experiments/reports/paper_report.md

# FlowMo Clean-Image Paper Experiment Report

## Observation Setup

- Input: clean top-down RGB image, no flow arrows, no goal marker, no velocity vector.
- Image size: `160 x 160`.
- Boat visual scale: `2.5`.
- Training target: absolute normalized pose rollout plus shared current-pose observation head.
- Formal experiments include only A-category learned WMs and B-category traditional non-WM controllers.

## Parameter Counts

| Method | Total Parameters | Main Components |
|---|---:|---|
| FlowMo | 663,964 | encoder: 340,416, state_history: 75,648, context_history: 75,648, to_z: 30,960, to_c: 17,544, base_delta: 45,808, residual_delta: 46,448, decoder: 31,492 |
| LeWorldModel | 664,612 | encoder: 471,584, to_z: 43,328, transition: 87,104, decoder: 62,596 |
| PlaNet RSSM | 664,644 | encoder: 471,584, recurrent: 83,880, posterior: 39,108, prior: 27,588, decoder: 42,484 |
| TD-MPC2 Dynamics | 667,780 | encoder: 471,584, history: 87,936, to_z: 30,960, transition: 45,808, decoder: 31,492 |

## Prediction

Train, test, and planning use the same paper flow-family set. The test split uses independently sampled episodes and hidden flow conditions, and the report uses one unified flow-regime evaluation.

### Paper Test Split

| Method | pos@10 | pos@20 | pos@40 | pos@60 | heading@20 |
|---|---:|---:|---:|---:|---:|
| FlowMo | 0.107 | 0.151 | 0.245 | 0.344 | 0.072 |
| FlowMo c=0 | 0.281 | 0.441 | 0.655 | 0.840 | 0.131 |
| FlowMo shuffled c | 0.353 | 0.563 | 0.861 | 1.100 | 0.166 |
| LeWorldModel | 0.173 | 0.246 | 0.364 | 0.479 | 0.106 |
| PlaNet RSSM | 0.161 | 0.223 | 0.331 | 0.426 | 0.075 |
| TD-MPC2 Dynamics | 0.155 | 0.224 | 0.334 | 0.435 | 0.089 |


## FlowMo Latent Probes

| Split | Target | z R2 | c R2 | z+c R2 |
|---|---|---:|---:|---:|
| test | Object momentum | 0.424 | 0.423 | 0.667 |
| test | Local flow | -0.020 | 0.001 | -0.015 |
| test | Episode drift | -0.024 | -0.000 | -0.019 |

Probe interpretation: `z` is the short-history object-motion latent, `c` is the long-history ambient-drift context, and `z+c` is their concatenation. Probes are linear and are trained after freezing FlowMo.


## Planning

### reach_target_triangle_double_gyre
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.637 | 143.38 | 8.20 | 152.8 |
| FlowMo | shuffled | 0.820 | 41/50 | 0.816 | 203.33 | 9.46 | 152.5 |
| FlowMo | zero | 0.980 | 49/50 | 0.651 | 201.46 | 9.14 | 131.3 |
| LeWorldModel | inferred | 0.960 | 48/50 | 0.812 | 266.07 | 10.41 | 175.1 |
| PlaNet RSSM | inferred | 0.920 | 46/50 | 0.897 | 206.63 | 9.38 | 136.7 |
| TD-MPC2 Dynamics | inferred | 0.940 | 47/50 | 0.733 | 275.98 | 11.04 | 152.4 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.628 | 78.93 | 7.96 | 222.1 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.625 | 75.81 | 7.95 | 194.9 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.626 | 79.29 | 7.92 | 195.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.622 | 75.64 | 7.92 | 194.7 |

### reach_target_triangle_gradient
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.638 | 140.39 | 8.14 | 152.3 |
| FlowMo | shuffled | 0.720 | 36/50 | 0.993 | 194.52 | 9.23 | 139.7 |
| FlowMo | zero | 1.000 | 50/50 | 0.623 | 188.65 | 8.75 | 121.6 |
| LeWorldModel | inferred | 0.940 | 47/50 | 0.815 | 243.11 | 9.21 | 153.5 |
| PlaNet RSSM | inferred | 0.940 | 47/50 | 0.733 | 202.19 | 9.18 | 132.9 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.663 | 224.67 | 9.45 | 128.6 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.628 | 75.04 | 7.93 | 214.9 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.626 | 73.10 | 7.93 | 189.6 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.631 | 75.88 | 7.90 | 189.5 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 72.96 | 7.91 | 189.3 |

### reach_target_triangle_noflow
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.640 | 133.45 | 8.13 | 149.9 |
| FlowMo | shuffled | 0.860 | 43/50 | 0.819 | 191.62 | 9.20 | 147.3 |
| FlowMo | zero | 0.980 | 49/50 | 0.651 | 177.30 | 8.54 | 120.1 |
| LeWorldModel | inferred | 0.900 | 45/50 | 0.815 | 273.30 | 10.38 | 170.0 |
| PlaNet RSSM | inferred | 0.980 | 49/50 | 0.674 | 200.29 | 9.19 | 131.5 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.620 | 221.98 | 9.41 | 126.9 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.627 | 77.83 | 7.88 | 212.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 74.82 | 7.88 | 187.6 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 75.97 | 7.88 | 187.7 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 74.82 | 7.88 | 187.6 |

### reach_target_triangle_random_fourier
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.639 | 141.81 | 8.15 | 146.6 |
| FlowMo | shuffled | 0.860 | 43/50 | 0.896 | 201.23 | 9.49 | 146.3 |
| FlowMo | zero | 0.980 | 49/50 | 0.656 | 204.15 | 9.42 | 134.2 |
| LeWorldModel | inferred | 0.960 | 48/50 | 0.690 | 261.52 | 10.27 | 166.9 |
| PlaNet RSSM | inferred | 0.960 | 48/50 | 0.677 | 206.13 | 9.48 | 134.1 |
| TD-MPC2 Dynamics | inferred | 0.940 | 47/50 | 0.752 | 247.20 | 10.51 | 142.3 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.627 | 75.93 | 7.92 | 210.2 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.620 | 72.79 | 7.91 | 185.8 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 75.60 | 7.90 | 186.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.621 | 73.82 | 7.90 | 186.1 |

### reach_target_triangle_shear
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.637 | 151.05 | 8.23 | 147.6 |
| FlowMo | shuffled | 0.900 | 45/50 | 0.850 | 208.69 | 9.50 | 154.1 |
| FlowMo | zero | 1.000 | 50/50 | 0.622 | 198.62 | 8.81 | 124.6 |
| LeWorldModel | inferred | 0.980 | 49/50 | 0.658 | 265.91 | 10.06 | 173.2 |
| PlaNet RSSM | inferred | 0.960 | 48/50 | 0.688 | 201.49 | 9.29 | 133.8 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.686 | 233.72 | 9.87 | 133.6 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.629 | 72.03 | 7.92 | 212.3 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.625 | 70.56 | 7.92 | 187.3 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.631 | 73.78 | 7.90 | 187.5 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.622 | 70.58 | 7.91 | 187.3 |

### reach_target_triangle_source_sink
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.640 | 152.26 | 8.19 | 152.5 |
| FlowMo | shuffled | 0.940 | 47/50 | 0.695 | 218.83 | 9.75 | 157.2 |
| FlowMo | zero | 0.960 | 48/50 | 0.663 | 204.45 | 9.13 | 132.1 |
| LeWorldModel | inferred | 0.880 | 44/50 | 1.110 | 243.57 | 9.67 | 157.4 |
| PlaNet RSSM | inferred | 0.920 | 46/50 | 0.748 | 222.88 | 9.72 | 146.6 |
| TD-MPC2 Dynamics | inferred | 0.960 | 48/50 | 0.702 | 219.43 | 9.21 | 128.0 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.627 | 76.58 | 7.91 | 222.4 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.625 | 74.81 | 7.90 | 196.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 77.35 | 7.88 | 196.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.625 | 74.76 | 7.89 | 195.8 |

### reach_target_triangle_source_sink_pair
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.639 | 146.04 | 8.19 | 154.2 |
| FlowMo | shuffled | 0.840 | 42/50 | 0.826 | 200.45 | 9.13 | 144.2 |
| FlowMo | zero | 1.000 | 50/50 | 0.624 | 200.55 | 9.06 | 129.4 |
| LeWorldModel | inferred | 0.960 | 48/50 | 0.707 | 258.12 | 9.89 | 166.4 |
| PlaNet RSSM | inferred | 0.940 | 47/50 | 0.711 | 215.27 | 9.61 | 143.3 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.622 | 224.46 | 9.61 | 129.6 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.627 | 74.83 | 7.95 | 218.4 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 73.15 | 7.94 | 192.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 75.67 | 7.91 | 191.8 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 72.90 | 7.91 | 191.5 |

### reach_target_triangle_turbulent_patch
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.637 | 141.99 | 8.21 | 147.6 |
| FlowMo | shuffled | 0.840 | 42/50 | 0.842 | 189.68 | 8.88 | 125.2 |
| FlowMo | zero | 0.960 | 48/50 | 0.680 | 189.85 | 8.86 | 121.7 |
| LeWorldModel | inferred | 0.920 | 46/50 | 0.993 | 247.63 | 9.83 | 159.6 |
| PlaNet RSSM | inferred | 0.900 | 45/50 | 0.909 | 199.91 | 9.31 | 129.3 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.685 | 237.48 | 10.05 | 131.7 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.626 | 74.17 | 7.91 | 210.6 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.626 | 71.67 | 7.91 | 185.7 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.626 | 73.99 | 7.89 | 185.9 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.623 | 71.56 | 7.90 | 185.6 |

### reach_target_triangle_uniform
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.639 | 140.19 | 8.16 | 151.8 |
| FlowMo | shuffled | 0.800 | 40/50 | 0.929 | 188.81 | 8.95 | 131.8 |
| FlowMo | zero | 1.000 | 50/50 | 0.626 | 197.46 | 9.13 | 130.1 |
| LeWorldModel | inferred | 0.960 | 48/50 | 0.805 | 257.52 | 9.99 | 161.9 |
| PlaNet RSSM | inferred | 0.920 | 46/50 | 0.753 | 199.17 | 9.04 | 128.4 |
| TD-MPC2 Dynamics | inferred | 0.940 | 47/50 | 0.681 | 268.33 | 10.91 | 146.8 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.629 | 78.46 | 8.00 | 218.5 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.623 | 74.44 | 7.99 | 192.1 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 77.65 | 7.93 | 191.6 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 74.93 | 7.94 | 191.3 |

