Rename traditional baseline artifacts as LOS controllers

.gitattributes

@@ -1865,3 +1865,389 @@ experiments/reports/paper_planning/gifs/image_planning_tdmpc2_inferred_twin_wayp
 experiments/reports/paper_planning/gifs/image_planning_tdmpc2_inferred_twin_waypoint_zigzag_vortex_center_ep000.gif filter=lfs diff=lfs merge=lfs -text
 experiments/reports/paper_planning/gifs/image_planning_tdmpc2_inferred_twin_waypoint_zigzag_vortex_center_ep001.gif filter=lfs diff=lfs merge=lfs -text
 experiments/reports/paper_planning/gifs/image_planning_tdmpc2_inferred_twin_waypoint_zigzag_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_artifacts/fig3/figure3_placeholder_contact_sheet.png filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_reach_target_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_reach_target_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_reach_target_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_reach_target_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_reach_target_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_reach_target_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_reach_target_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_double_gyre_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_gradient_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_gradient_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_gradient_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_noflow_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_noflow_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_noflow_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_random_fourier_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_random_fourier_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_random_fourier_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_shear_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_shear_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_source_sink_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_source_sink_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_source_sink_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_source_sink_pair_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_turbulent_patch_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_turbulent_patch_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_turbulent_patch_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_uniform_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_uniform_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_vortex_center_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_vortex_center_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_square_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_double_gyre_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_gradient_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_gradient_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_gradient_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_noflow_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_noflow_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_noflow_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_random_fourier_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_random_fourier_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_random_fourier_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_shear_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_shear_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_source_sink_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_source_sink_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_source_sink_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_source_sink_pair_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_turbulent_patch_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_turbulent_patch_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_turbulent_patch_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_uniform_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_uniform_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_vortex_center_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_vortex_center_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_triangle_waypoint_zigzag_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_double_gyre_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_gradient_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_gradient_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_gradient_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_noflow_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_noflow_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_noflow_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_random_fourier_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_random_fourier_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_random_fourier_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_shear_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_shear_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_source_sink_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_source_sink_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_source_sink_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_source_sink_pair_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_turbulent_patch_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_turbulent_patch_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_turbulent_patch_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_uniform_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_uniform_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_vortex_center_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_vortex_center_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_square_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_double_gyre_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_gradient_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_gradient_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_gradient_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_noflow_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_noflow_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_noflow_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_random_fourier_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_random_fourier_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_random_fourier_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_shear_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_shear_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_source_sink_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_source_sink_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_source_sink_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_source_sink_pair_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_turbulent_patch_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_turbulent_patch_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_turbulent_patch_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_uniform_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_uniform_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_vortex_center_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_vortex_center_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_current_estimator_los_controller_inferred_twin_waypoint_zigzag_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_reach_target_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_reach_target_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_reach_target_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_reach_target_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_reach_target_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_reach_target_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_reach_target_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_double_gyre_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_gradient_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_gradient_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_gradient_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_noflow_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_noflow_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_noflow_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_random_fourier_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_random_fourier_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_random_fourier_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_shear_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_shear_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_source_sink_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_source_sink_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_source_sink_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_source_sink_pair_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_turbulent_patch_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_turbulent_patch_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_turbulent_patch_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_uniform_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_uniform_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_vortex_center_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_vortex_center_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_square_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_double_gyre_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_gradient_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_gradient_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_gradient_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_noflow_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_noflow_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_noflow_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_random_fourier_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_random_fourier_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_random_fourier_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_shear_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_shear_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_source_sink_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_source_sink_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_source_sink_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_source_sink_pair_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_turbulent_patch_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_turbulent_patch_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_turbulent_patch_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_uniform_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_uniform_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_vortex_center_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_vortex_center_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_triangle_waypoint_zigzag_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_reach_target_gradient_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_reach_target_source_sink_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_reach_target_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_reach_target_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_double_gyre_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_gradient_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_gradient_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_gradient_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_noflow_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_noflow_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_random_fourier_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_shear_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_source_sink_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_source_sink_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_source_sink_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_source_sink_pair_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_turbulent_patch_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_turbulent_patch_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_turbulent_patch_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_uniform_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_uniform_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_vortex_center_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_vortex_center_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_square_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_double_gyre_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_gradient_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_gradient_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_gradient_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_noflow_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_noflow_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_noflow_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_random_fourier_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_random_fourier_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_random_fourier_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_shear_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_shear_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_source_sink_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_source_sink_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_source_sink_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_source_sink_pair_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_turbulent_patch_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_turbulent_patch_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_turbulent_patch_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_uniform_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_uniform_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_vortex_center_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_vortex_center_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_no_flow_los_controller_inferred_twin_waypoint_zigzag_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_reach_target_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_reach_target_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_reach_target_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_reach_target_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_reach_target_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_reach_target_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_reach_target_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_double_gyre_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_gradient_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_gradient_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_gradient_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_noflow_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_noflow_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_noflow_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_random_fourier_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_random_fourier_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_random_fourier_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_shear_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_shear_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_source_sink_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_source_sink_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_source_sink_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_source_sink_pair_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_turbulent_patch_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_turbulent_patch_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_turbulent_patch_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_uniform_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_uniform_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_vortex_center_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_vortex_center_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_square_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_double_gyre_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_gradient_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_gradient_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_gradient_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_noflow_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_noflow_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_noflow_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_random_fourier_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_random_fourier_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_random_fourier_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_shear_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_shear_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_source_sink_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_source_sink_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_source_sink_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_source_sink_pair_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_turbulent_patch_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_turbulent_patch_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_turbulent_patch_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_uniform_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_uniform_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_vortex_center_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_vortex_center_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_triangle_waypoint_zigzag_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_reach_target_gradient_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_reach_target_source_sink_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_reach_target_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_reach_target_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_station_keeping_random_fourier_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_station_keeping_source_sink_pair_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_station_keeping_uniform_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_station_keeping_vortex_center_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_double_gyre_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_gradient_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_gradient_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_gradient_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_noflow_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_noflow_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_random_fourier_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_random_fourier_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_source_sink_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_source_sink_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_source_sink_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_source_sink_pair_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_turbulent_patch_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_turbulent_patch_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_turbulent_patch_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_uniform_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_uniform_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_vortex_center_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_vortex_center_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_square_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_double_gyre_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_double_gyre_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_double_gyre_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_gradient_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_gradient_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_gradient_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_noflow_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_noflow_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_noflow_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_random_fourier_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_random_fourier_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_random_fourier_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_shear_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_shear_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_shear_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_source_sink_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_source_sink_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_source_sink_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_source_sink_pair_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_source_sink_pair_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_source_sink_pair_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_turbulent_patch_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_turbulent_patch_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_turbulent_patch_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_uniform_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_uniform_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_uniform_ep002.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_vortex_center_ep000.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_vortex_center_ep001.gif filter=lfs diff=lfs merge=lfs -text
+experiments/reports/paper_planning/gifs/image_planning_oracle_flow_los_controller_inferred_twin_waypoint_zigzag_vortex_center_ep002.gif filter=lfs diff=lfs merge=lfs -text

experiments/BASELINES.md

@@ -29,9 +29,9 @@ Purpose: compare downstream behavior against hand-designed controllers that do n
 | Directory | Report Name | Why It Is Included |
 |---|---|---|
 | `pid_los_controller` | PID/LOS controller | Simple classical waypoint tracking baseline. |
-| `physics_mpc_no_flow` | Physics MPC No-Flow | Nominal dynamics controller that ignores ambient current. |
-| `current_estimator_mpc` | Current-Estimator MPC | Strong classical baseline that estimates current from recent drift. |
-| `oracle_flow_mpc` | Oracle-Flow MPC | Reference bound using true local flow from the simulator. |
+| `no_flow_los_controller` | No-Flow LOS Controller | Geometric line-of-sight controller that ignores ambient current. |
+| `current_estimator_los_controller` | Current-Estimator LOS Controller | Strong classical baseline that estimates current from recent drift. |
+| `oracle_flow_los_controller` | Oracle-Flow LOS Controller | Geometric line-of-sight controller with true local flow feed-forward. |
 
 Comparison outputs:
 

experiments/EXPERIMENT_MATRIX.md

@@ -110,9 +110,9 @@ Traditional non-WM controllers:
 | Method | Comparison Role | What It Tests |
 |---|---|---|
 | `pid_los_controller` | Simple classical controller | Baseline waypoint tracking without learned dynamics. |
-| `physics_mpc_no_flow` | Nominal physics MPC | Effect of ignoring hidden current. |
-| `current_estimator_mpc` | Current-compensated classical MPC | Strength of a hand-designed drift estimator. |
-| `oracle_flow_mpc` | Oracle reference | Reference performance when true local flow is available. |
+| `no_flow_los_controller` | No-flow LOS controller | Effect of ignoring hidden current in a geometric controller. |
+| `current_estimator_los_controller` | Current-estimator LOS controller | Strength of a hand-designed drift estimator in a geometric controller. |
+| `oracle_flow_los_controller` | Oracle-flow LOS controller | Effect of true local flow feed-forward in a geometric controller. |
 
 Planning tasks:
 

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. |
-| Physics MPC No-Flow | Clean image pose estimate | MPC with nominal boat dynamics | Measures the cost of ignoring external current. |
-| Current-Estimator MPC | Clean image pose estimate and recent drift | MPC with estimated current | Strong classical current-compensation baseline. |
-| Oracle-Flow MPC | 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 | 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. |
 
 ## Architecture Difference Checklist
 

experiments/README.md

@@ -22,9 +22,9 @@ Purpose of Category A: compare world-model architectures under identical image d
 Category B traditional controllers:
 
 - **PID/LOS controller**
-- **Physics MPC No-Flow**
-- **Current-Estimator MPC**
-- **Oracle-Flow MPC**
+- **No-Flow LOS Controller**
+- **Current-Estimator LOS Controller**
+- **Oracle-Flow LOS Controller**
 
 Purpose of Category B: compare downstream task behavior against non-neural controllers that do not train a world model.
 

