logical_responses": 6019, "continuation_note": "Same seed, frozen controller, and exact previously returned model responses. Every cached request payload is checked for identity. This continues the interrupted trajectory and is not an independent fresh rollout.", "latency_note": "Full-trajectory mean omitted: the prefix is exactly replayed from archived responses, not re-inferred. Source and resume-session means are separate; resume-session mean includes fast cached-prefix replay. Total wall time sums both recorded sessions, excluding the between-session debugging gap.", "source_session_wall_seconds": 1466.9393307454884, "resume_session_wall_seconds": 604.1762035824358, "source_session_mean_action_latency_s": 1.3229203048348426, "resume_session_mean_action_latency_s": 0.39504187592761 } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 315.16371979238465, "success": true, "stop_reason": "terrain_finished", "steps": 1588, "sim_seconds": 31.76, "api_calls": 6354, "decision_count": 1588, "mean_action_latency_s": null, "p95_action_latency_s": null, "wall_seconds": 2207.8379604667425, "score_threshold_met": true, "final_observation": { "torso_angle": 0.147788, "torso_angular_velocity_scaled": -0.024393, "vx_scaled": 0.306329, "vy_scaled": 0.049201, "leg0": { "hip_angle": 0.585581, "hip_speed": -0.173176, "knee_angle_plus1": -0.296062, "knee_speed": 0.100965, "ground_contact": 1.0 }, "leg1": { "hip_angle": -0.301802, "hip_speed": 1.0, "knee_angle_plus1": 0.14378, "knee_speed": -1.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.402806, 0.407381, 0.419032, 0.439448, 0.470378, 0.512671, 0.590786, 0.732792, 1.0, 1.0 ], "privileged_torso_x": 88.7057, "privileged_torso_y": 5.3676 }, "id": "bipedalwalker-seed19-comparison-v2-resumed-resumed", "experiment_stage": "walker-redesign", "media": { "gif": "media/control/bipedalwalker-seed19-comparison-v2-resumed-resumed/preview.gif", "video": "media/control/bipedalwalker-seed19-comparison-v2-resumed-resumed/replay.mp4", "poster": "media/control/bipedalwalker-seed19-comparison-v2-resumed-resumed/poster.png" }, "trace": "evidence/control/bipedalwalker-seed19-comparison-v2-resumed-resumed.tar.gz", "config": { "protocol": "comparison-v2", "attempt": "comparison-v2-resumed-resumed", "guidance": "Jev independently classifies four gait comparisons, then locates observed values in fixed comparison-table intervals to select signed feedback contributions. Explicit deterministic addition/clipping combines ONLY model term readouts into motor commands; no exact motor target or fallback.", "state_access": "Jev sees raw joint/body values and input-interval comparisons compiled from fixed control rules, plus four gait comparisons. It does not calculate arithmetic products. No lidar/torso position/image is given. Those fields exist only in diagnostic logs.", "grid": { "term_centers": [ -16, 16 ], "term_grid_spacing": ".005", "term_count": 6401, "bin_boundaries": "half a grid step below/above each center", "term_readout": "selected interval center", "physical_motor_range": [ -1, 0.995 ], "physical_motor_grid_spacing": ".005", "composition": "sum signed integer term units, clip to[-200,199], scale by0.005" }, "action_hold_frames": 1, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "intermediate_gait_protocol": "Four independent binary comparisons in1request; deterministic chained logic combines model booleans. Three K20 requests locate observed values in inverse-threshold intervals and decode signed terms; deterministic integer addition/clipping composes four motors.4APIcalls perphysicsframe.", "executed_action_overrides": 0, "coefficients": [ 0.495, 2.2, 0.1375, 0.495, 0.825, 8.25 ], "difference_from_direct_decoder": "Fixed feedback rules are explicitly compiled into inverse input-interval criteria. Jev chooses each bin from the raw observation; the adapter sums bin-center terms. This is a guided comparison-table controller, not unconstrained motor inference or arithmetic evaluation.