Clean public repository for reproducibility

.gitignore

@@ -1,11 +1,25 @@
 __pycache__/
 *.pyc
 .pytest_cache/
+.cache/
+.ipynb_checkpoints/
 
 # Local runtime noise
 logs/
 external/
 flowmo_remote_outputs/
 
+# Local paper-build artifacts are not part of the reproducibility package.
+CoRL_2026___FlowMo_World_Model*
+FlowMo-WM_CoRL2026*_draft.pdf
+*.aux
+*.bbl
+*.blg
+*.fdb_latexmk
+*.fls
+*.log
+*.out
+*.synctex.gz
+
 # Render caches are reproducible intermediates, not paper artifacts.
 experiments/shared/result/image_cache*/

.hfignore

@@ -3,9 +3,23 @@
 __pycache__/
 *.pyc
 .pytest_cache/
+.cache/
+.ipynb_checkpoints/
 logs/
 external/
 flowmo_remote_outputs/
 
+# Local paper-build artifacts are not part of the reproducibility package.
+CoRL_2026___FlowMo_World_Model*
+FlowMo-WM_CoRL2026*_draft.pdf
+*.aux
+*.bbl
+*.blg
+*.fdb_latexmk
+*.fls
+*.log
+*.out
+*.synctex.gz
+
 # Render caches are reproducible intermediates, not paper artifacts.
 experiments/shared/result/image_cache*/

README.md

@@ -9,45 +9,142 @@ tags:
   - hidden-drift
 ---
 
-# FlowMo: Flow-Momentum World Model
+# FlowMo-WM
 
-FlowMo is a clean-image world-model benchmark for surface vehicles under hidden water drift. The proposed model separates short-history endogenous state and momentum from long-history exogenous drift context, then evaluates whether that factorization improves rollout prediction and closed-loop planning.
+FlowMo-WM is a visual world model for surface vehicles under hidden ambient drift. The model uses clean top-down image histories and action histories to infer a short-history object-motion state and a long-history drift context, then predicts future latent states with a zero-context residual transition.
 
-This repository contains the public code, tests, configuration, canonical paper datasets, checkpoints, generated GIFs, tables, and experiment reports.
+This repository contains the code, canonical datasets, trained checkpoints, evaluation outputs, GIFs, tables, and report files needed to reproduce the paper experiments.
 
-## Paper Pipeline
+## Repository Layout
 
-Run the complete paper-facing experiment:
+```text
+data/paper/                         canonical train/test splits
+driftwm/                            simulator and flow-field code
+experiments/shared/                 shared data, renderer, planner, metrics, model utilities
+experiments/flowmo/                 proposed model
+experiments/leworldmodel/           JEPA-style latent world-model baseline
+experiments/planet/                 PlaNet RSSM baseline
+experiments/tdmpc2/                 TD-MPC2-style latent dynamics baseline
+experiments/*_los_controller/       traditional non-WM controllers
+experiments/reports/                prediction, probes, planning JSON, GIFs, paper tables/figures
+tests/                              interface and pipeline tests
+```
+
+## Data
+
+The canonical paper data are:
+
+```text
+data/paper/train.npz
+data/paper/test.npz
+data/paper/generation_config.json
+data/paper/dataset_card.md
+```
+
+All learned models use the same splits, image renderer, optimizer budget, rollout targets, and evaluation protocol. Images are rendered online from simulator states as clean RGB frames. Model inputs do not include flow arrows, goal markers, velocity vectors, trajectory overlays, flow labels, or low-dimensional ground-truth state.
+
+The train split, test split, and final planning tasks use the same static flow-family set:
+
+```text
+noflow
+uniform
+vortex_center
+double_gyre
+source_sink
+source_sink_pair
+gradient
+shear
+turbulent_patch
+random_fourier
+```
+
+## Methods
+
+Learned world models:
+
+| Directory | Report name | Role |
+|---|---|---|
+| `experiments/flowmo` | FlowMo | Proposed short-state / long-context residual world model. |
+| `experiments/leworldmodel` | LeWorldModel | JEPA-style image latent prediction baseline. |
+| `experiments/planet` | PlaNet RSSM | Recurrent state-space world-model baseline. |
+| `experiments/tdmpc2` | TD-MPC2 Dynamics | Compact task-oriented latent dynamics baseline. |
+
+Traditional non-WM controllers:
+
+| Directory | Report name | Role |
+|---|---|---|
+| `experiments/pid_los_controller` | PID/LOS | Hand-designed waypoint tracking baseline. |
+| `experiments/no_flow_los_controller` | No-Flow LOS | LOS controller that ignores ambient current. |
+| `experiments/current_estimator_los_controller` | Current-Estimator LOS | LOS controller with recent-drift current compensation. |
+| `experiments/oracle_flow_los_controller` | Oracle-Flow LOS | LOS controller with privileged true local-flow feed-forward. |
+
+Baseline definitions are in `experiments/BASELINES.md`. The complete experiment matrix is in `experiments/EXPERIMENT_MATRIX.md`.
+
+## Install
+
+```bash
+python -m venv .venv
+source .venv/bin/activate
+python -m pip install --upgrade pip
+python -m pip install -e .
+```
+
+Run tests:
+
+```bash
+python -m pytest -q tests
+```
+
+## Reproduce
+
+Run the complete paper pipeline:
 
 ```bash
 python -m experiments.run_paper_image_pipeline
 ```
 
-The default command trains all learned world models, evaluates prediction, runs FlowMo latent probes, evaluates planning on all configured tasks and boat morphologies, generates GIFs, and writes:
+The command trains all learned models, evaluates prediction, runs FlowMo latent probes, evaluates planning for learned and traditional methods, generates GIFs, exports paper artifacts, and writes:
 
 ```text
 experiments/reports/paper_prediction.json
 experiments/reports/paper_flowmo_latent_probes.json
-experiments/reports/paper_planning/
+experiments/reports/paper_planning/*.json
+experiments/reports/paper_planning/gifs/*.gif
+experiments/reports/paper_artifacts/
 experiments/reports/paper_report.md
 ```
 
-Images are rendered online from simulator states. Model inputs are clean top-down RGB frames with no flow arrows, no goal markers, no velocity vectors, and no trajectory overlays.
-The train split, test split, and final planning evaluation use the same paper flow-family set.
+Stages can be rerun separately:
+
+```bash
+python -m experiments.run_paper_image_pipeline --stages train
+python -m experiments.run_paper_image_pipeline --stages prediction
+python -m experiments.run_paper_image_pipeline --stages probe
+python -m experiments.run_paper_image_pipeline --stages planning
+python -m experiments.run_paper_image_pipeline --stages report
+```
 
-## Compared Methods
+To rebuild tables and figure-ready artifacts from existing results:
 
-- `flowmo`: proposed Flow-Momentum World Model.
-- `leworldmodel`: LeWorldModel-style JEPA latent predictor.
-- `planet`: PlaNet-style RSSM world model.
-- `tdmpc2`: TD-MPC2-style latent dynamics world model.
-- `pid_los_controller`, `no_flow_los_controller`, `current_estimator_los_controller`, `oracle_flow_los_controller`: traditional planning/control baselines.
+```bash
+python -m experiments.summarize_paper_image_results
+python -m experiments.export_paper_artifacts
+```
 
-Baseline fidelity and naming rules are documented in `experiments/BASELINES.md`.
-The complete paper experiment matrix is documented in `experiments/EXPERIMENT_MATRIX.md`.
+## Formal Outputs
 
-## Tests
+The repository includes the current formal outputs:
 
-```bash
-python -m pytest -q
+```text
+experiments/<learned_method>/checkpoint/paper.pt
+experiments/<learned_method>/checkpoint/paper_step_*.pt
+experiments/<learned_method>/result/parameter_count.json
+experiments/<learned_method>/result/paper_training.json
+experiments/reports/paper_prediction.json
+experiments/reports/paper_flowmo_latent_probes.json
+experiments/reports/paper_planning/
+experiments/reports/paper_artifacts/
+experiments/reports/paper_report.md
 ```
+
+Planning JSON files record every episode, including success, final distance, trajectory length, control effort `sum_t ||a_t||_2^2`, time to goal, path, actions, and per-frame metadata. Planning GIFs render the task background with flow arrows, the oriented boat, targets, and executed trajectory.

experiments/BASELINES.md

@@ -39,6 +39,6 @@ Comparison outputs:
 success rate
 final distance
 trajectory length over successful episodes
-energy / thrust work over successful episodes
+control effort (`sum_t ||a_t||_2^2`) over successful episodes
 time to goal over successful episodes
 ```

experiments/EXPERIMENT_MATRIX.md

@@ -151,7 +151,7 @@ Planning metrics:
 success rate
 final distance
 trajectory length over successful episodes
-energy / thrust work over successful episodes
+control effort (`sum_t ||a_t||_2^2`) over successful episodes
 time to goal over successful episodes
 ```
 

experiments/METHOD_AUDIT.md

@@ -16,9 +16,9 @@ This document records what each paper-facing method implements and what comparis
 | Method | Input | Controller Type | Comparison Purpose |
 |---|---|---|---|
 | PID/LOS controller | Clean image pose estimate | Line-of-sight waypoint tracking | Simple hand-designed tracking baseline. |
-| No-Flow LOS Controller | Clean image pose estimate | MPC with nominal boat dynamics | Measures the cost of ignoring external current. |
-| Current-Estimator LOS Controller | Clean image pose estimate and recent drift | MPC with estimated current | Strong classical current-compensation baseline. |
-| Oracle-Flow LOS Controller | Clean image pose estimate and simulator local flow | MPC with true local current | Reference bound for downstream planning. |
+| No-Flow LOS Controller | Clean image pose estimate | Line-of-sight tracking without flow compensation | Measures the cost of ignoring external current. |
+| Current-Estimator LOS Controller | Clean image pose estimate and recent drift | Line-of-sight tracking with online drift estimate | Strong classical current-compensation baseline. |
+| Oracle-Flow LOS Controller | Clean image pose estimate and simulator local flow | Line-of-sight tracking with true local flow feed-forward | Privileged-information reference for how much true local flow helps a simple geometric controller. |
 
 ## Architecture Difference Checklist
 

experiments/README.md

@@ -1,6 +1,6 @@
 # Experiments
 
-This directory contains the paper-facing experiment code, checkpoints, results, figures, GIFs, tables, and reports.
+This directory contains the paper-facing experiment code, checkpoints, results, GIFs, tables, and reports.
 
 This directory contains two formal experiment categories:
 
@@ -17,7 +17,7 @@ Category A learned WM comparisons:
 - **PlaNet RSSM**: recurrent state-space world-model baseline under the shared clean-image protocol.
 - **TD-MPC2 Dynamics**: task-oriented latent dynamics baseline under the shared clean-image protocol.
 
-Purpose of Category A: compare world-model architectures under identical image data, optimizer budget, parameter budget, rollout target, and evaluation protocol.
+Purpose of Category A: compare world-model architectures under identical image data, optimizer budget, rollout target, and evaluation protocol.
 
 Category B traditional controllers:
 
@@ -34,7 +34,7 @@ Design principles:
 
 - Shared simulator, datasets, planning utilities, metrics, and visualization live in `shared/`.
 - Each method has its own directory with `src/`, `checkpoint/`, and `result/`.
-- Paper artifacts are collected in top-level `figures/`, `gifs/`, `tables/`, and `reports/`.
+- Paper artifacts are collected under `reports/`.
 - Method names should be explicit and readable. Avoid cryptic suffixes in paper-facing file names.
 
 Standard method interface:

experiments/docs/EXPERIMENT_PROTOCOL.md

@@ -180,7 +180,7 @@ Metrics:
 success rate
 final distance
 trajectory length over successful episodes
-energy / thrust work over successful episodes
+control effort (`sum_t ||a_t||_2^2`) over successful episodes
 time to goal over successful episodes
 ```
 

experiments/export_paper_artifacts.py

@@ -12,8 +12,10 @@ import json
 import math
 import re
 import shutil
+import subprocess
 from collections import defaultdict
 from dataclasses import dataclass
+from functools import lru_cache
 from pathlib import Path
 from typing import Any, Iterable
 
@@ -71,15 +73,21 @@ METHOD_LABEL = {
     "current_estimator_los_controller": "Current-Estimator LOS",
     "oracle_flow_los_controller": "Oracle-Flow LOS",
 }
+METHOD_DESCRIPTION = {
+    "pid_los_controller": "Line-of-sight waypoint tracking baseline using the clean-image pose estimate.",
+    "no_flow_los_controller": "Line-of-sight tracking that ignores ambient flow; measures the cost of no current compensation.",
+    "current_estimator_los_controller": "Line-of-sight tracking with an online drift estimate from recent pose history.",
+    "oracle_flow_los_controller": "Line-of-sight tracking with privileged true local simulator flow feed-forward; a reference controller, not a world-model baseline.",
+}
 METHOD_SHORT = {
     "flowmo": "FlowMo",
     "leworldmodel": "LeWM",
     "planet": "RSSM",
     "tdmpc2": "TD2",
-    "pid_los_controller": "PID",
-    "no_flow_los_controller": "LOS0",
-    "current_estimator_los_controller": "LOSest",
-    "oracle_flow_los_controller": "LOSorc",
+    "pid_los_controller": "PID/LOS",
+    "no_flow_los_controller": "NF-LOS",
+    "current_estimator_los_controller": "CE-LOS",
+    "oracle_flow_los_controller": "OF-LOS",
 }
 TASK_LABEL = {
     "reach_target": "Reach",
@@ -167,6 +175,30 @@ def ensure_dir(path: Path) -> None:
     path.mkdir(parents=True, exist_ok=True)
 
 
+def trim_whitespace(img: Image.Image, pad_x: int = 8, pad_y: int = 0, threshold: int = 250) -> Image.Image:
+    """Crop near-white border while preserving a small horizontal margin."""
+    rgb = img.convert("RGB")
+    pix = rgb.load()
+    w, h = rgb.size
+    min_x, min_y = w, h
+    max_x, max_y = -1, -1
+    for y in range(h):
+        for x in range(w):
+            r, g, b = pix[x, y]
+            if r < threshold or g < threshold or b < threshold:
+                min_x = min(min_x, x)
+                min_y = min(min_y, y)
+                max_x = max(max_x, x)
+                max_y = max(max_y, y)
+    if max_x < min_x or max_y < min_y:
+        return rgb
+    min_x = max(0, min_x - pad_x)
+    max_x = min(w - 1, max_x + pad_x)
+    min_y = max(0, min_y - pad_y)
+    max_y = min(h - 1, max_y + pad_y)
+    return rgb.crop((min_x, min_y, max_x + 1, max_y + 1))
+
+
 def read_json(path: Path) -> Any:
     with path.open("r", encoding="utf-8") as f:
         return json.load(f)
@@ -244,12 +276,27 @@ def write_rows(path_base: Path, rows: list[dict[str, Any]], fieldnames: list[str
                 writer.writerow({k: row.get(k, "") for k in fieldnames})
 
 
+@lru_cache(maxsize=2)
+def arial_font_path(bold: bool) -> str | None:
+    family = "Arial:style=Bold" if bold else "Arial:style=Regular"
+    try:
+        path = subprocess.check_output(["fc-match", "-f", "%{file}", family], text=True).strip()
+    except (OSError, subprocess.CalledProcessError):
+        return None
+    return path or None
+
+
 def font(size: int, bold: bool = False) -> ImageFont.FreeTypeFont | ImageFont.ImageFont:
+    matched = arial_font_path(bold)
     candidates = [
+        matched,
+        "/usr/share/fonts/truetype/liberation/LiberationSans-Bold.ttf" if bold else "/usr/share/fonts/truetype/liberation/LiberationSans-Regular.ttf",
         "/usr/share/fonts/truetype/dejavu/DejaVuSans-Bold.ttf" if bold else "/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf",
         "/usr/share/fonts/dejavu/DejaVuSans-Bold.ttf" if bold else "/usr/share/fonts/dejavu/DejaVuSans.ttf",
     ]
     for path in candidates:
+        if not path:
+            continue
         try:
             return ImageFont.truetype(path, size=size)
         except OSError:
@@ -412,40 +459,36 @@ def extract_fig3() -> None:
     )
 
     thumb_w, thumb_h = 210, 210
-    label_h = 34
-    left = 128
-    top = 92
-    gap = 12
-    width = left + 6 * thumb_w + 5 * gap + 26
-    height = top + len(TASK_ORDER) * (thumb_h + label_h + gap) + 26
+    left = 138
+    top = 58
+    row_gap = 16
+    group_gap = 30
+    width = left + 6 * thumb_w + group_gap + 14
+    height = top + len(TASK_ORDER) * thumb_h + (len(TASK_ORDER) - 1) * row_gap + 14
     canvas = Image.new("RGB", (width, height), "white")
     draw = ImageDraw.Draw(canvas)
-    title_font = font(26, True)
-    head_font = font(18, True)
-    small_font = font(14, False)
-    draw.text((20, 18), f"Figure 3 placeholder: FlowMo inferred, diverse flows, episode {FIG3_EPISODE}", fill=(20, 25, 30), font=title_font)
-
-    col_labels = ["Twin first", "Twin mid", "Twin last", "Triangle first", "Triangle mid", "Triangle last"]
-    for col, label in enumerate(col_labels):
-        x = left + col * (thumb_w + gap)
-        draw.text((x + 8, top - 26), label, fill=(30, 30, 30), font=small_font)
+    head_font = font(30, True)
+    flow_font = font(25, False)
+    group_font = font(30, True)
+    twin_x = left
+    tri_x = left + 3 * thumb_w + group_gap
+    draw.text((twin_x + 1.5 * thumb_w - draw.textlength("Twin", font=group_font) / 2, 12), "Twin", fill=(20, 25, 30), font=group_font)
+    draw.text((tri_x + 1.5 * thumb_w - draw.textlength("Triangle", font=group_font) / 2, 12), "Triangle", fill=(20, 25, 30), font=group_font)
     for row, task in enumerate(TASK_ORDER):
-        y = top + row * (thumb_h + label_h + gap)
-        draw.text((16, y + 80), TASK_LABEL[task], fill=(20, 25, 30), font=head_font)
-        draw.text((16, y + 108), FLOW_LABEL[FIG3_TASK_FLOW[task]], fill=(80, 80, 80), font=small_font)
-        col = 0
+        y = top + row * (thumb_h + row_gap)
+        draw.text((12, y + 72), TASK_LABEL[task], fill=(20, 25, 30), font=head_font)
+        draw.text((12, y + 104), FLOW_LABEL[FIG3_TASK_FLOW[task]], fill=(80, 80, 80), font=flow_font)
         for boat in BOAT_ORDER:
-            for frame_name in frame_names:
-                x = left + col * (thumb_w + gap)
+            base_x = twin_x if boat == "twin" else tri_x
+            for frame_idx, frame_name in enumerate(frame_names):
+                x = base_x + frame_idx * thumb_w
                 src = cell_images[(task, boat, frame_name)]
                 img = Image.open(src).convert("RGB").resize((thumb_w, thumb_h), Image.Resampling.LANCZOS)
                 canvas.paste(img, (x, y))
                 draw.rectangle([x, y, x + thumb_w, y + thumb_h], outline=(220, 220, 220), width=1)
-                draw.text((x + 8, y + thumb_h + 8), f"{BOAT_LABEL[boat]} / {frame_name}", fill=(50, 50, 50), font=small_font)
-                col += 1
 
