results: jobs/20261008-163616-trim-lag/** index/episodes.jsonl leaderboard/*

results/jobs/20261008-163616-trim-lag/breakdown.json

@@ -0,0 +1,232 @@
+{
+ "laps": {
+  "nominal": {
+   "kart3": {
+    "center": {
+     "cte_p90": 0.5100532244096848,
+     "status": "ok",
+     "cause": null,
+     "key": "fba5000bf4ee1751c9864956510751f8bbd90ff850aca5f599367d05136f6ef3"
+    }
+   },
+   "kart1": {
+    "center": {
+     "cte_p90": 0.4535792640092971,
+     "status": "ok",
+     "cause": null,
+     "key": "57b113827dee3cb283bbb731b94dff71262f72efda70ee1836e67228396bbf9f"
+    }
+   },
+   "kart2": {
+    "center": {
+     "cte_p90": 0.5937745764491044,
+     "status": "ok",
+     "cause": null,
+     "key": "ee4efda3adef084a656a8dbe499e31da570411aa8dddf253a5689aacf717141b"
+    }
+   }
+  }
+ },
+ "clips": {
+  "offset_aligned": {
+   "kart2": {
+    "recovery_rate": null,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 0,
+    "episodes": [
+     {
+      "key": "0bc21c5d1db62d4cddb691771426cca0430b90af7957bf2015384641f198abed",
+      "clip_id": "20260520_000232_00021",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 3.3850603934002255,
+      "context_valid": false
+     }
+    ]
+   },
+   "kart3": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 3.6499999999999986,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "eab43ec3c0010f27dda65c6ccf309b645c2256e15af0bb180ba76d36634f4b8e",
+      "clip_id": "20260520_000232_00021",
+      "recovered": true,
+      "recovery_s": 3.6499999999999986,
+      "peak_cte_after_m": 0.7544723045874981,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart1": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 8.15,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "cc3a796d07de1b000aaf7eb7286c36e4b540965d341df8344448ee17038abd26",
+      "clip_id": "20260520_000232_00021",
+      "recovered": true,
+      "recovery_s": 8.15,
+      "peak_cte_after_m": 0.7612221717512478,
+      "context_valid": true
+     }
+    ]
+   }
+  },
+  "misaligned_on_line": {
+   "kart2": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 0.4670000000000005,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "c51d9786116521645e9e1221b79adb4b2d5315f87b538fe4c6682bcdf32b50ac",
+      "clip_id": "20260520_223739_00129",
+      "recovered": true,
+      "recovery_s": 0.4670000000000005,
+      "peak_cte_after_m": 1.0976116274603642,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart1": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 7.550000000000001,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "39a53795899943e24f4fa015609ad7149a34fcc03e56e1167379d4e758d62d5f",
+      "clip_id": "20260520_223739_00129",
+      "recovered": true,
+      "recovery_s": 7.550000000000001,
+      "peak_cte_after_m": 1.2140086149609324,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart3": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 10.733,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "d00de5f04286ef8a33738a7eba7995b3e59c45c2c1294f66f33767a374c8ddc4",
+      "clip_id": "20260520_223739_00129",
+      "recovered": true,
+      "recovery_s": 10.733,
+      "peak_cte_after_m": 0.9375397802707138,
+      "context_valid": true
+     }
+    ]
+   }
+  },
+  "oscillation": {
+   "kart2": {
+    "recovery_rate": 0.0,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "f7cfab47bb595ec4739456abaf1b3fd6e1ca794faccfbba66eb50ec05049f26b",
+      "clip_id": "20260520_000232_00015",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 2.9402229503463317,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart3": {
+    "recovery_rate": 0.0,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "10e6fca1d95edd5b70df4ee83be9e7d40134ebd777f3fc38872f5f29a63b9360",
+      "clip_id": "20260520_000232_00015",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 3.073976244994439,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart1": {
+    "recovery_rate": 0.0,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "03532909df2c874c656bd85fc7840b261c7c81bf99f8870dedbdae6ad6734e50",
+      "clip_id": "20260520_000232_00015",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 3.076476320981913,
+      "context_valid": true
+     }
+    ]
+   }
+  },
+  "recoverable_failure": {
+   "kart2": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 0.016500000000000625,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "41985fb12692e9225807dd98fcbdfb6ed5c7974b876dd0cfe2dee9300c390c7c",
+      "clip_id": "20260520_223739_00263",
+      "recovered": true,
+      "recovery_s": 0.016500000000000625,
+      "peak_cte_after_m": 1.0788670294787195,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart3": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 0.016500000000000625,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "0ba2ccd839a0b6245aa66cf07a6c585bfeb157fce575a4458ea18021a338bf32",
+      "clip_id": "20260520_223739_00263",
+      "recovered": true,
+      "recovery_s": 0.016500000000000625,
+      "peak_cte_after_m": 1.0592166742215776,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart1": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 0.016500000000000625,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "45740f3f8165de8d22f172aef879a2a07b29acd686b7c8d4637bb8efeef885b8",
+      "clip_id": "20260520_223739_00263",
+      "recovered": true,
+      "recovery_s": 0.016500000000000625,
+      "peak_cte_after_m": 0.8222556625071409,
+      "context_valid": true
+     }
+    ]
+   }
+  }
+ }
+}

