Add files using upload-large-folder tool

experiments/docs/EXPERIMENT_PROTOCOL.md

@@ -125,6 +125,8 @@ planet
 tdmpc2
 ```
 
+All learned world models use the same route-aware CEM planner over their latent rollouts.
+
 Traditional non-WM controllers:
 
 ```text
@@ -204,7 +206,7 @@ python -m experiments.run_paper_image_pipeline --stages planning
 python -m experiments.run_paper_image_pipeline --stages report
 ```
 
-Run smoke tests:
+Run tests:
 
 ```bash
 python -m pytest -q

experiments/evaluate_image_planning.py

@@ -136,11 +136,53 @@ def sample_action_sequences(mean: torch.Tensor, std: torch.Tensor, population: i
     return samples
 
 
+def route_points_tensor(
+    current_pos: torch.Tensor,
+    goals: np.ndarray,
+    goal_idx: int,
+) -> torch.Tensor:
+    remaining = torch.as_tensor(goals[goal_idx:], dtype=torch.float32, device=current_pos.device)
+    return torch.cat([current_pos.reshape(1, 2).detach(), remaining], dim=0)
+
+
+def route_projection(pos: torch.Tensor, route_points: torch.Tensor) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor]:
+    starts = route_points[:-1]
+    ends = route_points[1:]
+    seg = ends - starts
+    seg_len = torch.linalg.norm(seg, dim=-1).clamp_min(1.0e-6)
+    seg_len_sq = (seg_len * seg_len).clamp_min(1.0e-6)
+    rel = pos[:, :, None, :] - starts.view(1, 1, -1, 2)
+    t = (rel * seg.view(1, 1, -1, 2)).sum(dim=-1) / seg_len_sq.view(1, 1, -1)
+    t = t.clamp(0.0, 1.0)
+    proj = starts.view(1, 1, -1, 2) + t[..., None] * seg.view(1, 1, -1, 2)
+    dist_sq = ((pos[:, :, None, :] - proj) ** 2).sum(dim=-1)
+    min_dist_sq, idx = dist_sq.min(dim=-1)
+    cum = torch.cat([torch.zeros(1, device=pos.device), seg_len.cumsum(dim=0)[:-1]], dim=0)
+    along = cum.view(1, 1, -1) + t * seg_len.view(1, 1, -1)
+    route_s = along.gather(dim=-1, index=idx[..., None]).squeeze(-1)
+    return min_dist_sq, route_s, seg_len.sum()
+
+
+def route_points_at_s(route_points: torch.Tensor, s: torch.Tensor) -> torch.Tensor:
+    starts = route_points[:-1]
+    ends = route_points[1:]
+    seg = ends - starts
+    seg_len = torch.linalg.norm(seg, dim=-1).clamp_min(1.0e-6)
+    cum_end = seg_len.cumsum(dim=0)
+    cum_start = cum_end - seg_len
+    flat_s = s.reshape(-1).clamp(0.0, float(cum_end[-1].detach().cpu()))
+    idx = torch.searchsorted(cum_end, flat_s, right=False).clamp(max=seg_len.numel() - 1)
+    local = ((flat_s - cum_start[idx]) / seg_len[idx]).clamp(0.0, 1.0)
+    pts = starts[idx] + local[:, None] * seg[idx]
+    return pts.reshape(*s.shape, 2)
+
+
 def learned_plan(
     model,
     image_history: deque,
     action_history: deque,
-    goal: np.ndarray,
+    goals: np.ndarray,
+    goal_idx: int,
     active_action_dim: int,
     args,
     prev_action: np.ndarray,
@@ -159,9 +201,11 @@ def learned_plan(
         c = donor_context.to(device=device, dtype=torch.float32)
     z = z.detach()
     c = c.detach()
+    goal = goals[goal_idx]
     goal_t = torch.as_tensor(goal, dtype=torch.float32, device=device).view(1, 2)
     with torch.no_grad(), autocast_context(device, args.precision):
         current_pos = decode_absolute(model.decoder(z)).float().detach()[..., :2]
+    route_points = route_points_tensor(current_pos[0], goals, goal_idx)
     mean = warm_start_mean(
         previous_mean,
         args.cem_horizon,
@@ -173,19 +217,6 @@ def learned_plan(
     prev = torch.zeros((model.config.action_dim,), dtype=torch.float32, device=device)
     prev[:active_action_dim] = torch.as_tensor(prev_action, dtype=torch.float32, device=device)
     best_candidates = None
-    if args.planner == "gradient":
-        action, best_candidates, mean = gradient_plan(
-            model,
-            z,
-            c,
-            mean,
-            goal_t,
-            current_pos,
-            prev,
-            active_action_dim,
-            args,
-        )
-        return action, best_candidates, mean
     with torch.no_grad():
         action, best_candidates, mean = cem_plan(
             model,
@@ -194,6 +225,7 @@ def learned_plan(
             mean,
             std,
             goal_t,
+            route_points,
             current_pos,
             prev,
             active_action_dim,
@@ -206,6 +238,7 @@ def planning_cost(
     pred: torch.Tensor,
     samples: torch.Tensor,
     goal_t: torch.Tensor,
+    route_points: torch.Tensor,
     current_pos: torch.Tensor,
     prev: torch.Tensor,
     active_action_dim: int,
@@ -214,10 +247,19 @@ def planning_cost(
     pos = pred[..., :2]
     goal_delta = goal_t - current_pos
     goal_dir = goal_delta / torch.linalg.norm(goal_delta, dim=-1, keepdim=True).clamp_min(1.0e-6)
-    progress = ((pos - current_pos[:, None]) * goal_dir[:, None]).sum(dim=-1).amax(dim=-1)
+    direct_progress = ((pos - current_pos[:, None]) * goal_dir[:, None]).sum(dim=-1).amax(dim=-1)
     alpha = torch.linspace(1.0 / pos.shape[1], 1.0, pos.shape[1], device=pos.device, dtype=pos.dtype)
-    route = current_pos[:, None] + alpha.view(1, -1, 1) * goal_delta[:, None]
-    route_error = ((pos - route) ** 2).sum(dim=-1).mean(dim=-1)
+    direct_route = current_pos[:, None] + alpha.view(1, -1, 1) * goal_delta[:, None]
+    direct_route_error = ((pos - direct_route) ** 2).sum(dim=-1).mean(dim=-1)
+    route_dist_sq, route_s, route_len = route_projection(pos, route_points)
+    route_error = route_dist_sq.mean(dim=-1)
+    scheduled_s = alpha * torch.minimum(
+        route_len,
+        torch.as_tensor(args.cem_route_horizon_distance, dtype=pos.dtype, device=pos.device),
+    )
+    scheduled = route_points_at_s(route_points, scheduled_s).view(1, pos.shape[1], 2)
+    lookahead_error = ((pos - scheduled) ** 2).sum(dim=-1).mean(dim=-1)
+    route_progress = (route_s.amax(dim=-1) / route_len.clamp_min(1.0e-6)).clamp(0.0, 1.0)
     goal_from_pos = goal_t[:, None] - pos
     goal_from_pos = goal_from_pos / torch.linalg.norm(goal_from_pos, dim=-1, keepdim=True).clamp_min(1.0e-6)
     heading = pred[..., 2:4]
@@ -225,24 +267,28 @@ def planning_cost(
     heading_error = (1.0 - (heading * goal_from_pos).sum(dim=-1)).mean(dim=-1)
     terminal = ((pos[:, -1] - goal_t) ** 2).sum(dim=-1)
     path = ((pos - goal_t[:, None]) ** 2).sum(dim=-1).mean(dim=-1)
+    via = ((pos - goal_t[:, None]) ** 2).sum(dim=-1).amin(dim=-1)
     energy = (samples[..., :active_action_dim] ** 2).mean(dim=(1, 2))
     smooth_prev = torch.cat([prev.view(1, 1, -1).repeat(samples.shape[0], 1, 1), samples[:, :-1]], dim=1)
     smooth = ((samples - smooth_prev) ** 2).mean(dim=(1, 2))
+    margin = args.cem_boundary_margin
     boundary = (
-        torch.relu(-pos[..., 0])
-        + torch.relu(pos[..., 0] - 10.0)
-        + torch.relu(-pos[..., 1])
-        + torch.relu(pos[..., 1] - 10.0)
+        torch.relu(margin - pos[..., 0])
+        + torch.relu(pos[..., 0] - (10.0 - margin))
+        + torch.relu(margin - pos[..., 1])
+        + torch.relu(pos[..., 1] - (10.0 - margin))
     ).mean(dim=-1)
     return (
         args.cem_w_goal * terminal
         + args.cem_w_path * path
-        + args.cem_w_route * route_error
+        + args.cem_w_route * (route_error + 0.25 * direct_route_error)
+        + args.cem_w_lookahead * lookahead_error
+        + args.cem_w_via * via
         + args.cem_w_heading_goal * heading_error
         + args.cem_w_action * energy
         + args.cem_w_smooth * smooth
         + args.cem_w_boundary * boundary
-        - args.cem_w_progress * progress
+        - args.cem_w_progress * (route_progress + 0.1 * direct_progress)
     )
 
 
@@ -253,6 +299,7 @@ def cem_plan(
     mean: torch.Tensor,
     std: torch.Tensor,
     goal_t: torch.Tensor,
+    route_points: torch.Tensor,
     current_pos: torch.Tensor,
     prev: torch.Tensor,
     active_action_dim: int,
@@ -267,7 +314,7 @@ def cem_plan(
             samples[:, :, active_action_dim:] = 0.0
         with autocast_context(mean.device, args.precision):
             pred = rollout_latent(model, z, c, samples)
-        cost = planning_cost(pred, samples, goal_t, current_pos, prev, active_action_dim, args)
+        cost = planning_cost(pred, samples, goal_t, route_points, current_pos, prev, active_action_dim, args)
         elite_idx = torch.topk(cost, k=args.cem_elites, largest=False).indices
         elites = samples[elite_idx]
         mean = elites.mean(dim=0)
@@ -283,49 +330,6 @@ def cem_plan(
     )
 
 
-def gradient_plan(
-    model,
-    z: torch.Tensor,
-    c: torch.Tensor,
-    mean: torch.Tensor,
-    goal_t: torch.Tensor,
-    current_pos: torch.Tensor,
-    prev: torch.Tensor,
-    active_action_dim: int,
-    args,
-) -> tuple[np.ndarray, np.ndarray | None, np.ndarray]:
-    init = mean.clamp(-0.95, 0.95)
-    logits = torch.atanh(init).detach().requires_grad_(True)
-    optimizer = torch.optim.Adam([logits], lr=args.planner_lr)
-    inactive = None
-    if active_action_dim < mean.shape[-1]:
-        inactive = torch.zeros_like(mean)
-        inactive[:, :active_action_dim] = 1.0
-    for _ in range(args.planner_iterations):
-        seq = torch.tanh(logits)
-        if inactive is not None:
-            seq = seq * inactive
-        with autocast_context(mean.device, args.precision):
-            pred = rollout_latent(model, z, c, seq.unsqueeze(0))
-        loss = planning_cost(pred, seq.unsqueeze(0), goal_t, current_pos, prev, active_action_dim, args).mean()
-        optimizer.zero_grad(set_to_none=True)
-        loss.backward()
-        optimizer.step()
-    with torch.no_grad():
-        seq = torch.tanh(logits)
-        if inactive is not None:
-            seq = seq * inactive
-        with autocast_context(mean.device, args.precision):
-            pred = rollout_latent(model, z, c, seq.unsqueeze(0))
-        candidates = pred[0, :, :2].detach().cpu().numpy()[None, ...] if args.make_gifs else None
-        action = seq[0, :active_action_dim].detach().cpu().numpy()
-        return (
-            np.clip(action, -1.0, 1.0).astype(np.float32),
-            candidates,
-            seq.detach().cpu().numpy(),
-        )
-
-
 @torch.no_grad()
 def donor_context_for_flowmo(model, env: SurfaceBoatEnv, args, seed: int) -> torch.Tensor | None:
     if not hasattr(model, "to_c"):
@@ -430,7 +434,8 @@ def evaluate_one_method(method: str, args) -> dict:
                         model,
                         image_history,
                         action_history,
-                        goal,
+                        goals,
+                        goal_idx,
                         env.action_dim,
                         args,
                         prev_action,
@@ -531,29 +536,30 @@ def main() -> None:
     parser.add_argument("--boat", choices=["twin", "triangle"], default="twin")
     parser.add_argument("--flow-type", choices=["uniform", "slowly_varying", "vortex_center", "gradient", "turbulent_patch"], default="uniform")
     parser.add_argument("--episodes", type=int, default=50)
-    parser.add_argument("--max-steps", type=int, default=240)
-    parser.add_argument("--planner", choices=["gradient", "cem"], default="gradient")
+    parser.add_argument("--max-steps", type=int, default=420)
     parser.add_argument("--passive-steps", type=int, default=25)
     parser.add_argument("--history-len", type=int, default=32)
     parser.add_argument("--image-size", type=int, default=160)
     parser.add_argument("--visual-scale", type=float, default=2.5)
-    parser.add_argument("--checkpoint-name", default="image_local.pt")
+    parser.add_argument("--checkpoint-name", default="paper.pt")
     parser.add_argument("--context-modes", nargs="+", default=["inferred", "zero", "shuffled"])
-    parser.add_argument("--cem-horizon", type=int, default=15)
-    parser.add_argument("--cem-population", type=int, default=128)
-    parser.add_argument("--cem-elites", type=int, default=16)
-    parser.add_argument("--cem-iterations", type=int, default=3)
+    parser.add_argument("--cem-horizon", type=int, default=45)
+    parser.add_argument("--cem-population", type=int, default=512)
+    parser.add_argument("--cem-elites", type=int, default=64)
+    parser.add_argument("--cem-iterations", type=int, default=4)
     parser.add_argument("--cem-action-std", type=float, default=0.5)
-    parser.add_argument("--cem-knots", type=int, default=5)
-    parser.add_argument("--planner-iterations", type=int, default=30)
-    parser.add_argument("--planner-lr", type=float, default=0.08)
-    parser.add_argument("--cem-w-goal", type=float, default=8.0)
-    parser.add_argument("--cem-w-path", type=float, default=0.45)
-    parser.add_argument("--cem-w-route", type=float, default=1.0)
+    parser.add_argument("--cem-knots", type=int, default=10)
+    parser.add_argument("--cem-w-goal", type=float, default=6.0)
+    parser.add_argument("--cem-w-path", type=float, default=0.2)
+    parser.add_argument("--cem-w-route", type=float, default=6.0)
+    parser.add_argument("--cem-w-lookahead", type=float, default=2.0)
+    parser.add_argument("--cem-w-via", type=float, default=2.0)
+    parser.add_argument("--cem-route-horizon-distance", type=float, default=3.0)
     parser.add_argument("--cem-w-heading-goal", type=float, default=0.0)
-    parser.add_argument("--cem-w-action", type=float, default=0.04)
+    parser.add_argument("--cem-w-action", type=float, default=0.08)
     parser.add_argument("--cem-w-smooth", type=float, default=0.08)
-    parser.add_argument("--cem-w-boundary", type=float, default=10.0)
+    parser.add_argument("--cem-w-boundary", type=float, default=250.0)
+    parser.add_argument("--cem-boundary-margin", type=float, default=0.75)
     parser.add_argument("--cem-w-progress", type=float, default=2.0)
     parser.add_argument("--success-radius", type=float, default=0.65)
     parser.add_argument("--make-gifs", type=int, default=3)
@@ -562,7 +568,7 @@ def main() -> None:
     parser.add_argument("--seed", type=int, default=33)
     parser.add_argument("--device", default="cuda")
     parser.add_argument("--precision", choices=["fp32", "bf16", "fp16"], default="fp32")
-    parser.add_argument("--out", default="experiments/reports/image_planning")
+    parser.add_argument("--out", default="experiments/reports/paper_planning")
     args = parser.parse_args()
 
     out_dir = Path(args.out)

experiments/planet/README.md

@@ -1,5 +1,5 @@
-# RSSM Adapter
+# PlaNet RSSM
 
-Recurrent state-space world model with CEM planning, adapted to the boat drift benchmark.
+Recurrent state-space world-model baseline under the shared clean-image boat drift benchmark.
 
-This baseline keeps the world-model component that is directly comparable for our setting: image encoder, recurrent latent dynamics, action-conditioned rollout, and decoded pose prediction.
+This method uses an image encoder, recurrent latent dynamics, action-conditioned rollout, and decoded pose prediction under the same data, optimizer, and evaluation protocol as FlowMo.

experiments/planet/result/paper_training.json

@@ -0,0 +1,43 @@
+{
+  "method": "planet",
+  "steps": 20000,
+  "batch_size": 256,
+  "train_samples": 5120000,
+  "final_train_loss": 0.008471474051475525,
+  "total_parameters": 664644,
+  "target_mode": "absolute_normalized",
+  "position_scale": 5.0,
+  "heading_weight": 2.0,
+  "current_pose_weight": 1.0,
+  "motion_weight": 0.5,
+  "precision": "bf16",
+  "checkpoint_name": "paper.pt",
+  "final_checkpoint": "paper.pt",
+  "intermediate_checkpoints": [
+    "paper_step_002000.pt",
+    "paper_step_004000.pt",
+    "paper_step_006000.pt",
+    "paper_step_008000.pt",
+    "paper_step_010000.pt",
+    "paper_step_012000.pt",
+    "paper_step_014000.pt",
+    "paper_step_016000.pt",
+    "paper_step_018000.pt",
+    "paper_step_020000.pt"
+  ],
+  "checkpoint_interval": 2000,
+  "prediction": {
+    "pos1": 0.12035437487065792,
+    "heading1": 0.050536025839392096,
+    "pos3": 0.12147162947803736,
+    "heading3": 0.05107929309209188,
+    "pos6": 0.13511362741701305,
+    "heading6": 0.05543786101043224,
+    "pos8": 0.14701085817068815,
+    "heading8": 0.05840683872035394,
+    "pos10": 0.16024279454723,
+    "heading10": 0.061416062798040606,
+    "pos20": 0.22345823872213563,
+    "heading20": 0.07620794516211997
+  }
+}

experiments/planet/result/paper_training_trace.jsonl

@@ -0,0 +1,100 @@
+{"method": "planet", "step": 200, "loss": 2.562255382537842}
+{"method": "planet", "step": 400, "loss": 2.560068368911743}
+{"method": "planet", "step": 600, "loss": 2.3322505950927734}
+{"method": "planet", "step": 800, "loss": 1.9882159233093262}
+{"method": "planet", "step": 1000, "loss": 1.8262876272201538}
+{"method": "planet", "step": 1200, "loss": 1.7105216979980469}
+{"method": "planet", "step": 1400, "loss": 1.6352806091308594}
+{"method": "planet", "step": 1600, "loss": 1.5955568552017212}
+{"method": "planet", "step": 1800, "loss": 1.5308232307434082}
+{"method": "planet", "step": 2000, "loss": 1.1763442754745483}
+{"method": "planet", "step": 2200, "loss": 0.8024235963821411}
+{"method": "planet", "step": 2400, "loss": 0.31014516949653625}
+{"method": "planet", "step": 2600, "loss": 0.16347827017307281}
+{"method": "planet", "step": 2800, "loss": 0.12191551923751831}
+{"method": "planet", "step": 3000, "loss": 0.09709076583385468}
+{"method": "planet", "step": 3200, "loss": 0.08425617218017578}
+{"method": "planet", "step": 3400, "loss": 0.07675585150718689}
+{"method": "planet", "step": 3600, "loss": 0.06946409493684769}
+{"method": "planet", "step": 3800, "loss": 0.06394364684820175}
+{"method": "planet", "step": 4000, "loss": 0.058629147708415985}
+{"method": "planet", "step": 4200, "loss": 0.05564868822693825}
+{"method": "planet", "step": 4400, "loss": 0.05275396630167961}
+{"method": "planet", "step": 4600, "loss": 0.04817806929349899}
+{"method": "planet", "step": 4800, "loss": 0.04586486145853996}
+{"method": "planet", "step": 5000, "loss": 0.04238906130194664}
+{"method": "planet", "step": 5200, "loss": 0.04104524478316307}
+{"method": "planet", "step": 5400, "loss": 0.03818673640489578}
+{"method": "planet", "step": 5600, "loss": 0.038053277879953384}
+{"method": "planet", "step": 5800, "loss": 0.04066094383597374}
+{"method": "planet", "step": 6000, "loss": 0.03227749094367027}
+{"method": "planet", "step": 6200, "loss": 0.02956106886267662}
+{"method": "planet", "step": 6400, "loss": 0.03040161542594433}
+{"method": "planet", "step": 6600, "loss": 0.027002347633242607}
+{"method": "planet", "step": 6800, "loss": 0.025158630684018135}
+{"method": "planet", "step": 7000, "loss": 0.02645196206867695}
+{"method": "planet", "step": 7200, "loss": 0.024857478216290474}
+{"method": "planet", "step": 7400, "loss": 0.02301337942481041}
+{"method": "planet", "step": 7600, "loss": 0.022782575339078903}
+{"method": "planet", "step": 7800, "loss": 0.04205402731895447}
+{"method": "planet", "step": 8000, "loss": 0.02556300349533558}
+{"method": "planet", "step": 8200, "loss": 0.019278213381767273}
+{"method": "planet", "step": 8400, "loss": 0.017884887754917145}
+{"method": "planet", "step": 8600, "loss": 0.017695849761366844}
+{"method": "planet", "step": 8800, "loss": 0.017878837883472443}
+{"method": "planet", "step": 9000, "loss": 0.01779993809759617}
+{"method": "planet", "step": 9200, "loss": 0.017646415159106255}
+{"method": "planet", "step": 9400, "loss": 0.022703692317008972}
+{"method": "planet", "step": 9600, "loss": 0.016452010720968246}
+{"method": "planet", "step": 9800, "loss": 0.01951923966407776}
+{"method": "planet", "step": 10000, "loss": 0.015538707375526428}
+{"method": "planet", "step": 10200, "loss": 0.014863155782222748}
+{"method": "planet", "step": 10400, "loss": 0.014721364714205265}
+{"method": "planet", "step": 10600, "loss": 0.014877153560519218}
+{"method": "planet", "step": 10800, "loss": 0.014600856229662895}
+{"method": "planet", "step": 11000, "loss": 0.013675257563591003}
+{"method": "planet", "step": 11200, "loss": 0.014189041219651699}
+{"method": "planet", "step": 11400, "loss": 0.05367814004421234}
+{"method": "planet", "step": 11600, "loss": 0.017949046567082405}
+{"method": "planet", "step": 11800, "loss": 0.013077820651233196}
+{"method": "planet", "step": 12000, "loss": 0.015287485904991627}
+{"method": "planet", "step": 12200, "loss": 0.012940593995153904}
+{"method": "planet", "step": 12400, "loss": 0.012733171693980694}
+{"method": "planet", "step": 12600, "loss": 0.011863663792610168}
+{"method": "planet", "step": 12800, "loss": 0.012266267091035843}
+{"method": "planet", "step": 13000, "loss": 0.012356869876384735}
+{"method": "planet", "step": 13200, "loss": 0.012614256702363491}
+{"method": "planet", "step": 13400, "loss": 0.011980431154370308}
+{"method": "planet", "step": 13600, "loss": 0.012069996446371078}
+{"method": "planet", "step": 13800, "loss": 0.011765953153371811}
+{"method": "planet", "step": 14000, "loss": 0.012296749278903008}
+{"method": "planet", "step": 14200, "loss": 0.0112640131264925}
+{"method": "planet", "step": 14400, "loss": 0.011340075172483921}
+{"method": "planet", "step": 14600, "loss": 0.011042637750506401}
+{"method": "planet", "step": 14800, "loss": 0.011437226086854935}
+{"method": "planet", "step": 15000, "loss": 0.011587102897465229}
+{"method": "planet", "step": 15200, "loss": 0.011276498436927795}
+{"method": "planet", "step": 15400, "loss": 0.020549682900309563}
+{"method": "planet", "step": 15600, "loss": 0.011510416865348816}
+{"method": "planet", "step": 15800, "loss": 0.010764612816274166}
+{"method": "planet", "step": 16000, "loss": 0.010224522091448307}
+{"method": "planet", "step": 16200, "loss": 0.009960352443158627}
+{"method": "planet", "step": 16400, "loss": 0.010054931044578552}
+{"method": "planet", "step": 16600, "loss": 0.009819787926971912}
+{"method": "planet", "step": 16800, "loss": 0.015476037748157978}
+{"method": "planet", "step": 17000, "loss": 0.015195525251328945}
+{"method": "planet", "step": 17200, "loss": 0.0104270800948143}
+{"method": "planet", "step": 17400, "loss": 0.009850576519966125}
+{"method": "planet", "step": 17600, "loss": 0.009411334060132504}
+{"method": "planet", "step": 17800, "loss": 0.009646783582866192}
+{"method": "planet", "step": 18000, "loss": 0.009326843544840813}
+{"method": "planet", "step": 18200, "loss": 0.009361878037452698}
+{"method": "planet", "step": 18400, "loss": 0.009450376033782959}
+{"method": "planet", "step": 18600, "loss": 0.011586474254727364}
+{"method": "planet", "step": 18800, "loss": 0.009417250752449036}
+{"method": "planet", "step": 19000, "loss": 0.008938208222389221}
+{"method": "planet", "step": 19200, "loss": 0.009088343009352684}
+{"method": "planet", "step": 19400, "loss": 0.009216764941811562}
+{"method": "planet", "step": 19600, "loss": 0.008652052842080593}
+{"method": "planet", "step": 19800, "loss": 0.011418974958360195}
+{"method": "planet", "step": 20000, "loss": 0.008471474051475525}

experiments/planet/result/parameter_count.json

@@ -0,0 +1,8 @@
+{
+  "encoder": 471584,
+  "recurrent": 83880,
+  "posterior": 39108,
+  "prior": 27588,
+  "decoder": 42484,
+  "total": 664644
+}

experiments/reports/paper_flowmo_latent_probes.json

@@ -0,0 +1,396 @@
+{
+  "method": "flowmo",
+  "checkpoint": "paper.pt",
+  "train_source": "data/paper/train.npz",
+  "train_windows": 32768,
+  "eval_windows": 8192,
+  "ridge_alpha": 0.001,
+  "feature_sets": {
+    "z": "short-history object-motion latent",
+    "c": "long-history ambient-drift context",
+    "z_c": "concatenated state and context"
+  },
+  "targets": {
+    "momentum": [
+      "vx",
+      "vy",
+      "omega"
+    ],
+    "local_flow": [
+      "flow_x",
+      "flow_y"
+    ],
+    "episode_drift": [
+      "mean_flow_x",
+      "mean_flow_y"
+    ]
+  },
+  "splits": {
+    "unseen_flow": {
+      "momentum": {
+        "z": {
+          "rmse": 0.31821187420487673,
+          "r2_mean": 0.5184850391792748,
+          "rmse_by_dim": {
+            "vx": 0.34811186867706495,
+            "vy": 0.350899804987716,
+            "omega": 0.24385209533790253
+          },
+          "r2_by_dim": {
+            "vx": 0.5455691168289183,
+            "vy": 0.5313334862812791,
+            "omega": 0.47855251442762703
+          }
+        },
+        "c": {
+          "rmse": 0.34957317056470755,
+          "r2_mean": 0.41605964182544164,
+          "rmse_by_dim": {
+            "vx": 0.3994094379542694,
+            "vy": 0.36530582461295275,
+            "omega": 0.2713447256035957
+          },
+          "r2_by_dim": {
+            "vx": 0.4017718803324335,
+            "vy": 0.49206181327467846,
+            "omega": 0.35434523186921296
+          }
+        },
+        "z_c": {
+          "rmse": 0.2193706834732244,
+          "r2_mean": 0.7368429361329699,
+          "rmse_by_dim": {
+            "vx": 0.21692837820016547,
+            "vy": 0.22006408988605658,
+            "omega": 0.22109808994334715
+          },
+          "r2_by_dim": {
+            "vx": 0.8235332383237253,
+            "vy": 0.8156699968018477,
+            "omega": 0.5713255732733367
+          }
+        }
+      },
+      "local_flow": {
+        "z": {
+          "rmse": 0.07843503169500973,
+          "r2_mean": -0.01944303177219464,
+          "rmse_by_dim": {
+            "flow_x": 0.09077174282556603,
+            "flow_y": 0.06375420847601841
+          },
+          "r2_by_dim": {
+            "flow_x": -0.014859738919355658,
+            "flow_y": -0.024026324625033624
+          }
+        },
+        "c": {
+          "rmse": 0.07798741156625708,
+          "r2_mean": -0.005461990571006603,
+          "rmse_by_dim": {
+            "flow_x": 0.0904581494574027,
+            "flow_y": 0.06309830364084035
+          },
+          "r2_by_dim": {
+            "flow_x": -0.007859685122224569,
+            "flow_y": -0.003064296019788637
+          }
+        },
+        "z_c": {
+          "rmse": 0.0784850206804807,
+          "r2_mean": -0.022780350631247503,
+          "rmse_by_dim": {
+            "flow_x": 0.09065522446817467,
+            "flow_y": 0.06404238611307235
+          },
+          "r2_by_dim": {
+            "flow_x": -0.012255979402871597,
+            "flow_y": -0.03330472185962341
+          }
+        }
+      },
+      "episode_drift": {
+        "z": {
+          "rmse": 0.05995900059305859,
+          "r2_mean": -0.04289628160814729,
+          "rmse_by_dim": {
+            "drift_x": 0.07055009574735344,
+            "drift_y": 0.047040912983020156
+          },
+          "r2_by_dim": {
+            "drift_x": -0.03195397200963912,
+            "drift_y": -0.05383859120665546
+          }
+        },
+        "c": {
+          "rmse": 0.05915993289798252,
+          "r2_mean": -0.009940491211227753,
+          "rmse_by_dim": {
+            "drift_x": 0.069894785014213,
+            "drift_y": 0.04598384878198606
+          },
+          "r2_by_dim": {
+            "drift_x": -0.01287221738351807,
+            "drift_y": -0.007008765038937437
+          }
+        },
+        "z_c": {
+          "rmse": 0.06006404192852131,
+          "r2_mean": -0.049480376691744654,
+          "rmse_by_dim": {
+            "drift_x": 0.07051951652393913,
+            "drift_y": 0.04735373327217388
+          },
+          "r2_by_dim": {
+            "drift_x": -0.03105958591876279,
+            "drift_y": -0.06790116746472652
+          }
+        }
+      }
+    },
+    "unseen_boat_params": {
+      "momentum": {
+        "z": {
+          "rmse": 0.4268771296110046,
+          "r2_mean": 0.40369402274507565,
+          "rmse_by_dim": {
+            "vx": 0.4695463056140436,
+            "vy": 0.4611274953700694,
+            "omega": 0.3369865742915004
+          },
+          "r2_by_dim": {
+            "vx": 0.4539002422929863,
+            "vy": 0.42360958493568024,
+            "omega": 0.3335722410065606
+          }
+        },
+        "c": {
+          "rmse": 0.46845337545697746,
+          "r2_mean": 0.29187105006478614,
+          "rmse_by_dim": {
+            "vx": 0.5425800246015967,
+            "vy": 0.4843009899455491,
+            "omega": 0.3597292912346711
+          },
+          "r2_by_dim": {
+            "vx": 0.2708065986923096,
+            "vy": 0.364222100825622,
+            "omega": 0.24058445067642675
+          }
+        },
+        "z_c": {
+          "rmse": 0.3266658418383879,
+          "r2_mean": 0.6145983424072268,
+          "rmse_by_dim": {
+            "vx": 0.32910835983790804,
+            "vy": 0.33535537619787376,
+            "omega": 0.31520814680450826
+          },
+          "r2_by_dim": {
+            "vx": 0.7317171221019347,
+            "vy": 0.6951506597139209,
+            "omega": 0.4169272454058246
+          }
+        }
+      },
+      "local_flow": {
+        "z": {
+          "rmse": 0.07331797083372214,
+          "r2_mean": -0.01390535575287899,
+          "rmse_by_dim": {
+            "flow_x": 0.07701320123600827,
+            "flow_y": 0.0694263388760432
+          },
+          "r2_by_dim": {
+            "flow_x": -0.0010740859905196132,
+            "flow_y": -0.026736625515238366
+          }
+        },
+        "c": {
+          "rmse": 0.07299725327738979,
+          "r2_mean": -0.0034678596919494042,
+          "rmse_by_dim": {
+            "flow_x": 0.07714272941700684,
+            "flow_y": 0.06860172935270102
+          },
+          "r2_by_dim": {
+            "flow_x": -0.004444322437507919,
+            "flow_y": -0.002491396946390889
+          }
+        },
+        "z_c": {
+          "rmse": 0.07328932296891391,
+          "r2_mean": -0.013801631900107802,
+          "rmse_by_dim": {
+            "flow_x": 0.07678064822624009,
+            "flow_y": 0.06962314112737159
+          },
+          "r2_by_dim": {
+            "flow_x": 0.004962575162276939,
+            "flow_y": -0.032565838962492544
+          }
+        }
+      },
+      "episode_drift": {
+        "z": {
+          "rmse": 0.0698882094144763,
+          "r2_mean": -0.015100528040877415,
+          "rmse_by_dim": {
+            "drift_x": 0.07390698251675064,
+            "drift_y": 0.06562378810760704
+          },
+          "r2_by_dim": {
+            "drift_x": 0.0023572016692426923,
+            "drift_y": -0.03255825775099752
+          }
+        },
+        "c": {
+          "rmse": 0.06960943559127758,
+          "r2_mean": -0.004524137032737685,
+          "rmse_by_dim": {
+            "drift_x": 0.07420298540808191,
+            "drift_y": 0.0646905248332428
+          },
+          "r2_by_dim": {
+            "drift_x": -0.005650066444133239,
+            "drift_y": -0.003398207621342131
+          }
+        },
+        "z_c": {
+          "rmse": 0.06984888806231487,
+          "r2_mean": -0.014664817922641571,
+          "rmse_by_dim": {
+            "drift_x": 0.07369784060467233,
+            "drift_y": 0.06577509116141092
+          },
+          "r2_by_dim": {
+            "drift_x": 0.007995470153581263,
+            "drift_y": -0.037325105998864405
+          }
+        }
+      }
+    },
+    "seen_flow_diagnostic": {
+      "momentum": {
+        "z": {
+          "rmse": 0.32314316083034145,
+          "r2_mean": 0.5096040016188508,
+          "rmse_by_dim": {
+            "vx": 0.3625000485647829,
+            "vy": 0.35633687001683617,
+            "omega": 0.23426962464520915
+          },
+          "r2_by_dim": {
+            "vx": 0.5185930281241309,
+            "vy": 0.5105904321420502,
+            "omega": 0.4996285445903713
+          }
+        },
+        "c": {
+          "rmse": 0.3475476997390561,
+          "r2_mean": 0.42752377525991464,
+          "rmse_by_dim": {
+            "vx": 0.3964046310482021,
+            "vy": 0.37227648613779557,
+            "omega": 0.2581507256123088
+          },
+          "r2_by_dim": {
+            "vx": 0.42432989541917077,
+            "vy": 0.465826738013848,
+            "omega": 0.3924146923467251
+          }
+        },
+        "z_c": {
+          "rmse": 0.21613293029060224,
+          "r2_mean": 0.7468685775326346,
+          "rmse_by_dim": {
+            "vx": 0.2188687315952169,
+            "vy": 0.22099911827653557,
+            "omega": 0.20831754299362729
+          },
+          "r2_by_dim": {
+            "vx": 0.8245054315885147,
+            "vy": 0.8117512870793686,
+            "omega": 0.6043490139300203
+          }
+        }
+      },
+      "local_flow": {
+        "z": {
+          "rmse": 0.06791939034781692,
+          "r2_mean": -0.03357439591688827,
+          "rmse_by_dim": {
+            "flow_x": 0.0652720347790211,
+            "flow_y": 0.07046735872902103
+          },
+          "r2_by_dim": {
+            "flow_x": -0.02282423031972658,
+            "flow_y": -0.044324561514049954
+          }
+        },
+        "c": {
+          "rmse": 0.06708834300896654,
+          "r2_mean": -0.008573243479212955,
+          "rmse_by_dim": {
+            "flow_x": 0.06454488756645324,
+            "flow_y": 0.06953883105439314
+          },
+          "r2_by_dim": {
+            "flow_x": -0.0001621195941421405,
+            "flow_y": -0.01698436736428377
+          }
+        },
+        "z_c": {
+          "rmse": 0.0679263325476748,
+          "r2_mean": -0.0341062720819485,
+          "rmse_by_dim": {
+            "flow_x": 0.06544348711029395,
+            "flow_y": 0.07032157067073637
+          },
+          "r2_by_dim": {
+            "flow_x": -0.028204663726890233,
+            "flow_y": -0.04000788043700676
+          }
+        }
+      },
+      "episode_drift": {
+        "z": {
+          "rmse": 0.06408163058339224,
+          "r2_mean": -0.03429135523482507,
+          "rmse_by_dim": {
+            "drift_x": 0.0622225544709556,
+            "drift_y": 0.06588827264059727
+          },
+          "r2_by_dim": {
+            "drift_x": -0.021960875150681458,
+            "drift_y": -0.046621835318968685
+          }
+        },
+        "c": {
+          "rmse": 0.06327725337118104,
+          "r2_mean": -0.008574944184267574,
+          "rmse_by_dim": {
+            "drift_x": 0.06150286622846135,
+            "drift_y": 0.06500322325919908
+          },
+          "r2_by_dim": {
+            "drift_x": 0.0015431337718937455,
+            "drift_y": -0.018693022140428894
+          }
+        },
+        "z_c": {
+          "rmse": 0.06408526921385427,
+          "r2_mean": -0.03453697081741358,
+          "rmse_by_dim": {
+            "drift_x": 0.06231606221713346,
+            "drift_y": 0.0658069285879131
+          },
+          "r2_by_dim": {
+            "drift_x": -0.025034778606517483,
+            "drift_y": -0.04403916302830968
+          }
+        }
+      }
+    }
+  }
+}

