{
  "schema_version": "article-regime-gallery-1",
  "captured_at": "2026-09-22T14:56:59.611Z",
  "display_name": "DEC-MAPF",
  "stage": "alpha research software",
  "purpose": "Selected solved modern executions from article-regime scenario populations; not a scaling benchmark or full reproduction claim",
  "method": "Unmodified real GUI screenshots; paths and canonical metrics checked against original metrics-only outcomes before capture",
  "selection": "HeatMap Setting 4 FoV5; first scenario name/trial ID among solved 16x16 SC and 32x32/205-obstacle ZC cases; views chosen to explain density and early local decisions",
  "browser": "153.0.8010.53",
  "screenshots": [
    {
      "file": "article-16-80-overview.png",
      "description": "A solved 16x16 article-regime instance with 80 HeatMap agents; 31.25% initial occupancy, SC and FoV5.",
      "sha256": "cd815d03ddd19bf04679ddbec73603beb231cc8f4c9dffc4183250e37c602676",
      "bytes": 346923,
      "run_id": "run-785aaf0794c0450783b8de8f62950af1",
      "original_run_id": "run-16f30223f5414380bd678ef51e58e3e8",
      "instance_hash": "inst-8ca896b27fae3e3a",
      "source_sha256": "d5ee4cf9091946ea0eec8c91d613e24fcdf994e5772b2a2a161207aed488524a",
      "validation": "valid_solution",
      "solver": "Decentralized-HeatMap",
      "setting": "SETTING_4",
      "commitment": "SC",
      "fov": 5,
      "grid": [
        16,
        16
      ],
      "agents": 80,
      "obstacles": 0,
      "obstacle_fraction": 0,
      "initial_agent_fraction_of_free_cells": 0.3125,
      "rendered_frame_label": "Agents · t=1",
      "tick_label": "t = 1 / 25",
      "viewport": {
        "width": 1920,
        "height": 1280
      },
      "layers": []
    },
    {
      "file": "article-32-20-80-overview.png",
      "description": "A solved 32x32 article-regime instance with 205 blocked cells and 80 HeatMap agents, ZC and FoV5.",
      "sha256": "6150c1103a540466844d46c24e98fb5526386e668912b8eb2106910394f19c98",
      "bytes": 317221,
      "run_id": "run-a5f122cdbfb1450dbb7787ba32ebe763",
      "original_run_id": "run-370725286561442584946af35829fa3f",
      "instance_hash": "inst-3c6fedf43a251356",
      "source_sha256": "d5ee4cf9091946ea0eec8c91d613e24fcdf994e5772b2a2a161207aed488524a",
      "validation": "valid_solution",
      "solver": "Decentralized-HeatMap",
      "setting": "SETTING_4",
      "commitment": "ZC",
      "fov": 5,
      "grid": [
        32,
        32
      ],
      "agents": 80,
      "obstacles": 205,
      "obstacle_fraction": 0.2001953125,
      "initial_agent_fraction_of_free_cells": 0.09768009768009768,
      "rendered_frame_label": "Agents · t=1",
      "tick_label": "t = 1 / 50",
      "viewport": {
        "width": 1920,
        "height": 1280
      },
      "layers": []
    },
    {
      "file": "article-16-local-heat.png",
      "description": "Actual recorded HeatMap weights for one early decision; no occupancy proxy or hindsight weights.",
      "sha256": "1e8b2241184a8e19f47ec0b423b86d4b2713df05653ee499e5533e422b60c301",
      "bytes": 358575,
      "run_id": "run-785aaf0794c0450783b8de8f62950af1",
      "original_run_id": "run-16f30223f5414380bd678ef51e58e3e8",
      "instance_hash": "inst-8ca896b27fae3e3a",
      "source_sha256": "d5ee4cf9091946ea0eec8c91d613e24fcdf994e5772b2a2a161207aed488524a",
      "validation": "valid_solution",
      "solver": "Decentralized-HeatMap",
      "setting": "SETTING_4",
      "commitment": "SC",
      "fov": 5,
      "grid": [
        16,
        16
      ],
      "agents": 80,
      "obstacles": 0,
      "obstacle_fraction": 0,
      "initial_agent_fraction_of_free_cells": 0.3125,
      "rendered_frame_label": "Agents · t=2",
      "tick_label": "t = 2 / 25",
