{ "metadata": { "name": "hatt-v33aa-validation-best-causal", "created_at": "2026-08-23T16:11:31", "eval_seed": 50000, "eval_reset_mode": "full_random", "eval_episodes": 128, "eval_deterministic": true, "delivery_tasks_initially_discovered": false, "mask_explore_actions": false, "max_steps": 750, "episode_time_limit": 750, "environment": { "cap_dim": 4, "episode_time_limit": null, "eval_episodes": 128, "eval_reset_mode": "full_random", "eval_seed": 50000, "gymrt2a_comm_range": 8, "gymrt2a_map_size": 20, "gymrt2a_num_agents": 10, "gymrt2a_objects": [ 4, 3, 3 ], "gymrt2a_share_intention": "path", "gymrt2a_view_range": 5, "map_size": 1000.0, "max_steps": 750, "n_eval_rollout_threads": 1, "num_uav": 4, "num_ugv": 8, "rewards_config_file": "rewards.yaml", "target_num": 10, "uav_perception_rg": [ 50.0, 200.0 ], "ugv_perception_rg": [ 10.0, 30.0 ] } }, "models": [ { "name": "s1-learned", "checkpoint": "runs/20260822-1223_delivcoal_hatt-v33aa-focused/hattv33aa-learned-s1_delivcoal-v33aa-focused/models/actor.pt", "success": 0.625, "episode_reward": 69.89755055551349, "episode_length": 646.1640625, "tasks_completed": 9.4765625, "task_completion_ratio": 0.9476562500000001, "sent_percentage": 0.9561779586267417, "discovered_ratio": 0.9609375000000001, "dead_agents": 0.0625, "coalition_changes": 388.6328125, "reconfiguration_decisions": 619.4453125, "coalition_changes_per_decision": 0.6312418629793362, "reconfiguration_decisions_per_100_alive_steps": 8.043654763499623, "coalition_changes_per_100_alive_steps": 5.038700470543669, "mean_response_time": 21.192792038690477, "premature_no_explorer_ratio": 0.15566222446504288, "harmful_idle_agent_step_ratio": 0.0, "useful_idle_agent_step_ratio": 0.0, "max_idle_duration": 0.0, "committed_payload_shortage_ratio": 0.0812890308483977, "committed_payload_surplus_ratio": 0.038163912294068986, "mean_explore_leg_distance": 186.78056737953943, "short_explore_leg_ratio": 0.0, "explore_distance_per_alive_step": 5.825106469253058, "unavailable_sector_ratio": 0.024591516771976452, "explored_area_ratio": 0.94763671875, "mean_agent_sector_entropy": 0.7579682497359881, "mean_agent_dominant_sector_ratio": 0.3770954902385104, "mean_agent_sector_coverage_ratio": 0.795654296875, "decision_explore_ratio": 0.46899615038434306, "executed_explore_ratio": 0.40683133357314116, "decision_deliver_ratio": 0.41206636140893504, "executed_deliver_ratio": 0.37363887434850407, "decision_idle_ratio": 0.0, "executed_idle_ratio": 0.0, "decision_resupply_ratio": 0.11893748820672193, "executed_resupply_ratio": 0.2195297920783548, "decision_count": 619.4453125, "gate_decision_count": 0.0, "gate_open_count": 0.0, "gate_open_rate": 0.0, "gate_mandatory_open_rate": 0.0, "gate_event_trigger_open_rate": 0.0, "gate_off_trigger_open_rate": 0.0, "gate_learned_open_rate": 0.0, "coalition_changes_per_gate_open": 388.6328125, "reward_switch_coalition": -0.8711914062499988, "reward_dead": -0.026041666666666668, "reward_discover": -4.935989583333327, "reward_deliver": 1.338463541666667, "reward_resupply": 3.2767550080741037, "reward_coalition_deliver": 23.899246402044433, "reward_coalition_complete": 63.70419342334358, "reward_dist": -25.04000158413967, "reward_end": 8.552116420774384, "episode_reward_std": 19.990125832830202, "episode_length_std": 106.01693388792233, "successful_episode_length": 583.8625, "successful_episode_length_median": 