{
  "schema": "amd-pacman-cbf-control-validation/v1",
  "status": "control_path_validated",
  "upstream_repository": "https://github.com/lzyang2000/perceptive_cbf_rl",
  "upstream_commit": "2d4266978805e8272daa7f029a8bca91cf45e1ba",
  "task": "PAC-MAN predictive perpendicular CBF on a MuJoCo projectile proxy",
  "evaluation_scope": {
    "controller": "predictive_perpendicular_cbf",
    "scene": "portable_mujoco_projectile",
    "is_rocm_policy_tensor_path": true,
    "evidence": "fixed_seed_clearance_and_video"
  },
  "runtime": {
    "hostname": "u-7791-9e82d515",
    "python": "3.12.3",
    "platform": "Linux-6.8.0-79-generic-x86_64-with-glibc2.39",
    "torch": "2.9.1+gitff65f5b",
    "torch_hip": "7.2.53211-e1a6bc5663",
    "torch_device": "cuda",
    "torch_cuda_available": true,
    "torch_device_name": "AMD Radeon Graphics",
    "mujoco": "3.11.0",
    "generated_at_utc": "2026-08-03T11:53:11.659091+00:00"
  },
  "protocol": {
    "episodes": 12,
    "seed_policy": "seed 0..N-1",
    "physics_timestep_s": 0.02,
    "camera_views": [
      "overview",
      "top"
    ],
    "safe_radius_m": 0.55,
    "video_fps": 25
  },
  "summary": {
    "successes": 12,
    "episodes": 12,
    "success_rate": 1.0,
    "all_proxy_episodes_safe": true
  },
  "episodes": [
    {
      "seed": 0,
      "success": true,
      "collision": false,
      "min_clearance_m": 0.18965,
      "max_filtered_speed_mps": 1.12939,
      "threat_steps": 50,
      "escape_side": 1,
      "evaluation_type": "predictive_cbf_control_path_proxy"
    },
    {
      "seed": 1,
      "success": true,
      "collision": false,
      "min_clearance_m": 0.18967,
      "max_filtered_speed_mps": 1.07641,
      "threat_steps": 50,
      "escape_side": -1,
      "evaluation_type": "predictive_cbf_control_path_proxy"
    },
    {
      "seed": 2,
      "success": true,
      "collision": false,
      "min_clearance_m": 0.18966,
      "max_filtered_speed_mps": 1.08915,
      "threat_steps": 50,
      "escape_side": 1,
      "evaluation_type": "predictive_cbf_control_path_proxy"
    },
    {
      "seed": 3,
      "success": true,
      "collision": false,
      "min_clearance_m": 0.18969,
      "max_filtered_speed_mps": 1.02205,
      "threat_steps": 50,
      "escape_side": -1,
      "evaluation_type": "predictive_cbf_control_path_proxy"
    },
    {
      "seed": 4,
      "success": true,
      "collision": false,
      "min_clearance_m": 0.18965,
      "max_filtered_speed_mps": 1.14699,
      "threat_steps": 50,
      "escape_side": 1,
      "evaluation_type": "predictive_cbf_control_path_proxy"
    },
    {
      "seed": 5,
      "success": true,
      "collision": false,
      "min_clearance_m": 0.18965,
      "max_filtered_speed_mps": 1.13399,
      "threat_steps": 50,
      "escape_side": -1,
      "evaluation_type": "predictive_cbf_control_path_proxy"
    },
    {
      "seed": 6,
      "success": true,
      "collision": false,
      "min_clearance_m": 0.18968,
      "max_filtered_speed_mps": 1.02947,
      "threat_steps": 50,
      "escape_side": 1,
      "evaluation_type": "predictive_cbf_control_path_proxy"
    },
    {
      "seed": 7,
      "success": true,
      "collision": false,
      "min_clearance_m": 0.18966,
      "max_filtered_speed_mps": 1.11093,
      "threat_steps": 50,
      "escape_side": -1,
      "evaluation_type": "predictive_cbf_control_path_proxy"
    },
    {
      "seed": 8,
      "success": true,
      "collision": false,
      "min_clearance_m": 0.18969,
      "max_filtered_speed_mps": 0.99341,
      "threat_steps": 50,
      "escape_side": 1,
      "evaluation_type": "predictive_cbf_control_path_proxy"
    },
    {
      "seed": 9,
      "success": true,
      "collision": false,
      "min_clearance_m": 0.18963,
      "max_filtered_speed_mps": 1.19034,
      "threat_steps": 50,
      "escape_side": -1,
      "evaluation_type": "predictive_cbf_control_path_proxy"
    },
    {
      "seed": 10,
      "success": true,
      "collision": false,
      "min_clearance_m": 0.18968,
      "max_filtered_speed_mps": 1.03563,
      "threat_steps": 50,
      "escape_side": 1,
      "evaluation_type": "predictive_cbf_control_path_proxy"
    },
    {
      "seed": 11,
      "success": true,
      "collision": false,
      "min_clearance_m": 0.18968,
      "max_filtered_speed_mps": 1.04999,
      "threat_steps": 50,
      "escape_side": -1,
      "evaluation_type": "predictive_cbf_control_path_proxy"
    }
  ]
}