{
  "format": "fly-gambit-flybody-public-proof-v1",
  "verified": true,
  "verificationDate": "2026-09-14",
  "scenario": {
    "start": "A1",
    "target": "F7",
    "route": ["A1", "B2", "C3", "C4", "D5", "E6", "F7"],
    "squareSizeCm": 0.5,
    "commandedSpeedCmPerSecond": 2.0
  },
  "perceptionPolicy": {
    "type": "camera-trained-cell-occupancy-cnn",
    "input": "MuJoCo chessboard_camera RGB cell crops plus cell coordinates",
    "architecture": ["conv12", "pool2", "conv16", "flatten", "dense32", "sigmoid1"],
    "trainLayouts": 96,
    "testLayouts": 24,
    "trainCellSamples": 6144,
    "testCellSamples": 1536,
    "testAccuracy": 1.0,
    "testPrecision": 1.0,
    "testRecall": 1.0,
    "defaultBoardCellAccuracy": 1.0,
    "exactDefaultBoardMatch": true,
    "weightsSha256": "117aaf4554ce7507a8bbc14d7f0c6ec6c1ae8dc1d931c3aadbca3a54a7d60f2a"
  },
  "navigationPolicy": {
    "occupancySource": "trained MuJoCo camera perception",
    "sha256": "5c4b70d4de8314fed4f85c7d6e3d077592eb66e10f1772688cd6021fc2a0cbbc"
  },
  "walkingPolicy": {
    "sha256": "981cec702178aab87ee449bdd4cce8f22fdc3d69bfa66a170565dff5c90195c9",
    "source": "Figshare file 44815195, trained-fly-policies.zip"
  },
  "runtime": {
    "flybodyCommit": "d015e9bfe441bd90ae431bac24c55cb74bdbce26",
    "tensorflow": "2.15.1",
    "tensorflowProbability": "0.23.0",
    "seed": 20260911
  },
  "arena": {
    "type": "collision-enabled-chessboard",
    "tileCount": 64,
    "obstacleCount": 9,
    "pieceRadiusCm": 0.11,
    "collisionEnabled": true,
    "obstacleContactSteps": 0,
    "minimumObstacleSurfaceClearanceCm": 0.22400856716023199
  },
  "result": {
    "environmentSteps": 1011,
    "distinctPhysicalPoses": 1011,
    "terminated": true,
    "discount": 1.0,
    "initialTargetDistanceCm": 3.905124837953327,
    "minimumTargetDistanceCm": 0.0520023721928418,
    "finalTargetDistanceCm": 0.0520023721928418,
    "netDisplacementCm": 3.8531528992371267,
    "trackingRmseCm": 0.023245248077517357,
    "successThresholdCm": 0.25,
    "renderedFrames": 64
  }
}