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eval/eval_summary.txt

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+WeNavigate Evaluation
+Checkpoint:  ./ppo_checkpoints/policy_update_00976.pt
+Episodes:    40
+Controllers: ['ppo', 'scripted', 'random']
+Elapsed:     8s
+
+==============================================================================
+  WeNavigate Controller Evaluation Summary
+==============================================================================
+  Controller    Episodes Collisions Coll-Free Intent  No-op  Min-Depth Reward   
+  ------------------------------------------------------------------------------
+  ppo           40       0.07       37/40     0.983   0.000  0.831m    151.6    
+  scripted      40       1.38       32/40     0.498   0.469  0.546m    38.2     
+  random        40       0.17       35/40     0.144   0.132  0.761m    -1.3     
+==============================================================================
+
+  PPO reduces collisions by 94.5% vs Scripted
+  PPO intent rate +48.5pp vs Scripted
+  PPO collision-free: 37/40  Scripted collision-free: 32/40