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed19-comparison-v2-resumed-resumed.tar.gz", "error": null, "continuation_of": "bipedalwalker-seed19-comparison-v2-resumed", "prefix_physics_frames": 1504, "cached_prefix_requests": 6019, "new_network_attempts": 333, "successful_logical_responses": 6352, "continuation_note": "Same seed, frozen controller, and exact previously returned model responses. Every cached request payload is checked for identity. This continues the interrupted trajectory and is not an independent fresh rollout.", "latency_note": "Full-trajectory mean omitted: the prefix is exactly replayed from archived responses, not re-inferred. Source and resume-session means are separate; resume-session mean includes fast cached-prefix replay. Total wall time sums both recorded sessions, excluding the between-session debugging gap.", "source_session_wall_seconds": 2071.1155343279243, "resume_session_wall_seconds": 136.72242613881826, "source_session_mean_action_latency_s": null, "resume_session_mean_action_latency_s": 0.08034685356378254 } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 43.43807045882568, "success": false, "stop_reason": "fall", "steps": 979, "sim_seconds": 19.58, "api_calls": 3916, "decision_count": 979, "mean_action_latency_s": 1.2891876202065258, "p95_action_latency_s": 1.8647639904171227, "wall_seconds": 1270.5231734737754, "score_threshold_met": false, "final_observation": { "torso_angle": 0.670698, "torso_angular_velocity_scaled": -0.033316, "vx_scaled": -0.152364, "vy_scaled": -0.03989, "leg0": { "hip_angle": 1.181646, "hip_speed": 1.191709, "knee_angle_plus1": 0.543797, "knee_speed": -0.595934, "ground_contact": 0.0 }, "leg1": { "hip_angle": 1.161558, "hip_speed": 0.491117, "knee_angle_plus1": 0.934906, "knee_speed": 0.0, "ground_contact": 0.0 }, "lidar_fractions_down_to_forward": [ 0.158167, 0.159803, 0.165222, 0.173115, 0.185983, 0.205947, 0.237572, 0.292708, 0.403576, 0.639804 ], "privileged_torso_x": 44.9946, "privileged_torso_y": 4.1507 }, "id": "bipedalwalker-seed7-comparison-v2", "experiment_stage": "walker-redesign", "media": { "gif": "media/control/bipedalwalker-seed7-comparison-v2/preview.gif", "video": "media/control/bipedalwalker-seed7-comparison-v2/replay.mp4", "poster": "media/control/bipedalwalker-seed7-comparison-v2/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-comparison-v2.tar.gz", "config": { "protocol": "comparison-v2", "attempt": "comparison-v2", "guidance": "Jev independently classifies four gait comparisons, then locates observed values in fixed comparison-table intervals to select signed feedback contributions. Explicit deterministic addition/clipping combines ONLY model term readouts into motor commands; no exact motor target or fallback.", "state_access": "Jev sees raw joint/body values and input-interval comparisons compiled from fixed control rules, plus four gait comparisons. It does not calculate arithmetic products. No lidar/torso position/image is given. Those fields exist only in diagnostic logs.", "grid": { "term_centers": [ -16, 16 ], "term_grid_spacing": ".005", "term_count": 6401, "bin_boundaries": "half a grid step below/above each center", "term_readout": "selected interval center", "physical_motor_range": [ -1, 0.995 ], "physical_motor_grid_spacing": ".005", "composition": "sum signed integer term units, clip to[-200,199], scale by0.005" }, "action_hold_frames": 1, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "intermediate_gait_protocol": "Four independent binary comparisons in1request; deterministic chained logic combines model booleans. Three K20 requests locate observed values in inverse-threshold intervals and decode signed terms; deterministic integer addition/clipping composes four motors.4APIcalls perphysicsframe.", "executed_action_overrides": 0, "coefficients": [ 0.495, 2.2, 0.1375, 0.495, 0.825, 8.25 ], "difference_from_direct_decoder": "Fixed feedback rules are explicitly compiled into inverse input-interval criteria. Jev chooses each bin from the raw observation; the adapter sums bin-center terms. This is a guided comparison-table controller, not unconstrained motor inference or arithmetic evaluation.