Barrier-Certified Neural Policy Training / results.json
Failed on benchmark
1{
2 "seed": 2081,
3 "system": "xdot=u, h=x, alpha=1",
4 "epsilon": 0.08,
5 "certificate": {
6 "L": 1.0,
7 "rows": [
8 {
9 "n": 3,
10 "delta": 0.25,
11 "L": 1.0,
12 "predicted_lower": -0.16999999999999998,
13 "actual_min": -0.07915494309189534,
14 "observed_gap": 0.15915494309189535,
15 "positive_certificate": false,
16 "actual_safe": false
17 },
18 {
19 "n": 5,
20 "delta": 0.125,
21 "L": 1.0,
22 "predicted_lower": -0.045,
23 "actual_min": 0.00042252845405232886,
24 "observed_gap": 0.07957747154594767,
25 "positive_certificate": false,
26 "actual_safe": true
27 },
28 {
29 "n": 9,
30 "delta": 0.0625,
31 "L": 1.0,
32 "predicted_lower": 0.0175,
33 "actual_min": 0.040211264227026165,
34 "observed_gap": 0.039788735772973836,
35 "positive_certificate": true,
36 "actual_safe": true
37 },
38 {
39 "n": 17,
40 "delta": 0.03125,
41 "L": 1.0,
42 "predicted_lower": 0.04875,
43 "actual_min": 0.06010563211351308,
44 "observed_gap": 0.01989436788648692,
45 "positive_certificate": true,
46 "actual_safe": true
47 },
48 {
49 "n": 33,
50 "delta": 0.015625,
51 "L": 1.0,
52 "predicted_lower": 0.064375,
53 "actual_min": 0.07005281605675655,
54 "observed_gap": 0.009947183943243454,
55 "positive_certificate": true,
56 "actual_safe": true
57 },
58 {
59 "n": 65,
60 "delta": 0.0078125,
61 "L": 1.0,
62 "predicted_lower": 0.0721875,
63 "actual_min": 0.07502640928501522,
64 "observed_gap": 0.00497359071498478,
65 "positive_certificate": true,
66 "actual_safe": true
67 },
68 {
69 "n": 129,
70 "delta": 0.00390625,
71 "L": 1.0,
72 "predicted_lower": 0.07609375,
73 "actual_min": 0.07751320464250762,
74 "observed_gap": 0.002486795357492383,
75 "positive_certificate": true,
76 "actual_safe": true
77 }
78 ],
79 "predicted_boundary_delta": 0.08,
80 "observed_safe_boundary_delta": 0.125,
81 "pairwise_lipschitz_excess": 0.0,
82 "prediction_checks": {
83 "lower_bound_holds": true,
84 "gap_ratio_predicted": 0.6366197723675814,
85 "gap_ratio_max_error": 1.6084953136097369e-07,
86 "observed_loglog_slope": 1.000000065091794,
87 "predicted_slope": 1.0,
88 "boundary_prediction_conservative": true,
89 "all_checks": true
90 },
91 "observed_gap_over_delta": [
92 0.6366197723675814,
93 0.6366197723675814,
94 0.6366197723675814,
95 0.6366197723675815,
96 0.636619772367581,
97 0.6366196115180518,
98 0.63661961151805
99 ]
100 },
101 "training": {
102 "baseline_task_only": {
103 "final_x": -0.4481355547904968,
104 "min_x": -0.4481355547904968,
105 "min_r": -0.6048622727394104,
106 "task_terminal_error": 0.0018644332885742188,
107 "barrier_violation_fraction": 1.0,
108 "dense_unseen_min_r": -0.44501107931137085
109 },
110 "barrier_certified": {
111 "final_x": 0.09715487062931061,
112 "min_x": 0.09715487062931061,
113 "min_r": 0.08067892491817474,
114 "task_terminal_error": 0.5471548438072205,
115 "barrier_violation_fraction": 0.0,
116 "dense_unseen_min_r": 0.0788109228014946
117 }
118 }
119}