experiments/TASK_PLAN.md

@@ -80,9 +80,9 @@ Compared methods:
 | Method | Purpose |
 |---|---|
 | `pid_los_controller` | Classical line-of-sight waypoint tracking. Tests a simple hand-designed controller. |
-| `physics_mpc_no_flow` | Physics MPC without external-current compensation. Tests how much hidden flow hurts a nominal dynamics controller. |
-| `current_estimator_mpc` | MPC with recent-drift current estimation. Tests a strong classical current-compensation baseline. |
-| `oracle_flow_mpc` | MPC with simulator true local flow. Provides a reference upper bound for classical planning. |
+| `no_flow_los_controller` | No-flow LOS controller without external-current compensation. Tests how much hidden flow hurts a nominal dynamics controller. |
+| `current_estimator_los_controller` | LOS controller with recent-drift current estimation. Tests a strong classical current-compensation baseline. |
+| `oracle_flow_los_controller` | LOS controller with simulator true local flow feed-forward. Tests whether local flow feed-forward helps a simple geometric controller; it is not a full dynamics-MPC upper bound. |
 
 Planning tasks:
 

experiments/current_estimator_los_controller/README.md

@@ -0,0 +1,3 @@
+# Current-Estimator LOS Controller Baseline
+
+Traditional line-of-sight controller with an online image-history estimate of recent drift.

experiments/current_estimator_los_controller/__init__.py

@@ -0,0 +1 @@
+"""Current-estimator line-of-sight controller experiment package."""

experiments/current_estimator_los_controller/src/__init__.py

@@ -0,0 +1 @@
+"""Current-estimator line-of-sight controller source package."""

experiments/current_estimator_los_controller/src/config.py

@@ -0,0 +1,5 @@
+"""Current-estimator line-of-sight controller config."""
+
+
+def default_config():
+    return {"goal": [8.0, 8.0], "gain": 0.65, "current_gain": 0.5}

experiments/current_estimator_los_controller/src/controller.py

@@ -0,0 +1,19 @@
+"""Line-of-sight controller with online current estimate."""
+
+import numpy as np
+
+from experiments.shared.src.control.geometric import goal_action
+from experiments.shared.src.vision.pose_from_image import estimate_pose_from_clean_image
+
+def plan(state, current_estimate, task, config):
+    pose = estimate_pose_from_clean_image(state)
+    goal = np.asarray(task["goal"], dtype=np.float32)
+    return goal_action(
+        pose,
+        goal,
+        int(config["action_dim"]),
+        float(config["gain"]),
+        0.6,
+        drift=np.asarray(current_estimate, dtype=np.float32),
+        drift_gain=float(config["current_gain"]),
+    )

experiments/current_estimator_los_controller/src/estimator.py

@@ -0,0 +1,9 @@
+"""Online current estimator."""
+
+import numpy as np
+
+from experiments.shared.src.vision.pose_from_image import estimate_pose_from_clean_image
+
+def estimate_current(history, config):
+    poses = np.stack([estimate_pose_from_clean_image(img) for img in history], axis=0)
+    return poses[-1, :2] - poses[0, :2]

experiments/current_estimator_los_controller/src/evaluate.py

@@ -0,0 +1,10 @@
+"""Current-estimator line-of-sight controller evaluation."""
+
+from experiments.current_estimator_los_controller.src.config import default_config
+from experiments.current_estimator_los_controller.src.controller import plan
+from experiments.current_estimator_los_controller.src.estimator import estimate_current
+
+def evaluate(config):
+    cfg = default_config() | config
+    current = estimate_current(config["history"], cfg)
+    return plan(config["history"][-1], current, {"goal": cfg["goal"]}, cfg)

experiments/docs/EXPERIMENT_PROTOCOL.md

@@ -26,9 +26,9 @@ Purpose: compare downstream behavior against non-neural controllers that do not
 | Directory | Report Name | Input | Comparison Purpose |
 |---|---|---|---|
 | `pid_los_controller` | PID/LOS | Clean image pose estimate | Simple hand-designed waypoint tracking baseline. |
-| `physics_mpc_no_flow` | Physics MPC No-Flow | Clean image pose estimate | Measures the cost of ignoring ambient current. |
-| `current_estimator_mpc` | Current-Estimator MPC | Clean image pose estimate and recent drift | Strong classical current-compensation baseline. |
-| `oracle_flow_mpc` | Oracle-Flow MPC | Clean image pose estimate and simulator local flow | Reference bound for control when true local flow is available. |
+| `no_flow_los_controller` | No-Flow LOS Controller | Clean image pose estimate | Measures the cost of ignoring ambient current. |
+| `current_estimator_los_controller` | Current-Estimator LOS Controller | Clean image pose estimate and recent drift | Strong classical current-compensation baseline. |
+| `oracle_flow_los_controller` | Oracle-Flow LOS Controller | Clean image pose estimate and simulator local flow | True-local-flow feed-forward reference for a simple geometric controller, not a full dynamics-MPC upper bound. |
 
 ## Data
 
@@ -138,9 +138,9 @@ Traditional non-WM controllers:
 
 ```text
 pid_los_controller
-physics_mpc_no_flow
-current_estimator_mpc
-oracle_flow_mpc
+no_flow_los_controller
+current_estimator_los_controller
+oracle_flow_los_controller
 ```
 
 Tasks:

experiments/export_paper_artifacts.py

@@ -0,0 +1,1198 @@
+#!/usr/bin/env python3
+"""Export paper figures, tables, raw data, and provenance files.
+
+All values are read from experiments/reports/*.json and GIF frames are
+extracted from experiments/reports/paper_planning/gifs/*.gif.
+"""
+
+from __future__ import annotations
+
+import csv
+import json
+import math
+import re
+import shutil
+from collections import defaultdict
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Any, Iterable
+
+from PIL import Image, ImageDraw, ImageFont, ImageSequence
+
+
+ROOT = Path(__file__).resolve().parents[1]
+REPORTS = ROOT / "experiments" / "reports"
+PLANNING_DIR = REPORTS / "paper_planning"
+GIF_DIR = PLANNING_DIR / "gifs"
+OUT = REPORTS / "paper_artifacts"
+
+PREDICTION_JSON = REPORTS / "paper_prediction.json"
+PROBE_JSON = REPORTS / "paper_flowmo_latent_probes.json"
+
+TASK_ORDER = ["reach_target", "station_keeping", "waypoint_square", "waypoint_zigzag"]
+BOAT_ORDER = ["twin", "triangle"]
+FLOW_ORDER = [
+    "noflow",
+    "uniform",
+    "vortex_center",
+    "double_gyre",
+    "source_sink",
+    "source_sink_pair",
+    "gradient",
+    "shear",
+    "turbulent_patch",
+    "random_fourier",
+]
+METHOD_ORDER = [
+    "flowmo",
+    "leworldmodel",
+    "planet",
+    "tdmpc2",
+    "pid_los_controller",
+    "no_flow_los_controller",
+    "current_estimator_los_controller",
+    "oracle_flow_los_controller",
+]
+LEARNED_METHODS = ["flowmo", "leworldmodel", "planet", "tdmpc2"]
+TRADITIONAL_METHODS = [
+    "pid_los_controller",
+    "no_flow_los_controller",
+    "current_estimator_los_controller",
+    "oracle_flow_los_controller",
+]
+
+METHOD_LABEL = {
+    "flowmo": "FlowMo-WM",
+    "leworldmodel": "LeWorldModel",
+    "planet": "PlaNet/RSSM",
+    "tdmpc2": "TD-MPC2",
+    "pid_los_controller": "PID/LOS",
+    "no_flow_los_controller": "No-Flow LOS",
+    "current_estimator_los_controller": "Current-Estimator LOS",
+    "oracle_flow_los_controller": "Oracle-Flow LOS",
+}
+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",
+}
+TASK_LABEL = {
+    "reach_target": "Reach",
+    "station_keeping": "Station",
+    "waypoint_square": "Square",
+    "waypoint_zigzag": "Zigzag",
+}
+BOAT_LABEL = {"twin": "Twin", "triangle": "Triangle"}
+FLOW_LABEL = {
+    "noflow": "No flow",
+    "uniform": "Uniform",
+    "vortex_center": "Vortex",
+    "double_gyre": "Double gyre",
+    "source_sink": "Source/sink",
+    "source_sink_pair": "Src/sink pair",
+    "gradient": "Gradient",
+    "shear": "Shear",
+    "turbulent_patch": "Turbulent",
+    "random_fourier": "Fourier",
+}
+
+HORIZONS = [1, 3, 6, 8, 10, 20, 30, 40, 60]
+FIG3_TASK_FLOW = {
+    "reach_target": "uniform",
+    "station_keeping": "vortex_center",
+    "waypoint_square": "gradient",
+    "waypoint_zigzag": "random_fourier",
+}
+FIG3_EPISODE = 0
+METHOD_COLORS = {
+    "flowmo": (31, 119, 180),
+    "leworldmodel": (255, 127, 14),
+    "planet": (44, 160, 44),
+    "tdmpc2": (148, 103, 189),
+    "pid_los_controller": (127, 127, 127),
+    "no_flow_los_controller": (214, 39, 40),
+    "current_estimator_los_controller": (23, 190, 207),
+    "oracle_flow_los_controller": (140, 86, 75),
+}
+
+
+@dataclass(frozen=True)
+class SummaryRecord:
+    source_file: str
+    item_index: int
+    method: str
+    task: str
+    boat: str
+    flow_type: str
+    context_mode: str
+    episodes: int
+    successes: int
+    success_rate: float
+    final_distance_mean: float
+    mean_min_goal_distance: float
+    path_length_success_mean: float | None
+    energy_success_mean: float | None
+    steps_success_mean: float | None
+
+
+@dataclass(frozen=True)
+class EpisodeRecord:
+    source_file: str
+    item_index: int
+    result_index: int
+    method: str
+    task: str
+    boat: str
+    flow_type: str
+    context_mode: str
+    episode: int
+    success: bool
+    final_distance: float
+    mean_min_goal_distance: float
+    energy: float | None
+    path_length: float | None
+    steps: int | None
+
+
+def rel(path: Path) -> str:
+    return str(path.relative_to(ROOT))
+
+
+def ensure_dir(path: Path) -> None:
+    path.mkdir(parents=True, exist_ok=True)
+
+
+def read_json(path: Path) -> Any:
+    with path.open("r", encoding="utf-8") as f:
+        return json.load(f)
+
+
+def write_text(path: Path, text: str) -> None:
+    ensure_dir(path.parent)
+    path.write_text(text, encoding="utf-8")
+
+
+def safe_float(value: Any) -> float | None:
+    if value is None:
+        return None
+    if isinstance(value, float) and math.isnan(value):
+        return None
+    return float(value)
+
+
+def fmt(value: float | int | None, digits: int = 3) -> str:
+    if value is None:
+        return "--"
+    if isinstance(value, float) and math.isnan(value):
+        return "--"
+    return f"{float(value):.{digits}f}"
+
+
+def pct(value: float | None, digits: int = 1) -> str:
+    if value is None:
+        return "--"
+    return f"{100.0 * float(value):.{digits}f}"
+
+
+def latex_escape(text: str) -> str:
+    repl = {
+        "\\": r"\textbackslash{}",
+        "&": r"\&",
+        "%": r"\%",
+        "$": r"\$",
+        "#": r"\#",
+        "_": r"\_",
+        "{": r"\{",
+        "}": r"\}",
+        "~": r"\textasciitilde{}",
+        "^": r"\textasciicircum{}",
+    }
+    return "".join(repl.get(ch, ch) for ch in text)
+
+
+def write_table(path: Path, header: list[str], rows: list[list[str]], caption: str, label: str) -> None:
+    colspec = "l" * len(header)
+    lines = [
+        r"\begin{table*}[t]",
+        r"\centering",
+        rf"\caption{{{caption}}}",
+        rf"\label{{{label}}}",
+        r"\scriptsize",
+        rf"\begin{{tabular}}{{{colspec}}}",
+        r"\toprule",
+        " & ".join(latex_escape(h) for h in header) + r" \\",
+        r"\midrule",
+    ]
+    for row in rows:
+        lines.append(" & ".join(latex_escape(x) for x in row) + r" \\")
+    lines += [r"\bottomrule", r"\end{tabular}", r"\end{table*}", ""]
+    write_text(path, "\n".join(lines))
+
+
+def write_rows(path_base: Path, rows: list[dict[str, Any]], fieldnames: list[str]) -> None:
+    ensure_dir(path_base.parent)
+    for ext, dialect in [(".tsv", "excel-tab"), (".csv", "excel")]:
+        with (path_base.with_suffix(ext)).open("w", encoding="utf-8", newline="") as f:
+            writer = csv.DictWriter(f, fieldnames=fieldnames, dialect=dialect)
+            writer.writeheader()
+            for row in rows:
+                writer.writerow({k: row.get(k, "") for k in fieldnames})
+
+
+def font(size: int, bold: bool = False) -> ImageFont.FreeTypeFont | ImageFont.ImageFont:
+    candidates = [
+        "/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:
+        try:
+            return ImageFont.truetype(path, size=size)
+        except OSError:
+            pass
+    return ImageFont.load_default()
+
+
+def load_planning() -> tuple[list[SummaryRecord], list[EpisodeRecord]]:
+    summaries: list[SummaryRecord] = []
+    episodes: list[EpisodeRecord] = []
+    for path in sorted(PLANNING_DIR.glob("*.json")):
+        data = read_json(path)
+        if not isinstance(data, list):
+            raise ValueError(f"Expected list in {path}")
+        for item_index, item in enumerate(data):
+            method = item["method"]
+            task = item["task"]
+            boat = item["boat"]
+            flow_type = item["flow_type"]
+            for context_mode, metrics in item["by_context"].items():
+                summaries.append(
+                    SummaryRecord(
+                        source_file=rel(path),
+                        item_index=item_index,
+                        method=method,
+                        task=task,
+                        boat=boat,
+                        flow_type=flow_type,
+                        context_mode=context_mode,
+                        episodes=int(metrics["episodes"]),
+                        successes=int(metrics["successes"]),
+                        success_rate=float(metrics["success_rate"]),
+                        final_distance_mean=float(metrics["final_distance_mean"]),
+                        mean_min_goal_distance=float(metrics["mean_min_goal_distance"]),
+                        path_length_success_mean=safe_float(metrics.get("path_length_success_mean")),
+                        energy_success_mean=safe_float(metrics.get("energy_success_mean")),
+                        steps_success_mean=safe_float(metrics.get("steps_success_mean")),
+                    )
+                )
+            for result_index, result in enumerate(item["results"]):
+                episodes.append(
+                    EpisodeRecord(
+                        source_file=rel(path),
+                        item_index=item_index,
+                        result_index=result_index,
+                        method=method,
+                        task=task,
+                        boat=boat,
+                        flow_type=flow_type,
+                        context_mode=result["context_mode"],
+                        episode=int(result["episode"]),
+                        success=bool(result["success"]),
+                        final_distance=float(result["final_distance"]),
+                        mean_min_goal_distance=float(result["mean_min_goal_distance"]),
+                        energy=safe_float(result.get("energy")),
+                        path_length=safe_float(result.get("path_length")),
+                        steps=int(result["steps"]) if result.get("steps") is not None else None,
+                    )
+                )
+    return summaries, episodes
+
+
+def inferred_summaries(records: Iterable[SummaryRecord]) -> list[SummaryRecord]:
+    return [r for r in records if r.context_mode == "inferred" and r.method in METHOD_ORDER]
+
+
+def inferred_episodes(records: Iterable[EpisodeRecord]) -> list[EpisodeRecord]:
+    return [r for r in records if r.context_mode == "inferred" and r.method in METHOD_ORDER]
+
+
+def aggregate_success(records: Iterable[SummaryRecord], group_keys: tuple[str, ...]) -> list[dict[str, Any]]:
+    acc: dict[tuple[Any, ...], dict[str, Any]] = {}
+    sources: dict[tuple[Any, ...], set[str]] = defaultdict(set)
+    for r in records:
+        key = tuple(getattr(r, k) for k in group_keys)
+        entry = acc.setdefault(key, {k: getattr(r, k) for k in group_keys} | {"successes": 0, "episodes": 0})
+        entry["successes"] += r.successes
+        entry["episodes"] += r.episodes
+        sources[key].add(r.source_file)
+    rows = []
+    for key, entry in acc.items():
+        episodes = entry["episodes"]
+        success_rate = entry["successes"] / episodes if episodes else math.nan
+        rows.append(entry | {"success_rate": success_rate, "source_files": ";".join(sorted(sources[key]))})
+    return rows
+
+
+def task_sort_key(task: str) -> int:
+    return TASK_ORDER.index(task) if task in TASK_ORDER else len(TASK_ORDER)
+
+
+def boat_sort_key(boat: str) -> int:
+    return BOAT_ORDER.index(boat) if boat in BOAT_ORDER else len(BOAT_ORDER)
+
+
+def flow_sort_key(flow: str) -> int:
+    return FLOW_ORDER.index(flow) if flow in FLOW_ORDER else len(FLOW_ORDER)
+
+
+def method_sort_key(method: str) -> int:
+    return METHOD_ORDER.index(method) if method in METHOD_ORDER else len(METHOD_ORDER)
+
+
+def extract_fig3() -> None:
+    fig_dir = OUT / "fig3"
+    frames_dir = fig_dir / "frames"
+    ensure_dir(frames_dir)
+    rows: list[dict[str, Any]] = []
+    cell_images: dict[tuple[str, str, str], Path] = {}
+    frame_names = ["first", "middle", "last"]
+
+    for task in TASK_ORDER:
+        flow = FIG3_TASK_FLOW[task]
+        for boat in BOAT_ORDER:
+            gif_path = GIF_DIR / f"image_planning_flowmo_inferred_{boat}_{task}_{flow}_ep{FIG3_EPISODE:03d}.gif"
+            if not gif_path.exists():
+                raise FileNotFoundError(f"Missing GIF for Fig. 3: {gif_path}")
+            with Image.open(gif_path) as im:
+                n_frames = getattr(im, "n_frames", 1)
+                frame_indices = [0, n_frames // 2, n_frames - 1]
+                for frame_name, frame_index in zip(frame_names, frame_indices):
+                    im.seek(frame_index)
+                    frame = im.convert("RGBA")
+                    out_name = f"fig3_flowmo_inferred_{boat}_{task}_{flow}_ep{FIG3_EPISODE:03d}_{frame_name}_frame{frame_index:03d}.png"
+                    out_path = frames_dir / out_name
+                    frame.save(out_path)
+                    cell_images[(task, boat, frame_name)] = out_path
+                    rows.append(
+                        {
+                            "task": task,
+                            "boat": boat,
+                            "method": "flowmo",
+                            "context_mode": "inferred",
+                            "flow_type": flow,
+                            "episode": FIG3_EPISODE,
+                            "frame_name": frame_name,
+                            "frame_index": frame_index,
+                            "gif_frames": n_frames,
+                            "source_gif": rel(gif_path),
+                            "output_png": rel(out_path),
+                        }
+                    )
+
+    write_rows(
+        fig_dir / "figure3_frame_manifest",
+        rows,
+        [
+            "task",
+            "boat",
+            "method",
+            "context_mode",
+            "flow_type",
+            "episode",
+            "frame_name",
+            "frame_index",
+            "gif_frames",
+            "source_gif",
+            "output_png",
+        ],
+    )
+
+    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
+    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)
+    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