results/jobs/20261008-163616-trim-lag/gautschi/0/done.txt

@@ -0,0 +1,15 @@
+57b113827dee3cb283bbb731b94dff71262f72efda70ee1836e67228396bbf9f
+fba5000bf4ee1751c9864956510751f8bbd90ff850aca5f599367d05136f6ef3
+ee4efda3adef084a656a8dbe499e31da570411aa8dddf253a5689aacf717141b
+0bc21c5d1db62d4cddb691771426cca0430b90af7957bf2015384641f198abed
+cc3a796d07de1b000aaf7eb7286c36e4b540965d341df8344448ee17038abd26
+eab43ec3c0010f27dda65c6ccf309b645c2256e15af0bb180ba76d36634f4b8e
+c51d9786116521645e9e1221b79adb4b2d5315f87b538fe4c6682bcdf32b50ac
+39a53795899943e24f4fa015609ad7149a34fcc03e56e1167379d4e758d62d5f
+d00de5f04286ef8a33738a7eba7995b3e59c45c2c1294f66f33767a374c8ddc4
+f7cfab47bb595ec4739456abaf1b3fd6e1ca794faccfbba66eb50ec05049f26b
+03532909df2c874c656bd85fc7840b261c7c81bf99f8870dedbdae6ad6734e50
+10e6fca1d95edd5b70df4ee83be9e7d40134ebd777f3fc38872f5f29a63b9360
+41985fb12692e9225807dd98fcbdfb6ed5c7974b876dd0cfe2dee9300c390c7c
+45740f3f8165de8d22f172aef879a2a07b29acd686b7c8d4637bb8efeef885b8
+0ba2ccd839a0b6245aa66cf07a6c585bfeb157fce575a4458ea18021a338bf32