-    contact = fig_dir / "figure3_placeholder_contact_sheet.png"
-    canvas.save(contact)
+    contact = fig_dir / "figure3_rollout_contact_sheet.png"
+    trim_whitespace(canvas, pad_x=8, pad_y=0).save(contact)
 
     md_lines = [
         "# Figure 3 Provenance",
@@ -454,6 +497,7 @@ def extract_fig3() -> None:
         "",
         f"Selected method/context: `flowmo` / `inferred`.",
         f"Selected episode: `{FIG3_EPISODE}`.",
+        "Layout: for each task and boat, the three adjacent frames are first, middle, and last; spacing appears only between task/boat groups.",
         "",
         "Selected flows by task:",
     ]
@@ -507,13 +551,20 @@ def draw_line_panel(
     rows: list[dict[str, Any]],
     title: str,
     colors: dict[str, tuple[int, int, int]],
+    compact: bool = False,
+    show_legend: bool = True,
+    title_y: int | None = None,
 ) -> None:
     x0, y0, x1, y1 = box
-    axis_font = font(15)
-    title_font = font(22, True)
-    draw.text((x0, y0 - 42), title, fill=(20, 25, 30), font=title_font)
+    axis_font = font(20 if compact else 15)
+    title_font = font(26 if compact else 22, True)
+    title_offset = 48 if compact else 42
+    draw.text((x0, title_y if title_y is not None else y0 - title_offset), title, fill=(20, 25, 30), font=title_font)
     draw.rectangle([x0, y0, x1, y1], outline=(210, 210, 210), width=1)
-    pad_l, pad_b, pad_t, pad_r = 64, 52, 24, 20
+    if compact:
+        pad_l, pad_b, pad_t, pad_r = 74, 68, 28, 24
+    else:
+        pad_l, pad_b, pad_t, pad_r = 64, 52, 24, 20
     px0, py0, px1, py1 = x0 + pad_l, y0 + pad_t, x1 - pad_r, y1 - pad_b
     max_y = max(float(r["position_error"]) for r in rows) * 1.12
     min_h, max_h = min(HORIZONS), max(HORIZONS)
@@ -521,14 +572,16 @@ def draw_line_panel(
         y = py1 - tick * (py1 - py0)
         val = tick * max_y
         draw.line([px0, y, px1, y], fill=(232, 232, 232), width=1)
-        draw.text((x0 + 8, y - 8), f"{val:.2f}", fill=(70, 70, 70), font=axis_font)
+        draw.text((x0 + 8, y - 11), f"{val:.2f}", fill=(70, 70, 70), font=axis_font)
     draw.line([px0, py1, px1, py1], fill=(60, 60, 60), width=2)
     draw.line([px0, py0, px0, py1], fill=(60, 60, 60), width=2)
     for h in HORIZONS:
         x = px0 + (h - min_h) / (max_h - min_h) * (px1 - px0)
         draw.line([x, py1, x, py1 + 5], fill=(60, 60, 60), width=1)
-        draw.text((x - 10, py1 + 10), str(h), fill=(70, 70, 70), font=axis_font)
-    draw.text(((px0 + px1) // 2 - 60, y1 - 28), "rollout step", fill=(60, 60, 60), font=axis_font)
+        if (compact or (x1 - x0) < 700) and h in [3, 6, 8, 30]:
+            continue
+        draw.text((x - 12, py1 + 12), str(h), fill=(70, 70, 70), font=axis_font)
+    draw.text(((px0 + px1) // 2 - (72 if compact else 60), y1 - (36 if compact else 28)), "rollout step", fill=(60, 60, 60), font=axis_font)
 
     by_method: dict[str, list[dict[str, Any]]] = defaultdict(list)
     for row in rows:
@@ -543,13 +596,22 @@ def draw_line_panel(
         if len(pts) >= 2:
             draw.line(pts, fill=colors[method], width=4)
         for x, y in pts:
-            draw.ellipse([x - 4, y - 4, x + 4, y + 4], fill=colors[method])
+            rr = 5 if compact else 4
+            draw.ellipse([x - rr, y - rr, x + rr, y + rr], fill=colors[method])
 
-    lx, ly = px1 - 185, py0 + 10
-    for i, method in enumerate(LEARNED_METHODS):
-        yy = ly + i * 24
-        draw.line([lx, yy + 8, lx + 24, yy + 8], fill=colors[method], width=4)
-        draw.text((lx + 32, yy), METHOD_SHORT[method], fill=(40, 40, 40), font=axis_font)
+    if show_legend:
+        lx, ly = (px0 + 20, py0 + 14) if compact else (px1 - 185, py0 + 10)
+        for i, method in enumerate(LEARNED_METHODS):
+            if compact:
+                col = i % 2
+                row = i // 2
+                xx = lx + col * 250
+                yy = ly + row * 30
+            else:
+                xx = lx
+                yy = ly + i * 24
+            draw.line([xx, yy + 10, xx + 32, yy + 10], fill=colors[method], width=5 if compact else 4)
+            draw.text((xx + 42, yy - 2), METHOD_SHORT[method], fill=(40, 40, 40), font=axis_font)
 
 
 def draw_success_bar_panel(
@@ -612,7 +674,7 @@ def draw_success_by_task_panel(
     title_font = font(21, True)
     draw.text((x0, y0 - 36), title, fill=(20, 25, 30), font=title_font)
     draw.rectangle([x0, y0, x1, y1], outline=(210, 210, 210), width=1)
-    pad_l, pad_b, pad_t, pad_r = 58, 58, 26, 16
+    pad_l, pad_b, pad_t, pad_r = 58, 58, (76 if show_legend else 26), 16
     px0, py0, px1, py1 = x0 + pad_l, y0 + pad_t, x1 - pad_r, y1 - pad_b
 
     for tick in [0, 0.25, 0.50, 0.75, 1.0]:
@@ -652,6 +714,158 @@ def draw_success_by_task_panel(
             draw.text((xx + 22, yy - 3), METHOD_SHORT[method], fill=(40, 40, 40), font=small_font)
 
 
+def draw_learned_success_by_task_boat_panel(
+    draw: ImageDraw.ImageDraw,
+    box: tuple[int, int, int, int],
+    rows: list[dict[str, Any]],
+    title: str,
+) -> None:
+    x0, y0, x1, y1 = box
+    axis_font = font(15)
+    small_font = font(12)
+    title_font = font(22, True)
+    draw.text((x0, y0 - 42), title, fill=(20, 25, 30), font=title_font)
+    draw.rectangle([x0, y0, x1, y1], outline=(210, 210, 210), width=1)
+    pad_l, pad_b, pad_t, pad_r = 58, 86, 66, 18
+    px0, py0, px1, py1 = x0 + pad_l, y0 + pad_t, x1 - pad_r, y1 - pad_b
+
+    for tick in [0, 0.25, 0.50, 0.75, 1.0]:
+        y = py1 - tick * (py1 - py0)
+        draw.line([px0, y, px1, y], fill=(232, 232, 232), width=1)
+        draw.text((x0 + 10, y - 8), f"{int(tick * 100)}", fill=(70, 70, 70), font=axis_font)
+    draw.line([px0, py1, px1, py1], fill=(60, 60, 60), width=2)
+    draw.line([px0, py0, px0, py1], fill=(60, 60, 60), width=2)
+    draw.text((x0 + 8, y0 + 8), "success (%)", fill=(70, 70, 70), font=axis_font)
+
+    lx, ly = x0 + 82, y0 + 36
+    for i, method in enumerate(LEARNED_METHODS):
+        xx = lx + i * 190
+        draw.rectangle([xx, ly, xx + 18, ly + 12], fill=METHOD_COLORS[method])
+        draw.text((xx + 24, ly - 4), METHOD_SHORT[method], fill=(40, 40, 40), font=small_font)
+
+    rates = {(r["task"], r["boat"], r["method"]): float(r["success_rate"]) for r in rows}
+    task_w = (px1 - px0) / len(TASK_ORDER)
+    boat_w = task_w / len(BOAT_ORDER)
+    bar_w = boat_w * 0.72 / len(LEARNED_METHODS)
+    for task_idx, task in enumerate(TASK_ORDER):
+        task_left = px0 + task_idx * task_w
+        if task_idx > 0:
+            draw.line([task_left, py0, task_left, py1 + 44], fill=(218, 218, 218), width=1)
+        task_label = TASK_LABEL[task]
+        tw = draw.textlength(task_label, font=axis_font)
+        draw.text((task_left + (task_w - tw) / 2, py1 + 42), task_label, fill=(35, 35, 35), font=axis_font)
+        for boat_idx, boat in enumerate(BOAT_ORDER):
+            boat_left = task_left + boat_idx * boat_w
+            group_left = boat_left + boat_w * 0.14
+            for method_idx, method in enumerate(LEARNED_METHODS):
+                rate = rates.get((task, boat, method), 0.0)
+                x_left = group_left + method_idx * bar_w
+                x_right = x_left + bar_w * 0.86
+                y_top = py1 - rate * (py1 - py0)
+                draw.rectangle([x_left, y_top, x_right, py1], fill=METHOD_COLORS[method], outline=(255, 255, 255))
+            boat_label = BOAT_LABEL[boat]
+            bw = draw.textlength(boat_label, font=small_font)
+            draw.text((boat_left + (boat_w - bw) / 2, py1 + 14), boat_label, fill=(55, 55, 55), font=small_font)
+
+
+def draw_single_column_success_panel(
+    draw: ImageDraw.ImageDraw,
+    box: tuple[int, int, int, int],
+    rows: list[dict[str, Any]],
+    boat: str,
+    title: str,
+    show_legend: bool = False,
+) -> None:
+    x0, y0, x1, y1 = box
+    axis_font = font(20)
+    small_font = font(18)
+    title_font = font(25, True)
+    draw.text((x0, y0 - 44), title, fill=(20, 25, 30), font=title_font)
+    draw.rectangle([x0, y0, x1, y1], outline=(210, 210, 210), width=1)
+    pad_l, pad_b, pad_t, pad_r = 76, 76, 70 if show_legend else 64, 24
+    px0, py0, px1, py1 = x0 + pad_l, y0 + pad_t, x1 - pad_r, y1 - pad_b
+
+    for tick in [0, 0.25, 0.50, 0.75, 1.0]:
+        y = py1 - tick * (py1 - py0)
+        draw.line([px0, y, px1, y], fill=(232, 232, 232), width=1)
+        draw.text((x0 + 12, y - 11), f"{int(tick * 100)}", fill=(70, 70, 70), font=axis_font)
+    draw.line([px0, py1, px1, py1], fill=(60, 60, 60), width=2)
+    draw.line([px0, py0, px0, py1], fill=(60, 60, 60), width=2)
+    draw.text((x0 + 10, y0 + 10), "success (%)", fill=(70, 70, 70), font=axis_font)
+
+    if show_legend:
+        lx, ly = x0 + 100, y0 + 38
+        for i, method in enumerate(LEARNED_METHODS):
+            xx = lx + i * 170
+            draw.rectangle([xx, ly, xx + 22, ly + 16], fill=METHOD_COLORS[method])
+            draw.text((xx + 30, ly - 5), METHOD_SHORT[method], fill=(40, 40, 40), font=small_font)
+
+    rates = {(r["task"], r["method"]): float(r["success_rate"]) for r in rows if r["boat"] == boat}
+    group_w = (px1 - px0) / len(TASK_ORDER)
+    bar_w = group_w * 0.72 / len(LEARNED_METHODS)
+    for task_idx, task in enumerate(TASK_ORDER):
+        group_left = px0 + task_idx * group_w + group_w * 0.14
+        if task_idx > 0:
+            split_x = px0 + task_idx * group_w
+            draw.line([split_x, py0, split_x, py1 + 38], fill=(218, 218, 218), width=1)
+        for method_idx, method in enumerate(LEARNED_METHODS):
+            rate = rates.get((task, method), 0.0)
+            x_left = group_left + method_idx * bar_w
+            x_right = x_left + bar_w * 0.86
+            y_top = py1 - rate * (py1 - py0)
+            draw.rectangle([x_left, y_top, x_right, py1], fill=METHOD_COLORS[method], outline=(255, 255, 255))
+        label = TASK_LABEL[task]
+        tw = draw.textlength(label, font=small_font)
+        draw.text((px0 + task_idx * group_w + (group_w - tw) / 2, py1 + 18), label, fill=(45, 45, 45), font=small_font)
+
+
+def draw_compact_success_panel(
+    draw: ImageDraw.ImageDraw,
+    box: tuple[int, int, int, int],
+    rows: list[dict[str, Any]],
+    boat: str,
+    title: str,
+    title_y: int | None = None,
+    show_legend: bool = False,
+) -> None:
+    x0, y0, x1, y1 = box
+    axis_font = font(14)
+    small_font = font(12)
+    title_font = font(20, True)
+    draw.text((x0, title_y if title_y is not None else y0 - 32), title, fill=(20, 25, 30), font=title_font)
+    draw.rectangle([x0, y0, x1, y1], outline=(210, 210, 210), width=1)
+    pad_l, pad_b, pad_t, pad_r = 44, 48, 52, 12
+    px0, py0, px1, py1 = x0 + pad_l, y0 + pad_t, x1 - pad_r, y1 - pad_b
+
+    y_min, y_max = 0.50, 1.00
+    for tick in [0.50, 0.60, 0.70, 0.80, 0.90, 1.00]:
+        y = py1 - ((tick - y_min) / (y_max - y_min)) * (py1 - py0)
+        draw.line([px0, y, px1, y], fill=(232, 232, 232), width=1)
+        draw.text((x0 + 8, y - 8), f"{int(tick * 100)}", fill=(70, 70, 70), font=axis_font)
+    draw.line([px0, py1, px1, py1], fill=(60, 60, 60), width=2)
+    draw.line([px0, py0, px0, py1], fill=(60, 60, 60), width=2)
+    draw.text((x0 + 8, y0 + 7), "success (%)", fill=(70, 70, 70), font=axis_font)
+
+    rates = {(r["task"], r["method"]): float(r["success_rate"]) for r in rows if r["boat"] == boat}
+    group_w = (px1 - px0) / len(TASK_ORDER)
+    bar_w = group_w * 0.74 / len(LEARNED_METHODS)
+    for task_idx, task in enumerate(TASK_ORDER):
+        group_left = px0 + task_idx * group_w + group_w * 0.13
+        if task_idx > 0:
+            split_x = px0 + task_idx * group_w
+            draw.line([split_x, py0, split_x, py1 + 26], fill=(218, 218, 218), width=1)
+        for method_idx, method in enumerate(LEARNED_METHODS):
+            rate = rates.get((task, method), 0.0)
+            x_left = group_left + method_idx * bar_w
+            x_right = x_left + bar_w * 0.86
+            scaled = max(0.0, min(1.0, (rate - y_min) / (y_max - y_min)))
+            y_top = py1 - scaled * (py1 - py0)
+            draw.rectangle([x_left, y_top, x_right, py1], fill=METHOD_COLORS[method], outline=(255, 255, 255))
+        label = TASK_LABEL[task]
+        tw = draw.textlength(label, font=small_font)
+        draw.text((px0 + task_idx * group_w + (group_w - tw) / 2, py1 + 12), label, fill=(45, 45, 45), font=small_font)
+
+
 def make_fig4(summaries: list[SummaryRecord]) -> None:
     fig_dir = OUT / "fig4"
     ensure_dir(fig_dir)
@@ -672,7 +886,8 @@ def make_fig4(summaries: list[SummaryRecord]) -> None:
         ],
     )
 