+        for boat in BOAT_ORDER:
+            for frame_name in frame_names:
+                x = left + col * (thumb_w + gap)
+                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)
+
+    md_lines = [
+        "# Figure 3 Provenance",
+        "",
+        "Purpose: qualitative task rollouts extracted from experiment GIFs.",
+        "",
+        f"Selected method/context: `flowmo` / `inferred`.",
+        f"Selected episode: `{FIG3_EPISODE}`.",
+        "",
+        "Selected flows by task:",
+    ]
+    for task in TASK_ORDER:
+        md_lines.append(f"- `{task}`: `{FIG3_TASK_FLOW[task]}`")
+    md_lines += [
+        "",
+        "Frame rule: for each source GIF, extracted `first = 0`, `middle = n_frames // 2`, and `last = n_frames - 1`.",
+        "",
+        "Generated outputs:",
+        f"- `{rel(contact)}`",
+        f"- `{rel(frames_dir)}/`",
+        f"- `{rel(fig_dir / 'figure3_frame_manifest.tsv')}`",
+        f"- `{rel(fig_dir / 'figure3_frame_manifest.csv')}`",
+        "",
+        "Source GIFs:",
+    ]
+    for source in sorted({row["source_gif"] for row in rows}):
+        md_lines.append(f"- `{source}`")
+    write_text(fig_dir / "figure3_provenance.md", "\n".join(md_lines) + "\n")
+
+
+def load_prediction_rows() -> list[dict[str, Any]]:
+    data = read_json(PREDICTION_JSON)
+    rows: list[dict[str, Any]] = []
+    for item_index, item in enumerate(data):
+        method = item["method"]
+        if method not in LEARNED_METHODS:
+            continue
+        metrics = item["inferred"]
+        for horizon in HORIZONS:
+            rows.append(
+                {
+                    "method": method,
+                    "method_label": METHOD_LABEL[method],
+                    "context_mode": "inferred",
+                    "horizon": horizon,
+                    "position_error": metrics[f"pos{horizon}"],
+                    "heading_error": metrics[f"heading{horizon}"],
+                    "source_file": rel(PREDICTION_JSON),
+                    "json_path_position": f"$[{item_index}].inferred.pos{horizon}",
+                    "json_path_heading": f"$[{item_index}].inferred.heading{horizon}",
+                }
+            )
+    return rows
+
+
+def draw_line_panel(
+    draw: ImageDraw.ImageDraw,
+    box: tuple[int, int, int, int],
+    rows: list[dict[str, Any]],
+    title: str,
+    colors: dict[str, tuple[int, int, int]],
+) -> 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)
+    draw.rectangle([x0, y0, x1, y1], outline=(210, 210, 210), width=1)
+    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)
+    for tick in [0.0, 0.25, 0.50, 0.75, 1.0]:
+        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.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)
+
+    by_method: dict[str, list[dict[str, Any]]] = defaultdict(list)
+    for row in rows:
+        by_method[row["method"]].append(row)
+    for method in LEARNED_METHODS:
+        pts = []
+        for row in sorted(by_method[method], key=lambda x: int(x["horizon"])):
+            h = int(row["horizon"])
+            x = px0 + (h - min_h) / (max_h - min_h) * (px1 - px0)
+            y = py1 - float(row["position_error"]) / max_y * (py1 - py0)
+            pts.append((x, y))
+        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])
+
+    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)
+
+
+def draw_success_bar_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(13)
+    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, 70, 24, 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)
+
+    rates = {(r["method"], r["boat"]): float(r["success_rate"]) for r in rows}
+    group_w = (px1 - px0) / len(METHOD_ORDER)
+    bar_w = group_w * 0.30
+    boat_colors = {"twin": (54, 119, 191), "triangle": (218, 119, 54)}
+    for idx, method in enumerate(METHOD_ORDER):
+        cx = px0 + idx * group_w + group_w * 0.5
+        for j, boat in enumerate(BOAT_ORDER):
+            rate = rates.get((method, boat), 0.0)
+            x_left = cx + (j - 0.5) * bar_w - bar_w * 0.5
+            x_right = x_left + bar_w
+            y_top = py1 - rate * (py1 - py0)
+            draw.rectangle([x_left, y_top, x_right, py1], fill=boat_colors[boat], outline=(255, 255, 255))
+        draw.text((cx - 24, py1 + 10), METHOD_SHORT[method], fill=(55, 55, 55), font=small_font)
+        if method == "tdmpc2":
+            split_x = px0 + (idx + 1) * group_w
+            draw.line([split_x, py0, split_x, py1 + 30], fill=(80, 80, 80), width=2)
+
+    lx, ly = px1 - 180, py0 + 12
+    for i, boat in enumerate(BOAT_ORDER):
+        yy = ly + i * 24
+        draw.rectangle([lx, yy, lx + 18, yy + 14], fill=boat_colors[boat])
+        draw.text((lx + 26, yy - 2), BOAT_LABEL[boat], fill=(40, 40, 40), font=axis_font)
+    draw.text((x0 + 8, y0 + 8), "success rate (%)", fill=(70, 70, 70), font=axis_font)
+
+
+def draw_success_by_task_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(15)
+    small_font = font(12)
+    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
+    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)
+
+    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 * 0.70 / len(METHOD_ORDER)
+    for task_idx, task in enumerate(TASK_ORDER):
+        group_left = px0 + task_idx * group_w + group_w * 0.15
+        for method_idx, method in enumerate(METHOD_ORDER):
+            rate = rates.get((task, method), 0.0)
+            x_left = group_left + method_idx * bar_w
+            x_right = x_left + bar_w * 0.88
+            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 + 12), label, fill=(45, 45, 45), font=small_font)
+        if task_idx > 0:
+            split_x = px0 + task_idx * group_w
+            draw.line([split_x, py0, split_x, py1 + 24], fill=(218, 218, 218), width=1)
+
+    if show_legend:
+        lx, ly = x0 + 78, y0 + 36
+        for i, method in enumerate(METHOD_ORDER):
+            row = i // 4
+            col = i % 4
+            xx = lx + col * 145
+            yy = ly + row * 22
+            draw.rectangle([xx, yy, xx + 16, yy + 12], fill=METHOD_COLORS[method])
+            draw.text((xx + 22, yy - 3), METHOD_SHORT[method], fill=(40, 40, 40), font=small_font)
+
+
+def make_fig4(summaries: list[SummaryRecord]) -> None:
+    fig_dir = OUT / "fig4"
+    ensure_dir(fig_dir)
+    prediction_rows = load_prediction_rows()
+    write_rows(
+        fig_dir / "figure4_prediction_error",
+        prediction_rows,
+        [
+            "method",
+            "method_label",
+            "context_mode",
+            "horizon",
+            "position_error",
+            "heading_error",
+            "source_file",
+            "json_path_position",
+            "json_path_heading",
+        ],
+    )
+
+    success_rows = aggregate_success(inferred_summaries(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"]]
+        row["task_label"] = TASK_LABEL[row["task"]]
+        row["boat_label"] = BOAT_LABEL[row["boat"]]
+    write_rows(
+        fig_dir / "figure4_success_by_task_boat",
+        success_rows,
+        ["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))):
+        source_rows.append(
+            {
+                "task": r.task,
+                "boat": r.boat,
+                "method": r.method,
+                "flow_type": r.flow_type,
+                "successes": r.successes,
+                "episodes": r.episodes,
+                "success_rate": r.success_rate,
+                "source_file": r.source_file,
+                "item_index": r.item_index,
+                "json_path_successes": f"$[{r.item_index}].by_context.inferred.successes",
+                "json_path_episodes": f"$[{r.item_index}].by_context.inferred.episodes",
+            }
+        )
+    write_rows(
+        fig_dir / "figure4_success_by_task_boat_source_rows",
+        source_rows,
+        [
+            "task",
+            "boat",
+            "method",
+            "flow_type",
+            "successes",
+            "episodes",
+            "success_rate",
+            "source_file",
+            "item_index",
+            "json_path_successes",
+            "json_path_episodes",
+        ],
+    )
+
+    canvas = Image.new("RGB", (1800, 1100), "white")
+    draw = ImageDraw.Draw(canvas)
+    draw_line_panel(draw, (60, 88, 1740, 440), prediction_rows, "Prediction error vs rollout step", METHOD_COLORS)
+    draw_success_by_task_panel(draw, (60, 552, 860, 1030), success_rows, "twin", "Planning success by experiment: Twin", show_legend=True)
+    draw_success_by_task_panel(draw, (940, 552, 1740, 1030), success_rows, "triangle", "Planning success by experiment: Triangle", show_legend=True)
+    out = fig_dir / "figure4_placeholder.png"
+    canvas.save(out)
+
+    md = [
+        "# Figure 4 Provenance",
+        "",
+        "Purpose: quantitative placeholder with prediction error curves and planning success grouped by experiment/task.",
+        "",
+        "Generated outputs:",
+        f"- `{rel(out)}`",
+        f"- `{rel(fig_dir / 'figure4_prediction_error.tsv')}`",
+        f"- `{rel(fig_dir / 'figure4_prediction_error.csv')}`",
+        f"- `{rel(fig_dir / 'figure4_success_by_task_boat.tsv')}`",
+        f"- `{rel(fig_dir / 'figure4_success_by_task_boat.csv')}`",
+        f"- `{rel(fig_dir / 'figure4_success_by_task_boat_source_rows.tsv')}`",
+        f"- `{rel(fig_dir / 'figure4_success_by_task_boat_source_rows.csv')}`",
+        "",
+        "Panel A source:",
+        f"- `{rel(PREDICTION_JSON)}`",
+        "- JSON selectors: `$[method_index].inferred.pos{horizon}` and `$[method_index].inferred.heading{horizon}` for horizons 1, 3, 6, 8, 10, 20, 30, 40, 60.",
+        "- Included methods: `flowmo`, `leworldmodel`, `planet`, `tdmpc2`.",
+        "",
+        "Panel B source:",
+        f"- `{rel(PLANNING_DIR)}/*.json`",
+        "- JSON selectors: `$[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.",
+        "- 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`.",
+    ]
+    write_text(fig_dir / "figure4_provenance.md", "\n".join(md) + "\n")
+
+
+def draw_failure_line_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(14)
+    small_font = font(12)
+    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 = 62, 88, 26, 22
+    px0, py0, px1, py1 = x0 + pad_l, y0 + pad_t, x1 - pad_r, y1 - pad_b
+    boat_rows = [r for r in rows if r["boat"] == boat]
+    max_fail = max(float(r["failure_percent"]) for r in boat_rows)
+    y_max = max(5.0, math.ceil((max_fail + 3.0) / 5.0) * 5.0)
+
+    for tick in [0.0, 0.25, 0.50, 0.75, 1.0]:
+        y = py1 - tick * (py1 - py0)
+        val = tick * y_max
+        draw.line([px0, y, px1, y], fill=(232, 232, 232), width=1)
+        draw.text((x0 + 8, y - 8), f"{val:.0f}", 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), "failure (%)", fill=(70, 70, 70), font=axis_font)
+
+    flow_x = {}
+    for i, flow in enumerate(FLOW_ORDER):
+        x = px0 + i / (len(FLOW_ORDER) - 1) * (px1 - px0)
+        flow_x[flow] = x
+        draw.line([x, py1, x, py1 + 5], fill=(60, 60, 60), width=1)
+        label = FLOW_LABEL[flow]
+        draw.text((x - 28, py1 + 10), label, fill=(55, 55, 55), font=small_font)
+
+    failures = {(r["method"], r["flow_type"]): float(r["failure_percent"]) for r in boat_rows}
+    for method in METHOD_ORDER:
+        pts = []
+        for flow in FLOW_ORDER:
+            value = failures.get((method, flow), 0.0)
+            x = flow_x[flow]
+            y = py1 - (value / y_max) * (py1 - py0)
+            pts.append((x, y))
+        draw.line(pts, fill=METHOD_COLORS[method], width=3)
+        for x, y in pts:
+            draw.ellipse([x - 3, y - 3, x + 3, y + 3], fill=METHOD_COLORS[method])
+
+    if show_legend:
+        lx, ly = x0 + 80, y0 + 34
+        for i, method in enumerate(METHOD_ORDER):
+            row = i // 4
+            col = i % 4
+            xx = lx + col * 145
+            yy = ly + row * 22
+            draw.line([xx, yy + 7, xx + 22, yy + 7], fill=METHOD_COLORS[method], width=3)
+            draw.text((xx + 28, yy - 2), METHOD_SHORT[method], fill=(40, 40, 40), font=small_font)
+
+
+def make_fig5(summaries: list[SummaryRecord]) -> None:
+    fig_dir = OUT / "fig5"
+    ensure_dir(fig_dir)
+    rows = aggregate_success(inferred_summaries(summaries), ("boat", "flow_type", "method"))
+    rows.sort(key=lambda r: (boat_sort_key(r["boat"]), flow_sort_key(r["flow_type"]), method_sort_key(r["method"])))
+    for row in rows:
+        row["boat_label"] = BOAT_LABEL[row["boat"]]
+        row["flow_label"] = FLOW_LABEL[row["flow_type"]]
+        row["method_label"] = METHOD_LABEL[row["method"]]
+        row["failure_rate"] = 1.0 - float(row["success_rate"])
+        row["failure_percent"] = 100.0 * row["failure_rate"]
+        row["success_percent"] = 100.0 * float(row["success_rate"])
+    write_rows(
+        fig_dir / "figure5_failure_by_flow",
+        rows,
+        [
+            "boat",
+            "boat_label",
+            "flow_type",
+            "flow_label",
+            "method",
+            "method_label",
+            "successes",
+            "episodes",
+            "success_rate",
+            "success_percent",
+            "failure_rate",
+            "failure_percent",
+            "source_files",
+        ],
+    )
+    source_rows = []
+    for r in sorted(inferred_summaries(summaries), key=lambda x: (boat_sort_key(x.boat), flow_sort_key(x.flow_type), method_sort_key(x.method), task_sort_key(x.task))):
+        source_rows.append(
+            {
+                "boat": r.boat,
+                "flow_type": r.flow_type,
+                "method": r.method,
+                "task": r.task,
+                "successes": r.successes,
+                "episodes": r.episodes,
+                "success_rate": r.success_rate,