### reach_target_triangle_vortex_center
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.637 | 153.08 | 8.19 | 152.3 |
| FlowMo | shuffled | 0.940 | 47/50 | 0.677 | 214.61 | 9.59 | 154.0 |
| FlowMo | zero | 0.980 | 49/50 | 0.656 | 205.23 | 8.85 | 129.2 |
| LeWorldModel | inferred | 0.940 | 47/50 | 0.800 | 260.06 | 9.93 | 168.2 |
| PlaNet RSSM | inferred | 0.940 | 47/50 | 0.709 | 223.40 | 9.79 | 146.6 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.642 | 231.87 | 9.51 | 131.6 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.630 | 75.61 | 7.90 | 221.1 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.625 | 73.99 | 7.90 | 195.1 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.629 | 76.37 | 7.89 | 195.2 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.623 | 74.03 | 7.89 | 195.1 |

### reach_target_twin_double_gyre
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.668 | 152.86 | 9.07 | 175.3 |
| FlowMo | shuffled | 0.760 | 38/50 | 1.319 | 191.98 | 9.63 | 149.8 |
| FlowMo | zero | 0.680 | 34/50 | 1.525 | 213.27 | 10.17 | 147.9 |
| LeWorldModel | inferred | 0.920 | 46/50 | 0.690 | 210.31 | 10.19 | 161.0 |
| PlaNet RSSM | inferred | 0.860 | 43/50 | 1.027 | 228.46 | 11.40 | 175.5 |
| TD-MPC2 Dynamics | inferred | 0.620 | 31/50 | 2.032 | 214.88 | 10.49 | 184.0 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.616 | 109.37 | 8.15 | 159.4 |
| No-Flow LOS Controller | inferred | 0.960 | 48/50 | 0.680 | 120.71 | 8.39 | 154.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.623 | 116.27 | 8.31 | 154.6 |
| Oracle-Flow LOS Controller | inferred | 0.980 | 49/50 | 0.656 | 120.74 | 8.40 | 154.4 |

### reach_target_twin_gradient
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.960 | 48/50 | 0.800 | 142.29 | 8.88 | 165.7 |
| FlowMo | shuffled | 0.660 | 33/50 | 1.388 | 209.65 | 10.10 | 171.4 |
| FlowMo | zero | 0.660 | 33/50 | 1.535 | 217.92 | 10.34 | 154.0 |
| LeWorldModel | inferred | 0.940 | 47/50 | 0.705 | 236.88 | 11.01 | 183.7 |
| PlaNet RSSM | inferred | 0.920 | 46/50 | 1.039 | 258.79 | 12.81 | 200.5 |
| TD-MPC2 Dynamics | inferred | 0.680 | 34/50 | 1.847 | 228.24 | 11.74 | 198.5 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.614 | 114.78 | 8.33 | 165.2 |
| No-Flow LOS Controller | inferred | 0.780 | 39/50 | 0.899 | 126.99 | 8.81 | 165.2 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.626 | 123.42 | 8.64 | 166.6 |
| Oracle-Flow LOS Controller | inferred | 0.760 | 38/50 | 0.887 | 124.67 | 8.65 | 162.3 |

### reach_target_twin_noflow
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.665 | 136.99 | 8.75 | 156.0 |
| FlowMo | shuffled | 0.800 | 40/50 | 1.107 | 198.55 | 9.90 | 157.8 |
| FlowMo | zero | 0.760 | 38/50 | 1.303 | 205.93 | 9.96 | 151.7 |
| LeWorldModel | inferred | 0.960 | 48/50 | 0.689 | 217.51 | 10.66 | 167.8 |
| PlaNet RSSM | inferred | 0.920 | 46/50 | 0.933 | 236.85 | 11.77 | 181.6 |
| TD-MPC2 Dynamics | inferred | 0.720 | 36/50 | 1.552 | 244.78 | 12.21 | 205.3 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.611 | 105.99 | 8.12 | 156.5 |
| No-Flow LOS Controller | inferred | 0.860 | 43/50 | 0.822 | 117.45 | 8.41 | 150.4 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.617 | 114.19 | 8.33 | 153.1 |
| Oracle-Flow LOS Controller | inferred | 0.860 | 43/50 | 0.822 | 117.45 | 8.41 | 150.4 |

### reach_target_twin_random_fourier
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.636 | 135.40 | 8.69 | 155.3 |
| FlowMo | shuffled | 0.700 | 35/50 | 1.293 | 216.25 | 10.52 | 170.3 |
| FlowMo | zero | 0.680 | 34/50 | 1.421 | 207.95 | 10.24 | 152.8 |
| LeWorldModel | inferred | 0.960 | 48/50 | 0.685 | 224.12 | 10.65 | 172.8 |
| PlaNet RSSM | inferred | 0.900 | 45/50 | 0.817 | 238.39 | 12.01 | 188.0 |
| TD-MPC2 Dynamics | inferred | 0.680 | 34/50 | 2.139 | 235.23 | 12.05 | 210.9 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.613 | 108.70 | 8.19 | 158.9 |
| No-Flow LOS Controller | inferred | 0.780 | 39/50 | 0.875 | 117.54 | 8.39 | 149.5 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.621 | 114.74 | 8.41 | 156.7 |
| Oracle-Flow LOS Controller | inferred | 0.840 | 42/50 | 0.812 | 117.19 | 8.43 | 151.3 |

### reach_target_twin_shear
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.940 | 47/50 | 0.812 | 141.72 | 8.90 | 164.3 |
| FlowMo | shuffled | 0.780 | 39/50 | 1.273 | 209.79 | 10.23 | 161.4 |
| FlowMo | zero | 0.680 | 34/50 | 1.559 | 260.34 | 11.82 | 186.3 |
| LeWorldModel | inferred | 0.800 | 40/50 | 0.937 | 224.23 | 10.57 | 171.4 |
| PlaNet RSSM | inferred | 0.900 | 45/50 | 0.918 | 260.61 | 12.46 | 202.2 |
| TD-MPC2 Dynamics | inferred | 0.660 | 33/50 | 2.090 | 225.78 | 11.67 | 196.7 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.611 | 115.17 | 8.37 | 167.1 |
| No-Flow LOS Controller | inferred | 0.920 | 46/50 | 0.699 | 122.62 | 8.74 | 160.9 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.623 | 119.95 | 8.66 | 166.6 |
| Oracle-Flow LOS Controller | inferred | 0.940 | 47/50 | 0.684 | 122.64 | 8.74 | 161.1 |

### reach_target_twin_source_sink
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.666 | 150.14 | 8.87 | 172.8 |
| FlowMo | shuffled | 0.740 | 37/50 | 1.182 | 231.62 | 10.80 | 191.0 |
| FlowMo | zero | 0.660 | 33/50 | 1.694 | 237.63 | 10.85 | 172.8 |
| LeWorldModel | inferred | 0.920 | 46/50 | 0.739 | 248.79 | 10.95 | 194.0 |
| PlaNet RSSM | inferred | 0.940 | 47/50 | 0.835 | 243.89 | 11.78 | 189.2 |
| TD-MPC2 Dynamics | inferred | 0.620 | 31/50 | 2.525 | 245.47 | 11.61 | 213.1 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.615 | 119.91 | 8.21 | 172.2 |
| No-Flow LOS Controller | inferred | 0.820 | 41/50 | 0.804 | 127.22 | 8.55 | 166.4 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.619 | 126.29 | 8.45 | 171.1 |
| Oracle-Flow LOS Controller | inferred | 0.800 | 40/50 | 0.807 | 126.45 | 8.54 | 166.0 |

### reach_target_twin_source_sink_pair
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.666 | 153.87 | 8.90 | 169.0 |
| FlowMo | shuffled | 0.760 | 38/50 | 1.318 | 209.21 | 10.20 | 170.0 |
| FlowMo | zero | 0.720 | 36/50 | 1.467 | 228.47 | 10.35 | 165.9 |
| LeWorldModel | inferred | 0.940 | 47/50 | 0.715 | 233.55 | 10.63 | 178.2 |
| PlaNet RSSM | inferred | 0.920 | 46/50 | 0.845 | 263.70 | 12.67 | 200.9 |
| TD-MPC2 Dynamics | inferred | 0.720 | 36/50 | 2.291 | 239.02 | 12.08 | 209.5 |
| PID/LOS controller | inferred | 0.960 | 48/50 | 0.638 | 119.09 | 8.32 | 172.2 |
| No-Flow LOS Controller | inferred | 0.660 | 33/50 | 0.979 | 126.80 | 8.55 | 167.5 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.626 | 124.69 | 8.58 | 170.9 |
| Oracle-Flow LOS Controller | inferred | 0.680 | 34/50 | 0.966 | 127.77 | 8.56 | 171.1 |

### reach_target_twin_turbulent_patch
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.960 | 48/50 | 0.693 | 131.86 | 8.68 | 154.2 |
| FlowMo | shuffled | 0.820 | 41/50 | 1.110 | 198.38 | 9.89 | 160.7 |
| FlowMo | zero | 0.680 | 34/50 | 1.510 | 225.34 | 10.72 | 161.4 |
| LeWorldModel | inferred | 0.920 | 46/50 | 0.739 | 223.55 | 10.93 | 171.6 |
| PlaNet RSSM | inferred | 0.920 | 46/50 | 0.942 | 235.32 | 11.92 | 183.6 |
| TD-MPC2 Dynamics | inferred | 0.720 | 36/50 | 2.050 | 209.05 | 10.97 | 178.8 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.612 | 111.41 | 8.21 | 161.5 |
| No-Flow LOS Controller | inferred | 0.860 | 43/50 | 0.797 | 119.41 | 8.46 | 154.6 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.619 | 116.88 | 8.44 | 159.6 |
| Oracle-Flow LOS Controller | inferred | 0.860 | 43/50 | 0.791 | 119.33 | 8.45 | 154.5 |