-    success_rows = aggregate_success(inferred_summaries(summaries), ("task", "boat", "method"))
+    learned_summaries = [r for r in inferred_summaries(summaries) if r.method in LEARNED_METHODS]
+    success_rows = aggregate_success(learned_summaries, ("task", "boat", "method"))
     success_rows.sort(key=lambda r: (task_sort_key(r["task"]), boat_sort_key(r["boat"]), method_sort_key(r["method"])))
     for row in success_rows:
         row["method_label"] = METHOD_LABEL[row["method"]]
@@ -684,7 +899,7 @@ def make_fig4(summaries: list[SummaryRecord]) -> None:
         ["task", "task_label", "boat", "boat_label", "method", "method_label", "successes", "episodes", "success_rate", "source_files"],
     )
     source_rows = []
-    for r in sorted(inferred_summaries(summaries), key=lambda x: (task_sort_key(x.task), boat_sort_key(x.boat), method_sort_key(x.method), flow_sort_key(x.flow_type))):
+    for r in sorted(learned_summaries, key=lambda x: (task_sort_key(x.task), boat_sort_key(x.boat), method_sort_key(x.method), flow_sort_key(x.flow_type))):
         source_rows.append(
             {
                 "task": r.task,
@@ -718,18 +933,26 @@ def make_fig4(summaries: list[SummaryRecord]) -> None:
         ],
     )
 
-    canvas = Image.new("RGB", (1800, 1100), "white")
+    canvas = Image.new("RGB", (1800, 505), "white")
     draw = ImageDraw.Draw(canvas)
-    draw_line_panel(draw, (60, 88, 1740, 440), prediction_rows, "Prediction error vs rollout step", METHOD_COLORS)
-    draw_success_by_task_panel(draw, (60, 552, 860, 1030), success_rows, "twin", "Planning success by experiment: Twin", show_legend=True)
-    draw_success_by_task_panel(draw, (940, 552, 1740, 1030), success_rows, "triangle", "Planning success by experiment: Triangle", show_legend=True)
-    out = fig_dir / "figure4_placeholder.png"
-    canvas.save(out)
+    panel_title_y = 36
+    draw_line_panel(draw, (34, 68, 620, 410), prediction_rows, "(A) Prediction error", METHOD_COLORS, show_legend=False, title_y=panel_title_y)
+    draw_compact_success_panel(draw, (656, 68, 1230, 410), success_rows, "twin", "(B) Twin planning success", show_legend=False, title_y=panel_title_y)
+    draw_compact_success_panel(draw, (1268, 68, 1766, 410), success_rows, "triangle", "(C) Triangle planning success", show_legend=False, title_y=panel_title_y)
+    legend_font = font(18)
+    legend_y = 462
+    legend_x = 485
+    for i, method in enumerate(LEARNED_METHODS):
+        xx = legend_x + i * 215
+        draw.line([xx, legend_y + 8, xx + 34, legend_y + 8], fill=METHOD_COLORS[method], width=5)
+        draw.text((xx + 44, legend_y - 4), METHOD_LABEL[method], fill=(40, 40, 40), font=legend_font)
+    out = fig_dir / "figure4_prediction_and_planning.png"
+    trim_whitespace(canvas, pad_x=8, pad_y=0).save(out)
 
     md = [
-        "# Figure 4 Provenance",
+        "# Paper Figure 4 Provenance",
         "",
-        "Purpose: quantitative placeholder with prediction error curves and planning success grouped by experiment/task.",
+        "Purpose: quantitative paper Figure 4 with learned-world-model prediction error curves and planning success grouped by experiment/task.",
         "",
         "Generated outputs:",
         f"- `{rel(out)}`",
@@ -740,15 +963,16 @@ def make_fig4(summaries: list[SummaryRecord]) -> None:
         f"- `{rel(fig_dir / 'figure4_success_by_task_boat_source_rows.tsv')}`",
         f"- `{rel(fig_dir / 'figure4_success_by_task_boat_source_rows.csv')}`",
         "",
-        "Panel A source:",
+        "Panel (A) source:",
         f"- `{rel(PREDICTION_JSON)}`",
         "- JSON selectors: `$[method_index].inferred.pos{horizon}` and `$[method_index].inferred.heading{horizon}` for horizons 1, 3, 6, 8, 10, 20, 30, 40, 60.",
         "- Included methods: `flowmo`, `leworldmodel`, `planet`, `tdmpc2`.",
         "",
-        "Panel B source:",
+        "Panels (B) and (C) source:",
         f"- `{rel(PLANNING_DIR)}/*.json`",
         "- JSON selectors: `$[item_index].by_context.inferred.successes` and `$[item_index].by_context.inferred.episodes`.",
-        "- Aggregation: sum successes and episodes over all flow types for each task, method, and boat.",
+        "- Included methods: `flowmo`, `leworldmodel`, `planet`, `tdmpc2`.",
+        "- Aggregation: sum successes and episodes over all flow types for each task, learned method, and boat.",
         "- Row-level source entries are recorded in `figure4_success_by_task_boat_source_rows.tsv/csv` with `source_file`, `item_index`, and JSON path columns.",
         "- Excluded diagnostic FlowMo contexts: `zero`, `shuffled`.",
     ]
@@ -815,6 +1039,113 @@ def draw_failure_line_panel(
             draw.text((xx + 28, yy - 2), METHOD_SHORT[method], fill=(40, 40, 40), font=small_font)
 
 
+def failure_color(value: float, max_value: float = 60.0) -> tuple[int, int, int]:
+    t = max(0.0, min(1.0, value / max_value))
+    stops = [
+        (0.00, (255, 255, 255)),
+        (0.15, (255, 238, 210)),
+        (0.35, (249, 177, 107)),
+        (0.65, (220, 72, 55)),
+        (1.00, (120, 28, 45)),
+    ]
+    for (t0, c0), (t1, c1) in zip(stops, stops[1:]):
+        if t <= t1:
+            alpha = (t - t0) / (t1 - t0) if t1 > t0 else 0.0
+            return tuple(int(c0[i] + alpha * (c1[i] - c0[i])) for i in range(3))
+    return stops[-1][1]
+
+
+def draw_failure_heatmap_panel(
+    draw: ImageDraw.ImageDraw,
+    box: tuple[int, int, int, int],
+    rows: list[dict[str, Any]],
+    boat: str,
+    title: str,
+) -> None:
+    x0, y0, x1, y1 = box
+    title_font = font(30, True)
+    label_font = font(22, True)
+    tick_font = font(19)
+    cell_font = font(17, True)
+    draw.text((x0, y0), title, fill=(20, 25, 30), font=title_font)
+
+    left_w = 160
+    top_h = 58
+    heat_x0 = x0 + left_w
+    heat_y0 = y0 + top_h
+    heat_x1 = x1 - 22
+    heat_y1 = y1 - 22
+    cell_w = (heat_x1 - heat_x0) / len(FLOW_ORDER)
+    cell_h = (heat_y1 - heat_y0) / len(METHOD_ORDER)
+    values = {(r["method"], r["flow_type"]): float(r["failure_percent"]) for r in rows if r["boat"] == boat}
+
+    short_flow = {
+        "No flow": "No",
+        "Uniform": "Uni",
+        "Vortex": "Vort",
+        "Double gyre": "Gyre",
+        "Source/sink": "Src",
+        "Src/sink pair": "Pair",
+        "Gradient": "Grad",
+        "Shear": "Shear",
+        "Turbulent": "Turb",
+        "Fourier": "Fourier",
+    }
+    for col, flow in enumerate(FLOW_ORDER):
+        label = short_flow.get(FLOW_LABEL[flow], FLOW_LABEL[flow])
+        x = heat_x0 + col * cell_w
+        tw = draw.textlength(label, font=tick_font)
+        draw.text((x + (cell_w - tw) / 2, heat_y0 - 29), label, fill=(45, 45, 45), font=tick_font)
+
+    for row_idx, method in enumerate(METHOD_ORDER):
+        y = heat_y0 + row_idx * cell_h
+        label = METHOD_SHORT[method]
+        row_font = label_font if method == "flowmo" else tick_font
+        draw.text((x0 + 6, y + cell_h * 0.25), label, fill=(35, 35, 35), font=row_font)
+        if method == "pid_los_controller":
+            draw.line([x0, y, heat_x1, y], fill=(65, 65, 65), width=3)
+        for col, flow in enumerate(FLOW_ORDER):
+            x = heat_x0 + col * cell_w
+            value = values.get((method, flow), 0.0)
+            color = failure_color(value)
+            draw.rectangle([x, y, x + cell_w, y + cell_h], fill=color, outline=(238, 238, 238), width=1)
+            text = f"{value:.0f}"
+            text_color = (255, 255, 255) if value >= 36.0 else (35, 35, 35)
+            tw = draw.textlength(text, font=cell_font)
+            draw.text((x + (cell_w - tw) / 2, y + cell_h * 0.26), text, fill=text_color, font=cell_font)
+
+    draw.rectangle([heat_x0, heat_y0, heat_x1, heat_y1], outline=(120, 120, 120), width=2)
+
+
+def draw_failure_colorbar(draw: ImageDraw.ImageDraw, box: tuple[int, int, int, int]) -> None:
+    x0, y0, x1, y1 = box
+    tick_font = font(18)
+    draw.text((x0, y0 - 28), "failure rate (%)", fill=(40, 40, 40), font=tick_font)
+    for i in range(x0, x1):
+        value = (i - x0) / max(1, x1 - x0) * 60.0
+        draw.line([i, y0, i, y1], fill=failure_color(value), width=1)
+    draw.rectangle([x0, y0, x1, y1], outline=(120, 120, 120), width=1)
+    for tick in [0, 15, 30, 45, 60]:
+        x = x0 + (tick / 60.0) * (x1 - x0)
+        draw.line([x, y1, x, y1 + 8], fill=(50, 50, 50), width=1)
+        draw.text((x - 12, y1 + 12), str(tick), fill=(50, 50, 50), font=tick_font)
+
+
+def draw_failure_colorbar_vertical(draw: ImageDraw.ImageDraw, box: tuple[int, int, int, int]) -> None:
+    x0, y0, x1, y1 = box
+    tick_font = font(18)
+    label_font = font(19)
+    for y in range(y0, y1):
+        value = (y1 - y) / max(1, y1 - y0) * 60.0
+        draw.line([x0, y, x1, y], fill=failure_color(value), width=1)
+    draw.rectangle([x0, y0, x1, y1], outline=(120, 120, 120), width=1)
+    for tick in [0, 15, 30, 45, 60]:
+        y = y1 - (tick / 60.0) * (y1 - y0)
+        draw.line([x0 - 8, y, x0, y], fill=(50, 50, 50), width=1)
+        draw.text((x1 + 8, y - 10), str(tick), fill=(50, 50, 50), font=tick_font)
+    draw.text((x0 - 56, y0 - 34), "failure rate (%)", fill=(40, 40, 40), font=label_font)
+
+
 def make_fig5(summaries: list[SummaryRecord]) -> None:
     fig_dir = OUT / "fig5"
     ensure_dir(fig_dir)
@@ -883,19 +1214,18 @@ def make_fig5(summaries: list[SummaryRecord]) -> None:
         ],
     )
 
-    canvas = Image.new("RGB", (1800, 980), "white")
+    canvas = Image.new("RGB", (2400, 585), "white")
     draw = ImageDraw.Draw(canvas)
-    title_font = font(25, True)
-    draw.text((24, 20), "Figure 5 placeholder: failure rate by flow family", fill=(20, 25, 30), font=title_font)
-    draw_failure_line_panel(draw, (60, 110, 1740, 480), rows, "twin", "Twin", show_legend=True)
-    draw_failure_line_panel(draw, (60, 590, 1740, 900), rows, "triangle", "Triangle", show_legend=False)
-    out = fig_dir / "figure5_placeholder_failure_lines.png"
-    canvas.save(out)
+    draw_failure_heatmap_panel(draw, (30, 26, 1132, 540), rows, "twin", "(A) Twin")
+    draw_failure_heatmap_panel(draw, (1162, 26, 2264, 540), rows, "triangle", "(B) Triangle")
+    draw_failure_colorbar_vertical(draw, (2310, 84, 2336, 518))
+    out = fig_dir / "figure5_failure_by_flow.png"
+    trim_whitespace(canvas, pad_x=8, pad_y=0).save(out)
 
     md = [
-        "# Figure 5 Provenance",
+        "# Paper Figure 5 Provenance",
         "",
-        "Purpose: flow-family breakdown of downstream planning failure rates. Failure rate is used because many success rates are 100% or near 100%.",
+        "Purpose: paper Figure 5 flow-family breakdown of downstream planning failure rates. Failure rate is used because many success rates are 100% or near 100%.",
         "",
         "Generated outputs:",
         f"- `{rel(out)}`",
@@ -911,6 +1241,11 @@ def make_fig5(summaries: list[SummaryRecord]) -> None:
         "- Failure rate: `1 - successes / episodes`.",
         "- Row-level source entries are recorded in `figure5_failure_by_flow_source_rows.tsv/csv` with `source_file`, `item_index`, and JSON path columns.",
         "- Excluded diagnostic FlowMo contexts: `zero`, `shuffled`.",
+        "",
+        "Traditional controller naming:",
+        "- `No-Flow LOS`: line-of-sight controller with no ambient-flow compensation.",
+        "- `Current-Estimator LOS`: line-of-sight controller with an online drift/current estimate from recent pose history.",
+        "- `Oracle-Flow LOS`: line-of-sight controller with privileged true local simulator flow feed-forward.",
     ]
     write_text(fig_dir / "figure5_provenance.md", "\n".join(md) + "\n")
 
@@ -970,7 +1305,7 @@ def make_table1(summaries: list[SummaryRecord]) -> None:
         table_dir / "table1_success_by_task_boat_flow.tex",
         header,
         latex_rows,
-        "Planning success rate by task, boat, and flow family. Values are percentages over 50 episodes per setting; FlowMo diagnostic zero/shuffled contexts are excluded.",
+        "Planning success rate by task, boat, and flow family. Values are percentages over 50 episodes per setting; NF-LOS, CE-LOS, and OF-LOS denote No-Flow LOS, Current-Estimator LOS, and Oracle-Flow LOS. FlowMo diagnostic zero/shuffled contexts are excluded.",
         "tab:planning_success_task_boat_flow",
     )
 
@@ -989,6 +1324,11 @@ def make_table1(summaries: list[SummaryRecord]) -> None:
         "- JSON selector per cell: `$[item_index].by_context.inferred.success_rate`.",
         "- Companion fields in TSV/CSV include `$[item_index].by_context.inferred.successes` and `episodes`.",
         "- Excluded diagnostic FlowMo contexts: `zero`, `shuffled`.",
+        "",
+        "Traditional controller naming:",
+        "- `No-Flow LOS`: line-of-sight controller with no ambient-flow compensation.",
+        "- `Current-Estimator LOS`: line-of-sight controller with an online drift/current estimate from recent pose history.",
+        "- `Oracle-Flow LOS`: line-of-sight controller with privileged true local simulator flow feed-forward.",
     ]
     write_text(table_dir / "table1_provenance.md", "\n".join(md) + "\n")
 
@@ -1086,6 +1426,11 @@ def make_table2(episodes: list[EpisodeRecord]) -> None:
         "- Energy: mean of `energy` over filtered successful episodes only.",
         "- The TSV/CSV also includes `mean_min_goal_distance`, computed from the same filtered episodes.",
         "- Excluded diagnostic FlowMo contexts: `zero`, `shuffled`.",
+        "",
+        "Traditional controller naming:",
+        "- `No-Flow LOS`: line-of-sight controller with no ambient-flow compensation.",
+        "- `Current-Estimator LOS`: line-of-sight controller with an online drift/current estimate from recent pose history.",
+        "- `Oracle-Flow LOS`: line-of-sight controller with privileged true local simulator flow feed-forward.",
     ]
     write_text(table_dir / "table2_provenance.md", "\n".join(md) + "\n")
 
@@ -1161,6 +1506,12 @@ def make_overview() -> None:
         f"- `{rel(PROBE_JSON)}`",
         f"- `{rel(PLANNING_DIR)}/*.json`",
         f"- `{rel(GIF_DIR)}/*.gif`",
+        "",
+        "Traditional controller names used in these exports:",
+    ]
+    for method in TRADITIONAL_METHODS:
+        lines.append(f"- `{METHOD_LABEL[method]}`: {METHOD_DESCRIPTION[method]}")
+    lines += [
         "",
         "Generated files:",
     ]

experiments/reports/README.md

@@ -1,3 +1,12 @@
 # Reports
 
-Paper-facing experiment reports.
+This directory contains the paper-facing outputs from `python -m experiments.run_paper_image_pipeline`.
+
+```text
+paper_prediction.json              learned world-model rollout metrics
+paper_flowmo_latent_probes.json    FlowMo latent probe metrics
+paper_planning/                    per-task planning JSON and GIFs
+paper_artifacts/                   figure-ready images, tables, and provenance
+paper_report.md                    consolidated experiment report
+paper_training_summary.json        training summary across learned methods
+```

experiments/reports/paper_artifacts/README.md

@@ -8,12 +8,17 @@ Important source files:
 - `experiments/reports/paper_planning/*.json`
 - `experiments/reports/paper_planning/gifs/*.gif`
 
+Traditional controller names used in these exports:
+- `PID/LOS`: Line-of-sight waypoint tracking baseline using the clean-image pose estimate.
+- `No-Flow LOS`: Line-of-sight tracking that ignores ambient flow; measures the cost of no current compensation.
+- `Current-Estimator LOS`: Line-of-sight tracking with an online drift estimate from recent pose history.
+- `Oracle-Flow LOS`: Line-of-sight tracking with privileged true local simulator flow feed-forward; a reference controller, not a world-model baseline.
+
 Generated files:
-- `experiments/reports/paper_artifacts/README.md`
 - `experiments/reports/paper_artifacts/fig3/figure3_frame_manifest.csv`
 - `experiments/reports/paper_artifacts/fig3/figure3_frame_manifest.tsv`
-- `experiments/reports/paper_artifacts/fig3/figure3_placeholder_contact_sheet.png`
 - `experiments/reports/paper_artifacts/fig3/figure3_provenance.md`
+- `experiments/reports/paper_artifacts/fig3/figure3_rollout_contact_sheet.png`
 - `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_reach_target_uniform_ep000_first_frame000.png`
 - `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_reach_target_uniform_ep000_last_frame149.png`
 - `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_reach_target_uniform_ep000_middle_frame075.png`
@@ -38,7 +43,7 @@ Generated files:
 - `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000_first_frame000.png`
 - `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000_last_frame382.png`
 - `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000_middle_frame191.png`
-- `experiments/reports/paper_artifacts/fig4/figure4_placeholder.png`
+- `experiments/reports/paper_artifacts/fig4/figure4_prediction_and_planning.png`
 - `experiments/reports/paper_artifacts/fig4/figure4_prediction_error.csv`
 - `experiments/reports/paper_artifacts/fig4/figure4_prediction_error.tsv`
 - `experiments/reports/paper_artifacts/fig4/figure4_provenance.md`
@@ -47,10 +52,10 @@ Generated files:
 - `experiments/reports/paper_artifacts/fig4/figure4_success_by_task_boat_source_rows.csv`
 - `experiments/reports/paper_artifacts/fig4/figure4_success_by_task_boat_source_rows.tsv`
 - `experiments/reports/paper_artifacts/fig5/figure5_failure_by_flow.csv`
+- `experiments/reports/paper_artifacts/fig5/figure5_failure_by_flow.png`
 - `experiments/reports/paper_artifacts/fig5/figure5_failure_by_flow.tsv`
 - `experiments/reports/paper_artifacts/fig5/figure5_failure_by_flow_source_rows.csv`
 - `experiments/reports/paper_artifacts/fig5/figure5_failure_by_flow_source_rows.tsv`
-- `experiments/reports/paper_artifacts/fig5/figure5_placeholder_failure_lines.png`
 - `experiments/reports/paper_artifacts/fig5/figure5_provenance.md`
 - `experiments/reports/paper_artifacts/tables/table1_provenance.md`
 - `experiments/reports/paper_artifacts/tables/table1_success_by_task_boat_flow.csv`

experiments/reports/paper_artifacts/fig3/figure3_provenance.md

@@ -4,6 +4,7 @@ Purpose: qualitative task rollouts extracted from experiment GIFs.
 
