formation-circle-8

Formation control · solved 13 of 13 agent attempts pass

The task. Textbook-adjacent: formation PD plus repulsion.

Agents start close together (position scale 0.35 vs safety radius 0.55), so a controller that ignores the safety term passes the formation error but not the collision term.

Gate. final total error (formation + 0.2 velocity disagreement + 25 collision penalty) <= 1e-2 after 400 steps; success rate >= 0.9 on 40 verifier-only seeds

Axes: topology:ring, n_agents:8, formation:circle, safety:collision-penalty

Each video re-runs the attempt's final controller through the task's own evaluator on a public seed (never the grader's held-out ones). The table under each video is the official grade on the held-out seeds.

Best attemptSol (cursor-cli (pre-clock), 5 min) · base

Graded on the held-out seeds: passes every gate on the grader's held-out seeds.

criterion	graded	needed
base:success	1.000	≥ 0.900

How the agent got there: 5 min · 23 tool calls · 4 edit-tool edits · 3 runs of its own Python (tests, experiments, rewrites) · no tuner runs · official verifier 5× (success rates in order: 0.00, 1.00, 1.00, 1.00, ?).

The agent's final message

Implemented `/app/work/controller.py` with centroid-invariant PD formation tracking and short-range collision repulsion. Verification: - Visible seeds 0–4: 100% success - Stress seeds 1000–1499: 500/500 success - Maximum final error: `1.17e-28` - Final collision penalty: `0`Task completed successfully. The final controller remains at `/app/work/controller.py`; no follow-up is needed.

Controller family: PID/PD

Each agent applies PD feedback on its centroid-relative position and velocity error toward the desired offsets, plus a short-range repulsive force from neighbors inside a safety buffer, with the output clipped to the action limit.

Shown: public seed 0 (base); this episode passes the default rung. This episode: final_error 1.28e-29, final_formation_error 6.79e-30, final_collision_penalty 0, max_collision_penalty 1.63, total_reward -566.

controller.py · trial formation-circle-8__GSMzHyP