{ "status": "complete", "created_at_utc": "2026-09-13T07:39:48.930675+00:00", "protocol": { "created_before_final_evaluation": true, "inputs": "Fresh 64x36 depth image, continuous current XYZ, heading and target XYZ. No NAV IDs, route geometry, teacher or action cache inside deployed policy.", "versions": { "v6": "Supervised online sensory interface; frozen V3 connectome and V2 PFL3 decoder.", "v7": "V6 refined with DAgger: teacher labels at the policy own visited states; same inference architecture.", "v8": "PPO from scratch for sensory and motor adapters, original fixed anatomical weights. No V2/V3/V6/V7 learned weights transferred." }, "surface": "Same triangulated replica and physical limits for V6\u2013V8", "timeout_seconds": 120, "success_xy_m": 2, "success_z_m": 0.6, "max_speed_m_s": 4.5, "max_turn_rad_s": 2.8, "neural_step_seconds": 0.01, "action_step_seconds": 0.1, "training_teacher": "V6/V7 training only; V8 may use geodesic progress as a training reward but no expert action labels.", "selection": "Development only, then freeze all selected checkpoints/code before 100 paired final cases. Retain failures.", "tests": { "primary": "100 continuous start/goal/heading situations on the same known map", "controls": "Matched frozen-policy probes with image removed, changed target, and recurrence disabled; no claim of superiority of biological topology." }, "split_hashes": { "development": "b6d55dd901ead18007e0d85fa2f0b9691bd591744e932e4afe4d8960f24e1be2", "heldout": "9ff459ffeffb369e05b19a2a2c5162828a4f90621e04f89f0a2818e7368f525a", "rl-training": "91236125406f2be79614405b73bac513b9ce005ab322ab42f5c32b229fa4ed47" } }, "results": { "v6": { "trials": 100, "successes": 40, "mean_success_seconds": 23.470000000000002, "mean_capped_seconds": 81.388, "failures": [ { "id": "v6-heldout-000", "duration": 120.0, "final_distance": 69.13514441279185, "blocked_seconds": 92.6 }, { "id": "v6-heldout-001", "duration": 120.0, "final_distance": 13.720300260666322, "blocked_seconds": 0.0 }, { "id": "v6-heldout-004", "duration": 120.0, "final_distance": 6.831238800381149, "blocked_seconds": 94.0 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