Adaptive CBF Safety Layer for Neural Policies / results.json
Mechanism confirmed, baseline not beaten
1{
2 "math_check": {
3 "min_true_minus_model_lower_bound": 9.999996386511611e-10,
4 "statement": "true residual >= model residual when epsilon >= |d|"
5 },
6 "margin_threshold_sweep": [
7 {
8 "kappa": 0.8,
9 "predicted_margin_crossing_step": null,
10 "observed_crossing_step": null,
11 "violations": 73
12 },
13 {
14 "kappa": 1.0,
15 "predicted_margin_crossing_step": null,
16 "observed_crossing_step": null,
17 "violations": 0
18 },
19 {
20 "kappa": 1.2,
21 "predicted_margin_crossing_step": 9,
22 "observed_crossing_step": 9,
23 "violations": 0
24 },
25 {
26 "kappa": 1.5,
27 "predicted_margin_crossing_step": 5,
28 "observed_crossing_step": 5,
29 "violations": 0
30 },
31 {
32 "kappa": 2.0,
33 "predicted_margin_crossing_step": 4,
34 "observed_crossing_step": 4,
35 "violations": 0
36 },
37 {
38 "kappa": 3.0,
39 "predicted_margin_crossing_step": 2,
40 "observed_crossing_step": 2,
41 "violations": 0
42 }
43 ],
44 "smoothing_law_sweep": [
45 {
46 "rho": 0.5,
47 "target_fraction": 0.8,
48 "predicted_step": 3,
49 "observed_step": 3
50 },
51 {
52 "rho": 0.8,
53 "target_fraction": 0.8,
54 "predicted_step": 8,
55 "observed_step": 8
56 },
57 {
58 "rho": 0.9,
59 "target_fraction": 0.8,
60 "predicted_step": 16,
61 "observed_step": 16
62 },
63 {
64 "rho": 0.95,
65 "target_fraction": 0.8,
66 "predicted_step": 32,
67 "observed_step": 32
68 }
69 ],
70 "intervention_violation_sweep": [
71 {
72 "kappa": 0.0,
73 "mean_violations": 87.875,
74 "mean_intervention": 106.31445333387649,
75 "mean_max_x": 1.3499635962177918
76 },
77 {
78 "kappa": 0.5,
79 "mean_violations": 83.0,
80 "mean_intervention": 108.23935020540935,
81 "mean_max_x": 1.1574739090645043
82 },
83 {
84 "kappa": 1.0,
85 "mean_violations": 0.0,
86 "mean_intervention": 110.16424762161338,
87 "mean_max_x": 0.9649841674441023
88 },
89 {
90 "kappa": 1.5,
91 "mean_violations": 0.0,
92 "mean_intervention": 112.0891452641003,
93 "mean_max_x": 0.7724944031954118
94 },
95 {
96 "kappa": 2.0,
97 "mean_violations": 0.0,
98 "mean_intervention": 114.01404300310672,
99 "mean_max_x": 0.5924474577665813
100 },
101 {
102 "kappa": 3.0,
103 "mean_violations": 0.0,
104 "mean_intervention": 117.86383848111953,
105 "mean_max_x": 0.40771009700058425
106 },
107 {
108 "kappa": 4.0,
109 "mean_violations": 0.0,
110 "mean_intervention": 121.71363395913237,
111 "mean_max_x": 0.317645356242228
112 }
113 ],
114 "baseline_static_clipping": {
115 "mean_violations": 92.0,
116 "mean_max_x": 11.981408929605442
117 },
118 "checks": {
119 "smoothing_matches_exact_recursion": true,
120 "intervention_monotone": true,
121 "violations_nonincreasing": true,
122 "adaptive_beats_clipping_at_kappa_2": true
123 }
124}