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-comparison-v2.tar.gz", "error": null } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": -79.6081083768513, "success": false, "stop_reason": "fall", "steps": 164, "sim_seconds": 3.28, "api_calls": 656, "decision_count": 164, "mean_action_latency_s": 1.0632043196024692, "p95_action_latency_s": 1.2917372090741992, "wall_seconds": 176.13546255230904, "score_threshold_met": false, "final_observation": { "torso_angle": -0.662983, "torso_angular_velocity_scaled": 0.041065, "vx_scaled": 0.404551, "vy_scaled": -0.097127, "leg0": { "hip_angle": -0.846817, "hip_speed": -0.890979, "knee_angle_plus1": 0.902273, "knee_speed": 0.0, "ground_contact": 0.0 }, "leg1": { "hip_angle": -0.672712, "hip_speed": -0.750854, "knee_angle_plus1": 0.928307, "knee_speed": -0.0, "ground_contact": 1.0 }, "lidar_fractions_down_to_forward": [ 0.163855, 0.166079, 0.172286, 0.185576, 0.207008, 0.237839, 0.281422, 0.345045, 0.466496, 0.807205 ], "privileged_torso_x": 11.3605, "privileged_torso_y": 4.2292 }, "id": "bipedalwalker-seed7-composed-v1", "experiment_stage": "walker-redesign", "media": { "gif": "media/control/bipedalwalker-seed7-composed-v1/preview.gif", "video": "media/control/bipedalwalker-seed7-composed-v1/replay.mp4", "poster": "media/control/bipedalwalker-seed7-composed-v1/poster.png" }, "trace": "evidence/control/bipedalwalker-seed7-composed-v1.tar.gz", "config": { "protocol": "composed-v1", "attempt": "composed-v1", "guidance": "Jev independently classifies four gait comparisons, then numerically decodes signed feedback contributions. Explicit deterministic addition/clipping combines ONLY model term readouts into motor commands; no exact motor target or fallback.", "state_access": "Jev sees raw joint/body values in arithmetic expressions and four simple numerical comparisons. No lidar/torso position/image is given. Those fields exist only in diagnostic logs.", "grid": { "term_centers": [ -16, 16 ], "term_grid_spacing": ".005", "term_count": 6401, "bin_boundaries": "half a grid step below/above each center", "term_readout": "selected interval center", "physical_motor_range": [ -1, 0.995 ], "physical_motor_grid_spacing": ".005", "composition": "sum signed integer term units, clip to[-200,199], scale by0.005" }, "action_hold_frames": 1, "action_names": [ "leg0_hip", "leg0_knee", "leg1_hip", "leg1_knee" ], "success_definition": "environment terminated beyond the right terrain finish without falling", "intermediate_gait_protocol": "Four independent binary comparisons in1request; deterministic chained logic combines model booleans. ThreeK20requests decode model signed terms; deterministic integer addition/clipping composes four motors.4APIcalls perphysicsframe.", "executed_action_overrides": 0, "coefficients": [ 0.495, 2.2, 0.1375, 0.495, 0.825, 8.25 ], "difference_from_direct_decoder": "The final motor is an explicitly composed sum of Jev numerical term outputs, not a single whole-motor interval choice.", "recorded_prompt_and_source": "evidence/control/bipedalwalker-seed7-composed-v1.tar.gz", "error": null } } ], "featured_run_id": "bipedalwalker-seed19-comparison-v2-resumed-resumed", "success_criterion": "environment terminated beyond the right terrain finish without falling", "config": { "continuous": true, "hardcore": false }, "notes": [ "Shown: seed 19, terrain finished, reward 315.16.", "Comparison-table protocol: fixed feedback rules define input intervals. Jev selects signed term bins; explicit addition and clipping compose the four motor commands.", "The gait uses four model-evaluated comparisons. K=20, term spacing 0.005, four API requests per physics frame. No action fallback.", "Selected development recording. Every prior failure remains in the history; API waits are omitted from video." ] } ], "racing_ablation": [ { "seed": 7, "reverse_options": false, "branching": 10, "resolution": "0.005", "reward": 579.6999999999533, "success": true, "stop_reason": "lap_finished", "steps": 4203, "sim_seconds": 84.06, "api_calls": 1263, "decision_count": 421, "mean_action_latency_s": 0.7414097478812353, "p95_action_latency_s": 0.892740223556757, "coverage_percent": 100.0, "wall_seconds": 376.17537973821163, "id": "racing-focused-v2-K10-resolution0.005-seed7", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/racing-focused-v2-K10-resolution0.005-seed7/preview.gif", "video": "media/control/racing-focused-v2-K10-resolution0.005-seed7/replay.mp4", "poster": "media/control/racing-focused-v2-K10-resolution0.005-seed7/poster.png" }, "trace": "evidence/control/racing-focused-v2-K10-resolution0.005-seed7.tar.gz", "config": { "variant": "focused-v2", "guidance": "Explicit