results: jobs/20261108-155228-A26_MPC_stack__loc_Gated_EKF/** index/episodes.jsonl leaderboard/*

results/jobs/20261108-155228-A26_MPC_stack__loc_Gated_EKF/breakdown.json

@@ -0,0 +1,1940 @@
+{
+ "laps": {
+  "all_high": {
+   "kart1": {
+    "center": {
+     "cte_p90": 2.0966407430980203,
+     "best_lap_s": null,
+     "loc_p95": 1.83,
+     "slide_pct_p95": 83.13,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "localization_lost",
+     "key": "868b35edcad24f6d8f61ac6d7fda268536d6fc0e1fc1d2143ebd0523acfb8642"
+    },
+    "line1": {
+     "cte_p90": 2.7891589095860905,
+     "best_lap_s": null,
+     "loc_p95": 0.683,
+     "slide_pct_p95": 70.7,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "d9253c4d07d508bf07b84625a6e36c5703b89b43532f1464270403ecdde32406"
+    },
+    "line4": {
+     "cte_p90": 2.1285273301716257,
+     "best_lap_s": null,
+     "loc_p95": 0.469,
+     "slide_pct_p95": 59.94,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "2ab1f63192a53956a24c7b784900ba6540f36195bd4a1dcdac3019f77f829e0d"
+    }
+   }
+  },
+  "nominal": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.47807029215794944,
+     "best_lap_s": null,
+     "loc_p95": 0.087,
+     "slide_pct_p95": 95.11,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "c5ae9282dcd5c3bfeaaa4d55b54e4a7cf114d05c4aa8948edd92ee021ff9641a"
+    },
+    "center": {
+     "cte_p90": 0.6757523381566195,
+     "best_lap_s": 72.1,
+     "loc_p95": 0.055,
+     "slide_pct_p95": 47.68,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "9bfc9a7abdcdd2d3ba53325fb3f43ef91d8d81daabf4f73a449ba1a22a1c3c95"
+    },
+    "line4": {
+     "cte_p90": 0.4371642650384495,
+     "best_lap_s": null,
+     "loc_p95": 0.027,
+     "slide_pct_p95": 19.82,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "f4fd113d0906b89dfec65afdd01d5d4332da1c18ab1a7f14e18b723ac8e4e518"
+    }
+   }
+  },
+  "actuator_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.3861684456452656,
+     "best_lap_s": null,
+     "loc_p95": 0.09,
+     "slide_pct_p95": 94.68,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "170957512194af0513aa085e320518829a63e9ec72d0f76907db2f9393ba4c06"
+    },
+    "center": {
+     "cte_p90": 0.6876756698948812,
+     "best_lap_s": null,
+     "loc_p95": 0.068,
+     "slide_pct_p95": 53.86,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "2f70d7ca9961e9eac173895c11e55286550928f9584b49c45ce9f0f43d25868b"
+    },
+    "line4": {
+     "cte_p90": 0.42350550192338754,
+     "best_lap_s": null,
+     "loc_p95": 0.028,
+     "slide_pct_p95": 19.55,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "7e90dcf98f73cc5cec02901e08e451e0c171c1f6eac81496274a3254eefa5be8"
+    }
+   }
+  },
+  "actuator_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.537180279865729,
+     "best_lap_s": null,
+     "loc_p95": 0.093,
+     "slide_pct_p95": 82.96,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "0a1ed1e5f45e8a48c28f05a5f68952dee92bbdac498c1fd2c075481bed6fa405"
+    },
+    "center": {
+     "cte_p90": 0.7263654129652204,
+     "best_lap_s": 71.816,
+     "loc_p95": 0.068,
+     "slide_pct_p95": 47.67,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "51bc8d34f965307c1400c15364732b3fa4b946d1d0c0e5053af201cb6ae36704"
+    },
+    "line4": {
+     "cte_p90": 0.4545565463767621,
+     "best_lap_s": null,
+     "loc_p95": 0.245,
+     "slide_pct_p95": 19.4,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "ca8ffb0508813280757c9a8aa1c916ea8fd6cf6e6e133ffe127daa4f42c18847"
+    }
+   }
+  },
+  "all_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.8028385925932875,
+     "best_lap_s": null,
+     "loc_p95": 0.495,
+     "slide_pct_p95": 74.07,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "f37d48984cf1f248c56e1c17d35bc4abb1df1f6862425b5a504dd8bca1964f41"
+    },
+    "center": {
+     "cte_p90": 0.8987755179777351,
+     "best_lap_s": null,
+     "loc_p95": 0.289,
+     "slide_pct_p95": 42.77,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "6889b7fd6c639375ef6b6824a5b063ebeff5314b0900633137f0a91148238826"
+    },
+    "line4": {
+     "cte_p90": 0.5344006568968585,
+     "best_lap_s": null,
+     "loc_p95": 0.191,
+     "slide_pct_p95": 17.52,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "bed708907722c80d50dd5c605c0d2cf9e96c359ce4b5ed33e22764946e5bdcf6"
+    }
+   }
+  },
+  "frame_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.41161542193607015,
+     "best_lap_s": null,
+     "loc_p95": 0.095,
+     "slide_pct_p95": 90.77,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "75cd4048225293d4f1b0e93b2ad65fbceb9454cf0da81e2700122555e537a07c"
+    },
+    "center": {
+     "cte_p90": 0.7077179084458329,
+     "best_lap_s": null,
+     "loc_p95": 0.067,
+     "slide_pct_p95": 50.38,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "f8289ab0aab7899151676064884ad9372203ab55c8431bf926e6d34be43be527"
+    },
+    "line4": {
+     "cte_p90": 0.4183486345962614,
+     "best_lap_s": null,
+     "loc_p95": 0.026,
+     "slide_pct_p95": 19.59,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "ec888fc1436dcf7c43c4bf78d19ea2ab842c24d1f36ac00d6396ef31168b45a8"
+    }
+   }
+  },
+  "frame_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.5211846403226555,
+     "best_lap_s": null,
+     "loc_p95": 0.097,
+     "slide_pct_p95": 89.74,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "d3530be24fc90a77a315746727a54e9cb37bab064dd5a6d1a714b5ab40a10063"
+    },
+    "center": {
+     "cte_p90": 0.7320132484400944,
+     "best_lap_s": null,
+     "loc_p95": 0.086,
+     "slide_pct_p95": 52.51,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "7c9b2bd996fd09af2d4f565ea9a5c553581700d9d3ee2f0a21e2598ac22e7d42"
+    },
+    "line4": {
+     "cte_p90": 0.4456378733165228,
+     "best_lap_s": null,
+     "loc_p95": 0.042,
+     "slide_pct_p95": 19.32,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "f8393cfd8d933db0b8e8f6bc3d4e1f621359f09278ff6f1f624dc33d97580391"
+    }
+   }
+  },
+  "freq_45": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.528258213484944,
+     "best_lap_s": null,
+     "loc_p95": 0.093,
+     "slide_pct_p95": 119.13,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "648f28c6223f51db4d78c0e1f12ae972e7d22e74b0e01e9b503642485ab0cdd3"
+    },
+    "center": {
+     "cte_p90": 0.7336120963910102,
+     "best_lap_s": null,
+     "loc_p95": 0.05,
+     "slide_pct_p95": 55.22,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "417c37a99921f054bc41c29d2ae28cd81ebf301c5eedfe7f0dc6fabecf31ae09"
+    },
+    "line4": {
+     "cte_p90": 0.4510758411128226,
+     "best_lap_s": null,
+     "loc_p95": 0.036,
+     "slide_pct_p95": 19.0,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "533d1a733b773dc1bfb0e45fdb579012a68448dda43ac4b92575cd2d2cfd935d"
+    }
+   }
+  },
+  "gps_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.33063224191979834,
+     "best_lap_s": null,
+     "loc_p95": 1.414,
+     "slide_pct_p95": 218.67,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "f787dd7d4c45afc768c7aad2bbd395ee0c43c6e61c9e4b89aa0cc2ca0bcde28f"
+    },
+    "center": {
+     "cte_p90": 0.6429551377118226,
+     "best_lap_s": 72.267,
+     "loc_p95": 0.573,
+     "slide_pct_p95": 52.05,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "e0e3667dce932394e780aa5c490936963cb9ef5f189dbad7ec5ef5983558d7a5"
+    },
+    "line4": {
+     "cte_p90": 0.4634359357267875,
+     "best_lap_s": null,
+     "loc_p95": 0.396,
+     "slide_pct_p95": 21.02,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "9da030e25f252368d17e04a93ca93651a237b36632409930cf33d0319a5b7d4f"
+    }
+   }
+  },
+  "gps_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.5171907452019049,
+     "best_lap_s": null,
+     "loc_p95": 0.402,
+     "slide_pct_p95": 95.37,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "23c9ff5ea4bf2e5bafec6d20a5d399288b5127a959232173ecc4309a20628505"
+    },
+    "center": {
+     "cte_p90": 0.6906793629474776,
+     "best_lap_s": null,
+     "loc_p95": 0.289,
+     "slide_pct_p95": 45.1,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "0060905f4c6943f0199a36669cfff19df1d9b38aa55bba8556a7f78f816a0c7d"
+    },
+    "line4": {
+     "cte_p90": 0.45406884898051103,
+     "best_lap_s": null,
+     "loc_p95": 0.208,
+     "slide_pct_p95": 19.01,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "c7a92acf47a097d8362c130447d3f07b6bc9ed4e274c69298a4ea3ecce80b5bf"
+    }
+   }
+  },
+  "grip_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.47746479181460366,
+     "best_lap_s": null,
+     "loc_p95": 0.107,
+     "slide_pct_p95": 90.97,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "357be255c76332017cc56a3b11a769d61fe2259ef242d569655d230b6e428194"
+    },
+    "center": {
+     "cte_p90": 0.7413934160500611,
+     "best_lap_s": null,
+     "loc_p95": 0.065,
+     "slide_pct_p95": 63.29,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "fc10b5d9fb535a772f2e966883cc5133940cc09016525ccaaec5199fecf8d9f1"
+    },
+    "line4": {
+     "cte_p90": 0.4711366696892108,
+     "best_lap_s": null,
+     "loc_p95": 0.041,
+     "slide_pct_p95": 24.87,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "267e4ad404c9a8c34063dc332f7ad8f0117bc1bc151811b7e908e7243de6ffee"
+    }
+   }
+  },
+  "grip_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.5697816296565917,
+     "best_lap_s": null,
+     "loc_p95": 0.058,