+                "failure_rate": 1.0 - r.success_rate,
+                "source_file": r.source_file,
+                "item_index": r.item_index,
+                "json_path_successes": f"$[{r.item_index}].by_context.inferred.successes",
+                "json_path_episodes": f"$[{r.item_index}].by_context.inferred.episodes",
+            }
+        )
+    write_rows(
+        fig_dir / "figure5_failure_by_flow_source_rows",
+        source_rows,
+        [
+            "boat",
+            "flow_type",
+            "method",
+            "task",
+            "successes",
+            "episodes",
+            "success_rate",
+            "failure_rate",
+            "source_file",
+            "item_index",
+            "json_path_successes",
+            "json_path_episodes",
+        ],
+    )
+
+    canvas = Image.new("RGB", (1800, 980), "white")
+    draw = ImageDraw.Draw(canvas)
+    title_font = font(25, True)
+    draw.text((24, 20), "Figure 5 placeholder: failure rate by flow family", fill=(20, 25, 30), font=title_font)
+    draw_failure_line_panel(draw, (60, 110, 1740, 480), rows, "twin", "Twin", show_legend=True)
+    draw_failure_line_panel(draw, (60, 590, 1740, 900), rows, "triangle", "Triangle", show_legend=False)
+    out = fig_dir / "figure5_placeholder_failure_lines.png"
+    canvas.save(out)
+
+    md = [
+        "# Figure 5 Provenance",
+        "",
+        "Purpose: flow-family breakdown of downstream planning failure rates. Failure rate is used because many success rates are 100% or near 100%.",
+        "",
+        "Generated outputs:",
+        f"- `{rel(out)}`",
+        f"- `{rel(fig_dir / 'figure5_failure_by_flow.tsv')}`",
+        f"- `{rel(fig_dir / 'figure5_failure_by_flow.csv')}`",
+        f"- `{rel(fig_dir / 'figure5_failure_by_flow_source_rows.tsv')}`",
+        f"- `{rel(fig_dir / 'figure5_failure_by_flow_source_rows.csv')}`",
+        "",
+        "Source:",
+        f"- `{rel(PLANNING_DIR)}/*.json`",
+        "- JSON selectors: `$[item_index].by_context.inferred.successes` and `$[item_index].by_context.inferred.episodes`.",
+        "- Aggregation: sum successes and episodes over all tasks for each method, boat, and flow type.",
+        "- 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`.",
+    ]
+    write_text(fig_dir / "figure5_provenance.md", "\n".join(md) + "\n")
+
+
+def make_table1(summaries: list[SummaryRecord]) -> None:
+    table_dir = OUT / "tables"
+    ensure_dir(table_dir)
+    records = inferred_summaries(summaries)
+    by_key = {(r.task, r.boat, r.flow_type, r.method): r for r in records}
+    data_rows: list[dict[str, Any]] = []
+    latex_rows: list[list[str]] = []
+    for task in TASK_ORDER:
+        for boat in BOAT_ORDER:
+            for flow in FLOW_ORDER:
+                row: dict[str, Any] = {
+                    "task": task,
+                    "task_label": TASK_LABEL[task],
+                    "boat": boat,
+                    "boat_label": BOAT_LABEL[boat],
+                    "flow_type": flow,
+                    "flow_label": FLOW_LABEL[flow],
+                }
+                latex_row = [TASK_LABEL[task], BOAT_LABEL[boat], FLOW_LABEL[flow]]
+                for method in METHOD_ORDER:
+                    rec = by_key.get((task, boat, flow, method))
+                    if rec is None:
+                        row[f"{method}_success_rate"] = ""
+                        row[f"{method}_successes"] = ""
+                        row[f"{method}_episodes"] = ""
+                        row[f"{method}_source"] = ""
+                        latex_row.append("--")
+                    else:
+                        row[f"{method}_success_rate"] = rec.success_rate
+                        row[f"{method}_success_percent"] = 100.0 * rec.success_rate
+                        row[f"{method}_successes"] = rec.successes
+                        row[f"{method}_episodes"] = rec.episodes
+                        row[f"{method}_source"] = rec.source_file
+                        row[f"{method}_json_path"] = f"$[{rec.item_index}].by_context.inferred.success_rate"
+                        latex_row.append(pct(rec.success_rate, 0))
+                data_rows.append(row)
+                latex_rows.append(latex_row)
+
+    fields = ["task", "task_label", "boat", "boat_label", "flow_type", "flow_label"]
+    for method in METHOD_ORDER:
+        fields += [
+            f"{method}_success_rate",
+            f"{method}_success_percent",
+            f"{method}_successes",
+            f"{method}_episodes",
+            f"{method}_source",
+            f"{method}_json_path",
+        ]
+    write_rows(table_dir / "table1_success_by_task_boat_flow", data_rows, fields)
+
+    header = ["Task", "Boat", "Flow"] + [METHOD_SHORT[m] for m in METHOD_ORDER]
+    write_table(
+        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.",
+        "tab:planning_success_task_boat_flow",
+    )
+
+    md = [
+        "# Table 1 Provenance",
+        "",
+        "Purpose: success rate for every task, boat, flow family, and method.",
+        "",
+        "Generated outputs:",
+        f"- `{rel(table_dir / 'table1_success_by_task_boat_flow.tex')}`",
+        f"- `{rel(table_dir / 'table1_success_by_task_boat_flow.tsv')}`",
+        f"- `{rel(table_dir / 'table1_success_by_task_boat_flow.csv')}`",
+        "",
+        "Source:",
+        f"- `{rel(PLANNING_DIR)}/*.json`",
+        "- 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`.",
+    ]
+    write_text(table_dir / "table1_provenance.md", "\n".join(md) + "\n")
+
+
+def make_table2(episodes: list[EpisodeRecord]) -> None:
+    table_dir = OUT / "tables"
+    ensure_dir(table_dir)
+    records = inferred_episodes(episodes)
+    grouped: dict[tuple[str, str, str], list[EpisodeRecord]] = defaultdict(list)
+    sources: dict[tuple[str, str, str], set[str]] = defaultdict(set)
+    for r in records:
+        key = (r.task, r.boat, r.method)
+        grouped[key].append(r)
+        sources[key].add(r.source_file)
+
+    data_rows: list[dict[str, Any]] = []
+    latex_rows: list[list[str]] = []
+    for task in TASK_ORDER:
+        for boat in BOAT_ORDER:
+            for method in METHOD_ORDER:
+                key = (task, boat, method)
+                items = grouped[key]
+                if not items:
+                    continue
+                final_distance_mean = sum(r.final_distance for r in items) / len(items)
+                min_goal_distance_mean = sum(r.mean_min_goal_distance for r in items) / len(items)
+                success_items = [r for r in items if r.success and r.energy is not None]
+                energy_success_mean = sum(float(r.energy) for r in success_items) / len(success_items) if success_items else None
+                row = {
+                    "task": task,
+                    "task_label": TASK_LABEL[task],
+                    "boat": boat,
+                    "boat_label": BOAT_LABEL[boat],
+                    "method": method,
+                    "method_label": METHOD_LABEL[method],
+                    "episodes": len(items),
+                    "successful_energy_episodes": len(success_items),
+                    "final_distance_mean": final_distance_mean,
+                    "mean_min_goal_distance": min_goal_distance_mean,
+                    "energy_success_mean": energy_success_mean if energy_success_mean is not None else "",
+                    "source_files": ";".join(sorted(sources[key])),
+                    "json_selector": "$[item_index].results[*] filtered by context_mode == inferred",
+                }
+                data_rows.append(row)
+                latex_rows.append(
+                    [
+                        TASK_LABEL[task],
+                        BOAT_LABEL[boat],
+                        METHOD_LABEL[method],
+                        fmt(final_distance_mean),
+                        fmt(energy_success_mean),
+                    ]
+                )
+    write_rows(
+        table_dir / "table2_energy_distance_by_task_boat_method",
+        data_rows,
+        [
+            "task",
+            "task_label",
+            "boat",
+            "boat_label",
+            "method",
+            "method_label",
+            "episodes",
+            "successful_energy_episodes",
+            "final_distance_mean",
+            "mean_min_goal_distance",
+            "energy_success_mean",
+            "source_files",
+            "json_selector",
+        ],
+    )
+    write_table(
+        table_dir / "table2_energy_distance_by_task_boat_method.tex",
+        ["Task", "Boat", "Method", "Final dist.", "Energy (succ.)"],
+        latex_rows,
+        "Planning distance and energy by task, boat, and method, aggregated over all flow families. Final distance is averaged over all episodes; energy is averaged over successful episodes.",
+        "tab:planning_energy_distance_task_boat",
+    )
+
+    md = [
+        "# Table 2 Provenance",
+        "",
+        "Purpose: distance and energy metrics by task, boat, and method.",
+        "",
+        "Generated outputs:",
+        f"- `{rel(table_dir / 'table2_energy_distance_by_task_boat_method.tex')}`",
+        f"- `{rel(table_dir / 'table2_energy_distance_by_task_boat_method.tsv')}`",
+        f"- `{rel(table_dir / 'table2_energy_distance_by_task_boat_method.csv')}`",
+        "",
+        "Source:",
+        f"- `{rel(PLANNING_DIR)}/*.json`",
+        "- JSON selector: `$[item_index].results[*]`, filtered to `context_mode == inferred`.",
+        "- Final distance: mean of `final_distance` over all filtered episodes.",
+        "- 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`.",
+    ]
+    write_text(table_dir / "table2_provenance.md", "\n".join(md) + "\n")
+
+
+def make_probe_table() -> None:
+    table_dir = OUT / "tables"
+    ensure_dir(table_dir)
+    data = read_json(PROBE_JSON)
+    split = data["splits"]["test"]
+    feature_order = ["z", "c", "z_c"]
+    target_order = ["momentum", "local_flow", "episode_drift"]
+    rows: list[dict[str, Any]] = []
+    latex_rows: list[list[str]] = []
+    for target in target_order:
+        latex_row = [target.replace("_", " ")]
+        for feature in feature_order:
+            entry = split[target][feature]
+            rows.append(
+                {
+                    "split": "test",
+                    "target": target,
+                    "feature": feature,
+                    "r2_mean": entry["r2_mean"],
+                    "rmse": entry["rmse"],
+                    "source_file": rel(PROBE_JSON),
+                    "json_path_r2": f"$.splits.test.{target}.{feature}.r2_mean",
+                    "json_path_rmse": f"$.splits.test.{target}.{feature}.rmse",
+                }
+            )
+            latex_row.append(fmt(entry["r2_mean"], 3))
+        for feature in feature_order:
+            latex_row.append(fmt(split[target][feature]["rmse"], 3))
+        latex_rows.append(latex_row)
+    write_rows(
+        table_dir / "table3_probe_diagnostics",
+        rows,
+        ["split", "target", "feature", "r2_mean", "rmse", "source_file", "json_path_r2", "json_path_rmse"],
+    )
+    write_table(
+        table_dir / "table3_probe_diagnostics.tex",
+        ["Target", "z R2", "c R2", "z+c R2", "z RMSE", "c RMSE", "z+c RMSE"],
+        latex_rows,
+        "Frozen linear probe diagnostics for FlowMo representations on the test split.",
+        "tab:flowmo_probe_diagnostics",
+    )
+    md = [
+        "# Table 3 Provenance",
+        "",
+        "Purpose: frozen linear probe diagnostics for FlowMo latent variables.",
+        "",
+        "Generated outputs:",
+        f"- `{rel(table_dir / 'table3_probe_diagnostics.tex')}`",
+        f"- `{rel(table_dir / 'table3_probe_diagnostics.tsv')}`",
+        f"- `{rel(table_dir / 'table3_probe_diagnostics.csv')}`",
+        "",
+        "Source:",
+        f"- `{rel(PROBE_JSON)}`",
+        "- JSON selectors: `$.splits.test.<target>.<feature>.r2_mean` and `$.splits.test.<target>.<feature>.rmse`.",
+        "- Probe model: frozen FlowMo features with ridge regression, as reported by the JSON metadata.",
+    ]
+    write_text(table_dir / "table3_provenance.md", "\n".join(md) + "\n")
+
+
+def make_overview() -> None:
+    files = sorted(p for p in OUT.rglob("*") if p.is_file())
+    lines = [
+        "# Paper Artifact Export",
+        "",
+        "Generated from local experiment outputs under `experiments/reports/`.",
+        "",
+        "Important source files:",
+        f"- `{rel(PREDICTION_JSON)}`",
+        f"- `{rel(PROBE_JSON)}`",
+        f"- `{rel(PLANNING_DIR)}/*.json`",
+        f"- `{rel(GIF_DIR)}/*.gif`",
+        "",
+        "Generated files:",
+    ]
+    for p in files:
+        lines.append(f"- `{rel(p)}`")
+    write_text(OUT / "README.md", "\n".join(lines) + "\n")
+
+
+def validate_inputs() -> None:
+    missing = [p for p in [PREDICTION_JSON, PROBE_JSON, PLANNING_DIR, GIF_DIR] if not p.exists()]
+    if missing:
+        raise FileNotFoundError("Missing required experiment outputs: " + ", ".join(str(p) for p in missing))
+    planning_files = sorted(PLANNING_DIR.glob("*.json"))
+    if len(planning_files) != len(TASK_ORDER) * len(BOAT_ORDER) * len(FLOW_ORDER):
+        raise RuntimeError(f"Expected {len(TASK_ORDER) * len(BOAT_ORDER) * len(FLOW_ORDER)} planning JSON files, found {len(planning_files)}")
+
+
+def main() -> None:
+    validate_inputs()
+    if OUT.exists():
+        shutil.rmtree(OUT)
+    ensure_dir(OUT)
+    summaries, episodes = load_planning()
+    extract_fig3()
+    make_fig4(summaries)
+    make_fig5(summaries)
+    make_table1(summaries)
+    make_table2(episodes)
+    make_probe_table()
+    make_overview()
+    print(f"Wrote paper artifacts to {OUT}")
+
+
+if __name__ == "__main__":
+    main()