numerical steering/speed guidance in each question; previous action history removed from the model input. Jev computes and chooses the actual commands.", "no_new_tiles_guard": false, "sim_time_limit_s": 180, "executed_action_overrides": 0, "state_access": "privileged simulator telemetry and future centerline waypoints, not pixels", "recorded_prompt_and_source": "evidence/control/racing-focused-v2-K10-resolution0.005-seed7.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 10, "resolution": "0.02", "reward": 577.2999999999516, "success": true, "stop_reason": "lap_finished", "steps": 4227, "sim_seconds": 84.54, "api_calls": 846, "decision_count": 423, "mean_action_latency_s": 0.4640666008893902, "p95_action_latency_s": 0.5723422903567552, "coverage_percent": 100.0, "wall_seconds": 262.11968602240086, "id": "racing-focused-v2-K10-resolution0.02-seed7", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/racing-focused-v2-K10-resolution0.02-seed7/preview.gif", "video": "media/control/racing-focused-v2-K10-resolution0.02-seed7/replay.mp4", "poster": "media/control/racing-focused-v2-K10-resolution0.02-seed7/poster.png" }, "trace": "evidence/control/racing-focused-v2-K10-resolution0.02-seed7.tar.gz", "config": { "variant": "focused-v2", "guidance": "Explicit numerical steering/speed guidance in each question; previous action history removed from the model input. Jev computes and chooses the actual commands.", "no_new_tiles_guard": false, "sim_time_limit_s": 180, "executed_action_overrides": 0, "state_access": "privileged simulator telemetry and future centerline waypoints, not pixels", "recorded_prompt_and_source": "evidence/control/racing-focused-v2-K10-resolution0.02-seed7.tar.gz" } }, { "seed": 19, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 531.0999999999508, "success": true, "stop_reason": "lap_finished", "steps": 4689, "sim_seconds": 93.78, "api_calls": 938, "decision_count": 469, "mean_action_latency_s": 0.5196024896716004, "p95_action_latency_s": 0.636533687263727, "coverage_percent": 100.0, "wall_seconds": 314.9870960563421, "id": "racing-focused-v2-K20-resolution0.005-seed19", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/racing-focused-v2-K20-resolution0.005-seed19/preview.gif", "video": "media/control/racing-focused-v2-K20-resolution0.005-seed19/replay.mp4", "poster": "media/control/racing-focused-v2-K20-resolution0.005-seed19/poster.png" }, "trace": "evidence/control/racing-focused-v2-K20-resolution0.005-seed19.tar.gz", "config": { "variant": "focused-v2", "guidance": "Explicit numerical steering/speed guidance in each question; previous action history removed from the model input. Jev computes and chooses the actual commands.", "no_new_tiles_guard": false, "sim_time_limit_s": 180, "executed_action_overrides": 0, "state_access": "privileged simulator telemetry and future centerline waypoints, not pixels", "recorded_prompt_and_source": "evidence/control/racing-focused-v2-K20-resolution0.005-seed19.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 579.3999999999522, "success": true, "stop_reason": "lap_finished", "steps": 4206, "sim_seconds": 84.12, "api_calls": 842, "decision_count": 421, "mean_action_latency_s": 0.4699309584983313, "p95_action_latency_s": 0.5979050062596798, "coverage_percent": 100.0, "wall_seconds": 263.42300107330084, "id": "racing-focused-v2-K20-resolution0.005-seed7", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/racing-focused-v2-K20-resolution0.005-seed7/preview.gif", "video": "media/control/racing-focused-v2-K20-resolution0.005-seed7/replay.mp4", "poster": "media/control/racing-focused-v2-K20-resolution0.005-seed7/poster.png" }, "trace": "evidence/control/racing-focused-v2-K20-resolution0.005-seed7.tar.gz", "config": { "variant": "focused-v2", "guidance": "Explicit numerical steering/speed guidance in each question; previous action history removed from the model input. Jev computes and chooses the actual commands.", "no_new_tiles_guard": false, "sim_time_limit_s": 