+     "slide_pct_p95": 78.94,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "19550c2bdf3ea818a96d0ccfb2ce22b3573274229f6434e42dcfa53feec9a2c3"
+    },
+    "center": {
+     "cte_p90": 0.742782565405137,
+     "best_lap_s": null,
+     "loc_p95": 0.057,
+     "slide_pct_p95": 46.66,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "74d55cf00908cc816f264238a59c11cfb1d0ba144727f96e3d47a7991a32ee86"
+    },
+    "line4": {
+     "cte_p90": 0.44553140670297614,
+     "best_lap_s": null,
+     "loc_p95": 0.04,
+     "slide_pct_p95": 17.8,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "1d5c3b95ae3dc938fcf84d032162c784049e7e42b8e177cf9ab4d7ecc68e2052"
+    }
+   }
+  },
+  "imu_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.5555047562235611,
+     "best_lap_s": null,
+     "loc_p95": 0.263,
+     "slide_pct_p95": 94.42,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "596fcb858f9dd2ec36b3dc79cc1bd8588db93e8a45d310e80fc5111e7f6acfa3"
+    },
+    "center": {
+     "cte_p90": 0.72138494245325,
+     "best_lap_s": null,
+     "loc_p95": 0.049,
+     "slide_pct_p95": 56.23,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "026dc576a2b9e7c25c758b573bd5c8c77472907f17a912a73dd1fe8d2f9725ec"
+    },
+    "line4": {
+     "cte_p90": 0.44236678970351384,
+     "best_lap_s": null,
+     "loc_p95": 0.045,
+     "slide_pct_p95": 19.89,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "fecb7c9bde318aa5c7d1020074ead487445b985cd2ef8a4d6a307ef285005c97"
+    }
+   }
+  },
+  "heading_dual": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.8730304530794836,
+     "best_lap_s": null,
+     "loc_p95": 0.102,
+     "slide_pct_p95": 90.05,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "83830ea9128fa8d8fefe6d15ac9645b4b796b909f370d3a3a08ff7cc032c4b88"
+    },
+    "center": {
+     "cte_p90": 0.7917565095887383,
+     "best_lap_s": 71.783,
+     "loc_p95": 0.061,
+     "slide_pct_p95": 51.56,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "ae24846ad1ef73dc9cf5d3500fc6bf3208bc16a3aa8bba777495415e66268420"
+    },
+    "line4": {
+     "cte_p90": 0.5841438869725977,
+     "best_lap_s": null,
+     "loc_p95": 0.052,
+     "slide_pct_p95": 19.34,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "517a7067528392a06cfa87e4d0e46f82e22ca6c3716981ce1e7dc0ec3b1558a8"
+    }
+   }
+  },
+  "steering_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 1.9175488676755101,
+     "best_lap_s": null,
+     "loc_p95": 0.157,
+     "slide_pct_p95": 210.47,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "c5067a138e9a9091cc79633dee13f72088f1156356bd68b45447d54f9f9a4ddb"
+    },
+    "center": {
+     "cte_p90": 0.9137733142106214,
+     "best_lap_s": null,
+     "loc_p95": 0.061,
+     "slide_pct_p95": 65.01,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "e38facb57fb2ddfa3f33aebb9d53bbee39fc712728204bf852d0b7672344da76"
+    },
+    "line4": {
+     "cte_p90": 0.4543538520865088,
+     "best_lap_s": null,
+     "loc_p95": 0.039,
+     "slide_pct_p95": 19.88,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "41276ee4afea1e707696c23a155a773130bae2790e0ba5dc79004a6e5479d557"
+    }
+   }
+  },
+  "imu_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.5011434700776274,
+     "best_lap_s": null,
+     "loc_p95": 0.098,
+     "slide_pct_p95": 97.61,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "ca96c69127582cc44b6346282ac6fc31a68def7fced838ff256b8d0a97527ab7"
+    },
+    "center": {
+     "cte_p90": 0.6807462290000281,
+     "best_lap_s": null,
+     "loc_p95": 0.059,
+     "slide_pct_p95": 51.24,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "5d5e809a21f192cd4bc8b1f91e03f9d809dcb3e02e83ac995329ffcfa8b29ee6"
+    },
+    "line4": {
+     "cte_p90": 0.4579082969198433,
+     "best_lap_s": null,
+     "loc_p95": 0.044,
+     "slide_pct_p95": 19.88,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "c0411dfa22922a5cb79fd749a80e0b634e20344c37103e26af52713f7ddd5ff7"
+    }
+   }
+  },
+  "steering_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.6328519346344542,
+     "best_lap_s": null,
+     "loc_p95": 0.094,
+     "slide_pct_p95": 93.31,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "97e5bd7eb09e828ed47c7df78d90426282b3ffc66dec8677a9653f2f23740739"
+    },
+    "center": {
+     "cte_p90": 0.7252127455308977,
+     "best_lap_s": null,
+     "loc_p95": 0.055,
+     "slide_pct_p95": 48.91,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "053a31d41c9291e3da5979fba2ccb9fb23823eaf40173fff453cb8a110d73e0f"
+    },
+    "line4": {
+     "cte_p90": 0.4800998101083112,
+     "best_lap_s": null,
+     "loc_p95": 0.025,
+     "slide_pct_p95": 19.53,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "77f71f4c995ed4e812145f137e5e582c16cc17024ae17a8b66c97bb6697a764b"
+    }
+   }
+  },
+  "wheel_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.46318898243361456,
+     "best_lap_s": null,
+     "loc_p95": 0.112,
+     "slide_pct_p95": 94.63,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "3fc45c9fe2c35d16dc941da47047cb57a60456e1960c4e3dcd962ff1cedaca04"
+    },
+    "center": {
+     "cte_p90": 0.6801975227029503,
+     "best_lap_s": null,
+     "loc_p95": 0.06,
+     "slide_pct_p95": 52.17,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "1fd2243d402387bb6839c2c070c446428a0fee7374e6d9fbffb3e683f4a790a2"
+    },
+    "line4": {
+     "cte_p90": 0.4488145603803676,
+     "best_lap_s": null,
+     "loc_p95": 0.039,
+     "slide_pct_p95": 19.69,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "deb9ba9348a08dd39b2bca823ca1908b4a45b1f9398fbc3d7cdc84a233495f6a"
+    }
+   }
+  },
+  "wheel_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.44417653894236847,
+     "best_lap_s": null,
+     "loc_p95": 0.085,
+     "slide_pct_p95": 95.77,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "9744c7b68300f192ebe2451b645882c748fa732c3d2d308b96be0713b8bca843"
+    },
+    "center": {
+     "cte_p90": 0.7608064769593595,
+     "best_lap_s": null,
+     "loc_p95": 0.324,
+     "slide_pct_p95": 54.5,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "d00b7711de4befe6a75039d2ec3c79228aa30282b82cdb18aac7e868429b6dfe"
+    },
+    "line4": {
+     "cte_p90": 0.48413818425577354,
+     "best_lap_s": null,
+     "loc_p95": 0.301,
+     "slide_pct_p95": 19.74,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "1341dfc410d48722af75055175c04cdf0375e86c34d7608e0c5ed37498b214d0"
+    }
+   }
+  }
+ },
+ "clips": {
+  "misaligned_on_line": {
+   "kart1": {
+    "recovery_rate": 0.8333333333333334,
+    "median_recovery_s": 1.1170000000000009,
+    "n": 37,
+    "n_valid": 30,
+    "episodes": [
+     {
+      "key": "bcc39a18b1affc276f835ebedd555b67b861e13d5cb4365eaf19f0fa3d92063f",
+      "clip_id": "20261003_192657_auto_00061",
+      "recovered": true,
+      "recovery_s": 10.433499999999999,
+      "peak_cte_after_m": 1.1739697639428235,
+      "context_valid": false
+     },
+     {
+      "key": "ffd4cd2907ddb41860eeecff4b946dded6d8e289b6fa623f0a5b267354c29363",
+      "clip_id": "20261003_194736_auto_00047",
+      "recovered": true,
+      "recovery_s": 3.333499999999999,
+      "peak_cte_after_m": 0.6582947420497269,
+      "context_valid": true
+     },
+     {
+      "key": "1ec257f470ff01f2a827285926fb350995f910f30288d4a1684ed431cde7ac4f",
+      "clip_id": "20260913_205141_auto_00242",
+      "recovered": true,
+      "recovery_s": 9.2,
+      "peak_cte_after_m": 0.7020249127976257,
+      "context_valid": true
+     },
+     {
+      "key": "9c0949e9f6c79951a94ece7c6fa86890cd42c0802f0ef4f27576f61c718db81e",
+      "clip_id": "20261003_192307_auto_00119",
+      "recovered": true,
+      "recovery_s": 1.2664999999999988,
+      "peak_cte_after_m": 0.9348551437474143,
+      "context_valid": false
+     },
+     {
+      "key": "80bbd2074bba9c8c68ab4469993cb78d1b7dc6d5914555607e4466518637afd4",
+      "clip_id": "20260919_152803_auto_00547",
+      "recovered": true,
+      "recovery_s": 1.0999999999999996,
+      "peak_cte_after_m": 0.571300621204541,
+      "context_valid": true
+     },
+     {
+      "key": "7ed238ab0b3f41dd940bae498be83fea534714eb16b7b3accb81a911554dc126",
+      "clip_id": "20260521_142455_00019",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 0.965842646130429,
+      "context_valid": true
+     },
+     {
+      "key": "eaf1660f8a320eeaa86d47cab0daac1c064712e5ee02032d6250d7943eefc81f",
+      "clip_id": "20261003_193131_auto_00046",
+      "recovered": true,
+      "recovery_s": 3.9334999999999987,
+      "peak_cte_after_m": 0.6490709364540034,
+      "context_valid": true
+     },
+     {
+      "key": "82ff05f78adaa4d13b4ced19e933b2b1de9e4cf4edff904b0bb023d4b9ba3f14",
+      "clip_id": "20260919_151541_auto_00340",
+      "recovered": true,
+      "recovery_s": 9.932999999999998,
+      "peak_cte_after_m": 0.8123987356276977,
+      "context_valid": true
+     },
+     {
+      "key": "b2564f05569bb314603e2d58fafc937b8768dd40c04c5294a72452883f90de82",
+      "clip_id": "20260919_152204_auto_00084",
+      "recovered": true,
+      "recovery_s": 0.18349999999999866,
+      "peak_cte_after_m": 0.948616279038656,
+      "context_valid": true
+     },
+     {
+      "key": "8d27df1461a07f8b52f6cd0153a7a38d1af3c57855ce627c0f1b1eb21b5ba714",
+      "clip_id": "20261003_194736_auto_00124",
+      "recovered": true,
+      "recovery_s": 2.25,
+      "peak_cte_after_m": 0.6793386095176294,
+      "context_valid": false
+     },
+     {
+      "key": "aeb469ffc2f343b35bfaf69ce74661e6fa2470c0eff5479ba2628e83199a0af9",
