{
  "seed": 531,
  "analytic_cases": {
    "left_safe": {
      "rncoa_loss": 1.0927461385726929,
      "independent_loss": 0.0,
      "collision": false,
      "constraint_residuals": [
        1.100000023841858,
        -2.4000000953674316
      ],
      "rncoa_v1": 1.0927461385726929,
      "rncoa_v2": 0.0
    },
    "collision": {
      "rncoa_loss": 0.0,
      "independent_loss": 0.4000000059604645,
      "collision": true,
      "constraint_residuals": [
        -0.30000001192092896,
        -1.2999999523162842
      ],
      "rncoa_v1": 0.0,
      "rncoa_v2": 0.0
    },
    "right_safe": {
      "rncoa_loss": 0.09274613857269287,
      "independent_loss": 0.0,
      "collision": false,
      "constraint_residuals": [
        -1.399999976158142,
        0.10000002384185791
      ],
      "rncoa_v1": 0.0,
      "rncoa_v2": 0.09274613857269287
    },
    "straddling": {
      "rncoa_loss": 0.0,
      "independent_loss": 0.20000000298023224,
      "collision": true,
      "constraint_residuals": [
        -1.2000000476837158,
        -2.200000047683716
      ],
      "rncoa_v1": 0.0,
      "rncoa_v2": 0.0
    }
  },
  "smooth_extreme_errors": [
    {
      "tau": 0.2,
      "smax_error": 0.0013432502746582031,
      "smin_error": 0.0013431310653686523
    },
    {
      "tau": 0.1,
      "smax_error": 4.5299530029296875e-06,
      "smin_error": 4.649162292480469e-06
    },
    {
      "tau": 0.05,
      "smax_error": 0.0,
      "smin_error": 0.0
    },
    {
      "tau": 0.01,
      "smax_error": 0.0,
      "smin_error": 0.0
    }
  ],
  "sampled_confusion": {
    "n": 10000,
    "collision_rate": 0.5219,
    "zero_loss_rate_on_collisions": 1.0,
    "zero_loss_rate_on_safe": 0.010458063166701528,
    "false_negative_count": 5219,
    "false_positive_count": 4731
  },
  "optimization": {
    "independent": {
      "initial_training_loss": 1.600000023841858,
      "final_eval_loss": 0.0,
      "final_vertices": [
        -0.25335,
        1.27876,
        1.27606,
        -0.24983
      ],
      "exact_collision": true
    },
    "rncoa": {
      "initial_training_loss": 0.0,
      "final_eval_loss": 0.0,
      "final_vertices": [
        0.45,
        0.55,
        0.65,
        0.35
      ],
      "exact_collision": true
    }
  },
  "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."
}