results: jobs/20261105-024128-A26_MPPI___Adaptive_Gain/** index/episodes.jsonl leaderboard/*

results/jobs/20261105-024128-A26_MPPI___Adaptive_Gain/breakdown.json

@@ -0,0 +1,1884 @@
+{
+ "laps": {
+  "all_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 2.719801914116279,
+     "best_lap_s": null,
+     "loc_p95": 1.387,
+     "slide_pct_p95": 150.92,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "4e24882b40b58ec152b1d6fe4fc775aa73932c8e306ddc4243e1d51b0e9c04c4"
+    },
+    "center": {
+     "cte_p90": 2.261210784825117,
+     "best_lap_s": null,
+     "loc_p95": 0.856,
+     "slide_pct_p95": 120.13,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "979c75eac809a7c2223e3502f7e9ae72141e4d86aada3fb6a4912f5308f4bdb7"
+    },
+    "line4": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": "state_frame",
+     "key": "ae5862912d39a1e2ffc785ccb51c0b30a38d9d87c958fe0b5739305de37d4006"
+    }
+   }
+  },
+  "actuator_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 2.066989427144646,
+     "best_lap_s": null,
+     "loc_p95": 0.59,
+     "slide_pct_p95": 94.48,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "5345feaaf6863f6308388066ac7dc5fa339e4ff65f3160df4f0d94419143d5d0"
+    },
+    "center": {
+     "cte_p90": 0.6662602096475221,
+     "best_lap_s": null,
+     "loc_p95": 0.37,
+     "slide_pct_p95": 57.34,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "53d2ea2cab795d9b2a7696ec35e1c030755ad01a89399b68585e25b6d7b77ae1"
+    },
+    "line4": {
+     "cte_p90": 0.4133518648022376,
+     "best_lap_s": null,
+     "loc_p95": 0.243,
+     "slide_pct_p95": 19.5,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "0a3ae3735b20c5dbe262875f6c300ccd91656184543046bc0cce8934112f987b"
+    }
+   }
+  },
+  "nominal": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.9674349605031063,
+     "best_lap_s": null,
+     "loc_p95": 0.599,
+     "slide_pct_p95": 95.17,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "7f3471053cf015a8c91923d7646597ebf894c218573252d3ac57fe95d5aff13e"
+    },
+    "center": {
+     "cte_p90": 0.6553375921683511,
+     "best_lap_s": null,
+     "loc_p95": 0.372,
+     "slide_pct_p95": 48.66,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "2c79a5e2d4c4fae793370f7a0c80f9f69ef47d2bdf427792b5cde9893f54fba1"
+    },
+    "line4": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": "state_frame",
+     "key": "14daf41ca21efd8ec635c975c7ea36eaf7b5b8e1b3a3cc3b7941b3a0f18bca3a"
+    }
+   }
+  },
+  "actuator_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 1.0012227310195072,
+     "best_lap_s": null,
+     "loc_p95": 0.604,
+     "slide_pct_p95": 93.78,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "038cd0fccfd0eb556ac3cd35a080fb83a05f6a2d15a4e76706d7df3b8fa17bbd"
+    },
+    "center": {
+     "cte_p90": 0.612417030436744,
+     "best_lap_s": null,
+     "loc_p95": 0.364,
+     "slide_pct_p95": 49.27,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "a48e559d608a72093d8d8cbed03f7443e2ca8e98cd8d146c356490eda35c41db"
+    },
+    "line4": {
+     "cte_p90": 0.46319829270715024,
+     "best_lap_s": null,
+     "loc_p95": 0.403,
+     "slide_pct_p95": 20.41,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "6cae3beb50909cdc3ddfb16fc047b6a271b800b0048189320b53fadb4db87076"
+    }
+   }
+  },
+  "all_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 1.1435803008984131,
+     "best_lap_s": null,
+     "loc_p95": 0.194,
+     "slide_pct_p95": 78.89,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "204b2759e261f5a54a19a4f64e79dca8fbd05c5af0cf532911a88de7c24290ad"
+    },
+    "center": {
+     "cte_p90": 0.7704578853193601,
+     "best_lap_s": null,
+     "loc_p95": 0.124,
+     "slide_pct_p95": 44.11,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "a07d78d837fc2e5c34ec1a5b24c10814b8a79aea1c6dbabb0da089f785db251f"
+    },
+    "line4": {
+     "cte_p90": 0.4987070235889879,
+     "best_lap_s": null,
+     "loc_p95": 0.081,
+     "slide_pct_p95": 17.57,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "4a8b907bdb795ad6d8d677f7049b794c29ba51a8cd2fd6775773ee05c1ee50d1"
+    }
+   }
+  },
+  "frame_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.6777089715358693,
+     "best_lap_s": null,
+     "loc_p95": 0.602,
+     "slide_pct_p95": 90.58,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "9068619e99eee08d7e849b0342105f256b19edc20cfff1e2bfc4ff0d7613287f"
+    },
+    "center": {
+     "cte_p90": 0.624112181183532,
+     "best_lap_s": null,
+     "loc_p95": 0.364,
+     "slide_pct_p95": 49.63,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "3b3f1bb32ecd2c1ca80b2aec019958897fffcdd6687f12936086518919935124"
+    },
+    "line4": {
+     "cte_p90": 0.41265967942364384,
+     "best_lap_s": null,
+     "loc_p95": 0.251,
+     "slide_pct_p95": 19.71,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "89cda71f6f7547ed8c405d2e58acb8c3146e59b7cd2ca8b4e4ea6687cc161c06"
+    }
+   }
+  },
+  "frame_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 1.1348395898453478,
+     "best_lap_s": null,
+     "loc_p95": 0.601,
+     "slide_pct_p95": 95.21,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "f06373ab94be9035d20664c2e8fe8861ed91a4d9c5bf4f0e59a2dca0081975b0"
+    },
+    "center": {
+     "cte_p90": 0.626420676393916,
+     "best_lap_s": null,
+     "loc_p95": 0.385,
+     "slide_pct_p95": 52.11,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "a88a71cee92b7a90d661babb28c8c2e2d5d2a3bba3ce5ad31e60ee55cf84f38f"
+    },
+    "line4": {
+     "cte_p90": 0.43774632032886396,
+     "best_lap_s": null,
+     "loc_p95": 0.247,
+     "slide_pct_p95": 19.15,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "502e8d011fe90e0c36066259193574c9175651a27cb339bd4477c3a2470b22a0"
+    }
+   }
+  },
+  "freq_45": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 1.0504914761512665,