+      "clip_id": "20261003_193131_auto_00051",
+      "recovered": true,
+      "recovery_s": 0.7164999999999999,
+      "peak_cte_after_m": 0.3548498349317109,
+      "context_valid": true
+     },
+     {
+      "key": "22dd9479c62f1f4db10d5a6cb6b4a14c27e529e8c6d400dcff02fd54a876dca1",
+      "clip_id": "20261003_192657_auto_00159",
+      "recovered": true,
+      "recovery_s": 0.4999999999999982,
+      "peak_cte_after_m": 0.3820513539825711,
+      "context_valid": false
+     },
+     {
+      "key": "10654ccac7f3166dab66ab32f582843af7f6cff8278c309f25a66389031b4b7c",
+      "clip_id": "20261003_193131_auto_00111",
+      "recovered": true,
+      "recovery_s": 0.75,
+      "peak_cte_after_m": 0.6231045619798026,
+      "context_valid": true
+     },
+     {
+      "key": "ecb005f01ee6d1630b820e1639e9f08bb2ae8efb0e7828c94ebf978cfe02b930",
+      "clip_id": "20261003_192657_auto_00212",
+      "recovered": true,
+      "recovery_s": 2.3499999999999996,
+      "peak_cte_after_m": 0.8474298649243538,
+      "context_valid": false
+     },
+     {
+      "key": "f57c9b6585659805fad35a2ded42d23a12e649445eb56d275e6008b04553c480",
+      "clip_id": "20260919_152803_auto_00569",
+      "recovered": true,
+      "recovery_s": 1.1165000000000003,
+      "peak_cte_after_m": 1.1226376170198966,
+      "context_valid": true
+     },
+     {
+      "key": "ce67909c4b8e8d3f610096435ed62e6429d14eaa3ac93fa7170c4b90179757de",
+      "clip_id": "20260919_152803_auto_00306",
+      "recovered": true,
+      "recovery_s": 1.9665,
+      "peak_cte_after_m": 0.6330909760277545,
+      "context_valid": true
+     },
+     {
+      "key": "23e834d4f879857a31cd416d8ba6a1521f17542b2ec57cd4d0060a9a79b3e6f2",
+      "clip_id": "20260520_223739_00129",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 0.5237539593886421,
+      "context_valid": true
+     },
+     {
+      "key": "31f44563704dec2524271815ee0f498e3103ced4262fc62cab491ac8cbfb0483",
+      "clip_id": "20260919_152803_auto_00365",
+      "recovered": true,
+      "recovery_s": 1.3665000000000003,
+      "peak_cte_after_m": 0.8058226257833276,
+      "context_valid": true
+     },
+     {
+      "key": "917f196c5707306b581a2f8e15f6ca323e3879574dcdac78abd0f84d17ff87b5",
+      "clip_id": "20261003_192657_auto_00209",
+      "recovered": true,
+      "recovery_s": 6.550000000000001,
+      "peak_cte_after_m": 1.0121039451726568,
+      "context_valid": false
+     },
+     {
+      "key": "6d6298d8c479ca8f90a93fdef9d6b37dcb79c53dc0ca8f77061aa7680ae84b1a",
+      "clip_id": "20261003_193754_auto_00064",
+      "recovered": true,
+      "recovery_s": 0.31650000000000134,
+      "peak_cte_after_m": 0.635790203793469,
+      "context_valid": true
+     },
+     {
+      "key": "471185636fa749e0ade69951db7131bd48b2209c3880e00fd8f1e6aa90f65171",
+      "clip_id": "20261003_173723_auto_00391",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 0.3064081289917959,
+      "context_valid": true
+     },
+     {
+      "key": "9fbe915dd2e23c4ff086d3e96e108abc2ba59eff44f98e7bcc12207deda1b9c6",
+      "clip_id": "20261003_192307_auto_00106",
+      "recovered": true,
+      "recovery_s": 0.7164999999999999,
+      "peak_cte_after_m": 0.7016461447420912,
+      "context_valid": true
+     },
+     {
+      "key": "69d4c0a0c0bf2eea4885b1ad8408434b419ddf8dcdcf25e3dc01914c0102d2b1",
+      "clip_id": "20261003_192307_auto_00109",
+      "recovered": true,
+      "recovery_s": 3.6834999999999987,
+      "peak_cte_after_m": 0.8151671048386508,
+      "context_valid": true
+     },
+     {
+      "key": "8e3973c91e1014643c0e5744031fb025054f130e9ce51a7c1216b2426da04e68",
+      "clip_id": "20260919_152803_auto_00300",
+      "recovered": true,
+      "recovery_s": 0.34999999999999964,
+      "peak_cte_after_m": 0.8732495278926321,
+      "context_valid": true
+     },
+     {
+      "key": "0e91c95d6e5b0b3e8ebee3c691a29daeac6c3b8d0babbf4f0ce2b6f5fd03479f",
+      "clip_id": "20261003_182559_auto_00081",
+      "recovered": true,
+      "recovery_s": 1.1334999999999997,
+      "peak_cte_after_m": 0.7006110932388387,
+      "context_valid": true
+     },
+     {
+      "key": "8a774d612ab7e8b64b178a3160022eca034be1d3a3f48acd07e8d6ea2d79a4d7",
+      "clip_id": "20260913_195301_auto_00231",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 0.6670486060535692,
+      "context_valid": true
+     },
+     {
+      "key": "c532074f0face55a19ef6979956dc5ae3b366c668a12d0d054576130a4e39b97",
+      "clip_id": "20260913_205141_auto_00168",
+      "recovered": true,
+      "recovery_s": 7.716500000000002,
+      "peak_cte_after_m": 0.7207546369690203,
+      "context_valid": true
+     },
+     {
+      "key": "973f13761b2eaed0cec915934b8885c152537d8bdf68a141a0337d152f844186",
+      "clip_id": "20261003_193131_auto_00017",
+      "recovered": true,
+      "recovery_s": 0.016500000000000625,
+      "peak_cte_after_m": 0.6558082390669204,
+      "context_valid": true
+     },
+     {
+      "key": "f50162178c5567dfa285f98d351c4c0e5694461ee172d0304314740cc53ee87c",
+      "clip_id": "20261003_182559_auto_00419",
+      "recovered": true,
+      "recovery_s": 1.1334999999999997,
+      "peak_cte_after_m": 0.6547506927085085,
+      "context_valid": true
+     },
+     {
+      "key": "3b27eeb02f1f473c743df829edeb4bef3bacb3dd1aec3e97f1cf1c4a6bce8629",
+      "clip_id": "20261003_180749_auto_00103",
+      "recovered": true,
+      "recovery_s": 1.1170000000000009,
+      "peak_cte_after_m": 0.6875907431272219,
+      "context_valid": true
+     },
+     {
+      "key": "e046955b109135211bf2b745458601b385140fbfce48d5270d11d5ec3afc2afd",
+      "clip_id": "20260919_152803_auto_00418",
+      "recovered": true,
+      "recovery_s": 0.01699999999999946,
+      "peak_cte_after_m": 0.899251916571796,
+      "context_valid": true
+     },
+     {
+      "key": "e13e8c83196ec023c86fb129a60db4018fef3d105dc36b8194b873ee7cfbd234",
+      "clip_id": "20260913_195301_auto_00158",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 0.45710246790321585,
+      "context_valid": true
+     },
+     {
+      "key": "4071043a2f5e0eac73cebe5bbbbd0e25245601e6a1e03d157f6838e65c97c916",
+      "clip_id": "20260913_205141_auto_00375",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 2.4599123151524096,
+      "context_valid": false
+     },
+     {
+      "key": "6c7d7132213a8870084528276a79c9a34b29eb9cf01fb456050c60c4c940f126",
+      "clip_id": "20260919_152803_auto_00296",
+      "recovered": true,
+      "recovery_s": 0.18350000000000044,
+      "peak_cte_after_m": 0.9840052456452897,
+      "context_valid": true
+     },
+     {
+      "key": "690bab47459ceebcc9f98bcf43c77e5a22fc30a90cc4ee431b6febd77e66609f",
+      "clip_id": "20260919_152803_auto_00553",
+      "recovered": true,
+      "recovery_s": 7.417,
+      "peak_cte_after_m": 1.0693147389785858,
+      "context_valid": true
+     },
+     {
+      "key": "a52a8bdd4af3716639b37b94d370ed7d6b976a8976c01a4db13fd441b889723e",
+      "clip_id": "20260919_152803_auto_00560",
+      "recovered": true,
+      "recovery_s": 0.40000000000000036,
+      "peak_cte_after_m": 1.0202765075498925,
+      "context_valid": true
+     },
+     {
+      "key": "264b6ebb07e9ae40a20d9d9b0dc2e9883ab8f67a976e89d66f48c318694518b0",
+      "clip_id": "20260919_152803_auto_00199",
+      "recovered": true,
+      "recovery_s": 1.5500000000000007,
+      "peak_cte_after_m": 0.9541317258348024,
+      "context_valid": true
+     }
+    ]
+   }
+  },
+  "oscillation": {
+   "kart1": {
+    "recovery_rate": 0.7727272727272727,
+    "median_recovery_s": 2.299999999999999,
+    "n": 28,
+    "n_valid": 22,
+    "episodes": [
+     {
+      "key": "9d9ce865f0d07e41d11efe33ea6e4f671df581566c0a5d150e928bac94609430",
+      "clip_id": "20260919_152204_auto_00144",
+      "recovered": true,
+      "recovery_s": 0.01649999999999885,
+      "peak_cte_after_m": 0.7267094351910368,
+      "context_valid": false
+     },
+     {
+      "key": "12ddc60d823643f1b6e1a4d38c5c087b41f4268b3434d52a2e4195efcc82c73c",
+      "clip_id": "20260919_152204_auto_00157",
+      "recovered": true,
+      "recovery_s": 0.38349999999999973,
+      "peak_cte_after_m": 0.3224906977937472,
+      "context_valid": true
+     },
+     {
+      "key": "1c7758961cf37fdc1bbd1e3a98028b570bd6d16d4168eb23c21ff8609be23084",
+      "clip_id": "20260520_202500_00023",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 0.2270574485248235,
+      "context_valid": false
+     },
+     {
+      "key": "057835c54ec2d98217bc4e10eadaad82fe56ff6503ab9e332630293080a5e9cd",
+      "clip_id": "20260919_152204_auto_00194",
+      "recovered": true,
+      "recovery_s": 2.950000000000001,
+      "peak_cte_after_m": 0.8403205568863916,
+      "context_valid": false
+     },
+     {
+      "key": "41e62b29695b28aee786ca405bf168a11bd53edb4b4e1fe8ee9da59ce07c1185",
+      "clip_id": "20260919_152204_auto_00191",
+      "recovered": true,
+      "recovery_s": 4.667,
+      "peak_cte_after_m": 0.8998839141204206,
+      "context_valid": false
+     },
+     {
+      "key": "35adc59db4ab60232bdc6cd61867f40457a6c3d473d95d9a47692d53baadf337",
+      "clip_id": "20260919_152204_auto_00054",
+      "recovered": true,
+      "recovery_s": 1.2334999999999994,
+      "peak_cte_after_m": 0.5326207173032396,
+      "context_valid": true
+     },
+     {
+      "key": "e9b905258658d4d4c0fe3357bd94d7c56742970e378e516b659de1210d4f8542",