602.0, "num_episodes": 128 }, { "name": "s1-uniform", "checkpoint": "runs/20260822-1223_delivcoal_hatt-v33aa-focused/hattv33aa-learned-s1_delivcoal-v33aa-focused/models/actor.pt", "success": 0.5703125, "episode_reward": 60.442072039563556, "episode_length": 651.90625, "tasks_completed": 9.375, "task_completion_ratio": 0.9375, "sent_percentage": 0.9427235056415121, "discovered_ratio": 0.9515625000000001, "dead_agents": 0.078125, "coalition_changes": 387.515625, "reconfiguration_decisions": 733.78125, "coalition_changes_per_decision": 0.5280074092708676, "reconfiguration_decisions_per_100_alive_steps": 9.475845999120272, "coalition_changes_per_100_alive_steps": 4.963981550111063, "mean_response_time": 17.784486607142856, "premature_no_explorer_ratio": 0.1567205184382663, "harmful_idle_agent_step_ratio": 0.0, "useful_idle_agent_step_ratio": 0.0, "max_idle_duration": 0.0, "committed_payload_shortage_ratio": 0.08948495148373647, "committed_payload_surplus_ratio": 0.03429678533017312, "mean_explore_leg_distance": 185.88344103816047, "short_explore_leg_ratio": 0.0, "explore_distance_per_alive_step": 6.14480798897387, "unavailable_sector_ratio": 0.026891820038275126, "explored_area_ratio": 0.95296875, "mean_agent_sector_entropy": 0.7498117921332852, "mean_agent_dominant_sector_ratio": 0.38730213171177097, "mean_agent_sector_coverage_ratio": 0.792724609375, "decision_explore_ratio": 0.4228510818760124, "executed_explore_ratio": 0.43024532965457024, "decision_deliver_ratio": 0.4773636489252937, "executed_deliver_ratio": 0.34905617810153167, "decision_idle_ratio": 0.0, "executed_idle_ratio": 0.0, "decision_resupply_ratio": 0.09978526919869389, "executed_resupply_ratio": 0.2206984922438981, "decision_count": 733.78125, "gate_decision_count": 0.0, "gate_open_count": 0.0, "gate_open_rate": 0.0, "gate_mandatory_open_rate": 0.0, "gate_event_trigger_open_rate": 0.0, "gate_off_trigger_open_rate": 0.0, "gate_learned_open_rate": 0.0, "coalition_changes_per_gate_open": 387.515625, "reward_switch_coalition": -0.9192057291666654, "reward_dead": -0.032552083333333336, "reward_discover": -5.897083333333324, "reward_deliver": -7.484453125000001, "reward_resupply": 3.2615548984370264, "reward_coalition_deliver": 23.565936390303854, "reward_coalition_complete": 65.7155710517632, "reward_dist": -25.27051260908837, "reward_end": 7.502816578981168, "episode_reward_std": 20.64948402462796, "episode_length_std": 109.67426469294197, "successful_episode_length": 578.0, "successful_episode_length_median": 572.0, "num_episodes": 128 }, { "name": "s1-zero", "checkpoint": "runs/20260822-1223_delivcoal_hatt-v33aa-focused/hattv33aa-learned-s1_delivcoal-v33aa-focused/models/actor.pt", "success": 0.71875, "episode_reward": 56.30764762406431, "episode_length": 620.484375, "tasks_completed": 9.5625, "task_completion_ratio": 0.95625, "sent_percentage": 0.9612721898166823, "discovered_ratio": 0.9695312500000001, "dead_agents": 0.078125, "coalition_changes": 371.8046875, "reconfiguration_decisions": 553.4765625, "coalition_changes_per_decision": 0.6729428073911282, "reconfiguration_decisions_per_100_alive_steps": 7.501418046134598, "coalition_changes_per_100_alive_steps": 5.059600320839249, "mean_response_time": 18.327653769841273, "premature_no_explorer_ratio": 0.07079946496016828, "harmful_idle_agent_step_ratio": 0.0, "useful_idle_agent_step_ratio": 0.0, "max_idle_duration": 