+     "best_lap_s": null,
+     "loc_p95": 0.604,
+     "slide_pct_p95": 95.55,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "3892aff86cf0e4097b3abdf6aee2b1ddbb31f9954bad6d1160190c82a6bb961e"
+    },
+    "center": {
+     "cte_p90": 0.640233586303997,
+     "best_lap_s": null,
+     "loc_p95": 0.359,
+     "slide_pct_p95": 52.26,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "94681f21fe0db7f5c5c4060551f85006084772fa9fee4b3a6945bf02992d68c3"
+    },
+    "line4": {
+     "cte_p90": 0.44702319409858376,
+     "best_lap_s": null,
+     "loc_p95": 0.244,
+     "slide_pct_p95": 20.06,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "9059e9bd4f66b9276285214ebb8ec24875b267ebcd597d6a36fae87bba6a057e"
+    }
+   }
+  },
+  "gps_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 1.112254597479021,
+     "best_lap_s": null,
+     "loc_p95": 1.491,
+     "slide_pct_p95": 91.03,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "ebd8e57c8dceb56ce497ee1891b413c7d01ace4aa6dc690277c804fd4e52d24e"
+    },
+    "center": {
+     "cte_p90": 0.8959139178868493,
+     "best_lap_s": null,
+     "loc_p95": 0.906,
+     "slide_pct_p95": 60.63,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "860a251198ee0e1d13de17a12ff927830eea1b8557f5da8cae66846ff161b2e5"
+    },
+    "line4": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": "state_frame",
+     "key": "88b0df13c36203aa96a30379bb6ce6faf4f5ef67039e3bf62d41ab937d85cf15"
+    }
+   }
+  },
+  "gps_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.9896128555834712,
+     "best_lap_s": null,
+     "loc_p95": 0.19,
+     "slide_pct_p95": 95.69,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "4f913c36b59b7b65f2dc7b4d0195e1c67d79f56ba9dd0dd76fef3ab8b0f0198a"
+    },
+    "line4": {
+     "cte_p90": 0.4521499051658037,
+     "best_lap_s": null,
+     "loc_p95": 0.084,
+     "slide_pct_p95": 19.13,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "073347bada7076a93b2c7d5b85d653f3c9dc556d4e5e21d89d978d8db545b61f"
+    },
+    "center": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": "state_frame",
+     "key": "18c49338d7df9d45556a0d404280ff40d4c473314259f43903b6c3910717b4e1"
+    }
+   }
+  },
+  "grip_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 1.220517204586008,
+     "best_lap_s": null,
+     "loc_p95": 0.584,
+     "slide_pct_p95": 206.22,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "3dbc5ea4799f11f17e39607b4d2b4aa3d22b3476f58d07aa33486151cd4f550c"
+    },
+    "center": {
+     "cte_p90": 0.6976660551200182,
+     "best_lap_s": 72.399,
+     "loc_p95": 0.368,
+     "slide_pct_p95": 65.21,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "b7b63d2e5a0a18be4de93ca40a1e1c6676e66562c4ddbe96cdff62d0080229c9"
+    },
+    "line4": {
+     "cte_p90": 0.457680155990368,
+     "best_lap_s": null,
+     "loc_p95": 0.251,
+     "slide_pct_p95": 24.94,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "57aee415acd0a7de13fda9fdc4d64cc3ff2bbf15dd9be1cb2d3a7ae96d5b7f00"
+    }
+   }
+  },
+  "grip_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 1.0595807839200997,
+     "best_lap_s": null,
+     "loc_p95": 0.598,
+     "slide_pct_p95": 90.17,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "off_track",
+     "key": "fa13f9b586658b2f4f6289ec2a22b6c97b15f60a05eb4ef4c30822cbc1d2f3f8"
+    },
+    "line4": {
+     "cte_p90": 0.4434198235829099,
+     "best_lap_s": null,
+     "loc_p95": 0.243,
+     "slide_pct_p95": 18.64,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "404fb77359e6fb242a085ed8d72a95b409eb857ce2453054c0fe4d66449d4ad4"
+    },
+    "center": {
+     "cte_p90": 0.595753129403679,
+     "best_lap_s": null,
+     "loc_p95": 0.367,
+     "slide_pct_p95": 45.32,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "5e2324750efa643302d0da5760e91659478beb8e5590929c155b7d91b4516103"
+    }
+   }
+  },
+  "heading_dual": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.9038480634112283,
+     "best_lap_s": null,
+     "loc_p95": 0.588,
+     "slide_pct_p95": 95.45,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "4ea1894adbf3a56dbbb9a69da972fa64f73b18c3e01749e179ef611384c1d25f"
+    },
+    "center": {
+     "cte_p90": 0.7871504302985605,
+     "best_lap_s": null,
+     "loc_p95": 0.369,
+     "slide_pct_p95": 51.46,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "256a54de2f495ca2b5e23d719be09bc933aca13187f3b769134b08a149101fb5"
+    },
+    "line4": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": null,
+     "key": "8039b021545922057e8bf3dc099e37669e46e40c4ff54439d1cfb1937effb624"
+    }
+   }
+  },
+  "imu_low": {
+   "kart1": {
+    "center": {
+     "cte_p90": 0.583551637841106,
+     "best_lap_s": 72.367,
+     "loc_p95": 0.364,
+     "slide_pct_p95": 50.05,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "ok",
+     "cause": null,
+     "key": "994dfa68ebc55dead2a7067984e3cae12b08351bfca717b5eafbd62999347f12"
+    },
+    "line1": {
+     "cte_p90": 1.1084233782593151,
+     "best_lap_s": null,
+     "loc_p95": 0.598,
+     "slide_pct_p95": 95.63,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "fed7f4e7d6623d93dfa7c2f0c902db71e3f25c4c83e1a06a5aa75fb00a28dc86"
+    },
+    "line4": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": null,
+     "key": "4e1911fcb7e5762dd28f16ccde196a2406e19f6a08ddd26713c8ceb08f8e8a8a"
+    }
+   }
+  },
+  "imu_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 1.1099601025679946,
+     "best_lap_s": null,
+     "loc_p95": 0.564,
+     "slide_pct_p95": 95.17,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "adf709c86acef603d365972d61f1e54041d7cece233b33582b94307c96ae43dd"
+    },
+    "center": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": "state_frame",
+     "key": "cbb2b5d28017fffbd633706ae63bf47e7dcaf8706481bb931e4f47474ed27608"
+    },