experiments/no_flow_los_controller/README.md

@@ -0,0 +1,3 @@
+# No-Flow LOS Controller Baseline
+
+Traditional line-of-sight controller that estimates pose from the clean image and ignores external flow.

experiments/no_flow_los_controller/__init__.py

@@ -0,0 +1 @@
+"""No-flow line-of-sight controller experiment package."""

experiments/no_flow_los_controller/src/__init__.py

@@ -0,0 +1 @@
+"""No-flow line-of-sight controller source package."""

experiments/no_flow_los_controller/src/config.py

@@ -0,0 +1,5 @@
+"""No-flow line-of-sight controller config."""
+
+
+def default_config():
+    return {"goal": [8.0, 8.0], "gain": 0.65}

experiments/no_flow_los_controller/src/controller.py

@@ -0,0 +1,11 @@
+"""No-flow line-of-sight controller."""
+
+import numpy as np
+
+from experiments.shared.src.control.geometric import goal_action
+from experiments.shared.src.vision.pose_from_image import estimate_pose_from_clean_image
+
+def plan(state, task, config):
+    pose = estimate_pose_from_clean_image(state)
+    goal = np.asarray(task["goal"], dtype=np.float32)
+    return goal_action(pose, goal, int(config["action_dim"]), float(config["gain"]), 0.6)

experiments/no_flow_los_controller/src/evaluate.py

@@ -0,0 +1,8 @@
+"""No-flow line-of-sight controller evaluation."""
+
+from experiments.no_flow_los_controller.src.config import default_config
+from experiments.no_flow_los_controller.src.controller import plan
+
+def evaluate(config):
+    cfg = default_config() | config
+    return plan(config["image"], {"goal": cfg["goal"]}, cfg)

experiments/oracle_flow_los_controller/README.md

@@ -0,0 +1,5 @@
+# Oracle-Flow LOS Controller Reference
+
+Line-of-sight controller with access to the true local simulator flow for feed-forward compensation.
+
+This is an oracle-information reference for a simple geometric controller, not a full dynamics-MPC upper bound.

experiments/oracle_flow_los_controller/__init__.py

@@ -0,0 +1 @@
+"""Oracle-flow line-of-sight controller experiment package."""

experiments/oracle_flow_los_controller/src/__init__.py

@@ -0,0 +1 @@
+"""Oracle-flow line-of-sight controller source package."""

