results: jobs/20261011-153937-dev-ilqr-model-dyn/** index/episodes.jsonl leaderboard/*

results/jobs/20261011-153937-dev-ilqr-model-dyn/breakdown.json

@@ -0,0 +1,460 @@
+{
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+  }
+ }
+}

results/jobs/20261011-153937-dev-ilqr-model-dyn/episodes.jsonl

@@ -0,0 +1,45 @@
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results/jobs/20261011-153937-dev-ilqr-model-dyn/gautschi/0/episodes.json

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{"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": "dev-ilqr-model-dyn", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-dyn-bicycle", "tree": "f0e2e7777bd8d3c8401c46913bf449a77eb18c5e7c585cbb1bdb8be3a59f306b"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "ilqr.model": "dynamic"}}, "sim": {"cuda": true}, "notes": "model comparison arm B: dynamic single track with combined-slip tyres, rear surface speed as a state"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00263", "speed_cap": 8}, "seed": 130671560, "tier": "smoke", "engine_version": "b37fb519b32e564d2d8a8ea1259cbf2e695ba1a28d93504f20e4c2970a4f6f00"}}, {"key": "a16c4c5ed4fa78f75f57ac24823fe4bfd43d618bc37bf5710d7854dc9832d208", "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": "dev-ilqr-model-dyn", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-dyn-bicycle", "tree": "f0e2e7777bd8d3c8401c46913bf449a77eb18c5e7c585cbb1bdb8be3a59f306b"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "ilqr.model": "dynamic"}}, "sim": {"cuda": true}, "notes": "model comparison arm B: dynamic single track with combined-slip tyres, rear surface speed as a state"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00263", "speed_cap": 10}, "seed": 130671560, "tier": "smoke", "engine_version": "b37fb519b32e564d2d8a8ea1259cbf2e695ba1a28d93504f20e4c2970a4f6f00"}}]

results/jobs/20261011-153937-dev-ilqr-model-dyn/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/20261011-153937-dev-ilqr-model-dyn/job.json

@@ -0,0 +1,40 @@
+{
+ "id": "20261011-153937-dev-ilqr-model-dyn",
+ "tier": "smoke",
+ "tier_version": 3,
+ "recipe": {
+  "name": "dev-ilqr-model-dyn",
+  "source": {
+   "repo": "AutonomousKart",
+   "ref": "worktree:ilqr-dyn-bicycle"
+  },
+  "params": {
+   "pathfinder_node": {
+    "planner": "ilqr",
+    "mpc.num_samples": 16,
+    "ilqr.model": "dynamic"
+   }
+  },
+  "sim": {
+   "cuda": true
+  },
+  "notes": "model comparison arm B: dynamic single track with combined-slip tyres, rear surface speed as a state"
+ },
+ "user": "shay",
+ "notes": "model comparison smoke (ideas10, K buffer fix)",
+ "where": "ideas",
+ "status": "done",
+ "submitted_at": "2026-10-11T22:39:37.967+00:00",
+ "started_at": "2026-10-11T22:39:37.968+00:00",
+ "finished_at": "2026-10-11T22:44:36.667+00:00",
+ "total": 45,
+ "done": 45,
+ "errors": 0,
+ "build_log": null,
+ "workers": 9,
+ "slurm_id": "179594",
+ "slurm_ids": [
+  "179594"
+ ],
+ "engine_version": "b37fb519b32e564d2d8a8ea1259cbf2e695ba1a28d93504f20e4c2970a4f6f00"
+}