0.0, "committed_payload_shortage_ratio": 0.09915419872098488, "committed_payload_surplus_ratio": 0.0329925035322919, "mean_explore_leg_distance": 188.53327915956964, "short_explore_leg_ratio": 0.0, "explore_distance_per_alive_step": 6.507768581943585, "unavailable_sector_ratio": 0.027067439838408376, "explored_area_ratio": 0.9665234375, "mean_agent_sector_entropy": 0.757409306369915, "mean_agent_dominant_sector_ratio": 0.38231893064214967, "mean_agent_sector_coverage_ratio": 0.801513671875, "decision_explore_ratio": 0.5788600835178237, "executed_explore_ratio": 0.4553578982482427, "decision_deliver_ratio": 0.2680350656427012, "executed_deliver_ratio": 0.3157012664930162, "decision_idle_ratio": 0.0, "executed_idle_ratio": 0.0, "decision_resupply_ratio": 0.15310485083947512, "executed_resupply_ratio": 0.2289408352587411, "decision_count": 553.4765625, "gate_decision_count": 0.0, "gate_open_count": 0.0, "gate_open_rate": 0.0, "gate_mandatory_open_rate": 0.0, "gate_event_trigger_open_rate": 0.0, "gate_off_trigger_open_rate": 0.0, "gate_learned_open_rate": 0.0, "coalition_changes_per_gate_open": 371.8046875, "reward_switch_coalition": -0.9378580729166655, "reward_dead": -0.032552083333333336, "reward_discover": -5.431132812499994, "reward_deliver": 8.662890625, "reward_resupply": 3.2735934532319284, "reward_coalition_deliver": 24.023235952311488, "reward_coalition_complete": 39.96929332095547, "reward_dist": -23.283883416118123, "reward_end": 10.064060657433554, "episode_reward_std": 21.71248637833525, "episode_length_std": 118.61933497899646, "successful_episode_length": 569.804347826087, "successful_episode_length_median": 580.5, "num_episodes": 128 }, { "name": "s2-learned", "checkpoint": "runs/20260822-1223_delivcoal_hatt-v33aa-focused/hattv33aa-learned-s2_delivcoal-v33aa-focused/models/actor_ep001400.pt", "success": 0.7265625, "episode_reward": 74.52709835252502, "episode_length": 635.265625, "tasks_completed": 9.6953125, "task_completion_ratio": 0.96953125, "sent_percentage": 0.9713652914974263, "discovered_ratio": 0.9750000000000001, "dead_agents": 0.0, "coalition_changes": 371.390625, "reconfiguration_decisions": 630.3359375, "coalition_changes_per_decision": 0.5955009338593645, "reconfiguration_decisions_per_100_alive_steps": 8.350257689997044, "coalition_changes_per_100_alive_steps": 4.932372704105922, "mean_response_time": 15.53537326388889, "premature_no_explorer_ratio": 0.17411310951780765, "harmful_idle_agent_step_ratio": 0.0, "useful_idle_agent_step_ratio": 0.0, "max_idle_duration": 0.0, "committed_payload_shortage_ratio": 0.0630528262032152, "committed_payload_surplus_ratio": 0.04355603600426313, "mean_explore_leg_distance": 176.10394632110126, "short_explore_leg_ratio": 0.0, "explore_distance_per_alive_step": 5.653811158244304, "unavailable_sector_ratio": 0.025830170133180917, "explored_area_ratio": 0.9498046875, "mean_agent_sector_entropy": 0.791309366350492, "mean_agent_dominant_sector_ratio": 0.34335362687729326, "mean_agent_sector_coverage_ratio": 0.8180338541666667, "decision_explore_ratio": 0.45870339429408963, "executed_explore_ratio": 0.39432057458680675, "decision_deliver_ratio": 0.41223144353426366, "executed_deliver_ratio": 0.36577898714715734, "decision_idle_ratio": 0.0, "executed_idle_ratio": 0.0, "decision_resupply_ratio": 0.12906516217164674, "executed_resupply_ratio": 