experiments/reports/paper_prediction_seen_flow_diagnostic.json

@@ -0,0 +1,1730 @@
+[
+  {
+    "method": "flowmo",
+    "inferred": {
+      "pos1": 0.07215557846939191,
+      "heading1": 0.04457646599621512,
+      "pos3": 0.07859342044685036,
+      "heading3": 0.04733426988241263,
+      "pos6": 0.08967600378673524,
+      "heading6": 0.051181310234824196,
+      "pos8": 0.09660758310928941,
+      "heading8": 0.053674946539103985,
+      "pos10": 0.1039693255443126,
+      "heading10": 0.055941129045095295,
+      "pos20": 0.14678522432222962,
+      "heading20": 0.06714002910302952,
+      "pos30": 0.19330361066386104,
+      "heading30": 0.07891603035386652,
+      "pos40": 0.24007704039104283,
+      "heading40": 0.09061950002796948,
+      "pos60": 0.33941871486604214,
+      "heading60": 0.1137603372335434,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.08120690099855729,
+          "heading1": 0.07483267857006475,
+          "pos3": 0.09003010435544713,
+          "heading3": 0.07898287086478774,
+          "pos6": 0.10165855539214529,
+          "heading6": 0.08403022566249847,
+          "pos8": 0.10806089962632148,
+          "heading8": 0.08689186363413241,
+          "pos10": 0.11511577736494437,
+          "heading10": 0.08876955426244476,
+          "pos20": 0.1549545246263408,
+          "heading20": 0.0996410717522824,
+          "pos30": 0.19396662526107553,
+          "heading30": 0.11264185309284426,
+          "pos40": 0.23156716243994027,
+          "heading40": 0.1245241266701409,
+          "pos60": 0.31430992465870755,
+          "heading60": 0.14679427632495318
+        },
+        "uniform": {
+          "pos1": 0.06260757455521147,
+          "heading1": 0.02777350093134375,
+          "pos3": 0.0671477217411141,
+          "heading3": 0.030186124715777356,
+          "pos6": 0.0788448429869313,
+          "heading6": 0.03404869980179675,
+          "pos8": 0.08724251161586397,
+          "heading8": 0.036546587251624435,
+          "pos10": 0.09633248184680478,
+          "heading10": 0.03896031620310906,
+          "pos20": 0.1519074841598112,
+          "heading20": 0.05032828366537177,
+          "pos30": 0.21469983172901372,
+          "heading30": 0.061410973286697965,
+          "pos40": 0.2791481477362604,
+          "heading40": 0.07257344917775585,
+          "pos60": 0.40556919355475546,
+          "heading60": 0.09265591635477854
+        },
+        "slowly_varying": {
+          "pos1": 0.05911433181702763,
+          "heading1": 0.025629873432142944,
+          "pos3": 0.06409674213331512,
+          "heading3": 0.027946314587896485,
+          "pos6": 0.07415262339907375,
+          "heading6": 0.03140589976441832,
+          "pos8": 0.08107122373880594,
+          "heading8": 0.03353855301803805,
+          "pos10": 0.08863535979930941,
+          "heading10": 0.03580558988304468,
+          "pos20": 0.1303627673603846,
+          "heading20": 0.045796733832415504,
+          "pos30": 0.1747617523031542,
+          "heading30": 0.055912093486920736,
+          "pos40": 0.2181574727078638,
+          "heading40": 0.06637065951878501,
+          "pos60": 0.3061847321554515,
+          "heading60": 0.08814896356375874
+        },
+        "vortex_center": {
+          "pos1": 0.07097234546096366,
+          "heading1": 0.02460469470017529,
+          "pos3": 0.07751636479903276,
+          "heading3": 0.026593407278446946,
+          "pos6": 0.08761445047006546,
+          "heading6": 0.029670855104100738,
+          "pos8": 0.09361252756215283,
+          "heading8": 0.031722132339319614,
+          "pos10": 0.0996109865736062,
+          "heading10": 0.034133316155629305,
+          "pos20": 0.1363043338745805,
+          "heading20": 0.045746987032692914,
+          "pos30": 0.17971415725890497,
+          "heading30": 0.05751161813297289,
+          "pos40": 0.22453445760942756,
+          "heading40": 0.06967587611383545,
+          "pos60": 0.32827691430878836,
+          "heading60": 0.09622892531760811
+        },
+        "gradient": {
+          "pos1": 0.07027972537918382,
+          "heading1": 0.05256288706776246,
+          "pos3": 0.07549442063453289,
+          "heading3": 0.05471608765350656,
+          "pos6": 0.08758000106617474,
+          "heading6": 0.05807372683840012,
+          "pos8": 0.0954163487354746,
+          "heading8": 0.060518847678161465,
+          "pos10": 0.10356618702133716,
+          "heading10": 0.06285945256921688,
+          "pos20": 0.1521690181879332,
+          "heading20": 0.0738330309852901,
+          "pos30": 0.2084429924040338,
+          "heading30": 0.08527158857048847,
+          "pos40": 0.26827598820808024,
+          "heading40": 0.09717404508853474,
+          "pos60": 0.3971906937295575,
+          "heading60": 0.12320612430976781
+        },
+        "turbulent_patch": {
+          "pos1": 0.07896498490411502,
+          "heading1": 0.030163966787931245,
+          "pos3": 0.08498890903324653,
+          "heading3": 0.03225311085295219,
+          "pos6": 0.0954824095735183,
+          "heading6": 0.03533447041916542,
+          "pos8": 0.1021773093021833,
+          "heading8": 0.037924667891974635,
+          "pos10": 0.10892782933436908,
+          "heading10": 0.04060944527960741,
+          "pos20": 0.14781366240901825,
+          "heading20": 0.053374166385485575,
+          "pos30": 0.19077481520481598,
+          "heading30": 0.0654193738905283,
+          "pos40": 0.23315265411749864,
+          "heading40": 0.07791129179680958,
+          "pos60": 0.32138029275796354,
+          "heading60": 0.1009234335177984
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.09438501231463102,
+          "heading1": 0.08593713431136041,
+          "pos3": 0.1085139676734511,
+          "heading3": 0.09234261800641025,
+          "pos6": 0.12572897276624018,
+          "heading6": 0.09974901579048193,
+          "pos8": 0.1359356994741056,
+          "heading8": 0.10387603809031455,
+          "pos10": 0.14627112545220103,
+          "heading10": 0.10626115322313305,
+          "pos20": 0.20629382924540912,
+          "heading20": 0.12340914066575846,
+          "pos30": 0.2637142352024481,
+          "heading30": 0.14543744186952504,
+          "pos40": 0.32040977618214667,
+          "heading40": 0.16619535095298155,
+          "pos60": 0.44909711546979997,
+          "heading60": 0.20396274460909097
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.0679227843010052,
+          "heading1": 0.0636389004437223,
+          "pos3": 0.07139755496526552,
+          "heading3": 0.06551565667716858,
+          "pos6": 0.0773945159068257,
+          "heading6": 0.06818498990275312,
+          "pos8": 0.07996187570436238,
+          "heading8": 0.06977106823848528,
+          "pos10": 0.08370981324435693,
+          "heading10": 0.0711372489902955,
+          "pos20": 0.10320224073557002,
+          "heading20": 0.07568181373626877,
+          "pos30": 0.12365795958355057,
+          "heading30": 0.07958244760090975,
+          "pos40": 0.14200990599762273,
+          "heading40": 0.0825177035172242,
+          "pos60": 0.17843850208075748,
+          "heading60": 0.08916594091862769
+        },
+        "flow_zero_action": {
+          "pos1": 0.06323969076401323,
+          "heading1": 0.028563731687645536,
+          "pos3": 0.06723605094341811,
+          "heading3": 0.029335948629042482,
+          "pos6": 0.0724444462350292,
+          "heading6": 0.030708389245989495,
+          "pos8": 0.07566510138897475,
+          "heading8": 0.03145868870420119,
+          "pos10": 0.07931241191920288,
+          "heading10": 0.03214146166866679,
+          "pos20": 0.10242770322476533,
+          "heading20": 0.03458747069218567,
+          "pos30": 0.1317219325992003,
+          "heading30": 0.03635654368995288,
+          "pos40": 0.16361591119983657,
+          "heading40": 0.0382552574029393,
+          "pos60": 0.2299185521804066,
+          "heading60": 0.04155041905562154
+        },
+        "flow_active_control": {
+          "pos1": 0.06457496413243563,
+          "heading1": 0.024864444771874637,
+          "pos3": 0.07066319528169931,
+          "heading3": 0.027590425412111486,
+          "pos6": 0.08297289470919521,
+          "heading6": 0.03189779340831283,
+          "pos8": 0.09127840210610795,
+          "heading8": 0.03487610744067744,
+          "pos10": 0.10019549402586397,
+          "heading10": 0.0379261064448991,
+          "pos20": 0.14996649609219292,
+          "heading20": 0.05225463670541183,
+          "pos30": 0.2047536660165644,
+          "heading30": 0.06661521993858664,
+          "pos40": 0.26009463359101676,
+          "heading40": 0.08147867560864198,
+          "pos60": 0.37827652093355296,
+          "heading60": 0.11096880231355027
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.07493809005575255,
+          "heading1": 0.041531925573801184,
+          "pos3": 0.08047610970173648,
+          "heading3": 0.0438581924790401,
+          "pos6": 0.09257380181283711,
+          "heading6": 0.04720303322260688,
+          "pos8": 0.10042683020908673,
+          "heading8": 0.049665692460764584,
+          "pos10": 0.10830083780343941,
+          "heading10": 0.052289537262236244,
+          "pos20": 0.1565238847877815,
+          "heading20": 0.06483775938664657,
+          "pos30": 0.21053297635798443,
+          "heading30": 0.07754009538800695,
+          "pos40": 0.265063577597552,
+          "heading40": 0.09055172816491183,
+          "pos60": 0.37798133036579296,
+          "heading60": 0.11764232980875057
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.07828284681275272,
+          "heading1": 0.05278479315988396,
+          "pos3": 0.08468268617339757,
+          "heading3": 0.05573280868322953,
+          "pos6": 0.09589127591554669,
+          "heading6": 0.05962970966230268,
+          "pos8": 0.10369724100050719,
+          "heading8": 0.062281658630008285,
+          "pos10": 0.11173653159884439,
+          "heading10": 0.06463407514535863,
+          "pos20": 0.15518796400747437,
+          "heading20": 0.07768737767701564,
+          "pos30": 0.20449744056964267,
+          "heading30": 0.09285073014705078,
+          "pos40": 0.2550861204879871,
+          "heading40": 0.10866682738929555,
+          "pos60": 0.3621970022070235,
+          "heading60": 0.14016070119712665
+        },
+        "triangle": {
+          "pos1": 0.06498979271973594,
+          "heading1": 0.03497689690882877,
+          "pos3": 0.07147206283979497,
+          "heading3": 0.037512250623460544,
+          "pos6": 0.08240729955545927,
+          "heading6": 0.041300978700993425,
+          "pos8": 0.08831628071049512,
+          "heading8": 0.043609475306535174,
+          "pos10": 0.09488564464500394,
+          "heading10": 0.045774805817311096,
+          "pos20": 0.13695827934701563,
+          "heading20": 0.05480500405370179,
+          "pos30": 0.1802125348378036,
+          "heading30": 0.06261951419509064,
+          "pos40": 0.2225240120443247,
+          "heading40": 0.06951330488516112,
+          "pos60": 0.31277970161478397,
+          "heading60": 0.08288534869581966
+        }
+      }
+    },
+    "context_zero": {
+      "pos1": 0.08243244513869286,
+      "heading1": 0.046545937249902636,
+      "pos3": 0.12233193323481828,
+      "heading3": 0.05832666211063042,
+      "pos6": 0.1840252997353673,
+      "heading6": 0.07677352026803419,
+      "pos8": 0.22216363972984254,
+      "heading8": 0.08666920231189579,
+      "pos10": 0.25783262215554714,
+      "heading10": 0.09495054767467082,
+      "pos20": 0.41365638049319386,
+      "heading20": 0.12549668946303427,
+      "pos30": 0.533890426158905,
+      "heading30": 0.14468609087634832,
+      "pos40": 0.6329363053664565,
+      "heading40": 0.1639032403472811,
+      "pos60": 0.8021749928593636,
+      "heading60": 0.20456185867078602,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.08797754830206192,
+          "heading1": 0.07616909448039348,
+          "pos3": 0.11557865846566753,
+          "heading3": 0.08585853438927306,
+          "pos6": 0.15834192432433322,
+          "heading6": 0.10040778558816735,
+          "pos8": 0.18565294618423595,
+          "heading8": 0.10921865542076219,
+          "pos10": 0.21207577795663665,
+          "heading10": 0.11693952824027383,
+          "pos20": 0.3245561419974996,
+          "heading20": 0.1431631932348082,
+          "pos30": 0.41502929291794527,
+          "heading30": 0.1584416913654441,
+          "pos40": 0.490026653353333,
+          "heading40": 0.17246284933249056,
+          "pos60": 0.6069804430259272,
+          "heading60": 0.19070104896180268
+        },
+        "uniform": {
+          "pos1": 0.07455666852251258,
+          "heading1": 0.02977954048847298,
+          "pos3": 0.116522432008302,
+          "heading3": 0.042264341904140745,
+          "pos6": 0.1835368178128504,
+          "heading6": 0.06184500040412526,
+          "pos8": 0.22489143087233832,
+          "heading8": 0.07189698619740977,
+          "pos10": 0.2632396151920256,
+          "heading10": 0.08034909285049587,
+          "pos20": 0.43535756303172374,
+          "heading20": 0.10933140655916404,
+          "pos30": 0.5637746683510322,
+          "heading30": 0.12670405698076453,
+          "pos40": 0.6705033356776426,
+          "heading40": 0.14339547397321792,
+          "pos60": 0.863431696047049,
+          "heading60": 0.18424445627273456
+        },
+        "slowly_varying": {
+          "pos1": 0.07426940271073407,
+          "heading1": 0.0278604847422193,
+          "pos3": 0.12276292755579443,
+          "heading3": 0.04172230237408688,
+          "pos6": 0.19536330338453367,
+          "heading6": 0.06267184407712902,
+          "pos8": 0.23982298420998213,
+          "heading8": 0.0731048862576391,
+          "pos10": 0.2819350119753326,
+          "heading10": 0.08154094397132076,
+          "pos20": 0.4672846442025567,
+          "heading20": 0.11472952159857619,
+          "pos30": 0.6092160589003881,
+          "heading30": 0.13533769848771857,
+          "pos40": 0.725559508060716,
+          "heading40": 0.15716634626381057,
+          "pos60": 0.926267483060227,
+          "heading60": 0.2101340769597703
+        },
+        "vortex_center": {
+          "pos1": 0.08051215560477923,
+          "heading1": 0.026330485556140995,
+          "pos3": 0.12828380730356112,
+          "heading3": 0.038351367319408865,
+          "pos6": 0.2029629361223714,
+          "heading6": 0.05766684908107979,
+          "pos8": 0.24706188033454005,
+          "heading8": 0.06780099298499984,
+          "pos10": 0.28841427059050756,
+          "heading10": 0.07628890002881483,
+          "pos20": 0.46872417578043585,
+          "heading20": 0.10688746063228913,
+          "pos30": 0.6031712726814109,
+          "heading30": 0.1275854650285119,
+          "pos40": 0.7119402266908591,
+          "heading40": 0.14857031252807504,
+          "pos60": 0.8991826082877095,
+          "heading60": 0.1977962870716281
+        },
+        "gradient": {
+          "pos1": 0.08078530962662255,
+          "heading1": 0.05592453932044566,
+          "pos3": 0.12295388558902393,
+          "heading3": 0.06940662214037421,
+          "pos6": 0.18776463017012923,
+          "heading6": 0.09047922480657172,
+          "pos8": 0.2279720546937484,
+          "heading8": 0.10153114901805843,
+          "pos10": 0.26544003690789947,
+          "heading10": 0.11063381714960335,
+          "pos20": 0.42948587651270936,
+          "heading20": 0.14664191368930973,
+          "pos30": 0.5574680306538529,
+          "heading30": 0.1701606117400541,
+          "pos40": 0.6665117252474368,
+          "heading40": 0.19401952532096756,
+          "pos60": 0.8678986661360394,
+          "heading60": 0.2443232067362036
+        },
+        "turbulent_patch": {
+          "pos1": 0.08997023726503055,
+          "heading1": 0.03193622669921471,
+          "pos3": 0.13376195547290337,
+          "heading3": 0.043168206770832725,
+          "pos6": 0.2016404200440798,
+          "heading6": 0.06229193222064238,
+          "pos8": 0.24409598073898217,
+          "heading8": 0.0722710623477514,
+          "pos10": 0.2818946299644617,
+          "heading10": 0.08036211109123169,
+          "pos20": 0.4473787848001871,
+          "heading20": 0.11251331244905789,
+          "pos30": 0.5755581114536676,
+          "heading30": 0.13378526270389557,
+          "pos40": 0.6783807289141875,
+          "heading40": 0.15637611827025047,
+          "pos60": 0.8492001493771871,
+          "heading60": 0.21034784395343217
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.1011463169889358,
+          "heading1": 0.08886068173187814,
+          "pos3": 0.1359300777622753,
+          "heading3": 0.10548337949819296,
+          "pos6": 0.18866042397894411,
+          "heading6": 0.1281610571602121,
+          "pos8": 0.22256177295811383,
+          "heading8": 0.1415836103119704,
+          "pos10": 0.255244993052028,
+          "heading10": 0.1530305793534703,
+          "pos20": 0.3947433922682325,
+          "heading20": 0.1924565035673011,
+          "pos30": 0.5076919489175219,
+          "heading30": 0.2154127769438172,
+          "pos40": 0.6041436882291407,
+          "heading40": 0.2385955295458605,
+          "pos60": 0.7687338829441063,
+          "heading60": 0.2690475664935859
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.07470284948704305,
+          "heading1": 0.06337541817457973,
+          "pos3": 0.09506353041966217,
+          "heading3": 0.06607582482566882,
+          "pos6": 0.12777954890100154,
+          "heading6": 0.07243126676205756,
+          "pos8": 0.14844721560756802,
+          "heading8": 0.07659335887401816,
+          "pos10": 0.1685593001020853,
+          "heading10": 0.08055815441339931,
+          "pos20": 0.2538043122287527,
+          "heading20": 0.09347336856012724,
+          "pos30": 0.32162124882503446,
+          "heading30": 0.1010123318933411,
+          "pos40": 0.3749916369787825,
+          "heading40": 0.10579819642922113,
+          "pos60": 0.44392583775984645,
+          "heading60": 0.11172430829210467
+        },
+        "flow_zero_action": {
+          "pos1": 0.06683269099140465,
+          "heading1": 0.028505562097300468,
+          "pos3": 0.0874948776562298,
+          "heading3": 0.030029016264219287,
+          "pos6": 0.12428236402034973,
+          "heading6": 0.0338369016008927,
+          "pos8": 0.14773328249935172,
+          "heading8": 0.036604932471476975,
+          "pos10": 0.1698908000105345,
+          "heading10": 0.039368432869482745,
+          "pos20": 0.27230723222878345,
+          "heading20": 0.05005169985919964,
+          "pos30": 0.35697644514647453,
+          "heading30": 0.05663374182258166,
+          "pos40": 0.4282073953293454,
+          "heading40": 0.0618440383611431,
+          "pos60": 0.5330178018228039,
+          "heading60": 0.06744827396058589
+        },
+        "flow_active_control": {
+          "pos1": 0.07720213018840007,
+          "heading1": 0.027110116280208478,
+          "pos3": 0.12491063007995747,
+          "heading3": 0.04182308895940296,
+          "pos6": 0.19865171632358553,
+          "heading6": 0.06565789841610295,
+          "pos8": 0.24396834312147817,
+          "heading8": 0.07776956650719671,
+          "pos10": 0.2858958225222094,
+          "heading10": 0.08772784809560533,
+          "pos20": 0.46963838693488885,
+          "heading20": 0.1240034310495504,
+          "pos30": 0.6097462795063737,
+          "heading30": 0.14535539913800807,
+          "pos40": 0.7273535956668874,
+          "heading40": 0.1668890889324821,
+          "pos60": 0.9434338512738345,
+          "heading60": 0.21926339165761755
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.08959906174373893,
+          "heading1": 0.04483767257588944,
+          "pos3": 0.14329964714074847,
+          "heading3": 0.060685523255550156,
+          "pos6": 0.22394979677853014,
+          "heading6": 0.08464162131282706,
+          "pos8": 0.27285045258759993,
+          "heading8": 0.09680708854706394,
+          "pos10": 0.31804433060265286,
+          "heading10": 0.10660055353262475,
+          "pos20": 0.5151963989971483,
+          "heading20": 0.14524800520141706,
+          "pos30": 0.6625604070938853,
+          "heading30": 0.1722672641903923,
+          "pos40": 0.7805393368766635,
+          "heading40": 0.20113692296929842,
+          "pos60": 0.9862386977255689,
+          "heading60": 0.26951257549777763
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.08582338194052379,
+          "heading1": 0.056039137171878334,
+          "pos3": 0.1197736776177434,
+          "heading3": 0.07204028834467349,
+          "pos6": 0.17639682042425958,
+          "heading6": 0.09535489490498668,
+          "pos8": 0.21312527444915494,
+          "heading8": 0.10851148397162341,
+          "pos10": 0.24731872090394946,
+          "heading10": 0.11944740503162578,
+          "pos20": 0.392353141653365,
+          "heading20": 0.16095799585615378,
+          "pos30": 0.5020377566848976,
+          "heading30": 0.187925911899926,
+          "pos40": 0.5924047058907108,
+          "heading40": 0.21751683777657108,
+          "pos60": 0.7554702594660331,
+          "heading60": 0.2845687991467075
+        },
+        "triangle": {
+          "pos1": 0.07846677694785392,
+          "heading1": 0.035443719539601924,
+          "pos3": 0.12532379301422733,
+          "heading3": 0.04228869642494088,
+          "pos6": 0.19294674543000884,
+          "heading6": 0.05504274873410241,
+          "pos8": 0.23273393233953896,
+          "heading8": 0.061124837878396954,
+          "pos10": 0.2701285281928919,
+          "heading10": 0.06630167428214671,
+          "pos20": 0.4385703771801318,
+          "heading20": 0.08402500402624324,
+          "pos30": 0.5711418683246031,
+          "heading30": 0.09411748877521288,
+          "pos40": 0.6803376664549617,
+          "heading40": 0.1012025721750017,
+          "pos60": 0.8567957595243292,
+          "heading60": 0.11099439581571999
+        }
+      }
+    },
+    "context_shuffled": {
+      "pos1": 0.0874166761059314,
+      "heading1": 0.048212387395324185,
+      "pos3": 0.1489953720010817,
+      "heading3": 0.06619638681877404,
+      "pos6": 0.23919464903883636,
+      "heading6": 0.09213246125727892,
+      "pos8": 0.29290978983044624,
+      "heading8": 0.10610151838045567,
+      "pos10": 0.34335994720458984,
+      "heading10": 0.11799253209028393,
+      "pos20": 0.5565650267526507,
+      "heading20": 0.1592004271224141,
+      "pos30": 0.7204122273251414,
+      "heading30": 0.18274971190840006,
+      "pos40": 0.8575543724000454,
+      "heading40": 0.2036531779449433,
+      "pos60": 1.0982934571802616,
+      "heading60": 0.24583016871474683,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.09255475372597559,
+          "heading1": 0.07773352827976555,
+          "pos3": 0.1433026543805651,
+          "heading3": 0.09320599460259987,
+          "pos6": 0.21810511187513795,
+          "heading6": 0.11689270691305631,
+          "pos8": 0.2636965169148583,
+          "heading8": 0.1304528811247872,
+          "pos10": 0.3071624575700786,
+          "heading10": 0.14220074372730904,
+          "pos20": 0.4899577692342714,
+          "heading20": 0.18226189545983884,
+          "pos30": 0.6305682845641459,
+          "heading30": 0.20436750834636136,
+          "pos40": 0.7454812284916382,
+          "heading40": 0.22008144315124037,
+          "pos60": 0.935511045960618,
+          "heading60": 0.24325859227462984
+        },
+        "uniform": {
+          "pos1": 0.07997046908704494,
+          "heading1": 0.031238271386902654,
+          "pos3": 0.14565101101460784,
+          "heading3": 0.0492116596264853,
+          "pos6": 0.24227551476883866,
+          "heading6": 0.07508588096871611,
+          "pos8": 0.29899942401764124,
+          "heading8": 0.08863057061986564,
+          "pos10": 0.35197746326708723,
+          "heading10": 0.09982590655735825,
+          "pos20": 0.5760733437330425,
+          "heading20": 0.13740620158417988,
+          "pos30": 0.7465273810033068,
+          "heading30": 0.15856184606284393,
+          "pos40": 0.8906600546859933,
+          "heading40": 0.17825853697674318,
+          "pos60": 1.1509639291310934,
+          "heading60": 0.22214973919158523
+        },
+        "slowly_varying": {
+          "pos1": 0.07802449968604712,
+          "heading1": 0.029885650664357246,
+          "pos3": 0.14527046259050752,
+          "heading3": 0.05038032602908006,
+          "pos6": 0.24348243108810821,
+          "heading6": 0.0783925567287586,
+          "pos8": 0.3015590869621882,
+          "heading8": 0.09289507938948374,
+          "pos10": 0.3562683160157065,
+          "heading10": 0.1053250146867343,
+          "pos20": 0.5879152860589039,
+          "heading20": 0.14973219444877223,
+          "pos30": 0.7662833978693409,
+          "heading30": 0.17431265485633196,
+          "pos40": 0.9180502325928501,
+          "heading40": 0.19845943795539034,
+          "pos60": 1.1835587479800385,
+          "heading60": 0.2507384668067039
+        },
+        "vortex_center": {
+          "pos1": 0.08670372264365483,
+          "heading1": 0.02818922381830961,
+          "pos3": 0.15693222379728317,
+          "heading3": 0.04686639187197786,
+          "pos6": 0.25939180396956485,
+          "heading6": 0.07355806892249381,
+          "pos8": 0.31924316108829953,
+          "heading8": 0.0877036417199585,
+          "pos10": 0.37478404804008647,
+          "heading10": 0.09981398825921811,
+          "pos20": 0.6100723394693973,
+          "heading20": 0.14106967850573696,
+          "pos30": 0.7890599903538343,
+          "heading30": 0.16676384567008068,
+          "pos40": 0.9371915104856378,
+          "heading40": 0.19026720666402835,
+          "pos60": 1.198426937991145,
+          "heading60": 0.24188437347798142
+        },
+        "gradient": {
+          "pos1": 0.08639401290921045,
+          "heading1": 0.05752185339541595,
+          "pos3": 0.15021702241675233,
+          "heading3": 0.0771159456159261,
+          "pos6": 0.2429398477658623,
+          "heading6": 0.10459844330298088,
+          "pos8": 0.2985359978605095,
+          "heading8": 0.11938514882298333,
+          "pos10": 0.35087237736086263,
+          "heading10": 0.1318974415090641,
+          "pos20": 0.5733625101507493,
+          "heading20": 0.1757781103335482,
+          "pos30": 0.7477776000640209,
+          "heading30": 0.20226803145301497,
+          "pos40": 0.8981923834658013,
+          "heading40": 0.227000271278501,
+          "pos60": 1.1781233528399175,
+          "heading60": 0.27727233176011057
+        },
+        "turbulent_patch": {
+          "pos1": 0.09498433186075626,
+          "heading1": 0.0335004139596071,
+          "pos3": 0.15831313607020256,
+          "heading3": 0.05157929613517645,
+          "pos6": 0.2512147911848166,
+          "heading6": 0.07760346389542787,
+          "pos8": 0.3063052747494135,
+          "heading8": 0.09123010599078277,
+          "pos10": 0.3573737301123448,
+          "heading10": 0.10264099952884209,
+          "pos20": 0.572528865474921,
+          "heading20": 0.14319963552630866,
+          "pos30": 0.7370758981276782,
+          "heading30": 0.16577430432423568,
+          "pos40": 0.8736396569472092,
+          "heading40": 0.18834652980932823,
+          "pos60": 1.1143857202468774,
+          "heading60": 0.23903142775480563
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.1046607848827902,
+          "heading1": 0.09022957484594968,
+          "pos3": 0.16032306640301366,
+          "heading3": 0.10936686107462466,
+          "pos6": 0.24266442026925758,
+          "heading6": 0.13902448616524496,
+          "pos8": 0.2932502173015622,
+          "heading8": 0.15646836368139427,
+          "pos10": 0.3418054903119314,
+          "heading10": 0.17181095582304357,
+          "pos20": 0.548521305021745,
+          "heading20": 0.22640502578017593,
+          "pos30": 0.7108317010295536,
+          "heading30": 0.25890069826968026,
+          "pos40": 0.8503048635240064,
+          "heading40": 0.2836722770892788,
+          "pos60": 1.0954836709616516,
+          "heading60": 0.3216378531602189
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.08035134153785996,
+          "heading1": 0.0651369645977101,
+          "pos3": 0.12614533156282715,
+          "heading3": 0.07691512548953774,
+          "pos6": 0.19334824604063494,
+          "heading6": 0.09458290470746691,
+          "pos8": 0.23390509535153975,
+          "heading8": 0.10422812782032423,
+          "pos10": 0.2722407503717537,
+          "heading10": 0.11235234512301646,
+          "pos20": 0.43092312396935345,
+          "heading20": 0.1377636746366987,
+          "pos30": 0.5496592307676207,
+          "heading30": 0.14939564703683747,
+          "pos40": 0.6398143445304851,
+          "heading40": 0.15597908230376992,
+          "pos60": 0.7742515591420328,
+          "heading60": 0.16424884370178816
+        },
+        "flow_zero_action": {
+          "pos1": 0.07338850984202468,
+          "heading1": 0.030135576459622886,
+          "pos3": 0.12200016713217,
+          "heading3": 0.040252997638606895,
+          "pos6": 0.1959724492348887,
+          "heading6": 0.055985549863662686,
+          "pos8": 0.24049282372397507,
+          "heading8": 0.06466805276776938,
+          "pos10": 0.28192728206308815,
+          "heading10": 0.07194269907810244,
+          "pos20": 0.45460905323190565,
+          "heading20": 0.09456897453372906,
+          "pos30": 0.5861824676827442,
+          "heading30": 0.10513691482236996,
+          "pos40": 0.6896251542897538,
+          "heading40": 0.11153332111715045,
+          "pos60": 0.849003863004259,
+          "heading60": 0.12063838751336321
+        },
+        "flow_active_control": {
+          "pos1": 0.08197571500906481,
+          "heading1": 0.02898624738560129,
+          "pos3": 0.15084161372368732,
+          "heading3": 0.049972870720355236,
+          "pos6": 0.25102460954904604,
+          "heading6": 0.07995279856228814,
+          "pos8": 0.31043448660309847,
+          "heading8": 0.09570350874181591,
+          "pos10": 0.366301155130546,
+          "heading10": 0.10897211402170824,
+          "pos20": 0.603762866122145,
+          "heading20": 0.15442912366956743,
+          "pos30": 0.787888638108133,
+          "heading30": 0.1796805761595856,
+          "pos40": 0.9466569230145803,
+          "heading40": 0.20388399406045443,
+          "pos60": 1.237604730370023,
+          "heading60": 0.257601775375067
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.09445756434678161,
+          "heading1": 0.04641204434284144,
+          "pos3": 0.1658656233448093,
+          "heading3": 0.06767180768544774,
+          "pos6": 0.26936117105539253,
+          "heading6": 0.0966788867695908,
+          "pos8": 0.32996096689796733,
+          "heading8": 0.1117882624226971,
+          "pos10": 0.38633344429701955,
+          "heading10": 0.12463867549245589,
+          "pos20": 0.6252485634149643,
+          "heading20": 0.1716077172738292,
+          "pos30": 0.8075954663960674,
+          "heading30": 0.20112423261484091,
+          "pos40": 0.9615252293683101,
+          "heading40": 0.23091299690880046,
+          "pos60": 1.241821804672729,
+          "heading60": 0.29655281747008977
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.0904821518106737,
+          "heading1": 0.05749684169996476,
+          "pos3": 0.14598510047231894,
+          "heading3": 0.07788606884254926,
+          "pos6": 0.2308215213858563,
+          "heading6": 0.10812918215558148,
+          "pos8": 0.28260605339554773,
+          "heading8": 0.12497857914886613,
+          "pos10": 0.33095074045485345,
+          "heading10": 0.1393761920972147,
+          "pos20": 0.52925996158434,
+          "heading20": 0.19146671891212463,
+          "pos30": 0.6794388406518577,
+          "heading30": 0.22347518348175546,
+          "pos40": 0.8075690701387931,
+          "heading40": 0.25516477659128717,
+          "pos60": 1.046058556307917,
+          "heading60": 0.3208383224580599
+        },
+        "triangle": {
+          "pos1": 0.08383163235197633,
+          "heading1": 0.037354292127035435,
+          "pos3": 0.15251586169509565,
+          "heading3": 0.05252540013673952,
+          "pos6": 0.2489869437985501,
+          "heading6": 0.07342443236355055,
+          "pos8": 0.3049599114110914,
+          "heading8": 0.08402495143019546,
+          "pos10": 0.3578724093356375,
+          "heading10": 0.09298451320599702,
+          "pos20": 0.5884980407811827,
+          "heading20": 0.12146527837898771,
+          "pos30": 0.7683302265102581,
+          "heading30": 0.13512164657398806,
+          "pos40": 0.9160118577844005,
+          "heading40": 0.14341080024585887,
+          "pos60": 1.159381800788944,
+          "heading60": 0.1581087631441779
+        }
+      }
+    }
+  },
+  {