results/jobs/20261008-163616-trim-lag/gautschi/0/episodes.json

@@ -0,0 +1 @@
+[{"key": "57b113827dee3cb283bbb731b94dff71262f72efda70ee1836e67228396bbf9f", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart1", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "lap", "line": "center", "laps": 1}, "seed": 1397684096, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "ee4efda3adef084a656a8dbe499e31da570411aa8dddf253a5689aacf717141b", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart2", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "lap", "line": "center", "laps": 1}, "seed": 2801664949, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "fba5000bf4ee1751c9864956510751f8bbd90ff850aca5f599367d05136f6ef3", "resolved": {"kart": {"name": "kart3", "chrono_dir": "chrono/kart3", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 71.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 6.5, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart3", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "lap", "line": "center", "laps": 1}, "seed": 3227499743, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "0bc21c5d1db62d4cddb691771426cca0430b90af7957bf2015384641f198abed", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart2", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00021"}, "seed": 2332282181, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "cc3a796d07de1b000aaf7eb7286c36e4b540965d341df8344448ee17038abd26", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart1", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00021"}, "seed": 857259744, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "eab43ec3c0010f27dda65c6ccf309b645c2256e15af0bb180ba76d36634f4b8e", "resolved": {"kart": {"name": "kart3", "chrono_dir": "chrono/kart3", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 71.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 6.5, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart3", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00021"}, "seed": 4145202149, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "c51d9786116521645e9e1221b79adb4b2d5315f87b538fe4c6682bcdf32b50ac", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart2", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00129"}, "seed": 2846753418, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "39a53795899943e24f4fa015609ad7149a34fcc03e56e1167379d4e758d62d5f", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart1", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00129"}, "seed": 4041637991, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "d00de5f04286ef8a33738a7eba7995b3e59c45c2c1294f66f33767a374c8ddc4", "resolved": {"kart": {"name": "kart3", "chrono_dir": "chrono/kart3", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 71.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 6.5, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart3", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00129"}, "seed": 2699967160, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "f7cfab47bb595ec4739456abaf1b3fd6e1ca794faccfbba66eb50ec05049f26b", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart2", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00015"}, "seed": 3467601907, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "03532909df2c874c656bd85fc7840b261c7c81bf99f8870dedbdae6ad6734e50", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart1", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00015"}, "seed": 3237267125, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "10e6fca1d95edd5b70df4ee83be9e7d40134ebd777f3fc38872f5f29a63b9360", "resolved": {"kart": {"name": "kart3", "chrono_dir": "chrono/kart3", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 71.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 6.5, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart3", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00015"}, "seed": 1434202505, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "41985fb12692e9225807dd98fcbdfb6ed5c7974b876dd0cfe2dee9300c390c7c", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart2", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00263"}, "seed": 3775292264, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "45740f3f8165de8d22f172aef879a2a07b29acd686b7c8d4637bb8efeef885b8", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart1", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00263"}, "seed": 1416345111, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "0ba2ccd839a0b6245aa66cf07a6c585bfeb157fce575a4458ea18021a338bf32", "resolved": {"kart": {"name": "kart3", "chrono_dir": "chrono/kart3", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 71.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 6.5, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart3", "condition": "nominal", "recipe": {"name": "trim-lag", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/trim-lag", "tree": "93112d36c81dd2611d40bcffae85767d12e9f2ec92a058fe12ad88f264375eb3"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00263"}, "seed": 130671560, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}]

results/jobs/20261008-163616-trim-lag/gautschi/0/gautschi_launch.py

@@ -0,0 +1,143 @@
+"""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 []
+    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/20261008-163616-trim-lag/job.json

@@ -0,0 +1,38 @@
+{
+ "id": "20261008-163616-trim-lag",
+ "tier": "smoke",
+ "tier_version": 2,
+ "recipe": {
+  "name": "trim-lag",
+  "source": {
+   "repo": "AutonomousKart",
+   "ref": "worktree:trim-lag"
+  },
+  "params": {
+   "pathfinder_node": {
+    "mpc.num_samples": 4096
+   }
+  },
+  "sim": {
+   "cuda": true
+  },
+  "notes": "best stack + steering dead time 0.08 s in the rollout + bounded trim estimate"
+ },
+ "user": "shay",
+ "notes": "trim-lag smoke",
+ "where": "ideas",
+ "status": "done",
+ "submitted_at": "2026-10-08T20:36:16.239+00:00",
+ "started_at": "2026-10-08T20:36:16.246+00:00",
+ "finished_at": "2026-10-08T20:39:35.691+00:00",
+ "total": 15,
+ "done": 15,
+ "errors": 0,
+ "build_log": null,
+ "workers": 3,
+ "slurm_id": "1599987",
+ "slurm_ids": [
+  "1599987"
+ ],
+ "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"
+}

results/jobs/20261008-163616-trim-lag/logs/shard-0000.jsonl.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d798046e1271d6c05c34966f468399bd2e4643448c90d0ec8c4f81582b50eeff
+size 15011101