0.2399004382660359, "decision_count": 630.3359375, "gate_decision_count": 0.0, "gate_open_count": 0.0, "gate_open_rate": 0.0, "gate_mandatory_open_rate": 0.0, "gate_event_trigger_open_rate": 0.0, "gate_off_trigger_open_rate": 0.0, "gate_learned_open_rate": 0.0, "coalition_changes_per_gate_open": 371.390625, "reward_switch_coalition": -0.8193033854166657, "reward_dead": 0.0, "reward_discover": -4.583138020833326, "reward_deliver": 0.7447395833333345, "reward_resupply": 3.408107125561986, "reward_coalition_deliver": 24.28413228743566, "reward_coalition_complete": 63.81479485107371, "reward_dist": -22.697910669593632, "reward_end": 10.375676580963969, "episode_reward_std": 17.491092920462084, "episode_length_std": 107.54137898204289, "successful_episode_length": 592.0860215053764, "successful_episode_length_median": 607.0, "num_episodes": 128 }, { "name": "s2-uniform", "checkpoint": "runs/20260822-1223_delivcoal_hatt-v33aa-focused/hattv33aa-learned-s2_delivcoal-v33aa-focused/models/actor_ep001400.pt", "success": 0.65625, "episode_reward": 66.38336722511055, "episode_length": 652.3671875, "tasks_completed": 9.5703125, "task_completion_ratio": 0.95703125, "sent_percentage": 0.9555013274833584, "discovered_ratio": 0.9632812500000001, "dead_agents": 0.0390625, "coalition_changes": 376.2265625, "reconfiguration_decisions": 719.9296875, "coalition_changes_per_decision": 0.5288201332869884, "reconfiguration_decisions_per_100_alive_steps": 9.27676442905289, "coalition_changes_per_100_alive_steps": 4.857067987001238, "mean_response_time": 12.133785962301587, "premature_no_explorer_ratio": 0.17344595409854272, "harmful_idle_agent_step_ratio": 0.0, "useful_idle_agent_step_ratio": 0.0, "max_idle_duration": 0.0, "committed_payload_shortage_ratio": 0.05628811318060429, "committed_payload_surplus_ratio": 0.03770147934349902, "mean_explore_leg_distance": 175.39811700439208, "short_explore_leg_ratio": 0.0, "explore_distance_per_alive_step": 6.114682315553475, "unavailable_sector_ratio": 0.028131508289690303, "explored_area_ratio": 0.96197265625, "mean_agent_sector_entropy": 0.7870473366504256, "mean_agent_dominant_sector_ratio": 0.351998975453482, "mean_agent_sector_coverage_ratio": 0.8275553385416666, "decision_explore_ratio": 0.44396853499453504, "executed_explore_ratio": 0.4263320529729937, "decision_deliver_ratio": 0.4454079430071999, "executed_deliver_ratio": 0.34165054864622635, "decision_idle_ratio": 0.0, "executed_idle_ratio": 0.0, "decision_resupply_ratio": 0.11062352199826514, "executed_resupply_ratio": 0.23201739838078, "decision_count": 719.9296875, "gate_decision_count": 0.0, "gate_open_count": 0.0, "gate_open_rate": 0.0, "gate_mandatory_open_rate": 0.0, "gate_event_trigger_open_rate": 0.0, "gate_off_trigger_open_rate": 0.0, "gate_learned_open_rate": 0.0, "coalition_changes_per_gate_open": 376.2265625, "reward_switch_coalition": -0.8727539062499989, "reward_dead": -0.016276041666666668, "reward_discover": -4.951145833333326, "reward_deliver": -5.191458333333333, "reward_resupply": 3.370839490424137, "reward_coalition_deliver": 23.885043446306184, "reward_coalition_complete": 64.20821656625597, "reward_dist": -23.097991748059442, "reward_end": 9.048893584767018, "episode_reward_std": 18.28497232392642, "episode_length_std": 102.34323920435509, "successful_episode_length": 601.2261904761905, "successful_episode_length_median": 608.0, "num_episodes": 