 Selected method/context: `flowmo` / `inferred`.
 Selected episode: `0`.
+Layout: for each task and boat, the three adjacent frames are first, middle, and last; spacing appears only between task/boat groups.
 
 Selected flows by task:
 - `reach_target`: `uniform`
@@ -14,7 +15,7 @@ Selected flows by task:
 Frame rule: for each source GIF, extracted `first = 0`, `middle = n_frames // 2`, and `last = n_frames - 1`.
 
 Generated outputs:
-- `experiments/reports/paper_artifacts/fig3/figure3_placeholder_contact_sheet.png`
+- `experiments/reports/paper_artifacts/fig3/figure3_rollout_contact_sheet.png`
 - `experiments/reports/paper_artifacts/fig3/frames/`
 - `experiments/reports/paper_artifacts/fig3/figure3_frame_manifest.tsv`
 - `experiments/reports/paper_artifacts/fig3/figure3_frame_manifest.csv`

experiments/reports/paper_artifacts/fig4/figure4_provenance.md

@@ -1,9 +1,9 @@
-# Figure 4 Provenance
+# Paper Figure 4 Provenance
 
-Purpose: quantitative placeholder with prediction error curves and planning success grouped by experiment/task.
+Purpose: quantitative paper Figure 4 with learned-world-model prediction error curves and planning success grouped by experiment/task.
 
 Generated outputs:
-- `experiments/reports/paper_artifacts/fig4/figure4_placeholder.png`
+- `experiments/reports/paper_artifacts/fig4/figure4_prediction_and_planning.png`
 - `experiments/reports/paper_artifacts/fig4/figure4_prediction_error.tsv`
 - `experiments/reports/paper_artifacts/fig4/figure4_prediction_error.csv`
 - `experiments/reports/paper_artifacts/fig4/figure4_success_by_task_boat.tsv`
@@ -11,14 +11,15 @@ Generated outputs:
 - `experiments/reports/paper_artifacts/fig4/figure4_success_by_task_boat_source_rows.tsv`
 - `experiments/reports/paper_artifacts/fig4/figure4_success_by_task_boat_source_rows.csv`
 
-Panel A source:
+Panel (A) source:
 - `experiments/reports/paper_prediction.json`
 - JSON selectors: `$[method_index].inferred.pos{horizon}` and `$[method_index].inferred.heading{horizon}` for horizons 1, 3, 6, 8, 10, 20, 30, 40, 60.
 - Included methods: `flowmo`, `leworldmodel`, `planet`, `tdmpc2`.
 
-Panel B source:
+Panels (B) and (C) source:
 - `experiments/reports/paper_planning/*.json`
 - JSON selectors: `$[item_index].by_context.inferred.successes` and `$[item_index].by_context.inferred.episodes`.
-- Aggregation: sum successes and episodes over all flow types for each task, method, and boat.
+- Included methods: `flowmo`, `leworldmodel`, `planet`, `tdmpc2`.
+- Aggregation: sum successes and episodes over all flow types for each task, learned method, and boat.
 - Row-level source entries are recorded in `figure4_success_by_task_boat_source_rows.tsv/csv` with `source_file`, `item_index`, and JSON path columns.
 - Excluded diagnostic FlowMo contexts: `zero`, `shuffled`.

experiments/reports/paper_artifacts/fig4/figure4_success_by_task_boat.csv

@@ -3,63 +3,31 @@ reach_target,Reach,twin,Twin,flowmo,FlowMo-WM,486,500,0.972,experiments/reports/
 reach_target,Reach,twin,Twin,leworldmodel,LeWorldModel,462,500,0.924,experiments/reports/paper_planning/reach_target_twin_double_gyre.json;experiments/reports/paper_planning/reach_target_twin_gradient.json;experiments/reports/paper_planning/reach_target_twin_noflow.json;experiments/reports/paper_planning/reach_target_twin_random_fourier.json;experiments/reports/paper_planning/reach_target_twin_shear.json;experiments/reports/paper_planning/reach_target_twin_source_sink.json;experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json;experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json;experiments/reports/paper_planning/reach_target_twin_uniform.json;experiments/reports/paper_planning/reach_target_twin_vortex_center.json
 reach_target,Reach,twin,Twin,planet,PlaNet/RSSM,452,500,0.904,experiments/reports/paper_planning/reach_target_twin_double_gyre.json;experiments/reports/paper_planning/reach_target_twin_gradient.json;experiments/reports/paper_planning/reach_target_twin_noflow.json;experiments/reports/paper_planning/reach_target_twin_random_fourier.json;experiments/reports/paper_planning/reach_target_twin_shear.json;experiments/reports/paper_planning/reach_target_twin_source_sink.json;experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json;experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json;experiments/reports/paper_planning/reach_target_twin_uniform.json;experiments/reports/paper_planning/reach_target_twin_vortex_center.json
 reach_target,Reach,twin,Twin,tdmpc2,TD-MPC2,337,500,0.674,experiments/reports/paper_planning/reach_target_twin_double_gyre.json;experiments/reports/paper_planning/reach_target_twin_gradient.json;experiments/reports/paper_planning/reach_target_twin_noflow.json;experiments/reports/paper_planning/reach_target_twin_random_fourier.json;experiments/reports/paper_planning/reach_target_twin_shear.json;experiments/reports/paper_planning/reach_target_twin_source_sink.json;experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json;experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json;experiments/reports/paper_planning/reach_target_twin_uniform.json;experiments/reports/paper_planning/reach_target_twin_vortex_center.json
-reach_target,Reach,twin,Twin,pid_los_controller,PID/LOS,497,500,0.994,experiments/reports/paper_planning/reach_target_twin_double_gyre.json;experiments/reports/paper_planning/reach_target_twin_gradient.json;experiments/reports/paper_planning/reach_target_twin_noflow.json;experiments/reports/paper_planning/reach_target_twin_random_fourier.json;experiments/reports/paper_planning/reach_target_twin_shear.json;experiments/reports/paper_planning/reach_target_twin_source_sink.json;experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json;experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json;experiments/reports/paper_planning/reach_target_twin_uniform.json;experiments/reports/paper_planning/reach_target_twin_vortex_center.json
-reach_target,Reach,twin,Twin,no_flow_los_controller,No-Flow LOS,418,500,0.836,experiments/reports/paper_planning/reach_target_twin_double_gyre.json;experiments/reports/paper_planning/reach_target_twin_gradient.json;experiments/reports/paper_planning/reach_target_twin_noflow.json;experiments/reports/paper_planning/reach_target_twin_random_fourier.json;experiments/reports/paper_planning/reach_target_twin_shear.json;experiments/reports/paper_planning/reach_target_twin_source_sink.json;experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json;experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json;experiments/reports/paper_planning/reach_target_twin_uniform.json;experiments/reports/paper_planning/reach_target_twin_vortex_center.json
-reach_target,Reach,twin,Twin,current_estimator_los_controller,Current-Estimator LOS,500,500,1.0,experiments/reports/paper_planning/reach_target_twin_double_gyre.json;experiments/reports/paper_planning/reach_target_twin_gradient.json;experiments/reports/paper_planning/reach_target_twin_noflow.json;experiments/reports/paper_planning/reach_target_twin_random_fourier.json;experiments/reports/paper_planning/reach_target_twin_shear.json;experiments/reports/paper_planning/reach_target_twin_source_sink.json;experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json;experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json;experiments/reports/paper_planning/reach_target_twin_uniform.json;experiments/reports/paper_planning/reach_target_twin_vortex_center.json
-reach_target,Reach,twin,Twin,oracle_flow_los_controller,Oracle-Flow LOS,419,500,0.838,experiments/reports/paper_planning/reach_target_twin_double_gyre.json;experiments/reports/paper_planning/reach_target_twin_gradient.json;experiments/reports/paper_planning/reach_target_twin_noflow.json;experiments/reports/paper_planning/reach_target_twin_random_fourier.json;experiments/reports/paper_planning/reach_target_twin_shear.json;experiments/reports/paper_planning/reach_target_twin_source_sink.json;experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json;experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json;experiments/reports/paper_planning/reach_target_twin_uniform.json;experiments/reports/paper_planning/reach_target_twin_vortex_center.json
 reach_target,Reach,triangle,Triangle,flowmo,FlowMo-WM,500,500,1.0,experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
 reach_target,Reach,triangle,Triangle,leworldmodel,LeWorldModel,470,500,0.94,experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
 reach_target,Reach,triangle,Triangle,planet,PlaNet/RSSM,469,500,0.938,experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
 reach_target,Reach,triangle,Triangle,tdmpc2,TD-MPC2,485,500,0.97,experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
-reach_target,Reach,triangle,Triangle,pid_los_controller,PID/LOS,500,500,1.0,experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
-reach_target,Reach,triangle,Triangle,no_flow_los_controller,No-Flow LOS,500,500,1.0,experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
-reach_target,Reach,triangle,Triangle,current_estimator_los_controller,Current-Estimator LOS,500,500,1.0,experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
-reach_target,Reach,triangle,Triangle,oracle_flow_los_controller,Oracle-Flow LOS,500,500,1.0,experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
 station_keeping,Station,twin,Twin,flowmo,FlowMo-WM,500,500,1.0,experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
 station_keeping,Station,twin,Twin,leworldmodel,LeWorldModel,499,500,0.998,experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
 station_keeping,Station,twin,Twin,planet,PlaNet/RSSM,485,500,0.97,experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
 station_keeping,Station,twin,Twin,tdmpc2,TD-MPC2,487,500,0.974,experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
-station_keeping,Station,twin,Twin,pid_los_controller,PID/LOS,495,500,0.99,experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
-station_keeping,Station,twin,Twin,no_flow_los_controller,No-Flow LOS,463,500,0.926,experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
-station_keeping,Station,twin,Twin,current_estimator_los_controller,Current-Estimator LOS,492,500,0.984,experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
-station_keeping,Station,twin,Twin,oracle_flow_los_controller,Oracle-Flow LOS,444,500,0.888,experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
 station_keeping,Station,triangle,Triangle,flowmo,FlowMo-WM,500,500,1.0,experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
 station_keeping,Station,triangle,Triangle,leworldmodel,LeWorldModel,500,500,1.0,experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
 station_keeping,Station,triangle,Triangle,planet,PlaNet/RSSM,499,500,0.998,experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
 station_keeping,Station,triangle,Triangle,tdmpc2,TD-MPC2,500,500,1.0,experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
-station_keeping,Station,triangle,Triangle,pid_los_controller,PID/LOS,500,500,1.0,experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
-station_keeping,Station,triangle,Triangle,no_flow_los_controller,No-Flow LOS,500,500,1.0,experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
-station_keeping,Station,triangle,Triangle,current_estimator_los_controller,Current-Estimator LOS,500,500,1.0,experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
-station_keeping,Station,triangle,Triangle,oracle_flow_los_controller,Oracle-Flow LOS,500,500,1.0,experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
 waypoint_square,Square,twin,Twin,flowmo,FlowMo-WM,485,500,0.97,experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
 waypoint_square,Square,twin,Twin,leworldmodel,LeWorldModel,427,500,0.854,experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
 waypoint_square,Square,twin,Twin,planet,PlaNet/RSSM,328,500,0.656,experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
 waypoint_square,Square,twin,Twin,tdmpc2,TD-MPC2,472,500,0.944,experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
-waypoint_square,Square,twin,Twin,pid_los_controller,PID/LOS,289,500,0.578,experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
-waypoint_square,Square,twin,Twin,no_flow_los_controller,No-Flow LOS,28,500,0.056,experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
-waypoint_square,Square,twin,Twin,current_estimator_los_controller,Current-Estimator LOS,417,500,0.834,experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
-waypoint_square,Square,twin,Twin,oracle_flow_los_controller,Oracle-Flow LOS,19,500,0.038,experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
 waypoint_square,Square,triangle,Triangle,flowmo,FlowMo-WM,498,500,0.996,experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
 waypoint_square,Square,triangle,Triangle,leworldmodel,LeWorldModel,467,500,0.934,experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
 waypoint_square,Square,triangle,Triangle,planet,PlaNet/RSSM,496,500,0.992,experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
 waypoint_square,Square,triangle,Triangle,tdmpc2,TD-MPC2,492,500,0.984,experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
-waypoint_square,Square,triangle,Triangle,pid_los_controller,PID/LOS,500,500,1.0,experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
-waypoint_square,Square,triangle,Triangle,no_flow_los_controller,No-Flow LOS,500,500,1.0,experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
-waypoint_square,Square,triangle,Triangle,current_estimator_los_controller,Current-Estimator LOS,500,500,1.0,experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
-waypoint_square,Square,triangle,Triangle,oracle_flow_los_controller,Oracle-Flow LOS,500,500,1.0,experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
 waypoint_zigzag,Zigzag,twin,Twin,flowmo,FlowMo-WM,480,500,0.96,experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
 waypoint_zigzag,Zigzag,twin,Twin,leworldmodel,LeWorldModel,443,500,0.886,experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
 waypoint_zigzag,Zigzag,twin,Twin,planet,PlaNet/RSSM,416,500,0.832,experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
 waypoint_zigzag,Zigzag,twin,Twin,tdmpc2,TD-MPC2,429,500,0.858,experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
-waypoint_zigzag,Zigzag,twin,Twin,pid_los_controller,PID/LOS,427,500,0.854,experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
-waypoint_zigzag,Zigzag,twin,Twin,no_flow_los_controller,No-Flow LOS,114,500,0.228,experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
-waypoint_zigzag,Zigzag,twin,Twin,current_estimator_los_controller,Current-Estimator LOS,414,500,0.828,experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
-waypoint_zigzag,Zigzag,twin,Twin,oracle_flow_los_controller,Oracle-Flow LOS,132,500,0.264,experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
 waypoint_zigzag,Zigzag,triangle,Triangle,flowmo,FlowMo-WM,493,500,0.986,experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json
 waypoint_zigzag,Zigzag,triangle,Triangle,leworldmodel,LeWorldModel,457,500,0.914,experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json
 waypoint_zigzag,Zigzag,triangle,Triangle,planet,PlaNet/RSSM,494,500,0.988,experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json
 waypoint_zigzag,Zigzag,triangle,Triangle,tdmpc2,TD-MPC2,499,500,0.998,experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json
-waypoint_zigzag,Zigzag,triangle,Triangle,pid_los_controller,PID/LOS,500,500,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json
-waypoint_zigzag,Zigzag,triangle,Triangle,no_flow_los_controller,No-Flow LOS,500,500,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json
-waypoint_zigzag,Zigzag,triangle,Triangle,current_estimator_los_controller,Current-Estimator LOS,500,500,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json
-waypoint_zigzag,Zigzag,triangle,Triangle,oracle_flow_los_controller,Oracle-Flow LOS,500,500,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json