### reach_target_twin_uniform
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.960 | 48/50 | 0.682 | 136.31 | 8.62 | 159.8 |
| FlowMo | shuffled | 0.720 | 36/50 | 1.336 | 187.72 | 9.74 | 147.1 |
| FlowMo | zero | 0.600 | 30/50 | 1.604 | 237.50 | 10.74 | 167.9 |
| LeWorldModel | inferred | 0.940 | 47/50 | 0.671 | 214.64 | 10.42 | 165.0 |
| PlaNet RSSM | inferred | 0.880 | 44/50 | 1.143 | 231.58 | 11.23 | 176.7 |
| TD-MPC2 Dynamics | inferred | 0.700 | 35/50 | 1.817 | 227.47 | 11.63 | 195.0 |
| PID/LOS controller | inferred | 0.980 | 49/50 | 0.634 | 111.31 | 8.29 | 160.9 |
| No-Flow LOS Controller | inferred | 0.920 | 46/50 | 0.688 | 125.69 | 8.72 | 161.5 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.625 | 118.62 | 8.45 | 157.5 |
| Oracle-Flow LOS Controller | inferred | 0.860 | 43/50 | 0.697 | 115.29 | 8.32 | 147.8 |

### reach_target_twin_vortex_center
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.665 | 142.88 | 8.76 | 163.4 |
| FlowMo | shuffled | 0.720 | 36/50 | 1.125 | 202.16 | 9.80 | 164.2 |
| FlowMo | zero | 0.600 | 30/50 | 1.846 | 226.53 | 10.37 | 164.9 |
| LeWorldModel | inferred | 0.940 | 47/50 | 0.710 | 243.64 | 10.61 | 184.4 |
| PlaNet RSSM | inferred | 0.880 | 44/50 | 0.988 | 237.61 | 11.66 | 188.2 |
| TD-MPC2 Dynamics | inferred | 0.620 | 31/50 | 2.616 | 250.25 | 11.46 | 221.1 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.611 | 120.38 | 8.19 | 172.9 |
| No-Flow LOS Controller | inferred | 0.800 | 40/50 | 0.849 | 128.83 | 8.50 | 168.8 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.618 | 125.94 | 8.44 | 172.1 |
| Oracle-Flow LOS Controller | inferred | 0.800 | 40/50 | 0.842 | 128.85 | 8.50 | 168.8 |

### station_keeping_triangle_double_gyre
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.151 | 21.82 | 0.73 | 101.0 |
| FlowMo | shuffled | 0.840 | 42/50 | 0.666 | 81.68 | 3.90 | 150.9 |
| FlowMo | zero | 0.960 | 48/50 | 0.590 | 47.14 | 2.00 | 130.8 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.388 | 50.84 | 1.59 | 101.4 |
| PlaNet RSSM | inferred | 0.980 | 49/50 | 0.351 | 32.91 | 0.81 | 105.3 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.292 | 33.72 | 1.20 | 101.5 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.104 | 88.74 | 0.77 | 101.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.114 | 73.74 | 0.91 | 101.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.130 | 76.19 | 0.96 | 101.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.244 | 51.66 | 1.12 | 101.0 |

### station_keeping_triangle_gradient
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.155 | 22.95 | 0.72 | 101.0 |
| FlowMo | shuffled | 0.840 | 42/50 | 0.727 | 90.24 | 4.11 | 154.0 |
| FlowMo | zero | 1.000 | 50/50 | 0.577 | 45.17 | 1.94 | 126.6 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.403 | 51.48 | 1.65 | 101.0 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.379 | 29.21 | 0.72 | 103.2 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.255 | 33.59 | 1.23 | 102.8 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.108 | 89.67 | 0.77 | 101.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.122 | 78.79 | 0.90 | 101.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.133 | 79.15 | 0.93 | 101.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.128 | 69.49 | 1.00 | 101.0 |

### station_keeping_triangle_noflow
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.147 | 24.05 | 0.73 | 101.0 |
| FlowMo | shuffled | 0.760 | 38/50 | 0.788 | 79.65 | 3.83 | 152.5 |
| FlowMo | zero | 1.000 | 50/50 | 0.600 | 48.23 | 2.03 | 135.9 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.393 | 50.38 | 1.61 | 101.4 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.374 | 28.07 | 0.72 | 101.0 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.264 | 33.54 | 1.24 | 102.0 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.111 | 82.99 | 0.76 | 101.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.115 | 82.91 | 0.84 | 101.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.139 | 81.13 | 0.87 | 101.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.115 | 82.91 | 0.84 | 101.0 |

### station_keeping_triangle_random_fourier
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.174 | 23.66 | 0.77 | 101.0 |
| FlowMo | shuffled | 0.840 | 42/50 | 0.738 | 77.61 | 3.82 | 147.5 |
| FlowMo | zero | 0.980 | 49/50 | 0.587 | 47.12 | 1.92 | 121.4 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.377 | 49.02 | 1.61 | 101.1 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.416 | 33.05 | 0.93 | 109.9 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.305 | 36.20 | 1.35 | 104.0 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.105 | 97.92 | 0.78 | 101.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.121 | 78.26 | 0.93 | 101.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.148 | 78.39 | 0.98 | 101.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.259 | 76.55 | 1.35 | 101.0 |

### station_keeping_triangle_shear
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.148 | 24.57 | 0.75 | 101.0 |
| FlowMo | shuffled | 0.860 | 43/50 | 0.769 | 81.48 | 3.87 | 147.6 |
| FlowMo | zero | 0.980 | 49/50 | 0.591 | 45.42 | 1.95 | 127.0 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.417 | 49.49 | 1.65 | 101.5 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.386 | 27.92 | 0.73 | 101.0 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.299 | 37.25 | 1.28 | 104.1 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.096 | 84.87 | 0.77 | 101.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.107 | 81.05 | 0.88 | 101.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.128 | 81.33 | 0.93 | 101.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.125 | 70.22 | 0.96 | 101.0 |

### station_keeping_triangle_source_sink
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.143 | 22.49 | 0.71 | 101.0 |
| FlowMo | shuffled | 0.760 | 38/50 | 0.749 | 74.79 | 3.31 | 147.1 |
| FlowMo | zero | 0.980 | 49/50 | 0.570 | 46.28 | 1.85 | 131.1 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.396 | 50.76 | 1.59 | 101.1 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.378 | 29.34 | 0.67 | 101.0 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.294 | 34.15 | 1.17 | 103.0 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.100 | 93.71 | 0.74 | 101.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.121 | 82.22 | 0.87 | 101.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.125 | 81.96 | 0.92 | 101.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.142 | 71.75 | 1.02 | 101.0 |

### station_keeping_triangle_source_sink_pair
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.149 | 22.88 | 0.71 | 101.0 |
| FlowMo | shuffled | 0.820 | 41/50 | 0.681 | 65.53 | 3.26 | 142.5 |
| FlowMo | zero | 1.000 | 50/50 | 0.579 | 45.99 | 1.97 | 134.1 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.433 | 52.89 | 1.70 | 101.2 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.374 | 30.71 | 0.72 | 103.8 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.277 | 32.37 | 1.15 | 101.6 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.107 | 95.56 | 0.78 | 101.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.122 | 79.77 | 0.93 | 101.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.138 | 79.00 | 0.99 | 101.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.199 | 67.41 | 1.11 | 101.0 |

### station_keeping_triangle_turbulent_patch
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.137 | 23.53 | 0.74 | 101.0 |
| FlowMo | shuffled | 0.780 | 39/50 | 0.708 | 80.86 | 3.85 | 147.6 |
| FlowMo | zero | 1.000 | 50/50 | 0.578 | 49.08 | 2.11 | 130.8 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.390 | 50.59 | 1.70 | 101.3 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.349 | 28.40 | 0.70 | 101.0 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.288 | 34.56 | 1.30 | 102.8 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.115 | 86.56 | 0.81 | 101.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.123 | 81.13 | 0.92 | 101.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.142 | 79.30 | 0.98 | 101.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.163 | 67.55 | 1.10 | 101.0 |

### station_keeping_triangle_uniform
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.156 | 22.98 | 0.73 | 101.0 |
| FlowMo | shuffled | 0.820 | 41/50 | 0.699 | 86.56 | 3.99 | 154.3 |
| FlowMo | zero | 1.000 | 50/50 | 0.573 | 50.02 | 2.16 | 131.6 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.398 | 50.04 | 1.61 | 101.6 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.396 | 30.60 | 0.80 | 105.3 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.266 | 33.60 | 1.24 | 101.8 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.105 | 98.15 | 0.77 | 101.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.140 | 75.08 | 0.92 | 101.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.140 | 75.92 | 0.96 | 101.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.218 | 63.30 | 1.10 | 101.0 |

### station_keeping_triangle_vortex_center
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.147 | 22.56 | 0.71 | 101.0 |
| FlowMo | shuffled | 0.720 | 36/50 | 0.848 | 71.14 | 3.31 | 141.6 |
| FlowMo | zero | 1.000 | 50/50 | 0.596 | 43.72 | 1.83 | 126.3 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.383 | 51.69 | 1.59 | 101.0 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.378 | 29.75 | 0.69 | 102.4 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.279 | 34.47 | 1.25 | 102.7 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.108 | 93.11 | 0.75 | 101.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.106 | 81.20 | 0.86 | 101.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.137 | 78.87 | 0.93 | 101.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.147 | 68.48 | 1.04 | 101.0 |

### station_keeping_twin_double_gyre
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.258 | 31.98 | 0.48 | 101.0 |
| FlowMo | shuffled | 0.900 | 45/50 | 0.623 | 65.41 | 1.52 | 123.9 |
| FlowMo | zero | 1.000 | 50/50 | 0.371 | 80.36 | 1.42 | 118.6 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.354 | 12.48 | 1.05 | 101.2 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.565 | 77.82 | 1.43 | 136.3 |
| TD-MPC2 Dynamics | inferred | 0.960 | 48/50 | 0.324 | 10.42 | 0.48 | 103.6 |
| PID/LOS controller | inferred | 0.980 | 49/50 | 0.460 | 58.10 | 0.94 | 113.4 |
| No-Flow LOS Controller | inferred | 0.780 | 39/50 | 0.533 | 32.02 | 0.71 | 107.0 |
| Current-Estimator LOS Controller | inferred | 0.980 | 49/50 | 0.379 | 43.09 | 1.17 | 125.7 |
| Oracle-Flow LOS Controller | inferred | 0.900 | 45/50 | 0.522 | 50.16 | 0.99 | 105.5 |