experiments/oracle_flow_los_controller/src/config.py

@@ -0,0 +1,5 @@
+"""Oracle-flow line-of-sight controller config."""
+
+
+def default_config():
+    return {"goal": [8.0, 8.0], "gain": 0.65, "flow_gain": 1.0}

experiments/oracle_flow_los_controller/src/controller.py

@@ -0,0 +1,19 @@
+"""Oracle-flow line-of-sight controller."""
+
+import numpy as np
+
+from experiments.shared.src.control.geometric import goal_action
+from experiments.shared.src.vision.pose_from_image import estimate_pose_from_clean_image
+
+def plan(state, true_flow, task, config):
+    pose = estimate_pose_from_clean_image(state)
+    goal = np.asarray(task["goal"], dtype=np.float32)
+    return goal_action(
+        pose,
+        goal,
+        int(config["action_dim"]),
+        float(config["gain"]),
+        0.6,
+        drift=np.asarray(true_flow, dtype=np.float32),
+        drift_gain=float(config["flow_gain"]),
+    )

experiments/oracle_flow_los_controller/src/evaluate.py

@@ -0,0 +1,8 @@
+"""Oracle-flow line-of-sight controller evaluation."""
+
+from experiments.oracle_flow_los_controller.src.config import default_config
+from experiments.oracle_flow_los_controller.src.controller import plan
+
+def evaluate(config):
+    cfg = default_config() | config
+    return plan(config["image"], config["true_flow"], {"goal": cfg["goal"]}, cfg)

experiments/plot_task_schematics.py

@@ -0,0 +1,171 @@
+from __future__ import annotations
+
+from pathlib import Path
+
+from PIL import Image, ImageDraw
+
+from driftwm.utils import ensure_dir
+
+
+OUT_DIR = Path("experiments/reports/figures/task_schematics")
+WORKSPACE = (0.0, 10.0, 0.0, 10.0)
+
+BG = (247, 250, 252)
+BORDER = (45, 62, 80)
+START = (35, 91, 140)
+GOAL = (203, 62, 74)
+ACTIVE = (30, 139, 88)
+PASSIVE = (145, 153, 163)
+FLOW = (68, 135, 205)
+SWITCH = (238, 184, 72)
+
+
+def w2p(x: float, y: float, size: int = 640, pad: int = 58) -> tuple[int, int]:
+    xmin, xmax, ymin, ymax = WORKSPACE
+    px = int(pad + (x - xmin) / (xmax - xmin) * (size - 2 * pad))
+    py = int(size - pad - (y - ymin) / (ymax - ymin) * (size - 2 * pad))
+    return px, py
+
+
+def draw_arrow(
+    draw: ImageDraw.ImageDraw,
+    p0: tuple[int, int],
+    p1: tuple[int, int],
+    color: tuple[int, int, int],
+    width: int = 6,
+    head: int = 18,
+) -> None:
+    import math
+
+    draw.line((p0, p1), fill=color, width=width)
+    dx = p1[0] - p0[0]
+    dy = p1[1] - p0[1]
+    angle = math.atan2(dy, dx)
+    for delta in (2.55, -2.55):
+        a = angle + delta
+        q = (int(p1[0] + head * math.cos(a)), int(p1[1] + head * math.sin(a)))
+        draw.line((p1, q), fill=color, width=width)
+
+
+def draw_polyline_arrow(
+    draw: ImageDraw.ImageDraw,
+    pts: list[tuple[int, int]],
+    color: tuple[int, int, int],
+    width: int = 6,
+) -> None:
+    if len(pts) < 2:
+        return
+    draw.line(pts, fill=color, width=width, joint="curve")
+    draw_arrow(draw, pts[-2], pts[-1], color, width=width)
+
+
+def circle(draw: ImageDraw.ImageDraw, center: tuple[int, int], radius: int, color: tuple[int, int, int], width: int = 0) -> None:
+    box = (center[0] - radius, center[1] - radius, center[0] + radius, center[1] + radius)
+    if width:
+        draw.ellipse(box, outline=color, width=width)
+    else:
+        draw.ellipse(box, fill=color)
+
+
+def base(size: int = 640) -> tuple[Image.Image, ImageDraw.ImageDraw]:
+    img = Image.new("RGB", (size, size), BG)
+    draw = ImageDraw.Draw(img)
+    draw.rectangle((58, 58, size - 58, size - 58), outline=BORDER, width=3)
+    return img, draw
+
+
+def draw_flow_arrows(draw: ImageDraw.ImageDraw, arrows: list[tuple[tuple[float, float], tuple[float, float]]]) -> None:
+    for start, end in arrows:
+        draw_arrow(draw, w2p(*start), w2p(*end), FLOW, width=5, head=15)
+
+
+def save(img: Image.Image, name: str) -> None:
+    ensure_dir(OUT_DIR / "clean")
+    path = OUT_DIR / "clean" / name
+    img.save(path)
+    print(path)
+
+
+def reach_target() -> Image.Image:
+    img, draw = base()
+    start = w2p(2.0, 2.0)
+    goal = w2p(8.0, 8.0)
+    draw_arrow(draw, start, goal, ACTIVE)
+    circle(draw, start, 13, START)
+    circle(draw, goal, 18, GOAL, width=6)
+    return img
+
+
+def station_keeping() -> Image.Image:
+    img, draw = base()
+    center = w2p(5.0, 5.0)
+    circle(draw, center, 72, GOAL, width=6)
+    draw.line((center[0] - 22, center[1], center[0] + 22, center[1]), fill=GOAL, width=4)
+    draw.line((center[0], center[1] - 22, center[0], center[1] + 22), fill=GOAL, width=4)
+    draw_flow_arrows(draw, [((6.8, 6.8), (5.85, 5.95)), ((6.6, 3.3), (5.8, 4.2)), ((3.5, 6.8), (4.25, 5.9))])
+    pts = [w2p(4.55, 4.25), w2p(5.2, 4.45), w2p(5.45, 5.15), w2p(4.85, 5.45), w2p(4.65, 4.8), w2p(5.0, 5.02)]
+    draw_polyline_arrow(draw, pts, ACTIVE, width=6)
+    circle(draw, pts[0], 12, START)
+    return img
+
+
+def waypoint_square() -> Image.Image:
+    img, draw = base()
+    start = w2p(2.0, 2.0)
+    pts = [w2p(2.5, 2.5), w2p(7.5, 2.5), w2p(7.5, 7.5), w2p(2.5, 7.5)]
+    draw_polyline_arrow(draw, [start] + pts, ACTIVE, width=6)
+    circle(draw, start, 13, START)
+    for p in pts:
+        circle(draw, p, 13, GOAL)
+    return img
+
+
+def waypoint_zigzag() -> Image.Image:
+    img, draw = base()
+    start = w2p(2.0, 2.0)
+    pts = [w2p(2.5, 7.0), w2p(4.2, 3.0), w2p(5.8, 7.0), w2p(7.5, 3.0)]
+    draw_polyline_arrow(draw, [start] + pts, ACTIVE, width=6)
+    circle(draw, start, 13, START)
+    for p in pts:
+        circle(draw, p, 13, GOAL)
+    return img
+
+
+def make_contact_sheet(names: list[str]) -> None:
+    ensure_dir(OUT_DIR)
+    thumbs = [Image.open(OUT_DIR / "clean" / name).resize((240, 240), Image.Resampling.LANCZOS) for name in names]
+    sheet = Image.new("RGB", (2 * 280 + 40, 2 * 300 + 40), (246, 249, 251))
+    draw = ImageDraw.Draw(sheet)
+    labels = [name.removeprefix("task_").removesuffix(".png") for name in names]
+    for i, (thumb, label) in enumerate(zip(thumbs, labels, strict=True)):
+        row, col = divmod(i, 2)
+        x = 20 + col * 280
+        y = 20 + row * 300
+        sheet.paste(thumb, (x, y))
+        draw.text((x, y + 250), label, fill=(35, 45, 58))
+    path = OUT_DIR / "task_schematics_contact_sheet.png"
+    sheet.save(path)
+    print(path)
+
+
+def main() -> None:
+    tasks = {
+        "task_reach_target.png": reach_target(),
+        "task_station_keeping.png": station_keeping(),
+        "task_waypoint_square.png": waypoint_square(),
+        "task_waypoint_zigzag.png": waypoint_zigzag(),
+    }
+    for name, img in tasks.items():
+        save(img, name)
+    make_contact_sheet(
+        [
+            "task_reach_target.png",
+            "task_station_keeping.png",
+            "task_waypoint_square.png",
+            "task_waypoint_zigzag.png",
+        ]
+    )
+
+
+if __name__ == "__main__":
+    main()

experiments/reports/paper_artifacts/README.md

@@ -0,0 +1,66 @@
+# Paper Artifact Export
+
+Generated from local experiment outputs under `experiments/reports/`.
+
+Important source files:
+- `experiments/reports/paper_prediction.json`
+- `experiments/reports/paper_flowmo_latent_probes.json`
+- `experiments/reports/paper_planning/*.json`
+- `experiments/reports/paper_planning/gifs/*.gif`
+
+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/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`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_station_keeping_vortex_center_ep000_first_frame000.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_station_keeping_vortex_center_ep000_last_frame097.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_station_keeping_vortex_center_ep000_middle_frame049.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_square_gradient_ep000_first_frame000.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_square_gradient_ep000_last_frame272.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_square_gradient_ep000_middle_frame136.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000_first_frame000.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000_last_frame319.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000_middle_frame160.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_reach_target_uniform_ep000_first_frame000.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_reach_target_uniform_ep000_last_frame419.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_reach_target_uniform_ep000_middle_frame210.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_station_keeping_vortex_center_ep000_first_frame000.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_station_keeping_vortex_center_ep000_last_frame097.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_station_keeping_vortex_center_ep000_middle_frame049.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_square_gradient_ep000_first_frame000.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_square_gradient_ep000_last_frame351.png`
+- `experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_square_gradient_ep000_middle_frame176.png`
+- `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_error.csv`
+- `experiments/reports/paper_artifacts/fig4/figure4_prediction_error.tsv`
+- `experiments/reports/paper_artifacts/fig4/figure4_provenance.md`
+- `experiments/reports/paper_artifacts/fig4/figure4_success_by_task_boat.csv`
+- `experiments/reports/paper_artifacts/fig4/figure4_success_by_task_boat.tsv`
+- `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.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/tables/table1_success_by_task_boat_flow.tex`
+- `experiments/reports/paper_artifacts/tables/table1_success_by_task_boat_flow.tsv`
+- `experiments/reports/paper_artifacts/tables/table2_energy_distance_by_task_boat_method.csv`
+- `experiments/reports/paper_artifacts/tables/table2_energy_distance_by_task_boat_method.tex`
+- `experiments/reports/paper_artifacts/tables/table2_energy_distance_by_task_boat_method.tsv`
+- `experiments/reports/paper_artifacts/tables/table2_provenance.md`
+- `experiments/reports/paper_artifacts/tables/table3_probe_diagnostics.csv`
+- `experiments/reports/paper_artifacts/tables/table3_probe_diagnostics.tex`
+- `experiments/reports/paper_artifacts/tables/table3_probe_diagnostics.tsv`
+- `experiments/reports/paper_artifacts/tables/table3_provenance.md`