+    "line4": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": null,
+     "key": "dd0b052da78a72f9acd3b43343122b410f702b805948b722a2e5557b35418221"
+    }
+   }
+  },
+  "steering_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 0.8028754959221398,
+     "best_lap_s": null,
+     "loc_p95": 0.575,
+     "slide_pct_p95": 130.64,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "418b36ec7288ced24163de8f1d2df6a4f4ad53d248dc40350b219459455b4bbf"
+    },
+    "center": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": null,
+     "key": "59f561f3bf345345e3ad4d7a417bb6525d22ee8c1c13d7a9b6adfb1682cc45a9"
+    },
+    "line4": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": null,
+     "key": "198ccfb23e98d249742a715c1e83d3291bf8a4ea5a2cbf4fa0c69954fa3cc9bb"
+    }
+   }
+  },
+  "steering_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": 1.0595067376374574,
+     "best_lap_s": null,
+     "loc_p95": 0.599,
+     "slide_pct_p95": 94.61,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "failed",
+     "cause": "spin",
+     "key": "06a39db90665643a733c4c584a32ad64139696698321b0ae7522dd2889a5dded"
+    },
+    "center": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": null,
+     "key": "f885eedcef57496895c3fe2d17e3740baefe1f522d4777018a3dce45d36987c3"
+    },
+    "line4": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": null,
+     "key": "f0448d630225870ae582fa5b50eb7794b902e2319b66244ca492ce59b931d035"
+    }
+   }
+  },
+  "wheel_high": {
+   "kart1": {
+    "line1": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": "state_frame",
+     "key": "1a81aae7b3f8f5780b3dbef4fda9eaeccd03779451e3b160b9b4f2710dbe2213"
+    },
+    "line4": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": null,
+     "key": "36a399f7b4e40dc44ece94beb0b88bd471bed8d4b50762ef589b0dd35b79a87a"
+    },
+    "center": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": null,
+     "key": "4582c376c09b34e1e5f09a29e60e99ea607f7789c01abfc04b0dd27c63db1429"
+    }
+   }
+  },
+  "wheel_low": {
+   "kart1": {
+    "line1": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": null,
+     "key": "ad4865896405d6c66a1d008419114adc0426a73c7c67fb2f461d96a94880a7d2"
+    },
+    "line4": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": null,
+     "key": "f71809829f994d9eddb7b3856abc62aa836faaa64841b7acd46bf8a04e9934d7"
+    },
+    "center": {
+     "cte_p90": null,
+     "best_lap_s": null,
+     "loc_p95": null,
+     "slide_pct_p95": null,
+     "overtake_completed": null,
+     "test": "control",
+     "status": "error",
+     "cause": null,
+     "key": "1e44b319d64922c38135a7818668644b22f13e571242136bf5e5fcb1fb9d4d79"
+    }
+   }
+  }
+ },
+ "clips": {
+  "oscillation": {
+   "kart1": {
+    "recovery_rate": null,
+    "median_recovery_s": null,
+    "n": 28,
+    "n_valid": 0,
+    "episodes": [
+     {
+      "key": "9de1619cdf38917dc26d2b3747250899a1f68d16bf2ab82a715ef8c6ab316b38",
+      "clip_id": "20260919_152204_auto_00157",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "58451e18625d8670d4d66c9f9e13e7ba3d5cfa355d610a58296a5727da5830af",
+      "clip_id": "20260919_152204_auto_00144",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "fdf315146a8cbbb9fceaf01128d68e23f35a729ca3a6f066ea5a75ef19688aa9",
+      "clip_id": "20260919_152204_auto_00194",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "a4739bd2eb3be809eba40ab0c2f52dae19cdcc7bc0542afe6544bc2a84196ad1",
+      "clip_id": "20260520_202500_00023",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "cdf72776af6de9d53de661242faed2d80767be79a3e81fcc13785cc828ce5f10",
+      "clip_id": "20260919_152204_auto_00191",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "cab834a0edad42b0fe7a67db1f8a0a342d067682cc94f286e72cc875be675daf",
+      "clip_id": "20260919_152204_auto_00054",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "15e1e2d52709172f39e1fb439fcb2038e2a8a6e670fffc0129247fef6fd27c72",
+      "clip_id": "20261003_195721_auto_00019",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "1a1c6b98d8830bd27dba3952daf1862920df57b071bfe57c98ce51732c9e5d8e",
+      "clip_id": "20260919_152803_auto_00040",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "659ad5bd40f1c55a6d2ed9a8a067b854604645aa3c576be6bc3f8772cfcb0852",
+      "clip_id": "20260919_151541_auto_00252",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "34f7b7bccd8debc64e186ade8698fdf3c5936891aefa3141d29505f6b0dfcee0",
+      "clip_id": "20260919_152803_auto_00108",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "d16bc6181c98c39188e59a8ca780d06a24d3e9841a6ac1010899872c8739958e",
+      "clip_id": "20260919_151541_auto_00310",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "eb8d103bdf26aae4f316fa4b030675b62466e4edd06b2aef664f4951d774ecc7",
+      "clip_id": "20261003_185536_auto_00099",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "51c923bd3c1c736aad9164ae92c0c8842cee9315fbf5f894d3074e421ffd2d93",
+      "clip_id": "20260913_195301_auto_00131",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "35d7225a4946a7a1897d23c87a6f7d72d615f931e2c18caba6b3c0c5d65fa101",
+      "clip_id": "20261003_183447_auto_00246",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "28a544a58160d87f10d2bc918e9ff3f96ba01433ec43e8547ab814281f837e83",
+      "clip_id": "20260520_000232_00015",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "64584380054adb0b9174a1e4f92e5f6aa74ace39d7cae0119bdd9f0c58cf1555",
+      "clip_id": "20260913_195301_auto_00204",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "b0e7ee207f52383c45d4d2755b8d6708165322010f3a76330e764f9c6670a1fe",
+      "clip_id": "20260913_195301_auto_00197",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "f368858e24c1f93ec9f105b1c1937749078d827b08ad9f7aa0a037ae9e8d6040",