+      "clip_id": "20260919_152803_auto_00040",
+      "recovered": true,
+      "recovery_s": 0.016500000000000625,
+      "peak_cte_after_m": 0.5044497806893739,
+      "context_valid": true
+     },
+     {
+      "key": "f697aa2d06e7a273fb88fd85150c429957a7eefb5e1ca2dd95fc1767a2337caa",
+      "clip_id": "20261003_195721_auto_00019",
+      "recovered": true,
+      "recovery_s": 1.25,
+      "peak_cte_after_m": 0.9422809570167399,
+      "context_valid": true
+     },
+     {
+      "key": "eef4e93afe87cdcdec291bab33318f0c311d2f519e77476491f76ebefd222905",
+      "clip_id": "20260919_151541_auto_00252",
+      "recovered": true,
+      "recovery_s": 0.01699999999999946,
+      "peak_cte_after_m": 0.926390411030683,
+      "context_valid": false
+     },
+     {
+      "key": "37e859762ea8b6c24ba181d0f179f3eaa0e6a12462b59a1f7249e959dd2dae22",
+      "clip_id": "20261003_185536_auto_00099",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 2.412873972333571,
+      "context_valid": false
+     },
+     {
+      "key": "47637ff140946ecca2b3f2552374dc77e525c137619168181c51e4db5b090db6",
+      "clip_id": "20260919_152803_auto_00108",
+      "recovered": true,
+      "recovery_s": 1.450000000000001,
+      "peak_cte_after_m": 0.5986819309054174,
+      "context_valid": true
+     },
+     {
+      "key": "4fa3aec34324ab683dccffb4aecfbbd0a82d494fc5dcc0e8cbe24f0222a74d49",
+      "clip_id": "20260919_151541_auto_00310",
+      "recovered": true,
+      "recovery_s": 0.01699999999999946,
+      "peak_cte_after_m": 0.35216745938532673,
+      "context_valid": true
+     },
+     {
+      "key": "fb4311816f076dc1b8d99e591ffacc8c864eeb052dfeb4b64267bd2ed69b35a5",
+      "clip_id": "20260913_195301_auto_00131",
+      "recovered": true,
+      "recovery_s": 7.199999999999999,
+      "peak_cte_after_m": 1.2054125440312022,
+      "context_valid": true
+     },
+     {
+      "key": "2a225029e20af73c10f34d87275368bcb874f47fea1f04d97776386576b533c4",
+      "clip_id": "20261003_183447_auto_00246",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 0.6350281756573036,
+      "context_valid": true
+     },
+     {
+      "key": "00daad086f0bc47b68e896100f1e0c91b0e3a2d515e73c47e7bf32778cfd06ba",
+      "clip_id": "20260913_195301_auto_00197",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 1.0444064976241627,
+      "context_valid": true
+     },
+     {
+      "key": "7ae15b704fb9db6f2b937efca9f8d209d4ef862d6ef1cdd483a8bbc234e05b50",
+      "clip_id": "20260520_000232_00015",
+      "recovered": true,
+      "recovery_s": 3.25,
+      "peak_cte_after_m": 2.0439352705091975,
+      "context_valid": true
+     },
+     {
+      "key": "1aabc53ad8cf0706215a98b6b7e6d63946e7d4d399b964b00460b5ad3d8cacb9",
+      "clip_id": "20260520_212946_00238",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 0.5025794944457457,
+      "context_valid": true
+     },
+     {
+      "key": "ab1a3447f2cbc719e4b706b9bfd9f914ba4d814fc742ef4ffd0ab7bd6461dba8",
+      "clip_id": "20260919_152803_auto_00036",
+      "recovered": true,
+      "recovery_s": 2.299999999999999,
+      "peak_cte_after_m": 0.2808636458881255,
+      "context_valid": true
+     },
+     {
+      "key": "78b51146152923350a415912a98463a39b09126b55694ae6bdfef06ad54cbbe9",
+      "clip_id": "20260913_195301_auto_00204",
+      "recovered": true,
+      "recovery_s": 7.1335000000000015,
+      "peak_cte_after_m": 1.2035778945590003,
+      "context_valid": true
+     },
+     {
+      "key": "654aeff3dbf05a6677abb6d4fb47f053ab2d3432d30b967c18512c9d82b476b2",
+      "clip_id": "20260919_152803_auto_00102",
+      "recovered": true,
+      "recovery_s": 4.9665,
+      "peak_cte_after_m": 0.8680700577390597,
+      "context_valid": true
+     },
+     {
+      "key": "f0cc6d12b7e1e74700d745089d0a402f24057928677535da88b5cf8cd12d759e",
+      "clip_id": "20260913_205141_auto_00207",
+      "recovered": true,
+      "recovery_s": 0.016500000000000625,
+      "peak_cte_after_m": 0.2551798140138233,
+      "context_valid": true
+     },
+     {
+      "key": "357309c61a94cd3cf3e2e8c3f5aed2677e5d20a68288a2f2ddf8e8ae942b371e",
+      "clip_id": "20260913_195301_auto_00677",
+      "recovered": true,
+      "recovery_s": 5.4670000000000005,
+      "peak_cte_after_m": 1.1120481942655278,
+      "context_valid": true
+     },
+     {
+      "key": "7a0db5e539e39d0824c20518b45bc91e0f4ada888c422a63dee7d55171b9d565",
+      "clip_id": "20260919_152803_auto_00125",
+      "recovered": true,
+      "recovery_s": 3.5335,
+      "peak_cte_after_m": 0.9902186981776351,
+      "context_valid": true
+     },
+     {
+      "key": "301195458b0c0d1457d4f69a556df98b40159f762341189d58fbf38e07bed9c8",
+      "clip_id": "20260913_195301_auto_00135",
+      "recovered": true,
+      "recovery_s": 1.0164999999999988,
+      "peak_cte_after_m": 2.1302445719068075,
+      "context_valid": true
+     },
+     {
+      "key": "8cdc98900bdccc5d4e40e30b5a36ac1419c13560323e11ced0e89179a1b5a085",
+      "clip_id": "20260913_205141_auto_00382",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 1.4793209077919236,
+      "context_valid": true
+     },
+     {
+      "key": "cae7285e2d687b7baa8dc72d14f9b09e2694f3dfd4e1c394c8bc7ce1f4ee699e",
+      "clip_id": "20261003_183447_auto_00199",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 1.0697985248881645,
+      "context_valid": true
+     },
+     {
+      "key": "054c0a188c5789b3ef2914d317366f7e5d70e89b3d08ba21e1aaf3d41055972e",
+      "clip_id": "20260919_152803_auto_00055",
+      "recovered": true,
+      "recovery_s": 3.333499999999999,
+      "peak_cte_after_m": 1.0564783101306792,
+      "context_valid": true
+     },
+     {
+      "key": "dddee5fa4d6a0b29cea0977ecf967acd4150d504a04bcadbf0078bb4765e45cc",
+      "clip_id": "20260913_205141_auto_00352",
+      "recovered": true,
+      "recovery_s": 10.833499999999999,
+      "peak_cte_after_m": 2.1006900511244004,
+      "context_valid": true
+     }
+    ]
+   }
+  },
+  "recoverable_failure": {
+   "kart1": {
+    "recovery_rate": 0.88,
+    "median_recovery_s": 1.3082500000000001,
+    "n": 31,
+    "n_valid": 25,
+    "episodes": [
+     {
+      "key": "9147e729eb67ac2392afedcccf9a77c19d9e4c90502211959497ce7ca59f62e1",
+      "clip_id": "20260919_152803_auto_00194",
+      "recovered": true,
+      "recovery_s": 3.3835000000000015,
+      "peak_cte_after_m": 1.031374676594987,
+      "context_valid": true
+     },
+     {
+      "key": "ff098293ca387dd145de8739deab834ee4ea6986467d0031a6eb6df47b5ef1a7",
+      "clip_id": "20260521_142455_00160",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 1.672155193528049,
+      "context_valid": false
+     },
+     {
+      "key": "5ed3b8ad55f663b9594583bc6916610f81c1ff098628bf5940fce5e00d0dcd92",
+      "clip_id": "20261003_194044_auto_00273",
+      "recovered": true,
+      "recovery_s": 0.6334999999999997,
+      "peak_cte_after_m": 0.619930486556217,
+      "context_valid": false
+     },
+     {
+      "key": "f29f0b6bbcf2a030cf4e75c833c04cc95c0229408efd1e4828dc7cd51f98904d",
+      "clip_id": "20260919_152204_auto_00079",
+      "recovered": true,
+      "recovery_s": 0.01649999999999885,
+      "peak_cte_after_m": 0.927847447146197,
+      "context_valid": true
+     },
+     {
+      "key": "abaa41775138c4d9abba48106569c40c871f8f615624e38f0b57a8fac60131b8",
+      "clip_id": "20260520_231730_00132",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 0.8515898368929982,
+      "context_valid": true
+     },
+     {
+      "key": "b40cd2d814ad864c2a8e1155ec618947d3f7710510e8c7dee775e598cd21bfbd",
+      "clip_id": "20261003_192307_auto_00129",
+      "recovered": true,
+      "recovery_s": 2.2165,
+      "peak_cte_after_m": 0.7445987684422012,
+      "context_valid": false
+     },
+     {
+      "key": "549a77ecdac89fd087dded46a7e8e36ee011ad3073e09af1af557107bf5a26fd",
+      "clip_id": "20261003_192307_auto_00087",
+      "recovered": true,
+      "recovery_s": 3.0169999999999995,
+      "peak_cte_after_m": 1.5599780765387419,
+      "context_valid": false
+     },
+     {
+      "key": "c3f443e7acd8e4cefaec6df03eb94da77a729bd627ee7f787e6299f63b6f72ae",
+      "clip_id": "20261003_193131_auto_00106",
+      "recovered": true,
+      "recovery_s": 5.466499999999998,
+      "peak_cte_after_m": 0.9171784768581253,
+      "context_valid": true
+     },
+     {
+      "key": "75dd17bf52b87ddbce94119e74a9cf4295b7be9100c4877c99cae3d0d3307bb5",
+      "clip_id": "20260919_152204_auto_00165",
+      "recovered": true,
+      "recovery_s": 0.18299999999999983,
+      "peak_cte_after_m": 0.5387294962790912,
+      "context_valid": true
+     },
+     {
+      "key": "5b70719a1b1d4ba6f82c6daf0be55206a042d2c4371769895a7e54d4dbd525ac",
+      "clip_id": "20261003_180749_auto_00128",
+      "recovered": true,
+      "recovery_s": 1.616999999999999,
+      "peak_cte_after_m": 0.6044105795714723,
+      "context_valid": false
+     },
+     {
+      "key": "3f94ee87039a46c26f4d8cdc87761a8957f42ceb03366c65cafc2c78dacb6ae7",
+      "clip_id": "20260521_142455_00204",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 1.254008423775271,
+      "context_valid": true
+     },
+     {
+      "key": "3e1ae37bd0d1b6651a3274e7ee8d7d40f3874083711a3ce7b74d0108cb80af45",
+      "clip_id": "20260521_142455_00480",
+      "recovered": true,
+      "recovery_s": 0.1664999999999992,
+      "peak_cte_after_m": 0.543597093681782,
+      "context_valid": true