results/jobs/20261008-163616-trim-lag/summary.json

@@ -0,0 +1,156 @@
+{
+ "cte_p50": {
+  "value": 0.2850414015093808,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.3009177602288341,
+   "kart2": 0.2664021658255709,
+   "kart3": 0.28457664749761596
+  }
+ },
+ "cte_p90": {
+  "value": 0.7946433952958367,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.8417133446489681,
+   "kart2": 0.6998289774783162,
+   "kart3": 0.8530950594339918
+  }
+ },
+ "cte_p99": {
+  "value": 2.4593347069966036,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 2.6499527156516702,
+   "kart2": 1.794386589007613,
+   "kart3": 2.59917167873087
+  }
+ },
+ "recovery_rate": {
+  "value": 0.7272727272727273,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.75,
+   "kart2": 0.6666666666666666,
+   "kart3": 0.75
+  }
+ },
+ "recovery_s_median": {
+  "value": 2.0584999999999996,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 7.550000000000001,
+   "kart2": 0.24175000000000058,
+   "kart3": 3.6499999999999986
+  }
+ },
+ "safety": {
+  "value": 0.7464839040942982,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.7499067280189032,
+   "kart2": 0.7397000789265983,
+   "kart3": 0.7484104226405686
+  }
+ },
+ "unsafe_lat": {
+  "value": 0.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0,
+   "kart2": 0.0,
+   "kart3": 0.0
+  }
+ },
+ "unsafe_rate": {
+  "value": 0.17332678483725497,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.1440119388135804,
+   "kart2": 0.23614838200473562,
+   "kart3": 0.15309811744171548
+  }
+ },
+ "unsafe_travel": {
+  "value": 0.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0,
+   "kart2": 0.0,
+   "kart3": 0.0
+  }
+ },
+ "unsafe_spin": {
+  "value": 0.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0,
+   "kart2": 0.0,
+   "kart3": 0.0
+  }
+ },
+ "unsafe_off": {
+  "value": 0.10023663883555832,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.12896405919661733,
+   "kart2": 0.04561957379636938,
+   "kart3": 0.1145742426131405
+  }
+ },
+ "osc_10": {
+  "value": 37.95824960327983,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 38.60203733766809,
+   "kart2": 37.14679320121928,
+   "kart3": 37.95374631626298
+  }
+ },
+ "osc_20": {
+  "value": 15.7791066324059,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 11.987327238741539,
+   "kart2": 15.491142430668061,
+   "kart3": 19.807775292481246
+  }
+ },
+ "osc_30": {
+  "value": 7.410461240785254,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 6.140717026035084,
+   "kart2": 6.1017943577959235,
+   "kart3": 9.716958926179037
+  }
+ },
+ "laps_pct": {
+  "value": 100.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 100.0,
+   "kart2": 100.0,
+   "kart3": 100.0
+  }
+ },
+ "failures": {
+  "value": 1,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0,
+   "kart2": 1,
+   "kart3": 0
+  }
+ },
+ "n": {
+  "value": 15,
+  "worst_kart": null,
+  "per_kart": {}
+ },
+ "errors": {
+  "value": 0,
+  "worst_kart": null,
+  "per_kart": {}
+ }
+}

results/leaderboard/smoke-2__9468b6d2e43b.json

@@ -550,5 +550,51 @@
    "n": 15,
    "errors": 0
   }
+ },
+ {
+  "job_id": "20261008-163616-trim-lag",
+  "recipe": "trim-lag",
+  "notes": "trim-lag smoke",
+  "user": "shay",
+  "ran_at": "2026-10-08T20:39:35.691+00:00",
+  "duration_s": 199.445,
+  "cte_p50": 0.2850414015093808,
+  "cte_p90": 0.7946433952958367,
+  "cte_p99": 2.4593347069966036,
+  "recovery_rate": 0.7272727272727273,
+  "recovery_s_median": 2.0584999999999996,
+  "safety": 0.7464839040942982,
+  "unsafe_lat": 0.0,
+  "unsafe_rate": 0.17332678483725497,
+  "unsafe_travel": 0.0,
+  "unsafe_spin": 0.0,
+  "unsafe_off": 0.10023663883555832,
+  "osc_10": 37.95824960327983,
+  "osc_20": 15.7791066324059,
+  "osc_30": 7.410461240785254,
+  "laps_pct": 100.0,
+  "failures": 1,
+  "n": 15,
+  "errors": 0,
+  "worst": {
+   "cte_p50": 0.3009177602288341,
+   "cte_p90": 0.8530950594339918,
+   "cte_p99": 2.6499527156516702,
+   "recovery_rate": 0.6666666666666666,
+   "recovery_s_median": 7.550000000000001,
+   "safety": 0.7397000789265983,
+   "unsafe_lat": 0.0,
+   "unsafe_rate": 0.23614838200473562,
+   "unsafe_travel": 0.0,
+   "unsafe_spin": 0.0,
+   "unsafe_off": 0.12896405919661733,
+   "osc_10": 38.60203733766809,
+   "osc_20": 19.807775292481246,
+   "osc_30": 9.716958926179037,
+   "laps_pct": 100.0,
+   "failures": 1,
+   "n": 15,
+   "errors": 0
+  }
  }
 ]