+    "method": "leworldmodel",
+    "inferred": {
+      "pos1": 0.10139610955957323,
+      "heading1": 0.047778590669622645,
+      "pos3": 0.11790238961111754,
+      "heading3": 0.05462278192862868,
+      "pos6": 0.1436836295761168,
+      "heading6": 0.06502760713919997,
+      "pos8": 0.16139853768981993,
+      "heading8": 0.07119921472622082,
+      "pos10": 0.17910279496572912,
+      "heading10": 0.07680588460061699,
+      "pos20": 0.25915543269366026,
+      "heading20": 0.10002426174469292,
+      "pos30": 0.3250510045327246,
+      "heading30": 0.1176923046587035,
+      "pos40": 0.385119394864887,
+      "heading40": 0.13358615012839437,
+      "pos60": 0.5056201675906777,
+      "heading60": 0.16374550410546362,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.1122991125366996,
+          "heading1": 0.0764984528072871,
+          "pos3": 0.13015001483187755,
+          "heading3": 0.08758836679259559,
+          "pos6": 0.16010120391041424,
+          "heading6": 0.10388247875782249,
+          "pos8": 0.18115537226413742,
+          "heading8": 0.11334953131163998,
+          "pos10": 0.20181141627531074,
+          "heading10": 0.12167762790127391,
+          "pos20": 0.2929087463320998,
+          "heading20": 0.1517978495694956,
+          "pos30": 0.36308317085924013,
+          "heading30": 0.17030812214628796,
+          "pos40": 0.4237292159239552,
+          "heading40": 0.18601657096127683,
+          "pos60": 0.53937325828467,
+          "heading60": 0.21301901433479425
+        },
+        "uniform": {
+          "pos1": 0.09123865055553218,
+          "heading1": 0.03204979676129396,
+          "pos3": 0.11011421224616273,
+          "heading3": 0.03632107267421305,
+          "pos6": 0.13627982428090038,
+          "heading6": 0.04451090942740094,
+          "pos8": 0.15385333843175808,
+          "heading8": 0.05004053854988482,
+          "pos10": 0.1712589798222899,
+          "heading10": 0.0551334942645048,
+          "pos20": 0.2567193092704396,
+          "heading20": 0.0760203733795033,
+          "pos30": 0.333306238473558,
+          "heading30": 0.09180753471082778,
+          "pos40": 0.4032965274194088,
+          "heading40": 0.10612465964859245,
+          "pos60": 0.5445490589677306,
+          "heading60": 0.13234554301849985
+        },
+        "slowly_varying": {
+          "pos1": 0.09529904624372604,
+          "heading1": 0.02962824866140535,
+          "pos3": 0.11116465216814207,
+          "heading3": 0.0347660873831489,
+          "pos6": 0.13594988538632688,
+          "heading6": 0.04298607779129789,
+          "pos8": 0.15285068661419313,
+          "heading8": 0.04750970415683216,
+          "pos10": 0.1695166984507163,
+          "heading10": 0.05160680523278296,
+          "pos20": 0.2417832409783039,
+          "heading20": 0.0692722084760104,
+          "pos30": 0.3008037563018319,
+          "heading30": 0.08454368368247692,
+          "pos40": 0.3577112295640704,
+          "heading40": 0.09917423019049586,
+          "pos60": 0.47385441180017174,
+          "heading60": 0.1276326813476814
+        },
+        "vortex_center": {
+          "pos1": 0.09505549591401354,
+          "heading1": 0.030532979756840457,
+          "pos3": 0.11015365435206352,
+          "heading3": 0.03572777366024042,
+          "pos6": 0.13421272946369134,
+          "heading6": 0.0439285093913302,
+          "pos8": 0.15099961876101525,
+          "heading8": 0.04908792552535646,
+          "pos10": 0.1684718678166478,
+          "heading10": 0.05401265577318039,
+          "pos20": 0.24633112431888526,
+          "heading20": 0.0763324371366843,
+          "pos30": 0.3093699171878706,
+          "heading30": 0.09516825759312157,
+          "pos40": 0.3680189776661863,
+          "heading40": 0.1128527965694803,
+          "pos60": 0.4919469455238209,
+          "heading60": 0.1469864696127182
+        },
+        "gradient": {
+          "pos1": 0.09811599661910772,
+          "heading1": 0.05162957498915067,
+          "pos3": 0.11404668349944823,
+          "heading3": 0.05754916662379512,
+          "pos6": 0.13730680755560254,
+          "heading6": 0.06644801587662287,
+          "pos8": 0.15460545271824558,
+          "heading8": 0.07182778706738584,
+          "pos10": 0.17238365264704997,
+          "heading10": 0.07661070253647904,
+          "pos20": 0.2523053633353123,
+          "heading20": 0.09907873220593305,
+          "pos30": 0.3246151898664254,
+          "heading30": 0.11817720195104026,
+          "pos40": 0.39442078144482606,
+          "heading40": 0.13439039812092055,
+          "pos60": 0.5316958251571493,
+          "heading60": 0.17009399502193487
+        },
+        "turbulent_patch": {
+          "pos1": 0.1039272391070158,
+          "heading1": 0.036118196084713325,
+          "pos3": 0.11834129843956386,
+          "heading3": 0.041075147807789154,
+          "pos6": 0.14077920046372291,
+          "heading6": 0.047693949670363694,
+          "pos8": 0.1542978313488838,
+          "heading8": 0.05144577893691185,
+          "pos10": 0.1678314296863018,
+          "heading10": 0.0552186348881477,
+          "pos20": 0.23239661963322225,
+          "heading20": 0.07440776091355544,
+          "pos30": 0.28475075234205294,
+          "heading30": 0.09210776977049999,
+          "pos40": 0.33076643313352877,
+          "heading40": 0.10908608539746358,
+          "pos60": 0.42892569914842266,
+          "heading60": 0.14153771236156806
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.12135813597719593,
+          "heading1": 0.08067798349147381,
+          "pos3": 0.14746244501436723,
+          "heading3": 0.09691321549421597,
+          "pos6": 0.19446743801330027,
+          "heading6": 0.12281194227876306,
+          "pos8": 0.227818154227278,
+          "heading8": 0.1384287261001606,
+          "pos10": 0.2604915101405003,
+          "heading10": 0.1523203015677922,
+          "pos20": 0.3994082567422443,
+          "heading20": 0.2011027630513979,
+          "pos30": 0.5039751997318452,
+          "heading30": 0.2302201720457626,
+          "pos40": 0.59480079128581,
+          "heading40": 0.25584815200363475,
+          "pos60": 0.7731722215302398,
+          "heading60": 0.30051973235552076
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.10316722035710837,
+          "heading1": 0.07228530235557007,
+          "pos3": 0.11269831990509292,
+          "heading3": 0.07818850945558314,
+          "pos6": 0.1254585196061421,
+          "heading6": 0.08480074666093508,
+          "pos8": 0.13411722134776685,
+          "heading8": 0.08806860227386998,
+          "pos10": 0.14265929875385952,
+          "heading10": 0.09078846830215422,
+          "pos20": 0.1855525475856513,
+          "heading20": 0.10209631382359174,
+          "pos30": 0.22105777657304548,
+          "heading30": 0.10991413879959791,
+          "pos40": 0.25128153922899005,
+          "heading40": 0.11562324892556032,
+          "pos60": 0.303693632267977,
+          "heading60": 0.12481444089923442
+        },
+        "flow_zero_action": {
+          "pos1": 0.09491471573876972,
+          "heading1": 0.028353194546688866,
+          "pos3": 0.10131697895594031,
+          "heading3": 0.031620862551123424,
+          "pos6": 0.1076643039565242,
+          "heading6": 0.03348995984320029,
+          "pos8": 0.11205715220796246,
+          "heading8": 0.034191616902033775,
+          "pos10": 0.11799444531989407,
+          "heading10": 0.03466209687982013,
+          "pos20": 0.15203552465647738,
+          "heading20": 0.038884213261695964,
+          "pos30": 0.18561936874287333,
+          "heading30": 0.04320726812445377,
+          "pos40": 0.21837930483214812,
+          "heading40": 0.04697076619923728,
+          "pos60": 0.29772037089164094,
+          "heading60": 0.05680717873583961
+        },
+        "flow_active_control": {
+          "pos1": 0.09002741675524678,
+          "heading1": 0.03174989245597908,
+          "pos3": 0.10834382310739027,
+          "heading3": 0.037912824700307476,
+          "pos6": 0.13782468647386814,
+          "heading6": 0.048891753354154,
+          "pos8": 0.1574976907207723,
+          "heading8": 0.055381205170913106,
+          "pos10": 0.17676902656788418,
+          "heading10": 0.06130858390561996,
+          "pos20": 0.2630335250635728,
+          "heading20": 0.08702476562992219,
+          "pos30": 0.3354928903179583,
+          "heading30": 0.10742159430648414,
+          "pos40": 0.40208877854625713,
+          "heading40": 0.12636314704150256,
+          "pos60": 0.5343347127593924,
+          "heading60": 0.16316703158593143
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.10498064849745482,
+          "heading1": 0.044187180731486315,
+          "pos3": 0.12312601636188067,
+          "heading3": 0.049120709354389995,
+          "pos6": 0.15022636815422827,
+          "heading6": 0.05704505610839412,
+          "pos8": 0.16894449448027957,
+          "heading8": 0.06216505713995831,
+          "pos10": 0.18769784332779543,
+          "heading10": 0.06714114301886535,
+          "pos20": 0.2722731064225798,
+          "heading20": 0.0899115910066655,
+          "pos30": 0.3426430061175009,
+          "heading30": 0.11035059378705192,
+          "pos40": 0.4085875766723869,
+          "heading40": 0.12915359589961997,
+          "pos60": 0.5418329326872712,
+          "heading60": 0.16551775912874325
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.10678518509519273,
+          "heading1": 0.05201125369015811,
+          "pos3": 0.12312433901040451,
+          "heading3": 0.05906067664424578,
+          "pos6": 0.14913929793713748,
+          "heading6": 0.06923281903500142,
+          "pos8": 0.16619825967843982,
+          "heading8": 0.07547571213133093,
+          "pos10": 0.183273541106694,
+          "heading10": 0.08141201599568561,
+          "pos20": 0.26230954065702966,
+          "heading20": 0.1096123654557311,
+          "pos30": 0.32844580774721893,
+          "heading30": 0.13355440624814102,
+          "pos40": 0.38962453862895136,
+          "heading40": 0.15580383785392926,
+          "pos60": 0.5175636587799459,
+          "heading60": 0.1975211136151051
+        },
+        "triangle": {
+          "pos1": 0.0950936202780675,
+          "heading1": 0.042828528589363826,
+          "pos3": 0.11179536921998202,
+          "heading3": 0.04943270362534766,
+          "pos6": 0.1373032765873408,
+          "heading6": 0.060109638687917744,
+          "pos8": 0.1557852966805636,
+          "heading8": 0.0661978743717832,
+          "pos10": 0.17422514636132677,
+          "heading10": 0.07141905132744272,
+          "pos20": 0.25546673672684167,
+          "heading20": 0.08881105432065867,
+          "pos30": 0.3210808197825642,
+          "heading30": 0.0991417226397385,
+          "pos40": 0.37985062851744184,
+          "heading40": 0.10760275249258947,
+          "pos60": 0.491652325048285,
+          "heading60": 0.12424521350254447
+        }
+      }
+    }
+  },
+  {
+    "method": "planet",
+    "inferred": {
+      "pos1": 0.12031169468536973,
+      "heading1": 0.05041622603312135,
+      "pos3": 0.12129365478176624,
+      "heading3": 0.05093222489813343,
+      "pos6": 0.13487291929777712,
+      "heading6": 0.055352571594994515,
+      "pos8": 0.14686689199879766,
+      "heading8": 0.058346032456029207,
+      "pos10": 0.16018584789708257,
+      "heading10": 0.06134532834403217,
+      "pos20": 0.223385292571038,
+      "heading20": 0.07627455226611346,
+      "pos30": 0.2794768353924155,
+      "heading30": 0.09094113518949598,
+      "pos40": 0.33190959226340055,
+      "heading40": 0.10534883453510702,
+      "pos60": 0.43574302922934294,
+      "heading60": 0.13240235880948603,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.1292737908135128,
+          "heading1": 0.07816098371236706,
+          "pos3": 0.12917517308768606,
+          "heading3": 0.07876228431646969,
+          "pos6": 0.14566049931699304,
+          "heading6": 0.08377848057562909,
+          "pos8": 0.1589172891290686,
+          "heading8": 0.08734059509737392,
+          "pos10": 0.17225598072467815,
+          "heading10": 0.090988637675672,
+          "pos20": 0.23328131089199453,
+          "heading20": 0.10841331234617674,
+          "pos30": 0.285900891292153,
+          "heading30": 0.12439222082467415,
+          "pos40": 0.334607480825464,
+          "heading40": 0.13988159257300464,
+          "pos60": 0.4303224621104611,
+          "heading60": 0.1668670972188314
+        },
+        "uniform": {
+          "pos1": 0.1212913334542761,
+          "heading1": 0.033937761507791334,
+          "pos3": 0.12506611511067983,
+          "heading3": 0.03526327818891778,
+          "pos6": 0.1398958997135587,
+          "heading6": 0.03865949453250483,
+          "pos8": 0.1527293535077445,
+          "heading8": 0.04133070121083809,
+          "pos10": 0.16625944884910474,
+          "heading10": 0.044017328960967085,
+          "pos20": 0.2347147118549033,
+          "heading20": 0.05802589375074928,
+          "pos30": 0.29835683563210263,
+          "heading30": 0.07199205208609434,
+          "pos40": 0.3630740213255684,
+          "heading40": 0.08487701641047682,
+          "pos60": 0.4903671369894199,
+          "heading60": 0.10602688795137728
+        },
+        "slowly_varying": {
+          "pos1": 0.10862876248940276,
+          "heading1": 0.03125343410311397,
+          "pos3": 0.10926739764981445,
+          "heading3": 0.03229310694212812,
+          "pos6": 0.12020877572559317,
+          "heading6": 0.037094781928800356,
+          "pos8": 0.1323560399514713,
+          "heading8": 0.040245232297413384,
+          "pos10": 0.1458696323591054,
+          "heading10": 0.04326004749756578,
+          "pos20": 0.21133732908088582,
+          "heading20": 0.057473199019166116,
+          "pos30": 0.2718906597368191,
+          "heading30": 0.07086170019358046,
+          "pos40": 0.3261412875631711,
+          "heading40": 0.0835468152425276,
+          "pos60": 0.4238670432277299,
+          "heading60": 0.10641769920852553
+        },
+        "vortex_center": {
+          "pos1": 0.1183712475872303,
+          "heading1": 0.030944988035563493,
+          "pos3": 0.12078337123225123,
+          "heading3": 0.030986817089263298,
+          "pos6": 0.13201814928291694,
+          "heading6": 0.035368789223870115,
+          "pos8": 0.14244605525437032,
+          "heading8": 0.038253993673289494,
+          "pos10": 0.15557302711420137,
+          "heading10": 0.041095865491123075,
+          "pos20": 0.21736645172140198,
+          "heading20": 0.05548477869244376,
+          "pos30": 0.2708346159390166,
+          "heading30": 0.07042177686366666,
+          "pos40": 0.3210345119539487,
+          "heading40": 0.08604573984154891,
+          "pos60": 0.42611248118129474,
+          "heading60": 0.1185492097289604
+        },
+        "gradient": {
+          "pos1": 0.11559760403764506,
+          "heading1": 0.05788747966921193,
+          "pos3": 0.11945138001856333,
+          "heading3": 0.05798197318154303,
+          "pos6": 0.13198748823443224,
+          "heading6": 0.06215581662981325,
+          "pos8": 0.1431212135167787,
+          "heading8": 0.06488201498429419,
+          "pos10": 0.1569654754583691,
+          "heading10": 0.06741613905123606,
+          "pos20": 0.22641604691554348,
+          "heading20": 0.0808461161678552,
+          "pos30": 0.29186053435748893,
+          "heading30": 0.09519242522776152,
+          "pos40": 0.35383092129114274,
+          "heading40": 0.10978370841755206,
+          "pos60": 0.4797902101174711,
+          "heading60": 0.1393517240622934
+        },
+        "turbulent_patch": {
+          "pos1": 0.12053306572712384,
+          "heading1": 0.04077896843544948,
+          "pos3": 0.11764710635328904,
+          "heading3": 0.040740012644957274,
+          "pos6": 0.1303877302278311,
+          "heading6": 0.0447532441944648,
+          "pos8": 0.14130779785605577,
+          "heading8": 0.04711958565391027,
+          "pos10": 0.1538868020169246,
+          "heading10": 0.04970586230644049,
+          "pos20": 0.2098701149225235,
+          "heading20": 0.06327313652787453,
+          "pos30": 0.25520359476407367,
+          "heading30": 0.07739661142038994,
+          "pos40": 0.29562515822740704,
+          "heading40": 0.09153347328687325,
+          "pos60": 0.3797022440494635,
+          "heading60": 0.12074591119128925
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.15186236366310424,
+          "heading1": 0.07654032643128723,
+          "pos3": 0.1542962513666902,
+          "heading3": 0.07715280198189753,
+          "pos6": 0.1789616519090059,
+          "heading6": 0.08446872219324413,
+          "pos8": 0.19885245975652996,
+          "heading8": 0.09003935011431531,
+          "pos10": 0.2188458556840521,
+          "heading10": 0.09568121272042637,
+          "pos20": 0.311319199593715,
+          "heading20": 0.12422700160594109,
+          "pos30": 0.39195876620187325,
+          "heading30": 0.15148896001457718,
+          "pos40": 0.46619021957634577,
+          "heading40": 0.17909415456138203,
+          "pos60": 0.6106716826501788,
+          "heading60": 0.2276682401093952
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.10650352710995202,
+          "heading1": 0.07979468333832195,
+          "pos3": 0.10385201786858464,
+          "heading3": 0.08038471029735439,
+          "pos6": 0.11209147224781575,
+          "heading6": 0.08308268418562402,
+          "pos8": 0.11866087473417923,
+          "heading8": 0.08462013002677453,
+          "pos10": 0.12529134780647994,
+          "heading10": 0.08625831536374588,
+          "pos20": 0.15461568253005994,
+          "heading20": 0.09247242548928031,
+          "pos30": 0.17898987896052787,
+          "heading30": 0.0970775168846463,
+          "pos40": 0.20196627359285282,
+          "heading40": 0.10035360157237429,
+          "pos60": 0.24852246434682512,
+          "heading60": 0.10557687918479719
+        },
+        "flow_zero_action": {
+          "pos1": 0.10796948570623215,
+          "heading1": 0.03298068278380468,
+          "pos3": 0.10208899035856667,
+          "heading3": 0.03433431854832103,
+          "pos6": 0.1041514209513692,
+          "heading6": 0.036106165040535855,
+          "pos8": 0.10693786972380132,
+          "heading8": 0.036832592292294526,
+          "pos10": 0.11042057194238696,
+          "heading10": 0.0375616624784832,
+          "pos20": 0.13579959831016108,
+          "heading20": 0.04091356871220807,
+          "pos30": 0.1681941967752292,
+          "heading30": 0.043923581690995035,
+          "pos40": 0.20325006967577808,
+          "heading40": 0.046696923623193734,
+          "pos60": 0.27740702567273184,
+          "heading60": 0.050755452726054626
+        },
+        "flow_active_control": {
+          "pos1": 0.11545519745352398,
+          "heading1": 0.03205512526566636,
+          "pos3": 0.11855544165270052,
+          "heading3": 0.032200401753733836,
+          "pos6": 0.13344067962215392,
+          "heading6": 0.03704042307013026,
+          "pos8": 0.14712485677955173,
+          "heading8": 0.04033937683945941,
+          "pos10": 0.16276693836737352,
+          "heading10": 0.04360838927173072,
+          "pos20": 0.23926105475139195,
+          "heading20": 0.06038174442216462,
+          "pos30": 0.30453333552065165,
+          "heading30": 0.07749797371452728,
+          "pos40": 0.3643163270445632,
+          "heading40": 0.09427062866432918,
+          "pos60": 0.47937993663487843,
+          "heading60": 0.12711504826233053
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.12205736362430267,
+          "heading1": 0.04923550314310921,
+          "pos3": 0.1252769592160755,
+          "heading3": 0.04963992345847175,
+          "pos6": 0.14009747487796373,
+          "heading6": 0.054298013889899556,
+          "pos8": 0.1535054824557383,
+          "heading8": 0.05748997405219349,
+          "pos10": 0.16916122469260594,
+          "heading10": 0.0606442363291333,
+          "pos20": 0.23919598715061335,
+          "heading20": 0.07671393112316839,
+          "pos30": 0.3008514220968794,
+          "heading30": 0.09314682391088322,
+          "pos40": 0.35793617901641445,
+          "heading40": 0.10963103096517364,
+          "pos60": 0.47284611978389707,
+          "heading60": 0.14189721299609104
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.12747012910203656,
+          "heading1": 0.0564595902527588,
+          "pos3": 0.12630084016616794,
+          "heading3": 0.05592744975634243,
+          "pos6": 0.1382231796565263,
+          "heading6": 0.060698378453220146,
+          "pos8": 0.14995651918908823,
+          "heading8": 0.06419434630568477,
+          "pos10": 0.16294812097929526,
+          "heading10": 0.067746936303118,
+          "pos20": 0.22555474742599155,
+          "heading20": 0.08663285653228345,
+          "pos30": 0.28217861704204394,
+          "heading30": 0.10640277713537216,
+          "pos40": 0.33610306529031286,
+          "heading40": 0.12638313604005869,
+          "pos60": 0.44630595825720526,
+          "heading60": 0.16370815513790518
+        },
+        "triangle": {
+          "pos1": 0.11193995000952381,
+          "heading1": 0.04334856702362077,
+          "pos3": 0.11543780300071683,
+          "heading3": 0.0450903536215172,
+          "pos6": 0.13095483651100578,
+          "heading6": 0.04910070635378361,
+          "pos8": 0.14325356988583582,
+          "heading8": 0.05150647698191263,
+          "pos10": 0.1569554132677741,
+          "heading10": 0.05385870480183828,
+          "pos20": 0.22084812693676706,
+          "heading20": 0.06416060592410928,
+          "pos30": 0.2763171170727681,
+          "heading30": 0.07285888038449369,
+          "pos40": 0.3270053282632666,
+          "heading40": 0.08074939055210453,
+          "pos60": 0.42338977072198514,
+          "heading60": 0.09579048217353174
+        }
+      }
+    }
+  },
+  {
+    "method": "tdmpc2",
+    "inferred": {
+      "pos1": 0.09533437388017774,
+      "heading1": 0.04814417567104101,
+      "pos3": 0.10872068989556283,
+      "heading3": 0.05317270185332745,
+      "pos6": 0.13102217088453472,
+      "heading6": 0.06094049831153825,
+      "pos8": 0.14737106882967055,
+      "heading8": 0.06579960830276832,
+      "pos10": 0.16420446964912117,
+      "heading10": 0.0702337606344372,
+      "pos20": 0.24011686886660755,
+      "heading20": 0.08838519686833024,
+      "pos30": 0.30179561069235206,
+      "heading30": 0.10310772282537073,
+      "pos40": 0.3580194762907922,
+      "heading40": 0.11704195605125278,
+      "pos60": 0.47011114563792944,
+      "heading60": 0.1434285935247317,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.10207487364094794,
+          "heading1": 0.07552551346038329,
+          "pos3": 0.11668647051913161,
+          "heading3": 0.08333166837440924,
+          "pos6": 0.14246364849266713,
+          "heading6": 0.09411762063824475,
+          "pos8": 0.1612256898825716,
+          "heading8": 0.10012214866942201,
+          "pos10": 0.1794758186847028,
+          "heading10": 0.10537588518429426,
+          "pos20": 0.25897379522707653,
+          "heading20": 0.12454942930053865,
+          "pos30": 0.31915922162906296,
+          "heading30": 0.13748657595324612,
+          "pos40": 0.3732167287589678,
+          "heading40": 0.14927839353168512,
+          "pos60": 0.47758811027370823,
+          "heading60": 0.16783090686335636
+        },
+        "uniform": {
+          "pos1": 0.09180357524293897,
+          "heading1": 0.031458885545075116,
+          "pos3": 0.10697569211247122,
+          "heading3": 0.03455865178311321,
+          "pos6": 0.13086965146392499,
+          "heading6": 0.04055762625617649,
+          "pos8": 0.14842673631282188,
+          "heading8": 0.044675351372069794,
+          "pos10": 0.1666797802270555,
+          "heading10": 0.04871981545547086,
+          "pos20": 0.25651582951467244,
+          "heading20": 0.06560842665444269,
+          "pos30": 0.3339485108910087,
+          "heading30": 0.07920062316929613,
+          "pos40": 0.4050039310307609,
+          "heading40": 0.09239428271859566,
+          "pos60": 0.5413384788380241,
+          "heading60": 0.12094853185153308
+        },
+        "slowly_varying": {
+          "pos1": 0.0892356648186671,
+          "heading1": 0.028578578770301143,
+          "pos3": 0.10213813656254818,
+          "heading3": 0.032186385925979194,
+          "pos6": 0.12326694770956827,
+          "heading6": 0.038618657290233185,
+          "pos8": 0.1379075916564474,
+          "heading8": 0.04272118936536449,
+          "pos10": 0.1534826965287082,
+          "heading10": 0.04638507264576273,
+          "pos20": 0.2224267993681279,
+          "heading20": 0.06082717457439426,
+          "pos30": 0.2813101447855312,
+          "heading30": 0.07383135192898063,
+          "pos40": 0.3350857352985703,
+          "heading40": 0.08702984693381885,
+          "pos60": 0.43758785190866956,
+          "heading60": 0.11280752801558022
+        },
+        "vortex_center": {
+          "pos1": 0.09325964810547745,
+          "heading1": 0.03182444604252497,
+          "pos3": 0.10623566996864803,
+          "heading3": 0.03598909459754537,
+          "pos6": 0.12802666979529162,
+          "heading6": 0.04317049765762322,
+          "pos8": 0.1436768337028665,
+          "heading8": 0.04786674800331481,
+          "pos10": 0.16010515253370577,
+          "heading10": 0.05240163440098977,
+          "pos20": 0.2353050245971118,
+          "heading20": 0.07403219075189782,
+          "pos30": 0.29220173330403515,
+          "heading30": 0.09312874956095887,
+          "pos40": 0.34648637017089506,
+          "heading40": 0.11118396883616233,
+          "pos60": 0.46714651551724795,
+          "heading60": 0.14439736908471354
+        },
+        "gradient": {
+          "pos1": 0.09306100952064349,
+          "heading1": 0.053915129571003445,
+          "pos3": 0.10668170224715715,
+          "heading3": 0.05851092443167026,
+          "pos6": 0.1257530933418937,
+          "heading6": 0.06583011963954666,
+          "pos8": 0.1410806435758454,
+          "heading8": 0.07062252498168266,
+          "pos10": 0.1567588973318232,
+          "heading10": 0.07490914850327968,
+          "pos20": 0.22814414560820098,
+          "heading20": 0.09389631295416405,
+          "pos30": 0.2946844618418501,
+          "heading30": 0.11016886610255094,
+          "pos40": 0.35690794682391574,
+          "heading40": 0.12482716330738075,
+          "pos60": 0.4824036504819061,
+          "heading60": 0.1568904004899462
+        },
+        "turbulent_patch": {
+          "pos1": 0.0956248423227897,
+          "heading1": 0.038641590744448014,
+          "pos3": 0.10583405397259273,
+          "heading3": 0.042599029456957795,
+          "pos6": 0.12490638861289391,
+          "heading6": 0.04839271290275531,
+          "pos8": 0.13898607830588633,
+          "heading8": 0.052665523993663296,
+          "pos10": 0.15468029859356391,
+          "heading10": 0.056702197123414434,
+          "pos20": 0.22426144377543375,
+          "heading20": 0.07392016989298356,
+          "pos30": 0.27815963346988726,
+          "heading30": 0.08944900075976665,
+          "pos40": 0.3247398928954051,
+          "heading40": 0.10454416809937893,
+          "pos60": 0.4210857194967759,
+          "heading60": 0.1333333715223349
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.11318891241689631,
+          "heading1": 0.07627155744744069,
+          "pos3": 0.13630794327282095,
+          "heading3": 0.08817627133566108,
+          "pos6": 0.1755381519681313,
+          "heading6": 0.10462563856966803,
+          "pos8": 0.2041986099765462,
+          "heading8": 0.11374413201108995,
+          "pos10": 0.2317238516889666,
+          "heading10": 0.12173827392421115,
+          "pos20": 0.3517507627600134,
+          "heading20": 0.1523014722076698,
+          "pos30": 0.4411437724729087,
+          "heading30": 0.17455104938428576,
+          "pos40": 0.5244644137802669,
+          "heading40": 0.19591445554359177,
+          "pos60": 0.6851619798963884,
+          "heading60": 0.22943387297911086
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.0908714376396289,
+          "heading1": 0.07477346892885794,
+          "pos3": 0.09690715810386535,
+          "heading3": 0.07844808955095664,
+          "pos6": 0.10912308462790571,
+          "heading6": 0.08352507064142639,
+          "pos8": 0.11790708209578007,
+          "heading8": 0.08639058897194471,
+          "pos10": 0.12680749233045585,
+          "heading10": 0.08888187774856851,
+          "pos20": 0.16545052290164647,
+          "heading20": 0.09657415533146547,
+          "pos30": 0.1961934249548464,
+          "heading30": 0.10012395163898645,
+          "pos40": 0.2207524039601997,
+          "heading40": 0.10226717982425415,
+          "pos60": 0.2683444943698557,
+          "heading60": 0.10573240572067764
+        },
+        "flow_zero_action": {
+          "pos1": 0.08170158718119362,
+          "heading1": 0.031196451261739512,
+          "pos3": 0.08336729389458401,
+          "heading3": 0.03317826253578073,
+          "pos6": 0.08812279609574449,
+          "heading6": 0.035655525122895326,
+          "pos8": 0.09359030436872637,
+          "heading8": 0.03706878010694822,
+          "pos10": 0.09919315701784381,
+          "heading10": 0.03830010732689978,
+          "pos20": 0.13197230162980783,
+          "heading20": 0.0420105333673565,
+          "pos30": 0.16601865431214743,
+          "heading30": 0.04524661048374168,
+          "pos40": 0.20107816509439522,
+          "heading40": 0.04693092141345403,
+          "pos60": 0.2768362311310783,
+          "heading60": 0.04963163035652389
+        },
+        "flow_active_control": {
+          "pos1": 0.0905905413320993,
+          "heading1": 0.02972529996630262,
+          "pos3": 0.10499143479821955,
+          "heading3": 0.034461599574570616,
+          "pos6": 0.1301337123897391,
+          "heading6": 0.04268432975493979,
+          "pos8": 0.14805173270691807,
+          "heading8": 0.048149279846361914,
+          "pos10": 0.16723207911685023,
+          "heading10": 0.05316175244263197,
+          "pos20": 0.25342212245103907,
+          "heading20": 0.0752638541971006,
+          "pos30": 0.32360706574650927,
+          "heading30": 0.0940036232803734,
+          "pos40": 0.38661536953254716,
+          "heading40": 0.11243802647084947,
+          "pos60": 0.512905114415374,
+          "heading60": 0.1494624570982883
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.09984548724636298,
+          "heading1": 0.04715792748120383,
+          "pos3": 0.11657771918937848,
+          "heading3": 0.051119570183769315,
+          "pos6": 0.14087262805299527,
+          "heading6": 0.057892320980153046,
+          "pos8": 0.15839163946558082,
+          "heading8": 0.06262315529350865,
+          "pos10": 0.17678511508466144,
+          "heading10": 0.06717196336454447,
+          "pos20": 0.2592917587388306,
+          "heading20": 0.08719397138510873,
+          "pos30": 0.32709610183411364,
+          "heading30": 0.10515817258777958,
+          "pos40": 0.388778353422861,
+          "heading40": 0.12257241282026238,
+          "pos60": 0.5117161748133563,
+          "heading60": 0.1574738607261345
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.09946658159943594,
+          "heading1": 0.05459605308546536,
+          "pos3": 0.10961288148942201,
+          "heading3": 0.05912864467372065,
+          "pos6": 0.13089498445607614,
+          "heading6": 0.06716328216851622,
+          "pos8": 0.14706402002037436,
+          "heading8": 0.07242099384682765,
+          "pos10": 0.1631929433864096,
+          "heading10": 0.07725610465243243,
+          "pos20": 0.23662431041399637,
+          "heading20": 0.09989638766948727,
+          "pos30": 0.2976152905519458,
+          "heading30": 0.1205088529681814,
+          "pos40": 0.3562756556531657,
+          "heading40": 0.14076503960118777,
+          "pos60": 0.4804911937402642,
+          "heading60": 0.17917672620303388
+        },
+        "triangle": {
+          "pos1": 0.0905017819950136,
+          "heading1": 0.040598759617088205,
+          "pos3": 0.10767726486517211,
+          "heading3": 0.04620727776723393,
+          "pos6": 0.13117092330071886,
+          "heading6": 0.0536630046948538,
+          "pos8": 0.1477301859502065,
+          "heading8": 0.05805595465383287,
+          "pos10": 0.16538744356672644,
+          "heading10": 0.0620211805453745,
+          "pos20": 0.24420138461104893,
+          "heading20": 0.07492295128561682,
+          "pos30": 0.30668445689193274,
+          "heading30": 0.08275724789601262,
+          "pos40": 0.3600588870250573,
+          "heading40": 0.08929801839640585,
+          "pos60": 0.457971770884627,
+          "heading60": 0.101621449625088
+        }
+      }
+    }
+  }
+]