experiments/reports/paper_artifacts/fig4/figure4_success_by_task_boat.tsv

@@ -3,63 +3,31 @@ reach_target	Reach	twin	Twin	flowmo	FlowMo-WM	486	500	0.972	experiments/reports/
 reach_target	Reach	twin	Twin	leworldmodel	LeWorldModel	462	500	0.924	experiments/reports/paper_planning/reach_target_twin_double_gyre.json;experiments/reports/paper_planning/reach_target_twin_gradient.json;experiments/reports/paper_planning/reach_target_twin_noflow.json;experiments/reports/paper_planning/reach_target_twin_random_fourier.json;experiments/reports/paper_planning/reach_target_twin_shear.json;experiments/reports/paper_planning/reach_target_twin_source_sink.json;experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json;experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json;experiments/reports/paper_planning/reach_target_twin_uniform.json;experiments/reports/paper_planning/reach_target_twin_vortex_center.json
 reach_target	Reach	twin	Twin	planet	PlaNet/RSSM	452	500	0.904	experiments/reports/paper_planning/reach_target_twin_double_gyre.json;experiments/reports/paper_planning/reach_target_twin_gradient.json;experiments/reports/paper_planning/reach_target_twin_noflow.json;experiments/reports/paper_planning/reach_target_twin_random_fourier.json;experiments/reports/paper_planning/reach_target_twin_shear.json;experiments/reports/paper_planning/reach_target_twin_source_sink.json;experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json;experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json;experiments/reports/paper_planning/reach_target_twin_uniform.json;experiments/reports/paper_planning/reach_target_twin_vortex_center.json
 reach_target	Reach	twin	Twin	tdmpc2	TD-MPC2	337	500	0.674	experiments/reports/paper_planning/reach_target_twin_double_gyre.json;experiments/reports/paper_planning/reach_target_twin_gradient.json;experiments/reports/paper_planning/reach_target_twin_noflow.json;experiments/reports/paper_planning/reach_target_twin_random_fourier.json;experiments/reports/paper_planning/reach_target_twin_shear.json;experiments/reports/paper_planning/reach_target_twin_source_sink.json;experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json;experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json;experiments/reports/paper_planning/reach_target_twin_uniform.json;experiments/reports/paper_planning/reach_target_twin_vortex_center.json
-reach_target	Reach	twin	Twin	pid_los_controller	PID/LOS	497	500	0.994	experiments/reports/paper_planning/reach_target_twin_double_gyre.json;experiments/reports/paper_planning/reach_target_twin_gradient.json;experiments/reports/paper_planning/reach_target_twin_noflow.json;experiments/reports/paper_planning/reach_target_twin_random_fourier.json;experiments/reports/paper_planning/reach_target_twin_shear.json;experiments/reports/paper_planning/reach_target_twin_source_sink.json;experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json;experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json;experiments/reports/paper_planning/reach_target_twin_uniform.json;experiments/reports/paper_planning/reach_target_twin_vortex_center.json
-reach_target	Reach	twin	Twin	no_flow_los_controller	No-Flow LOS	418	500	0.836	experiments/reports/paper_planning/reach_target_twin_double_gyre.json;experiments/reports/paper_planning/reach_target_twin_gradient.json;experiments/reports/paper_planning/reach_target_twin_noflow.json;experiments/reports/paper_planning/reach_target_twin_random_fourier.json;experiments/reports/paper_planning/reach_target_twin_shear.json;experiments/reports/paper_planning/reach_target_twin_source_sink.json;experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json;experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json;experiments/reports/paper_planning/reach_target_twin_uniform.json;experiments/reports/paper_planning/reach_target_twin_vortex_center.json
-reach_target	Reach	twin	Twin	current_estimator_los_controller	Current-Estimator LOS	500	500	1.0	experiments/reports/paper_planning/reach_target_twin_double_gyre.json;experiments/reports/paper_planning/reach_target_twin_gradient.json;experiments/reports/paper_planning/reach_target_twin_noflow.json;experiments/reports/paper_planning/reach_target_twin_random_fourier.json;experiments/reports/paper_planning/reach_target_twin_shear.json;experiments/reports/paper_planning/reach_target_twin_source_sink.json;experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json;experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json;experiments/reports/paper_planning/reach_target_twin_uniform.json;experiments/reports/paper_planning/reach_target_twin_vortex_center.json
-reach_target	Reach	twin	Twin	oracle_flow_los_controller	Oracle-Flow LOS	419	500	0.838	experiments/reports/paper_planning/reach_target_twin_double_gyre.json;experiments/reports/paper_planning/reach_target_twin_gradient.json;experiments/reports/paper_planning/reach_target_twin_noflow.json;experiments/reports/paper_planning/reach_target_twin_random_fourier.json;experiments/reports/paper_planning/reach_target_twin_shear.json;experiments/reports/paper_planning/reach_target_twin_source_sink.json;experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json;experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json;experiments/reports/paper_planning/reach_target_twin_uniform.json;experiments/reports/paper_planning/reach_target_twin_vortex_center.json
 reach_target	Reach	triangle	Triangle	flowmo	FlowMo-WM	500	500	1.0	experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
 reach_target	Reach	triangle	Triangle	leworldmodel	LeWorldModel	470	500	0.94	experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
 reach_target	Reach	triangle	Triangle	planet	PlaNet/RSSM	469	500	0.938	experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
 reach_target	Reach	triangle	Triangle	tdmpc2	TD-MPC2	485	500	0.97	experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
-reach_target	Reach	triangle	Triangle	pid_los_controller	PID/LOS	500	500	1.0	experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
-reach_target	Reach	triangle	Triangle	no_flow_los_controller	No-Flow LOS	500	500	1.0	experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
-reach_target	Reach	triangle	Triangle	current_estimator_los_controller	Current-Estimator LOS	500	500	1.0	experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
-reach_target	Reach	triangle	Triangle	oracle_flow_los_controller	Oracle-Flow LOS	500	500	1.0	experiments/reports/paper_planning/reach_target_triangle_double_gyre.json;experiments/reports/paper_planning/reach_target_triangle_gradient.json;experiments/reports/paper_planning/reach_target_triangle_noflow.json;experiments/reports/paper_planning/reach_target_triangle_random_fourier.json;experiments/reports/paper_planning/reach_target_triangle_shear.json;experiments/reports/paper_planning/reach_target_triangle_source_sink.json;experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json;experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json;experiments/reports/paper_planning/reach_target_triangle_uniform.json;experiments/reports/paper_planning/reach_target_triangle_vortex_center.json
 station_keeping	Station	twin	Twin	flowmo	FlowMo-WM	500	500	1.0	experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
 station_keeping	Station	twin	Twin	leworldmodel	LeWorldModel	499	500	0.998	experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
 station_keeping	Station	twin	Twin	planet	PlaNet/RSSM	485	500	0.97	experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
 station_keeping	Station	twin	Twin	tdmpc2	TD-MPC2	487	500	0.974	experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
-station_keeping	Station	twin	Twin	pid_los_controller	PID/LOS	495	500	0.99	experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
-station_keeping	Station	twin	Twin	no_flow_los_controller	No-Flow LOS	463	500	0.926	experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
-station_keeping	Station	twin	Twin	current_estimator_los_controller	Current-Estimator LOS	492	500	0.984	experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
-station_keeping	Station	twin	Twin	oracle_flow_los_controller	Oracle-Flow LOS	444	500	0.888	experiments/reports/paper_planning/station_keeping_twin_double_gyre.json;experiments/reports/paper_planning/station_keeping_twin_gradient.json;experiments/reports/paper_planning/station_keeping_twin_noflow.json;experiments/reports/paper_planning/station_keeping_twin_random_fourier.json;experiments/reports/paper_planning/station_keeping_twin_shear.json;experiments/reports/paper_planning/station_keeping_twin_source_sink.json;experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_twin_uniform.json;experiments/reports/paper_planning/station_keeping_twin_vortex_center.json
 station_keeping	Station	triangle	Triangle	flowmo	FlowMo-WM	500	500	1.0	experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
 station_keeping	Station	triangle	Triangle	leworldmodel	LeWorldModel	500	500	1.0	experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
 station_keeping	Station	triangle	Triangle	planet	PlaNet/RSSM	499	500	0.998	experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
 station_keeping	Station	triangle	Triangle	tdmpc2	TD-MPC2	500	500	1.0	experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
-station_keeping	Station	triangle	Triangle	pid_los_controller	PID/LOS	500	500	1.0	experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
-station_keeping	Station	triangle	Triangle	no_flow_los_controller	No-Flow LOS	500	500	1.0	experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
-station_keeping	Station	triangle	Triangle	current_estimator_los_controller	Current-Estimator LOS	500	500	1.0	experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
-station_keeping	Station	triangle	Triangle	oracle_flow_los_controller	Oracle-Flow LOS	500	500	1.0	experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json;experiments/reports/paper_planning/station_keeping_triangle_gradient.json;experiments/reports/paper_planning/station_keeping_triangle_noflow.json;experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json;experiments/reports/paper_planning/station_keeping_triangle_shear.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink.json;experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json;experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json;experiments/reports/paper_planning/station_keeping_triangle_uniform.json;experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json
 waypoint_square	Square	twin	Twin	flowmo	FlowMo-WM	485	500	0.97	experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
 waypoint_square	Square	twin	Twin	leworldmodel	LeWorldModel	427	500	0.854	experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
 waypoint_square	Square	twin	Twin	planet	PlaNet/RSSM	328	500	0.656	experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
 waypoint_square	Square	twin	Twin	tdmpc2	TD-MPC2	472	500	0.944	experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
-waypoint_square	Square	twin	Twin	pid_los_controller	PID/LOS	289	500	0.578	experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
-waypoint_square	Square	twin	Twin	no_flow_los_controller	No-Flow LOS	28	500	0.056	experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
-waypoint_square	Square	twin	Twin	current_estimator_los_controller	Current-Estimator LOS	417	500	0.834	experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
-waypoint_square	Square	twin	Twin	oracle_flow_los_controller	Oracle-Flow LOS	19	500	0.038	experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_square_twin_gradient.json;experiments/reports/paper_planning/waypoint_square_twin_noflow.json;experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_square_twin_shear.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink.json;experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_twin_uniform.json;experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json
 waypoint_square	Square	triangle	Triangle	flowmo	FlowMo-WM	498	500	0.996	experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
 waypoint_square	Square	triangle	Triangle	leworldmodel	LeWorldModel	467	500	0.934	experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
 waypoint_square	Square	triangle	Triangle	planet	PlaNet/RSSM	496	500	0.992	experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
 waypoint_square	Square	triangle	Triangle	tdmpc2	TD-MPC2	492	500	0.984	experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
-waypoint_square	Square	triangle	Triangle	pid_los_controller	PID/LOS	500	500	1.0	experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
-waypoint_square	Square	triangle	Triangle	no_flow_los_controller	No-Flow LOS	500	500	1.0	experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
-waypoint_square	Square	triangle	Triangle	current_estimator_los_controller	Current-Estimator LOS	500	500	1.0	experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
-waypoint_square	Square	triangle	Triangle	oracle_flow_los_controller	Oracle-Flow LOS	500	500	1.0	experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_square_triangle_gradient.json;experiments/reports/paper_planning/waypoint_square_triangle_noflow.json;experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_square_triangle_shear.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_square_triangle_uniform.json;experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json
 waypoint_zigzag	Zigzag	twin	Twin	flowmo	FlowMo-WM	480	500	0.96	experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
 waypoint_zigzag	Zigzag	twin	Twin	leworldmodel	LeWorldModel	443	500	0.886	experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
 waypoint_zigzag	Zigzag	twin	Twin	planet	PlaNet/RSSM	416	500	0.832	experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
 waypoint_zigzag	Zigzag	twin	Twin	tdmpc2	TD-MPC2	429	500	0.858	experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
-waypoint_zigzag	Zigzag	twin	Twin	pid_los_controller	PID/LOS	427	500	0.854	experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
-waypoint_zigzag	Zigzag	twin	Twin	no_flow_los_controller	No-Flow LOS	114	500	0.228	experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
-waypoint_zigzag	Zigzag	twin	Twin	current_estimator_los_controller	Current-Estimator LOS	414	500	0.828	experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
-waypoint_zigzag	Zigzag	twin	Twin	oracle_flow_los_controller	Oracle-Flow LOS	132	500	0.264	experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json
 waypoint_zigzag	Zigzag	triangle	Triangle	flowmo	FlowMo-WM	493	500	0.986	experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json
 waypoint_zigzag	Zigzag	triangle	Triangle	leworldmodel	LeWorldModel	457	500	0.914	experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json
 waypoint_zigzag	Zigzag	triangle	Triangle	planet	PlaNet/RSSM	494	500	0.988	experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json
 waypoint_zigzag	Zigzag	triangle	Triangle	tdmpc2	TD-MPC2	499	500	0.998	experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json
-waypoint_zigzag	Zigzag	triangle	Triangle	pid_los_controller	PID/LOS	500	500	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json
-waypoint_zigzag	Zigzag	triangle	Triangle	no_flow_los_controller	No-Flow LOS	500	500	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json
-waypoint_zigzag	Zigzag	triangle	Triangle	current_estimator_los_controller	Current-Estimator LOS	500	500	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json
-waypoint_zigzag	Zigzag	triangle	Triangle	oracle_flow_los_controller	Oracle-Flow LOS	500	500	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json;experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json

experiments/reports/paper_artifacts/fig4/figure4_success_by_task_boat_source_rows.csv