+     },
+     {
+      "key": "e31e64a25d3f06480ec66dbbe94521c9ea2d0133504f039249658480f8801076",
+      "clip_id": "20261003_173723_auto_00426",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 0.9633533798798217,
+      "context_valid": true
+     },
+     {
+      "key": "d7b3ea4f0d0bc205c902b29e20eea681e670442e0787e028a71378816ed7ce1f",
+      "clip_id": "20260913_203655_auto_00023",
+      "recovered": true,
+      "recovery_s": 4.1335,
+      "peak_cte_after_m": 1.0646906776659137,
+      "context_valid": true
+     },
+     {
+      "key": "ac6f78bfd3ddaf060b833c88c37d36293652550a46aa69752ac7f69ee60c2c62",
+      "clip_id": "20260919_152803_auto_00277",
+      "recovered": true,
+      "recovery_s": 1.2165,
+      "peak_cte_after_m": 1.403414192944365,
+      "context_valid": true
+     },
+     {
+      "key": "0d3d84e08e5f4bdcfa862ad0a7f9506aa54518d93ac133b54158975749139b6e",
+      "clip_id": "20260919_152803_auto_00309",
+      "recovered": true,
+      "recovery_s": 1.166500000000001,
+      "peak_cte_after_m": 0.7465654559016768,
+      "context_valid": true
+     },
+     {
+      "key": "a2ea6fead13d4b29ec61f71b0d97f7f6027838f173ca25cfa476189517600ee4",
+      "clip_id": "20261003_194736_auto_00041",
+      "recovered": true,
+      "recovery_s": 4.85,
+      "peak_cte_after_m": 0.8758012650123818,
+      "context_valid": true
+     },
+     {
+      "key": "a495af4913cc4e16d3e50d9ee472595117e2860b7a6b59f09603ef6102f0111d",
+      "clip_id": "20260919_152803_auto_00112",
+      "recovered": true,
+      "recovery_s": 0.8000000000000007,
+      "peak_cte_after_m": 0.8326912031534867,
+      "context_valid": true
+     },
+     {
+      "key": "fdb14cf66cf2705a2caac38c08cd17e8bc8ffde6867fc418deea9e6bdc5692b7",
+      "clip_id": "20261003_185536_auto_00103",
+      "recovered": true,
+      "recovery_s": 0.016500000000000625,
+      "peak_cte_after_m": 0.6399044693105451,
+      "context_valid": true
+     },
+     {
+      "key": "3ad952724171f3f820347f26d36c3c92dbd420417e91e3f0de28eb4c02d0f316",
+      "clip_id": "20261003_185536_auto_00136",
+      "recovered": true,
+      "recovery_s": 3.766499999999999,
+      "peak_cte_after_m": 1.4441123959220654,
+      "context_valid": false
+     },
+     {
+      "key": "21cc89cf8134ea00de71e6151b7edff0eb76d0e898f86db2ab7d10141f80a06f",
+      "clip_id": "20261003_183447_auto_00281",
+      "recovered": true,
+      "recovery_s": 9.383000000000001,
+      "peak_cte_after_m": 1.027720121521969,
+      "context_valid": true
+     },
+     {
+      "key": "198d1af434c213b49a540397a164f55698089892827be244bc7efa7ff6733906",
+      "clip_id": "20261003_183447_auto_00193",
+      "recovered": true,
+      "recovery_s": 2.0335,
+      "peak_cte_after_m": 1.2693729473588884,
+      "context_valid": true
+     },
+     {
+      "key": "f1a28b73363b77dbb662e7cadb760967636990ea356e9f714d15ac918870e2ce",
+      "clip_id": "20261003_183447_auto_00105",
+      "recovered": true,
+      "recovery_s": 0.9329999999999998,
+      "peak_cte_after_m": 0.632062480180528,
+      "context_valid": true
+     },
+     {
+      "key": "8ee7801c0f223228a65de186cf7e614ec63d849cbe5ea6ba2d27ce243c7457d7",
+      "clip_id": "20261003_185536_auto_00108",
+      "recovered": true,
+      "recovery_s": 1.166500000000001,
+      "peak_cte_after_m": 0.7945397937638393,
+      "context_valid": true
+     },
+     {
+      "key": "d1854bd6bd0c98877cf069f119f2849e2c36b98f4d6fb2767b700c2ad5ec1a8f",
+      "clip_id": "20261003_183447_auto_00036",
+      "recovered": true,
+      "recovery_s": 12.0,
+      "peak_cte_after_m": 1.091074811071504,
+      "context_valid": true
+     },
+     {
+      "key": "e1a0ebb788b5617e6603f7018603823b2c4ff230ff11435574d2627e01030628",
+      "clip_id": "20260913_205141_auto_00278",
+      "recovered": true,
+      "recovery_s": 3.75,
+      "peak_cte_after_m": 1.0984373180730964,
+      "context_valid": true
+     },
+     {
+      "key": "bdc3a199fb641da626481df3bbefffe7b70ec7556f0f3d910ce81cc3e84f0d3f",
+      "clip_id": "20260520_223739_00263",
+      "recovered": true,
+      "recovery_s": 1.0335,
+      "peak_cte_after_m": 1.9305745626972797,
+      "context_valid": true
+     },
+     {
+      "key": "f90d28d658ac7293c0239ade19baa3ba4a90d2964be9c2310fa5812484beb91c",
+      "clip_id": "20260919_152803_auto_00282",
+      "recovered": true,
+      "recovery_s": 1.4000000000000004,
+      "peak_cte_after_m": 0.822411685904184,
+      "context_valid": true
+     },
+     {
+      "key": "6949cea0d42af29b0fce6a80c781e5a740fe9e515d45189994bb611c48d8f0a6",
+      "clip_id": "20261003_193754_auto_00113",
+      "recovered": true,
+      "recovery_s": 2.0500000000000007,
+      "peak_cte_after_m": 0.816775218434845,
+      "context_valid": true
+     },
+     {
+      "key": "495a8de6d93c8295f7b797fa089f2685eed243d6ea8102cbae598ffbef7cb217",
+      "clip_id": "20260919_152803_auto_00374",
+      "recovered": true,
+      "recovery_s": 2.132999999999999,
+      "peak_cte_after_m": 0.9317469662264075,
+      "context_valid": true
+     },
+     {
+      "key": "37c0a89ef49358697a43ec115f0ed50c8dfbd263d25ba26ec545e72f36a96486",
+      "clip_id": "20260919_152803_auto_00179",
+      "recovered": true,
+      "recovery_s": 0.017000000000001236,
+      "peak_cte_after_m": 0.6413324571499913,
+      "context_valid": true
+     }
+    ]
+   }
+  },
+  "offset_aligned": {
+   "kart1": {
+    "recovery_rate": 0.8387096774193549,
+    "median_recovery_s": 1.4999999999999991,
+    "n": 33,
+    "n_valid": 31,
+    "episodes": [
+     {
+      "key": "4c51efc03e5e4e502241f347bf28e82e536510ea2e63bc4ba0aba65b4a702a36",
+      "clip_id": "20261003_194044_auto_00046",
+      "recovered": true,
+      "recovery_s": 2.6500000000000004,
+      "peak_cte_after_m": 1.1060324205281085,
+      "context_valid": true
+     },
+     {
+      "key": "41d2055a4973155a24365e2b3b3ace65cdf76ad256b151d3f8524fbfa6a004dd",
+      "clip_id": "20260520_000232_00021",
+      "recovered": true,
+      "recovery_s": 1.3164999999999996,
+      "peak_cte_after_m": 0.7888682744494366,
+      "context_valid": true
+     },
+     {
+      "key": "e5c3b637feede55f9d72c7de46e85cce3e9f93b8f4825aa2ea2384a7662dc778",
+      "clip_id": "20260919_151541_auto_00256",
+      "recovered": true,
+      "recovery_s": 2.25,
+      "peak_cte_after_m": 0.9381925248067016,
+      "context_valid": true
+     },
+     {
+      "key": "e06cde4597e3e99f3c8f15b0a4ba7decca5474d68edd0b12b55aa3c3045fe3f9",
+      "clip_id": "20260919_152803_auto_00176",
+      "recovered": true,
+      "recovery_s": 0.8830000000000009,
+      "peak_cte_after_m": 0.7229191428714257,
+      "context_valid": true
+     },
+     {
+      "key": "7208289e33399dd7b8cfa95a9f3fc261ceaba053640963c1049675250dc8f6d2",
+      "clip_id": "20260919_151541_auto_00259",
+      "recovered": true,
+      "recovery_s": 1.0329999999999995,
+      "peak_cte_after_m": 0.5519565582712691,
+      "context_valid": true
+     },
+     {
+      "key": "8345b1b736f31a0a63fefc00b2305e05620b0e068b6395f97747ce147affe73a",
+      "clip_id": "20261003_173723_auto_00671",
+      "recovered": true,
+      "recovery_s": 7.0665,
+      "peak_cte_after_m": 1.1450251405116896,
+      "context_valid": true
+     },
+     {
+      "key": "f51a5fa94a4a9e4c755c7d7b673ffe8c2e985ad3adb6396f6eb70c3fa4326c1d",
+      "clip_id": "20261003_173723_auto_00339",
+      "recovered": true,
+      "recovery_s": 1.1000000000000014,
+      "peak_cte_after_m": 1.0745511446330986,
+      "context_valid": true
+     },
+     {
+      "key": "9f9c2e6c71b1ac312c85a7e45737a82bc5140244fa0606551064685472f62b12",
+      "clip_id": "20260521_142455_00290",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 1.6791362342734275,
+      "context_valid": true
+     },
+     {
+      "key": "8a0ae08edeb00411febce618346a6f61e41838630dd079e3bbb7924cc64ff620",
+      "clip_id": "20260919_152803_auto_00069",
+      "recovered": true,
+      "recovery_s": 0.01649999999999885,
+      "peak_cte_after_m": 0.29561494360683493,
+      "context_valid": true
+     },
+     {
+      "key": "d4e2554f34613b4b497968d95f11302c2ebcb24107fbc9fb7610281d7ebabfa9",
+      "clip_id": "20260919_152204_auto_00072",
+      "recovered": true,
+      "recovery_s": 1.7169999999999987,
+      "peak_cte_after_m": 0.884630099684318,
+      "context_valid": true
+     },
+     {
+      "key": "f270fb95e225f9f142af2e586a73a82f2eef507089fcc74843405fc43337e560",
+      "clip_id": "20260919_151541_auto_00223",
+      "recovered": true,
+      "recovery_s": 0.9499999999999993,
+      "peak_cte_after_m": 0.5929884589963921,
+      "context_valid": true
+     },
+     {
+      "key": "a836b116fb05efeab495a23844447e372b0e3ab7fe30f093e58f8449f10cf8e2",
+      "clip_id": "20261003_193754_auto_00086",
+      "recovered": true,
+      "recovery_s": 2.8834999999999997,
+      "peak_cte_after_m": 0.8555799702847047,
+      "context_valid": true
+     },
+     {
+      "key": "79d5a62410c9a4a1ac804efc2deb624ab5193d310bda514b0f4dfe855f48db50",
+      "clip_id": "20261003_192307_auto_00114",
+      "recovered": true,
+      "recovery_s": 0.016500000000000625,
+      "peak_cte_after_m": 0.9427643313423539,
+      "context_valid": true
+     },
+     {
+      "key": "73f32f7eb86596e983b35e3f6141d1707a03321c3ceaced0cd845548fe1eeb22",
+      "clip_id": "20260919_151541_auto_00227",
+      "recovered": true,
+      "recovery_s": 1.0329999999999995,