experiments/reports/paper_prediction_unseen_boat_params.json

@@ -0,0 +1,1730 @@
+[
+  {
+    "method": "flowmo",
+    "inferred": {
+      "pos1": 0.0790587430819869,
+      "heading1": 0.0613580493372865,
+      "pos3": 0.08997998922131956,
+      "heading3": 0.06793125218246132,
+      "pos6": 0.10994997073430568,
+      "heading6": 0.0787094832630828,
+      "pos8": 0.1248363257618621,
+      "heading8": 0.08635378791950643,
+      "pos10": 0.1408695480786264,
+      "heading10": 0.09404845058452338,
+      "pos20": 0.23316160985268652,
+      "heading20": 0.13142823975067586,
+      "pos30": 0.3340213382616639,
+      "heading30": 0.16696604690514505,
+      "pos40": 0.43665817100554705,
+      "heading40": 0.19927259325049818,
+      "pos60": 0.638420706614852,
+      "heading60": 0.25364281539805233,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.07652304052883101,
+          "heading1": 0.05353844737498417,
+          "pos3": 0.08731872589719444,
+          "heading3": 0.0630129906572203,
+          "pos6": 0.10268848192204802,
+          "heading6": 0.07911565402261317,
+          "pos8": 0.11371946917122253,
+          "heading8": 0.09015461315481955,
+          "pos10": 0.1252389459161098,
+          "heading10": 0.10105217932384349,
+          "pos20": 0.19097757159499038,
+          "heading20": 0.15062787668319622,
+          "pos30": 0.25717291315326046,
+          "heading30": 0.19072282568387833,
+          "pos40": 0.3167448185688649,
+          "heading40": 0.2218941749730288,
+          "pos60": 0.4270742199984156,
+          "heading60": 0.2637538060837063
+        },
+        "uniform": {
+          "pos1": 0.07212846428044446,
+          "heading1": 0.0389699602670962,
+          "pos3": 0.08181062017524965,
+          "heading3": 0.043707220453599004,
+          "pos6": 0.10204495381488672,
+          "heading6": 0.05165693498228411,
+          "pos8": 0.1172750101396194,
+          "heading8": 0.05789421372834479,
+          "pos10": 0.13284350948362272,
+          "heading10": 0.06443626495466896,
+          "pos20": 0.2257616202512069,
+          "heading20": 0.09736417413382006,
+          "pos30": 0.32840252457578056,
+          "heading30": 0.13125677998599136,
+          "pos40": 0.4370616857204851,
+          "heading40": 0.16428273055833403,
+          "pos60": 0.6619102218388263,
+          "heading60": 0.21869948762695382
+        },
+        "slowly_varying": {
+          "pos1": 0.0713540915252823,
+          "heading1": 0.0744628223557006,
+          "pos3": 0.08158152135117794,
+          "heading3": 0.07861855833137833,
+          "pos6": 0.09898494825559456,
+          "heading6": 0.08573732661853319,
+          "pos8": 0.11108277847999978,
+          "heading8": 0.0904838473473773,
+          "pos10": 0.12389344764205645,
+          "heading10": 0.09522045098283483,
+          "pos20": 0.20390318944973562,
+          "heading20": 0.11926087813761795,
+          "pos30": 0.29802691466198983,
+          "heading30": 0.14308960707682483,
+          "pos40": 0.39336859566474247,
+          "heading40": 0.16626993123294967,
+          "pos60": 0.5797645714434302,
+          "heading60": 0.2126662964272867
+        },
+        "vortex_center": {
+          "pos1": 0.06637500508766342,
+          "heading1": 0.049683374294858904,
+          "pos3": 0.07810730316798827,
+          "heading3": 0.05408706238499705,
+          "pos6": 0.10258888235526288,
+          "heading6": 0.06188082546214525,
+          "pos8": 0.12141350210734109,
+          "heading8": 0.06804599700111766,
+          "pos10": 0.1435769604399574,
+          "heading10": 0.07428645002334304,
+          "pos20": 0.2706024561567862,
+          "heading20": 0.1049421116002214,
+          "pos30": 0.4130777946244369,
+          "heading30": 0.13724378085404823,
+          "pos40": 0.5581148831913183,
+          "heading40": 0.16990911143700166,
+          "pos60": 0.825812157730349,
+          "heading60": 0.22167276554229035
+        },
+        "gradient": {
+          "pos1": 0.10496289393738634,
+          "heading1": 0.0744979537787143,
+          "pos3": 0.11691995703915324,
+          "heading3": 0.08081480855734798,
+          "pos6": 0.14139372199923048,
+          "heading6": 0.0908347313760318,
+          "pos8": 0.15988898476296554,
+          "heading8": 0.09779696472499128,
+          "pos10": 0.1799830832147041,
+          "heading10": 0.10490997446598314,
+          "pos20": 0.2905948006848063,
+          "heading20": 0.14242384041689074,
+          "pos30": 0.40726476877878026,
+          "heading30": 0.18195237291476166,
+          "pos40": 0.529727540947559,
+          "heading40": 0.2205290107774814,
+          "pos60": 0.7793097655243786,
+          "heading60": 0.2912469741100063
+        },
+        "turbulent_patch": {
+          "pos1": 0.08389081759129706,
+          "heading1": 0.08472275457343037,
+          "pos3": 0.09536979643960752,
+          "heading3": 0.09233323656313229,
+          "pos6": 0.11779949983287397,
+          "heading6": 0.10312386866222907,
+          "pos8": 0.13525488822122375,
+          "heading8": 0.1107216037519169,
+          "pos10": 0.15409448171298362,
+          "heading10": 0.11838300614875935,
+          "pos20": 0.25940943919657683,
+          "heading20": 0.15637778119629658,
+          "pos30": 0.37840970448644745,
+          "heading30": 0.19529519482559737,
+          "pos40": 0.5059936186616181,
+          "heading40": 0.2311808094596471,
+          "pos60": 0.7638698754124573,
+          "heading60": 0.3023782863264456
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.09033802167194689,
+          "heading1": 0.0802284046704319,
+          "pos3": 0.10809502080329718,
+          "heading3": 0.09625480578964601,
+          "pos6": 0.13290399372210956,
+          "heading6": 0.12317440789624859,
+          "pos8": 0.14969121625623147,
+          "heading8": 0.14188244965648517,
+          "pos10": 0.16728896007005264,
+          "heading10": 0.16078534766051422,
+          "pos20": 0.2654072368421433,
+          "heading20": 0.24874130121295168,
+          "pos30": 0.3674506886108081,
+          "heading30": 0.32099955283912845,
+          "pos40": 0.4593406538234409,
+          "heading40": 0.3771232543147349,
+          "pos60": 0.6301728301402578,
+          "heading60": 0.45171559731428845
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.06431431936848767,
+          "heading1": 0.02995171256765368,
+          "pos3": 0.06895807970023864,
+          "heading3": 0.03363618063956611,
+          "pos6": 0.0759861050465774,
+          "heading6": 0.04017958023816359,
+          "pos8": 0.0819301311563917,
+          "heading8": 0.04444113881056501,
+          "pos10": 0.08807805560713082,
+          "heading10": 0.04826414423076641,
+          "pos20": 0.12520179146256522,
+          "heading20": 0.06392202886863016,
+          "pos30": 0.15971705804854344,
+          "heading30": 0.07559329872099439,
+          "pos40": 0.1907285216063049,
+          "heading40": 0.0847134660448005,
+          "pos60": 0.24758975319361795,
+          "heading60": 0.09764620146956816
+        },
+        "flow_zero_action": {
+          "pos1": 0.059797081122208676,
+          "heading1": 0.040036394748967696,
+          "pos3": 0.06281508843196133,
+          "heading3": 0.04104501510872809,
+          "pos6": 0.06614261025303163,
+          "heading6": 0.04250558885012229,
+          "pos8": 0.06888778295329107,
+          "heading8": 0.04325888568068527,
+          "pos10": 0.07240502665797087,
+          "heading10": 0.04406471110163807,
+          "pos20": 0.10058573011543448,
+          "heading20": 0.046243012066557856,
+          "pos30": 0.13374406041763795,
+          "heading30": 0.04762168439855535,
+          "pos40": 0.17091641089040463,
+          "heading40": 0.049277924119206,
+          "pos60": 0.25683621063615514,
+          "heading60": 0.0531344038724623
+        },
+        "flow_active_control": {
+          "pos1": 0.07805474571703215,
+          "heading1": 0.06299078379432223,
+          "pos3": 0.08996031812318056,
+          "heading3": 0.06934045636736398,
+          "pos6": 0.11488317608008335,
+          "heading6": 0.07944371981810533,
+          "pos8": 0.13388843860180732,
+          "heading8": 0.08647059296035436,
+          "pos10": 0.15432885784178868,
+          "heading10": 0.09340459092884328,
+          "pos20": 0.26932986075490406,
+          "heading20": 0.1286403976097239,
+          "pos30": 0.3958640638932225,
+          "heading30": 0.1645950782257793,
+          "pos40": 0.522684143076306,
+          "heading40": 0.19863696288072527,
+          "pos60": 0.7616132741155921,
+          "heading60": 0.26053461917131415
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.09318595558871083,
+          "heading1": 0.0791149531489704,
+          "pos3": 0.10763741428447991,
+          "heading3": 0.08619656061140199,
+          "pos6": 0.13637203911731655,
+          "heading6": 0.0976739943295698,
+          "pos8": 0.15763343210671937,
+          "heading8": 0.10647670410929488,
+          "pos10": 0.1805993266705402,
+          "heading10": 0.11565554369331198,
+          "pos20": 0.3115832545605568,
+          "heading20": 0.1629174935222566,
+          "pos30": 0.4580159143382895,
+          "heading30": 0.21259398375585348,
+          "pos40": 0.6145692812648044,
+          "heading40": 0.26127976760226707,
+          "pos60": 0.9320106702518075,
+          "heading60": 0.3482878809443168
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.09352136284997432,
+          "heading1": 0.0866749449833316,
+          "pos3": 0.10580749280665008,
+          "heading3": 0.09434797355148158,
+          "pos6": 0.1279765509750394,
+          "heading6": 0.10657506430964987,
+          "pos8": 0.14504806280569335,
+          "heading8": 0.11527207528801126,
+          "pos10": 0.16397785022719422,
+          "heading10": 0.12418916483924722,
+          "pos20": 0.2696480009932723,
+          "heading20": 0.17004096483476663,
+          "pos30": 0.3854909123975822,
+          "heading30": 0.2168713588703047,
+          "pos40": 0.5078742879293385,
+          "heading40": 0.2623686477966124,
+          "pos60": 0.7544390127920223,
+          "heading60": 0.34372375321922555
+        },
+        "triangle": {
+          "pos1": 0.06437194999960431,
+          "heading1": 0.035648739694273186,
+          "pos3": 0.07390715683176738,
+          "heading3": 0.041105069068836424,
+          "pos6": 0.09164396460344613,
+          "heading6": 0.05041198399633275,
+          "pos8": 0.10431130789701519,
+          "heading8": 0.056987254583523245,
+          "pos10": 0.1174030396635938,
+          "heading10": 0.06344054689382712,
+          "pos20": 0.19610965886903814,
+          "heading20": 0.09221700214785335,
+          "pos30": 0.2817540238566146,
+          "heading30": 0.1162872176018423,
+          "pos40": 0.3643382139671683,
+          "heading40": 0.1351985272071886,
+          "pos60": 0.5206041222261553,
+          "heading60": 0.1621656110474714
+        }
+      }
+    },
+    "context_zero": {
+      "pos1": 0.08814749342855066,
+      "heading1": 0.06390556297264993,
+      "pos3": 0.12671727174893022,
+      "heading3": 0.07886613230220973,
+      "pos6": 0.18802704033441842,
+      "heading6": 0.10185350803658366,
+      "pos8": 0.22607832122594118,
+      "heading8": 0.11527915287297219,
+      "pos10": 0.2620290603954345,
+      "heading10": 0.1274589387467131,
+      "pos20": 0.42402918450534344,
+      "heading20": 0.18162377178668976,
+      "pos30": 0.559366462752223,
+      "heading30": 0.2261580948252231,
+      "pos40": 0.6805481091141701,
+      "heading40": 0.26581068080849946,
+      "pos60": 0.9012324139475822,
+      "heading60": 0.33153514796867967,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.08307537801735779,
+          "heading1": 0.05548887177110777,
+          "pos3": 0.11197459253070621,
+          "heading3": 0.07043144487995873,
+          "pos6": 0.15908006527072371,
+          "heading6": 0.09345160501464857,
+          "pos8": 0.1888694752596623,
+          "heading8": 0.10772635654064944,
+          "pos10": 0.21642159907474823,
+          "heading10": 0.12103310068589544,
+          "pos20": 0.34263867171577195,
+          "heading20": 0.17543647799568107,
+          "pos30": 0.4516132860370046,
+          "heading30": 0.21695857340235059,
+          "pos40": 0.5460876639317026,
+          "heading40": 0.24754770250981062,
+          "pos60": 0.696935469896713,
+          "heading60": 0.2868831858541783
+        },
+        "uniform": {
+          "pos1": 0.08087028659986041,
+          "heading1": 0.04185928093379526,
+          "pos3": 0.11947953023389818,
+          "heading3": 0.05575757906699056,
+          "pos6": 0.18015747455491357,
+          "heading6": 0.07672828302155169,
+          "pos8": 0.21769307510301794,
+          "heading8": 0.08896815643082293,
+          "pos10": 0.25334657281748646,
+          "heading10": 0.09967049691065444,
+          "pos20": 0.41147709249469355,
+          "heading20": 0.14641422242840102,
+          "pos30": 0.5420407988548992,
+          "heading30": 0.1876518263599279,
+          "pos40": 0.6629140000781999,
+          "heading40": 0.2277483307967546,
+          "pos60": 0.8952283145958752,
+          "heading60": 0.30026964367372205
+        },
+        "slowly_varying": {
+          "pos1": 0.07848257956128586,
+          "heading1": 0.07628079855217124,
+          "pos3": 0.1155171833970739,
+          "heading3": 0.08836120295483701,
+          "pos6": 0.17380051792792553,
+          "heading6": 0.10767167356778991,
+          "pos8": 0.20974892296063144,
+          "heading8": 0.11830459338314128,
+          "pos10": 0.2435382717060593,
+          "heading10": 0.1275827485946603,
+          "pos20": 0.394115967979562,
+          "heading20": 0.1701836009377272,
+          "pos30": 0.5186368417167336,
+          "heading30": 0.20384501531643484,
+          "pos40": 0.6288258518199364,
+          "heading40": 0.23546173243334526,
+          "pos60": 0.8422196189494321,
+          "heading60": 0.2996168592577324
+        },
+        "vortex_center": {
+          "pos1": 0.07653151057948683,
+          "heading1": 0.05199943067860615,
+          "pos3": 0.1196965429051157,
+          "heading3": 0.06788088866325785,
+          "pos6": 0.18652396020035036,
+          "heading6": 0.09160415197317354,
+          "pos8": 0.22713295245252282,
+          "heading8": 0.10390917145033064,
+          "pos10": 0.2656268966122112,
+          "heading10": 0.11480364377044663,
+          "pos20": 0.43716915413496604,
+          "heading20": 0.16523981106030375,
+          "pos30": 0.5817395941743183,
+          "heading30": 0.20853068521661147,
+          "pos40": 0.7126326614656229,
+          "heading40": 0.2507855794153199,
+          "pos60": 0.9649467398241578,
+          "heading60": 0.3066533056474817
+        },
+        "gradient": {
+          "pos1": 0.11756124560144389,
+          "heading1": 0.07808129113783223,
+          "pos3": 0.16557848423669652,
+          "heading3": 0.09518947898844049,
+          "pos6": 0.24340409229514195,
+          "heading6": 0.12142718241290378,
+          "pos8": 0.2912472000902205,
+          "heading8": 0.1368193421917089,
+          "pos10": 0.33637208870933927,
+          "heading10": 0.15115646577637662,
+          "pos20": 0.5431367714138381,
+          "heading20": 0.21747756263051488,
+          "pos30": 0.7101604241958643,
+          "heading30": 0.27250927179205997,
+          "pos40": 0.8576645847154977,
+          "heading40": 0.32319643013863414,
+          "pos60": 1.131746198975781,
+          "heading60": 0.41662419956793173
+        },
+        "turbulent_patch": {
+          "pos1": 0.09558026394070541,
+          "heading1": 0.08787297668887849,
+          "pos3": 0.140312859458845,
+          "heading3": 0.10390586099095903,
+          "pos6": 0.21060770943424295,
+          "heading6": 0.12875293138335617,
+          "pos8": 0.2547402736342663,
+          "heading8": 0.14358984332309857,
+          "pos10": 0.2974611106104919,
+          "heading10": 0.15704210710231772,
+          "pos20": 0.4887838720051415,
+          "heading20": 0.22115685885936573,
+          "pos30": 0.6495593911078921,
+          "heading30": 0.2760101764843449,
+          "pos40": 0.7969587463128248,
+          "heading40": 0.326594661931972,
+          "pos60": 1.0619502676585861,
+          "heading60": 0.4161799554217767
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.09500711453903134,
+          "heading1": 0.08279503305771878,
+          "pos3": 0.1293977074187568,
+          "heading3": 0.10643547979283548,
+          "pos6": 0.18338298944291828,
+          "heading6": 0.14263879276822655,
+          "pos8": 0.21693606665503398,
+          "heading8": 0.16505598875227215,
+          "pos10": 0.24830120928864088,
+          "heading10": 0.18624965167417945,
+          "pos20": 0.3944757559036565,
+          "heading20": 0.27455527704584615,
+          "pos30": 0.5289754696045789,
+          "heading30": 0.34521937426717375,
+          "pos40": 0.6489833230606707,
+          "heading40": 0.39735729029773253,
+          "pos60": 0.8526895232410494,
+          "heading60": 0.4644120848692259
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.07253093507089459,
+          "heading1": 0.031357578655906625,
+          "pos3": 0.0965772514710213,
+          "heading3": 0.03861357544017905,
+          "pos6": 0.13760284597731096,
+          "heading6": 0.0499833827983979,
+          "pos8": 0.1640661637287467,
+          "heading8": 0.05706240681114181,
+          "pos10": 0.18824860123299694,
+          "heading10": 0.06339923884767909,
+          "pos20": 0.2968286434909082,
+          "heading20": 0.08784215348577559,
+          "pos30": 0.38324594557509667,
+          "heading30": 0.10361057657020853,
+          "pos40": 0.45515559677896217,
+          "heading40": 0.11515637473150658,
+          "pos60": 0.5592908811389727,
+          "heading60": 0.12999547639684864
+        },
+        "flow_zero_action": {
+          "pos1": 0.06256504167502983,
+          "heading1": 0.0393123517583447,
+          "pos3": 0.0808941223944601,
+          "heading3": 0.039833831851571716,
+          "pos6": 0.11491634192822199,
+          "heading6": 0.042812001824885454,
+          "pos8": 0.13713200831790834,
+          "heading8": 0.045287826729815364,
+          "pos10": 0.15834116668671702,
+          "heading10": 0.047649969001127605,
+          "pos20": 0.25141479316113213,
+          "heading20": 0.05849794825332512,
+          "pos30": 0.32778135106663947,
+          "heading30": 0.06511007293673177,
+          "pos40": 0.3934649614442403,
+          "heading40": 0.07048724392013873,
+          "pos60": 0.5045059656443031,
+          "heading60": 0.07687677868363847
+        },
+        "flow_active_control": {
+          "pos1": 0.09035447621428018,
+          "heading1": 0.06589084734759941,
+          "pos3": 0.13926537329762864,
+          "heading3": 0.08184102234337157,
+          "pos6": 0.21611153770070587,
+          "heading6": 0.10598182049177098,
+          "pos8": 0.2633307108004613,
+          "heading8": 0.11990446862877446,
+          "pos10": 0.308563653160544,
+          "heading10": 0.13239848355933456,
+          "pos20": 0.5112331342532148,
+          "heading20": 0.18814878181190225,
+          "pos30": 0.6760103265306942,
+          "heading30": 0.23466424133538374,
+          "pos40": 0.8199090140913597,
+          "heading40": 0.2783789376899033,
+          "pos60": 1.0729656128734866,
+          "heading60": 0.3616358293381529
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.105047588969595,
+          "heading1": 0.08370428384691381,
+          "pos3": 0.15393276666200262,
+          "heading3": 0.10571177061451613,
+          "pos6": 0.22869512440689835,
+          "heading6": 0.13862475660237045,
+          "pos8": 0.27442110256589863,
+          "heading8": 0.15681285379988902,
+          "pos10": 0.3174582118264659,
+          "heading10": 0.17304001851691816,
+          "pos20": 0.5119336551022984,
+          "heading20": 0.24943362718888262,
+          "pos30": 0.6762580054205287,
+          "heading30": 0.3159492675359484,
+          "pos40": 0.8314936989146073,
+          "heading40": 0.3793382708000018,
+          "pos60": 1.1483258438845991,
+          "heading60": 0.48607501243916623
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.10122884880911574,
+          "heading1": 0.09103480321143628,
+          "pos3": 0.1373711859219584,
+          "heading3": 0.11148649154469001,
+          "pos6": 0.19956485394778792,
+          "heading6": 0.14105468763863224,
+          "pos8": 0.23971912307785467,
+          "heading8": 0.15855028798261026,
+          "pos10": 0.27730708985816777,
+          "heading10": 0.17431302824430506,
+          "pos20": 0.44933046725646864,
+          "heading20": 0.24728733781321274,
+          "pos30": 0.5958101985383799,
+          "heading30": 0.31030918770598903,
+          "pos40": 0.7329962875393937,
+          "heading40": 0.3710570531206229,
+          "pos60": 0.9958367895892286,
+          "heading60": 0.47635038203719454
+        },
+        "triangle": {
+          "pos1": 0.07486337629363522,
+          "heading1": 0.036355816081729025,
+          "pos3": 0.11589821362527684,
+          "heading3": 0.045740157156827076,
+          "pos6": 0.17631037652617174,
+          "heading6": 0.06204472175895662,
+          "pos8": 0.2122261062849197,
+          "heading8": 0.07133729778425414,
+          "pos10": 0.24651420176549801,
+          "heading10": 0.07987860651352936,
+          "pos20": 0.39833568385759244,
+          "heading20": 0.11494240166589861,
+          "pos30": 0.5223578444734419,
+          "heading30": 0.14070265611931765,
+          "pos40": 0.6272869835129845,
+          "heading40": 0.15893298172689713,
+          "pos60": 0.8051617697810669,
+          "heading60": 0.1844752855238725
+        }
+      }
+    },
+    "context_shuffled": {
+      "pos1": 0.09327902435325086,
+      "heading1": 0.06558355927700177,
+      "pos3": 0.1556454529054463,
+      "heading3": 0.08746033895295113,
+      "pos6": 0.2476302389986813,
+      "heading6": 0.1186038414016366,
+      "pos8": 0.30246657971292734,
+      "heading8": 0.13639812683686614,
+      "pos10": 0.3542190748266876,
+      "heading10": 0.15230162849184126,
+      "pos20": 0.5780058912932873,
+      "heading20": 0.21669338596984744,
+      "pos30": 0.7602604944258928,
+      "heading30": 0.26549955434165895,
+      "pos40": 0.9214473338797688,
+      "heading40": 0.3081153011880815,
+      "pos60": 1.2102571073919535,
+      "heading60": 0.3770033628679812,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.08859351621427926,
+          "heading1": 0.057461019651716176,
+          "pos3": 0.14515723745945716,
+          "heading3": 0.08027256191517913,
+          "pos6": 0.22753253880868374,
+          "heading6": 0.11233897107532562,
+          "pos8": 0.27709356315606015,
+          "heading8": 0.13102072244427343,
+          "pos10": 0.32424105759412314,
+          "heading10": 0.14778998457093856,
+          "pos20": 0.5244490206770956,
+          "heading20": 0.21210750932168368,
+          "pos30": 0.6862000533996636,
+          "heading30": 0.25805559674969364,
+          "pos40": 0.8195538275195269,
+          "heading40": 0.29229056581087265,
+          "pos60": 1.0327125527295506,
+          "heading60": 0.33613799118021664
+        },
+        "uniform": {
+          "pos1": 0.08571115142833678,
+          "heading1": 0.04357252877955126,
+          "pos3": 0.14706850265868135,
+          "heading3": 0.06443971622855073,
+          "pos6": 0.23792517693433285,
+          "heading6": 0.09370192125294756,
+          "pos8": 0.2911423140706281,
+          "heading8": 0.11026218388628051,
+          "pos10": 0.34120111565315286,
+          "heading10": 0.12481850256381324,
+          "pos20": 0.5567888058025443,
+          "heading20": 0.18280647794257016,
+          "pos30": 0.7321834350220731,
+          "heading30": 0.22757361215179148,
+          "pos40": 0.8903487561439166,
+          "heading40": 0.269536992196459,
+          "pos60": 1.181489345290898,
+          "heading60": 0.3453418340090949
+        },
+        "slowly_varying": {
+          "pos1": 0.08503674780933976,
+          "heading1": 0.07807548091096699,
+          "pos3": 0.14731736759787767,
+          "heading3": 0.09756079556398081,
+          "pos6": 0.23740701160136463,
+          "heading6": 0.1254718070067018,
+          "pos8": 0.2910751948839191,
+          "heading8": 0.1407347961519022,
+          "pos10": 0.34118591450908786,
+          "heading10": 0.15419006122733062,
+          "pos20": 0.5602376092972927,
+          "heading20": 0.2082437011021897,
+          "pos30": 0.7369062724694175,
+          "heading30": 0.24765005733300235,
+          "pos40": 0.8934825603589799,
+          "heading40": 0.28324515844086634,
+          "pos60": 1.1794705628121902,
+          "heading60": 0.3501973342322976
+        },
+        "vortex_center": {
+          "pos1": 0.08121241160134621,
+          "heading1": 0.05384367892570607,
+          "pos3": 0.14567126681626105,
+          "heading3": 0.07580942831608926,
+          "pos6": 0.24166080173300108,
+          "heading6": 0.10696807756064514,
+          "pos8": 0.29846015468976456,
+          "heading8": 0.12404252008894642,
+          "pos10": 0.35197166876062363,
+          "heading10": 0.1391694124458003,
+          "pos20": 0.5845059638973317,
+          "heading20": 0.2020073120231087,
+          "pos30": 0.778901728005953,
+          "heading30": 0.25099779739137146,
+          "pos40": 0.9566747214475567,
+          "heading40": 0.2959262378298647,
+          "pos60": 1.2781352324632822,
+          "heading60": 0.3531044489953428
+        },
+        "gradient": {
+          "pos1": 0.12078549159389107,
+          "heading1": 0.0789016438197214,
+          "pos3": 0.18913784389304797,
+          "heading3": 0.10183798968294427,
+          "pos6": 0.292322222497905,
+          "heading6": 0.13516571396380314,
+          "pos8": 0.3542837634906546,
+          "heading8": 0.1545053350806037,
+          "pos10": 0.41257278628659766,
+          "heading10": 0.17202895640928875,
+          "pos20": 0.6673724615514179,
+          "heading20": 0.2462283151973667,
+          "pos30": 0.8702458905457257,
+          "heading30": 0.3050125733838854,
+          "pos40": 1.052409873382874,
+          "heading40": 0.3587558534189138,
+          "pos60": 1.401848799398228,
+          "heading60": 0.4535765359318117
+        },
+        "turbulent_patch": {
+          "pos1": 0.10120824112784446,
+          "heading1": 0.08956083847511966,
+          "pos3": 0.16785257836876463,
+          "heading3": 0.11199035742444424,
+          "pos6": 0.26628548937411767,
+          "heading6": 0.14442648961069157,
+          "pos8": 0.325118320629582,
+          "heading8": 0.16344197114635053,
+          "pos10": 0.38091325074495475,
+          "heading10": 0.18062563999967163,
+          "pos20": 0.6239971078641605,
+          "heading20": 0.25374105167584743,
+          "pos30": 0.8265848242037105,
+          "heading30": 0.3112985280015385,
+          "pos40": 1.0124306860890477,
+          "heading40": 0.36396641858549333,
+          "pos60": 1.3542618369664499,
+          "heading60": 0.4577377777569593
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.09941594774442096,
+          "heading1": 0.08445612782276585,
+          "pos3": 0.15793983653096075,
+          "heading3": 0.11430302215762123,
+          "pos6": 0.24315682351166074,
+          "heading6": 0.15660565411711663,
+          "pos8": 0.29427599715103314,
+          "heading8": 0.18202901450706443,
+          "pos10": 0.34337896382250155,
+          "heading10": 0.20535768629869353,
+          "pos20": 0.5581814959553594,
+          "heading20": 0.30184155993138906,
+          "pos30": 0.7427605765722286,
+          "heading30": 0.3786016101810078,
+          "pos40": 0.9024212309606708,
+          "heading40": 0.4375058150212459,
+          "pos60": 1.170604879123816,
+          "heading60": 0.5122428226967417
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.07902940189125447,
+          "heading1": 0.03360461241428147,
+          "pos3": 0.13386086528144686,
+          "heading3": 0.05019879734999762,
+          "pos6": 0.213724879428763,
+          "heading6": 0.07321915268549008,
+          "pos8": 0.2619089290518384,
+          "heading8": 0.08594312871265292,
+          "pos10": 0.3073282951792131,
+          "heading10": 0.09691564386631843,
+          "pos20": 0.4946386224801747,
+          "heading20": 0.13280678413643193,
+          "pos30": 0.6362158170258934,
+          "heading30": 0.1515253953283574,
+          "pos40": 0.7463213774211633,
+          "heading40": 0.1639593780314957,
+          "pos60": 0.9108529539598874,
+          "heading60": 0.18050874999655384
+        },
+        "flow_zero_action": {
+          "pos1": 0.0704549991656289,
+          "heading1": 0.0411686125111055,
+          "pos3": 0.12136960232197985,
+          "heading3": 0.051343455421459544,
+          "pos6": 0.1964064445584011,
+          "heading6": 0.06676643757619376,
+          "pos8": 0.24118080559086275,
+          "heading8": 0.0752131932488092,
+          "pos10": 0.28246764024282894,
+          "heading10": 0.08224222521010215,
+          "pos20": 0.4560479344249739,
+          "heading20": 0.10491126695163648,
+          "pos30": 0.588264900729112,
+          "heading30": 0.11524406654487572,
+          "pos40": 0.6960532784047574,
+          "heading40": 0.12120201270890632,
+          "pos60": 0.8652791789067026,
+          "heading60": 0.12983228120623339
+        },
+        "flow_active_control": {
+          "pos1": 0.09478259921898892,
+          "heading1": 0.0673761912798799,
+          "pos3": 0.16459608676111823,
+          "heading3": 0.08918142932302811,
+          "pos6": 0.2681141264710872,
+          "heading6": 0.1203554090125338,
+          "pos8": 0.3296621901766239,
+          "heading8": 0.13806979404601258,
+          "pos10": 0.38762920661781075,
+          "heading10": 0.15374208239123072,
+          "pos20": 0.6403366801647992,
+          "heading20": 0.2184580622247346,
+          "pos30": 0.8458776878238137,
+          "heading30": 0.2688070380976456,
+          "pos40": 1.0271651464350082,
+          "heading40": 0.3146549378711872,
+          "pos60": 1.3551306592551895,
+          "heading60": 0.40087215937545145
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.10897271332251379,
+          "heading1": 0.08519038881764106,
+          "pos3": 0.17591360066415718,
+          "heading3": 0.11272753917202849,
+          "pos6": 0.27514705449527915,
+          "heading6": 0.15167105251546842,
+          "pos8": 0.33400642128554714,
+          "heading8": 0.17387352915425255,
+          "pos10": 0.3898516185589666,
+          "heading10": 0.1940937001367491,
+          "pos20": 0.6355914869322776,
+          "heading20": 0.28138138289009196,
+          "pos30": 0.8423200026553628,
+          "heading30": 0.3527601453357318,
+          "pos40": 1.0400749003833536,
+          "heading40": 0.4205973232637924,
+          "pos60": 1.4294372715530086,
+          "heading60": 0.5299097698302399
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.1060780340942161,
+          "heading1": 0.09251525181123951,
+          "pos3": 0.16638360419178067,
+          "heading3": 0.11879272917268639,
+          "pos6": 0.2580836173045426,
+          "heading6": 0.15684569744107796,
+          "pos8": 0.3147029280590332,
+          "heading8": 0.17935066315566028,
+          "pos10": 0.36788220512440967,
+          "heading10": 0.1996405611321249,
+          "pos20": 0.595743460513692,
+          "heading20": 0.28441526504230097,
+          "pos30": 0.783868356447087,
+          "heading30": 0.35196897944560707,
+          "pos40": 0.9580433892308402,
+          "heading40": 0.4155601492222694,
+          "pos60": 1.2911061842032883,
+          "heading60": 0.5222187072273314
+        },
+        "triangle": {
+          "pos1": 0.08028163187236037,
+          "heading1": 0.038234421857565676,
+          "pos3": 0.14474086770860012,
+          "heading3": 0.05564229645871606,
+          "pos6": 0.23701483339001617,
+          "heading6": 0.07976921816889336,
+          "pos8": 0.2900405789465757,
+          "heading8": 0.09277980103822986,
+          "pos10": 0.34034418206268285,
+          "heading10": 0.10422894359001567,
+          "pos20": 0.5599934121224696,
+          "heading20": 0.14792181982415117,
+          "pos30": 0.7362868189005148,
+          "heading30": 0.17768984102560506,
+          "pos40": 0.8842840890395185,
+          "heading40": 0.19900501174729665,
+          "pos60": 1.1281549991284339,
+          "heading60": 0.22953719238701717
+        }
+      }
+    }