@@ -39,46 +39,6 @@ reach_target,twin,tdmpc2,gradient,34,50,0.68,experiments/reports/paper_planning/
 reach_target,twin,tdmpc2,shear,33,50,0.66,experiments/reports/paper_planning/reach_target_twin_shear.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 reach_target,twin,tdmpc2,turbulent_patch,36,50,0.72,experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 reach_target,twin,tdmpc2,random_fourier,34,50,0.68,experiments/reports/paper_planning/reach_target_twin_random_fourier.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
-reach_target,twin,pid_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_noflow.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,twin,pid_los_controller,uniform,49,50,0.98,experiments/reports/paper_planning/reach_target_twin_uniform.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,twin,pid_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_vortex_center.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,twin,pid_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_double_gyre.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,twin,pid_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_source_sink.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,twin,pid_los_controller,source_sink_pair,48,50,0.96,experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,twin,pid_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_gradient.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,twin,pid_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_shear.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,twin,pid_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,twin,pid_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_random_fourier.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,twin,no_flow_los_controller,noflow,43,50,0.86,experiments/reports/paper_planning/reach_target_twin_noflow.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,twin,no_flow_los_controller,uniform,46,50,0.92,experiments/reports/paper_planning/reach_target_twin_uniform.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,twin,no_flow_los_controller,vortex_center,40,50,0.8,experiments/reports/paper_planning/reach_target_twin_vortex_center.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,twin,no_flow_los_controller,double_gyre,48,50,0.96,experiments/reports/paper_planning/reach_target_twin_double_gyre.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,twin,no_flow_los_controller,source_sink,41,50,0.82,experiments/reports/paper_planning/reach_target_twin_source_sink.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,twin,no_flow_los_controller,source_sink_pair,33,50,0.66,experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,twin,no_flow_los_controller,gradient,39,50,0.78,experiments/reports/paper_planning/reach_target_twin_gradient.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,twin,no_flow_los_controller,shear,46,50,0.92,experiments/reports/paper_planning/reach_target_twin_shear.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,twin,no_flow_los_controller,turbulent_patch,43,50,0.86,experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,twin,no_flow_los_controller,random_fourier,39,50,0.78,experiments/reports/paper_planning/reach_target_twin_random_fourier.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,twin,current_estimator_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_noflow.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,twin,current_estimator_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_uniform.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,twin,current_estimator_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_vortex_center.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,twin,current_estimator_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_double_gyre.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,twin,current_estimator_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_source_sink.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,twin,current_estimator_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,twin,current_estimator_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_gradient.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,twin,current_estimator_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_shear.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,twin,current_estimator_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,twin,current_estimator_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/reach_target_twin_random_fourier.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,twin,oracle_flow_los_controller,noflow,43,50,0.86,experiments/reports/paper_planning/reach_target_twin_noflow.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,twin,oracle_flow_los_controller,uniform,43,50,0.86,experiments/reports/paper_planning/reach_target_twin_uniform.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,twin,oracle_flow_los_controller,vortex_center,40,50,0.8,experiments/reports/paper_planning/reach_target_twin_vortex_center.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,twin,oracle_flow_los_controller,double_gyre,49,50,0.98,experiments/reports/paper_planning/reach_target_twin_double_gyre.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,twin,oracle_flow_los_controller,source_sink,40,50,0.8,experiments/reports/paper_planning/reach_target_twin_source_sink.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,twin,oracle_flow_los_controller,source_sink_pair,34,50,0.68,experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,twin,oracle_flow_los_controller,gradient,38,50,0.76,experiments/reports/paper_planning/reach_target_twin_gradient.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,twin,oracle_flow_los_controller,shear,47,50,0.94,experiments/reports/paper_planning/reach_target_twin_shear.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,twin,oracle_flow_los_controller,turbulent_patch,43,50,0.86,experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,twin,oracle_flow_los_controller,random_fourier,42,50,0.84,experiments/reports/paper_planning/reach_target_twin_random_fourier.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
 reach_target,triangle,flowmo,noflow,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_noflow.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
 reach_target,triangle,flowmo,uniform,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_uniform.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
 reach_target,triangle,flowmo,vortex_center,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_vortex_center.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
@@ -119,46 +79,6 @@ reach_target,triangle,tdmpc2,gradient,49,50,0.98,experiments/reports/paper_plann
 reach_target,triangle,tdmpc2,shear,49,50,0.98,experiments/reports/paper_planning/reach_target_triangle_shear.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 reach_target,triangle,tdmpc2,turbulent_patch,49,50,0.98,experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 reach_target,triangle,tdmpc2,random_fourier,47,50,0.94,experiments/reports/paper_planning/reach_target_triangle_random_fourier.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
-reach_target,triangle,pid_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_noflow.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,triangle,pid_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_uniform.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,triangle,pid_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_vortex_center.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,triangle,pid_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_double_gyre.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,triangle,pid_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_source_sink.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,triangle,pid_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,triangle,pid_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_gradient.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,triangle,pid_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_shear.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,triangle,pid_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,triangle,pid_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_random_fourier.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-reach_target,triangle,no_flow_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_noflow.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,triangle,no_flow_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_uniform.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,triangle,no_flow_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_vortex_center.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,triangle,no_flow_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_double_gyre.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,triangle,no_flow_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_source_sink.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,triangle,no_flow_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,triangle,no_flow_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_gradient.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,triangle,no_flow_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_shear.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,triangle,no_flow_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,triangle,no_flow_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_random_fourier.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-reach_target,triangle,current_estimator_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_noflow.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,triangle,current_estimator_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_uniform.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,triangle,current_estimator_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_vortex_center.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,triangle,current_estimator_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_double_gyre.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,triangle,current_estimator_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_source_sink.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,triangle,current_estimator_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,triangle,current_estimator_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_gradient.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,triangle,current_estimator_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_shear.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,triangle,current_estimator_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,triangle,current_estimator_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_random_fourier.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-reach_target,triangle,oracle_flow_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_noflow.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,triangle,oracle_flow_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_uniform.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,triangle,oracle_flow_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_vortex_center.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,triangle,oracle_flow_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_double_gyre.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,triangle,oracle_flow_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_source_sink.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,triangle,oracle_flow_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,triangle,oracle_flow_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_gradient.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,triangle,oracle_flow_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_shear.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,triangle,oracle_flow_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-reach_target,triangle,oracle_flow_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/reach_target_triangle_random_fourier.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
 station_keeping,twin,flowmo,noflow,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_noflow.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
 station_keeping,twin,flowmo,uniform,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_uniform.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
 station_keeping,twin,flowmo,vortex_center,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_vortex_center.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
@@ -199,46 +119,6 @@ station_keeping,twin,tdmpc2,gradient,49,50,0.98,experiments/reports/paper_planni
 station_keeping,twin,tdmpc2,shear,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_shear.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 station_keeping,twin,tdmpc2,turbulent_patch,49,50,0.98,experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 station_keeping,twin,tdmpc2,random_fourier,49,50,0.98,experiments/reports/paper_planning/station_keeping_twin_random_fourier.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
-station_keeping,twin,pid_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_noflow.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,twin,pid_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_uniform.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,twin,pid_los_controller,vortex_center,49,50,0.98,experiments/reports/paper_planning/station_keeping_twin_vortex_center.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,twin,pid_los_controller,double_gyre,49,50,0.98,experiments/reports/paper_planning/station_keeping_twin_double_gyre.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,twin,pid_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_source_sink.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,twin,pid_los_controller,source_sink_pair,49,50,0.98,experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,twin,pid_los_controller,gradient,49,50,0.98,experiments/reports/paper_planning/station_keeping_twin_gradient.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,twin,pid_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_shear.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,twin,pid_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,twin,pid_los_controller,random_fourier,49,50,0.98,experiments/reports/paper_planning/station_keeping_twin_random_fourier.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,twin,no_flow_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_noflow.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,twin,no_flow_los_controller,uniform,44,50,0.88,experiments/reports/paper_planning/station_keeping_twin_uniform.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,twin,no_flow_los_controller,vortex_center,48,50,0.96,experiments/reports/paper_planning/station_keeping_twin_vortex_center.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,twin,no_flow_los_controller,double_gyre,39,50,0.78,experiments/reports/paper_planning/station_keeping_twin_double_gyre.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,twin,no_flow_los_controller,source_sink,48,50,0.96,experiments/reports/paper_planning/station_keeping_twin_source_sink.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,twin,no_flow_los_controller,source_sink_pair,44,50,0.88,experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,twin,no_flow_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_gradient.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,twin,no_flow_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_shear.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,twin,no_flow_los_controller,turbulent_patch,49,50,0.98,experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,twin,no_flow_los_controller,random_fourier,41,50,0.82,experiments/reports/paper_planning/station_keeping_twin_random_fourier.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,twin,current_estimator_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_noflow.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,twin,current_estimator_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_uniform.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,twin,current_estimator_los_controller,vortex_center,49,50,0.98,experiments/reports/paper_planning/station_keeping_twin_vortex_center.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,twin,current_estimator_los_controller,double_gyre,49,50,0.98,experiments/reports/paper_planning/station_keeping_twin_double_gyre.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,twin,current_estimator_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_source_sink.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,twin,current_estimator_los_controller,source_sink_pair,49,50,0.98,experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,twin,current_estimator_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_gradient.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,twin,current_estimator_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_shear.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,twin,current_estimator_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,twin,current_estimator_los_controller,random_fourier,45,50,0.9,experiments/reports/paper_planning/station_keeping_twin_random_fourier.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,twin,oracle_flow_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_noflow.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,twin,oracle_flow_los_controller,uniform,41,50,0.82,experiments/reports/paper_planning/station_keeping_twin_uniform.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,twin,oracle_flow_los_controller,vortex_center,46,50,0.92,experiments/reports/paper_planning/station_keeping_twin_vortex_center.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,twin,oracle_flow_los_controller,double_gyre,45,50,0.9,experiments/reports/paper_planning/station_keeping_twin_double_gyre.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,twin,oracle_flow_los_controller,source_sink,47,50,0.94,experiments/reports/paper_planning/station_keeping_twin_source_sink.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,twin,oracle_flow_los_controller,source_sink_pair,38,50,0.76,experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,twin,oracle_flow_los_controller,gradient,47,50,0.94,experiments/reports/paper_planning/station_keeping_twin_gradient.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,twin,oracle_flow_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/station_keeping_twin_shear.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,twin,oracle_flow_los_controller,turbulent_patch,45,50,0.9,experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,twin,oracle_flow_los_controller,random_fourier,35,50,0.7,experiments/reports/paper_planning/station_keeping_twin_random_fourier.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
 station_keeping,triangle,flowmo,noflow,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_noflow.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
 station_keeping,triangle,flowmo,uniform,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_uniform.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
 station_keeping,triangle,flowmo,vortex_center,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
@@ -279,46 +159,6 @@ station_keeping,triangle,tdmpc2,gradient,50,50,1.0,experiments/reports/paper_pla
 station_keeping,triangle,tdmpc2,shear,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_shear.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 station_keeping,triangle,tdmpc2,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 station_keeping,triangle,tdmpc2,random_fourier,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
-station_keeping,triangle,pid_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_noflow.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,triangle,pid_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_uniform.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,triangle,pid_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,triangle,pid_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,triangle,pid_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_source_sink.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,triangle,pid_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,triangle,pid_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_gradient.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,triangle,pid_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_shear.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,triangle,pid_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,triangle,pid_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-station_keeping,triangle,no_flow_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_noflow.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,triangle,no_flow_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_uniform.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,triangle,no_flow_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,triangle,no_flow_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,triangle,no_flow_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_source_sink.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,triangle,no_flow_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,triangle,no_flow_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_gradient.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,triangle,no_flow_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_shear.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,triangle,no_flow_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,triangle,no_flow_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-station_keeping,triangle,current_estimator_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_noflow.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,triangle,current_estimator_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_uniform.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,triangle,current_estimator_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,triangle,current_estimator_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,triangle,current_estimator_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_source_sink.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,triangle,current_estimator_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,triangle,current_estimator_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_gradient.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,triangle,current_estimator_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_shear.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,triangle,current_estimator_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,triangle,current_estimator_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-station_keeping,triangle,oracle_flow_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_noflow.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,triangle,oracle_flow_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_uniform.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,triangle,oracle_flow_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,triangle,oracle_flow_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,triangle,oracle_flow_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_source_sink.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,triangle,oracle_flow_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,triangle,oracle_flow_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_gradient.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,triangle,oracle_flow_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_shear.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,triangle,oracle_flow_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-station_keeping,triangle,oracle_flow_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
 waypoint_square,twin,flowmo,noflow,49,50,0.98,experiments/reports/paper_planning/waypoint_square_twin_noflow.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
 waypoint_square,twin,flowmo,uniform,46,50,0.92,experiments/reports/paper_planning/waypoint_square_twin_uniform.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
 waypoint_square,twin,flowmo,vortex_center,49,50,0.98,experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
@@ -359,46 +199,6 @@ waypoint_square,twin,tdmpc2,gradient,45,50,0.9,experiments/reports/paper_plannin
 waypoint_square,twin,tdmpc2,shear,47,50,0.94,experiments/reports/paper_planning/waypoint_square_twin_shear.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 waypoint_square,twin,tdmpc2,turbulent_patch,49,50,0.98,experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 waypoint_square,twin,tdmpc2,random_fourier,49,50,0.98,experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
-waypoint_square,twin,pid_los_controller,noflow,25,50,0.5,experiments/reports/paper_planning/waypoint_square_twin_noflow.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,twin,pid_los_controller,uniform,35,50,0.7,experiments/reports/paper_planning/waypoint_square_twin_uniform.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,twin,pid_los_controller,vortex_center,23,50,0.46,experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,twin,pid_los_controller,double_gyre,32,50,0.64,experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,twin,pid_los_controller,source_sink,27,50,0.54,experiments/reports/paper_planning/waypoint_square_twin_source_sink.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,twin,pid_los_controller,source_sink_pair,29,50,0.58,experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,twin,pid_los_controller,gradient,22,50,0.44,experiments/reports/paper_planning/waypoint_square_twin_gradient.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,twin,pid_los_controller,shear,34,50,0.68,experiments/reports/paper_planning/waypoint_square_twin_shear.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,twin,pid_los_controller,turbulent_patch,26,50,0.52,experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,twin,pid_los_controller,random_fourier,36,50,0.72,experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,twin,no_flow_los_controller,noflow,1,50,0.02,experiments/reports/paper_planning/waypoint_square_twin_noflow.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,twin,no_flow_los_controller,uniform,7,50,0.14,experiments/reports/paper_planning/waypoint_square_twin_uniform.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,twin,no_flow_los_controller,vortex_center,2,50,0.04,experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,twin,no_flow_los_controller,double_gyre,3,50,0.06,experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,twin,no_flow_los_controller,source_sink,3,50,0.06,experiments/reports/paper_planning/waypoint_square_twin_source_sink.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,twin,no_flow_los_controller,source_sink_pair,2,50,0.04,experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,twin,no_flow_los_controller,gradient,2,50,0.04,experiments/reports/paper_planning/waypoint_square_twin_gradient.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,twin,no_flow_los_controller,shear,4,50,0.08,experiments/reports/paper_planning/waypoint_square_twin_shear.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,twin,no_flow_los_controller,turbulent_patch,2,50,0.04,experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,twin,no_flow_los_controller,random_fourier,2,50,0.04,experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,twin,current_estimator_los_controller,noflow,40,50,0.8,experiments/reports/paper_planning/waypoint_square_twin_noflow.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,twin,current_estimator_los_controller,uniform,43,50,0.86,experiments/reports/paper_planning/waypoint_square_twin_uniform.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,twin,current_estimator_los_controller,vortex_center,39,50,0.78,experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,twin,current_estimator_los_controller,double_gyre,41,50,0.82,experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,twin,current_estimator_los_controller,source_sink,37,50,0.74,experiments/reports/paper_planning/waypoint_square_twin_source_sink.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,twin,current_estimator_los_controller,source_sink_pair,42,50,0.84,experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,twin,current_estimator_los_controller,gradient,45,50,0.9,experiments/reports/paper_planning/waypoint_square_twin_gradient.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,twin,current_estimator_los_controller,shear,48,50,0.96,experiments/reports/paper_planning/waypoint_square_twin_shear.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,twin,current_estimator_los_controller,turbulent_patch,40,50,0.8,experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,twin,current_estimator_los_controller,random_fourier,42,50,0.84,experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,twin,oracle_flow_los_controller,noflow,1,50,0.02,experiments/reports/paper_planning/waypoint_square_twin_noflow.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,twin,oracle_flow_los_controller,uniform,3,50,0.06,experiments/reports/paper_planning/waypoint_square_twin_uniform.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,twin,oracle_flow_los_controller,vortex_center,1,50,0.02,experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,twin,oracle_flow_los_controller,double_gyre,4,50,0.08,experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,twin,oracle_flow_los_controller,source_sink,2,50,0.04,experiments/reports/paper_planning/waypoint_square_twin_source_sink.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,twin,oracle_flow_los_controller,source_sink_pair,1,50,0.02,experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,twin,oracle_flow_los_controller,gradient,1,50,0.02,experiments/reports/paper_planning/waypoint_square_twin_gradient.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,twin,oracle_flow_los_controller,shear,4,50,0.08,experiments/reports/paper_planning/waypoint_square_twin_shear.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,twin,oracle_flow_los_controller,turbulent_patch,1,50,0.02,experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,twin,oracle_flow_los_controller,random_fourier,1,50,0.02,experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
 waypoint_square,triangle,flowmo,noflow,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_noflow.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
 waypoint_square,triangle,flowmo,uniform,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_uniform.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
 waypoint_square,triangle,flowmo,vortex_center,49,50,0.98,experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
@@ -439,46 +239,6 @@ waypoint_square,triangle,tdmpc2,gradient,49,50,0.98,experiments/reports/paper_pl
 waypoint_square,triangle,tdmpc2,shear,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_shear.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 waypoint_square,triangle,tdmpc2,turbulent_patch,49,50,0.98,experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 waypoint_square,triangle,tdmpc2,random_fourier,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
-waypoint_square,triangle,pid_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_noflow.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,triangle,pid_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_uniform.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,triangle,pid_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,triangle,pid_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,triangle,pid_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,triangle,pid_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,triangle,pid_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_gradient.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,triangle,pid_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_shear.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,triangle,pid_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,triangle,pid_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_square,triangle,no_flow_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_noflow.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,triangle,no_flow_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_uniform.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,triangle,no_flow_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,triangle,no_flow_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,triangle,no_flow_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,triangle,no_flow_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,triangle,no_flow_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_gradient.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,triangle,no_flow_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_shear.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,triangle,no_flow_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,triangle,no_flow_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_square,triangle,current_estimator_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_noflow.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,triangle,current_estimator_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_uniform.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,triangle,current_estimator_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,triangle,current_estimator_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,triangle,current_estimator_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,triangle,current_estimator_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,triangle,current_estimator_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_gradient.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,triangle,current_estimator_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_shear.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,triangle,current_estimator_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,triangle,current_estimator_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_square,triangle,oracle_flow_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_noflow.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,triangle,oracle_flow_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_uniform.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,triangle,oracle_flow_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,triangle,oracle_flow_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,triangle,oracle_flow_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,triangle,oracle_flow_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,triangle,oracle_flow_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_gradient.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,triangle,oracle_flow_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_shear.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,triangle,oracle_flow_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_square,triangle,oracle_flow_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
 waypoint_zigzag,twin,flowmo,noflow,49,50,0.98,experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
 waypoint_zigzag,twin,flowmo,uniform,48,50,0.96,experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
 waypoint_zigzag,twin,flowmo,vortex_center,48,50,0.96,experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
@@ -519,46 +279,6 @@ waypoint_zigzag,twin,tdmpc2,gradient,43,50,0.86,experiments/reports/paper_planni
 waypoint_zigzag,twin,tdmpc2,shear,43,50,0.86,experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 waypoint_zigzag,twin,tdmpc2,turbulent_patch,42,50,0.84,experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 waypoint_zigzag,twin,tdmpc2,random_fourier,44,50,0.88,experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
-waypoint_zigzag,twin,pid_los_controller,noflow,46,50,0.92,experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,twin,pid_los_controller,uniform,46,50,0.92,experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,twin,pid_los_controller,vortex_center,40,50,0.8,experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,twin,pid_los_controller,double_gyre,41,50,0.82,experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,twin,pid_los_controller,source_sink,42,50,0.84,experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,twin,pid_los_controller,source_sink_pair,40,50,0.8,experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,twin,pid_los_controller,gradient,45,50,0.9,experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,twin,pid_los_controller,shear,39,50,0.78,experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,twin,pid_los_controller,turbulent_patch,45,50,0.9,experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,twin,pid_los_controller,random_fourier,43,50,0.86,experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,twin,no_flow_los_controller,noflow,14,50,0.28,experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,twin,no_flow_los_controller,uniform,14,50,0.28,experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,twin,no_flow_los_controller,vortex_center,12,50,0.24,experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,twin,no_flow_los_controller,double_gyre,8,50,0.16,experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,twin,no_flow_los_controller,source_sink,9,50,0.18,experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,twin,no_flow_los_controller,source_sink_pair,11,50,0.22,experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,twin,no_flow_los_controller,gradient,8,50,0.16,experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,twin,no_flow_los_controller,shear,9,50,0.18,experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,twin,no_flow_los_controller,turbulent_patch,15,50,0.3,experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,twin,no_flow_los_controller,random_fourier,14,50,0.28,experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,twin,current_estimator_los_controller,noflow,42,50,0.84,experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,twin,current_estimator_los_controller,uniform,43,50,0.86,experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,twin,current_estimator_los_controller,vortex_center,37,50,0.74,experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,twin,current_estimator_los_controller,double_gyre,43,50,0.86,experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,twin,current_estimator_los_controller,source_sink,38,50,0.76,experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,twin,current_estimator_los_controller,source_sink_pair,41,50,0.82,experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,twin,current_estimator_los_controller,gradient,43,50,0.86,experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,twin,current_estimator_los_controller,shear,45,50,0.9,experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,twin,current_estimator_los_controller,turbulent_patch,39,50,0.78,experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,twin,current_estimator_los_controller,random_fourier,43,50,0.86,experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,twin,oracle_flow_los_controller,noflow,14,50,0.28,experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,twin,oracle_flow_los_controller,uniform,17,50,0.34,experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,twin,oracle_flow_los_controller,vortex_center,14,50,0.28,experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,twin,oracle_flow_los_controller,double_gyre,13,50,0.26,experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,twin,oracle_flow_los_controller,source_sink,10,50,0.2,experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,twin,oracle_flow_los_controller,source_sink_pair,12,50,0.24,experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,twin,oracle_flow_los_controller,gradient,10,50,0.2,experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,twin,oracle_flow_los_controller,shear,13,50,0.26,experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,twin,oracle_flow_los_controller,turbulent_patch,15,50,0.3,experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,twin,oracle_flow_los_controller,random_fourier,14,50,0.28,experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
 waypoint_zigzag,triangle,flowmo,noflow,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
 waypoint_zigzag,triangle,flowmo,uniform,49,50,0.98,experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
 waypoint_zigzag,triangle,flowmo,vortex_center,49,50,0.98,experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json,0,$[0].by_context.inferred.successes,$[0].by_context.inferred.episodes
@@ -599,43 +319,3 @@ waypoint_zigzag,triangle,tdmpc2,gradient,50,50,1.0,experiments/reports/paper_pla
 waypoint_zigzag,triangle,tdmpc2,shear,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 waypoint_zigzag,triangle,tdmpc2,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
 waypoint_zigzag,triangle,tdmpc2,random_fourier,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json,3,$[3].by_context.inferred.successes,$[3].by_context.inferred.episodes
-waypoint_zigzag,triangle,pid_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,triangle,pid_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,triangle,pid_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,triangle,pid_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,triangle,pid_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,triangle,pid_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,triangle,pid_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,triangle,pid_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,triangle,pid_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,triangle,pid_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json,4,$[4].by_context.inferred.successes,$[4].by_context.inferred.episodes
-waypoint_zigzag,triangle,no_flow_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,triangle,no_flow_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,triangle,no_flow_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,triangle,no_flow_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,triangle,no_flow_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,triangle,no_flow_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,triangle,no_flow_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,triangle,no_flow_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,triangle,no_flow_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,triangle,no_flow_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json,5,$[5].by_context.inferred.successes,$[5].by_context.inferred.episodes
-waypoint_zigzag,triangle,current_estimator_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,triangle,current_estimator_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,triangle,current_estimator_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,triangle,current_estimator_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,triangle,current_estimator_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,triangle,current_estimator_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,triangle,current_estimator_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,triangle,current_estimator_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,triangle,current_estimator_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,triangle,current_estimator_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json,6,$[6].by_context.inferred.successes,$[6].by_context.inferred.episodes
-waypoint_zigzag,triangle,oracle_flow_los_controller,noflow,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,triangle,oracle_flow_los_controller,uniform,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,triangle,oracle_flow_los_controller,vortex_center,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,triangle,oracle_flow_los_controller,double_gyre,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,triangle,oracle_flow_los_controller,source_sink,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,triangle,oracle_flow_los_controller,source_sink_pair,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,triangle,oracle_flow_los_controller,gradient,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,triangle,oracle_flow_los_controller,shear,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,triangle,oracle_flow_los_controller,turbulent_patch,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes
-waypoint_zigzag,triangle,oracle_flow_los_controller,random_fourier,50,50,1.0,experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json,7,$[7].by_context.inferred.successes,$[7].by_context.inferred.episodes