### station_keeping_twin_gradient
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.206 | 29.57 | 0.47 | 101.6 |
| FlowMo | shuffled | 0.920 | 46/50 | 0.556 | 52.63 | 1.47 | 114.0 |
| FlowMo | zero | 1.000 | 50/50 | 0.355 | 69.35 | 1.13 | 114.7 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.289 | 12.08 | 0.98 | 101.0 |
| PlaNet RSSM | inferred | 0.980 | 49/50 | 0.464 | 67.81 | 1.13 | 122.9 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.262 | 9.59 | 0.38 | 104.0 |
| PID/LOS controller | inferred | 0.980 | 49/50 | 0.317 | 59.96 | 0.58 | 102.3 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.330 | 31.29 | 0.56 | 104.2 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.318 | 30.96 | 0.51 | 103.4 |
| Oracle-Flow LOS Controller | inferred | 0.940 | 47/50 | 0.479 | 54.72 | 0.72 | 103.7 |

### station_keeping_twin_noflow
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.190 | 32.77 | 0.41 | 101.0 |
| FlowMo | shuffled | 0.880 | 44/50 | 0.623 | 64.38 | 1.88 | 118.9 |
| FlowMo | zero | 1.000 | 50/50 | 0.381 | 80.52 | 1.18 | 115.2 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.214 | 8.70 | 0.90 | 101.0 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.315 | 52.67 | 0.57 | 101.0 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.088 | 5.58 | 0.20 | 101.0 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.261 | 38.31 | 0.32 | 101.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.285 | 10.61 | 0.29 | 101.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.283 | 10.89 | 0.28 | 101.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.285 | 10.61 | 0.29 | 101.0 |

### station_keeping_twin_random_fourier
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.326 | 36.01 | 0.65 | 101.9 |
| FlowMo | shuffled | 0.940 | 47/50 | 0.638 | 75.60 | 2.02 | 127.3 |
| FlowMo | zero | 0.960 | 48/50 | 0.468 | 89.30 | 2.09 | 125.2 |
| LeWorldModel | inferred | 0.980 | 49/50 | 0.487 | 26.72 | 1.38 | 116.6 |
| PlaNet RSSM | inferred | 0.960 | 48/50 | 0.498 | 65.54 | 1.21 | 115.2 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.480 | 20.39 | 0.91 | 122.6 |
| PID/LOS controller | inferred | 0.980 | 49/50 | 0.422 | 80.02 | 1.05 | 106.6 |
| No-Flow LOS Controller | inferred | 0.820 | 41/50 | 0.581 | 43.25 | 0.88 | 105.9 |
| Current-Estimator LOS Controller | inferred | 0.900 | 45/50 | 0.479 | 47.28 | 0.96 | 108.2 |
| Oracle-Flow LOS Controller | inferred | 0.700 | 35/50 | 0.794 | 56.40 | 1.04 | 105.4 |

### station_keeping_twin_shear
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.180 | 31.00 | 0.43 | 101.0 |
| FlowMo | shuffled | 0.900 | 45/50 | 0.557 | 62.30 | 1.77 | 120.4 |
| FlowMo | zero | 1.000 | 50/50 | 0.382 | 74.10 | 1.19 | 116.2 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.223 | 9.09 | 0.92 | 101.0 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.342 | 54.38 | 0.60 | 104.0 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.137 | 6.40 | 0.24 | 101.0 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.289 | 48.12 | 0.44 | 101.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.284 | 20.26 | 0.34 | 101.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.284 | 20.72 | 0.34 | 101.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.355 | 42.30 | 0.50 | 101.2 |

### station_keeping_twin_source_sink
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.222 | 29.77 | 0.45 | 101.0 |
| FlowMo | shuffled | 0.960 | 48/50 | 0.568 | 82.48 | 2.00 | 124.6 |
| FlowMo | zero | 1.000 | 50/50 | 0.337 | 62.91 | 1.08 | 113.1 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.326 | 12.33 | 0.97 | 105.4 |
| PlaNet RSSM | inferred | 0.960 | 48/50 | 0.512 | 65.63 | 1.01 | 118.7 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.331 | 10.50 | 0.43 | 103.8 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.362 | 71.34 | 0.69 | 103.3 |
| No-Flow LOS Controller | inferred | 0.960 | 48/50 | 0.397 | 37.15 | 0.59 | 102.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.369 | 40.88 | 0.67 | 107.8 |
| Oracle-Flow LOS Controller | inferred | 0.940 | 47/50 | 0.485 | 59.96 | 0.73 | 102.4 |

### station_keeping_twin_source_sink_pair
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.271 | 33.14 | 0.56 | 101.0 |
| FlowMo | shuffled | 0.900 | 45/50 | 0.605 | 72.32 | 2.04 | 128.4 |
| FlowMo | zero | 1.000 | 50/50 | 0.357 | 64.56 | 1.16 | 112.7 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.362 | 15.94 | 1.09 | 105.1 |
| PlaNet RSSM | inferred | 0.960 | 48/50 | 0.488 | 70.55 | 1.15 | 127.9 |
| TD-MPC2 Dynamics | inferred | 0.960 | 48/50 | 0.428 | 17.13 | 0.65 | 119.5 |
| PID/LOS controller | inferred | 0.980 | 49/50 | 0.392 | 77.90 | 0.86 | 106.0 |
| No-Flow LOS Controller | inferred | 0.880 | 44/50 | 0.515 | 43.16 | 0.74 | 104.6 |
| Current-Estimator LOS Controller | inferred | 0.980 | 49/50 | 0.407 | 48.91 | 0.95 | 114.0 |
| Oracle-Flow LOS Controller | inferred | 0.760 | 38/50 | 0.732 | 58.75 | 0.85 | 104.0 |

### station_keeping_twin_turbulent_patch
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.243 | 32.29 | 0.49 | 101.0 |
| FlowMo | shuffled | 0.960 | 48/50 | 0.469 | 55.00 | 1.52 | 119.5 |
| FlowMo | zero | 1.000 | 50/50 | 0.404 | 74.09 | 1.25 | 117.3 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.346 | 15.79 | 1.06 | 103.9 |
| PlaNet RSSM | inferred | 0.960 | 48/50 | 0.454 | 68.90 | 1.15 | 129.9 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.299 | 10.24 | 0.44 | 106.8 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.333 | 63.37 | 0.62 | 101.0 |
| No-Flow LOS Controller | inferred | 0.980 | 49/50 | 0.364 | 31.45 | 0.55 | 101.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.340 | 32.65 | 0.57 | 103.0 |
| Oracle-Flow LOS Controller | inferred | 0.900 | 45/50 | 0.560 | 52.19 | 0.77 | 106.4 |

### station_keeping_twin_uniform
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.297 | 32.81 | 0.57 | 101.4 |
| FlowMo | shuffled | 0.900 | 45/50 | 0.595 | 55.18 | 1.37 | 116.4 |
| FlowMo | zero | 1.000 | 50/50 | 0.411 | 69.29 | 1.20 | 113.0 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.383 | 18.26 | 1.20 | 109.0 |
| PlaNet RSSM | inferred | 0.980 | 49/50 | 0.517 | 71.50 | 1.35 | 128.7 |
| TD-MPC2 Dynamics | inferred | 0.900 | 45/50 | 0.468 | 16.87 | 0.68 | 122.5 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.394 | 78.08 | 0.86 | 101.4 |
| No-Flow LOS Controller | inferred | 0.880 | 44/50 | 0.528 | 45.36 | 0.80 | 102.6 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.426 | 49.39 | 0.95 | 110.7 |
| Oracle-Flow LOS Controller | inferred | 0.820 | 41/50 | 0.642 | 59.56 | 0.97 | 103.2 |

### station_keeping_twin_vortex_center
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.224 | 30.70 | 0.47 | 101.0 |
| FlowMo | shuffled | 0.920 | 46/50 | 0.587 | 66.52 | 1.52 | 116.5 |
| FlowMo | zero | 1.000 | 50/50 | 0.318 | 63.22 | 1.01 | 111.0 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.311 | 13.17 | 0.96 | 102.4 |
| PlaNet RSSM | inferred | 0.900 | 45/50 | 0.506 | 64.26 | 0.99 | 122.0 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.292 | 10.83 | 0.42 | 104.1 |
| PID/LOS controller | inferred | 0.980 | 49/50 | 0.312 | 65.40 | 0.57 | 101.0 |
| No-Flow LOS Controller | inferred | 0.960 | 48/50 | 0.345 | 33.74 | 0.49 | 101.0 |
| Current-Estimator LOS Controller | inferred | 0.980 | 49/50 | 0.334 | 35.41 | 0.51 | 102.8 |
| Oracle-Flow LOS Controller | inferred | 0.920 | 46/50 | 0.490 | 54.58 | 0.66 | 101.5 |

### waypoint_square_triangle_double_gyre
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.635 | 300.34 | 15.07 | 271.1 |
| FlowMo | shuffled | 0.880 | 44/50 | 0.825 | 559.30 | 22.28 | 364.3 |
| FlowMo | zero | 0.960 | 48/50 | 0.770 | 497.34 | 19.76 | 303.0 |
| LeWorldModel | inferred | 0.980 | 49/50 | 0.666 | 455.91 | 19.28 | 302.2 |
| PlaNet RSSM | inferred | 0.980 | 49/50 | 0.668 | 327.23 | 16.84 | 270.2 |
| TD-MPC2 Dynamics | inferred | 0.960 | 48/50 | 0.735 | 327.10 | 16.15 | 244.9 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.629 | 190.59 | 15.36 | 420.1 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 168.15 | 15.52 | 373.2 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 188.54 | 14.84 | 375.6 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.621 | 168.09 | 15.41 | 372.8 |

### waypoint_square_triangle_gradient
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.634 | 312.65 | 15.41 | 277.5 |
| FlowMo | shuffled | 0.900 | 45/50 | 0.797 | 566.29 | 22.69 | 377.2 |
| FlowMo | zero | 0.880 | 44/50 | 0.997 | 526.32 | 20.98 | 320.7 |
| LeWorldModel | inferred | 0.940 | 47/50 | 0.758 | 432.27 | 18.24 | 276.2 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.627 | 332.90 | 16.99 | 282.6 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.692 | 342.40 | 16.59 | 254.5 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.628 | 185.09 | 15.24 | 421.1 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.630 | 166.23 | 15.46 | 374.1 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 181.89 | 14.87 | 374.4 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.625 | 165.73 | 15.41 | 372.8 |