+  },
+  {
+    "method": "leworldmodel",
+    "inferred": {
+      "pos1": 0.10577016824390739,
+      "heading1": 0.0675790230743587,
+      "pos3": 0.1277781401295215,
+      "heading3": 0.07920257607474923,
+      "pos6": 0.16587159759365022,
+      "heading6": 0.09681312530301511,
+      "pos8": 0.19195052282884717,
+      "heading8": 0.10838036972563714,
+      "pos10": 0.21855649165809155,
+      "heading10": 0.11944646353367716,
+      "pos20": 0.350340667180717,
+      "heading20": 0.16956139309331775,
+      "pos30": 0.47340016765519977,
+      "heading30": 0.21265078242868185,
+      "pos40": 0.5896057514473796,
+      "heading40": 0.24892412638291717,
+      "pos60": 0.8114500157535076,
+      "heading60": 0.30866884300485253,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.10544196602294542,
+          "heading1": 0.057323237454277164,
+          "pos3": 0.12409379395456127,
+          "heading3": 0.07350346784820354,
+          "pos6": 0.15407375374653412,
+          "heading6": 0.09609898961881973,
+          "pos8": 0.17561363750410333,
+          "heading8": 0.11029913370393309,
+          "pos10": 0.19740504396956937,
+          "heading10": 0.12380821105641963,
+          "pos20": 0.2984907741444996,
+          "heading20": 0.18108335672009265,
+          "pos30": 0.3865396303139614,
+          "heading30": 0.22379471141957474,
+          "pos40": 0.4618619208225772,
+          "heading40": 0.2539705366266769,
+          "pos60": 0.5951194208426331,
+          "heading60": 0.2955222733279105
+        },
+        "uniform": {
+          "pos1": 0.09609440778205888,
+          "heading1": 0.03879903295901433,
+          "pos3": 0.1186742056815947,
+          "heading3": 0.04913348672812611,
+          "pos6": 0.15467331956907626,
+          "heading6": 0.06499191068764845,
+          "pos8": 0.17945765307703923,
+          "heading8": 0.07516963752063247,
+          "pos10": 0.20617830102445478,
+          "heading10": 0.08519446560047238,
+          "pos20": 0.34598196453359825,
+          "heading20": 0.13217734229502254,
+          "pos30": 0.4754243481934918,
+          "heading30": 0.1732601803813127,
+          "pos40": 0.597588790203086,
+          "heading40": 0.20988920471431072,
+          "pos60": 0.8542029945014035,
+          "heading60": 0.2752886908038303
+        },
+        "slowly_varying": {
+          "pos1": 0.10315138592319259,
+          "heading1": 0.08269315840449587,
+          "pos3": 0.1257642809154648,
+          "heading3": 0.08882602924036939,
+          "pos6": 0.16028267523436768,
+          "heading6": 0.10040444243015596,
+          "pos8": 0.1825005770956468,
+          "heading8": 0.10833002557885381,
+          "pos10": 0.20508776254964733,
+          "heading10": 0.11591467685601314,
+          "pos20": 0.32232001531185456,
+          "heading20": 0.15198497686337034,
+          "pos30": 0.43696345514130636,
+          "heading30": 0.18409483377561356,
+          "pos40": 0.5459305483521973,
+          "heading40": 0.21290978497951762,
+          "pos60": 0.7522697923113919,
+          "heading60": 0.27002727535535703
+        },
+        "vortex_center": {
+          "pos1": 0.09189454854497475,
+          "heading1": 0.05639978513902038,
+          "pos3": 0.1183170379521038,
+          "heading3": 0.06672757543072769,
+          "pos6": 0.1662312463049905,
+          "heading6": 0.08100038731850892,
+          "pos8": 0.1977754030166977,
+          "heading8": 0.09118554852374092,
+          "pos10": 0.22961415826719997,
+          "heading10": 0.10088076932256385,
+          "pos20": 0.38893016576183465,
+          "heading20": 0.14474850930948205,
+          "pos30": 0.5466897864582139,
+          "heading30": 0.18794204403358641,
+          "pos40": 0.7018096119063307,
+          "heading40": 0.22898753705820615,
+          "pos60": 0.9921739571711857,
+          "heading60": 0.2875925950775296
+        },
+        "gradient": {
+          "pos1": 0.12552086727846046,
+          "heading1": 0.08998288328639653,
+          "pos3": 0.1498765326501531,
+          "heading3": 0.10101582465665368,
+          "pos6": 0.19822445685955042,
+          "heading6": 0.11888648283501499,
+          "pos8": 0.2309203579748214,
+          "heading8": 0.13097231963242037,
+          "pos10": 0.2635210018126117,
+          "heading10": 0.14258432164415094,
+          "pos20": 0.4218184450432932,
+          "heading20": 0.19771323438876856,
+          "pos30": 0.5649210097196703,
+          "heading30": 0.24914242827235558,
+          "pos40": 0.702597664274238,
+          "heading40": 0.2949091519457669,
+          "pos60": 0.9678497537348625,
+          "heading60": 0.37271964629623844
+        },
+        "turbulent_patch": {
+          "pos1": 0.11171817143105384,
+          "heading1": 0.09101361662944973,
+          "pos3": 0.13271279922501017,
+          "heading3": 0.10255107159976842,
+          "pos6": 0.17320745867625398,
+          "heading6": 0.12118646060661614,
+          "pos8": 0.2017052354753874,
+          "heading8": 0.13354647007810996,
+          "pos10": 0.23065045609366477,
+          "heading10": 0.1451844144406015,
+          "pos20": 0.37515887548301746,
+          "heading20": 0.19925309989976198,
+          "pos30": 0.5151919672376566,
+          "heading30": 0.24746662654915874,
+          "pos40": 0.6536306451723072,
+          "heading40": 0.28842563041671343,
+          "pos60": 0.9157975183130534,
+          "heading60": 0.36130769952856295
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.11020854937765083,
+          "heading1": 0.07367321621790578,
+          "pos3": 0.14011881309722307,
+          "heading3": 0.09914803445705914,
+          "pos6": 0.18589779566770698,
+          "heading6": 0.1361038335059076,
+          "pos8": 0.2182699556436462,
+          "heading8": 0.15996662029089434,
+          "pos10": 0.25076174860140527,
+          "heading10": 0.1832936447037942,
+          "pos20": 0.40234462627008294,
+          "heading20": 0.28302671635145266,
+          "pos30": 0.5313722088728479,
+          "heading30": 0.3591323320864503,
+          "pos40": 0.6432221837366467,
+          "heading40": 0.4130996287969182,
+          "pos60": 0.837268082383567,
+          "heading60": 0.4882596521878547
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.10122959227902976,
+          "heading1": 0.04287425676981608,
+          "pos3": 0.10993198927652383,
+          "heading3": 0.05084058192423426,
+          "pos6": 0.12594988035986185,
+          "heading6": 0.06074547977040672,
+          "pos8": 0.13791693059633287,
+          "heading8": 0.06640645675906473,
+          "pos10": 0.150252086853991,
+          "heading10": 0.07123911470511328,
+          "pos20": 0.2067119432064042,
+          "heading20": 0.09099287874077415,
+          "pos30": 0.25854664355429186,
+          "heading30": 0.10419270050969397,
+          "pos40": 0.301588316932975,
+          "heading40": 0.11334328729205927,
+          "pos60": 0.38112525748488596,
+          "heading60": 0.12519435157640266
+        },
+        "flow_zero_action": {
+          "pos1": 0.09736586639254008,
+          "heading1": 0.045870842920762316,
+          "pos3": 0.10153545040382571,
+          "heading3": 0.04870236131757233,
+          "pos6": 0.1101304894480847,
+          "heading6": 0.050335669687881855,
+          "pos8": 0.11777616900889373,
+          "heading8": 0.05114587230910754,
+          "pos10": 0.1258125369638124,
+          "heading10": 0.05174486061098402,
+          "pos20": 0.1658747855555187,
+          "heading20": 0.05687481973013762,
+          "pos30": 0.20845277321389302,
+          "heading30": 0.062148728279498335,
+          "pos40": 0.2544990974579506,
+          "heading40": 0.06561531620902322,
+          "pos60": 0.3570059381796615,
+          "heading60": 0.07085284285676116
+        },
+        "flow_active_control": {
+          "pos1": 0.10329906946647538,
+          "heading1": 0.06963762035110005,
+          "pos3": 0.1297592288688805,
+          "heading3": 0.08053112316193466,
+          "pos6": 0.1785452582431912,
+          "heading6": 0.0982537576896509,
+          "pos8": 0.21231355881608482,
+          "heading8": 0.11009515868338747,
+          "pos10": 0.24597495196187372,
+          "heading10": 0.12122732122464164,
+          "pos20": 0.41369774968566364,
+          "heading20": 0.17220491335878735,
+          "pos30": 0.567578358633708,
+          "heading30": 0.21787953995503356,
+          "pos40": 0.7088912440831273,
+          "heading40": 0.2585604667251085,
+          "pos60": 0.9747990505918087,
+          "heading60": 0.3306771444614371
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.11319748308563068,
+          "heading1": 0.08747953522606378,
+          "pos3": 0.14392902060803597,
+          "heading3": 0.10030621743595572,
+          "pos6": 0.1956226470666088,
+          "heading6": 0.12185815000319496,
+          "pos8": 0.2286893692572418,
+          "heading8": 0.13658023846080478,
+          "pos10": 0.26325272951847434,
+          "heading10": 0.15102976968003873,
+          "pos20": 0.4399380635878042,
+          "heading20": 0.21833514942457724,
+          "pos30": 0.6108950910615236,
+          "heading30": 0.2802058915292933,
+          "pos40": 0.7806005745596157,
+          "heading40": 0.3361962714643787,
+          "pos60": 1.110481861344185,
+          "heading60": 0.43147815420715974
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.11610514180433526,
+          "heading1": 0.0935322336396761,
+          "pos3": 0.14070164930596632,
+          "heading3": 0.1072625047000952,
+          "pos6": 0.18452349523570882,
+          "heading6": 0.12827111064557375,
+          "pos8": 0.21432398398091473,
+          "heading8": 0.14267945512001043,
+          "pos10": 0.2449717070535051,
+          "heading10": 0.15677257563257707,
+          "pos20": 0.3928573044627309,
+          "heading20": 0.22274065924586128,
+          "pos30": 0.5290357551597813,
+          "heading30": 0.2828391002929983,
+          "pos40": 0.6602784044160618,
+          "heading40": 0.33682693837268074,
+          "pos60": 0.9221471674437959,
+          "heading60": 0.4286084822637973
+        },
+        "triangle": {
+          "pos1": 0.09527499656100044,
+          "heading1": 0.04122354799801609,
+          "pos3": 0.11465432679378938,
+          "heading3": 0.05070772205042596,
+          "pos6": 0.1469305824245059,
+          "heading6": 0.06486753807954791,
+          "pos8": 0.16923029652409102,
+          "heading8": 0.07354963930026531,
+          "pos10": 0.1917318495925113,
+          "heading10": 0.08154177111385053,
+          "pos20": 0.30716504193067934,
+          "heading20": 0.11555786510574992,
+          "pos30": 0.4169022321613062,
+          "heading30": 0.14137452278414075,
+          "pos40": 0.5178376361003645,
+          "heading40": 0.1596588161044755,
+          "pos60": 0.6990369021753233,
+          "heading60": 0.18687009230679524
+        }
+      }
+    }
+  },
+  {
+    "method": "planet",
+    "inferred": {
+      "pos1": 0.1271890684729442,
+      "heading1": 0.06735401373589411,
+      "pos3": 0.13359233899973333,
+      "heading3": 0.07134696299908683,
+      "pos6": 0.15911702578887343,
+      "heading6": 0.08195906301261857,
+      "pos8": 0.17987216752953827,
+      "heading8": 0.08970258198678493,
+      "pos10": 0.2018483537249267,
+      "heading10": 0.09761404164601117,
+      "pos20": 0.31676672166213393,
+      "heading20": 0.1381749191787094,
+      "pos30": 0.4279120499268174,
+      "heading30": 0.17702933144755661,
+      "pos40": 0.5331887230277061,
+      "heading40": 0.2121223071590066,
+      "pos60": 0.7248763293027878,
+      "heading60": 0.2731219809502363,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.12081025887551994,
+          "heading1": 0.061271052324538965,
+          "pos3": 0.12485472992935993,
+          "heading3": 0.06633495522222976,
+          "pos6": 0.14522950793244274,
+          "heading6": 0.08042753695594693,
+          "pos8": 0.16057230577163967,
+          "heading8": 0.09047444993183414,
+          "pos10": 0.17642537781019194,
+          "heading10": 0.10057518473738676,
+          "pos20": 0.25502421737352443,
+          "heading20": 0.14834223123892587,
+          "pos30": 0.327869393685783,
+          "heading30": 0.18930314213937383,
+          "pos40": 0.39465741238839674,
+          "heading40": 0.2215536051491014,
+          "pos60": 0.5214086519041451,
+          "heading60": 0.2631729189074908
+        },
+        "uniform": {
+          "pos1": 0.11803363362799497,
+          "heading1": 0.04044293111264037,
+          "pos3": 0.12093407669081649,
+          "heading3": 0.04451941293660794,
+          "pos6": 0.1432747450352785,
+          "heading6": 0.05438355523075911,
+          "pos8": 0.16201710005526945,
+          "heading8": 0.061596634901541776,
+          "pos10": 0.18285430592213803,
+          "heading10": 0.06882652508829099,
+          "pos20": 0.2994924757849751,
+          "heading20": 0.10579265791173291,
+          "pos30": 0.41920518661133815,
+          "heading30": 0.14267958993776217,
+          "pos40": 0.5361869501015457,
+          "heading40": 0.1780646358217512,
+          "pos60": 0.753084303285974,
+          "heading60": 0.2436319082284384
+        },
+        "slowly_varying": {
+          "pos1": 0.12610477372671686,
+          "heading1": 0.07663664070962838,
+          "pos3": 0.13276472038511142,
+          "heading3": 0.0788826189206763,
+          "pos6": 0.15438302467045203,
+          "heading6": 0.08674559222077424,
+          "pos8": 0.172603735077238,
+          "heading8": 0.09218944632168699,
+          "pos10": 0.19298304129219382,
+          "heading10": 0.09763241877482236,
+          "pos20": 0.3058795201021852,
+          "heading20": 0.12627963412482784,
+          "pos30": 0.4160345189567291,
+          "heading30": 0.15468546640811612,
+          "pos40": 0.5197787076285937,
+          "heading40": 0.1812202537857239,
+          "pos60": 0.7007206848105272,
+          "heading60": 0.23619883271065217
+        },
+        "vortex_center": {
+          "pos1": 0.12143882547472834,
+          "heading1": 0.05203889668483799,
+          "pos3": 0.132464062158115,
+          "heading3": 0.05422714024388318,
+          "pos6": 0.16811813108488094,
+          "heading6": 0.061396116435498624,
+          "pos8": 0.19805685725797934,
+          "heading8": 0.06721169080328136,
+          "pos10": 0.22763381048679585,
+          "heading10": 0.07361008061303033,
+          "pos20": 0.38040902622762524,
+          "heading20": 0.10832137718424747,
+          "pos30": 0.5296622400942003,
+          "heading30": 0.14514878516213542,
+          "pos40": 0.6698919502590663,
+          "heading40": 0.18071199776317579,
+          "pos60": 0.9084325422566134,
+          "heading60": 0.25005925641127563
+        },
+        "gradient": {
+          "pos1": 0.15058201929563672,
+          "heading1": 0.0832378407800337,
+          "pos3": 0.16181595347361494,
+          "heading3": 0.08732659263981006,
+          "pos6": 0.1937763454122018,
+          "heading6": 0.09787405318330246,
+          "pos8": 0.21880498175230967,
+          "heading8": 0.10563914445485416,
+          "pos10": 0.24670229093459292,
+          "heading10": 0.11360570499813417,
+          "pos20": 0.3875677072146102,
+          "heading20": 0.1575544808364671,
+          "pos30": 0.5167068141529676,
+          "heading30": 0.20186401697152445,
+          "pos40": 0.63432204663654,
+          "heading40": 0.24387204527655906,
+          "pos60": 0.8433755236197393,
+          "heading60": 0.31907298369877324
+        },
+        "turbulent_patch": {
+          "pos1": 0.1318866107987672,
+          "heading1": 0.0964883042801577,
+          "pos3": 0.13762264623779047,
+          "heading3": 0.10150155007716812,
+          "pos6": 0.16507938030564076,
+          "heading6": 0.11208245945172633,
+          "pos8": 0.1885730114805625,
+          "heading8": 0.11994669775208898,
+          "pos10": 0.21245176679544625,
+          "heading10": 0.12813643351717408,
+          "pos20": 0.3373038195976242,
+          "heading20": 0.1722997177797666,
+          "pos30": 0.461154059267142,
+          "heading30": 0.2157578744437905,
+          "pos40": 0.584769471421134,
+          "heading40": 0.25678527115306815,
+          "pos60": 0.8227785012560459,
+          "heading60": 0.33340541949262364
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.1379098220848665,
+          "heading1": 0.0879780672141516,
+          "pos3": 0.141951617504035,
+          "heading3": 0.0965973800017379,
+          "pos6": 0.1705941314444517,
+          "heading6": 0.11915284042611148,
+          "pos8": 0.19427318421800274,
+          "heading8": 0.1359517431575091,
+          "pos10": 0.21880890168796147,
+          "heading10": 0.1531558767969553,
+          "pos20": 0.3392856580298262,
+          "heading20": 0.23731017722036396,
+          "pos30": 0.4476325018847096,
+          "heading30": 0.3115897810521196,
+          "pos40": 0.5446488463478071,
+          "heading40": 0.371264844046799,
+          "pos60": 0.7310464392326705,
+          "heading60": 0.44958527642181007
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.1056988627179703,
+          "heading1": 0.03766924048108269,
+          "pos3": 0.10974567836919423,
+          "heading3": 0.03959112601617249,
+          "pos6": 0.12281401852392741,
+          "heading6": 0.04620480205862156,
+          "pos8": 0.1307898100227155,
+          "heading8": 0.050284766417973616,
+          "pos10": 0.13896975433512343,
+          "heading10": 0.054108020203325946,
+          "pos20": 0.18055982282599461,
+          "heading20": 0.0697185331086941,
+          "pos30": 0.22203104409250143,
+          "heading30": 0.08123469602009682,
+          "pos40": 0.26210536881003704,
+          "heading40": 0.08924918566623626,
+          "pos60": 0.3361453220266919,
+          "heading60": 0.09843462269359032
+        },
+        "flow_zero_action": {
+          "pos1": 0.10787148915832684,
+          "heading1": 0.03931448062721391,
+          "pos3": 0.11174160110853776,
+          "heading3": 0.03979025889934836,
+          "pos6": 0.11627120150245263,
+          "heading6": 0.04245007475539495,
+          "pos8": 0.11983325758602868,
+          "heading8": 0.043827349290556775,
+          "pos10": 0.12500777913134453,
+          "heading10": 0.04499500511050823,
+          "pos20": 0.15995664088226,
+          "heading20": 0.04932078255240454,
+          "pos30": 0.19904078162743255,
+          "heading30": 0.05269760268680282,
+          "pos40": 0.23864670359706178,
+          "heading40": 0.054773569544478706,
+          "pos60": 0.3245803544584873,
+          "heading60": 0.05753425262111547
+        },
+        "flow_active_control": {
+          "pos1": 0.13714726037220146,
+          "heading1": 0.06665241354786401,
+          "pos3": 0.14503722093922045,
+          "heading3": 0.07079462737979361,
+          "pos6": 0.1772169423350826,
+          "heading6": 0.08097788536837357,
+          "pos8": 0.20385523032152117,
+          "heading8": 0.08827826148704675,
+          "pos10": 0.23193974746552307,
+          "heading10": 0.09575967650512511,
+          "pos20": 0.37783904265367446,
+          "heading20": 0.1360984670455893,
+          "pos30": 0.5143895875211405,
+          "heading30": 0.17629680666544034,
+          "pos40": 0.6417792066158308,
+          "heading40": 0.21413741227252261,
+          "pos60": 0.8671243256763603,
+          "heading60": 0.2852168260561141
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.13419498640182623,
+          "heading1": 0.0894744929037182,
+          "pos3": 0.14280697679734214,
+          "heading3": 0.09423712890204869,
+          "pos6": 0.17835490474206414,
+          "heading6": 0.1063266874304772,
+          "pos8": 0.2080421848268511,
+          "heading8": 0.11581799185503365,
+          "pos10": 0.23919625442697784,
+          "heading10": 0.12578380192171615,
+          "pos20": 0.40283288908689313,
+          "heading20": 0.17971154855205437,
+          "pos30": 0.5657452194446002,
+          "heading30": 0.23488252924626304,
+          "pos40": 0.7226875874069996,
+          "heading40": 0.2883124981903279,
+          "pos60": 1.0023628988484639,
+          "heading60": 0.3903365653205383
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.1376227932796559,
+          "heading1": 0.096108274731327,
+          "pos3": 0.14302888589508964,
+          "heading3": 0.09963833129023293,
+          "pos6": 0.17001972186933642,
+          "heading6": 0.11261775919627161,
+          "pos8": 0.19262184591310663,
+          "heading8": 0.12239047997218779,
+          "pos10": 0.21679238562581035,
+          "heading10": 0.1323933201078788,
+          "pos20": 0.34293944730244574,
+          "heading20": 0.1848045665664719,
+          "pos30": 0.464493357001616,
+          "heading30": 0.23735462514506478,
+          "pos40": 0.5807026946855126,
+          "heading40": 0.28853756969874733,
+          "pos60": 0.8022843627190316,
+          "heading60": 0.3836552916260505
+        },
+        "triangle": {
+          "pos1": 0.11659361524531463,
+          "heading1": 0.03815406388587684,
+          "pos3": 0.1240095336112549,
+          "heading3": 0.042617079516239664,
+          "pos6": 0.14804532141068982,
+          "heading6": 0.050825149110504765,
+          "pos8": 0.16692484277159045,
+          "heading8": 0.056508021683751006,
+          "pos10": 0.18667265861174295,
+          "heading10": 0.06229568428183147,
+          "pos20": 0.29018829581276756,
+          "heading20": 0.09082252346643707,
+          "pos30": 0.39076368623091323,
+          "heading30": 0.1157689924565082,
+          "pos40": 0.4849381992951547,
+          "heading40": 0.1345226099195186,
+          "pos60": 0.6462684764620387,
+          "heading60": 0.16087538507653715
+        }
+      }
+    }
+  },
+  {
+    "method": "tdmpc2",
+    "inferred": {
+      "pos1": 0.10569785081315786,
+      "heading1": 0.06439570218208246,
+      "pos3": 0.1260919327614829,
+      "heading3": 0.07373713765991852,
+      "pos6": 0.1626382446847856,
+      "heading6": 0.08912321558455005,
+      "pos8": 0.1888758186250925,
+      "heading8": 0.09958218759857118,
+      "pos10": 0.21510949730873108,
+      "heading10": 0.10985756479203701,
+      "pos20": 0.3419979000464082,
+      "heading20": 0.1568088021595031,
+      "pos30": 0.46051336405798793,
+      "heading30": 0.1963242411147803,
+      "pos40": 0.5722298705950379,
+      "heading40": 0.23056075139902532,
+      "pos60": 0.78238629642874,
+      "heading60": 0.2885364678222686,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.10146509087106897,
+          "heading1": 0.05511048145023163,
+          "pos3": 0.11814674359231817,
+          "heading3": 0.06680072857262186,
+          "pos6": 0.14642533898141838,
+          "heading6": 0.08524224691450279,
+          "pos8": 0.16629211114947792,
+          "heading8": 0.09734768511770461,
+          "pos10": 0.18628430853516764,
+          "heading10": 0.10911345868296987,
+          "pos20": 0.27609463377490134,
+          "heading20": 0.1593131341476847,
+          "pos30": 0.35602294064753853,
+          "heading30": 0.19627052905504488,
+          "pos40": 0.4251096282505015,
+          "heading40": 0.22468478726239655,
+          "pos60": 0.5561583452919237,
+          "heading60": 0.2664733005035834
+        },
+        "uniform": {
+          "pos1": 0.09672056621103566,
+          "heading1": 0.03805403102665761,
+          "pos3": 0.11600815295816448,
+          "heading3": 0.046459574528211256,
+          "pos6": 0.15276292401101935,
+          "heading6": 0.06105794974379158,
+          "pos8": 0.17915507083342158,
+          "heading8": 0.07150321351830961,
+          "pos10": 0.20651447817560623,
+          "heading10": 0.08194726817003363,
+          "pos20": 0.3413436339698626,
+          "heading20": 0.12815192615976953,
+          "pos30": 0.4646381172745105,
+          "heading30": 0.16921664202668013,
+          "pos40": 0.5816766044143072,
+          "heading40": 0.20644404733011593,
+          "pos60": 0.8093653994883364,
+          "heading60": 0.2759262714799697
+        },
+        "slowly_varying": {
+          "pos1": 0.10056699559373676,
+          "heading1": 0.07505346931785499,
+          "pos3": 0.11986287267907406,
+          "heading3": 0.08092826737752296,
+          "pos6": 0.1536921741214052,
+          "heading6": 0.09206226304505742,
+          "pos8": 0.17733474773567293,
+          "heading8": 0.09960118948288683,
+          "pos10": 0.20060317144181267,
+          "heading10": 0.10695713037692049,
+          "pos20": 0.31733165985519646,
+          "heading20": 0.1410089799204576,
+          "pos30": 0.4304009526712408,
+          "heading30": 0.17020499174631684,
+          "pos40": 0.5394233242316271,
+          "heading40": 0.19695831745811843,
+          "pos60": 0.7457629010771396,
+          "heading60": 0.25161358279592994
+        },
+        "vortex_center": {
+          "pos1": 0.09849649979912996,
+          "heading1": 0.04685958970485805,
+          "pos3": 0.12176007671328193,
+          "heading3": 0.05422361770565464,
+          "pos6": 0.16485424865651702,
+          "heading6": 0.06722962882550278,
+          "pos8": 0.19682114636612125,
+          "heading8": 0.0759138698619893,
+          "pos10": 0.22917377534475153,
+          "heading10": 0.08452747099200009,
+          "pos20": 0.3887911610783051,
+          "heading20": 0.1282217937885869,
+          "pos30": 0.5518984810954732,
+          "heading30": 0.16965643226429347,
+          "pos40": 0.7106119427561935,
+          "heading40": 0.2076496738344212,
+          "pos60": 0.9948449193176777,
+          "heading60": 0.26491535567677144
+        },
+        "gradient": {
+          "pos1": 0.11873162001719657,
+          "heading1": 0.09046613115301116,
+          "pos3": 0.14517933727305798,
+          "heading3": 0.09991915287676956,
+          "pos6": 0.19228644999916447,
+          "heading6": 0.1158549541822061,
+          "pos8": 0.22547025055638537,
+          "heading8": 0.12673215227254445,
+          "pos10": 0.2575505788815837,
+          "heading10": 0.13747249332214637,
+          "pos20": 0.4141207784165524,
+          "heading20": 0.19022870680724638,
+          "pos30": 0.5536138951678905,
+          "heading30": 0.23616303983634224,
+          "pos40": 0.685145662304555,
+          "heading40": 0.2778217795496194,
+          "pos60": 0.9201830774794437,
+          "heading60": 0.3510477833437402
+        },
+        "turbulent_patch": {
+          "pos1": 0.12151644792889668,
+          "heading1": 0.08935087911891741,
+          "pos3": 0.14267998358552217,
+          "heading3": 0.10024475965656539,
+          "pos6": 0.18100681559505893,
+          "heading6": 0.11637245438671699,
+          "pos8": 0.20970190780608317,
+          "heading8": 0.12767505919908842,
+          "pos10": 0.23819712750476,
+          "heading10": 0.1387410879135132,
+          "pos20": 0.37801210728514123,
+          "heading20": 0.18987784679420674,
+          "pos30": 0.509814730806762,
+          "heading30": 0.23438020761008135,
+          "pos40": 0.6381899851303571,
+          "heading40": 0.2728129308571316,
+          "pos60": 0.8924396695052819,
+          "heading60": 0.3368639816738497
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.1167680786167114,
+          "heading1": 0.07755748581333403,
+          "pos3": 0.14200752073704095,
+          "heading3": 0.09708646248710477,
+          "pos6": 0.18427665426558473,
+          "heading6": 0.12717724376756095,
+          "pos8": 0.21361601098814792,
+          "heading8": 0.1469210347912631,
+          "pos10": 0.2430660689661303,
+          "heading10": 0.16650182005922431,
+          "pos20": 0.3763196446914781,
+          "heading20": 0.25268115503100835,
+          "pos30": 0.49654292202763123,
+          "heading30": 0.3183112200887295,
+          "pos40": 0.5987634333851097,
+          "heading40": 0.37064063396715635,
+          "pos60": 0.7992271955014404,
+          "heading60": 0.4506117612673556
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.0879413671246237,
+          "heading1": 0.03527337482213874,
+          "pos3": 0.09706023675734306,
+          "heading3": 0.04003629328964246,
+          "pos6": 0.11297497904884023,
+          "heading6": 0.04818300605568114,
+          "pos8": 0.12447053356082904,
+          "heading8": 0.05353820281565214,
+          "pos10": 0.13610452042120563,
+          "heading10": 0.058397603553491176,
+          "pos20": 0.18752271398147843,
+          "heading20": 0.0768009548354777,
+          "pos30": 0.23184112902218107,
+          "heading30": 0.0884194262902241,
+          "pos40": 0.27164644359395573,
+          "heading40": 0.0956991315137288,
+          "pos60": 0.3413509564736756,
+          "heading60": 0.10374449013367401
+        },
+        "flow_zero_action": {
+          "pos1": 0.08947072806345445,
+          "heading1": 0.04252099898755665,
+          "pos3": 0.09300730540605989,
+          "heading3": 0.04397006401365537,
+          "pos6": 0.0999968524787729,
+          "heading6": 0.046178502390033814,
+          "pos8": 0.10639405591278843,
+          "heading8": 0.04742204599649393,
+          "pos10": 0.11292838617474382,
+          "heading10": 0.04856133306749358,
+          "pos20": 0.14972462935906297,
+          "heading20": 0.05304591512532711,
+          "pos30": 0.19354065425057998,
+          "heading30": 0.05509397008788314,
+          "pos40": 0.23955020779299893,
+          "heading40": 0.055967318293393555,
+          "pos60": 0.33864123354367004,
+          "heading60": 0.05701195130066413
+        },
+        "flow_active_control": {
+          "pos1": 0.1061339416512156,
+          "heading1": 0.06380813311024933,
+          "pos3": 0.13388062069985282,
+          "heading3": 0.0730938557213153,
+          "pos6": 0.18219940080774696,
+          "heading6": 0.08874417413477254,
+          "pos8": 0.21591524723079378,
+          "heading8": 0.09933657511089088,
+          "pos10": 0.24954966484056623,
+          "heading10": 0.10988496254265927,
+          "pos20": 0.4150289668343884,
+          "heading20": 0.15948285569781664,
+          "pos30": 0.5646672446834999,
+          "heading30": 0.2030934943047362,
+          "pos40": 0.7035858070149141,
+          "heading40": 0.2420509779329531,
+          "pos60": 0.9544274245991426,
+          "heading60": 0.31243949612944183
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.11835265542752282,
+          "heading1": 0.08607367723892863,
+          "pos3": 0.14439626676969364,
+          "heading3": 0.09758179688928774,
+          "pos6": 0.19365405872901603,
+          "heading6": 0.11706759926080959,
+          "pos8": 0.22963691140896814,
+          "heading8": 0.1309176346002566,
+          "pos10": 0.2654896732671168,
+          "heading10": 0.1445523748976121,
+          "pos20": 0.43990411220997644,
+          "heading20": 0.209304527881852,
+          "pos30": 0.6062621804665058,
+          "heading30": 0.2680161324716212,
+          "pos40": 0.7686188646524551,
+          "heading40": 0.3217021150509295,
+          "pos60": 1.0764227622526474,
+          "heading60": 0.41458366676855324
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.11844477015217458,
+          "heading1": 0.09132283194580633,
+          "pos3": 0.1381788347360945,
+          "heading3": 0.10231496122372938,
+          "pos6": 0.1794520183450016,
+          "heading6": 0.12124178902009702,
+          "pos8": 0.2089901980163833,
+          "heading8": 0.13450773737056554,
+          "pos10": 0.23812247911126305,
+          "heading10": 0.14783127263125184,
+          "pos20": 0.3759046414777916,
+          "heading20": 0.21168482195312943,
+          "pos30": 0.5044215215617133,
+          "heading30": 0.2683560011532724,
+          "pos40": 0.6283968984972412,
+          "heading40": 0.3194303368164654,
+          "pos60": 0.8710835734690269,
+          "heading60": 0.40817263561043143
+        },
+        "triangle": {
+          "pos1": 0.09275335473083954,
+          "heading1": 0.03705119913626544,
+          "pos3": 0.1138176817723285,
+          "heading3": 0.044716351497714434,
+          "pos6": 0.1455638773811745,
+          "heading6": 0.05650680498350061,
+          "pos8": 0.16844967895950805,
+          "heading8": 0.06411529147532583,
+          "pos10": 0.19173981780011007,
+          "heading10": 0.071295261031104,
+          "pos20": 0.3075656308974122,
+          "heading20": 0.10108217276217592,
+          "pos30": 0.4159246335127562,
+          "heading30": 0.12317599762203157,
+          "pos40": 0.5151922714227767,
+          "heading40": 0.14031366058961536,
+          "pos60": 0.692314207077261,
+          "heading60": 0.1670459821693776
+        }
+      }
+    }
+  }
+]