experiments/reports/paper_artifacts/fig4/figure4_success_by_task_boat_source_rows.tsv

@@ -39,46 +39,6 @@ reach_target	twin	tdmpc2	gradient	34	50	0.68	experiments/reports/paper_planning/
 reach_target	twin	tdmpc2	shear	33	50	0.66	experiments/reports/paper_planning/reach_target_twin_shear.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 reach_target	twin	tdmpc2	turbulent_patch	36	50	0.72	experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 reach_target	twin	tdmpc2	random_fourier	34	50	0.68	experiments/reports/paper_planning/reach_target_twin_random_fourier.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
-reach_target	twin	pid_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_noflow.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	twin	pid_los_controller	uniform	49	50	0.98	experiments/reports/paper_planning/reach_target_twin_uniform.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	twin	pid_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_vortex_center.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	twin	pid_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_double_gyre.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	twin	pid_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_source_sink.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	twin	pid_los_controller	source_sink_pair	48	50	0.96	experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	twin	pid_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_gradient.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	twin	pid_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_shear.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	twin	pid_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	twin	pid_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_random_fourier.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	twin	no_flow_los_controller	noflow	43	50	0.86	experiments/reports/paper_planning/reach_target_twin_noflow.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	twin	no_flow_los_controller	uniform	46	50	0.92	experiments/reports/paper_planning/reach_target_twin_uniform.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	twin	no_flow_los_controller	vortex_center	40	50	0.8	experiments/reports/paper_planning/reach_target_twin_vortex_center.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	twin	no_flow_los_controller	double_gyre	48	50	0.96	experiments/reports/paper_planning/reach_target_twin_double_gyre.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	twin	no_flow_los_controller	source_sink	41	50	0.82	experiments/reports/paper_planning/reach_target_twin_source_sink.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	twin	no_flow_los_controller	source_sink_pair	33	50	0.66	experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	twin	no_flow_los_controller	gradient	39	50	0.78	experiments/reports/paper_planning/reach_target_twin_gradient.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	twin	no_flow_los_controller	shear	46	50	0.92	experiments/reports/paper_planning/reach_target_twin_shear.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	twin	no_flow_los_controller	turbulent_patch	43	50	0.86	experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	twin	no_flow_los_controller	random_fourier	39	50	0.78	experiments/reports/paper_planning/reach_target_twin_random_fourier.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	twin	current_estimator_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_noflow.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	twin	current_estimator_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_uniform.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	twin	current_estimator_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_vortex_center.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	twin	current_estimator_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_double_gyre.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	twin	current_estimator_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_source_sink.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	twin	current_estimator_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	twin	current_estimator_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_gradient.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	twin	current_estimator_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_shear.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	twin	current_estimator_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	twin	current_estimator_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/reach_target_twin_random_fourier.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	twin	oracle_flow_los_controller	noflow	43	50	0.86	experiments/reports/paper_planning/reach_target_twin_noflow.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	twin	oracle_flow_los_controller	uniform	43	50	0.86	experiments/reports/paper_planning/reach_target_twin_uniform.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	twin	oracle_flow_los_controller	vortex_center	40	50	0.8	experiments/reports/paper_planning/reach_target_twin_vortex_center.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	twin	oracle_flow_los_controller	double_gyre	49	50	0.98	experiments/reports/paper_planning/reach_target_twin_double_gyre.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	twin	oracle_flow_los_controller	source_sink	40	50	0.8	experiments/reports/paper_planning/reach_target_twin_source_sink.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	twin	oracle_flow_los_controller	source_sink_pair	34	50	0.68	experiments/reports/paper_planning/reach_target_twin_source_sink_pair.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	twin	oracle_flow_los_controller	gradient	38	50	0.76	experiments/reports/paper_planning/reach_target_twin_gradient.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	twin	oracle_flow_los_controller	shear	47	50	0.94	experiments/reports/paper_planning/reach_target_twin_shear.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	twin	oracle_flow_los_controller	turbulent_patch	43	50	0.86	experiments/reports/paper_planning/reach_target_twin_turbulent_patch.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	twin	oracle_flow_los_controller	random_fourier	42	50	0.84	experiments/reports/paper_planning/reach_target_twin_random_fourier.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
 reach_target	triangle	flowmo	noflow	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_noflow.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
 reach_target	triangle	flowmo	uniform	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_uniform.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
 reach_target	triangle	flowmo	vortex_center	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_vortex_center.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
@@ -119,46 +79,6 @@ reach_target	triangle	tdmpc2	gradient	49	50	0.98	experiments/reports/paper_plann
 reach_target	triangle	tdmpc2	shear	49	50	0.98	experiments/reports/paper_planning/reach_target_triangle_shear.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 reach_target	triangle	tdmpc2	turbulent_patch	49	50	0.98	experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 reach_target	triangle	tdmpc2	random_fourier	47	50	0.94	experiments/reports/paper_planning/reach_target_triangle_random_fourier.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
-reach_target	triangle	pid_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_noflow.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	triangle	pid_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_uniform.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	triangle	pid_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_vortex_center.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	triangle	pid_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_double_gyre.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	triangle	pid_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_source_sink.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	triangle	pid_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	triangle	pid_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_gradient.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	triangle	pid_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_shear.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	triangle	pid_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	triangle	pid_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_random_fourier.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-reach_target	triangle	no_flow_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_noflow.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	triangle	no_flow_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_uniform.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	triangle	no_flow_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_vortex_center.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	triangle	no_flow_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_double_gyre.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	triangle	no_flow_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_source_sink.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	triangle	no_flow_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	triangle	no_flow_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_gradient.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	triangle	no_flow_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_shear.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	triangle	no_flow_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	triangle	no_flow_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_random_fourier.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-reach_target	triangle	current_estimator_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_noflow.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	triangle	current_estimator_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_uniform.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	triangle	current_estimator_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_vortex_center.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	triangle	current_estimator_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_double_gyre.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	triangle	current_estimator_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_source_sink.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	triangle	current_estimator_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	triangle	current_estimator_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_gradient.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	triangle	current_estimator_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_shear.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	triangle	current_estimator_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	triangle	current_estimator_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_random_fourier.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-reach_target	triangle	oracle_flow_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_noflow.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	triangle	oracle_flow_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_uniform.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	triangle	oracle_flow_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_vortex_center.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	triangle	oracle_flow_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_double_gyre.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	triangle	oracle_flow_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_source_sink.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	triangle	oracle_flow_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_source_sink_pair.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	triangle	oracle_flow_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_gradient.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	triangle	oracle_flow_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_shear.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	triangle	oracle_flow_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_turbulent_patch.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-reach_target	triangle	oracle_flow_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/reach_target_triangle_random_fourier.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
 station_keeping	twin	flowmo	noflow	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_noflow.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
 station_keeping	twin	flowmo	uniform	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_uniform.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
 station_keeping	twin	flowmo	vortex_center	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_vortex_center.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
@@ -199,46 +119,6 @@ station_keeping	twin	tdmpc2	gradient	49	50	0.98	experiments/reports/paper_planni
 station_keeping	twin	tdmpc2	shear	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_shear.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 station_keeping	twin	tdmpc2	turbulent_patch	49	50	0.98	experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 station_keeping	twin	tdmpc2	random_fourier	49	50	0.98	experiments/reports/paper_planning/station_keeping_twin_random_fourier.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
-station_keeping	twin	pid_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_noflow.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	twin	pid_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_uniform.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	twin	pid_los_controller	vortex_center	49	50	0.98	experiments/reports/paper_planning/station_keeping_twin_vortex_center.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	twin	pid_los_controller	double_gyre	49	50	0.98	experiments/reports/paper_planning/station_keeping_twin_double_gyre.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	twin	pid_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_source_sink.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	twin	pid_los_controller	source_sink_pair	49	50	0.98	experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	twin	pid_los_controller	gradient	49	50	0.98	experiments/reports/paper_planning/station_keeping_twin_gradient.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	twin	pid_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_shear.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	twin	pid_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	twin	pid_los_controller	random_fourier	49	50	0.98	experiments/reports/paper_planning/station_keeping_twin_random_fourier.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	twin	no_flow_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_noflow.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	twin	no_flow_los_controller	uniform	44	50	0.88	experiments/reports/paper_planning/station_keeping_twin_uniform.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	twin	no_flow_los_controller	vortex_center	48	50	0.96	experiments/reports/paper_planning/station_keeping_twin_vortex_center.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	twin	no_flow_los_controller	double_gyre	39	50	0.78	experiments/reports/paper_planning/station_keeping_twin_double_gyre.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	twin	no_flow_los_controller	source_sink	48	50	0.96	experiments/reports/paper_planning/station_keeping_twin_source_sink.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	twin	no_flow_los_controller	source_sink_pair	44	50	0.88	experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	twin	no_flow_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_gradient.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	twin	no_flow_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_shear.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	twin	no_flow_los_controller	turbulent_patch	49	50	0.98	experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	twin	no_flow_los_controller	random_fourier	41	50	0.82	experiments/reports/paper_planning/station_keeping_twin_random_fourier.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	twin	current_estimator_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_noflow.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	twin	current_estimator_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_uniform.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	twin	current_estimator_los_controller	vortex_center	49	50	0.98	experiments/reports/paper_planning/station_keeping_twin_vortex_center.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	twin	current_estimator_los_controller	double_gyre	49	50	0.98	experiments/reports/paper_planning/station_keeping_twin_double_gyre.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	twin	current_estimator_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_source_sink.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	twin	current_estimator_los_controller	source_sink_pair	49	50	0.98	experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	twin	current_estimator_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_gradient.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	twin	current_estimator_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_shear.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	twin	current_estimator_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	twin	current_estimator_los_controller	random_fourier	45	50	0.9	experiments/reports/paper_planning/station_keeping_twin_random_fourier.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	twin	oracle_flow_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_noflow.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	twin	oracle_flow_los_controller	uniform	41	50	0.82	experiments/reports/paper_planning/station_keeping_twin_uniform.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	twin	oracle_flow_los_controller	vortex_center	46	50	0.92	experiments/reports/paper_planning/station_keeping_twin_vortex_center.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	twin	oracle_flow_los_controller	double_gyre	45	50	0.9	experiments/reports/paper_planning/station_keeping_twin_double_gyre.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	twin	oracle_flow_los_controller	source_sink	47	50	0.94	experiments/reports/paper_planning/station_keeping_twin_source_sink.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	twin	oracle_flow_los_controller	source_sink_pair	38	50	0.76	experiments/reports/paper_planning/station_keeping_twin_source_sink_pair.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	twin	oracle_flow_los_controller	gradient	47	50	0.94	experiments/reports/paper_planning/station_keeping_twin_gradient.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	twin	oracle_flow_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/station_keeping_twin_shear.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	twin	oracle_flow_los_controller	turbulent_patch	45	50	0.9	experiments/reports/paper_planning/station_keeping_twin_turbulent_patch.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	twin	oracle_flow_los_controller	random_fourier	35	50	0.7	experiments/reports/paper_planning/station_keeping_twin_random_fourier.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
 station_keeping	triangle	flowmo	noflow	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_noflow.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
 station_keeping	triangle	flowmo	uniform	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_uniform.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
 station_keeping	triangle	flowmo	vortex_center	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
@@ -279,46 +159,6 @@ station_keeping	triangle	tdmpc2	gradient	50	50	1.0	experiments/reports/paper_pla
 station_keeping	triangle	tdmpc2	shear	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_shear.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 station_keeping	triangle	tdmpc2	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 station_keeping	triangle	tdmpc2	random_fourier	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
-station_keeping	triangle	pid_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_noflow.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	triangle	pid_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_uniform.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	triangle	pid_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	triangle	pid_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	triangle	pid_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_source_sink.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	triangle	pid_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	triangle	pid_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_gradient.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	triangle	pid_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_shear.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	triangle	pid_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	triangle	pid_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-station_keeping	triangle	no_flow_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_noflow.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	triangle	no_flow_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_uniform.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	triangle	no_flow_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	triangle	no_flow_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	triangle	no_flow_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_source_sink.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	triangle	no_flow_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	triangle	no_flow_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_gradient.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	triangle	no_flow_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_shear.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	triangle	no_flow_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	triangle	no_flow_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-station_keeping	triangle	current_estimator_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_noflow.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	triangle	current_estimator_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_uniform.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	triangle	current_estimator_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	triangle	current_estimator_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	triangle	current_estimator_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_source_sink.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	triangle	current_estimator_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	triangle	current_estimator_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_gradient.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	triangle	current_estimator_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_shear.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	triangle	current_estimator_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	triangle	current_estimator_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-station_keeping	triangle	oracle_flow_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_noflow.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	triangle	oracle_flow_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_uniform.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	triangle	oracle_flow_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_vortex_center.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	triangle	oracle_flow_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_double_gyre.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	triangle	oracle_flow_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_source_sink.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	triangle	oracle_flow_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_source_sink_pair.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	triangle	oracle_flow_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_gradient.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	triangle	oracle_flow_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_shear.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	triangle	oracle_flow_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_turbulent_patch.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-station_keeping	triangle	oracle_flow_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/station_keeping_triangle_random_fourier.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
 waypoint_square	twin	flowmo	noflow	49	50	0.98	experiments/reports/paper_planning/waypoint_square_twin_noflow.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
 waypoint_square	twin	flowmo	uniform	46	50	0.92	experiments/reports/paper_planning/waypoint_square_twin_uniform.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
 waypoint_square	twin	flowmo	vortex_center	49	50	0.98	experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
@@ -359,46 +199,6 @@ waypoint_square	twin	tdmpc2	gradient	45	50	0.9	experiments/reports/paper_plannin
 waypoint_square	twin	tdmpc2	shear	47	50	0.94	experiments/reports/paper_planning/waypoint_square_twin_shear.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 waypoint_square	twin	tdmpc2	turbulent_patch	49	50	0.98	experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 waypoint_square	twin	tdmpc2	random_fourier	49	50	0.98	experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
-waypoint_square	twin	pid_los_controller	noflow	25	50	0.5	experiments/reports/paper_planning/waypoint_square_twin_noflow.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	twin	pid_los_controller	uniform	35	50	0.7	experiments/reports/paper_planning/waypoint_square_twin_uniform.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	twin	pid_los_controller	vortex_center	23	50	0.46	experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	twin	pid_los_controller	double_gyre	32	50	0.64	experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	twin	pid_los_controller	source_sink	27	50	0.54	experiments/reports/paper_planning/waypoint_square_twin_source_sink.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	twin	pid_los_controller	source_sink_pair	29	50	0.58	experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	twin	pid_los_controller	gradient	22	50	0.44	experiments/reports/paper_planning/waypoint_square_twin_gradient.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	twin	pid_los_controller	shear	34	50	0.68	experiments/reports/paper_planning/waypoint_square_twin_shear.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	twin	pid_los_controller	turbulent_patch	26	50	0.52	experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	twin	pid_los_controller	random_fourier	36	50	0.72	experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	twin	no_flow_los_controller	noflow	1	50	0.02	experiments/reports/paper_planning/waypoint_square_twin_noflow.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	twin	no_flow_los_controller	uniform	7	50	0.14	experiments/reports/paper_planning/waypoint_square_twin_uniform.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	twin	no_flow_los_controller	vortex_center	2	50	0.04	experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	twin	no_flow_los_controller	double_gyre	3	50	0.06	experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	twin	no_flow_los_controller	source_sink	3	50	0.06	experiments/reports/paper_planning/waypoint_square_twin_source_sink.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	twin	no_flow_los_controller	source_sink_pair	2	50	0.04	experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	twin	no_flow_los_controller	gradient	2	50	0.04	experiments/reports/paper_planning/waypoint_square_twin_gradient.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	twin	no_flow_los_controller	shear	4	50	0.08	experiments/reports/paper_planning/waypoint_square_twin_shear.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	twin	no_flow_los_controller	turbulent_patch	2	50	0.04	experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	twin	no_flow_los_controller	random_fourier	2	50	0.04	experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	twin	current_estimator_los_controller	noflow	40	50	0.8	experiments/reports/paper_planning/waypoint_square_twin_noflow.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	twin	current_estimator_los_controller	uniform	43	50	0.86	experiments/reports/paper_planning/waypoint_square_twin_uniform.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	twin	current_estimator_los_controller	vortex_center	39	50	0.78	experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	twin	current_estimator_los_controller	double_gyre	41	50	0.82	experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	twin	current_estimator_los_controller	source_sink	37	50	0.74	experiments/reports/paper_planning/waypoint_square_twin_source_sink.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	twin	current_estimator_los_controller	source_sink_pair	42	50	0.84	experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	twin	current_estimator_los_controller	gradient	45	50	0.9	experiments/reports/paper_planning/waypoint_square_twin_gradient.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	twin	current_estimator_los_controller	shear	48	50	0.96	experiments/reports/paper_planning/waypoint_square_twin_shear.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	twin	current_estimator_los_controller	turbulent_patch	40	50	0.8	experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	twin	current_estimator_los_controller	random_fourier	42	50	0.84	experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	twin	oracle_flow_los_controller	noflow	1	50	0.02	experiments/reports/paper_planning/waypoint_square_twin_noflow.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	twin	oracle_flow_los_controller	uniform	3	50	0.06	experiments/reports/paper_planning/waypoint_square_twin_uniform.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	twin	oracle_flow_los_controller	vortex_center	1	50	0.02	experiments/reports/paper_planning/waypoint_square_twin_vortex_center.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	twin	oracle_flow_los_controller	double_gyre	4	50	0.08	experiments/reports/paper_planning/waypoint_square_twin_double_gyre.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	twin	oracle_flow_los_controller	source_sink	2	50	0.04	experiments/reports/paper_planning/waypoint_square_twin_source_sink.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	twin	oracle_flow_los_controller	source_sink_pair	1	50	0.02	experiments/reports/paper_planning/waypoint_square_twin_source_sink_pair.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	twin	oracle_flow_los_controller	gradient	1	50	0.02	experiments/reports/paper_planning/waypoint_square_twin_gradient.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	twin	oracle_flow_los_controller	shear	4	50	0.08	experiments/reports/paper_planning/waypoint_square_twin_shear.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	twin	oracle_flow_los_controller	turbulent_patch	1	50	0.02	experiments/reports/paper_planning/waypoint_square_twin_turbulent_patch.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	twin	oracle_flow_los_controller	random_fourier	1	50	0.02	experiments/reports/paper_planning/waypoint_square_twin_random_fourier.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
 waypoint_square	triangle	flowmo	noflow	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_noflow.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
 waypoint_square	triangle	flowmo	uniform	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_uniform.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
 waypoint_square	triangle	flowmo	vortex_center	49	50	0.98	experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
@@ -439,46 +239,6 @@ waypoint_square	triangle	tdmpc2	gradient	49	50	0.98	experiments/reports/paper_pl
 waypoint_square	triangle	tdmpc2	shear	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_shear.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 waypoint_square	triangle	tdmpc2	turbulent_patch	49	50	0.98	experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 waypoint_square	triangle	tdmpc2	random_fourier	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
-waypoint_square	triangle	pid_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_noflow.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	triangle	pid_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_uniform.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	triangle	pid_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	triangle	pid_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	triangle	pid_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	triangle	pid_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	triangle	pid_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_gradient.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	triangle	pid_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_shear.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	triangle	pid_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	triangle	pid_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_square	triangle	no_flow_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_noflow.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	triangle	no_flow_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_uniform.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	triangle	no_flow_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	triangle	no_flow_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	triangle	no_flow_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	triangle	no_flow_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	triangle	no_flow_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_gradient.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	triangle	no_flow_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_shear.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	triangle	no_flow_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	triangle	no_flow_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_square	triangle	current_estimator_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_noflow.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	triangle	current_estimator_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_uniform.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	triangle	current_estimator_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	triangle	current_estimator_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	triangle	current_estimator_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	triangle	current_estimator_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	triangle	current_estimator_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_gradient.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	triangle	current_estimator_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_shear.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	triangle	current_estimator_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	triangle	current_estimator_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_square	triangle	oracle_flow_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_noflow.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	triangle	oracle_flow_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_uniform.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	triangle	oracle_flow_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_vortex_center.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	triangle	oracle_flow_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_double_gyre.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	triangle	oracle_flow_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_source_sink.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	triangle	oracle_flow_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_source_sink_pair.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	triangle	oracle_flow_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_gradient.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	triangle	oracle_flow_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_shear.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	triangle	oracle_flow_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_turbulent_patch.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_square	triangle	oracle_flow_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/waypoint_square_triangle_random_fourier.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
 waypoint_zigzag	twin	flowmo	noflow	49	50	0.98	experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
 waypoint_zigzag	twin	flowmo	uniform	48	50	0.96	experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
 waypoint_zigzag	twin	flowmo	vortex_center	48	50	0.96	experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
@@ -519,46 +279,6 @@ waypoint_zigzag	twin	tdmpc2	gradient	43	50	0.86	experiments/reports/paper_planni
 waypoint_zigzag	twin	tdmpc2	shear	43	50	0.86	experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 waypoint_zigzag	twin	tdmpc2	turbulent_patch	42	50	0.84	experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 waypoint_zigzag	twin	tdmpc2	random_fourier	44	50	0.88	experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
-waypoint_zigzag	twin	pid_los_controller	noflow	46	50	0.92	experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	twin	pid_los_controller	uniform	46	50	0.92	experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	twin	pid_los_controller	vortex_center	40	50	0.8	experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	twin	pid_los_controller	double_gyre	41	50	0.82	experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	twin	pid_los_controller	source_sink	42	50	0.84	experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	twin	pid_los_controller	source_sink_pair	40	50	0.8	experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	twin	pid_los_controller	gradient	45	50	0.9	experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	twin	pid_los_controller	shear	39	50	0.78	experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	twin	pid_los_controller	turbulent_patch	45	50	0.9	experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	twin	pid_los_controller	random_fourier	43	50	0.86	experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	twin	no_flow_los_controller	noflow	14	50	0.28	experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	twin	no_flow_los_controller	uniform	14	50	0.28	experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	twin	no_flow_los_controller	vortex_center	12	50	0.24	experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	twin	no_flow_los_controller	double_gyre	8	50	0.16	experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	twin	no_flow_los_controller	source_sink	9	50	0.18	experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	twin	no_flow_los_controller	source_sink_pair	11	50	0.22	experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	twin	no_flow_los_controller	gradient	8	50	0.16	experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	twin	no_flow_los_controller	shear	9	50	0.18	experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	twin	no_flow_los_controller	turbulent_patch	15	50	0.3	experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	twin	no_flow_los_controller	random_fourier	14	50	0.28	experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	twin	current_estimator_los_controller	noflow	42	50	0.84	experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	twin	current_estimator_los_controller	uniform	43	50	0.86	experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	twin	current_estimator_los_controller	vortex_center	37	50	0.74	experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	twin	current_estimator_los_controller	double_gyre	43	50	0.86	experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	twin	current_estimator_los_controller	source_sink	38	50	0.76	experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	twin	current_estimator_los_controller	source_sink_pair	41	50	0.82	experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	twin	current_estimator_los_controller	gradient	43	50	0.86	experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	twin	current_estimator_los_controller	shear	45	50	0.9	experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	twin	current_estimator_los_controller	turbulent_patch	39	50	0.78	experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	twin	current_estimator_los_controller	random_fourier	43	50	0.86	experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	twin	oracle_flow_los_controller	noflow	14	50	0.28	experiments/reports/paper_planning/waypoint_zigzag_twin_noflow.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	twin	oracle_flow_los_controller	uniform	17	50	0.34	experiments/reports/paper_planning/waypoint_zigzag_twin_uniform.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	twin	oracle_flow_los_controller	vortex_center	14	50	0.28	experiments/reports/paper_planning/waypoint_zigzag_twin_vortex_center.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	twin	oracle_flow_los_controller	double_gyre	13	50	0.26	experiments/reports/paper_planning/waypoint_zigzag_twin_double_gyre.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	twin	oracle_flow_los_controller	source_sink	10	50	0.2	experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	twin	oracle_flow_los_controller	source_sink_pair	12	50	0.24	experiments/reports/paper_planning/waypoint_zigzag_twin_source_sink_pair.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	twin	oracle_flow_los_controller	gradient	10	50	0.2	experiments/reports/paper_planning/waypoint_zigzag_twin_gradient.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	twin	oracle_flow_los_controller	shear	13	50	0.26	experiments/reports/paper_planning/waypoint_zigzag_twin_shear.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	twin	oracle_flow_los_controller	turbulent_patch	15	50	0.3	experiments/reports/paper_planning/waypoint_zigzag_twin_turbulent_patch.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	twin	oracle_flow_los_controller	random_fourier	14	50	0.28	experiments/reports/paper_planning/waypoint_zigzag_twin_random_fourier.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
 waypoint_zigzag	triangle	flowmo	noflow	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
 waypoint_zigzag	triangle	flowmo	uniform	49	50	0.98	experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
 waypoint_zigzag	triangle	flowmo	vortex_center	49	50	0.98	experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json	0	$[0].by_context.inferred.successes	$[0].by_context.inferred.episodes
@@ -599,43 +319,3 @@ waypoint_zigzag	triangle	tdmpc2	gradient	50	50	1.0	experiments/reports/paper_pla
 waypoint_zigzag	triangle	tdmpc2	shear	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 waypoint_zigzag	triangle	tdmpc2	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
 waypoint_zigzag	triangle	tdmpc2	random_fourier	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json	3	$[3].by_context.inferred.successes	$[3].by_context.inferred.episodes
-waypoint_zigzag	triangle	pid_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	triangle	pid_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	triangle	pid_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	triangle	pid_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	triangle	pid_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	triangle	pid_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	triangle	pid_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	triangle	pid_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	triangle	pid_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	triangle	pid_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json	4	$[4].by_context.inferred.successes	$[4].by_context.inferred.episodes
-waypoint_zigzag	triangle	no_flow_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	triangle	no_flow_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	triangle	no_flow_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	triangle	no_flow_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	triangle	no_flow_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	triangle	no_flow_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	triangle	no_flow_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	triangle	no_flow_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	triangle	no_flow_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	triangle	no_flow_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json	5	$[5].by_context.inferred.successes	$[5].by_context.inferred.episodes
-waypoint_zigzag	triangle	current_estimator_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	triangle	current_estimator_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	triangle	current_estimator_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	triangle	current_estimator_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	triangle	current_estimator_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	triangle	current_estimator_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	triangle	current_estimator_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	triangle	current_estimator_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	triangle	current_estimator_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	triangle	current_estimator_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json	6	$[6].by_context.inferred.successes	$[6].by_context.inferred.episodes
-waypoint_zigzag	triangle	oracle_flow_los_controller	noflow	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_noflow.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	triangle	oracle_flow_los_controller	uniform	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_uniform.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	triangle	oracle_flow_los_controller	vortex_center	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_vortex_center.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	triangle	oracle_flow_los_controller	double_gyre	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_double_gyre.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	triangle	oracle_flow_los_controller	source_sink	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	triangle	oracle_flow_los_controller	source_sink_pair	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_source_sink_pair.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	triangle	oracle_flow_los_controller	gradient	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_gradient.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	triangle	oracle_flow_los_controller	shear	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_shear.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	triangle	oracle_flow_los_controller	turbulent_patch	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_turbulent_patch.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes
-waypoint_zigzag	triangle	oracle_flow_los_controller	random_fourier	50	50	1.0	experiments/reports/paper_planning/waypoint_zigzag_triangle_random_fourier.json	7	$[7].by_context.inferred.successes	$[7].by_context.inferred.episodes