180, "executed_action_overrides": 0, "state_access": "privileged simulator telemetry and future centerline waypoints, not pixels", "recorded_prompt_and_source": "evidence/control/racing-focused-v2-K20-resolution0.005-seed7.tar.gz" } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.02", "reward": 572.7999999999518, "success": true, "stop_reason": "lap_finished", "steps": 4272, "sim_seconds": 85.44, "api_calls": 856, "decision_count": 428, "mean_action_latency_s": 0.49431822489877447, "p95_action_latency_s": 0.6085022101178765, "coverage_percent": 100.0, "wall_seconds": 277.58234268426895, "id": "racing-focused-v2-K20-resolution0.02-seed7", "experiment_stage": "prompt-recovery", "media": { "gif": "media/control/racing-focused-v2-K20-resolution0.02-seed7/preview.gif", "video": "media/control/racing-focused-v2-K20-resolution0.02-seed7/replay.mp4", "poster": "media/control/racing-focused-v2-K20-resolution0.02-seed7/poster.png" }, "trace": "evidence/control/racing-focused-v2-K20-resolution0.02-seed7.tar.gz", "config": { "variant": "focused-v2", "guidance": "Explicit numerical steering/speed guidance in each question; previous action history removed from the model input. Jev computes and chooses the actual commands.", "no_new_tiles_guard": false, "sim_time_limit_s": 180, "executed_action_overrides": 0, "state_access": "privileged simulator telemetry and future centerline waypoints, not pixels", "recorded_prompt_and_source": "evidence/control/racing-focused-v2-K20-resolution0.02-seed7.tar.gz" } } ], "config": { "gymnasium": "1.3.0", "gateway": "OpenRouter/systemone", "trained": false, "action_override_or_fallback": false, "video_time": "Simulation steps only; API waits omitted" }, "protocol_notes": [ "69 recorded Jev attempts, including failures and explicitly linked continuations of API-interrupted runs. Featured rollouts are selected development examples, not independent held-out trials.", "The model receives structured telemetry and explicit control guidance, not gameplay images. CarRacing includes future centerline waypoints. Earlier Walker prompts receive extended observations; focused sequential prompts use only the joint/body measurements printed in their questions, without lidar or torso position.", "Direct protocols execute the selected motor-grid lower endpoint. New Walker protocols decode centered signed terms, then explicitly sum and clip them into motors. In comparison-v2, fixed affine feedback rules are compiled into input intervals; Jev locates the raw observation. No exact per-state motor target or fallback is computed.", "Components share one request per tree level. Direct K=10 / 0.005 uses three motor-refinement calls; other original grids use two. Walker comparison-v2 uses one gait-predicate request plus three K20 term refinements, with centered 0.005 term bins over [-16,16].", "Simulation pauses for API calls. Videos omit those waits; they do not demonstrate real-time control. Mean action latency includes planning and numerical-refinement requests but excludes rendering/physics.", "Box2D games integrate at 50 Hz. CarRacing holds actions for 10 frames; Lander for 5. Walker started with 5-frame holds; later attempts update every frame. MountainCar holds 4 discrete steps and displays seconds at its 30-fps rendering rate.", "GIFs show short simulation-speed excerpts; the full-video tab shows the entire recorded episode. Per-run archives contain complete requests/responses, executed actions, rules or source snapshots, and original summaries.", "The displayed K/precision follow-up uses the new focused racing prompt. Previous comparisons remain in the racing history and historical_racing_ablation field. Prompt, input presentation, and control-frequency changes are documented per run.", "A resumed Walker recording restores the exact interrupted action/response prefix and requests new Jev outputs only after it. The interruption remains listed separately. Combined mean latency is omitted; source and resume timings are disclosed in the run configuration." ], "historical_racing_ablation": [ { "seed": 7, "reverse_options": false, "branching": 10, "resolution": "0.02", "reward": 