### waypoint_square_triangle_noflow
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.635 | 304.91 | 15.34 | 272.0 |
| FlowMo | shuffled | 0.840 | 42/50 | 0.945 | 504.59 | 21.29 | 331.4 |
| FlowMo | zero | 0.860 | 43/50 | 0.989 | 496.03 | 20.04 | 289.6 |
| LeWorldModel | inferred | 0.940 | 47/50 | 0.761 | 462.02 | 19.37 | 300.8 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.626 | 334.86 | 17.16 | 275.0 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.699 | 335.82 | 16.62 | 252.3 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.629 | 183.71 | 15.19 | 411.4 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.626 | 164.91 | 15.44 | 367.4 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.630 | 179.09 | 14.86 | 368.1 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.626 | 164.91 | 15.44 | 367.4 |

### waypoint_square_triangle_random_fourier
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.632 | 292.75 | 15.20 | 260.1 |
| FlowMo | shuffled | 0.840 | 42/50 | 0.958 | 524.63 | 21.29 | 345.5 |
| FlowMo | zero | 0.820 | 41/50 | 1.173 | 472.40 | 19.50 | 272.7 |
| LeWorldModel | inferred | 0.960 | 48/50 | 0.721 | 422.39 | 18.33 | 270.2 |
| PlaNet RSSM | inferred | 0.980 | 49/50 | 0.692 | 333.59 | 17.08 | 275.9 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.621 | 336.89 | 16.76 | 245.5 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.630 | 189.33 | 15.31 | 407.8 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.625 | 166.03 | 15.52 | 363.9 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 182.90 | 14.90 | 365.3 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.626 | 169.43 | 15.48 | 365.2 |

### waypoint_square_triangle_shear
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.635 | 307.72 | 15.10 | 277.5 |
| FlowMo | shuffled | 0.780 | 39/50 | 1.124 | 573.11 | 23.31 | 391.3 |
| FlowMo | zero | 0.940 | 47/50 | 0.790 | 508.29 | 20.18 | 303.4 |
| LeWorldModel | inferred | 0.920 | 46/50 | 0.821 | 447.05 | 18.90 | 284.1 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.626 | 327.61 | 16.69 | 269.3 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.628 | 329.99 | 16.18 | 246.1 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.627 | 186.08 | 15.16 | 428.1 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.626 | 166.74 | 15.39 | 378.1 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 181.14 | 14.84 | 378.9 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 165.98 | 15.36 | 377.2 |

### waypoint_square_triangle_source_sink
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.687 | 297.82 | 14.93 | 266.8 |
| FlowMo | shuffled | 0.840 | 42/50 | 0.934 | 514.30 | 20.62 | 324.8 |
| FlowMo | zero | 0.920 | 46/50 | 0.852 | 516.57 | 20.00 | 308.5 |
| LeWorldModel | inferred | 0.960 | 48/50 | 0.712 | 451.51 | 18.92 | 293.4 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.626 | 346.42 | 17.15 | 292.4 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.624 | 347.88 | 16.52 | 262.3 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.630 | 189.25 | 15.21 | 432.5 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.630 | 169.75 | 15.42 | 384.2 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 182.95 | 14.84 | 382.7 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.629 | 169.27 | 15.38 | 383.5 |

### waypoint_square_triangle_source_sink_pair
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.633 | 298.89 | 14.90 | 265.9 |
| FlowMo | shuffled | 0.900 | 45/50 | 0.734 | 555.15 | 22.62 | 367.9 |
| FlowMo | zero | 0.900 | 45/50 | 0.957 | 519.70 | 20.66 | 307.2 |
| LeWorldModel | inferred | 0.920 | 46/50 | 0.797 | 420.63 | 18.22 | 270.6 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.630 | 326.79 | 16.80 | 270.5 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.671 | 324.62 | 16.07 | 240.1 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.630 | 183.92 | 15.16 | 419.2 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 164.87 | 15.36 | 372.1 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.632 | 180.92 | 14.79 | 373.1 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 165.49 | 15.35 | 372.0 |

### waypoint_square_triangle_turbulent_patch
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.634 | 295.94 | 15.13 | 266.5 |
| FlowMo | shuffled | 0.780 | 39/50 | 1.088 | 531.52 | 22.10 | 356.5 |
| FlowMo | zero | 0.940 | 47/50 | 0.808 | 504.92 | 20.62 | 303.2 |
| LeWorldModel | inferred | 0.940 | 47/50 | 0.776 | 429.31 | 18.42 | 271.6 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.624 | 314.56 | 16.76 | 265.7 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.680 | 318.19 | 16.17 | 238.6 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.630 | 184.94 | 15.18 | 408.3 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.625 | 164.02 | 15.40 | 363.5 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 179.41 | 14.81 | 364.5 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.624 | 163.14 | 15.38 | 362.8 |

### waypoint_square_triangle_uniform
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.636 | 304.20 | 15.16 | 278.9 |
| FlowMo | shuffled | 0.880 | 44/50 | 0.864 | 540.25 | 22.03 | 349.9 |
| FlowMo | zero | 0.940 | 47/50 | 0.810 | 508.09 | 20.12 | 313.1 |
| LeWorldModel | inferred | 0.920 | 46/50 | 0.796 | 451.77 | 18.64 | 289.3 |
| PlaNet RSSM | inferred | 0.960 | 48/50 | 0.710 | 331.05 | 16.85 | 273.1 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.623 | 328.75 | 16.20 | 248.1 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.628 | 191.95 | 15.39 | 430.3 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 170.69 | 15.57 | 380.6 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.629 | 186.46 | 14.87 | 378.8 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 169.48 | 15.45 | 377.9 |

### waypoint_square_triangle_vortex_center
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.680 | 313.26 | 15.24 | 270.0 |
| FlowMo | shuffled | 0.780 | 39/50 | 1.230 | 540.76 | 21.36 | 344.9 |
| FlowMo | zero | 0.960 | 48/50 | 0.721 | 519.64 | 20.32 | 311.2 |
| LeWorldModel | inferred | 0.860 | 43/50 | 1.011 | 454.36 | 18.62 | 290.8 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.623 | 349.14 | 17.30 | 288.1 |
| TD-MPC2 Dynamics | inferred | 0.960 | 48/50 | 0.734 | 346.02 | 16.34 | 257.2 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.630 | 191.28 | 15.16 | 426.4 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.622 | 169.69 | 15.39 | 379.8 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 185.48 | 14.84 | 379.8 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.629 | 170.17 | 15.36 | 379.5 |

### waypoint_square_twin_double_gyre
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.780 | 325.51 | 15.55 | 343.7 |
| FlowMo | shuffled | 0.640 | 32/50 | 1.678 | 602.47 | 25.48 | 488.4 |
| FlowMo | zero | 0.540 | 27/50 | 1.740 | 695.99 | 29.02 | 510.3 |
| LeWorldModel | inferred | 0.860 | 43/50 | 1.054 | 586.78 | 26.23 | 488.0 |
| PlaNet RSSM | inferred | 0.600 | 30/50 | 1.961 | 511.69 | 21.93 | 446.6 |
| TD-MPC2 Dynamics | inferred | 0.940 | 47/50 | 0.741 | 471.78 | 22.03 | 441.7 |
| PID/LOS controller | inferred | 0.640 | 32/50 | 1.009 | 281.67 | 19.15 | 368.2 |
| No-Flow LOS Controller | inferred | 0.060 | 3/50 | 1.691 | 298.34 | 18.67 | 370.3 |
| Current-Estimator LOS Controller | inferred | 0.820 | 41/50 | 0.684 | 286.97 | 18.34 | 414.6 |
| Oracle-Flow LOS Controller | inferred | 0.080 | 4/50 | 1.655 | 283.33 | 18.67 | 352.0 |

### waypoint_square_twin_gradient
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.940 | 47/50 | 0.824 | 340.28 | 16.07 | 358.6 |
| FlowMo | shuffled | 0.600 | 30/50 | 1.797 | 638.66 | 26.14 | 509.1 |
| FlowMo | zero | 0.520 | 26/50 | 1.868 | 740.33 | 30.42 | 551.0 |
| LeWorldModel | inferred | 0.820 | 41/50 | 1.374 | 551.49 | 24.66 | 463.6 |
| PlaNet RSSM | inferred | 0.640 | 32/50 | 1.686 | 551.37 | 22.70 | 489.3 |
| TD-MPC2 Dynamics | inferred | 0.900 | 45/50 | 0.906 | 473.83 | 21.97 | 461.2 |
| PID/LOS controller | inferred | 0.440 | 22/50 | 0.976 | 311.95 | 19.44 | 400.8 |
| No-Flow LOS Controller | inferred | 0.040 | 2/50 | 1.709 | 272.51 | 22.07 | 343.0 |
| Current-Estimator LOS Controller | inferred | 0.900 | 45/50 | 0.662 | 312.56 | 19.24 | 462.4 |
| Oracle-Flow LOS Controller | inferred | 0.020 | 1/50 | 1.742 | 301.03 | 23.37 | 380.0 |

### waypoint_square_twin_noflow
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.775 | 315.63 | 15.58 | 336.6 |
| FlowMo | shuffled | 0.640 | 32/50 | 1.744 | 567.72 | 23.29 | 453.0 |
| FlowMo | zero | 0.620 | 31/50 | 1.622 | 697.94 | 29.49 | 527.2 |
| LeWorldModel | inferred | 0.820 | 41/50 | 1.286 | 571.96 | 25.59 | 473.9 |
| PlaNet RSSM | inferred | 0.680 | 34/50 | 1.723 | 495.36 | 21.25 | 422.6 |
| TD-MPC2 Dynamics | inferred | 0.920 | 46/50 | 0.822 | 508.64 | 23.21 | 473.5 |
| PID/LOS controller | inferred | 0.500 | 25/50 | 0.949 | 271.67 | 18.52 | 358.8 |
| No-Flow LOS Controller | inferred | 0.020 | 1/50 | 1.725 | 251.51 | 18.44 | 414.0 |
| Current-Estimator LOS Controller | inferred | 0.800 | 40/50 | 0.683 | 279.11 | 18.13 | 411.2 |
| Oracle-Flow LOS Controller | inferred | 0.020 | 1/50 | 1.725 | 251.51 | 18.44 | 414.0 |