128 }, { "name": "s2-zero", "checkpoint": "runs/20260822-1223_delivcoal_hatt-v33aa-focused/hattv33aa-learned-s2_delivcoal-v33aa-focused/models/actor_ep001400.pt", "success": 0.78125, "episode_reward": 67.22796634508, "episode_length": 612.6640625, "tasks_completed": 9.7265625, "task_completion_ratio": 0.97265625, "sent_percentage": 0.9767218918901374, "discovered_ratio": 0.97578125, "dead_agents": 0.0078125, "coalition_changes": 360.84375, "reconfiguration_decisions": 554.3828125, "coalition_changes_per_decision": 0.6581672228625485, "reconfiguration_decisions_per_100_alive_steps": 7.60581968202467, "coalition_changes_per_100_alive_steps": 4.992239141087973, "mean_response_time": 10.04709201388889, "premature_no_explorer_ratio": 0.1102022052148127, "harmful_idle_agent_step_ratio": 0.0, "useful_idle_agent_step_ratio": 0.0, "max_idle_duration": 0.0, "committed_payload_shortage_ratio": 0.06055215224719557, "committed_payload_surplus_ratio": 0.03770994546804499, "mean_explore_leg_distance": 175.81957669555084, "short_explore_leg_ratio": 0.0, "explore_distance_per_alive_step": 6.112095870844584, "unavailable_sector_ratio": 0.027091392347748038, "explored_area_ratio": 0.9480664062499999, "mean_agent_sector_entropy": 0.7657920082177703, "mean_agent_dominant_sector_ratio": 0.3726732461184205, "mean_agent_sector_coverage_ratio": 0.8047688802083333, "decision_explore_ratio": 0.5583114892447361, "executed_explore_ratio": 0.42499588214998724, "decision_deliver_ratio": 0.27293770735471384, "executed_deliver_ratio": 0.3217223132634535, "decision_idle_ratio": 0.0, "executed_idle_ratio": 0.0, "decision_resupply_ratio": 0.1687508034005501, "executed_resupply_ratio": 0.25328180458655924, "decision_count": 554.3828125, "gate_decision_count": 0.0, "gate_open_count": 0.0, "gate_open_rate": 0.0, "gate_mandatory_open_rate": 0.0, "gate_event_trigger_open_rate": 0.0, "gate_off_trigger_open_rate": 0.0, "gate_learned_open_rate": 0.0, "coalition_changes_per_gate_open": 360.84375, "reward_switch_coalition": -0.8640624999999988, "reward_dead": -0.0032552083333333335, "reward_discover": -3.4192968749999983, "reward_deliver": 8.79640625, "reward_resupply": 3.4093504759506925, "reward_coalition_deliver": 24.418047297253434, "reward_coalition_complete": 44.116165923145644, "reward_dist": -20.50887050439836, "reward_end": 11.283481486461923, "episode_reward_std": 14.442365597757165, "episode_length_std": 107.91781286468, "successful_episode_length": 574.21, "successful_episode_length_median": 581.5, "num_episodes": 128 }, { "name": "s3-learned", "checkpoint": "runs/20260822-1223_delivcoal_hatt-v33aa-focused/hattv33aa-learned-s3_delivcoal-v33aa-focused/models/actor.pt", "success": 0.5234375, "episode_reward": 63.72176455169082, "episode_length": 694.890625, "tasks_completed": 9.328125, "task_completion_ratio": 0.9328125, "sent_percentage": 0.9510534734858744, "discovered_ratio": 0.9640625, "dead_agents": 0.015625, "coalition_changes": 395.8984375, "reconfiguration_decisions": 672.9765625, "coalition_changes_per_decision": 0.5958619736277746, "reconfiguration_decisions_per_100_alive_steps": 8.125092825485742, "coalition_changes_per_100_alive_steps": 4.7857499032398385, "mean_response_time": 32.34917534722223, "premature_no_explorer_ratio": 0.1005109563444107, "harmful_idle_agent_step_ratio": 0.0, "useful_idle_agent_step_ratio": 0.0, "max_idle_duration": 