experiments/reports/paper_artifacts/fig3/figure3_frame_manifest.csv

@@ -0,0 +1,25 @@
+task,boat,method,context_mode,flow_type,episode,frame_name,frame_index,gif_frames,source_gif,output_png
+reach_target,twin,flowmo,inferred,uniform,0,first,0,420,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_reach_target_uniform_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_reach_target_uniform_ep000_first_frame000.png
+reach_target,twin,flowmo,inferred,uniform,0,middle,210,420,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_reach_target_uniform_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_reach_target_uniform_ep000_middle_frame210.png
+reach_target,twin,flowmo,inferred,uniform,0,last,419,420,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_reach_target_uniform_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_reach_target_uniform_ep000_last_frame419.png
+reach_target,triangle,flowmo,inferred,uniform,0,first,0,150,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_reach_target_uniform_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_reach_target_uniform_ep000_first_frame000.png
+reach_target,triangle,flowmo,inferred,uniform,0,middle,75,150,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_reach_target_uniform_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_reach_target_uniform_ep000_middle_frame075.png
+reach_target,triangle,flowmo,inferred,uniform,0,last,149,150,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_reach_target_uniform_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_reach_target_uniform_ep000_last_frame149.png
+station_keeping,twin,flowmo,inferred,vortex_center,0,first,0,98,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_station_keeping_vortex_center_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_station_keeping_vortex_center_ep000_first_frame000.png
+station_keeping,twin,flowmo,inferred,vortex_center,0,middle,49,98,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_station_keeping_vortex_center_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_station_keeping_vortex_center_ep000_middle_frame049.png
+station_keeping,twin,flowmo,inferred,vortex_center,0,last,97,98,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_station_keeping_vortex_center_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_station_keeping_vortex_center_ep000_last_frame097.png
+station_keeping,triangle,flowmo,inferred,vortex_center,0,first,0,98,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_station_keeping_vortex_center_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_station_keeping_vortex_center_ep000_first_frame000.png
+station_keeping,triangle,flowmo,inferred,vortex_center,0,middle,49,98,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_station_keeping_vortex_center_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_station_keeping_vortex_center_ep000_middle_frame049.png
+station_keeping,triangle,flowmo,inferred,vortex_center,0,last,97,98,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_station_keeping_vortex_center_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_station_keeping_vortex_center_ep000_last_frame097.png
+waypoint_square,twin,flowmo,inferred,gradient,0,first,0,352,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_waypoint_square_gradient_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_square_gradient_ep000_first_frame000.png
+waypoint_square,twin,flowmo,inferred,gradient,0,middle,176,352,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_waypoint_square_gradient_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_square_gradient_ep000_middle_frame176.png
+waypoint_square,twin,flowmo,inferred,gradient,0,last,351,352,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_waypoint_square_gradient_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_square_gradient_ep000_last_frame351.png
+waypoint_square,triangle,flowmo,inferred,gradient,0,first,0,273,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_waypoint_square_gradient_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_square_gradient_ep000_first_frame000.png
+waypoint_square,triangle,flowmo,inferred,gradient,0,middle,136,273,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_waypoint_square_gradient_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_square_gradient_ep000_middle_frame136.png
+waypoint_square,triangle,flowmo,inferred,gradient,0,last,272,273,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_waypoint_square_gradient_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_square_gradient_ep000_last_frame272.png
+waypoint_zigzag,twin,flowmo,inferred,random_fourier,0,first,0,383,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000_first_frame000.png
+waypoint_zigzag,twin,flowmo,inferred,random_fourier,0,middle,191,383,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000_middle_frame191.png
+waypoint_zigzag,twin,flowmo,inferred,random_fourier,0,last,382,383,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000_last_frame382.png
+waypoint_zigzag,triangle,flowmo,inferred,random_fourier,0,first,0,320,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000_first_frame000.png
+waypoint_zigzag,triangle,flowmo,inferred,random_fourier,0,middle,160,320,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000_middle_frame160.png
+waypoint_zigzag,triangle,flowmo,inferred,random_fourier,0,last,319,320,experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000.gif,experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000_last_frame319.png

experiments/reports/paper_artifacts/fig3/figure3_frame_manifest.tsv

@@ -0,0 +1,25 @@
+task	boat	method	context_mode	flow_type	episode	frame_name	frame_index	gif_frames	source_gif	output_png
+reach_target	twin	flowmo	inferred	uniform	0	first	0	420	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_reach_target_uniform_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_reach_target_uniform_ep000_first_frame000.png
+reach_target	twin	flowmo	inferred	uniform	0	middle	210	420	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_reach_target_uniform_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_reach_target_uniform_ep000_middle_frame210.png
+reach_target	twin	flowmo	inferred	uniform	0	last	419	420	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_reach_target_uniform_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_reach_target_uniform_ep000_last_frame419.png
+reach_target	triangle	flowmo	inferred	uniform	0	first	0	150	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_reach_target_uniform_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_reach_target_uniform_ep000_first_frame000.png
+reach_target	triangle	flowmo	inferred	uniform	0	middle	75	150	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_reach_target_uniform_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_reach_target_uniform_ep000_middle_frame075.png
+reach_target	triangle	flowmo	inferred	uniform	0	last	149	150	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_reach_target_uniform_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_reach_target_uniform_ep000_last_frame149.png
+station_keeping	twin	flowmo	inferred	vortex_center	0	first	0	98	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_station_keeping_vortex_center_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_station_keeping_vortex_center_ep000_first_frame000.png
+station_keeping	twin	flowmo	inferred	vortex_center	0	middle	49	98	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_station_keeping_vortex_center_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_station_keeping_vortex_center_ep000_middle_frame049.png
+station_keeping	twin	flowmo	inferred	vortex_center	0	last	97	98	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_station_keeping_vortex_center_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_station_keeping_vortex_center_ep000_last_frame097.png
+station_keeping	triangle	flowmo	inferred	vortex_center	0	first	0	98	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_station_keeping_vortex_center_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_station_keeping_vortex_center_ep000_first_frame000.png
+station_keeping	triangle	flowmo	inferred	vortex_center	0	middle	49	98	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_station_keeping_vortex_center_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_station_keeping_vortex_center_ep000_middle_frame049.png
+station_keeping	triangle	flowmo	inferred	vortex_center	0	last	97	98	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_station_keeping_vortex_center_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_station_keeping_vortex_center_ep000_last_frame097.png
+waypoint_square	twin	flowmo	inferred	gradient	0	first	0	352	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_waypoint_square_gradient_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_square_gradient_ep000_first_frame000.png
+waypoint_square	twin	flowmo	inferred	gradient	0	middle	176	352	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_waypoint_square_gradient_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_square_gradient_ep000_middle_frame176.png
+waypoint_square	twin	flowmo	inferred	gradient	0	last	351	352	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_waypoint_square_gradient_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_square_gradient_ep000_last_frame351.png
+waypoint_square	triangle	flowmo	inferred	gradient	0	first	0	273	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_waypoint_square_gradient_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_square_gradient_ep000_first_frame000.png
+waypoint_square	triangle	flowmo	inferred	gradient	0	middle	136	273	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_waypoint_square_gradient_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_square_gradient_ep000_middle_frame136.png
+waypoint_square	triangle	flowmo	inferred	gradient	0	last	272	273	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_waypoint_square_gradient_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_square_gradient_ep000_last_frame272.png
+waypoint_zigzag	twin	flowmo	inferred	random_fourier	0	first	0	383	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000_first_frame000.png
+waypoint_zigzag	twin	flowmo	inferred	random_fourier	0	middle	191	383	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000_middle_frame191.png
+waypoint_zigzag	twin	flowmo	inferred	random_fourier	0	last	382	383	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000_last_frame382.png
+waypoint_zigzag	triangle	flowmo	inferred	random_fourier	0	first	0	320	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000_first_frame000.png
+waypoint_zigzag	triangle	flowmo	inferred	random_fourier	0	middle	160	320	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000_middle_frame160.png
+waypoint_zigzag	triangle	flowmo	inferred	random_fourier	0	last	319	320	experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000.gif	experiments/reports/paper_artifacts/fig3/frames/fig3_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000_last_frame319.png

experiments/reports/paper_artifacts/fig3/figure3_provenance.md

@@ -0,0 +1,30 @@
+# Figure 3 Provenance
+
+Purpose: qualitative task rollouts extracted from experiment GIFs.
+
+Selected method/context: `flowmo` / `inferred`.
+Selected episode: `0`.
+
+Selected flows by task:
+- `reach_target`: `uniform`
+- `station_keeping`: `vortex_center`
+- `waypoint_square`: `gradient`
+- `waypoint_zigzag`: `random_fourier`
+
+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/frames/`
+- `experiments/reports/paper_artifacts/fig3/figure3_frame_manifest.tsv`
+- `experiments/reports/paper_artifacts/fig3/figure3_frame_manifest.csv`
+
+Source GIFs:
+- `experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_reach_target_uniform_ep000.gif`
+- `experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_station_keeping_vortex_center_ep000.gif`
+- `experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_waypoint_square_gradient_ep000.gif`
+- `experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_triangle_waypoint_zigzag_random_fourier_ep000.gif`
+- `experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_reach_target_uniform_ep000.gif`
+- `experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_station_keeping_vortex_center_ep000.gif`
+- `experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_waypoint_square_gradient_ep000.gif`
+- `experiments/reports/paper_planning/gifs/image_planning_flowmo_inferred_twin_waypoint_zigzag_random_fourier_ep000.gif`