### waypoint_square_twin_random_fourier
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.637 | 329.80 | 15.74 | 341.6 |
| FlowMo | shuffled | 0.460 | 23/50 | 2.363 | 647.74 | 27.14 | 516.3 |
| FlowMo | zero | 0.600 | 30/50 | 1.753 | 691.40 | 29.12 | 511.0 |
| LeWorldModel | inferred | 0.880 | 44/50 | 1.092 | 556.59 | 25.06 | 465.5 |
| PlaNet RSSM | inferred | 0.640 | 32/50 | 1.870 | 500.10 | 21.99 | 432.7 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.669 | 475.40 | 22.15 | 437.8 |
| PID/LOS controller | inferred | 0.720 | 36/50 | 1.101 | 287.63 | 19.59 | 371.2 |
| No-Flow LOS Controller | inferred | 0.040 | 2/50 | 2.095 | 285.87 | 18.85 | 360.0 |
| Current-Estimator LOS Controller | inferred | 0.840 | 42/50 | 0.999 | 292.41 | 19.30 | 428.0 |
| Oracle-Flow LOS Controller | inferred | 0.020 | 1/50 | 1.963 | 311.82 | 19.21 | 394.0 |

### waypoint_square_twin_shear
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.638 | 303.67 | 15.25 | 324.2 |
| FlowMo | shuffled | 0.540 | 27/50 | 1.950 | 572.38 | 24.38 | 461.9 |
| FlowMo | zero | 0.540 | 27/50 | 1.864 | 602.16 | 25.94 | 445.7 |
| LeWorldModel | inferred | 0.920 | 46/50 | 0.851 | 541.42 | 24.71 | 452.6 |
| PlaNet RSSM | inferred | 0.780 | 39/50 | 1.330 | 522.76 | 22.29 | 443.5 |
| TD-MPC2 Dynamics | inferred | 0.940 | 47/50 | 0.744 | 482.12 | 22.17 | 445.9 |
| PID/LOS controller | inferred | 0.680 | 34/50 | 1.071 | 296.34 | 19.80 | 380.0 |
| No-Flow LOS Controller | inferred | 0.080 | 4/50 | 2.008 | 288.44 | 21.05 | 363.0 |
| Current-Estimator LOS Controller | inferred | 0.960 | 48/50 | 0.801 | 306.38 | 19.08 | 433.3 |
| Oracle-Flow LOS Controller | inferred | 0.080 | 4/50 | 1.942 | 267.57 | 20.17 | 339.8 |

### waypoint_square_twin_source_sink
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.940 | 47/50 | 0.828 | 334.90 | 15.78 | 348.9 |
| FlowMo | shuffled | 0.740 | 37/50 | 1.296 | 629.49 | 25.94 | 492.1 |
| FlowMo | zero | 0.660 | 33/50 | 1.479 | 754.73 | 30.22 | 554.8 |
| LeWorldModel | inferred | 0.880 | 44/50 | 1.133 | 584.54 | 24.72 | 493.9 |
| PlaNet RSSM | inferred | 0.580 | 29/50 | 1.806 | 519.53 | 21.49 | 447.2 |
| TD-MPC2 Dynamics | inferred | 0.940 | 47/50 | 0.757 | 536.15 | 22.87 | 491.4 |
| PID/LOS controller | inferred | 0.540 | 27/50 | 0.940 | 320.62 | 19.45 | 406.7 |
| No-Flow LOS Controller | inferred | 0.060 | 3/50 | 1.705 | 378.46 | 21.75 | 510.3 |
| Current-Estimator LOS Controller | inferred | 0.740 | 37/50 | 0.766 | 291.79 | 18.19 | 427.9 |
| Oracle-Flow LOS Controller | inferred | 0.040 | 2/50 | 1.860 | 373.12 | 19.21 | 492.0 |

### waypoint_square_twin_source_sink_pair
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.691 | 368.48 | 17.10 | 376.2 |
| FlowMo | shuffled | 0.540 | 27/50 | 1.987 | 597.76 | 24.11 | 484.9 |
| FlowMo | zero | 0.580 | 29/50 | 1.736 | 717.53 | 29.41 | 543.3 |
| LeWorldModel | inferred | 0.740 | 37/50 | 1.571 | 529.91 | 24.36 | 449.5 |
| PlaNet RSSM | inferred | 0.700 | 35/50 | 1.604 | 553.03 | 22.62 | 484.0 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.671 | 513.37 | 22.84 | 484.4 |
| PID/LOS controller | inferred | 0.580 | 29/50 | 1.071 | 300.71 | 19.32 | 390.5 |
| No-Flow LOS Controller | inferred | 0.040 | 2/50 | 1.940 | 449.75 | 23.56 | 579.0 |
| Current-Estimator LOS Controller | inferred | 0.840 | 42/50 | 0.678 | 299.95 | 18.57 | 438.4 |
| Oracle-Flow LOS Controller | inferred | 0.020 | 1/50 | 1.878 | 302.00 | 18.81 | 375.0 |

### waypoint_square_twin_turbulent_patch
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.782 | 310.81 | 15.60 | 328.7 |
| FlowMo | shuffled | 0.680 | 34/50 | 1.464 | 610.89 | 26.09 | 482.0 |
| FlowMo | zero | 0.680 | 34/50 | 1.540 | 718.58 | 29.58 | 527.9 |
| LeWorldModel | inferred | 0.920 | 46/50 | 0.941 | 561.26 | 25.63 | 465.1 |
| PlaNet RSSM | inferred | 0.620 | 31/50 | 1.786 | 498.65 | 21.41 | 436.2 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.727 | 450.90 | 21.67 | 425.4 |
| PID/LOS controller | inferred | 0.520 | 26/50 | 1.116 | 298.07 | 19.11 | 382.7 |
| No-Flow LOS Controller | inferred | 0.040 | 2/50 | 1.777 | 388.96 | 21.97 | 499.0 |
| Current-Estimator LOS Controller | inferred | 0.800 | 40/50 | 0.806 | 290.91 | 18.43 | 426.8 |
| Oracle-Flow LOS Controller | inferred | 0.020 | 1/50 | 1.698 | 385.29 | 19.33 | 497.0 |

### waypoint_square_twin_uniform
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.920 | 46/50 | 1.144 | 338.80 | 16.29 | 351.2 |
| FlowMo | shuffled | 0.560 | 28/50 | 1.933 | 591.62 | 24.53 | 464.4 |
| FlowMo | zero | 0.520 | 26/50 | 1.881 | 662.33 | 26.94 | 481.6 |
| LeWorldModel | inferred | 0.840 | 42/50 | 1.250 | 599.12 | 26.86 | 494.7 |
| PlaNet RSSM | inferred | 0.640 | 32/50 | 1.721 | 521.83 | 22.21 | 437.7 |
| TD-MPC2 Dynamics | inferred | 0.920 | 46/50 | 0.937 | 475.66 | 21.73 | 447.2 |
| PID/LOS controller | inferred | 0.700 | 35/50 | 1.208 | 337.22 | 20.63 | 427.2 |
| No-Flow LOS Controller | inferred | 0.140 | 7/50 | 1.674 | 341.41 | 21.70 | 459.7 |
| Current-Estimator LOS Controller | inferred | 0.860 | 43/50 | 1.119 | 295.43 | 18.98 | 440.7 |
| Oracle-Flow LOS Controller | inferred | 0.060 | 3/50 | 1.639 | 291.97 | 19.79 | 366.0 |

### waypoint_square_twin_vortex_center
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.646 | 342.41 | 16.14 | 360.5 |
| FlowMo | shuffled | 0.560 | 28/50 | 1.782 | 596.53 | 24.12 | 483.8 |
| FlowMo | zero | 0.560 | 28/50 | 1.638 | 709.03 | 28.93 | 518.1 |
| LeWorldModel | inferred | 0.860 | 43/50 | 1.220 | 569.59 | 24.63 | 471.1 |
| PlaNet RSSM | inferred | 0.680 | 34/50 | 1.526 | 514.68 | 21.28 | 442.0 |
| TD-MPC2 Dynamics | inferred | 0.940 | 47/50 | 0.888 | 522.21 | 22.83 | 496.5 |
| PID/LOS controller | inferred | 0.460 | 23/50 | 1.042 | 299.69 | 18.96 | 385.9 |
| No-Flow LOS Controller | inferred | 0.040 | 2/50 | 1.830 | 373.10 | 22.94 | 569.0 |
| Current-Estimator LOS Controller | inferred | 0.780 | 39/50 | 0.786 | 291.58 | 18.37 | 434.7 |
| Oracle-Flow LOS Controller | inferred | 0.020 | 1/50 | 1.934 | 378.60 | 19.87 | 509.0 |

### waypoint_zigzag_triangle_double_gyre
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.960 | 48/50 | 0.697 | 365.88 | 16.71 | 360.4 |
| FlowMo | shuffled | 0.920 | 46/50 | 0.666 | 649.07 | 25.47 | 445.9 |
| FlowMo | zero | 1.000 | 50/50 | 0.627 | 652.71 | 24.07 | 407.1 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.624 | 569.26 | 21.77 | 357.4 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.628 | 426.37 | 20.12 | 381.9 |
| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.722 | 503.09 | 19.99 | 327.7 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.632 | 293.23 | 17.91 | 564.8 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 257.63 | 18.23 | 507.4 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.625 | 258.57 | 16.80 | 480.9 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.626 | 256.08 | 17.79 | 498.8 |

### waypoint_zigzag_triangle_gradient
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.637 | 369.54 | 16.63 | 355.1 |
| FlowMo | shuffled | 0.800 | 40/50 | 0.991 | 661.06 | 25.42 | 457.6 |
| FlowMo | zero | 1.000 | 50/50 | 0.626 | 637.81 | 23.73 | 394.5 |
| LeWorldModel | inferred | 0.920 | 46/50 | 0.787 | 590.49 | 22.41 | 368.9 |
| PlaNet RSSM | inferred | 0.980 | 49/50 | 0.789 | 426.20 | 19.81 | 373.7 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.613 | 501.40 | 20.36 | 335.3 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.626 | 293.46 | 17.49 | 544.6 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.620 | 257.53 | 17.89 | 493.6 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 257.34 | 16.92 | 477.6 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.624 | 256.57 | 17.78 | 490.9 |