results/jobs/20261011-153937-dev-ilqr-model-dyn/summary.json

@@ -0,0 +1,156 @@
+{
+ "cte_p50": {
+  "value": 0.273273615422309,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.2786550426262527,
+   "kart2": 0.2445229805999017,
+   "kart3": 0.2872564358620557
+  }
+ },
+ "cte_p90": {
+  "value": 0.6576173516842071,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.6123217099905206,
+   "kart2": 0.6583477544769951,
+   "kart3": 0.698861297442194
+  }
+ },
+ "cte_p99": {
+  "value": 1.6180827602602061,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 1.5639520005797896,
+   "kart2": 1.7609524605681897,
+   "kart3": 1.6007567958062978
+  }
+ },
+ "recovery_rate": {
+  "value": 1.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 1.0,
+   "kart2": 1.0,
+   "kart3": 1.0
+  }
+ },
+ "recovery_s_median": {
+  "value": 4.0417499999999995,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 4.0417499999999995,
+   "kart2": 3.2917500000000004,
+   "kart3": 4.84175
+  }
+ },
+ "safety": {
+  "value": 0.7170637817747395,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.7247824519849648,
+   "kart2": 0.7459244737928188,
+   "kart3": 0.6840143502772214
+  }
+ },
+ "unsafe_lat": {
+  "value": 1.659255326209597e-05,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 5.149065444621801e-05,
+   "kart2": 0.0,
+   "kart3": 0.0
+  }
+ },
+ "unsafe_rate": {
+  "value": 0.1841773412092653,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.168631893311364,
+   "kart2": 0.18020016508460587,
+   "kart3": 0.20183571728090202
+  }
+ },
+ "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": 0.14055551868321497,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.15344215024972968,
+   "kart2": 0.1116900536524969,
+   "kart3": 0.15496435726599264
+  }
+ },
+ "osc_10": {
+  "value": 41.51953566488957,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 43.64561476518518,
+   "kart2": 36.305417055318,
+   "kart3": 44.30478902747143
+  }
+ },
+ "osc_20": {
+  "value": 18.56499882202238,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 18.672438760055588,
+   "kart2": 11.656028602665764,
+   "kart3": 24.70751793377124
+  }
+ },
+ "osc_30": {
+  "value": 9.209778435016274,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 8.826595837918857,
+   "kart2": 3.0340066216678556,
+   "kart3": 15.134064417785439
+  }
+ },
+ "laps_pct": {
+  "value": 77.77777777777777,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 66.66666666666667,
+   "kart2": 66.66666666666667,
+   "kart3": 100.0
+  }
+ },
+ "failures": {
+  "value": 2,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 1,
+   "kart2": 1,
+   "kart3": 0
+  }
+ },
+ "n": {
+  "value": 45,
+  "worst_kart": null,
+  "per_kart": {}
+ },
+ "errors": {
+  "value": 0,
+  "worst_kart": null,
+  "per_kart": {}
+ }
+}

results/leaderboard/smoke-3__b37fb519b32e.json

@@ -91,52 +91,6 @@
    "errors": 0
   }
  },
- {
-  "job_id": "20261011-131202-dev-ilqr-model-dyn",
-  "recipe": "dev-ilqr-model-dyn",
-  "notes": "model comparison smoke (ideas10)",
-  "user": "shay",
-  "ran_at": "2026-10-11T20:13:10.066+00:00",
-  "duration_s": 67.996,
-  "cte_p50": null,
-  "cte_p90": null,
-  "cte_p99": null,
-  "recovery_rate": null,
-  "recovery_s_median": null,
-  "safety": null,
-  "unsafe_lat": null,
-  "unsafe_rate": null,
-  "unsafe_travel": null,
-  "unsafe_spin": null,
-  "unsafe_off": null,
-  "osc_10": null,
-  "osc_20": null,
-  "osc_30": null,
-  "laps_pct": null,
-  "failures": 0,
-  "n": 45,
-  "errors": 45,
-  "worst": {
-   "cte_p50": null,
-   "cte_p90": null,
-   "cte_p99": null,
-   "recovery_rate": null,
-   "recovery_s_median": null,
-   "safety": null,
-   "unsafe_lat": null,
-   "unsafe_rate": null,
-   "unsafe_travel": null,
-   "unsafe_spin": null,
-   "unsafe_off": null,
-   "osc_10": null,
-   "osc_20": null,
-   "osc_30": null,
-   "laps_pct": null,
-   "failures": null,
-   "n": 45,
-   "errors": 45
-  }
- },
  {
   "job_id": "20261011-131320-dev-ilqr-model-base",
   "recipe": "dev-ilqr-model-base",
@@ -228,5 +182,51 @@
    "n": 45,
    "errors": 0
   }
+ },
+ {
+  "job_id": "20261011-153937-dev-ilqr-model-dyn",
+  "recipe": "dev-ilqr-model-dyn",
+  "notes": "model comparison smoke (ideas10, K buffer fix)",
+  "user": "shay",
+  "ran_at": "2026-10-11T22:44:36.667+00:00",
+  "duration_s": 298.699,
+  "cte_p50": 0.273273615422309,
+  "cte_p90": 0.6576173516842071,
+  "cte_p99": 1.6180827602602061,
+  "recovery_rate": 1.0,
+  "recovery_s_median": 4.0417499999999995,
+  "safety": 0.7170637817747395,
+  "unsafe_lat": 1.659255326209597e-05,
+  "unsafe_rate": 0.1841773412092653,
+  "unsafe_travel": 0.0,
+  "unsafe_spin": 0.0,
+  "unsafe_off": 0.14055551868321497,
+  "osc_10": 41.51953566488957,
+  "osc_20": 18.56499882202238,
+  "osc_30": 9.209778435016274,
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+   "n": 45,
+   "errors": 0
+  }
  }
 ]