+      "clip_id": "20260520_212946_00238",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "7c6c3b1b91e7becb9193843291fb5e34acf281ee82ae131d174d98aaf87b9602",
+      "clip_id": "20260913_205141_auto_00207",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "a398b84dc2d8f65abd63c0f7dbad51a964de2e82f82bc5ceed8368d767c083ec",
+      "clip_id": "20260919_152803_auto_00036",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "c92e84a55cafe3cc81372e581bde4b4ffdcc49e7fc0d3dfc21eb6d254a936780",
+      "clip_id": "20260919_152803_auto_00102",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "a2d351ea117692f3591d9f27d3a4370ec17d85eac0a280e71ebf3e76aad64048",
+      "clip_id": "20260919_152803_auto_00125",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "7a6b92cd070568103e506a26c87b789a374405cfd1e3c34b92a269b8cc642668",
+      "clip_id": "20260913_195301_auto_00677",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "11520c61c2eb65c350552b0c33b90fc6786f01f2f1b0378e8597f188ae0a4124",
+      "clip_id": "20260913_195301_auto_00135",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "6f847f6792dbb6577b25639f5b2242d2ebed2bc3a5061c53d1987207f6a7fddf",
+      "clip_id": "20260913_205141_auto_00382",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "fd004ea8450aa99d9fd7017612399551a58463ef07575d66f4e700b13c8f4b03",
+      "clip_id": "20261003_183447_auto_00199",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "6911ba3007314ea58f63fedbaadfc516e47de93d56e12e1c86bc2820ce71b3b9",
+      "clip_id": "20260919_152803_auto_00055",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "0f288aa53f12b6479a143f149a0eb693accdc851dfdf26e85d7842ac61ec907e",
+      "clip_id": "20260913_205141_auto_00352",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     }
+    ]
+   }
+  },
+  "recoverable_failure": {
+   "kart1": {
+    "recovery_rate": null,
+    "median_recovery_s": null,
+    "n": 31,
+    "n_valid": 0,
+    "episodes": [
+     {
+      "key": "03009582a9d92b4b3c4662bb0c8c4dcad261f66337f5a7d696411238cbe7fc4a",
+      "clip_id": "20260919_152803_auto_00194",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "7c1516fd46230cdfd853b95cc12082f3f0100025f0577d348a974d468c4f908a",
+      "clip_id": "20261003_194044_auto_00273",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "1f37b04987a2a692c66030f31a621e46c86f79e6ac2709533ce12f3461c7d48e",
+      "clip_id": "20260919_152204_auto_00079",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "3e6235d36fd1f0640a5a89cde725931f26a0082d18a15f25bfbdcaf1df1cd319",
+      "clip_id": "20260521_142455_00160",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "7901e5d31c9e5cc561c18eea107c2307b423269d040c5b55cbff5fa60cd42e6a",
+      "clip_id": "20260520_231730_00132",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "561757ee005c129a0c2f09b3f1faf8451a405a5cffea781e92712a3a1505f002",
+      "clip_id": "20261003_192307_auto_00129",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "635e101629df7259b6d394495863c0e2b79c30b41bddaac7d40d2f56eb70f848",
+      "clip_id": "20261003_192307_auto_00087",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "279b6873cb23025f9e3ec80420548a5a44e8b1935ca892436ad471b3af6a1a3b",
+      "clip_id": "20261003_193131_auto_00106",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "bed553306626591103f7f113491743c48af497eff0176df707c709057e23523a",
+      "clip_id": "20260919_152204_auto_00165",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "c947707a1928a077c6a3f97565e64e45de3ba8fa687a3abf9d1d26e086243c25",
+      "clip_id": "20261003_180749_auto_00128",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "243d82215fd743f807e4dd6ef35d19dc2922b6b493bed1033e721bbe5a0f0bd9",
+      "clip_id": "20260521_142455_00480",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "03603033fbb5a6a8748b94ea9d87f1ab60b02b67d7ee21c88da372bf8dc66990",
+      "clip_id": "20260521_142455_00204",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "8e451a68d9beaf3f8a2ea3c85aa2b251229f43ea916f2cb07e420408578065df",
+      "clip_id": "20260913_203655_auto_00023",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "797cfbb5b232a81eeb022ef777f13257b34a68c7495de885099244ed91899116",
+      "clip_id": "20260919_152803_auto_00277",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "57572adf0dbb2fc1d3e72cf8605d347dcca2dac1ff04116feda25657627c091b",
+      "clip_id": "20261003_173723_auto_00426",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "efa59b462e51f4131e502d68ef5b24b30297ecaa8fa7e52d70c64a3a516a604c",
+      "clip_id": "20260919_152803_auto_00309",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "2498611fc335268cb30647be56f41ba5281083c50f5b8fc28dd6d30e8d6a3cff",
+      "clip_id": "20261003_194736_auto_00041",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "fc0186322a7423b4f88ca1e29e633e026b34c9fc2ad55f6f2ce8630a9f47a375",
+      "clip_id": "20261003_185536_auto_00103",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "80d6fcd42f921e3606a4d6cf7084387da7ed10a9836279278bd0240c79811292",
+      "clip_id": "20260919_152803_auto_00112",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "cb5c0328538d40852c6fd618f69ad951b6cbfda7a1be6e59bf4a1310618ed156",
+      "clip_id": "20261003_185536_auto_00136",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "e4023ecbf680f1a8d30b6492a46a290f8cad1b347dd8dd147e4340cc263f49a8",
+      "clip_id": "20261003_183447_auto_00281",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "7fa2dbee6dfb0b51521b2cdb3fbbba6f05cfb058f2efeadf108ad12a76b76308",
+      "clip_id": "20261003_185536_auto_00108",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "fcd85fb8ee5a7bc918a3d53b1f654fda5206aa8a3bda11acea033e4d3e417000",
+      "clip_id": "20261003_183447_auto_00193",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "03d040f5901d531f90fa1019db76b46f483939b38d596594565d799339a14164",