+      "peak_cte_after_m": 0.5363072402313505,
+      "context_valid": true
+     },
+     {
+      "key": "6a5679126501607d93e715fbf28bf75fb7eb21c5e833904e92f50e37cb5178f5",
+      "clip_id": "20261003_173723_auto_00394",
+      "recovered": true,
+      "recovery_s": 4.8835,
+      "peak_cte_after_m": 1.8576261939145375,
+      "context_valid": true
+     },
+     {
+      "key": "352c405a8bd36ad58f734c824fe96df10a2f39b7c79da26dbf8eaafbb24f57d5",
+      "clip_id": "20260919_152803_auto_00271",
+      "recovered": true,
+      "recovery_s": 7.333500000000001,
+      "peak_cte_after_m": 1.2253597015021178,
+      "context_valid": true
+     },
+     {
+      "key": "e5ccc87acf5d1e4cb7335e8ea70587f122df1f98f0749d8726285152ea8d5a98",
+      "clip_id": "20260919_152803_auto_00359",
+      "recovered": true,
+      "recovery_s": 2.4670000000000005,
+      "peak_cte_after_m": 0.5530292203251661,
+      "context_valid": true
+     },
+     {
+      "key": "c0cee8a1d61543d127b70261f994c506563fc5c707954b92a8663304450e2962",
+      "clip_id": "20261003_194044_auto_00051",
+      "recovered": true,
+      "recovery_s": 4.583499999999999,
+      "peak_cte_after_m": 1.7530229846406598,
+      "context_valid": true
+     },
+     {
+      "key": "bf35f2a04f531865715818886f1f2bea2ccc87405fcce685994d116b31c4977e",
+      "clip_id": "20261003_194044_auto_00071",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 1.4291630946653477,
+      "context_valid": true
+     },
+     {
+      "key": "499e36f0c4b07837d79f270cac564311df252235de0bea5a15eecfd776991b1b",
+      "clip_id": "20261003_193754_auto_00079",
+      "recovered": true,
+      "recovery_s": 6.233499999999999,
+      "peak_cte_after_m": 0.9171242914953539,
+      "context_valid": true
+     },
+     {
+      "key": "c527be5915c704c1712913d1735c985b3dbe415a45f1897fa96940e14de62312",
+      "clip_id": "20261003_183447_auto_00101",
+      "recovered": true,
+      "recovery_s": 1.1499999999999986,
+      "peak_cte_after_m": 0.6868858516252945,
+      "context_valid": true
+     },
+     {
+      "key": "bb92e0cdcb9e78d7775999ead3879baa68cb9cd22715fa826280a9d95c3533f3",
+      "clip_id": "20260913_205141_auto_00251",
+      "recovered": true,
+      "recovery_s": 4.266500000000001,
+      "peak_cte_after_m": 1.3645685824843587,
+      "context_valid": true
+     },
+     {
+      "key": "3f2468af425d22a8ec47d605aa43e89e2416160aa554ec97e203a88445459c5c",
+      "clip_id": "20261003_192657_auto_00035",
+      "recovered": true,
+      "recovery_s": 0.6835000000000004,
+      "peak_cte_after_m": 0.4930892094317032,
+      "context_valid": true
+     },
+     {
+      "key": "e427467b3148e6dd06228f8d0b4f1be4a09d7487ef6dc772d4277c4c65223ee3",
+      "clip_id": "20261003_194044_auto_00185",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 1.2930183192169893,
+      "context_valid": true
+     },
+     {
+      "key": "1ab2d12d3b026ff1701be6c6e16b5f51e58fc2421930d38367a5af3c26e80748",
+      "clip_id": "20261003_194044_auto_00063",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 1.1073217559350792,
+      "context_valid": true
+     },
+     {
+      "key": "68858e3711f252055ac2627f701f173409cfaa450807eeae797ae242c48fe79d",
+      "clip_id": "20260913_205141_auto_00178",
+      "recovered": true,
+      "recovery_s": 1.5999999999999996,
+      "peak_cte_after_m": 1.2937886980713094,
+      "context_valid": true
+     },
+     {
+      "key": "236cd5f47db0d54575ae321d53fc5ca05927c9c140f745250411cb16854a92fb",
+      "clip_id": "20260919_152803_auto_00353",
+      "recovered": true,
+      "recovery_s": 6.916500000000001,
+      "peak_cte_after_m": 1.506685198081284,
+      "context_valid": true
+     },
+     {
+      "key": "ded477934674a9a12452dc6bbbb964c0e9682544ef15789a5401ed514a2afaab",
+      "clip_id": "20260919_152803_auto_00184",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 4.823830902002751,
+      "context_valid": false
+     },
+     {
+      "key": "a7a300a929e9894f4cb1dbed8e5958595db71193a294b2011f7e021b3af8f4a0",
+      "clip_id": "20261003_194044_auto_00267",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 1.21625998908442,
+      "context_valid": true
+     },
+     {
+      "key": "8e22bc3573b66a9383a4bfd4eea67e0f8f0efa0d4333268fab932efbae3fe1fb",
+      "clip_id": "20260919_152803_auto_00044",
+      "recovered": true,
+      "recovery_s": 1.3999999999999986,
+      "peak_cte_after_m": 0.8522170045734679,
+      "context_valid": true
+     },
+     {
+      "key": "f24231b127be93bc33112a6acb1f35491fec2e38c006d2814b95ba0881b82055",
+      "clip_id": "20260919_152803_auto_00230",
+      "recovered": true,
+      "recovery_s": 1.9335000000000004,
+      "peak_cte_after_m": 1.6429384917713037,
+      "context_valid": false
+     },
+     {
+      "key": "8d58d4adffd536148fd4d2811aff3bf4ea3dd7411a6a91f6ad96911e911ebfd9",
+      "clip_id": "20260919_152803_auto_00287",
+      "recovered": true,
+      "recovery_s": 1.25,
+      "peak_cte_after_m": 0.8946590657806827,
+      "context_valid": true
+     },
+     {
+      "key": "7d68038d458a3bd4c6f5cdab2850e1a95383b48cb0404d7fdd80481f9800b07d",
+      "clip_id": "20260919_152803_auto_00408",
+      "recovered": true,
+      "recovery_s": 1.3670000000000009,
+      "peak_cte_after_m": 1.244541420899973,
+      "context_valid": true
+     }
+    ]
+   }
+  }
+ },
+ "grid_3x3": {},
+ "localization": {},
+ "overtake": [],
+ "slide": [
+  {
+   "key": "9bfc9a7abdcdd2d3ba53325fb3f43ef91d8d81daabf4f73a449ba1a22a1c3c95",
+   "condition": "nominal",
+   "line": "center",
+   "test": "control",
+   "status": "ok",
+   "cause": null,
+   "laps_completed": 1,
+   "laps_attempted": 1,
+   "learned_to_slide": false,
+   "laps_to_slide": null,
+   "lap_1_s": 72.1,
+   "best_lap_s": 72.1,
+   "final_lap_s": 72.1,
+   "lap_improvement_s": 0.0,
+   "slide_pct_p95": 47.68,
+   "laps_detail": [
+    {
+     "lap": 1,
+     "lap_time_s": 72.1,
+     "cte_p50": 0.233,
+     "cte_p90": 0.676,
+     "slide_pct_p95": 47.69,
+     "slide_time_pct": 0.0,
+     "mean_speed_mps": 5.87
+    }
+   ]
+  },
+  {
+   "key": "51bc8d34f965307c1400c15364732b3fa4b946d1d0c0e5053af201cb6ae36704",
+   "condition": "actuator_low",
+   "line": "center",
+   "test": "control",
+   "status": "ok",
+   "cause": null,
+   "laps_completed": 1,
+   "laps_attempted": 1,
+   "learned_to_slide": false,
+   "laps_to_slide": null,
+   "lap_1_s": 71.816,
+   "best_lap_s": 71.816,
+   "final_lap_s": 71.816,
+   "lap_improvement_s": 0.0,
+   "slide_pct_p95": 47.67,
+   "laps_detail": [
+    {
+     "lap": 1,
+     "lap_time_s": 71.816,
+     "cte_p50": 0.25,
+     "cte_p90": 0.726,
+     "slide_pct_p95": 47.67,
+     "slide_time_pct": 0.0,
+     "mean_speed_mps": 5.88
+    }
+   ]
+  },
+  {
+   "key": "e0e3667dce932394e780aa5c490936963cb9ef5f189dbad7ec5ef5983558d7a5",
+   "condition": "gps_high",
+   "line": "center",
+   "test": "control",
+   "status": "ok",
+   "cause": null,
+   "laps_completed": 1,
+   "laps_attempted": 1,
+   "learned_to_slide": false,
+   "laps_to_slide": null,
+   "lap_1_s": 72.267,
+   "best_lap_s": 72.267,
+   "final_lap_s": 72.267,
+   "lap_improvement_s": 0.0,
+   "slide_pct_p95": 52.05,
+   "laps_detail": [
+    {
+     "lap": 1,
+     "lap_time_s": 72.267,
+     "cte_p50": 0.207,
+     "cte_p90": 0.643,
+     "slide_pct_p95": 52.06,
+     "slide_time_pct": 0.02,
+     "mean_speed_mps": 5.86
+    }
+   ]
+  },
+  {
+   "key": "ae24846ad1ef73dc9cf5d3500fc6bf3208bc16a3aa8bba777495415e66268420",
+   "condition": "heading_dual",
+   "line": "center",
+   "test": "control",
+   "status": "ok",
+   "cause": null,
+   "laps_completed": 1,
+   "laps_attempted": 1,
+   "learned_to_slide": false,
+   "laps_to_slide": null,
+   "lap_1_s": 71.783,
+   "best_lap_s": 71.783,
+   "final_lap_s": 71.783,
+   "lap_improvement_s": 0.0,
+   "slide_pct_p95": 51.56,
+   "laps_detail": [
+    {
+     "lap": 1,
+     "lap_time_s": 71.783,
+     "cte_p50": 0.269,
+     "cte_p90": 0.792,
+     "slide_pct_p95": 51.56,
+     "slide_time_pct": 0.0,
+     "mean_speed_mps": 5.87
+    }
+   ]
+  }
+ ],
+ "tests": {
+  "control": {
+   "n": 57,
+   "ok": 35,
+   "failures": 22,
+   "score": 55.2,
+   "cte_p90": 0.583867977944423,
+   "best_lap_s": 71.958,
+   "laps_pct": 61.40350877192982,
+   "loc_p50": 0.019,
+   "loc_p95": 0.086,
+   "loc_p99": 0.114,
+   "overtake_rate": null,
+   "overtake_s_median": null,
+   "min_clearance_m": null,
+   "learned_to_slide_rate": 0.0,
+   "laps_to_slide": null,
+   "slide_pct_p95": 52.17,
+   "recovery_rate": null,
+   "recovery_s_median": null
+  },
+  "clips": {
+   "n": 129,
+   "ok": 103,
+   "failures": 21,
+   "score": 82.7,
+   "cte_p90": 0.6118606552635665,
+   "best_lap_s": null,
+   "laps_pct": null,
+   "loc_p50": 0.019,
+   "loc_p95": 0.058,
+   "loc_p99": 0.076,
+   "overtake_rate": null,
+   "overtake_s_median": null,
+   "min_clearance_m": null,
+   "learned_to_slide_rate": null,
+   "laps_to_slide": null,
+   "slide_pct_p95": null,
+   "recovery_rate": 0.8333333333333334,
+   "recovery_s_median": 1.3667500000000006
+  }
+ }
+}

results/jobs/20261108-155228-A26_MPC_stack__loc_Gated_EKF/gautschi/0/done.txt

@@ -0,0 +1,186 @@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results/jobs/20261108-155228-A26_MPC_stack__loc_Gated_EKF/gautschi/0/gautschi_launch.py

@@ -0,0 +1,145 @@
+"""Runs on a Gautschi node (stdlib only): episodes from a queue in parallel workers, one contained Apptainer per episode."""
