| """Method registry for paper-facing experiments.""" |
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|
| from __future__ import annotations |
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| from dataclasses import dataclass |
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| @dataclass(frozen=True) |
| class MethodSpec: |
| name: str |
| display_name: str |
| category: str |
| kind: str |
| role: str |
| notes: str |
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| METHODS: dict[str, MethodSpec] = { |
| "flowmo": MethodSpec( |
| name="flowmo", |
| display_name="FlowMo", |
| category="A_learned_world_model", |
| kind="learned_world_model", |
| role="proposed", |
| notes="Proposed flow-momentum world model with short state history, long drift context, and zero-context residual transition.", |
| ), |
| "leworldmodel": MethodSpec( |
| name="leworldmodel", |
| display_name="LeWorldModel", |
| category="A_learned_world_model", |
| kind="learned_world_model", |
| role="external_style_baseline", |
| notes="JEPA-like latent predictor under the shared clean-image rollout protocol.", |
| ), |
| "planet": MethodSpec( |
| name="planet", |
| display_name="PlaNet RSSM", |
| category="A_learned_world_model", |
| kind="learned_world_model", |
| role="external_style_baseline", |
| notes="Recurrent state-space dynamics world model under the shared clean-image rollout protocol.", |
| ), |
| "tdmpc2": MethodSpec( |
| name="tdmpc2", |
| display_name="TD-MPC2 Dynamics", |
| category="A_learned_world_model", |
| kind="learned_world_model", |
| role="external_style_baseline", |
| notes="Latent dynamics world model under the shared clean-image rollout protocol.", |
| ), |
| "pid_los_controller": MethodSpec( |
| name="pid_los_controller", |
| display_name="PID/LOS controller", |
| category="B_traditional_controller", |
| kind="traditional_controller", |
| role="planning_baseline", |
| notes="Classical image-pose-based line-of-sight controller for downstream planning comparison.", |
| ), |
| "physics_mpc_no_flow": MethodSpec( |
| name="physics_mpc_no_flow", |
| display_name="Physics MPC No-Flow", |
| category="B_traditional_controller", |
| kind="traditional_controller", |
| role="planning_baseline", |
| notes="Classical controller without external-flow compensation.", |
| ), |
| "current_estimator_mpc": MethodSpec( |
| name="current_estimator_mpc", |
| display_name="Current-Estimator MPC", |
| category="B_traditional_controller", |
| kind="traditional_controller", |
| role="planning_baseline", |
| notes="Classical controller using recent image-pose drift estimate.", |
| ), |
| "oracle_flow_mpc": MethodSpec( |
| name="oracle_flow_mpc", |
| display_name="Oracle-Flow MPC", |
| category="B_traditional_controller", |
| kind="traditional_controller", |
| role="oracle_planning_upper_bound", |
| notes="Oracle controller with true local flow; used only as a planning upper/reference bound.", |
| ), |
| } |
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| PAPER_LEARNED_METHODS = [name for name, spec in METHODS.items() if spec.category == "A_learned_world_model"] |
| TRADITIONAL_METHODS = [name for name, spec in METHODS.items() if spec.kind == "traditional_controller"] |
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| def display_name(method: str) -> str: |
| return METHODS[method].display_name |
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