+      "clip_id": "20261003_183447_auto_00105",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "f5076ce398304e1f3890fab9955cc1b542a5a5afaa9fdab5530a9c6d006e98ec",
+      "clip_id": "20261003_183447_auto_00036",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "20f6a36235713eb2153d8fd9648d33338a8acd5d42247d9f373887cb053fd0d0",
+      "clip_id": "20260520_223739_00263",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "c1329df0596416e4952c9afa21df8d9b3073f3e6e4dec09f55e7b1074fb38ca4",
+      "clip_id": "20260913_205141_auto_00278",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "b000f99e69b5c5b365d95e81a15c408bcd60a671184ca502583b43154bb3ce87",
+      "clip_id": "20260919_152803_auto_00374",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "b90f7791bafbf2b21fc4abe741bb61ce57908ac1f750657b6585a99b412bbb80",
+      "clip_id": "20260919_152803_auto_00282",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "e252db156121d57d509f7d32de48acba8ac06700f1750e7f8d1a5901cb7543e7",
+      "clip_id": "20261003_193754_auto_00113",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "e107b4aee187ec7021cad1ba93e79d188a253ce29c163004cb4c6c2a30459fa9",
+      "clip_id": "20260919_152803_auto_00179",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     }
+    ]
+   }
+  },
+  "misaligned_on_line": {
+   "kart1": {
+    "recovery_rate": null,
+    "median_recovery_s": null,
+    "n": 37,
+    "n_valid": 0,
+    "episodes": [
+     {
+      "key": "d525a04b0c2f4926d424fcdc9b29e33ee8497af8804b3afe26148fbbf0621b00",
+      "clip_id": "20261003_192657_auto_00061",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "dc5f3ef2c9e24bf27c96bd0f950614907f0a17f0031c421e57dfb3685f05f3c3",
+      "clip_id": "20261003_194736_auto_00047",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "7d61dbde555092364fa14270596207aa7cf066ed69a5291613e05f56d34e9def",
+      "clip_id": "20260913_205141_auto_00242",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "35279b43f2208b3f1900571e7916c66ab35a33eb097e2039e60387bda73facd2",
+      "clip_id": "20261003_192307_auto_00119",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "aa429520f5483727c9b1c4e0ec5a2544d42541dc3a684d73f8cb8e900b649eca",
+      "clip_id": "20260919_152803_auto_00547",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "f020fc9637fdc8188b7afc9d64114ee040b56fded4cefce189bdecef79d49f4e",
+      "clip_id": "20261003_193131_auto_00046",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "e05ad1574fee1d003a840340070d6f0c92fbd6d7b14258acea75d482ecb1f641",
+      "clip_id": "20260919_151541_auto_00340",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "90226de6ac8c66f2bb63ac9404559fd60411b3ab367ab9e5bb6913860dc3a46a",
+      "clip_id": "20260521_142455_00019",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "21f6881e81f0866f85476598d85e0a5002c4c9aecaf765ca19f7b19b75c2e804",
+      "clip_id": "20260919_152204_auto_00084",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "4e0834fe5fce451d42adae7a3c2da47eb8b4487d5bfcbd81f87ec83f2283b08a",
+      "clip_id": "20261003_193131_auto_00051",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "896eefb402b5ff108f25b51002159c2c10b84f88d2dfa682659b1fe16deaee83",
+      "clip_id": "20261003_194736_auto_00124",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "8db8c3e3551bdd0a46f0f8f88366dba7d3dc25e6f3e7054935aee457568dd1e1",
+      "clip_id": "20261003_192657_auto_00159",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "6f9c711cd8694111587cb173f50f8bd9d2225b8be6cf82207fa348889a40ca30",
+      "clip_id": "20261003_193131_auto_00111",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "36de4ff1d4865004b48498d33699162b6b84577556bccfdd361cfeadc27a46fb",
+      "clip_id": "20261003_192657_auto_00212",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "5dfc4d31f5e98dc3d3fa4ad991b95b8adbdb8fbcb8c82fe88b58c18805342d40",
+      "clip_id": "20260919_152803_auto_00569",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "0be40cb628494c40617622848afdcd26c14f599e53eadcf44a87d4b835bb184b",
+      "clip_id": "20260919_152803_auto_00306",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "8f1ab60c80f4718e01716c7ab42d6929d344128fa3092bc9df3998e0282195e9",
+      "clip_id": "20260919_152803_auto_00365",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "5e1444cf994fa3543821e98790c5343bfe2c4bd492d49fc49a8ee3beb8ddb7a9",
+      "clip_id": "20260520_223739_00129",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "2795fa4054e0e95278eda5f258f0fd0e922e2f7c1ddbc5ed8fdbe5008f46ea63",
+      "clip_id": "20261003_192657_auto_00209",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "42d91abd77a2d1262635f9136cc70487b6efeeeaceba2825a30a013ccac684a7",
+      "clip_id": "20261003_193754_auto_00064",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "2968065e1e2fbf0a18a232addf01d29f0e2f5053cee2a38d970efc527aa43a34",
+      "clip_id": "20261003_192307_auto_00106",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "9cdb8f052e81005645d67f0037872aa94847d220e1171d0256c58161e930b739",
+      "clip_id": "20261003_173723_auto_00391",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "5f7750bba3b65f87b6742d90d1c0a50c0e66880c24ed94bd10580f997fd8968d",
+      "clip_id": "20260919_152803_auto_00300",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "f5a37a9a2d02c9216712a197958423a61461173c77d0eec3f6a4b89c60e76a5e",
+      "clip_id": "20261003_182559_auto_00081",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "feda044ef4f36a629f631ac478986ecd5fc502fa39506d43a89a1237f38b48ab",
+      "clip_id": "20261003_192307_auto_00109",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "7d6628b301a7cc927fc45b8390f8377f582c6c0b9d5627b8bee9c37057722341",
+      "clip_id": "20261003_193131_auto_00017",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "b24f1e3b77f8de6954b4a71e8c03ddcf5e16e9dc1b477c11509aeb305a9090b4",