+import argparse
+import json
+import os
+import queue
+import shutil
+import subprocess
+import threading
+import time
+
+RUN = ("source /opt/ros/humble/setup.bash && source /ws/install/setup.bash"
+       " && python3 -m simnode.batch /batch.json /out")
+CUDA_LIB = "/ws/mpc_cuda/libmpc_cuda.so"   # built per stack by runner/gautschi.build_stack for gautschi-gpu
+SAMPLE_S = 15
+STAGGER_S = 0.25   # between worker starts: the dev job's one error was a stack starved in the 96-way start burst
+EPISODE_TIMEOUT_S = 1200   # about 4x the slowest lap; a killed episode has no outcome and is retried by the host
+
+
+def worker_cmd(i, work, out, ep, sif, engine, stack, gpu=None):
+    """Private /tmp, HOME, /dev/shm, IPC, PIDs and loopback per episode, plus a distinct ROS_DOMAIN_ID per worker;
+    gpu (a host CUDA device) adds the driver and the stack's CUDA MPC kernel."""
+    cuda = ["--nv", "--env", f"CUDA_VISIBLE_DEVICES={gpu}", "--env", f"MPC_CUDA_LIB={CUDA_LIB}"] if gpu is not None else []
+    if gpu is None and os.path.exists(os.path.join(stack, "mpc_cuda", "libmpc_cuda.so")):
+        cuda = ["--env", f"MPC_CUDA_LIB={CUDA_LIB}"]   # CPU node: the library's native iLQR solve still loads; its MPPI falls back to numpy
+    return ["apptainer", "exec", *cuda, "--contain", "--cleanenv", "--ipc", "--pid", "--net", "--network", "none", "--workdir", work,
+            "--env", f"ROS_DOMAIN_ID={i + 1}", "--env", "ROS_HOME=/tmp/ros", "--env", "TMPDIR=/tmp",
+            "--bind", f"{engine}:/opt/sim:ro", "--bind", f"{stack}:/ws:ro", "--bind", f"{out}:/out",
+            "--bind", f"{ep}:/batch.json:ro", sif, "bash", "-lc", RUN]
+
+
+def parse_smi(text):
+    """nvidia-smi 'utilization.gpu, memory.used' csv rows to per-GPU lists."""
+    rows = [[int(v) for v in ln.split(",")] for ln in text.strip().splitlines() if ln.strip()]
+    return {"gpu_util": [r[0] for r in rows], "gpu_mem_mib": [r[1] for r in rows]}
+
+
+def _solver(logdir):
+    """pathfinder's 'MPC solver: ...' and CUDA fallback lines from the episode's ROS logs."""
+    lines = []
+    for dp, _, fns in os.walk(logdir):
+        for fn in fns:
+            try:
+                with open(os.path.join(dp, fn), errors="replace") as f:
+                    lines += [ln.strip() for ln in f if "MPC solver:" in ln or "CUDA MPC unavailable" in ln]
+            except OSError:
+                pass
+    return "\n".join(dict.fromkeys(lines))
+
+
+def main(argv=None):
+    p = argparse.ArgumentParser()
+    for a in ("episodes", "out", "sif", "engine", "stack", "work", "timeline", "done"):
+        p.add_argument("--" + a, required=True)
+    p.add_argument("--workers", type=int, required=True)
+    p.add_argument("--gpus", type=int, default=0)
+    a = p.parse_args(argv)
+    with open(a.episodes) as f:
+        q = queue.Queue()
+        for e in json.load(f):   # the host already ordered them, longest first
+            q.put(e)
+    os.makedirs(a.out, exist_ok=True)
+    lock, t0 = threading.Lock(), time.time()
+    devs = [d for d in os.environ.get("CUDA_VISIBLE_DEVICES", "").split(",") if d][:a.gpus] or [str(n) for n in range(a.gpus)]
+
+    def log(**ev):
+        with lock, open(a.timeline, "a") as f:
+            f.write(json.dumps(dict(ev, t=round(time.time() - t0, 3))) + "\n")
+
+    def worker(i):
+        time.sleep(i * STAGGER_S)
+        while True:
+            try:
+                e = q.get_nowait()
+            except queue.Empty:
+                return
+            key, work = e["key"], os.path.join(a.work, e["key"])
+            stage, ep = os.path.join(work, "stage"), os.path.join(work, "ep.json")
+            os.makedirs(stage)
+            with open(ep, "w") as f:
+                json.dump([e], f)
+            log(ev="start", key=key, worker=i)
+            gpu = devs[i % len(devs)] if devs and e["resolved"].get("recipe", {}).get("sim", {}).get("cuda") else None
+            limit = EPISODE_TIMEOUT_S * max(1, e["resolved"]["scenario"].get("laps", 1))   # per lap: 5-lap episodes run 5x longer
+            try:
+                rc = subprocess.run(worker_cmd(i, work, stage, ep, a.sif, a.engine, a.stack, gpu), stdout=subprocess.DEVNULL,
+                                    stderr=subprocess.DEVNULL, timeout=limit).returncode
+            except subprocess.TimeoutExpired:
+                rc = "timeout"
+            solver = _solver(os.path.join(work, "tmp", "ros", "log"))
+            if solver and os.path.isdir(os.path.join(stage, key)):
+                with open(os.path.join(stage, key, "solver.txt"), "w") as f:
+                    f.write(solver + "\n")
+            if os.path.exists(os.path.join(stage, key, "outcome.json")):
+                tmp, dst = os.path.join(a.out, ".tmp-" + key), os.path.join(a.out, key)
+                shutil.rmtree(tmp, ignore_errors=True)
+                shutil.copytree(os.path.join(stage, key), tmp)
+                shutil.rmtree(dst, ignore_errors=True)
+                os.rename(tmp, dst)   # the host's rsync sees a key only once its directory is complete
+                with lock, open(a.done, "a") as f:
+                    f.write(key + "\n")
+            shutil.rmtree(work, ignore_errors=True)
+            log(ev="end", key=key, worker=i, rc=rc, gpu=gpu,
+                solver=solver.split("MPC solver: ")[-1] if "MPC solver: " in solver else solver or None)
+
+    def sampler(stop):
+        """Job CPU use from its cgroup, as busy cores, every SAMPLE_S."""
+        try:
+            with open("/proc/self/cgroup") as f:
+                path = "/sys/fs/cgroup" + f.read().strip().split(":")[-1] + "/cpu.stat"
+            prev = None
+            while not stop.wait(SAMPLE_S if prev else 0):
+                with open(path) as f:
+                    use = next(int(ln.split()[1]) for ln in f if ln.startswith("usage_usec"))
+                now = time.time()
+                if prev:
+                    log(ev="cpu", busy_cores=round((use - prev[0]) / 1e6 / (now - prev[1]), 2))
+                prev = (use, now)
+        except (OSError, StopIteration, ValueError):
+            pass
+
+    def gpu_sampler(stop):
+        """GPU utilisation and memory of the job's GPUs, every SAMPLE_S."""