0.0, "committed_payload_shortage_ratio": 0.08472420051935292, "committed_payload_surplus_ratio": 0.03570984713872267, "mean_explore_leg_distance": 188.38691593536237, "short_explore_leg_ratio": 0.0, "explore_distance_per_alive_step": 6.584544386354115, "unavailable_sector_ratio": 0.03408492057228335, "explored_area_ratio": 0.9606640625, "mean_agent_sector_entropy": 0.802136317881475, "mean_agent_dominant_sector_ratio": 0.34458707320407095, "mean_agent_sector_coverage_ratio": 0.8492024739583333, "decision_explore_ratio": 0.5117405858678197, "executed_explore_ratio": 0.4597820592177926, "decision_deliver_ratio": 0.3885489749838701, "executed_deliver_ratio": 0.34291931923810026, "decision_idle_ratio": 0.0, "executed_idle_ratio": 0.0, "decision_resupply_ratio": 0.09971043914831021, "executed_resupply_ratio": 0.19729862154410718, "decision_count": 672.9765625, "gate_decision_count": 0.0, "gate_open_count": 0.0, "gate_open_rate": 0.0, "gate_mandatory_open_rate": 0.0, "gate_event_trigger_open_rate": 0.0, "gate_off_trigger_open_rate": 0.0, "gate_learned_open_rate": 0.0, "coalition_changes_per_gate_open": 395.8984375, "reward_switch_coalition": -0.9041341145833321, "reward_dead": -0.006510416666666667, "reward_discover": -4.854583333333329, "reward_deliver": -0.30911458333333325, "reward_resupply": 3.272498608204751, "reward_coalition_deliver": 23.770581646907623, "reward_coalition_complete": 63.471630048260636, "reward_dist": -27.61616443256777, "reward_end": 6.897561128802242, "episode_reward_std": 20.82426416844324, "episode_length_std": 83.3052776666003, "successful_episode_length": 644.7164179104477, "successful_episode_length_median": 673.0, "num_episodes": 128 }, { "name": "s3-uniform", "checkpoint": "runs/20260822-1223_delivcoal_hatt-v33aa-focused/hattv33aa-learned-s3_delivcoal-v33aa-focused/models/actor.pt", "success": 0.4296875, "episode_reward": 54.0819896440572, "episode_length": 690.8125, "tasks_completed": 9.140625, "task_completion_ratio": 0.9140625, "sent_percentage": 0.9340832966733866, "discovered_ratio": 0.95625, "dead_agents": 0.078125, "coalition_changes": 376.2734375, "reconfiguration_decisions": 753.9609375, "coalition_changes_per_decision": 0.505113466936973, "reconfiguration_decisions_per_100_alive_steps": 9.187604265397727, "coalition_changes_per_100_alive_steps": 4.594312431729648, "mean_response_time": 25.12165798611111, "premature_no_explorer_ratio": 0.1071880265548559, "harmful_idle_agent_step_ratio": 0.0, "useful_idle_agent_step_ratio": 0.0, "max_idle_duration": 0.0, "committed_payload_shortage_ratio": 0.08606474460360725, "committed_payload_surplus_ratio": 0.030149367083552252, "mean_explore_leg_distance": 187.66126167958322, "short_explore_leg_ratio": 0.0, "explore_distance_per_alive_step": 7.016412640355144, "unavailable_sector_ratio": 0.038716083650657096, "explored_area_ratio": 0.9619921875, "mean_agent_sector_entropy": 0.7837360641327784, "mean_agent_dominant_sector_ratio": 0.36971500573448834, "mean_agent_sector_coverage_ratio": 0.842041015625, "decision_explore_ratio": 0.4841735605068358, "executed_explore_ratio": 0.4907815462292188, "decision_deliver_ratio": 0.42247278150072615, "executed_deliver_ratio": 0.31090359646082083, "decision_idle_ratio": 0.0, "executed_idle_ratio": 0.0, "decision_resupply_ratio": 0.09335365799243805, "executed_resupply_ratio": 0.19831485730996032, "decision_count": 