+      "clip_id": "20260913_195301_auto_00231",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "97ab0a31f2ee2f37c6137d619fa0248fc1ab1d15dc79b335219803c341bc8eae",
+      "clip_id": "20260913_205141_auto_00168",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "559c5b6e0c9d24cf49f123c897c7c8bdb19d42fae78c47ed555b327de705256f",
+      "clip_id": "20261003_182559_auto_00419",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "5b8f4dd0fc4184eba09f7e71f0049f7253f88cca6ef381e7c252c16501a49e2d",
+      "clip_id": "20261003_180749_auto_00103",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "dcfacfb5585d5542fba92e0f882f3c19d4c49e958de350299a911b60bed22d8e",
+      "clip_id": "20260919_152803_auto_00418",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "c637cf5d0aa948b04bef7c33b73298d65ef7b79196cf01feb511884e98cbf698",
+      "clip_id": "20260919_152803_auto_00296",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "e5baf4bda2b1a724e56df5f2e8165d1ef041d503bd1be55788983b0d3c2074ec",
+      "clip_id": "20260913_205141_auto_00375",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "04def73269a4de54be48c5472b960cad979078f8eb0b1a4bf09c28916085d9d8",
+      "clip_id": "20260919_152803_auto_00560",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "12fffd55080590d2490a4b1e16f34570425010bd03d9c4b9926db3690269573d",
+      "clip_id": "20260913_195301_auto_00158",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "0a2ea46c13983325fac26ec616dfa414b76225071180b575f1f83dd8fa42e6a0",
+      "clip_id": "20260919_152803_auto_00553",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "670147c6ad906f208b15d2d6d85a9c0feb3e5fde7efd94588bf551ff1fb3510b",
+      "clip_id": "20260919_152803_auto_00199",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     }
+    ]
+   }
+  },
+  "offset_aligned": {
+   "kart1": {
+    "recovery_rate": null,
+    "median_recovery_s": null,
+    "n": 33,
+    "n_valid": 0,
+    "episodes": [
+     {
+      "key": "e0db3595501cffb8b35443ef022599e1160516e3f605b2a1f7e8545746be5096",
+      "clip_id": "20261003_194044_auto_00046",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "acf938bbf5c14d6f1ab9721b5d5dd488659ac780410645d5cdced813aa7298b9",
+      "clip_id": "20260520_000232_00021",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "093a8b0910a9dcb9e23c25fd0a0ad2b6c04c0ddc2957d8a6f78d0283f7de181e",
+      "clip_id": "20260919_151541_auto_00256",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "bcafeb40fa2bf74cd60d4d238551a80f67fb17b4719992ab69028fcccb4d6217",
+      "clip_id": "20260919_152803_auto_00176",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "869c0e53b6438e0ac5909f8ee3af71ef8d6d1d2e4992d4ca4f73c573176b5311",
+      "clip_id": "20261003_173723_auto_00671",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "02f37f864a6bfac4ff26b754cfd8a4c58b0998f1ab61c8a1c023db659c503c3f",
+      "clip_id": "20260919_151541_auto_00259",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "a65f434dd4094d54827c161e836d18851d9e4e8c98874c04071d6a4633267f17",
+      "clip_id": "20261003_173723_auto_00339",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "37e997032cd9739461fdf0954fd822b93332d5a3327fbc73b887269ae40feb98",
+      "clip_id": "20260919_152803_auto_00069",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "f27e82b8fd1aa0388f45de26ffddeffb3d0cdf6840258cef3139b239ad3b62d7",
+      "clip_id": "20260919_152204_auto_00072",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "b9a98705699c2f27739ebc291dcd5ca01e106bf9a14a3ef11c65b4a5f2544765",
+      "clip_id": "20260521_142455_00290",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "a8f16a0c0076229fe4ecf4fda25a400924b9fb0523690dfddc3e61f2943d5d73",
+      "clip_id": "20260919_151541_auto_00223",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "ed81505909c0b77986bc803f445756e27623248e9d45e85a239e3e2782b6b40e",
+      "clip_id": "20261003_192307_auto_00114",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "d36c61ac8c79fe024205190ce25a2e690982e6734658023336d500f8cbb011ad",
+      "clip_id": "20261003_193754_auto_00086",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "fffd9b953fd52cb38a18dfc62429740369970ccb30133df5874ca541b8f1d302",
+      "clip_id": "20260919_152803_auto_00271",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "fb01d870b10484f203e8091da3213e1db782f4800db255e46056a7fe60c030cf",
+      "clip_id": "20261003_173723_auto_00394",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "3d67d85800affb41e184d228e53cc2715a4da7cd013e91725381f8dc68253a51",
+      "clip_id": "20260919_151541_auto_00227",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "ef0e74c07d5bc8130076a38a04025236169d12f7c641b136c67159dbdb31fa49",
+      "clip_id": "20261003_194044_auto_00051",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "707eb956c5746f26e18455b3260a503c611c5d260d9edda6edde7cfca0e6b751",
+      "clip_id": "20260919_152803_auto_00359",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "7c6ec13b214751b87cdd3c7af9dc6ace1367f61bfb8e2cf01383dec40392a460",
+      "clip_id": "20261003_193754_auto_00079",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "aed78bf14fce1fbb6b4c8ab3d6e6714bd554341ea5edd938c40530fbfb83cbcc",
+      "clip_id": "20260913_205141_auto_00251",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "b6fc2066622f045e8b5832ff31bf134557f60f7a525fc38095c4ce1ade7ddcb9",
+      "clip_id": "20261003_192657_auto_00035",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "42165d557d05ae99244c99144b9f00975682a690dcfebf53b58f13f5691f4c9d",
+      "clip_id": "20261003_183447_auto_00101",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "35de62f26d4c885080b5f4006c5fcb45eb19db3e922d330f471a951e9ecbd865",