+        while not stop.wait(SAMPLE_S):
+            try:
+                p = subprocess.Popen(["nvidia-smi", "--query-gpu=utilization.gpu,memory.used", "--format=csv,noheader,nounits"],
+                                     stdout=subprocess.PIPE, stderr=subprocess.DEVNULL, text=True)
+                log(ev="gpu", **parse_smi(p.communicate(timeout=30)[0]))
+            except Exception:   # no driver or a hung query: skip this sample
+                pass
+
+    cores = len(os.sched_getaffinity(0)) if hasattr(os, "sched_getaffinity") else os.cpu_count()
+    log(ev="launch", workers=a.workers, cores=cores)
+    stop = threading.Event()
+    threads = [threading.Thread(target=worker, args=(i,)) for i in range(a.workers)]
+    samplers = [sampler] + ([gpu_sampler] if a.gpus else [])
+    for t in threads + [threading.Thread(target=f, args=(stop,), daemon=True) for f in samplers]:
+        t.start()
+    for t in threads:
+        t.join()
+    stop.set()
+    log(ev="done")
+
+
+if __name__ == "__main__":
+    main()

results/jobs/20261108-155228-A26_MPC_stack__loc_Gated_EKF/gautschi/0/sbatch.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+#SBATCH -p gpu -A scholar -N 1 -n 1 -c 32 --gres=gpu:1 --time 39 -J AutoSim-dev-gpu --comment 20261108-155228-A26_MPC_stack__loc_Gated_EKF -o AutoSim/jobs/20261108-155228-A26_MPC_stack__loc_Gated_EKF/0/slurm-%j.out
+W=/dev/shm/AutoSim-$SLURM_JOB_ID
+trap 'rm -rf "$W"' EXIT
+python3 $HOME/AutoSim/jobs/20261108-155228-A26_MPC_stack__loc_Gated_EKF/0/gautschi_launch.py --episodes $HOME/AutoSim/jobs/20261108-155228-A26_MPC_stack__loc_Gated_EKF/0/episodes.json --out /scratch/scholar/manors/AutoSim/out/20261108-155228-A26_MPC_stack__loc_Gated_EKF --sif $HOME/AutoSim/images/AutoSim-99d206f40cb1.sif --engine $HOME/AutoSim/engine/a3faf45adac1134739a528c9637e4a2d3a389c7e8a667a79df3dc9fddf8e5972 --stack $HOME/AutoSim/stacks/7b65e1230c473170aa4b21cba8150318b941c61c36fa4bc0fc621a9a5f899f44 --workers 16 --work $W --timeline $HOME/AutoSim/jobs/20261108-155228-A26_MPC_stack__loc_Gated_EKF/0/timeline.jsonl --done $HOME/AutoSim/jobs/20261108-155228-A26_MPC_stack__loc_Gated_EKF/0/done.txt --gpus 1

results/jobs/20261108-155228-A26_MPC_stack__loc_Gated_EKF/job.json

@@ -0,0 +1,47 @@
+{
+ "id": "20261108-155228-A26_MPC_stack__loc_Gated_EKF",
+ "tier": "dev",
+ "tier_version": 2,
+ "recipe": {
+  "name": "A26 MPC stack, loc Gated EKF",
+  "source": {
+   "repo": "AutonomousKart",
+   "ref": "worktree:loc-variants"
+  },
+  "params": {
+   "pathfinder_node": {
+    "planner": "ilqr",
+    "mpc.adaptive_gain.enabled": true
+   },
+   "localization_node": {
+    "estimator": "gated_ekf",
+    "gps_lag_s": 0.06
+   }
+  },
+  "sim": {
+   "cuda": true,
+   "active_imu": "back",
+   "use_camera": false,
+   "controller_type": "mpc",
+   "baseline": true
+  },
+  "notes": "A26 MPC stack (iLQR + adaptive steering gain) with the A27 benchmark's Gated EKF in place of the A26 EKF; learned models trained on the A26 bags without PWM inputs"
+ },
+ "user": "shay",
+ "notes": "",
+ "where": "scholar",
+ "status": "done",
+ "submitted_at": "2026-11-08T20:52:28.334+00:00",
+ "started_at": "2026-11-08T20:52:28.335+00:00",
+ "finished_at": "2026-11-08T21:02:21.056+00:00",
+ "total": 186,
+ "done": 186,
+ "errors": 0,
+ "build_log": null,
+ "workers": 16,
+ "slurm_id": "486309",
+ "slurm_ids": [
+  "486309"
+ ],
+ "engine_version": "a3faf45adac1134739a528c9637e4a2d3a389c7e8a667a79df3dc9fddf8e5972"
+}

results/jobs/20261108-155228-A26_MPC_stack__loc_Gated_EKF/summary.json

@@ -0,0 +1,292 @@
+{
+ "cte_p50": {
+  "value": 0.20466501851094332,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.20466501851094332
+  }
+ },
+ "cte_p90": {
+  "value": 0.5908355318074432,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.5908355318074432
+  }
+ },
+ "cte_p99": {
+  "value": 1.0866002919825968,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 1.0866002919825968
+  }
+ },
+ "recovery_rate": {
+  "value": 0.8333333333333334,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.8333333333333334
+  }
+ },
+ "recovery_s_median": {
+  "value": 1.3667500000000006,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 1.3667500000000006
+  }
+ },
+ "safety": {
+  "value": 0.855361999889732,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.855361999889732
+  }
+ },
+ "unsafe_lat": {
+  "value": 0.0011336904783783143,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0011336904783783143
+  }
+ },
+ "unsafe_rate": {
+  "value": 0.0820530020399539,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0820530020399539
+  }
+ },
+ "unsafe_travel": {
+  "value": 0.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0
+  }
+ },
+ "unsafe_spin": {
+  "value": 9.303842831676124e-05,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 9.303842831676124e-05
+  }
+ },
+ "unsafe_off": {
+  "value": 0.0746478323194824,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0746478323194824
+  }
+ },
+ "osc_10": {
+  "value": 28.116135161274325,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 28.116135161274325
+  }
+ },
+ "osc_20": {
+  "value": 12.497122150478932,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 12.497122150478932
+  }
+ },
+ "osc_30": {
+  "value": 6.799520741310505,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 6.799520741310505
+  }
+ },
+ "laps_pct": {
+  "value": 61.40350877192982,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 61.40350877192982
+  }
+ },
+ "failures": {
+  "value": 43,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 43
+  }
+ },
+ "loc_rms": {
+  "value": 0.121,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.121
+  }
+ },
+ "loc_p50": {
+  "value": 0.019,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.019
+  }
+ },
+ "loc_p95": {
+  "value": 0.061,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.061
+  }
+ },
+ "loc_p99": {
+  "value": 0.085,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.085
+  }
+ },
+ "best_lap_s": {
+  "value": 71.958,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 71.958
+  }
+ },
+ "lap_time_90": {
+  "value": 92.868,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 92.868
+  }
+ },
+ "lap_time_99": {
+  "value": 99.43,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 99.43
+  }
+ },
+ "lap_time_999": {
+  "value": 100.087,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 100.087
+  }
+ },
+ "learned_to_slide_rate": {
+  "value": 0.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0
+  }
+ },
+ "laps_to_slide": {
+  "value": null,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": null
+  }
+ },
+ "slide_pct_p95": {
+  "value": 52.17,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 52.17
+  }
+ },
+ "lap_improvement_s": {
+  "value": 0.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0
+  }
+ },
+ "overtake_rate": {
+  "value": null,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": null
+  }
+ },
+ "overtake_s_median": {
+  "value": null,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": null
+  }
+ },
+ "min_clearance_m": {
+  "value": null,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": null
+  }
+ },
+ "collisions": {
+  "value": 0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0
+  }
+ },
+ "collision_rate": {
+  "value": null,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": null
+  }
+ },
+ "score_control": {
+  "value": 54.6,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 54.6
+  }
+ },
+ "score_localization": {
+  "value": 86.9,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 86.9
+  }
+ },
+ "score_overtake": {
+  "value": null,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": null
+  }
+ },
+ "score_slide": {
+  "value": null,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": null
+  }
+ },
+ "score_endurance": {
+  "value": null,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": null
+  }
+ },
+ "score_clips": {
+  "value": 82.7,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 82.7
+  }
+ },
+ "composite_score": {
+  "value": 69.1,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 69.1
+  }
+ },
+ "n": {
+  "value": 186,
+  "worst_kart": null,
+  "per_kart": {}
+ },
+ "errors": {
+  "value": 0,
+  "worst_kart": null,
+  "per_kart": {}
+ }
+}

results/leaderboard/2__a3faf45adac1.json

@@ -0,0 +1,96 @@
+[
+ {
+  "job_id": "20261108-155228-A26_MPC_stack__loc_Gated_EKF",
+  "recipe": "A26 MPC stack, loc Gated EKF",
+  "notes": "",
+  "user": "shay",
+  "ran_at": "2026-11-08T21:02:21.056+00:00",
+  "duration_s": 592.721,
+  "cte_p50": 0.20466501851094332,
+  "cte_p90": 0.5908355318074432,
+  "cte_p99": 1.0866002919825968,
+  "recovery_rate": 0.8333333333333334,
+  "recovery_s_median": 1.3667500000000006,
+  "safety": 0.855361999889732,
+  "unsafe_lat": 0.0011336904783783143,
+  "unsafe_rate": 0.0820530020399539,
+  "unsafe_travel": 0.0,
+  "unsafe_spin": 9.303842831676124e-05,
+  "unsafe_off": 0.0746478323194824,
+  "osc_10": 28.116135161274325,
+  "osc_20": 12.497122150478932,
+  "osc_30": 6.799520741310505,
+  "laps_pct": 61.40350877192982,
+  "failures": 43,
+  "loc_rms": 0.121,
+  "loc_p50": 0.019,
+  "loc_p95": 0.061,
+  "loc_p99": 0.085,
+  "best_lap_s": 71.958,
+  "lap_time_90": 92.868,
+  "lap_time_99": 99.43,
+  "lap_time_999": 100.087,
+  "learned_to_slide_rate": 0.0,
+  "laps_to_slide": null,
+  "slide_pct_p95": 52.17,
+  "lap_improvement_s": 0.0,
+  "overtake_rate": null,
+  "overtake_s_median": null,
+  "min_clearance_m": null,
+  "collisions": 0,
+  "collision_rate": null,
+  "score_control": 54.6,
+  "score_localization": 86.9,
+  "score_overtake": null,
+  "score_slide": null,
+  "score_endurance": null,
+  "score_clips": 82.7,
+  "composite_score": 69.1,
+  "n": 186,
+  "errors": 0,
+  "worst": {
+   "cte_p50": 0.20466501851094332,
+   "cte_p90": 0.5908355318074432,
+   "cte_p99": 1.0866002919825968,
+   "recovery_rate": 0.8333333333333334,
+   "recovery_s_median": 1.3667500000000006,
+   "safety": 0.855361999889732,
+   "unsafe_lat": 0.0011336904783783143,
+   "unsafe_rate": 0.0820530020399539,
+   "unsafe_travel": 0.0,
+   "unsafe_spin": 9.303842831676124e-05,
+   "unsafe_off": 0.0746478323194824,
+   "osc_10": 28.116135161274325,
+   "osc_20": 12.497122150478932,
+   "osc_30": 6.799520741310505,
+   "laps_pct": 61.40350877192982,
+   "failures": 43,
+   "loc_rms": 0.121,
+   "loc_p50": 0.019,
+   "loc_p95": 0.061,
+   "loc_p99": 0.085,
+   "best_lap_s": 71.958,
+   "lap_time_90": 92.868,
+   "lap_time_99": 99.43,
+   "lap_time_999": 100.087,
+   "learned_to_slide_rate": 0.0,
+   "laps_to_slide": null,
+   "slide_pct_p95": 52.17,
+   "lap_improvement_s": 0.0,
+   "overtake_rate": null,
+   "overtake_s_median": null,
+   "min_clearance_m": null,
+   "collisions": 0,
+   "collision_rate": null,
+   "score_control": 54.6,
+   "score_localization": 86.9,
+   "score_overtake": null,
+   "score_slide": null,
+   "score_endurance": null,
+   "score_clips": 82.7,
+   "composite_score": 69.1,
+   "n": 186,
+   "errors": 0
+  }
+ }
+]