experiments/reports/paper_artifacts/fig5/figure5_provenance.md

@@ -1,9 +1,9 @@
-# Figure 5 Provenance
+# Paper Figure 5 Provenance
 
-Purpose: flow-family breakdown of downstream planning failure rates. Failure rate is used because many success rates are 100% or near 100%.
+Purpose: paper Figure 5 flow-family breakdown of downstream planning failure rates. Failure rate is used because many success rates are 100% or near 100%.
 
 Generated outputs:
-- `experiments/reports/paper_artifacts/fig5/figure5_placeholder_failure_lines.png`
+- `experiments/reports/paper_artifacts/fig5/figure5_failure_by_flow.png`
 - `experiments/reports/paper_artifacts/fig5/figure5_failure_by_flow.tsv`
 - `experiments/reports/paper_artifacts/fig5/figure5_failure_by_flow.csv`
 - `experiments/reports/paper_artifacts/fig5/figure5_failure_by_flow_source_rows.tsv`
@@ -16,3 +16,8 @@ Source:
 - Failure rate: `1 - successes / episodes`.
 - Row-level source entries are recorded in `figure5_failure_by_flow_source_rows.tsv/csv` with `source_file`, `item_index`, and JSON path columns.
 - Excluded diagnostic FlowMo contexts: `zero`, `shuffled`.
+
+Traditional controller naming:
+- `No-Flow LOS`: line-of-sight controller with no ambient-flow compensation.
+- `Current-Estimator LOS`: line-of-sight controller with an online drift/current estimate from recent pose history.
+- `Oracle-Flow LOS`: line-of-sight controller with privileged true local simulator flow feed-forward.

experiments/reports/paper_artifacts/tables/table1_provenance.md

@@ -12,3 +12,8 @@ Source:
 - JSON selector per cell: `$[item_index].by_context.inferred.success_rate`.
 - Companion fields in TSV/CSV include `$[item_index].by_context.inferred.successes` and `episodes`.
 - Excluded diagnostic FlowMo contexts: `zero`, `shuffled`.
+
+Traditional controller naming:
+- `No-Flow LOS`: line-of-sight controller with no ambient-flow compensation.
+- `Current-Estimator LOS`: line-of-sight controller with an online drift/current estimate from recent pose history.
+- `Oracle-Flow LOS`: line-of-sight controller with privileged true local simulator flow feed-forward.

experiments/reports/paper_artifacts/tables/table1_success_by_task_boat_flow.tex

@@ -1,11 +1,11 @@
 \begin{table*}[t]
 \centering
-\caption{Planning success rate by task, boat, and flow family. Values are percentages over 50 episodes per setting; FlowMo diagnostic zero/shuffled contexts are excluded.}
+\caption{Planning success rate by task, boat, and flow family. Values are percentages over 50 episodes per setting; NF-LOS, CE-LOS, and OF-LOS denote No-Flow LOS, Current-Estimator LOS, and Oracle-Flow LOS. FlowMo diagnostic zero/shuffled contexts are excluded.}
 \label{tab:planning_success_task_boat_flow}
 \scriptsize
 \begin{tabular}{lllllllllll}
 \toprule
-Task & Boat & Flow & FlowMo & LeWM & RSSM & TD2 & PID & LOS0 & LOSest & LOSorc \\
+Task & Boat & Flow & FlowMo & LeWM & RSSM & TD2 & PID/LOS & NF-LOS & CE-LOS & OF-LOS \\
 \midrule
 Reach & Twin & No flow & 98 & 96 & 92 & 72 & 100 & 86 & 100 & 86 \\
 Reach & Twin & Uniform & 96 & 94 & 88 & 70 & 98 & 92 & 100 & 86 \\

experiments/reports/paper_artifacts/tables/table2_provenance.md

@@ -14,3 +14,8 @@ Source:
 - Energy: mean of `energy` over filtered successful episodes only.
 - The TSV/CSV also includes `mean_min_goal_distance`, computed from the same filtered episodes.
 - Excluded diagnostic FlowMo contexts: `zero`, `shuffled`.
+
+Traditional controller naming:
+- `No-Flow LOS`: line-of-sight controller with no ambient-flow compensation.
+- `Current-Estimator LOS`: line-of-sight controller with an online drift/current estimate from recent pose history.
+- `Oracle-Flow LOS`: line-of-sight controller with privileged true local simulator flow feed-forward.