experiments/reports/paper_prediction_unseen_flow.json

@@ -0,0 +1,1490 @@
+[
+  {
+    "method": "flowmo",
+    "inferred": {
+      "pos1": 0.0724326862837188,
+      "heading1": 0.04071506072068587,
+      "pos3": 0.07856980024371296,
+      "heading3": 0.04323871259111911,
+      "pos6": 0.08900778042152524,
+      "heading6": 0.04738419351633638,
+      "pos8": 0.095953089883551,
+      "heading8": 0.050130856630858034,
+      "pos10": 0.10345834831241518,
+      "heading10": 0.05288840818684548,
+      "pos20": 0.14596064994111657,
+      "heading20": 0.06548507197294384,
+      "pos30": 0.19051979156211019,
+      "heading30": 0.07710684521589428,
+      "pos40": 0.23622252303175628,
+      "heading40": 0.08862197492271662,
+      "pos60": 0.3339972789399326,
+      "heading60": 0.11143294314388186,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.07865183672614251,
+          "heading1": 0.05764178609838032,
+          "pos3": 0.08764497284216874,
+          "heading3": 0.06158635420492553,
+          "pos6": 0.09874978935646107,
+          "heading6": 0.06717963796128473,
+          "pos8": 0.10524011932027783,
+          "heading8": 0.07060683080791903,
+          "pos10": 0.11200189530512283,
+          "heading10": 0.07392962418985197,
+          "pos20": 0.14918641346744238,
+          "heading20": 0.08787903050419271,
+          "pos30": 0.18135156937172997,
+          "heading30": 0.09876199845570377,
+          "pos40": 0.21406298884550232,
+          "heading40": 0.10914137826484378,
+          "pos60": 0.2884848812653937,
+          "heading60": 0.12784865435478998
+        },
+        "shear": {
+          "pos1": 0.07036276803871529,
+          "heading1": 0.03562429897307315,
+          "pos3": 0.07615683419548595,
+          "heading3": 0.03766362774427066,
+          "pos6": 0.08697416001876777,
+          "heading6": 0.041458738991520354,
+          "pos8": 0.09410758402601697,
+          "heading8": 0.04408386188824713,
+          "pos10": 0.10190965012544405,
+          "heading10": 0.04681836048826668,
+          "pos20": 0.1477232319506197,
+          "heading20": 0.06035705164968078,
+          "pos30": 0.19826699428387634,
+          "heading30": 0.07297027217750146,
+          "pos40": 0.2523395635585718,
+          "heading40": 0.08550377192133839,
+          "pos60": 0.3674710330388913,
+          "heading60": 0.11013222852954704
+        },
+        "moving_vortex": {
+          "pos1": 0.06639896299314654,
+          "heading1": 0.027364430373952295,
+          "pos3": 0.0710093890471164,
+          "heading3": 0.029344198052828903,
+          "pos6": 0.07996723201137969,
+          "heading6": 0.03262861189255864,
+          "pos8": 0.0863093063477447,
+          "heading8": 0.0349256556121913,
+          "pos10": 0.09350815786700595,
+          "heading10": 0.03733320364714444,
+          "pos20": 0.1321498802656213,
+          "heading20": 0.0487783451444537,
+          "pos30": 0.17402973076891667,
+          "heading30": 0.06056025498349902,
+          "pos40": 0.21847875637455338,
+          "heading40": 0.07220686960840277,
+          "pos60": 0.31453985692620406,
+          "heading60": 0.09689230824601741
+        },
+        "random_fourier": {
+          "pos1": 0.0724856925033216,
+          "heading1": 0.03770676677754335,
+          "pos3": 0.07703242427009266,
+          "heading3": 0.03952429749226525,
+          "pos6": 0.08767912090388047,
+          "heading6": 0.043093336327089476,
+          "pos8": 0.09549993547014117,
+          "heading8": 0.04557061913671476,
+          "pos10": 0.10385245304477238,
+          "heading10": 0.04801609165727078,
+          "pos20": 0.15283545215098304,
+          "heading20": 0.05927095594613448,
+          "pos30": 0.20849646940573852,
+          "heading30": 0.07072251629513919,
+          "pos40": 0.26265302430028503,
+          "heading40": 0.08251665619911454,
+          "pos60": 0.37313939943656127,
+          "heading60": 0.10673716106577046
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.08837213784260001,
+          "heading1": 0.07355384964597528,
+          "pos3": 0.1039440848865491,
+          "heading3": 0.08122381315630557,
+          "pos6": 0.12405508414597749,
+          "heading6": 0.09098323049796492,
+          "pos8": 0.13543786491185902,
+          "heading8": 0.09696111220407351,
+          "pos10": 0.14673285179281728,
+          "heading10": 0.10284854192724793,
+          "pos20": 0.2070266123885606,
+          "heading20": 0.12879545460976416,
+          "pos30": 0.25864782270573267,
+          "heading30": 0.14956529316538814,
+          "pos40": 0.31346385274870936,
+          "heading40": 0.17000624411305726,
+          "pos60": 0.4359264162948192,
+          "heading60": 0.20739508527466854
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.0708447410603672,
+          "heading1": 0.044861636929211184,
+          "pos3": 0.07455395841580496,
+          "heading3": 0.045814067586935556,
+          "pos6": 0.07842524699278494,
+          "heading6": 0.04806122867215297,
+          "pos8": 0.08098609005229447,
+          "heading8": 0.049439773678464354,
+          "pos10": 0.08410691611488495,
+          "heading10": 0.05070271431656662,
+          "pos20": 0.1027307067225463,
+          "heading20": 0.05501604589102716,
+          "pos30": 0.11926927879976244,
+          "heading30": 0.057958143812150024,
+          "pos40": 0.13422685440504464,
+          "heading40": 0.06025633178749848,
+          "pos60": 0.17006375233902768,
+          "heading60": 0.06395907779437081
+        },
+        "flow_zero_action": {
+          "pos1": 0.06551759459960016,
+          "heading1": 0.037017339400557174,
+          "pos3": 0.06854341385331934,
+          "heading3": 0.037617562332562485,
+          "pos6": 0.07293041288599772,
+          "heading6": 0.038870227050241686,
+          "pos8": 0.07614045646717839,
+          "heading8": 0.039678224439274754,
+          "pos10": 0.0799754825980525,
+          "heading10": 0.04031933674774098,
+          "pos20": 0.10573563132854859,
+          "heading20": 0.04250092286649935,
+          "pos30": 0.13522486774385228,
+          "heading30": 0.044405392631501985,
+          "pos40": 0.16910601471573156,
+          "heading40": 0.04601824179621925,
+          "pos60": 0.24725160234551113,
+          "heading60": 0.04953048629392042
+        },
+        "flow_active_control": {
+          "pos1": 0.06530524520385937,
+          "heading1": 0.02715645816887631,
+          "pos3": 0.07089625106530874,
+          "heading3": 0.0299193945135035,
+          "pos6": 0.08288437745324234,
+          "heading6": 0.034441109015340095,
+          "pos8": 0.09130617009787882,
+          "heading8": 0.03751799715656798,
+          "pos10": 0.10007656292646516,
+          "heading10": 0.04074573888629973,
+          "pos20": 0.14967518451451206,
+          "heading20": 0.0564045962787828,
+          "pos30": 0.20399868292886703,
+          "heading30": 0.07156479987846476,
+          "pos40": 0.25885405534746553,
+          "heading40": 0.08714888849910475,
+          "pos60": 0.3706976155765721,
+          "heading60": 0.11853403198580797
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.07703036765788754,
+          "heading1": 0.039572397070985005,
+          "pos3": 0.08220911291618824,
+          "heading3": 0.04122721338760832,
+          "pos6": 0.09306990207835315,
+          "heading6": 0.044780754416171666,
+          "pos8": 0.10061875692238358,
+          "heading8": 0.04735183646759673,
+          "pos10": 0.10923921817551747,
+          "heading10": 0.0499844221720296,
+          "pos20": 0.15740017808057408,
+          "heading20": 0.06265163724435205,
+          "pos30": 0.21137965065485229,
+          "heading30": 0.07570779493573303,
+          "pos40": 0.2662846128358348,
+          "heading40": 0.08857558850936073,
+          "pos60": 0.3824916922897366,
+          "heading60": 0.11531511177566174
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.08008037358540562,
+          "heading1": 0.04155895205046979,
+          "pos3": 0.0848536927522049,
+          "heading3": 0.04440930258151951,
+          "pos6": 0.0951606188109638,
+          "heading6": 0.04900061594933224,
+          "pos8": 0.1027155864428928,
+          "heading8": 0.052128074143316466,
+          "pos10": 0.11084772030309237,
+          "heading10": 0.055217835952820114,
+          "pos20": 0.15490664931717635,
+          "heading20": 0.0704918902504823,
+          "pos30": 0.20236777353339008,
+          "heading30": 0.08614554188600224,
+          "pos40": 0.253741368990754,
+          "heading40": 0.10227772519092238,
+          "pos60": 0.3670114153210537,
+          "heading60": 0.13449945950418105
+        },
+        "triangle": {
+          "pos1": 0.06474944834287348,
+          "heading1": 0.039867245434810406,
+          "pos3": 0.07225668761424768,
+          "heading3": 0.04206267967373479,
+          "pos6": 0.08282634191817612,
+          "heading6": 0.04576025638676005,
+          "pos8": 0.0891591511638515,
+          "heading8": 0.048124356119894976,
+          "pos10": 0.09603462221572,
+          "heading10": 0.05054814979173293,
+          "pos20": 0.13697305175471333,
+          "heading20": 0.06045497448313387,
+          "pos30": 0.17861673226047872,
+          "heading30": 0.06802613122889421,
+          "pos40": 0.2186222246777511,
+          "heading40": 0.07490273477630634,
+          "pos60": 0.3008295904243793,
+          "heading60": 0.08825917129021853
+        }
+      }
+    },
+    "context_zero": {
+      "pos1": 0.08226253872271627,
+      "heading1": 0.04279086019960232,
+      "pos3": 0.12103674921672791,
+      "heading3": 0.05436551698949188,
+      "pos6": 0.18101151660084724,
+      "heading6": 0.07272260647732764,
+      "pos8": 0.2179929530248046,
+      "heading8": 0.08255017711780965,
+      "pos10": 0.2533955096732825,
+      "heading10": 0.09080504137091339,
+      "pos20": 0.40537041472271085,
+      "heading20": 0.12189861293882132,
+      "pos30": 0.5221384135074914,
+      "heading30": 0.14140386425424367,
+      "pos40": 0.6175080398097634,
+      "heading40": 0.16036402131430805,
+      "pos60": 0.7795792911201715,
+      "heading60": 0.202429564204067,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.08493844463269265,
+          "heading1": 0.059630669939075905,
+          "pos3": 0.11465463462476333,
+          "heading3": 0.06953516626867538,
+          "pos6": 0.15903990897596845,
+          "heading6": 0.08339612278677547,
+          "pos8": 0.18750958149972113,
+          "heading8": 0.0913359808167546,
+          "pos10": 0.21480560682365885,
+          "heading10": 0.09815911424502172,
+          "pos20": 0.3353490639652018,
+          "heading20": 0.12184818700602187,
+          "pos30": 0.4299554898757343,
+          "heading30": 0.13511667874981817,
+          "pos40": 0.507655592702006,
+          "heading40": 0.1449113985090018,
+          "pos60": 0.6260220303666334,
+          "heading60": 0.1626724800223353
+        },
+        "shear": {
+          "pos1": 0.08104653445110109,
+          "heading1": 0.03790824575607842,
+          "pos3": 0.12444220709225205,
+          "heading3": 0.04937825760351212,
+          "pos6": 0.19277066514522428,
+          "heading6": 0.06858874498941014,
+          "pos8": 0.23452027612887394,
+          "heading8": 0.07873388005363478,
+          "pos10": 0.27429780605720705,
+          "heading10": 0.08728329754470647,
+          "pos20": 0.4415909694985125,
+          "heading20": 0.11963974663258763,
+          "pos30": 0.5674002807509585,
+          "heading30": 0.14120118379398902,
+          "pos40": 0.6669604283605193,
+          "heading40": 0.16198717109032496,
+          "pos60": 0.8364121706336373,
+          "heading60": 0.21077004880933603
+        },
+        "moving_vortex": {
+          "pos1": 0.07730519048312633,
+          "heading1": 0.02937775254572458,
+          "pos3": 0.11863162458136695,
+          "heading3": 0.04215152840960452,
+          "pos6": 0.18215240132899094,
+          "heading6": 0.06277470502150795,
+          "pos8": 0.2211017386497423,
+          "heading8": 0.07360522421571312,
+          "pos10": 0.2583459428433866,
+          "heading10": 0.08245594026208053,
+          "pos20": 0.4193864558396593,
+          "heading20": 0.11552514763849657,
+          "pos30": 0.5412469225353436,
+          "heading30": 0.13667219470407438,
+          "pos40": 0.6411513212830119,
+          "heading40": 0.15915886720365977,
+          "pos60": 0.814967963444967,
+          "heading60": 0.2095925264213868
+        },
+        "random_fourier": {
+          "pos1": 0.08462875923722814,
+          "heading1": 0.03975375182574548,
+          "pos3": 0.12736605955657526,
+          "heading3": 0.052257135116084985,
+          "pos6": 0.19455176174978678,
+          "heading6": 0.07296469148480825,
+          "pos8": 0.23526212578685163,
+          "heading8": 0.08376966357681837,
+          "pos10": 0.2743892951363201,
+          "heading10": 0.09286284322774703,
+          "pos20": 0.4405593047295266,
+          "heading20": 0.12948367940455618,
+          "pos30": 0.5700022308948135,
+          "heading30": 0.15279927517380743,
+          "pos40": 0.6776933106673012,
+          "heading40": 0.17742930896340786,
+          "pos60": 0.8723796283815669,
+          "heading60": 0.23375367735193897
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.09604446913763137,
+          "heading1": 0.07658554895352555,
+          "pos3": 0.13489764754994232,
+          "heading3": 0.0940083035408946,
+          "pos6": 0.18982177395250924,
+          "heading6": 0.11732532433037027,
+          "pos8": 0.2239319230740853,
+          "heading8": 0.13033639919275622,
+          "pos10": 0.2561976851322465,
+          "heading10": 0.14137587744676047,
+          "pos20": 0.39784594560050784,
+          "heading20": 0.17870135466556783,
+          "pos30": 0.5109043435341664,
+          "heading30": 0.1996511756981305,
+          "pos40": 0.608879422648045,
+          "heading40": 0.21484370121727098,
+          "pos60": 0.7748485934812845,
+          "heading60": 0.24409627353707689
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.07601838243381455,
+          "heading1": 0.04601296358032861,
+          "pos3": 0.0983959870109659,
+          "heading3": 0.04987898832633894,
+          "pos6": 0.1343167275809593,
+          "heading6": 0.056145086980199294,
+          "pos8": 0.15825612039713757,
+          "heading8": 0.06001187573300698,
+          "pos10": 0.18156060300595722,
+          "heading10": 0.06344855944075402,
+          "pos20": 0.2851532338743711,
+          "heading20": 0.07618523468194838,
+          "pos30": 0.3649395264271389,
+          "heading30": 0.08328428946669074,
+          "pos40": 0.42635528952119756,
+          "heading40": 0.08874362867014517,
+          "pos60": 0.5064884430064226,
+          "heading60": 0.09727504557828251
+        },
+        "flow_zero_action": {
+          "pos1": 0.07118495822458658,
+          "heading1": 0.03654800516319185,
+          "pos3": 0.09220977354476835,
+          "heading3": 0.0373104687346315,
+          "pos6": 0.12696809759684072,
+          "heading6": 0.04092950634886666,
+          "pos8": 0.1487984318937799,
+          "heading8": 0.04396149332036617,
+          "pos10": 0.1698839147379802,
+          "heading10": 0.04684246634605188,
+          "pos20": 0.26771783266692495,
+          "heading20": 0.05838856138973964,
+          "pos30": 0.3467666831909065,
+          "heading30": 0.06416781526981014,
+          "pos40": 0.413379064206524,
+          "heading40": 0.06930253237050302,
+          "pos60": 0.512500129404747,
+          "heading60": 0.07616196022681165
+        },
+        "flow_active_control": {
+          "pos1": 0.07643027440970633,
+          "heading1": 0.03023654675302578,
+          "pos3": 0.11883630718244928,
+          "heading3": 0.04618243358936943,
+          "pos6": 0.1877854898994992,
+          "heading6": 0.07096503534969069,
+          "pos8": 0.2301694829194177,
+          "heading8": 0.08405217577199467,
+          "pos10": 0.27097093596643373,
+          "heading10": 0.09487130650516892,
+          "pos20": 0.44361016350905924,
+          "heading20": 0.1349945023554604,
+          "pos30": 0.5759931562043151,
+          "heading30": 0.16039812693544409,
+          "pos40": 0.6852496801877394,
+          "heading40": 0.18739374786889443,
+          "pos60": 0.8811997128028671,
+          "heading60": 0.25016804477397275
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.09115211859531369,
+          "heading1": 0.04182413377120108,
+          "pos3": 0.1439000472240482,
+          "heading3": 0.055412931769501926,
+          "pos6": 0.22236917023140265,
+          "heading6": 0.0783553703583498,
+          "pos8": 0.269541888738486,
+          "heading8": 0.08976921030119353,
+          "pos10": 0.3143146790285161,
+          "heading10": 0.09922844320270043,
+          "pos20": 0.5022727631417613,
+          "heading20": 0.13737095751651893,
+          "pos30": 0.6430320909741516,
+          "heading30": 0.16342193791360565,
+          "pos40": 0.7553066110865955,
+          "heading40": 0.18970763024586831,
+          "pos60": 0.9558490142890264,
+          "heading60": 0.25117876185452875
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.08864843788746286,
+          "heading1": 0.04503992666296308,
+          "pos3": 0.12477473715541859,
+          "heading3": 0.06158116267116827,
+          "pos6": 0.18507536127482796,
+          "heading6": 0.08630843099237083,
+          "pos8": 0.22360148352633555,
+          "heading8": 0.0998646554144331,
+          "pos10": 0.26039709026841673,
+          "heading10": 0.11124976307621916,
+          "pos20": 0.41461237111926125,
+          "heading20": 0.15493984347849726,
+          "pos30": 0.5312786309034696,
+          "heading30": 0.18397673101753864,
+          "pos40": 0.6249403558075319,
+          "heading40": 0.21548372690751105,
+          "pos60": 0.7935653043539511,
+          "heading60": 0.288814777201907
+        },
+        "triangle": {
+          "pos1": 0.0758469507625108,
+          "heading1": 0.04053133324282735,
+          "pos3": 0.11728138388639912,
+          "heading3": 0.04711632216325314,
+          "pos6": 0.17692875555820947,
+          "heading6": 0.059073613408465696,
+          "pos8": 0.21235833937573664,
+          "heading8": 0.06515520175871761,
+          "pos10": 0.24636135617070284,
+          "heading10": 0.07026527608518834,
+          "pos20": 0.39608548125977994,
+          "heading20": 0.08870377045256497,
+          "pos30": 0.5129556500691468,
+          "heading30": 0.09863305684039135,
+          "pos40": 0.6100412002613885,
+          "heading40": 0.10498804038498315,
+          "pos60": 0.7655282897463805,
+          "heading60": 0.11564273080437242
+        }
+      }
+    },
+    "context_shuffled": {
+      "pos1": 0.08651947800535709,
+      "heading1": 0.04441892169415951,
+      "pos3": 0.145970965269953,
+      "heading3": 0.062223411921877414,
+      "pos6": 0.23369899881072342,
+      "heading6": 0.0878181136213243,
+      "pos8": 0.2860961752012372,
+      "heading8": 0.1017008792841807,
+      "pos10": 0.3350711343809962,
+      "heading10": 0.11346754524856806,
+      "pos20": 0.5422602519392967,
+      "heading20": 0.15494333766400814,
+      "pos30": 0.7010696437209845,
+      "heading30": 0.17867024475708604,
+      "pos40": 0.8324910998344421,
+      "heading40": 0.19958572462201118,
+      "pos60": 1.0619389209896326,
+      "heading60": 0.24248173623345792,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.08909664827399151,
+          "heading1": 0.06112792707703385,
+          "pos3": 0.14168199982354407,
+          "heading3": 0.07741153257686888,
+          "pos6": 0.21943305978828972,
+          "heading6": 0.10052984494621489,
+          "pos8": 0.2669671300619922,
+          "heading8": 0.11360491643330597,
+          "pos10": 0.3117240236011811,
+          "heading10": 0.1248765588181338,
+          "pos20": 0.5003849187787414,
+          "heading20": 0.16394516239370063,
+          "pos30": 0.6445805309654506,
+          "heading30": 0.1854875669673182,
+          "pos40": 0.7602160046391834,
+          "heading40": 0.20068351842311602,
+          "pos60": 0.9439475377001104,
+          "heading60": 0.22594323868574698
+        },
+        "shear": {
+          "pos1": 0.08615496367466685,
+          "heading1": 0.03929222286442673,
+          "pos3": 0.15171945725542632,
+          "heading3": 0.05656274004554179,
+          "pos6": 0.2485310358182505,
+          "heading6": 0.0814976282225801,
+          "pos8": 0.3053945029755094,
+          "heading8": 0.09486843804405219,
+          "pos10": 0.3585468930605792,
+          "heading10": 0.10619182265933239,
+          "pos20": 0.5822857033440114,
+          "heading20": 0.14680374169821722,
+          "pos30": 0.7528004466533531,
+          "heading30": 0.17094982158597777,
+          "pos40": 0.8934756900548353,
+          "heading40": 0.19278469103799462,
+          "pos60": 1.1426194845126643,
+          "heading60": 0.24091150963051003
+        },
+        "moving_vortex": {
+          "pos1": 0.08148014513152134,
+          "heading1": 0.031326372196589104,
+          "pos3": 0.14253677255025018,
+          "heading3": 0.05043597269161551,
+          "pos6": 0.23123038447949376,
+          "heading6": 0.0778626114420617,
+          "pos8": 0.2840612719919157,
+          "heading8": 0.09248455606586625,
+          "pos10": 0.33314221238521685,
+          "heading10": 0.10472201455065644,
+          "pos20": 0.5410499825896059,
+          "heading20": 0.14643517307703052,
+          "pos30": 0.6987445005745438,
+          "heading30": 0.1700274940430795,
+          "pos40": 0.8308395538660712,
+          "heading40": 0.1928650054229042,
+          "pos60": 1.069170285407797,
+          "heading60": 0.24246925948629658
+        },
+        "random_fourier": {
+          "pos1": 0.08832674148177379,
+          "heading1": 0.04146233271448283,
+          "pos3": 0.14879599512186753,
+          "heading3": 0.060308764134102376,
+          "pos6": 0.23902030658181087,
+          "heading6": 0.08767307548306615,
+          "pos8": 0.29263279748999554,
+          "heading8": 0.10226798023753897,
+          "pos10": 0.3426331171241284,
+          "heading10": 0.11456843641620051,
+          "pos20": 0.5556736736081272,
+          "heading20": 0.1593046673980237,
+          "pos30": 0.7217395679711844,
+          "heading30": 0.1852475675157428,
+          "pos40": 0.8623154230965108,
+          "heading40": 0.21013595363818854,
+          "pos60": 1.1184148256629987,
+          "heading60": 0.2625132837457783
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.10038667984538109,
+          "heading1": 0.07754457784730762,
+          "pos3": 0.15834463068817656,
+          "heading3": 0.09988191025725873,
+          "pos6": 0.24152363142873023,
+          "heading6": 0.13054672716253787,
+          "pos8": 0.2922560681964806,
+          "heading8": 0.1481209130973493,
+          "pos10": 0.3407729858513273,
+          "heading10": 0.16345373438084226,
+          "pos20": 0.5480018657888878,
+          "heading20": 0.2194202715567789,
+          "pos30": 0.71321130808187,
+          "heading30": 0.2530011884020054,
+          "pos40": 0.8513482381797353,
+          "heading40": 0.27803554225394106,
+          "pos60": 1.0923572254988347,
+          "heading60": 0.3218774178739101
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.0800287939712242,
+          "heading1": 0.047942511171586655,
+          "pos3": 0.12829902138762264,
+          "heading3": 0.0593639210254956,
+          "pos6": 0.20169049782891701,
+          "heading6": 0.07642108681609958,
+          "pos8": 0.2466557334853786,
+          "heading8": 0.08588258383361448,
+          "pos10": 0.2883926592640576,
+          "heading10": 0.09389238664686883,
+          "pos20": 0.46214023391210585,
+          "heading20": 0.11938903545225436,
+          "pos30": 0.5894581074529114,
+          "heading30": 0.13126242633671142,
+          "pos40": 0.6870210306753426,
+          "heading40": 0.13855643978558443,
+          "pos60": 0.8247488538499234,
+          "heading60": 0.14889146347607943
+        },
+        "flow_zero_action": {
+          "pos1": 0.0752312669434788,
+          "heading1": 0.038616214030084604,
+          "pos3": 0.12457864883653064,
+          "heading3": 0.048297104971524625,
+          "pos6": 0.19730950065066039,
+          "heading6": 0.06341217838329619,
+          "pos8": 0.24036051270423325,
+          "heading8": 0.07185609219266469,
+          "pos10": 0.2805762142575276,
+          "heading10": 0.07907619222274989,
+          "pos20": 0.44907172183729693,
+          "heading20": 0.10181731882099833,
+          "pos30": 0.5766037487298011,
+          "heading30": 0.11185618837393438,
+          "pos40": 0.6769485280290071,
+          "heading40": 0.11800694712936063,
+          "pos60": 0.8342696949312677,
+          "heading60": 0.1265911917706696
+        },
+        "flow_active_control": {
+          "pos1": 0.08111541426596476,
+          "heading1": 0.03185162035192027,
+          "pos3": 0.14342328673694096,
+          "heading3": 0.053485773792747306,
+          "pos6": 0.23698562948477836,
+          "heading6": 0.08374835566871884,
+          "pos8": 0.2931678189319975,
+          "heading8": 0.10020711773731669,
+          "pos10": 0.3452805588122417,
+          "heading10": 0.11406395293292595,
+          "pos20": 0.5670785290009973,
+          "heading20": 0.16263709016820518,
+          "pos30": 0.7378537796917366,
+          "heading30": 0.19069153001336087,
+          "pos40": 0.8839411600167062,
+          "heading40": 0.21816375588283973,
+          "pos60": 1.1521009828795532,
+          "heading60": 0.27799547867315477
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.09513636355731576,
+          "heading1": 0.04339777143031306,
+          "pos3": 0.1634816094940784,
+          "heading3": 0.062390624095624354,
+          "pos6": 0.26240528373582267,
+          "heading6": 0.09036909428934788,
+          "pos8": 0.32017282623658205,
+          "heading8": 0.10481021312893818,
+          "pos10": 0.37427613781947716,
+          "heading10": 0.11692247288749817,
+          "pos20": 0.6031744586380196,
+          "heading20": 0.16190198642897308,
+          "pos30": 0.7789707260335831,
+          "heading30": 0.18959786122707972,
+          "pos40": 0.9255218038371965,
+          "heading40": 0.21626610594424758,
+          "pos60": 1.1945300697217862,
+          "heading60": 0.2752585032831964
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.0922554476283497,
+          "heading1": 0.04636860654554738,
+          "pos3": 0.14738445156544805,
+          "heading3": 0.0676105014590569,
+          "pos6": 0.23229422410735695,
+          "heading6": 0.09833855617933421,
+          "pos8": 0.28463708484757905,
+          "heading8": 0.11550643002416341,
+          "pos10": 0.3336024597376102,
+          "heading10": 0.13016532530463462,
+          "pos20": 0.5351987975100451,
+          "heading20": 0.18386693849239552,
+          "pos30": 0.6859946324668199,
+          "heading30": 0.21678438745307482,
+          "pos40": 0.8132134622116934,
+          "heading40": 0.24935864025892288,
+          "pos60": 1.0519866971234402,
+          "heading60": 0.320232295653167
+        },
+        "triangle": {
+          "pos1": 0.08075683778813926,
+          "heading1": 0.04246017079042364,
+          "pos3": 0.14455090481575972,
+          "heading3": 0.05681127266771248,
+          "pos6": 0.23511030191776,
+          "heading6": 0.07724875685023107,
+          "pos8": 0.2875620705340726,
+          "heading8": 0.08783114141690371,
+          "pos10": 0.3365466580985445,
+          "heading10": 0.09669213602450404,
+          "pos20": 0.5493545480884742,
+          "heading20": 0.12588524850509047,
+          "pos30": 0.7162147670397192,
+          "heading30": 0.14037889041618254,
+          "pos40": 0.8518584295861158,
+          "heading40": 0.14958140264595354,
+          "pos60": 1.0719374135441082,
+          "heading60": 0.16436967181120918
+        }
+      }
+    }
+  },
+  {
+    "method": "leworldmodel",
+    "inferred": {
+      "pos1": 0.09910961939021945,