### waypoint_zigzag_triangle_noflow
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.635 | 366.70 | 16.67 | 335.5 |
| FlowMo | shuffled | 0.920 | 46/50 | 0.782 | 669.98 | 26.05 | 463.7 |
| FlowMo | zero | 1.000 | 50/50 | 0.626 | 675.36 | 24.82 | 417.6 |
| LeWorldModel | inferred | 0.820 | 41/50 | 0.973 | 596.71 | 22.60 | 371.4 |
| PlaNet RSSM | inferred | 0.960 | 48/50 | 0.903 | 413.91 | 19.71 | 368.5 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.612 | 487.61 | 19.38 | 316.4 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.629 | 294.60 | 17.26 | 534.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.622 | 257.30 | 17.73 | 486.4 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.625 | 260.43 | 16.97 | 476.1 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.622 | 257.30 | 17.73 | 486.4 |

### waypoint_zigzag_triangle_random_fourier
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.637 | 378.80 | 17.10 | 359.1 |
| FlowMo | shuffled | 0.860 | 43/50 | 0.761 | 662.51 | 26.24 | 457.4 |
| FlowMo | zero | 1.000 | 50/50 | 0.627 | 667.28 | 24.44 | 405.6 |
| LeWorldModel | inferred | 0.940 | 47/50 | 0.740 | 584.10 | 22.44 | 359.1 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.633 | 413.36 | 19.87 | 359.7 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.618 | 481.04 | 19.79 | 318.1 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.626 | 296.55 | 17.52 | 532.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.624 | 255.63 | 17.92 | 482.8 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.632 | 260.35 | 17.02 | 471.4 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 257.63 | 17.77 | 480.8 |

### waypoint_zigzag_triangle_shear
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.636 | 370.00 | 16.92 | 368.2 |
| FlowMo | shuffled | 0.800 | 40/50 | 0.956 | 629.35 | 24.74 | 413.9 |
| FlowMo | zero | 1.000 | 50/50 | 0.624 | 653.54 | 24.23 | 393.8 |
| LeWorldModel | inferred | 0.920 | 46/50 | 0.786 | 577.56 | 22.29 | 363.9 |
| PlaNet RSSM | inferred | 0.980 | 49/50 | 0.782 | 420.27 | 20.16 | 371.6 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.611 | 490.66 | 19.89 | 323.4 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.628 | 285.28 | 17.56 | 532.0 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.624 | 249.49 | 17.97 | 483.0 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.623 | 251.68 | 16.95 | 469.3 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.625 | 251.11 | 17.85 | 481.8 |

### waypoint_zigzag_triangle_source_sink
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.960 | 48/50 | 0.689 | 372.43 | 16.65 | 348.2 |
| FlowMo | shuffled | 0.900 | 45/50 | 0.781 | 644.37 | 24.83 | 440.3 |
| FlowMo | zero | 1.000 | 50/50 | 0.626 | 696.25 | 24.89 | 425.3 |
| LeWorldModel | inferred | 0.880 | 44/50 | 0.905 | 622.90 | 22.59 | 381.7 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.632 | 440.68 | 20.33 | 397.3 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.610 | 498.23 | 19.77 | 335.1 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.630 | 301.73 | 17.28 | 557.6 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.626 | 263.50 | 17.67 | 503.8 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.629 | 266.82 | 16.90 | 492.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 263.12 | 17.59 | 502.1 |

### waypoint_zigzag_triangle_source_sink_pair
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.636 | 362.79 | 16.50 | 353.6 |
| FlowMo | shuffled | 0.920 | 46/50 | 0.733 | 676.61 | 26.66 | 473.2 |
| FlowMo | zero | 1.000 | 50/50 | 0.623 | 671.17 | 24.90 | 406.7 |
| LeWorldModel | inferred | 0.880 | 44/50 | 0.889 | 558.44 | 21.77 | 349.3 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.632 | 438.90 | 20.62 | 389.4 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.611 | 479.00 | 19.84 | 323.5 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.632 | 294.07 | 17.40 | 547.1 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 257.08 | 17.78 | 493.7 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.629 | 259.71 | 16.83 | 480.0 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.629 | 255.90 | 17.64 | 490.4 |

### waypoint_zigzag_triangle_turbulent_patch
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 1.000 | 50/50 | 0.634 | 360.36 | 16.66 | 340.9 |
| FlowMo | shuffled | 0.940 | 47/50 | 0.665 | 682.66 | 27.48 | 455.4 |
| FlowMo | zero | 1.000 | 50/50 | 0.622 | 672.63 | 25.51 | 416.8 |
| LeWorldModel | inferred | 0.900 | 45/50 | 0.830 | 568.62 | 22.37 | 357.6 |
| PlaNet RSSM | inferred | 0.980 | 49/50 | 0.775 | 393.35 | 19.41 | 358.5 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.614 | 478.78 | 19.74 | 313.8 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.627 | 290.20 | 17.32 | 527.2 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 250.91 | 17.75 | 477.8 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 251.32 | 16.78 | 462.7 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.622 | 251.44 | 17.70 | 476.9 |

### waypoint_zigzag_triangle_uniform
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.638 | 372.85 | 16.57 | 341.8 |
| FlowMo | shuffled | 0.880 | 44/50 | 0.773 | 661.58 | 26.01 | 462.4 |
| FlowMo | zero | 0.980 | 49/50 | 0.639 | 655.73 | 24.46 | 403.4 |
| LeWorldModel | inferred | 1.000 | 50/50 | 0.626 | 585.43 | 22.10 | 361.7 |
| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.629 | 414.68 | 19.50 | 371.1 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.616 | 485.33 | 19.48 | 320.3 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.631 | 297.58 | 17.62 | 559.2 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.626 | 257.77 | 18.01 | 503.1 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.629 | 259.25 | 16.88 | 484.1 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.628 | 256.14 | 17.77 | 498.3 |

### waypoint_zigzag_triangle_vortex_center
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.641 | 378.76 | 16.81 | 358.5 |
| FlowMo | shuffled | 0.900 | 45/50 | 0.795 | 635.63 | 24.05 | 416.8 |
| FlowMo | zero | 1.000 | 50/50 | 0.625 | 694.41 | 25.18 | 431.7 |
| LeWorldModel | inferred | 0.880 | 44/50 | 0.863 | 589.78 | 22.07 | 365.0 |
| PlaNet RSSM | inferred | 0.980 | 49/50 | 0.779 | 435.24 | 20.25 | 383.6 |
| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.611 | 494.66 | 19.61 | 332.2 |
| PID/LOS controller | inferred | 1.000 | 50/50 | 0.634 | 302.06 | 17.33 | 556.9 |
| No-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 263.09 | 17.74 | 503.1 |
| Current-Estimator LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 265.21 | 16.94 | 491.2 |
| Oracle-Flow LOS Controller | inferred | 1.000 | 50/50 | 0.627 | 262.66 | 17.67 | 501.8 |

### waypoint_zigzag_twin_double_gyre
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.920 | 46/50 | 0.786 | 445.83 | 20.09 | 482.4 |
| FlowMo | shuffled | 0.740 | 37/50 | 1.324 | 679.53 | 28.25 | 548.2 |
| FlowMo | zero | 0.620 | 31/50 | 1.709 | 802.79 | 32.27 | 562.9 |
| LeWorldModel | inferred | 0.860 | 43/50 | 0.980 | 616.90 | 25.83 | 481.3 |
| PlaNet RSSM | inferred | 0.940 | 47/50 | 0.737 | 610.56 | 25.72 | 542.5 |
| TD-MPC2 Dynamics | inferred | 0.880 | 44/50 | 0.973 | 492.50 | 23.41 | 444.2 |
| PID/LOS controller | inferred | 0.820 | 41/50 | 0.840 | 417.63 | 27.63 | 620.6 |
| No-Flow LOS Controller | inferred | 0.160 | 8/50 | 1.770 | 406.78 | 29.70 | 639.1 |
| Current-Estimator LOS Controller | inferred | 0.860 | 43/50 | 0.688 | 387.65 | 24.18 | 571.8 |
| Oracle-Flow LOS Controller | inferred | 0.260 | 13/50 | 1.473 | 409.15 | 29.60 | 630.2 |

### waypoint_zigzag_twin_gradient
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.680 | 440.64 | 19.53 | 476.8 |
| FlowMo | shuffled | 0.680 | 34/50 | 1.126 | 655.19 | 28.27 | 523.6 |
| FlowMo | zero | 0.740 | 37/50 | 1.419 | 826.28 | 34.18 | 581.1 |
| LeWorldModel | inferred | 0.900 | 45/50 | 0.911 | 637.89 | 26.89 | 492.1 |
| PlaNet RSSM | inferred | 0.760 | 38/50 | 1.422 | 567.48 | 24.40 | 501.2 |
| TD-MPC2 Dynamics | inferred | 0.860 | 43/50 | 1.061 | 476.91 | 22.47 | 432.7 |
| PID/LOS controller | inferred | 0.900 | 45/50 | 0.679 | 434.99 | 27.57 | 630.9 |
| No-Flow LOS Controller | inferred | 0.160 | 8/50 | 1.418 | 410.70 | 30.62 | 665.6 |
| Current-Estimator LOS Controller | inferred | 0.860 | 43/50 | 0.669 | 391.20 | 24.34 | 554.7 |
| Oracle-Flow LOS Controller | inferred | 0.200 | 10/50 | 1.387 | 406.00 | 29.63 | 626.6 |