753.9609375, "gate_decision_count": 0.0, "gate_open_count": 0.0, "gate_open_rate": 0.0, "gate_mandatory_open_rate": 0.0, "gate_event_trigger_open_rate": 0.0, "gate_off_trigger_open_rate": 0.0, "gate_learned_open_rate": 0.0, "coalition_changes_per_gate_open": 376.2734375, "reward_switch_coalition": -0.8896484374999989, "reward_dead": -0.032552083333333336, "reward_discover": -5.240234374999995, "reward_deliver": -6.114453124999999, "reward_resupply": 3.2605719286139063, "reward_coalition_deliver": 23.348613104929008, "reward_coalition_complete": 61.67121766849972, "reward_dist": -27.100253690579514, "reward_end": 5.178728653427413, "episode_reward_std": 21.004344584728738, "episode_length_std": 90.6495440901387, "successful_episode_length": 612.2545454545455, "successful_episode_length_median": 614.0, "num_episodes": 128 }, { "name": "s3-zero", "checkpoint": "runs/20260822-1223_delivcoal_hatt-v33aa-focused/hattv33aa-learned-s3_delivcoal-v33aa-focused/models/actor.pt", "success": 0.5234375, "episode_reward": 51.11454255288254, "episode_length": 679.125, "tasks_completed": 9.3125, "task_completion_ratio": 0.9312500000000001, "sent_percentage": 0.9483269477122973, "discovered_ratio": 0.9632812500000001, "dead_agents": 0.046875, "coalition_changes": 367.0625, "reconfiguration_decisions": 610.3671875, "coalition_changes_per_decision": 0.6078726376446425, "reconfiguration_decisions_per_100_alive_steps": 7.5223853310572535, "coalition_changes_per_100_alive_steps": 4.562895994399862, "mean_response_time": 26.679783606150792, "premature_no_explorer_ratio": 0.042327433960513534, "harmful_idle_agent_step_ratio": 0.0, "useful_idle_agent_step_ratio": 0.0, "max_idle_duration": 0.0, "committed_payload_shortage_ratio": 0.09286916904323786, "committed_payload_surplus_ratio": 0.027981970685807277, "mean_explore_leg_distance": 188.38243538088835, "short_explore_leg_ratio": 0.0, "explore_distance_per_alive_step": 7.4306732914751965, "unavailable_sector_ratio": 0.04367089450995397, "explored_area_ratio": 0.97193359375, "mean_agent_sector_entropy": 0.7689462040609216, "mean_agent_dominant_sector_ratio": 0.3941812630472358, "mean_agent_sector_coverage_ratio": 0.844970703125, "decision_explore_ratio": 0.6411241031874444, "executed_explore_ratio": 0.5194381921067163, "decision_deliver_ratio": 0.2263851415218882, "executed_deliver_ratio": 0.27016607573964907, "decision_idle_ratio": 0.0, "executed_idle_ratio": 0.0, "decision_resupply_ratio": 0.1324907552906674, "executed_resupply_ratio": 0.21039573215363466, "decision_count": 610.3671875, "gate_decision_count": 0.0, "gate_open_count": 0.0, "gate_open_rate": 0.0, "gate_mandatory_open_rate": 0.0, "gate_event_trigger_open_rate": 0.0, "gate_off_trigger_open_rate": 0.0, "gate_learned_open_rate": 0.0, "coalition_changes_per_gate_open": 367.0625, "reward_switch_coalition": -0.9244140624999987, "reward_dead": -0.01953125, "reward_discover": -4.734531249999996, "reward_deliver": 8.226223958333334, "reward_resupply": 3.3269773568569323, "reward_coalition_deliver": 23.701126710676395, "reward_coalition_complete": 39.613789463614474, "reward_dist": -24.928238142070757, "reward_end": 6.853139767972162, "episode_reward_std": 18.61602045003444, "episode_length_std": 91.72683631304417, "successful_episode_length": 614.5970149253732, "successful_episode_length_median": 617.0, "num_episodes": 128 } ] }