+      "heading1": 0.05093065492110327,
+      "pos3": 0.11483239231165498,
+      "heading3": 0.057090175861958414,
+      "pos6": 0.13908189977519214,
+      "heading6": 0.06653347465908155,
+      "pos8": 0.15581243601627648,
+      "heading8": 0.07242856331868097,
+      "pos10": 0.17209014319814742,
+      "heading10": 0.07778051844798028,
+      "pos20": 0.2465258256997913,
+      "heading20": 0.09872526815161109,
+      "pos30": 0.3109350325539708,
+      "heading30": 0.11460183456074446,
+      "pos40": 0.37090746220201254,
+      "heading40": 0.12930487643461674,
+      "pos60": 0.48886201390996575,
+      "heading60": 0.1574395028874278,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.10488412816295228,
+          "heading1": 0.06188187870418853,
+          "pos3": 0.11957727696394585,
+          "heading3": 0.071672431682856,
+          "pos6": 0.1434338144254015,
+          "heading6": 0.08626962807002168,
+          "pos8": 0.16075799052080417,
+          "heading8": 0.09527875896072628,
+          "pos10": 0.1780027403113179,
+          "heading10": 0.10327927351447488,
+          "pos20": 0.2568141030935579,
+          "heading20": 0.13093262979526227,
+          "pos30": 0.3190754111797685,
+          "heading30": 0.14642015393614993,
+          "pos40": 0.374622262250995,
+          "heading40": 0.1590127541338051,
+          "pos60": 0.4727418636990972,
+          "heading60": 0.18266839189847112
+        },
+        "shear": {
+          "pos1": 0.09538755204770052,
+          "heading1": 0.048592976932768775,
+          "pos3": 0.11285706875218846,
+          "heading3": 0.05380400070369421,
+          "pos6": 0.13870593736512504,
+          "heading6": 0.061938866580893814,
+          "pos8": 0.15624924613946428,
+          "heading8": 0.06701047393989201,
+          "pos10": 0.17255131895056514,
+          "heading10": 0.07185381707506255,
+          "pos20": 0.24831998901118876,
+          "heading20": 0.09093932501500882,
+          "pos30": 0.3185228242245605,
+          "heading30": 0.10803201640237467,
+          "pos40": 0.38370379103145075,
+          "heading40": 0.12586325036823054,
+          "pos60": 0.51154858108326,
+          "heading60": 0.16157947842396467
+        },
+        "moving_vortex": {
+          "pos1": 0.09304576808685601,
+          "heading1": 0.040711412611916936,
+          "pos3": 0.10736764084349991,
+          "heading3": 0.04573916807722296,
+          "pos6": 0.12976082523362478,
+          "heading6": 0.05304334055176277,
+          "pos8": 0.14474688617276474,
+          "heading8": 0.05757591289792004,
+          "pos10": 0.15924570051587933,
+          "heading10": 0.06176645926251313,
+          "pos20": 0.22314796132617756,
+          "heading20": 0.08072659034253717,
+          "pos30": 0.2790707175419106,
+          "heading30": 0.09660327008331067,
+          "pos40": 0.33483873829164845,
+          "heading40": 0.11140461997376232,
+          "pos60": 0.4583003435723831,
+          "heading60": 0.14107550714540326
+        },
+        "random_fourier": {
+          "pos1": 0.10112976532126645,
+          "heading1": 0.049531359443817785,
+          "pos3": 0.1177141466979043,
+          "heading3": 0.053409403292127726,
+          "pos6": 0.142632903133313,
+          "heading6": 0.06004604508498215,
+          "pos8": 0.15950771405701375,
+          "heading8": 0.06433510611323193,
+          "pos10": 0.17622541671439246,
+          "heading10": 0.0681562489057083,
+          "pos20": 0.2537540600746025,
+          "heading20": 0.08488601074326917,
+          "pos30": 0.32294180285051777,
+          "heading30": 0.10014171551891897,
+          "pos40": 0.3870357015858526,
+          "heading40": 0.11441387774137558,
+          "pos60": 0.5139399377069311,
+          "heading60": 0.13965458015863746
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.11848059119980849,
+          "heading1": 0.08468279245319169,
+          "pos3": 0.14247002437892997,
+          "heading3": 0.10205715580695324,
+          "pos6": 0.18624987943152269,
+          "heading6": 0.1287359930609939,
+          "pos8": 0.21624463746150707,
+          "heading8": 0.1452219648845669,
+          "pos10": 0.24624563272786612,
+          "heading10": 0.15971833024513912,
+          "pos20": 0.37988024978063517,
+          "heading20": 0.20984698317573525,
+          "pos30": 0.4824154576600327,
+          "heading30": 0.23757592440772932,
+          "pos40": 0.573130702703266,
+          "heading40": 0.26124850019237844,
+          "pos60": 0.7285654901448894,
+          "heading60": 0.30543398453397563
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.09396381093548702,
+          "heading1": 0.04356879058945255,
+          "pos3": 0.10119042749624681,
+          "heading3": 0.047268227626568515,
+          "pos6": 0.10904509813145147,
+          "heading6": 0.05216176952557335,
+          "pos8": 0.11619260115672113,
+          "heading8": 0.055165700161281424,
+          "pos10": 0.12319186051746653,
+          "heading10": 0.05794892438997356,
+          "pos20": 0.15797064202571304,
+          "heading20": 0.067550719887705,
+          "pos30": 0.1878850396101908,
+          "heading30": 0.07320626983563315,
+          "pos40": 0.21518557667056704,
+          "heading40": 0.07689972629986667,
+          "pos60": 0.2672711362647794,
+          "heading60": 0.08406632929240977
+        },
+        "flow_zero_action": {
+          "pos1": 0.08995621359500049,
+          "heading1": 0.03924628901121921,
+          "pos3": 0.09647443473254774,
+          "heading3": 0.04114042556212793,
+          "pos6": 0.1036935839547351,
+          "heading6": 0.04141972944287971,
+          "pos8": 0.10861675557186445,
+          "heading8": 0.0416801763924154,
+          "pos10": 0.11360568091982887,
+          "heading10": 0.04194674554831124,
+          "pos20": 0.14367539058705087,
+          "heading20": 0.0449911021697302,
+          "pos30": 0.18001757439213617,
+          "heading30": 0.048068700984422466,
+          "pos40": 0.22001590036322968,
+          "heading40": 0.051155992635630705,
+          "pos60": 0.3168639428544753,
+          "heading60": 0.0571911626129654
+        },
+        "flow_active_control": {
+          "pos1": 0.09371711615799237,
+          "heading1": 0.0385293737262404,
+          "pos3": 0.11190741961119605,
+          "heading3": 0.044805269582611905,
+          "pos6": 0.14131970998526858,
+          "heading6": 0.055353149181840325,
+          "pos8": 0.16094510624857722,
+          "heading8": 0.06175110469766256,
+          "pos10": 0.17960053165165818,
+          "heading10": 0.06762144089889069,
+          "pos20": 0.2642106695301006,
+          "heading20": 0.09081707244775429,
+          "pos30": 0.33680752094913985,
+          "heading30": 0.1107453959601157,
+          "pos40": 0.4042479973800275,
+          "heading40": 0.12961792593143406,
+          "pos60": 0.5393955188005364,
+          "heading60": 0.16632470604135055
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.10330434608374475,
+          "heading1": 0.05862750519405712,
+          "pos3": 0.1217220195049483,
+          "heading3": 0.06281153148508327,
+          "pos6": 0.14868381093530095,
+          "heading6": 0.0698733892882784,
+          "pos8": 0.1671367069829169,
+          "heading8": 0.07455913130187308,
+          "pos10": 0.18507091969304756,
+          "heading10": 0.07891990427664894,
+          "pos20": 0.2644804006379343,
+          "heading20": 0.09868100567085007,
+          "pos30": 0.3353128229233033,
+          "heading30": 0.11650420499570442,
+          "pos40": 0.401108138701495,
+          "heading40": 0.13429422376415096,
+          "pos60": 0.5309700328398516,
+          "heading60": 0.16808240777030986
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.1050071774381564,
+          "heading1": 0.055774596471789985,
+          "pos3": 0.12104135691473536,
+          "heading3": 0.06175757261682059,
+          "pos6": 0.14587302469855873,
+          "heading6": 0.07094682861428475,
+          "pos8": 0.16296344069960694,
+          "heading8": 0.07679993748272863,
+          "pos10": 0.18001437021686859,
+          "heading10": 0.08227737010026179,
+          "pos20": 0.25874884720043756,
+          "heading20": 0.10624952308153963,
+          "pos30": 0.3274094392634559,
+          "heading30": 0.12776005124366321,
+          "pos40": 0.39211882262670694,
+          "heading40": 0.14882078276469174,
+          "pos60": 0.520126484006901,
+          "heading60": 0.18989111017968882
+        },
+        "triangle": {
+          "pos1": 0.09318463449070916,
+          "heading1": 0.046064182957339196,
+          "pos3": 0.10859456115409004,
+          "heading3": 0.05240108216244982,
+          "pos6": 0.13225919771818728,
+          "heading6": 0.06209959891060349,
+          "pos8": 0.1486281888890147,
+          "heading8": 0.06803686540333627,
+          "pos10": 0.16412906677066863,
+          "heading10": 0.07326275765873964,
+          "pos20": 0.23424596703651995,
+          "heading20": 0.09116604213511566,
+          "pos30": 0.29438399381741426,
+          "heading30": 0.10138243361696771,
+          "pos40": 0.34959745272915643,
+          "heading40": 0.10969822989906863,
+          "pos60": 0.45745216564727825,
+          "heading60": 0.12483700663927032
+        }
+      }
+    }
+  },
+  {
+    "method": "planet",
+    "inferred": {
+      "pos1": 0.12485133134759963,
+      "heading1": 0.049975519184954464,
+      "pos3": 0.12667932640761137,
+      "heading3": 0.05104909953661263,
+      "pos6": 0.1408417602069676,
+      "heading6": 0.05552676413208246,
+      "pos8": 0.15293726022355258,
+      "heading8": 0.05856543919071555,
+      "pos10": 0.1660446240566671,
+      "heading10": 0.06155175855383277,
+      "pos20": 0.2289796224795282,
+      "heading20": 0.07639258482959121,
+      "pos30": 0.28513482864946127,
+      "heading30": 0.09045344893820584,
+      "pos40": 0.338502979837358,
+      "heading40": 0.10361077496781945,
+      "pos60": 0.4414294012822211,
+      "heading60": 0.1279461799422279,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.13211743036905924,
+          "heading1": 0.05891386368178282,
+          "pos3": 0.133539451384929,
+          "heading3": 0.06092273724446276,
+          "pos6": 0.14825700819429902,
+          "heading6": 0.06650565696067338,
+          "pos8": 0.15993135709221099,
+          "heading8": 0.06999957534019587,
+          "pos10": 0.1725348521148087,
+          "heading10": 0.07334472082606806,
+          "pos20": 0.2304677373828964,
+          "heading20": 0.08853656152197333,
+          "pos30": 0.2770755553230559,
+          "heading30": 0.10164934080800445,
+          "pos40": 0.31861147110301846,
+          "heading40": 0.11429488101945642,
+          "pos60": 0.39914328253246717,
+          "heading60": 0.13615363992386936
+        },
+        "shear": {
+          "pos1": 0.11904355585332611,
+          "heading1": 0.04292673019655423,
+          "pos3": 0.1210603192792147,
+          "heading3": 0.04327911046387414,
+          "pos6": 0.13489476897899524,
+          "heading6": 0.04724215497678297,
+          "pos8": 0.1475014725383265,
+          "heading8": 0.05021652504134896,
+          "pos10": 0.16178247732685483,
+          "heading10": 0.05327909908418834,
+          "pos20": 0.2291231142462577,
+          "heading20": 0.06903975126961237,
+          "pos30": 0.29420297528011613,
+          "heading30": 0.08478985441904711,
+          "pos40": 0.3558197347394231,
+          "heading40": 0.09902941517820842,
+          "pos60": 0.47189072706462054,
+          "heading60": 0.12536497441998723
+        },
+        "moving_vortex": {
+          "pos1": 0.12267150535356185,
+          "heading1": 0.03835951400474763,
+          "pos3": 0.12516364400332566,
+          "heading3": 0.03801171977238433,
+          "pos6": 0.1387946818786737,
+          "heading6": 0.04175548412042992,
+          "pos8": 0.15015732777079938,
+          "heading8": 0.04464095659788096,
+          "pos10": 0.16247574918835805,
+          "heading10": 0.0473676581553235,
+          "pos20": 0.22275289605782325,
+          "heading20": 0.06227402025803455,
+          "pos30": 0.2749652596491259,
+          "heading30": 0.07643043349132765,
+          "pos40": 0.32586316271954474,
+          "heading40": 0.089479420709455,
+          "pos60": 0.4242276189644959,
+          "heading60": 0.11633905183971897
+        },
+        "random_fourier": {
+          "pos1": 0.12361790090517646,
+          "heading1": 0.05616938845309057,
+          "pos3": 0.1251599099099749,
+          "heading3": 0.05805644666202127,
+          "pos6": 0.13944561844286713,
+          "heading6": 0.06237616661816328,
+          "pos8": 0.15221002512032233,
+          "heading8": 0.06509106703426527,
+          "pos10": 0.16555146244838692,
+          "heading10": 0.06783276914648838,
+          "pos20": 0.2326084084682068,
+          "heading20": 0.08141916697327266,
+          "pos30": 0.2951958704535587,
+          "heading30": 0.09499423845278518,
+          "pos40": 0.3568776512416414,
+          "heading40": 0.10788043674313955,
+          "pos60": 0.47758957208442326,
+          "heading60": 0.1310643753167136
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.1509719711368306,
+          "heading1": 0.07325529833503859,
+          "pos3": 0.15609113909899908,
+          "heading3": 0.0759005875713065,
+          "pos6": 0.1779860569863306,
+          "heading6": 0.08460703514593453,
+          "pos8": 0.19562995187090124,
+          "heading8": 0.09072052344665814,
+          "pos10": 0.21605879130053945,
+          "heading10": 0.09686482793748771,
+          "pos20": 0.3091415298063578,
+          "heading20": 0.12445923229039893,
+          "pos30": 0.3811941104235788,
+          "heading30": 0.14709018449792297,
+          "pos40": 0.4469335355067859,
+          "heading40": 0.1698431340681419,
+          "pos60": 0.5778992048211515,
+          "heading60": 0.21192327828645033
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.11697397332935455,
+          "heading1": 0.04739520324145707,
+          "pos3": 0.11542653253855775,
+          "heading3": 0.04889292815157635,
+          "pos6": 0.12437942778339105,
+          "heading6": 0.05196711028077083,
+          "pos8": 0.13125920953235404,
+          "heading8": 0.053357060085299515,
+          "pos10": 0.13757756659792736,
+          "heading10": 0.05445399647349901,
+          "pos20": 0.16727904927563927,
+          "heading20": 0.059684431052991566,
+          "pos30": 0.1934503284003269,
+          "heading30": 0.06515246127567788,
+          "pos40": 0.21554660508891163,
+          "heading40": 0.06968000680940035,
+          "pos60": 0.2555712761859152,
+          "heading60": 0.07529747265439958
+        },
+        "flow_zero_action": {
+          "pos1": 0.11920495799890614,
+          "heading1": 0.04080595183574833,
+          "pos3": 0.12098100555218486,
+          "heading3": 0.042092269192546786,
+          "pos6": 0.13029857336041614,
+          "heading6": 0.04434333967184582,
+          "pos8": 0.13615496537416738,
+          "heading8": 0.04576314307787912,
+          "pos10": 0.14339047004343597,
+          "heading10": 0.046980022512927815,
+          "pos20": 0.17685130855375053,
+          "heading20": 0.05235638249207083,
+          "pos30": 0.2170257161440348,
+          "heading30": 0.05624458903358096,
+          "pos40": 0.2613845298673566,
+          "heading40": 0.058278441766363896,
+          "pos60": 0.3544098655326588,
+          "heading60": 0.06048352900455156
+        },
+        "flow_active_control": {
+          "pos1": 0.11815161030085647,
+          "heading1": 0.03787954718243928,
+          "pos3": 0.12123845806602286,
+          "heading3": 0.0378678981564799,
+          "pos6": 0.13785905258410552,
+          "heading6": 0.04257434999785486,
+          "pos8": 0.15232329748001922,
+          "heading8": 0.04589128427532185,
+          "pos10": 0.1678097859138205,
+          "heading10": 0.049253142771364354,
+          "pos20": 0.2449317912681729,
+          "heading20": 0.06690334935323661,
+          "pos30": 0.31340527868137413,
+          "heading30": 0.08462293516965162,
+          "pos40": 0.37600205889323957,
+          "heading40": 0.1016475672914428,
+          "pos60": 0.4922205064354873,
+          "heading60": 0.13392244754243687
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.12725929111082923,
+          "heading1": 0.05828433681724331,
+          "pos3": 0.12814056076467994,
+          "heading3": 0.05947221650903025,
+          "pos6": 0.14126260852218736,
+          "heading6": 0.06357172195286674,
+          "pos8": 0.1541144740560263,
+          "heading8": 0.06658117337660356,
+          "pos10": 0.16788113542206573,
+          "heading10": 0.06960358041705507,
+          "pos20": 0.23425332046447592,
+          "heading20": 0.08541281858655009,
+          "pos30": 0.2943855341318032,
+          "heading30": 0.10121173920265919,
+          "pos40": 0.35430960646712634,
+          "heading40": 0.11586002625671088,
+          "pos60": 0.4709176239482859,
+          "heading60": 0.14443922255340957
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.13442311549996824,
+          "heading1": 0.05833523550185721,
+          "pos3": 0.13559793180299146,
+          "heading3": 0.0575502027098814,
+          "pos6": 0.14976809495492213,
+          "heading6": 0.062472012196602277,
+          "pos8": 0.16226139377551718,
+          "heading8": 0.06587361215078763,
+          "pos10": 0.17579697151448895,
+          "heading10": 0.06925798963649658,
+          "pos20": 0.2411568541428651,
+          "heading20": 0.08745627193615856,
+          "pos30": 0.30003512034882523,
+          "heading30": 0.10663943336588096,
+          "pos40": 0.35677761021666227,
+          "heading40": 0.1255797387447039,
+          "pos60": 0.47311586178607823,
+          "heading60": 0.16207924105191604
+        },
+        "triangle": {
+          "pos1": 0.11523505259534508,
+          "heading1": 0.04157693316358022,
+          "pos3": 0.11771925703688378,
+          "heading3": 0.04451777126102688,
+          "pos6": 0.13187394281590595,
+          "heading6": 0.04854922710018702,
+          "pos8": 0.1435697658925749,
+          "heading8": 0.05122328481343973,
+          "pos10": 0.15624692415820624,
+          "heading10": 0.05380970095969699,
+          "pos20": 0.21674573901349264,
+          "heading20": 0.06527746635333395,
+          "pos30": 0.2701652211336644,
+          "heading30": 0.0741922083207885,
+          "pos40": 0.32014340454721396,
+          "heading40": 0.08153967097151837,
+          "pos60": 0.40959565052857205,
+          "heading60": 0.09365441634928336
+        }
+      }
+    }
+  },
+  {
+    "method": "tdmpc2",
+    "inferred": {
+      "pos1": 0.09589632728602737,
+      "heading1": 0.0449993536749389,
+      "pos3": 0.10995818325318396,
+      "heading3": 0.05019506491953507,
+      "pos6": 0.132760358043015,
+      "heading6": 0.0580722049344331,
+      "pos8": 0.1488496963866055,
+      "heading8": 0.06275893753627315,
+      "pos10": 0.16508454619906843,
+      "heading10": 0.06698784307809547,
+      "pos20": 0.24084050161764026,
+      "heading20": 0.08377496735192835,
+      "pos30": 0.3044231398962438,
+      "heading30": 0.09736899251583964,
+      "pos40": 0.36109918309375644,
+      "heading40": 0.110610680305399,
+      "pos60": 0.4707388454116881,
+      "heading60": 0.1366361394757405,
+      "by_flow": {
+        "noflow": {
+          "pos1": 0.0957127502572479,
+          "heading1": 0.05993175014569378,
+          "pos3": 0.11080229959222172,
+          "heading3": 0.06766718832072337,
+          "pos6": 0.13652861625324522,
+          "heading6": 0.07891078337967683,
+          "pos8": 0.15365761010221732,
+          "heading8": 0.08513018661841092,
+          "pos10": 0.1699595833983582,
+          "heading10": 0.0904476397346706,
+          "pos20": 0.24084113844530453,
+          "heading20": 0.10767835240031398,
+          "pos30": 0.29663691609604614,
+          "heading30": 0.11763733716573502,
+          "pos40": 0.34161185219231427,
+          "heading40": 0.1279621568836058,
+          "pos60": 0.4245460917059041,
+          "heading60": 0.14551888305437083
+        },
+        "shear": {
+          "pos1": 0.09670429796198697,
+          "heading1": 0.04151477298343411,
+          "pos3": 0.11170068290261417,
+          "heading3": 0.04576201396225137,
+          "pos6": 0.13505475269542142,
+          "heading6": 0.052834402489927296,
+          "pos8": 0.1513521382244163,
+          "heading8": 0.05727725314162823,
+          "pos10": 0.16818606630392052,
+          "heading10": 0.06163872487828891,
+          "pos20": 0.24631707119301532,
+          "heading20": 0.07999698437420955,
+          "pos30": 0.3119304052755895,
+          "heading30": 0.09545161001786391,
+          "pos40": 0.37269409310051443,
+          "heading40": 0.10990558279734301,
+          "pos60": 0.48900971698476464,
+          "heading60": 0.14029795993528685
+        },
+        "moving_vortex": {
+          "pos1": 0.09428736958188587,
+          "heading1": 0.032769149619347356,
+          "pos3": 0.10735029111316635,
+          "heading3": 0.03686654486997156,
+          "pos6": 0.12752085426905044,
+          "heading6": 0.04316614556932501,
+          "pos8": 0.14147289176416036,
+          "heading8": 0.04729953702066986,
+          "pos10": 0.1569071510889419,
+          "heading10": 0.05118103191369533,
+          "pos20": 0.22905159396959926,
+          "heading20": 0.06844231844723289,
+          "pos30": 0.29060177167601087,
+          "heading30": 0.08460448009092139,
+          "pos40": 0.34622361652254413,
+          "heading40": 0.1000066331122575,
+          "pos60": 0.4606207788700918,
+          "heading60": 0.1293908326623241
+        },
+        "random_fourier": {
+          "pos1": 0.09680310928303262,
+          "heading1": 0.04186352546589136,
+          "pos3": 0.10976320426270281,
+          "heading3": 0.045979354748879125,
+          "pos6": 0.13108240960901762,
+          "heading6": 0.05213703282726735,
+          "pos8": 0.14768252525978592,
+          "heading8": 0.05579037710827105,
+          "pos10": 0.16401815369359035,
+          "heading10": 0.058979174956707514,
+          "pos20": 0.24635313521711497,
+          "heading20": 0.07348355138234244,
+          "pos30": 0.3187220538270947,
+          "heading30": 0.08731587357917671,
+          "pos40": 0.38595340360089825,
+          "heading40": 0.10090637043653679,
+          "pos60": 0.515745670899101,
+          "heading60": 0.1297484166455404
+        }
+      },
+      "by_trajectory": {
+        "noflow_random_action": {
+          "pos1": 0.10679051602436256,
+          "heading1": 0.07724886608370496,
+          "pos3": 0.13205792583167722,
+          "heading3": 0.09115061570425025,
+          "pos6": 0.1760902491136194,
+          "heading6": 0.10998544245537788,
+          "pos8": 0.20503551580944043,
+          "heading8": 0.12005203188531037,
+          "pos10": 0.23221725197412557,
+          "heading10": 0.12889858421467434,
+          "pos20": 0.3487347439562276,
+          "heading20": 0.15899118262422837,
+          "pos30": 0.43616284857576787,
+          "heading30": 0.17782353435275922,
+          "pos40": 0.5064270960645415,
+          "heading40": 0.19876645290952522,
+          "pos60": 0.6376785334840992,
+          "heading60": 0.23507530848484273
+        },
+        "noflow_action_then_zero": {
+          "pos1": 0.08681537954592011,
+          "heading1": 0.04602310483663723,
+          "pos3": 0.09373034033002518,
+          "heading3": 0.048805927640319005,
+          "pos6": 0.10475376555727796,
+          "heading6": 0.053952446783719354,
+          "pos8": 0.11239225314075109,
+          "heading8": 0.05708188917396381,
+          "pos10": 0.11995588449608573,
+          "heading10": 0.0595648651263558,
+          "pos20": 0.1541838551360254,
+          "heading20": 0.06646525666179592,
+          "pos30": 0.18457341671530417,
+          "heading30": 0.06929738633264268,
+          "pos40": 0.20923663248509608,
+          "heading40": 0.07109402853631054,
+          "pos60": 0.25336377522519365,
+          "heading60": 0.07358954463493252
+        },
+        "flow_zero_action": {
+          "pos1": 0.08517849973663301,
+          "heading1": 0.03800846982654228,
+          "pos3": 0.08856380851355324,
+          "heading3": 0.03965063496391372,
+          "pos6": 0.09610693525559831,
+          "heading6": 0.041572888284738985,
+          "pos8": 0.1024288994588137,
+          "heading8": 0.04246493427891711,
+          "pos10": 0.10913223598656481,
+          "heading10": 0.04312206646677797,
+          "pos20": 0.14713948237227134,
+          "heading20": 0.04626026512147795,
+          "pos30": 0.18940637270159905,
+          "heading30": 0.049014083089158535,
+          "pos40": 0.23150833638868823,
+          "heading40": 0.05061556063750509,
+          "pos60": 0.32108803348460324,
+          "heading60": 0.05308687882230058
+        },
+        "flow_active_control": {
+          "pos1": 0.09172917689766134,
+          "heading1": 0.03384052737147176,
+          "pos3": 0.1092418801636755,
+          "heading3": 0.03877862435920102,
+          "pos6": 0.13549065532707205,
+          "heading6": 0.046727189394246575,
+          "pos8": 0.1542818472891605,
+          "heading8": 0.0519614048549434,
+          "pos10": 0.1731025431929279,
+          "heading10": 0.05685903024120552,
+          "pos20": 0.26100990287021175,
+          "heading20": 0.0777300686323371,
+          "pos30": 0.33539782291124076,
+          "heading30": 0.09658312511558487,
+          "pos40": 0.40396842857400495,
+          "heading40": 0.11438783966317648,
+          "pos60": 0.5343506041644621,
+          "heading60": 0.15043958841634245
+        },
+        "flow_waypoint_control": {
+          "pos1": 0.10580114204828327,
+          "heading1": 0.04485936531939821,
+          "pos3": 0.11996965633569129,
+          "heading3": 0.04932058548119829,
+          "pos6": 0.14303198122085733,
+          "heading6": 0.056352112648108854,
+          "pos8": 0.15962036493202794,
+          "heading8": 0.06059200655330311,
+          "pos10": 0.17740633844691803,
+          "heading10": 0.06460593893141245,
+          "pos20": 0.26264296984715046,
+          "heading20": 0.08282007603721822,
+          "pos30": 0.33253788735564804,
+          "heading30": 0.09954165254259704,
+          "pos40": 0.3952888260975666,
+          "heading40": 0.11630092755145993,
+          "pos60": 0.5196918493498668,
+          "heading60": 0.15128982502721422
+        }
+      },
+      "by_boat": {
+        "twin": {
+          "pos1": 0.10150247473270155,
+          "heading1": 0.04740714756816158,
+          "pos3": 0.11321545018883807,
+          "heading3": 0.05246339316432564,
+          "pos6": 0.136614598334743,
+          "heading6": 0.06068968311208071,
+          "pos8": 0.15360490861436712,
+          "heading8": 0.06594474172493439,
+          "pos10": 0.17056177362514724,
+          "heading10": 0.07087716462768659,
+          "pos20": 0.2493386259904777,
+          "heading20": 0.09232833071583126,
+          "pos30": 0.3142847997990382,
+          "heading30": 0.11223213229250813,
+          "pos40": 0.37189228353801185,
+          "heading40": 0.13232766247713207,
+          "pos60": 0.4926636755909268,
+          "heading60": 0.17131329523545788
+        },
+        "triangle": {
+          "pos1": 0.0902641145395092,
+          "heading1": 0.04258036062123215,
+          "pos3": 0.10668577880093916,
+          "heading3": 0.04791619129197244,
+          "pos6": 0.12888820335008255,
+          "heading6": 0.05544255241600344,
+          "pos8": 0.1440723788617189,
+          "heading8": 0.059558316950376215,
+          "pos10": 0.159581838528675,
+          "heading10": 0.06308043754248116,
+          "pos20": 0.232302866760351,
+          "heading20": 0.07518184122309375,
+          "pos30": 0.29451565594884943,
+          "heading30": 0.08243675458304348,
+          "pos40": 0.3502558917408837,
+          "heading40": 0.08879274991155765,
+          "pos60": 0.44871205150548704,
+          "heading60": 0.10179773982029482
+        }
+      }
+    }
+  }
+]