96.86520376163139, "success": false, "stop_reason": "time_limit", "steps": 9000, "sim_seconds": 180.0, "api_calls": 1800, "decision_count": 900, "mean_action_latency_s": 0.5065685228258371, "p95_action_latency_s": 0.6312136875465512, "coverage_percent": 99.68652037617555, "wall_seconds": 599.2627740353346, "id": "racing-K10-resolution0.02-seed7", "media": { "gif": "media/control/racing-K10-resolution0.02-seed7/preview.gif", "video": "media/control/racing-K10-resolution0.02-seed7/replay.mp4", "poster": "media/control/racing-K10-resolution0.02-seed7/poster.png" }, "trace": "evidence/control/racing-K10-resolution0.02-seed7.tar.gz", "config": { "variant": "K/resolution comparison", "action_hold_frames": 10, "control_dimensions": 2, "physical_actuators": 3, "physical_mapping": "[steering, max(signed_pedal, 0), max(-signed_pedal, 0)]", "grid": "[-1,1), lower endpoint", "no_new_tiles_guard": false, "sim_time_limit_s": 180, "preview_start_seconds": 8, "preview_max_duration_seconds": 10 } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.02", "reward": 71.78683385578668, "success": false, "stop_reason": "time_limit", "steps": 9000, "sim_seconds": 180.0, "api_calls": 1800, "decision_count": 900, "mean_action_latency_s": 0.5104396943085724, "p95_action_latency_s": 0.6495014121755958, "coverage_percent": 97.17868338557994, "wall_seconds": 602.9779545292258, "id": "racing-K20-resolution0.02-seed7", "media": { "gif": "media/control/racing-K20-resolution0.02-seed7/preview.gif", "video": "media/control/racing-K20-resolution0.02-seed7/replay.mp4", "poster": "media/control/racing-K20-resolution0.02-seed7/poster.png" }, "trace": "evidence/control/racing-K20-resolution0.02-seed7.tar.gz", "config": { "variant": "K/resolution comparison", "action_hold_frames": 10, "control_dimensions": 2, "physical_actuators": 3, "physical_mapping": "[steering, max(signed_pedal, 0), max(-signed_pedal, 0)]", "grid": "[-1,1), lower endpoint", "no_new_tiles_guard": false, "sim_time_limit_s": 180, "preview_start_seconds": 8, "preview_max_duration_seconds": 10 } }, { "seed": 7, "reverse_options": false, "branching": 10, "resolution": "0.005", "reward": 363.39999999988896, "success": true, "stop_reason": "lap_finished", "steps": 6366, "sim_seconds": 127.32, "api_calls": 1911, "decision_count": 637, "mean_action_latency_s": 0.7562503841481928, "p95_action_latency_s": 0.9105632968246936, "coverage_percent": 100.0, "wall_seconds": 583.7283112108707, "id": "racing-K10-resolution0.005-seed7", "media": { "gif": "media/control/racing-K10-resolution0.005-seed7/preview.gif", "video": "media/control/racing-K10-resolution0.005-seed7/replay.mp4", "poster": "media/control/racing-K10-resolution0.005-seed7/poster.png" }, "trace": "evidence/control/racing-K10-resolution0.005-seed7.tar.gz", "config": { "variant": "K/resolution comparison", "action_hold_frames": 10, "control_dimensions": 2, "physical_actuators": 3, "physical_mapping": "[steering, max(signed_pedal, 0), max(-signed_pedal, 0)]", "grid": "[-1,1), lower endpoint", "no_new_tiles_guard": false, "sim_time_limit_s": 180, "preview_start_seconds": 8, "preview_max_duration_seconds": 10 } }, { "seed": 7, "reverse_options": false, "branching": 20, "resolution": "0.005", "reward": 43.57366771159874, "success": false, "stop_reason": "time_limit", "steps": 9000, "sim_seconds": 180.0, "api_calls": 1800, "decision_count": 900, "mean_action_latency_s": 0.5430171558881799, "p95_action_latency_s": 0.6799716632813214, "coverage_percent": 94.35736677115987, "wall_seconds": 632.1329509802163, "id": "racing-K20-resolution0.005-seed7", "media": { "gif": "media/control/racing-K20-resolution0.005-seed7/preview.gif", "video": "media/control/racing-K20-resolution0.005-seed7/replay.mp4", "poster": "media/control/racing-K20-resolution0.005-seed7/poster.png" }, "trace": "evidence/control/racing-K20-resolution0.005-seed7.tar.gz", "config": { "variant": "K/resolution comparison", "action_hold_frames": 10, "control_dimensions": 2, "physical_actuators": 3, "physical_mapping": "[steering, max(signed_pedal, 0), max(-signed_pedal, 0)]", "grid": "[-1,1), lower endpoint", "no_new_tiles_guard": false, "sim_time_limit_s": 180, "preview_start_seconds": 8, "preview_max_duration_seconds": 10 } } ] }