### waypoint_zigzag_twin_noflow
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.686 | 431.82 | 19.41 | 466.0 |
| FlowMo | shuffled | 0.740 | 37/50 | 1.341 | 678.03 | 28.74 | 516.1 |
| FlowMo | zero | 0.620 | 31/50 | 1.569 | 842.53 | 33.57 | 591.2 |
| LeWorldModel | inferred | 0.880 | 44/50 | 0.952 | 610.92 | 25.95 | 475.5 |
| PlaNet RSSM | inferred | 0.880 | 44/50 | 0.964 | 570.38 | 24.30 | 493.2 |
| TD-MPC2 Dynamics | inferred | 0.920 | 46/50 | 0.879 | 459.15 | 21.30 | 404.9 |
| PID/LOS controller | inferred | 0.920 | 46/50 | 0.678 | 427.72 | 27.37 | 629.0 |
| No-Flow LOS Controller | inferred | 0.280 | 14/50 | 1.386 | 413.61 | 28.68 | 643.2 |
| Current-Estimator LOS Controller | inferred | 0.840 | 42/50 | 0.685 | 385.03 | 23.81 | 541.1 |
| Oracle-Flow LOS Controller | inferred | 0.280 | 14/50 | 1.386 | 413.61 | 28.68 | 643.2 |

### waypoint_zigzag_twin_random_fourier
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.686 | 437.30 | 19.46 | 465.6 |
| FlowMo | shuffled | 0.740 | 37/50 | 1.584 | 680.46 | 29.19 | 533.2 |
| FlowMo | zero | 0.720 | 36/50 | 1.419 | 783.72 | 32.14 | 552.3 |
| LeWorldModel | inferred | 0.920 | 46/50 | 0.907 | 618.01 | 26.11 | 490.8 |
| PlaNet RSSM | inferred | 0.820 | 41/50 | 1.197 | 575.06 | 24.85 | 505.5 |
| TD-MPC2 Dynamics | inferred | 0.880 | 44/50 | 1.024 | 462.50 | 22.53 | 423.9 |
| PID/LOS controller | inferred | 0.860 | 43/50 | 0.791 | 423.45 | 27.89 | 625.5 |
| No-Flow LOS Controller | inferred | 0.280 | 14/50 | 1.320 | 407.97 | 30.25 | 638.6 |
| Current-Estimator LOS Controller | inferred | 0.860 | 43/50 | 0.696 | 385.10 | 24.59 | 543.7 |
| Oracle-Flow LOS Controller | inferred | 0.280 | 14/50 | 1.465 | 411.88 | 30.16 | 656.2 |

### waypoint_zigzag_twin_shear
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.691 | 402.04 | 18.65 | 443.2 |
| FlowMo | shuffled | 0.760 | 38/50 | 1.191 | 681.38 | 29.91 | 543.9 |
| FlowMo | zero | 0.560 | 28/50 | 1.761 | 734.35 | 30.88 | 516.9 |
| LeWorldModel | inferred | 0.860 | 43/50 | 0.982 | 599.40 | 26.03 | 482.8 |
| PlaNet RSSM | inferred | 0.800 | 40/50 | 1.368 | 579.67 | 25.06 | 501.0 |
| TD-MPC2 Dynamics | inferred | 0.860 | 43/50 | 1.147 | 450.85 | 21.97 | 414.2 |
| PID/LOS controller | inferred | 0.780 | 39/50 | 0.829 | 425.40 | 28.94 | 610.9 |
| No-Flow LOS Controller | inferred | 0.180 | 9/50 | 1.628 | 389.70 | 30.44 | 570.0 |
| Current-Estimator LOS Controller | inferred | 0.900 | 45/50 | 0.935 | 375.83 | 24.22 | 526.3 |
| Oracle-Flow LOS Controller | inferred | 0.260 | 13/50 | 1.337 | 400.10 | 30.53 | 609.8 |

### waypoint_zigzag_twin_source_sink
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.940 | 47/50 | 0.886 | 457.18 | 19.61 | 490.4 |
| FlowMo | shuffled | 0.720 | 36/50 | 1.213 | 699.21 | 28.07 | 549.6 |
| FlowMo | zero | 0.620 | 31/50 | 1.543 | 794.38 | 31.55 | 559.0 |
| LeWorldModel | inferred | 0.900 | 45/50 | 0.826 | 647.03 | 26.92 | 517.4 |
| PlaNet RSSM | inferred | 0.820 | 41/50 | 1.026 | 605.10 | 24.70 | 520.3 |
| TD-MPC2 Dynamics | inferred | 0.860 | 43/50 | 1.004 | 491.60 | 21.60 | 450.1 |
| PID/LOS controller | inferred | 0.840 | 42/50 | 0.732 | 448.12 | 27.28 | 649.0 |
| No-Flow LOS Controller | inferred | 0.180 | 9/50 | 1.520 | 406.13 | 28.71 | 625.1 |
| Current-Estimator LOS Controller | inferred | 0.760 | 38/50 | 0.691 | 395.60 | 24.12 | 554.8 |
| Oracle-Flow LOS Controller | inferred | 0.200 | 10/50 | 1.529 | 415.61 | 28.11 | 621.3 |

### waypoint_zigzag_twin_source_sink_pair
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.980 | 49/50 | 0.683 | 426.05 | 18.92 | 463.2 |
| FlowMo | shuffled | 0.660 | 33/50 | 1.560 | 710.33 | 29.04 | 580.0 |
| FlowMo | zero | 0.680 | 34/50 | 1.424 | 815.96 | 32.15 | 571.4 |
| LeWorldModel | inferred | 0.960 | 48/50 | 0.706 | 614.22 | 25.84 | 487.1 |
| PlaNet RSSM | inferred | 0.840 | 42/50 | 0.864 | 581.77 | 24.72 | 509.3 |
| TD-MPC2 Dynamics | inferred | 0.800 | 40/50 | 1.246 | 452.21 | 21.70 | 421.5 |
| PID/LOS controller | inferred | 0.800 | 40/50 | 0.735 | 443.41 | 26.74 | 639.5 |
| No-Flow LOS Controller | inferred | 0.220 | 11/50 | 1.317 | 435.09 | 28.62 | 660.8 |
| Current-Estimator LOS Controller | inferred | 0.820 | 41/50 | 0.679 | 413.54 | 24.32 | 585.9 |
| Oracle-Flow LOS Controller | inferred | 0.240 | 12/50 | 1.262 | 424.53 | 28.55 | 657.1 |

### waypoint_zigzag_twin_turbulent_patch
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.920 | 46/50 | 0.697 | 420.08 | 19.35 | 457.5 |
| FlowMo | shuffled | 0.700 | 35/50 | 1.408 | 684.45 | 29.85 | 538.2 |
| FlowMo | zero | 0.720 | 36/50 | 1.387 | 783.96 | 32.70 | 549.4 |
| LeWorldModel | inferred | 0.920 | 46/50 | 0.841 | 619.63 | 26.78 | 488.5 |
| PlaNet RSSM | inferred | 0.760 | 38/50 | 1.582 | 584.34 | 25.19 | 514.3 |
| TD-MPC2 Dynamics | inferred | 0.840 | 42/50 | 1.122 | 467.69 | 22.17 | 426.4 |
| PID/LOS controller | inferred | 0.900 | 45/50 | 0.678 | 424.39 | 27.11 | 614.3 |
| No-Flow LOS Controller | inferred | 0.300 | 15/50 | 1.381 | 425.51 | 29.34 | 650.7 |
| Current-Estimator LOS Controller | inferred | 0.780 | 39/50 | 0.688 | 377.47 | 23.72 | 534.5 |
| Oracle-Flow LOS Controller | inferred | 0.300 | 15/50 | 1.491 | 421.47 | 29.03 | 655.7 |

### waypoint_zigzag_twin_uniform
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.960 | 48/50 | 0.684 | 438.73 | 20.05 | 473.7 |
| FlowMo | shuffled | 0.700 | 35/50 | 1.433 | 689.87 | 28.04 | 545.2 |
| FlowMo | zero | 0.640 | 32/50 | 1.731 | 774.93 | 31.88 | 545.6 |
| LeWorldModel | inferred | 0.920 | 46/50 | 0.783 | 572.87 | 24.70 | 450.4 |
| PlaNet RSSM | inferred | 0.900 | 45/50 | 0.921 | 567.50 | 24.42 | 495.9 |
| TD-MPC2 Dynamics | inferred | 0.900 | 45/50 | 0.904 | 470.97 | 22.12 | 423.7 |
| PID/LOS controller | inferred | 0.920 | 46/50 | 0.779 | 430.42 | 27.21 | 623.9 |
| No-Flow LOS Controller | inferred | 0.280 | 14/50 | 1.149 | 399.15 | 29.32 | 602.4 |
| Current-Estimator LOS Controller | inferred | 0.860 | 43/50 | 0.674 | 386.36 | 24.24 | 560.0 |
| Oracle-Flow LOS Controller | inferred | 0.340 | 17/50 | 1.109 | 397.63 | 29.20 | 622.6 |

### waypoint_zigzag_twin_vortex_center
| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
|---|---|---:|---:|---:|---:|---:|---:|
| FlowMo | inferred | 0.960 | 48/50 | 0.739 | 450.92 | 19.66 | 484.7 |
| FlowMo | shuffled | 0.720 | 36/50 | 1.088 | 711.42 | 28.54 | 552.1 |
| FlowMo | zero | 0.720 | 36/50 | 1.254 | 861.98 | 33.93 | 604.9 |
| LeWorldModel | inferred | 0.740 | 37/50 | 1.356 | 666.10 | 26.60 | 526.2 |
| PlaNet RSSM | inferred | 0.800 | 40/50 | 1.252 | 627.72 | 25.60 | 537.2 |
| TD-MPC2 Dynamics | inferred | 0.780 | 39/50 | 1.315 | 500.39 | 21.95 | 450.3 |
| PID/LOS controller | inferred | 0.800 | 40/50 | 1.008 | 444.32 | 27.25 | 643.3 |
| No-Flow LOS Controller | inferred | 0.240 | 12/50 | 1.387 | 416.93 | 29.62 | 669.5 |
| Current-Estimator LOS Controller | inferred | 0.740 | 37/50 | 0.796 | 404.83 | 23.98 | 574.8 |
| Oracle-Flow LOS Controller | inferred | 0.280 | 14/50 | 1.349 | 423.87 | 29.74 | 657.1 |


## Artifact Locations

- Prediction JSON: `experiments/reports/paper_prediction.json`
- FlowMo latent probe JSON: `experiments/reports/paper_flowmo_latent_probes.json`
- Planning JSON files: `experiments/reports/paper_planning/*.json`
- GIFs: `experiments/reports/paper_planning/gifs/*.gif`