experiments/reports/paper_report.md

@@ -0,0 +1,253 @@
+# FlowMo Clean-Image Paper Experiment Report
+
+## Observation Setup
+
+- Input: clean top-down RGB image, no flow arrows, no goal marker, no velocity vector.
+- Image size: `160 x 160`.
+- Boat visual scale: `2.5`.
+- Training target: absolute normalized pose rollout plus shared current-pose observation head.
+- Formal experiments include only A-category learned WMs and B-category traditional non-WM controllers.
+
+## Parameter Counts
+
+| Method | Total Parameters | Main Components |
+|---|---:|---|
+| FlowMo | 663,964 | encoder: 340,416, state_history: 75,648, context_history: 75,648, to_z: 30,960, to_c: 17,544, base_delta: 45,808, residual_delta: 46,448, decoder: 31,492 |
+| LeWorldModel | 664,612 | encoder: 471,584, to_z: 43,328, transition: 87,104, decoder: 62,596 |
+| PlaNet RSSM | 664,644 | encoder: 471,584, recurrent: 83,880, posterior: 39,108, prior: 27,588, decoder: 42,484 |
+| TD-MPC2 Dynamics | 667,780 | encoder: 471,584, history: 87,936, to_z: 30,960, transition: 45,808, decoder: 31,492 |
+
+## Prediction
+
+Main claims use unseen flow families and unseen boat dynamics. The seen-flow-family diagnostic split is reported only as an optimization sanity check.
+
+### Unseen Flow Families
+
+| Method | pos@10 | pos@20 | pos@40 | pos@60 | heading@20 |
+|---|---:|---:|---:|---:|---:|
+| FlowMo | 0.103 | 0.146 | 0.236 | 0.334 | 0.065 |
+| FlowMo c=0 | 0.253 | 0.405 | 0.618 | 0.780 | 0.122 |
+| FlowMo shuffled c | 0.335 | 0.542 | 0.832 | 1.062 | 0.155 |
+| LeWorldModel | 0.172 | 0.247 | 0.371 | 0.489 | 0.099 |
+| PlaNet RSSM | 0.166 | 0.229 | 0.339 | 0.441 | 0.076 |
+| TD-MPC2 Dynamics | 0.165 | 0.241 | 0.361 | 0.471 | 0.084 |
+
+### Unseen Boat Dynamics
+
+| Method | pos@10 | pos@20 | pos@40 | pos@60 | heading@20 |
+|---|---:|---:|---:|---:|---:|
+| FlowMo | 0.141 | 0.233 | 0.437 | 0.638 | 0.131 |
+| FlowMo c=0 | 0.262 | 0.424 | 0.681 | 0.901 | 0.182 |
+| FlowMo shuffled c | 0.354 | 0.578 | 0.921 | 1.210 | 0.217 |
+| LeWorldModel | 0.219 | 0.350 | 0.590 | 0.811 | 0.170 |
+| PlaNet RSSM | 0.202 | 0.317 | 0.533 | 0.725 | 0.138 |
+| TD-MPC2 Dynamics | 0.215 | 0.342 | 0.572 | 0.782 | 0.157 |
+
+### Seen Flow-Family Diagnostic
+
+| Method | pos@10 | pos@20 | pos@40 | pos@60 | heading@20 |
+|---|---:|---:|---:|---:|---:|
+| FlowMo | 0.104 | 0.147 | 0.240 | 0.339 | 0.067 |
+| FlowMo c=0 | 0.258 | 0.414 | 0.633 | 0.802 | 0.125 |
+| FlowMo shuffled c | 0.343 | 0.557 | 0.858 | 1.098 | 0.159 |
+| LeWorldModel | 0.179 | 0.259 | 0.385 | 0.506 | 0.100 |
+| PlaNet RSSM | 0.160 | 0.223 | 0.332 | 0.436 | 0.076 |
+| TD-MPC2 Dynamics | 0.164 | 0.240 | 0.358 | 0.470 | 0.088 |
+
+
+## FlowMo Latent Probes
+
+| Split | Target | z R2 | c R2 | z+c R2 |
+|---|---|---:|---:|---:|
+| unseen_flow | Object momentum | 0.518 | 0.416 | 0.737 |
+| unseen_flow | Local flow | -0.019 | -0.005 | -0.023 |
+| unseen_flow | Episode drift | -0.043 | -0.010 | -0.049 |
+| unseen_boat_params | Object momentum | 0.404 | 0.292 | 0.615 |
+| unseen_boat_params | Local flow | -0.014 | -0.003 | -0.014 |
+| unseen_boat_params | Episode drift | -0.015 | -0.005 | -0.015 |
+| seen_flow_diagnostic | Object momentum | 0.510 | 0.428 | 0.747 |
+| seen_flow_diagnostic | Local flow | -0.034 | -0.009 | -0.034 |
+| seen_flow_diagnostic | Episode drift | -0.034 | -0.009 | -0.035 |
+
+Probe interpretation: `z` is the short-history object-motion latent, `c` is the long-history ambient-drift context, and `z+c` is their concatenation. Probes are linear and are trained after freezing FlowMo.
+
+
+## Planning
+
+### counterflow_triangle_uniform
+| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
+|---|---|---:|---:|---:|---:|---:|---:|
+| FlowMo | inferred | 1.000 | 50/50 | 0.646 | 144.16 | 6.27 | 162.3 |
+| FlowMo | shuffled | 1.000 | 50/50 | 0.630 | 157.73 | 6.78 | 130.1 |
+| FlowMo | zero | 1.000 | 50/50 | 0.637 | 147.00 | 6.30 | 97.5 |
+| LeWorldModel | inferred | 1.000 | 50/50 | 0.622 | 141.57 | 6.64 | 109.6 |
+| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.632 | 179.71 | 7.48 | 145.9 |
+| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.627 | 128.67 | 5.90 | 102.8 |
+| PID/LOS controller | inferred | 1.000 | 50/50 | 0.634 | 42.96 | 5.77 | 213.0 |
+| Physics MPC No-Flow | inferred | 1.000 | 50/50 | 0.628 | 51.00 | 5.77 | 181.1 |
+| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.630 | 51.00 | 5.77 | 181.1 |
+| Oracle-Flow MPC | inferred | 1.000 | 50/50 | 0.628 | 51.00 | 5.77 | 181.1 |
+
+### counterflow_twin_uniform
+| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
+|---|---|---:|---:|---:|---:|---:|---:|
+| FlowMo | inferred | 1.000 | 50/50 | 0.642 | 94.99 | 5.79 | 130.9 |
+| FlowMo | shuffled | 0.960 | 48/50 | 0.674 | 123.71 | 5.88 | 86.7 |
+| FlowMo | zero | 1.000 | 50/50 | 0.614 | 123.73 | 5.80 | 82.0 |
+| LeWorldModel | inferred | 1.000 | 50/50 | 0.626 | 109.22 | 5.81 | 99.4 |
+| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.629 | 108.57 | 5.78 | 91.8 |
+| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.622 | 106.70 | 5.79 | 88.1 |
+| PID/LOS controller | inferred | 1.000 | 50/50 | 0.618 | 69.89 | 5.78 | 115.5 |
+| Physics MPC No-Flow | inferred | 1.000 | 50/50 | 0.611 | 86.04 | 5.79 | 101.8 |
+| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.618 | 80.96 | 5.78 | 102.5 |
+| Oracle-Flow MPC | inferred | 1.000 | 50/50 | 0.611 | 86.04 | 5.79 | 101.8 |
+
+### passive_to_active_triangle_uniform
+| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
+|---|---|---:|---:|---:|---:|---:|---:|
+| FlowMo | inferred | 1.000 | 50/50 | 0.638 | 168.95 | 8.38 | 163.0 |
+| FlowMo | shuffled | 0.900 | 45/50 | 0.746 | 212.46 | 9.46 | 160.1 |
+| FlowMo | zero | 0.980 | 49/50 | 0.650 | 215.09 | 9.31 | 158.4 |
+| LeWorldModel | inferred | 0.960 | 48/50 | 0.834 | 194.00 | 9.14 | 155.8 |
+| PlaNet RSSM | inferred | 0.980 | 49/50 | 0.630 | 156.19 | 8.37 | 152.2 |
+| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.698 | 180.29 | 9.47 | 162.3 |
+| PID/LOS controller | inferred | 0.980 | 49/50 | 0.644 | 77.96 | 8.07 | 239.5 |
+| Physics MPC No-Flow | inferred | 1.000 | 50/50 | 0.622 | 75.08 | 8.06 | 217.3 |
+| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.629 | 78.30 | 8.00 | 216.7 |
+| Oracle-Flow MPC | inferred | 1.000 | 50/50 | 0.624 | 75.00 | 8.02 | 216.6 |
+
+### passive_to_active_twin_uniform
+| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
+|---|---|---:|---:|---:|---:|---:|---:|
+| FlowMo | inferred | 0.980 | 49/50 | 0.804 | 161.52 | 8.59 | 195.3 |
+| FlowMo | shuffled | 0.660 | 33/50 | 1.571 | 192.00 | 9.74 | 173.0 |
+| FlowMo | zero | 0.640 | 32/50 | 1.426 | 233.83 | 10.70 | 197.1 |
+| LeWorldModel | inferred | 0.660 | 33/50 | 2.027 | 194.64 | 9.37 | 168.9 |
+| PlaNet RSSM | inferred | 0.740 | 37/50 | 1.014 | 205.79 | 9.96 | 181.6 |
+| TD-MPC2 Dynamics | inferred | 0.640 | 32/50 | 2.128 | 160.81 | 9.41 | 176.8 |
+| PID/LOS controller | inferred | 0.980 | 49/50 | 0.631 | 111.36 | 8.38 | 185.8 |
+| Physics MPC No-Flow | inferred | 0.900 | 45/50 | 0.699 | 126.01 | 8.82 | 186.9 |
+| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.623 | 118.66 | 8.54 | 182.4 |
+| Oracle-Flow MPC | inferred | 0.880 | 44/50 | 0.689 | 116.72 | 8.45 | 174.5 |
+
+### reach_uniform_triangle_uniform
+| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
+|---|---|---:|---:|---:|---:|---:|---:|
+| FlowMo | inferred | 1.000 | 50/50 | 0.637 | 168.98 | 8.30 | 136.2 |
+| FlowMo | shuffled | 0.840 | 42/50 | 0.867 | 203.59 | 9.15 | 133.0 |
+| FlowMo | zero | 0.960 | 48/50 | 0.682 | 215.72 | 9.08 | 130.8 |
+| LeWorldModel | inferred | 0.980 | 49/50 | 0.739 | 202.95 | 9.33 | 134.6 |
+| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.628 | 158.79 | 8.39 | 130.5 |
+| TD-MPC2 Dynamics | inferred | 0.980 | 49/50 | 0.692 | 182.64 | 9.46 | 136.7 |
+| PID/LOS controller | inferred | 1.000 | 50/50 | 0.629 | 78.46 | 8.00 | 218.5 |
+| Physics MPC No-Flow | inferred | 1.000 | 50/50 | 0.623 | 74.44 | 7.99 | 192.1 |
+| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.627 | 77.65 | 7.93 | 191.6 |
+| Oracle-Flow MPC | inferred | 1.000 | 50/50 | 0.628 | 74.93 | 7.94 | 191.3 |
+
+### reach_uniform_twin_uniform
+| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
+|---|---|---:|---:|---:|---:|---:|---:|
+| FlowMo | inferred | 0.980 | 49/50 | 0.738 | 162.72 | 8.61 | 173.0 |
+| FlowMo | shuffled | 0.700 | 35/50 | 1.509 | 203.32 | 9.82 | 154.7 |
+| FlowMo | zero | 0.640 | 32/50 | 1.442 | 217.56 | 10.24 | 158.3 |
+| LeWorldModel | inferred | 0.720 | 36/50 | 1.684 | 219.39 | 9.96 | 163.6 |
+| PlaNet RSSM | inferred | 0.820 | 41/50 | 0.938 | 219.60 | 10.25 | 165.6 |
+| TD-MPC2 Dynamics | inferred | 0.640 | 32/50 | 2.114 | 157.66 | 9.37 | 149.3 |
+| PID/LOS controller | inferred | 0.980 | 49/50 | 0.634 | 111.31 | 8.29 | 160.9 |
+| Physics MPC No-Flow | inferred | 0.920 | 46/50 | 0.688 | 125.69 | 8.72 | 161.5 |
+| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.625 | 118.62 | 8.45 | 157.5 |
+| Oracle-Flow MPC | inferred | 0.860 | 43/50 | 0.697 | 115.29 | 8.32 | 147.8 |
+
+### station_keeping_triangle_uniform
+| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
+|---|---|---:|---:|---:|---:|---:|---:|
+| FlowMo | inferred | 1.000 | 50/50 | 0.105 | 24.60 | 0.76 | 101.0 |
+| FlowMo | shuffled | 0.880 | 44/50 | 0.668 | 86.66 | 4.13 | 145.0 |
+| FlowMo | zero | 1.000 | 50/50 | 0.449 | 33.50 | 1.60 | 103.8 |
+| LeWorldModel | inferred | 1.000 | 50/50 | 0.345 | 58.17 | 1.22 | 105.7 |
+| PlaNet RSSM | inferred | 1.000 | 50/50 | 0.539 | 36.11 | 1.32 | 109.2 |
+| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.473 | 42.38 | 0.97 | 101.9 |
+| PID/LOS controller | inferred | 1.000 | 50/50 | 0.094 | 101.33 | 0.75 | 101.0 |
+| Physics MPC No-Flow | inferred | 1.000 | 50/50 | 0.132 | 87.17 | 0.92 | 101.0 |
+| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.148 | 88.16 | 0.96 | 101.0 |
+| Oracle-Flow MPC | inferred | 1.000 | 50/50 | 0.269 | 37.87 | 1.18 | 101.0 |
+
+### station_keeping_twin_uniform
+| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
+|---|---|---:|---:|---:|---:|---:|---:|
+| FlowMo | inferred | 1.000 | 50/50 | 0.277 | 35.20 | 0.60 | 101.0 |
+| FlowMo | shuffled | 0.660 | 33/50 | 0.821 | 79.29 | 2.40 | 152.4 |
+| FlowMo | zero | 1.000 | 50/50 | 0.563 | 35.98 | 0.93 | 108.6 |
+| LeWorldModel | inferred | 1.000 | 50/50 | 0.391 | 11.32 | 0.55 | 101.0 |
+| PlaNet RSSM | inferred | 0.980 | 49/50 | 0.541 | 88.16 | 0.60 | 101.6 |
+| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.301 | 11.79 | 1.03 | 101.0 |
+| PID/LOS controller | inferred | 0.960 | 48/50 | 0.598 | 78.07 | 1.19 | 109.1 |
+| Physics MPC No-Flow | inferred | 0.260 | 13/50 | 1.166 | 69.87 | 1.95 | 144.0 |
+| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.645 | 85.14 | 2.39 | 169.1 |
+| Oracle-Flow MPC | inferred | 0.860 | 43/50 | 0.626 | 51.48 | 0.99 | 108.0 |
+
+### waypoint_square_triangle_gradient
+| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
+|---|---|---:|---:|---:|---:|---:|---:|
+| FlowMo | inferred | 1.000 | 50/50 | 0.640 | 299.62 | 15.66 | 267.7 |
+| FlowMo | shuffled | 0.620 | 31/50 | 1.644 | 591.60 | 23.39 | 371.9 |
+| FlowMo | zero | 0.800 | 40/50 | 1.379 | 501.45 | 20.43 | 286.5 |
+| LeWorldModel | inferred | 0.880 | 44/50 | 0.968 | 447.58 | 19.56 | 284.8 |
+| PlaNet RSSM | inferred | 0.940 | 47/50 | 0.855 | 305.87 | 15.94 | 276.4 |
+| TD-MPC2 Dynamics | inferred | 0.920 | 46/50 | 0.860 | 439.87 | 20.66 | 342.0 |
+| PID/LOS controller | inferred | 1.000 | 50/50 | 0.631 | 187.41 | 15.52 | 416.3 |
+| Physics MPC No-Flow | inferred | 1.000 | 50/50 | 0.624 | 165.97 | 15.74 | 369.8 |
+| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.631 | 182.30 | 14.93 | 368.0 |
+| Oracle-Flow MPC | inferred | 1.000 | 50/50 | 0.629 | 164.86 | 15.59 | 366.9 |
+
+### waypoint_square_twin_gradient
+| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
+|---|---|---:|---:|---:|---:|---:|---:|
+| FlowMo | inferred | 0.760 | 38/50 | 1.425 | 353.93 | 17.11 | 361.6 |
+| FlowMo | shuffled | 0.440 | 22/50 | 2.661 | 589.01 | 26.62 | 483.3 |
+| FlowMo | zero | 0.680 | 34/50 | 1.542 | 579.75 | 25.16 | 447.2 |
+| LeWorldModel | inferred | 0.640 | 32/50 | 1.819 | 525.35 | 24.29 | 412.0 |
+| PlaNet RSSM | inferred | 0.500 | 25/50 | 2.664 | 455.73 | 19.86 | 406.3 |
+| TD-MPC2 Dynamics | inferred | 0.600 | 30/50 | 1.940 | 432.08 | 21.20 | 405.3 |
+| PID/LOS controller | inferred | 0.600 | 30/50 | 1.366 | 310.11 | 20.36 | 394.3 |
+| Physics MPC No-Flow | inferred | 0.160 | 8/50 | 2.177 | 316.06 | 22.46 | 431.2 |
+| Current-Estimator MPC | inferred | 0.820 | 41/50 | 1.213 | 303.16 | 19.17 | 433.5 |
+| Oracle-Flow MPC | inferred | 0.060 | 3/50 | 2.004 | 354.09 | 21.01 | 485.7 |
+
+### waypoint_zigzag_triangle_gradient
+| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
+|---|---|---:|---:|---:|---:|---:|---:|
+| FlowMo | inferred | 0.980 | 49/50 | 0.703 | 400.64 | 16.90 | 385.0 |
+| FlowMo | shuffled | 0.660 | 33/50 | 1.546 | 685.03 | 27.67 | 454.7 |
+| FlowMo | zero | 0.980 | 49/50 | 0.692 | 662.20 | 26.88 | 419.6 |
+| LeWorldModel | inferred | 1.000 | 50/50 | 0.615 | 557.45 | 22.98 | 361.4 |
+| PlaNet RSSM | inferred | 0.840 | 42/50 | 1.208 | 436.56 | 19.65 | 364.2 |
+| TD-MPC2 Dynamics | inferred | 1.000 | 50/50 | 0.627 | 464.03 | 21.37 | 368.3 |
+| PID/LOS controller | inferred | 1.000 | 50/50 | 0.630 | 296.45 | 17.78 | 541.5 |
+| Physics MPC No-Flow | inferred | 1.000 | 50/50 | 0.626 | 255.95 | 18.19 | 489.9 |
+| Current-Estimator MPC | inferred | 1.000 | 50/50 | 0.628 | 257.53 | 17.03 | 471.9 |
+| Oracle-Flow MPC | inferred | 1.000 | 50/50 | 0.626 | 255.53 | 18.04 | 486.8 |
+
+### waypoint_zigzag_twin_gradient
+| Method | Context | Success | Successes | Final Dist | Energy (Success) | Path Len (Success) | Steps (Success) |
+|---|---|---:|---:|---:|---:|---:|---:|
+| FlowMo | inferred | 0.960 | 48/50 | 0.731 | 395.72 | 18.19 | 411.3 |
+| FlowMo | shuffled | 0.560 | 28/50 | 2.051 | 644.22 | 28.79 | 522.9 |
+| FlowMo | zero | 0.920 | 46/50 | 0.766 | 643.96 | 27.35 | 484.6 |
+| LeWorldModel | inferred | 0.840 | 42/50 | 1.183 | 599.71 | 26.11 | 452.6 |
+| PlaNet RSSM | inferred | 0.880 | 44/50 | 0.836 | 622.65 | 26.56 | 548.1 |
+| TD-MPC2 Dynamics | inferred | 0.720 | 36/50 | 2.202 | 480.98 | 24.07 | 433.1 |
+| PID/LOS controller | inferred | 0.780 | 39/50 | 1.220 | 423.71 | 27.71 | 595.6 |
+| Physics MPC No-Flow | inferred | 0.220 | 11/50 | 2.217 | 413.60 | 29.55 | 642.1 |
+| Current-Estimator MPC | inferred | 0.860 | 43/50 | 0.672 | 386.66 | 24.86 | 548.5 |
+| Oracle-Flow MPC | inferred | 0.240 | 12/50 | 2.062 | 398.71 | 29.40 | 615.3 |
+
+
+## Artifact Locations
+
+- Unseen-flow prediction JSON: `experiments/reports/paper_prediction_unseen_flow.json`
+- Unseen-boat-dynamics prediction JSON: `experiments/reports/paper_prediction_unseen_boat_params.json`
+- Diagnostic prediction JSON: `experiments/reports/paper_prediction_seen_flow_diagnostic.json`
+- FlowMo latent probe JSON: `experiments/reports/paper_flowmo_latent_probes.json`
+- Planning JSON files: `experiments/reports/paper_planning/*.json`
+- GIFs: `experiments/reports/paper_planning/gifs/*.gif`

experiments/reports/paper_training_summary.json

@@ -0,0 +1,174 @@
+[
+  {
+    "method": "flowmo",
+    "steps": 20000,
+    "batch_size": 256,
+    "train_samples": 5120000,
+    "final_train_loss": 0.004372047260403633,
+    "total_parameters": 663964,
+    "target_mode": "absolute_normalized",
+    "position_scale": 5.0,
+    "heading_weight": 2.0,
+    "current_pose_weight": 1.0,
+    "motion_weight": 0.5,
+    "precision": "bf16",
+    "checkpoint_name": "paper.pt",
+    "final_checkpoint": "paper.pt",
+    "intermediate_checkpoints": [
+      "paper_step_002000.pt",
+      "paper_step_004000.pt",
+      "paper_step_006000.pt",
+      "paper_step_008000.pt",
+      "paper_step_010000.pt",
+      "paper_step_012000.pt",
+      "paper_step_014000.pt",
+      "paper_step_016000.pt",
+      "paper_step_018000.pt",
+      "paper_step_020000.pt"
+    ],
+    "checkpoint_interval": 2000,
+    "prediction": {
+      "pos1": 0.07179122391001631,
+      "heading1": 0.045128354569897056,
+      "pos3": 0.07811223280926545,
+      "heading3": 0.04785821299689511,
+      "pos6": 0.08915455282355349,
+      "heading6": 0.05167978972895071,
+      "pos8": 0.09605406736955047,
+      "heading8": 0.054166459323217474,
+      "pos10": 0.10336457837062578,
+      "heading10": 0.05640091137805333,
+      "pos20": 0.1460142444508771,
+      "heading20": 0.06746077448284875
+    }
+  },
+  {
+    "method": "leworldmodel",
+    "steps": 20000,
+    "batch_size": 256,
+    "train_samples": 5120000,
+    "final_train_loss": 0.018198927864432335,
+    "total_parameters": 664612,
+    "target_mode": "absolute_normalized",
+    "position_scale": 5.0,
+    "heading_weight": 2.0,
+    "current_pose_weight": 1.0,
+    "motion_weight": 0.5,
+    "precision": "bf16",
+    "checkpoint_name": "paper.pt",
+    "final_checkpoint": "paper.pt",
+    "intermediate_checkpoints": [
+      "paper_step_002000.pt",
+      "paper_step_004000.pt",
+      "paper_step_006000.pt",
+      "paper_step_008000.pt",
+      "paper_step_010000.pt",
+      "paper_step_012000.pt",
+      "paper_step_014000.pt",
+      "paper_step_016000.pt",
+      "paper_step_018000.pt",
+      "paper_step_020000.pt"
+    ],
+    "checkpoint_interval": 2000,
+    "prediction": {
+      "pos1": 0.10107660254773994,
+      "heading1": 0.0479962204505379,
+      "pos3": 0.11733688049328823,
+      "heading3": 0.054719595277371504,
+      "pos6": 0.14297669551645717,
+      "heading6": 0.0649993756475548,
+      "pos8": 0.1607180543554326,
+      "heading8": 0.07113518511566023,
+      "pos10": 0.1783415130339563,
+      "heading10": 0.07669965278667708,
+      "pos20": 0.25807287978629273,
+      "heading20": 0.0995667139844348
+    }
+  },
+  {
+    "method": "planet",
+    "steps": 20000,
+    "batch_size": 256,
+    "train_samples": 5120000,
+    "final_train_loss": 0.008471474051475525,
+    "total_parameters": 664644,
+    "target_mode": "absolute_normalized",
+    "position_scale": 5.0,
+    "heading_weight": 2.0,
+    "current_pose_weight": 1.0,
+    "motion_weight": 0.5,
+    "precision": "bf16",
+    "checkpoint_name": "paper.pt",
+    "final_checkpoint": "paper.pt",
+    "intermediate_checkpoints": [
+      "paper_step_002000.pt",
+      "paper_step_004000.pt",
+      "paper_step_006000.pt",
+      "paper_step_008000.pt",
+      "paper_step_010000.pt",
+      "paper_step_012000.pt",
+      "paper_step_014000.pt",
+      "paper_step_016000.pt",
+      "paper_step_018000.pt",
+      "paper_step_020000.pt"
+    ],
+    "checkpoint_interval": 2000,
+    "prediction": {
+      "pos1": 0.12035437487065792,
+      "heading1": 0.050536025839392096,
+      "pos3": 0.12147162947803736,
+      "heading3": 0.05107929309209188,
+      "pos6": 0.13511362741701305,
+      "heading6": 0.05543786101043224,
+      "pos8": 0.14701085817068815,
+      "heading8": 0.05840683872035394,
+      "pos10": 0.16024279454723,
+      "heading10": 0.061416062798040606,
+      "pos20": 0.22345823872213563,
+      "heading20": 0.07620794516211997
+    }
+  },
+  {
+    "method": "tdmpc2",
+    "steps": 20000,
+    "batch_size": 256,
+    "train_samples": 5120000,
+    "final_train_loss": 0.010143937543034554,
+    "total_parameters": 667780,
+    "target_mode": "absolute_normalized",
+    "position_scale": 5.0,
+    "heading_weight": 2.0,
+    "current_pose_weight": 1.0,
+    "motion_weight": 0.5,
+    "precision": "bf16",
+    "checkpoint_name": "paper.pt",
+    "final_checkpoint": "paper.pt",
+    "intermediate_checkpoints": [
+      "paper_step_002000.pt",
+      "paper_step_004000.pt",
+      "paper_step_006000.pt",
+      "paper_step_008000.pt",
+      "paper_step_010000.pt",
+      "paper_step_012000.pt",
+      "paper_step_014000.pt",
+      "paper_step_016000.pt",
+      "paper_step_018000.pt",
+      "paper_step_020000.pt"
+    ],
+    "checkpoint_interval": 2000,
+    "prediction": {
+      "pos1": 0.09520710981450975,
+      "heading1": 0.048679903343630336,
+      "pos3": 0.10856497256706159,
+      "heading3": 0.053618756433327995,
+      "pos6": 0.1308438451960683,
+      "heading6": 0.06132081007429709,
+      "pos8": 0.14709665269280472,
+      "heading8": 0.06618776960143198,
+      "pos10": 0.1638579194744428,
+      "heading10": 0.07064890124214192,
+      "pos20": 0.23970605929692587,
+      "heading20": 0.08867141495769222
+    }
+  }
+]

experiments/run_paper_image_pipeline.py

@@ -141,6 +141,11 @@ def stage_planning(cfg: dict, args, task: str, boat: str) -> list[str]:
     max_steps = args.max_steps or task_max_steps.get(task, plan["max_steps"])
     methods = args.methods or cfg["training"]["methods"]
     methods = methods + TRADITIONAL_METHODS
+
+    def arg_value(name: str, default):
+        value = getattr(args, name, None)
+        return value if value is not None else plan.get(name, default)
+
     return [
         sys.executable,
         "-m",
@@ -157,12 +162,6 @@ def stage_planning(cfg: dict, args, task: str, boat: str) -> list[str]:
         str(args.planning_episodes or plan["episodes"]),
         "--max-steps",
         str(max_steps),
-        "--planner",
-        args.planner or plan.get("planner", "gradient"),
-        "--planner-iterations",
-        str(args.planner_iterations if args.planner_iterations is not None else plan.get("planner_iterations", 30)),
-        "--planner-lr",
-        str(args.planner_lr if args.planner_lr is not None else plan.get("planner_lr", 0.08)),
         "--make-gifs",
         str(args.make_gifs if args.make_gifs is not None else plan["make_gifs"]),
         "--gif-stride",
@@ -182,21 +181,33 @@ def stage_planning(cfg: dict, args, task: str, boat: str) -> list[str]:
         "--cem-iterations",
         str(args.cem_iterations or plan["cem_iterations"]),
         "--cem-action-std",
-        str(args.cem_action_std if args.cem_action_std is not None else plan.get("cem_action_std", 0.5)),
+        str(arg_value("cem_action_std", 0.5)),
         "--cem-knots",
-        str(args.cem_knots if args.cem_knots is not None else plan.get("cem_knots", 5)),
+        str(arg_value("cem_knots", 5)),
+        "--cem-w-goal",
+        str(arg_value("cem_w_goal", 8.0)),
+        "--cem-w-path",
+        str(arg_value("cem_w_path", 0.45)),
         "--cem-w-route",
-        str(args.cem_w_route if args.cem_w_route is not None else plan.get("cem_w_route", 1.0)),
+        str(arg_value("cem_w_route", 1.0)),
+        "--cem-w-lookahead",
+        str(arg_value("cem_w_lookahead", 1.5)),
+        "--cem-w-via",
+        str(arg_value("cem_w_via", 1.5)),
+        "--cem-route-horizon-distance",
+        str(arg_value("cem_route_horizon_distance", 2.5)),
         "--cem-w-heading-goal",
-        str(args.cem_w_heading_goal if args.cem_w_heading_goal is not None else plan.get("cem_w_heading_goal", 0.0)),
+        str(arg_value("cem_w_heading_goal", 0.0)),
         "--cem-w-progress",
-        str(args.cem_w_progress if args.cem_w_progress is not None else plan.get("cem_w_progress", 2.0)),
+        str(arg_value("cem_w_progress", 2.0)),
         "--cem-w-action",
-        str(args.cem_w_action if args.cem_w_action is not None else plan.get("cem_w_action", 0.04)),
+        str(arg_value("cem_w_action", 0.04)),
         "--cem-w-smooth",
-        str(args.cem_w_smooth if args.cem_w_smooth is not None else plan.get("cem_w_smooth", 0.08)),
+        str(arg_value("cem_w_smooth", 0.08)),
         "--cem-w-boundary",
-        str(args.cem_w_boundary if args.cem_w_boundary is not None else plan.get("cem_w_boundary", 10.0)),
+        str(arg_value("cem_w_boundary", 10.0)),
+        "--cem-boundary-margin",
+        str(arg_value("cem_boundary_margin", 0.75)),
         "--device",
         args.device,
         "--precision",
@@ -286,21 +297,24 @@ def main() -> None:
     parser.add_argument("--steps", type=int, default=None)
     parser.add_argument("--planning-episodes", type=int, default=None)
     parser.add_argument("--max-steps", type=int, default=None)
-    parser.add_argument("--planner", choices=["gradient", "cem"], default=None)
-    parser.add_argument("--planner-iterations", type=int, default=None)
-    parser.add_argument("--planner-lr", type=float, default=None)
     parser.add_argument("--cem-horizon", type=int, default=None)
     parser.add_argument("--cem-population", type=int, default=None)
     parser.add_argument("--cem-elites", type=int, default=None)
     parser.add_argument("--cem-iterations", type=int, default=None)
     parser.add_argument("--cem-action-std", type=float, default=None)
     parser.add_argument("--cem-knots", type=int, default=None)
+    parser.add_argument("--cem-w-goal", type=float, default=None)
+    parser.add_argument("--cem-w-path", type=float, default=None)
     parser.add_argument("--cem-w-route", type=float, default=None)
+    parser.add_argument("--cem-w-lookahead", type=float, default=None)
+    parser.add_argument("--cem-w-via", type=float, default=None)
+    parser.add_argument("--cem-route-horizon-distance", type=float, default=None)
     parser.add_argument("--cem-w-heading-goal", type=float, default=None)
     parser.add_argument("--cem-w-progress", type=float, default=None)
     parser.add_argument("--cem-w-action", type=float, default=None)
     parser.add_argument("--cem-w-smooth", type=float, default=None)
     parser.add_argument("--cem-w-boundary", type=float, default=None)
+    parser.add_argument("--cem-boundary-margin", type=float, default=None)
     parser.add_argument("--make-gifs", type=int, default=None)
     parser.add_argument("--gif-stride", type=int, default=1)
     parser.add_argument("--gif-duration-ms", type=int, default=55)

experiments/tables/README.md

@@ -0,0 +1,3 @@
+# Tables
+
+Paper-facing Markdown/CSV tables.

experiments/tdmpc2/README.md

@@ -1,5 +1,5 @@
-# TD-MPC2 Dynamics Adapter
+# TD-MPC2 Dynamics
 
-Task-oriented latent dynamics model adapted to the boat drift benchmark.
+Task-oriented latent dynamics baseline under the shared clean-image boat drift benchmark.
 
-This baseline keeps compact latent dynamics, action-conditioned rollout, and auxiliary heads sized to match the parameter budget.
+This method uses compact latent dynamics, action-conditioned rollout, and auxiliary heads under the same data, optimizer, and evaluation protocol as FlowMo.

tests/test_experiment_framework.py

@@ -93,9 +93,6 @@ def test_paper_pipeline_uses_stage_specific_precision() -> None:
         probe_results = "probe.json"
         planning_episodes = None
         max_steps = None
-        planner = None
-        planner_iterations = None
-        planner_lr = None
         make_gifs = None
         gif_stride = 1
         gif_duration_ms = 55