      "viewport": {
        "width": 1920,
        "height": 1280
      },
      "layers": [
        "Recorded local heat",
        "FoV geometry"
      ],
      "selected_agent": "agent_049",
      "heat_record_id": "heat-60",
      "decision_tick": 1
    },
    {
      "file": "article-16-local-view.png",
      "description": "Recipient-local recorded information during the same decision; unavailable global agents remain hidden.",
      "sha256": "70f15c95311c3712cb9c5307cfadfefcb16835a323b22c931e62bf2b22c3ab54",
      "bytes": 266961,
      "run_id": "run-785aaf0794c0450783b8de8f62950af1",
      "original_run_id": "run-16f30223f5414380bd678ef51e58e3e8",
      "instance_hash": "inst-8ca896b27fae3e3a",
      "source_sha256": "d5ee4cf9091946ea0eec8c91d613e24fcdf994e5772b2a2a161207aed488524a",
      "validation": "valid_solution",
      "solver": "Decentralized-HeatMap",
      "setting": "SETTING_4",
      "commitment": "SC",
      "fov": 5,
      "grid": [
        16,
        16
      ],
      "agents": 80,
      "obstacles": 0,
      "obstacle_fraction": 0,
      "initial_agent_fraction_of_free_cells": 0.3125,
      "rendered_frame_label": "Agents · t=2",
      "tick_label": "t = 2 / 25",
      "viewport": {
        "width": 1920,
        "height": 1280
      },
      "layers": [
        "FoV geometry",
        "Recorded local view"
      ],
      "selected_agent": "agent_049"
    },
    {
      "file": "article-16-commitments.png",
      "description": "The selected owner's recorded finite commitments in the dense 16x16 instance.",
      "sha256": "81bd48d8b1908bf19795bae5fd5c80a91978951192837cf7f4737c685a63df84",
      "bytes": 354805,
      "run_id": "run-785aaf0794c0450783b8de8f62950af1",
      "original_run_id": "run-16f30223f5414380bd678ef51e58e3e8",
      "instance_hash": "inst-8ca896b27fae3e3a",
      "source_sha256": "d5ee4cf9091946ea0eec8c91d613e24fcdf994e5772b2a2a161207aed488524a",
      "validation": "valid_solution",
      "solver": "Decentralized-HeatMap",
      "setting": "SETTING_4",
      "commitment": "SC",
      "fov": 5,
      "grid": [
        16,
        16
      ],
      "agents": 80,
      "obstacles": 0,
      "obstacle_fraction": 0,
      "initial_agent_fraction_of_free_cells": 0.3125,
      "rendered_frame_label": "Agents · t=3",
      "tick_label": "t = 3 / 25",
      "viewport": {
        "width": 1920,
        "height": 1280
      },
      "layers": [
        "FoV geometry",
        "Recorded reservations"
      ],
      "selected_agent": "agent_029"
    },
    {
      "file": "article-32-selected-route.png",
      "description": "One executed route through the 20% obstacle regime; trajectory includes hindsight and does not claim agent foreknowledge.",
      "sha256": "cb29fd0423e23ab08052d561208dbcf07d321fa095f2a284f88e2b52a5c3ba2b",
      "bytes": 366837,
      "run_id": "run-a5f122cdbfb1450dbb7787ba32ebe763",
      "original_run_id": "run-370725286561442584946af35829fa3f",
      "instance_hash": "inst-3c6fedf43a251356",
      "source_sha256": "d5ee4cf9091946ea0eec8c91d613e24fcdf994e5772b2a2a161207aed488524a",
      "validation": "valid_solution",
      "solver": "Decentralized-HeatMap",
      "setting": "SETTING_4",
      "commitment": "ZC",
      "fov": 5,
      "grid": [
        32,
        32
      ],
      "agents": 80,
      "obstacles": 205,
      "obstacle_fraction": 0.2001953125,
      "initial_agent_fraction_of_free_cells": 0.09768009768009768,
      "rendered_frame_label": "Agents · t=1",
      "tick_label": "t = 1 / 50",
      "viewport": {
        "width": 1920,
        "height": 1280
      },
      "layers": [
        "Executed paths"
      ],
      "selected_agent": "agent_000"
    }
  ],
  "all_trials": [
    {