+      "clip_id": "20261003_194044_auto_00071",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "65568e0c7be1a81379e2f3afb64bbe5c7ec907f4c06be2d8a1f8a8e4e19dc800",
+      "clip_id": "20261003_194044_auto_00185",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "50eec9fab5a0b53dab98897f89a092c38e6729cb0b8d916837a3877d57f6476d",
+      "clip_id": "20260913_205141_auto_00178",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "4ca2c6b3b6703fc47d11f4ca681adb2a1fc2f9ba50c16de5a3b5da4b03a2a0f9",
+      "clip_id": "20260919_152803_auto_00353",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "2f5e976be9c240e56b5c776a5f54bf427feea445ba606b764e7a0f41d35a4008",
+      "clip_id": "20261003_194044_auto_00063",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "5505733484afe9165cb4bbc1823c459b32ea7854c5598922e953f0df723dcdae",
+      "clip_id": "20260919_152803_auto_00184",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "f7fdfa4e5529cbae3ace27c58ca6f91992842542f4d5261f16e56f1ce46dd033",
+      "clip_id": "20261003_194044_auto_00267",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "3bce5c82099c0cc862a350da185ba7f0dd18a958d474ab5cc2b0fe23b49d865f",
+      "clip_id": "20260919_152803_auto_00044",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "3c5177f2f60718fbb769dfe29a0a550df6b8759cb57ee1aa72cc8d7621d223d6",
+      "clip_id": "20260919_152803_auto_00287",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "821a3fc63ec5299b4c0cae5296d92f56aad7d216634f771852c3e2b66e6368d4",
+      "clip_id": "20260919_152803_auto_00408",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     },
+     {
+      "key": "51759b6b08e006b063085a534f067a29ff57971941d884a05454d3d02f1537c4",
+      "clip_id": "20260919_152803_auto_00230",
+      "recovered": null,
+      "recovery_s": null,
+      "peak_cte_after_m": null,
+      "context_valid": null
+     }
+    ]
+   }
+  }
+ },
+ "grid_3x3": {},
+ "localization": {},
+ "overtake": [],
+ "slide": [
+  {
+   "key": "b7b63d2e5a0a18be4de93ca40a1e1c6676e66562c4ddbe96cdff62d0080229c9",
+   "condition": "grip_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": 72.399,
+   "best_lap_s": 72.399,
+   "final_lap_s": 72.399,
+   "lap_improvement_s": 0.0,
+   "slide_pct_p95": 65.21,
+   "laps_detail": [
+    {
+     "lap": 1,
+     "lap_time_s": 72.399,
+     "cte_p50": 0.192,
+     "cte_p90": 0.698,
+     "slide_pct_p95": 65.22,
+     "slide_time_pct": 1.27,
+     "mean_speed_mps": 5.86
+    }
+   ]
+  },
+  {
+   "key": "994dfa68ebc55dead2a7067984e3cae12b08351bfca717b5eafbd62999347f12",
+   "condition": "imu_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": 72.367,
+   "best_lap_s": 72.367,
+   "final_lap_s": 72.367,
+   "lap_improvement_s": 0.0,
+   "slide_pct_p95": 50.05,
+   "laps_detail": [
+    {
+     "lap": 1,
+     "lap_time_s": 72.367,
+     "cte_p50": 0.228,
+     "cte_p90": 0.584,
+     "slide_pct_p95": 50.06,
+     "slide_time_pct": 0.0,
+     "mean_speed_mps": 5.86
+    }
+   ]
+  }
+ ],
+ "tests": {
+  "control": {
+   "n": 57,
+   "ok": 21,
+   "failures": 18,
+   "score": 51.9,
+   "cte_p90": 0.5996545817232048,
+   "best_lap_s": 72.383,
+   "laps_pct": 53.84615384615385,
+   "loc_p50": 0.334,
+   "loc_p95": 0.372,
+   "loc_p99": 0.39,
+   "overtake_rate": null,
+   "overtake_s_median": null,
+   "min_clearance_m": null,
+   "learned_to_slide_rate": 0.0,
+   "laps_to_slide": null,
+   "slide_pct_p95": 60.63,
+   "recovery_rate": null,
+   "recovery_s_median": null
+  },
+  "clips": {
+   "n": 129,
+   "ok": 0,
+   "failures": 0,
+   "score": null,
+   "cte_p90": null,
+   "best_lap_s": null,
+   "laps_pct": null,
+   "loc_p50": null,
+   "loc_p95": null,
+   "loc_p99": null,
+   "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": null,
+   "recovery_s_median": null
+  }
+ }
+}

results/jobs/20261105-024128-A26_MPPI___Adaptive_Gain/gautschi/0/done.txt

@@ -0,0 +1,51 @@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results/jobs/20261105-024128-A26_MPPI___Adaptive_Gain/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/20261105-024128-A26_MPPI___Adaptive_Gain/gautschi/1/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/20261105-024128-A26_MPPI___Adaptive_Gain/job.json

@@ -0,0 +1,45 @@
+{
+ "id": "20261105-024128-A26_MPPI___Adaptive_Gain",
+ "tier": "dev",
+ "tier_version": 2,
+ "recipe": {
+  "name": "A26 MPPI + Adaptive Gain",
+  "source": {
+   "repo": "AutonomousKart",
+   "ref": "worktree:AutonomousKart-sim"
+  },
+  "params": {
+   "pathfinder_node": {
+    "planner": "mpc",
+    "mpc.num_samples": 32768,
+    "mpc.adaptive_gain.enabled": true
+   }
+  },
+  "sim": {
+   "cuda": true,
+   "active_imu": "back",
+   "use_camera": false,
+   "controller_type": "mppi",
+   "baseline": true
+  },
+  "notes": "A26 MPPI sampling rollout stack with adaptive steering gain (SteerGainRLS, 32768 samples, back IMU imu_2, no camera)"
+ },
+ "user": "shay",
+ "notes": "",
+ "where": "ideas",
+ "status": "done",
+ "submitted_at": "2026-11-05T07:41:28.254+00:00",
+ "started_at": "2026-11-05T07:41:28.256+00:00",
+ "finished_at": "2026-11-05T08:37:57.322+00:00",
+ "total": 186,
+ "done": 186,
+ "errors": 147,
+ "build_log": null,
+ "workers": 10,
+ "slurm_id": "661",
+ "slurm_ids": [
+  "4624",
+  "661"
+ ],
+ "engine_version": "bbd85e0dce441d49ae06ba82dddb973a04f86a9fdd0705c67c5e131c98efe8b5"
+}

results/jobs/20261105-024128-A26_MPPI___Adaptive_Gain/summary.json

@@ -0,0 +1,292 @@
+{
+ "cte_p50": {
+  "value": 0.20890318738745103,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.20890318738745103
+  }
+ },
+ "cte_p90": {
+  "value": 0.5996545817232048,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.5996545817232048
+  }
+ },
+ "cte_p99": {
+  "value": 1.2580454697570194,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 1.2580454697570194
+  }
+ },
+ "recovery_rate": {
+  "value": null,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": null
