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"localization_error_m": 0.2768006253191299, "formation_error_m": 0.33036225621580767, "minimum_robot_separation_m": 0.8431299692960834, "minimum_obstacle_clearance_m": null, "path_length_total_m": 50.999971883834114, "simulation_duration_s": 20.000000000000014, "wall_clock_ms": 50.90120000386378, "safety_intervention_count": 1, "robot_collision_count": 0 }, "decision_calls": 0, "replans": 0, "live_calls": 0, "live_verified": false } ], "limitations": [ "Ten fixed seeds per scenario provide limited spread evidence, not broad robustness evidence.", "All agent decisions used the deterministic offline mock; Baseten was not called.", "Live inference latency was not measured because this evaluation used no live requests.", "The baseline and proposed controller share the same formation objective and safety filter." ] }