      "original_run_id": "run-16f30223f5414380bd678ef51e58e3e8",
      "original_trial_id": "d58056d9c0dc00a621d824d63ed393849ac60abfb0f2311908bd8672233350e6",
      "original_controller": "a0b13e63c6195a768b097bddcad5de8fb5704e30c7c75012c48ae7ba5cff2a23",
      "original_artifact_sha256": "eb47d5c7d0edae234fcaa09ca0aca145efb64dde9b013f4a9bc180e586004b1e",
      "original_source_sha256": "d5ee4cf9091946ea0eec8c91d613e24fcdf994e5772b2a2a161207aed488524a",
      "run_id": "run-785aaf0794c0450783b8de8f62950af1",
      "scenario": "empty-16-16-random-80-agents-100",
      "source_sha256": "d5ee4cf9091946ea0eec8c91d613e24fcdf994e5772b2a2a161207aed488524a",
      "validation_status": "valid_solution",
      "solver_id": "Decentralized-HeatMap",
      "effective_config": {
        "solver_id": "Decentralized-HeatMap",
        "setting": "SETTING_4",
        "max_steps": 10000,
        "timeout_sec": null,
        "negotiation_deadline_sec": 60,
        "fov_size": 5,
        "initial_tokens": 5,
        "commitment_type": "SC",
        "random_seed": 20260920,
        "recording_level": "full-trace",
        "heat_recording_limit": 250000,
        "suboptimality": 1.1,
        "agent_order": [
          "agent_000",
          "agent_001",
          "agent_002",
          "agent_003",
          "agent_004",
          "agent_005",
          "agent_006",
          "agent_007",
          "agent_008",
          "agent_009",
          "agent_010",
          "agent_011",
          "agent_012",
          "agent_013",
          "agent_014",
          "agent_015",
          "agent_016",
          "agent_017",
          "agent_018",
          "agent_019",
          "agent_020",
          "agent_021",
          "agent_022",
          "agent_023",
          "agent_024",
          "agent_025",
          "agent_026",
          "agent_027",
          "agent_028",
          "agent_029",
          "agent_030",
          "agent_031",
          "agent_032",
          "agent_033",
          "agent_034",
          "agent_035",
          "agent_036",
          "agent_037",
          "agent_038",
          "agent_039",
          "agent_040",
          "agent_041",
          "agent_042",
          "agent_043",
          "agent_044",
          "agent_045",
          "agent_046",
          "agent_047",
          "agent_048",
          "agent_049",
          "agent_050",
          "agent_051",
          "agent_052",
          "agent_053",
          "agent_054",
          "agent_055",
          "agent_056",
          "agent_057",
          "agent_058",
          "agent_059",
          "agent_060",
          "agent_061",
          "agent_062",
          "agent_063",
          "agent_064",
          "agent_065",
          "agent_066",
          "agent_067",
          "agent_068",
          "agent_069",
          "agent_070",
          "agent_071",
          "agent_072",
          "agent_073",
          "agent_074",
          "agent_075",
          "agent_076",
          "agent_077",
          "agent_078",
          "agent_079"
        ],
        "negotiation_round_limit": 100,
        "verification_pass_limit": 5,
        "max_astar_expansions": 10000,
        "broadcast_horizon": 5,
        "negotiation_horizon": 5,
        "negotiation_protocol": "taop-v2"
      },
      "paths_and_scientific_metrics_identical": true,
      "recording_change": "metrics-only to full-trace; no new scientific replicate",
      "makespan": 25,
      "sum_of_costs": 1028,
      "negotiations": 208
    },
    {
      "original_run_id": "run-370725286561442584946af35829fa3f",
      "original_trial_id": "ee78b5acbdd5ffb63e0fb76d5f39a78930eaca0dd456d850e77a287741e3c287",
      "original_controller": "716d1a00b24705c72e95b85cea89f91e132ab8a6c8c0e3fa5678a84827f2bb61",
