1{
  2  "seed": 531,
  3  "analytic_cases": {
  4    "left_safe": {
  5      "rncoa_loss": 1.0927461385726929,
  6      "independent_loss": 0.0,
  7      "collision": false,
  8      "constraint_residuals": [
  9        1.100000023841858,
 10        -2.4000000953674316
 11      ],
 12      "rncoa_v1": 1.0927461385726929,
 13      "rncoa_v2": 0.0
 14    },
 15    "collision": {
 16      "rncoa_loss": 0.0,
 17      "independent_loss": 0.4000000059604645,
 18      "collision": true,
 19      "constraint_residuals": [
 20        -0.30000001192092896,
 21        -1.2999999523162842
 22      ],
 23      "rncoa_v1": 0.0,
 24      "rncoa_v2": 0.0
 25    },
 26    "right_safe": {
 27      "rncoa_loss": 0.09274613857269287,
 28      "independent_loss": 0.0,
 29      "collision": false,
 30      "constraint_residuals": [
 31        -1.399999976158142,
 32        0.10000002384185791
 33      ],
 34      "rncoa_v1": 0.0,
 35      "rncoa_v2": 0.09274613857269287
 36    },
 37    "straddling": {
 38      "rncoa_loss": 0.0,
 39      "independent_loss": 0.20000000298023224,
 40      "collision": true,
 41      "constraint_residuals": [
 42        -1.2000000476837158,
 43        -2.200000047683716
 44      ],
 45      "rncoa_v1": 0.0,
 46      "rncoa_v2": 0.0
 47    }
 48  },
 49  "smooth_extreme_errors": [
 50    {
 51      "tau": 0.2,
 52      "smax_error": 0.0013432502746582031,
 53      "smin_error": 0.0013431310653686523
 54    },
 55    {
 56      "tau": 0.1,
 57      "smax_error": 4.5299530029296875e-06,
 58      "smin_error": 4.649162292480469e-06
 59    },
 60    {
 61      "tau": 0.05,
 62      "smax_error": 0.0,
 63      "smin_error": 0.0
 64    },
 65    {
 66      "tau": 0.01,
 67      "smax_error": 0.0,
 68      "smin_error": 0.0
 69    }
 70  ],
 71  "sampled_confusion": {
 72    "n": 10000,
 73    "collision_rate": 0.5219,
 74    "zero_loss_rate_on_collisions": 1.0,
 75    "zero_loss_rate_on_safe": 0.010458063166701528,
 76    "false_negative_count": 5219,
 77    "false_positive_count": 4731
 78  },
 79  "optimization": {
 80    "independent": {
 81      "initial_training_loss": 1.600000023841858,
 82      "final_eval_loss": 0.0,
 83      "final_vertices": [
 84        -0.25335,
 85        1.27876,
 86        1.27606,
 87        -0.24983
 88      ],
 89      "exact_collision": true
 90    },
 91    "rncoa": {
 92      "initial_training_loss": 0.0,
 93      "final_eval_loss": 0.0,
 94      "final_vertices": [
 95        0.45,
 96        0.55,
 97        0.65,
 98        0.35
 99      ],
100      "exact_collision": true
101    }
102  },
103  "interpretation": "With obstacle interval [0,1], the displayed inequalities encode the wrong disjunctive direction for collision avoidance: gamma=0 is feasible for bodies inside/straddling the obstacle and infeasible for bodies wholly outside."
104}