1{
 2  "predictions": {
 3    "inside_identity": {
 4      "predicted": "d=0 for z in [lo,hi]",
 5      "observed_max_d": 0.0,
 6      "interval": [
 7        -0.5,
 8        0.5
 9      ]
10    },
11    "outside_linear_distance": {
12      "predicted": "d=|z-boundary|, slope=1",
13      "observed_left_slope": -0.9999999999999999,
14      "observed_right_slope": 0.9999999999999997,
15      "max_abs_slope_error": 3.3306690738754696e-16
16    },
17    "state_dependent_boundary": {
18      "predicted": "upper boundary shift=-delta_v/(H dt)",
19      "predicted_shifts": [
20        -0.0,
21        -0.1,
22        0.1,
23        -0.3,
24        0.3
25      ],
26      "observed_hi_shifts": [
27        0.0,
28        -0.09999999999999998,
29        0.09999999999999998,
30        -0.3,
31        0.30000000000000004
32      ],
33      "max_abs_residual": 5.551115123125783e-17
34    },
35    "zero_violation": {
36      "predicted": "0 violations whenever solver feasible",
37      "feasible_cases": 10000,
38      "certified_fraction": 1.0
39    },
40    "clipping_comparison": {
41      "predicted": "predictive projection has no certified one-step violations",
42      "clipping_violations": 84,
43      "projection_violations": 0
44    }
45  },
46  "simulation": {
47    "episodes": 30,
48    "baseline_clip": {
49      "mean_reward": -52.77031636612666,
50      "violations_per_episode": 0.0,
51      "mean_projection": 0.0
52    },
53    "idea_projection": {
54      "mean_reward": -51.20000000000004,
55      "violations_per_episode": 0.0,
56      "mean_projection": 3.1836969762455234
57    }
58  }
59}