      "original_artifact_sha256": "563b3374a73da53e6c2eaa5121974d1eea2e765953cb56413dc25c19ec85f07c",
      "original_source_sha256": "d5ee4cf9091946ea0eec8c91d613e24fcdf994e5772b2a2a161207aed488524a",
      "run_id": "run-a5f122cdbfb1450dbb7787ba32ebe763",
      "scenario": "random-32-32-20-random-80-agents-1",
      "source_sha256": "d5ee4cf9091946ea0eec8c91d613e24fcdf994e5772b2a2a161207aed488524a",
      "validation_status": "valid_solution",
      "solver_id": "Decentralized-HeatMap",
      "effective_config": {
        "solver_id": "Decentralized-HeatMap",
        "setting": "SETTING_4",
        "max_steps": 10000,
        "timeout_sec": null,
        "negotiation_deadline_sec": 60,
        "fov_size": 5,
        "initial_tokens": 5,
        "commitment_type": "ZC",
        "random_seed": 20260920,
        "recording_level": "full-trace",
        "heat_recording_limit": 250000,
        "suboptimality": 1.1,
        "agent_order": [
          "agent_000",
          "agent_001",
          "agent_002",
          "agent_003",
          "agent_004",
          "agent_005",
          "agent_006",
          "agent_007",
          "agent_008",
          "agent_009",
          "agent_010",
          "agent_011",
          "agent_012",
          "agent_013",
          "agent_014",
          "agent_015",
          "agent_016",
          "agent_017",
          "agent_018",
          "agent_019",
          "agent_020",
          "agent_021",
          "agent_022",
          "agent_023",
          "agent_024",
          "agent_025",
          "agent_026",
          "agent_027",
          "agent_028",
          "agent_029",
          "agent_030",
          "agent_031",
          "agent_032",
          "agent_033",
          "agent_034",
          "agent_035",
          "agent_036",
          "agent_037",
          "agent_038",
          "agent_039",
          "agent_040",
          "agent_041",
          "agent_042",
          "agent_043",
          "agent_044",
          "agent_045",
          "agent_046",
          "agent_047",
          "agent_048",
          "agent_049",
          "agent_050",
          "agent_051",
          "agent_052",
          "agent_053",
          "agent_054",
          "agent_055",
          "agent_056",
          "agent_057",
          "agent_058",
          "agent_059",
          "agent_060",
          "agent_061",
          "agent_062",
          "agent_063",
          "agent_064",
          "agent_065",
          "agent_066",
          "agent_067",
          "agent_068",
          "agent_069",
          "agent_070",
          "agent_071",
          "agent_072",
          "agent_073",
          "agent_074",
          "agent_075",
          "agent_076",
          "agent_077",
          "agent_078",
          "agent_079"
        ],
        "negotiation_round_limit": 100,
        "verification_pass_limit": 5,
        "max_astar_expansions": 10000,
        "broadcast_horizon": 5,
        "negotiation_horizon": 5,
        "negotiation_protocol": "taop-v2"
      },
      "paths_and_scientific_metrics_identical": true,
      "recording_change": "metrics-only to full-trace; no new scientific replicate",
      "makespan": 50,
      "sum_of_costs": 1778,
      "negotiations": 103
    }
  ],
  "recipe_and_view_hashes": {
    "scripts/capture_article_examples.mjs": "a0ad88d347ac0bfb025943518094fe3fedc081eacccce7910b84e56da7f2f1e7",
    "frontend/src/App.tsx": "bfce3aaa9db6b68e9fd0ccfadfa857c2841a92b65022424392b003ce9b9fc282",
    "frontend/src/components/GridViewport.tsx": "bfb0e2c5129a80ca3ff833242561184487084331fefafdda85d973365c328bd8",
    "frontend/package-lock.json": "007263ca9a6d039661de356a88e3db34957ef421bbaf249ac02f969f5cf969fc"
  }
}