+  }
+ },
+ "recovery_s_median": {
+  "value": null,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": null
+  }
+ },
+ "safety": {
+  "value": 0.8854618600615279,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.8854618600615279
+  }
+ },
+ "unsafe_lat": {
+  "value": 0.0016755840743349763,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0016755840743349763
+  }
+ },
+ "unsafe_rate": {
+  "value": 0.060701841238409666,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.060701841238409666
+  }
+ },
+ "unsafe_travel": {
+  "value": 0.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0
+  }
+ },
+ "unsafe_spin": {
+  "value": 0.00011696447272143521,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.00011696447272143521
+  }
+ },
+ "unsafe_off": {
+  "value": 0.05693177707115536,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.05693177707115536
+  }
+ },
+ "osc_10": {
+  "value": 27.13643323460292,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 27.13643323460292
+  }
+ },
+ "osc_20": {
+  "value": 12.520783736971085,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 12.520783736971085
+  }
+ },
+ "osc_30": {
+  "value": 8.028679332317289,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 8.028679332317289
+  }
+ },
+ "laps_pct": {
+  "value": 53.84615384615385,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 53.84615384615385
+  }
+ },
+ "failures": {
+  "value": 18,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 18
+  }
+ },
+ "loc_rms": {
+  "value": 0.35,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.35
+  }
+ },
+ "loc_p50": {
+  "value": 0.334,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.334
+  }
+ },
+ "loc_p95": {
+  "value": 0.372,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.372
+  }
+ },
+ "loc_p99": {
+  "value": 0.39,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.39
+  }
+ },
+ "best_lap_s": {
+  "value": 72.383,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 72.383
+  }
+ },
+ "lap_time_90": {
+  "value": 98.57,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 98.57
+  }
+ },
+ "lap_time_99": {
+  "value": 105.089,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 105.089
+  }
+ },
+ "lap_time_999": {
+  "value": 105.741,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 105.741
+  }
+ },
+ "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": 60.63,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 60.63
+  }
+ },
+ "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": 51.9,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 51.9
+  }
+ },
+ "score_localization": {
+  "value": 0.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0
+  }
+ },
+ "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": null,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": null
+  }
+ },
+ "composite_score": {
+  "value": 43.2,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 43.2
+  }
+ },
+ "n": {
+  "value": 186,
+  "worst_kart": null,
+  "per_kart": {}
+ },
+ "errors": {
+  "value": 147,
+  "worst_kart": null,
+  "per_kart": {}
+ }
+}

results/leaderboard/2__bbd85e0dce44.json

@@ -186,5 +186,99 @@
    "n": 186,
    "errors": 20
   }
+ },
+ {
+  "job_id": "20261105-024128-A26_MPPI___Adaptive_Gain",
+  "recipe": "A26 MPPI + Adaptive Gain",
+  "notes": "",
+  "user": "shay",
+  "ran_at": "2026-11-05T08:37:57.322+00:00",
+  "duration_s": 3389.066,
+  "cte_p50": 0.20890318738745103,
+  "cte_p90": 0.5996545817232048,
+  "cte_p99": 1.2580454697570194,
+  "recovery_rate": null,
+  "recovery_s_median": null,
+  "safety": 0.8854618600615279,
+  "unsafe_lat": 0.0016755840743349763,
+  "unsafe_rate": 0.060701841238409666,
+  "unsafe_travel": 0.0,
+  "unsafe_spin": 0.00011696447272143521,
+  "unsafe_off": 0.05693177707115536,
+  "osc_10": 27.13643323460292,
+  "osc_20": 12.520783736971085,
+  "osc_30": 8.028679332317289,
+  "laps_pct": 53.84615384615385,
+  "failures": 18,
+  "loc_rms": 0.35,
+  "loc_p50": 0.334,
+  "loc_p95": 0.372,
+  "loc_p99": 0.39,
+  "best_lap_s": 72.383,
+  "lap_time_90": 98.57,
+  "lap_time_99": 105.089,
+  "lap_time_999": 105.741,
+  "learned_to_slide_rate": 0.0,
+  "laps_to_slide": null,
+  "slide_pct_p95": 60.63,
+  "lap_improvement_s": 0.0,
+  "overtake_rate": null,
+  "overtake_s_median": null,
+  "min_clearance_m": null,
+  "collisions": 0,
+  "collision_rate": null,
+  "score_control": 51.9,
+  "score_localization": 0.0,
+  "score_overtake": null,
+  "score_slide": null,
+  "score_endurance": null,
+  "score_clips": null,
+  "composite_score": 43.2,
+  "n": 186,
+  "errors": 147,
+  "worst": {
+   "cte_p50": 0.20890318738745103,
+   "cte_p90": 0.5996545817232048,
+   "cte_p99": 1.2580454697570194,
+   "recovery_rate": null,
+   "recovery_s_median": null,
+   "safety": 0.8854618600615279,
+   "unsafe_lat": 0.0016755840743349763,
+   "unsafe_rate": 0.060701841238409666,
+   "unsafe_travel": 0.0,
+   "unsafe_spin": 0.00011696447272143521,
+   "unsafe_off": 0.05693177707115536,
+   "osc_10": 27.13643323460292,
+   "osc_20": 12.520783736971085,
+   "osc_30": 8.028679332317289,
+   "laps_pct": 53.84615384615385,
+   "failures": 18,
+   "loc_rms": 0.35,
+   "loc_p50": 0.334,
+   "loc_p95": 0.372,
+   "loc_p99": 0.39,
+   "best_lap_s": 72.383,
+   "lap_time_90": 98.57,
+   "lap_time_99": 105.089,
+   "lap_time_999": 105.741,
+   "learned_to_slide_rate": 0.0,
+   "laps_to_slide": null,
+   "slide_pct_p95": 60.63,
+   "lap_improvement_s": 0.0,
+   "overtake_rate": null,
+   "overtake_s_median": null,
+   "min_clearance_m": null,
+   "collisions": 0,
+   "collision_rate": null,
+   "score_control": 51.9,
+   "score_localization": 0.0,
+   "score_overtake": null,
+   "score_slide": null,
+   "score_endurance": null,
+   "score_clips": null,
+   "composite_score": 43.2,
+   "n": 186,
+   "errors": 147
+  }
  }
 ]