results: jobs/20261011-202958-dev-ilqr-steer-learn-estfix/** index/episodes.jsonl leaderboard/*

results/jobs/20261011-202958-dev-ilqr-steer-learn-estfix/gautschi/0/done.txt

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results/jobs/20261011-202958-dev-ilqr-steer-learn-estfix/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/20261011-202958-dev-ilqr-steer-learn-estfix/job.json

@@ -0,0 +1,132 @@
+{
+ "id": "20261011-202958-dev-ilqr-steer-learn-estfix",
+ "tier": "dev",
+ "tier_version": 2,
+ "recipe": {
+  "name": "dev-ilqr-steer-learn-estfix",
+  "source": {
+   "repo": "AutonomousKart",
+   "ref": "worktree:ilqr-steer-learn-estfix"
+  },
+  "params": {
+   "pathfinder_node": {
+    "planner": "ilqr",
+    "mpc.num_samples": 16,
+    "mpc.use_steer_map": true,
+    "mpc.steer_map_cmd_deg": [
+     -60.0,
+     -30.0,
+     -18.0,
+     -15.0,
+     -12.0,
+     -9.0,
+     -6.0,
+     -3.0,
+     0.0,
+     3.0,
+     6.0,
+     9.0,
+     12.0,
+     15.0,
+     18.0,
+     30.0,
+     60.0
+    ],
+    "mpc.adaptive_gain.map": true,
+    "mpc.adaptive_gain.understeer": false
+   }
+  },
+  "sim": {
+   "cuda": true
+  },
+  "notes": "dev-ilqr-steer-learn with the steady-state gate on the learned map's RLS (0.5 s, 1.5 deg): samples only once the command has held, the held command is the regressor",
+  "params_by_kart": {
+   "kart1": {
+    "pathfinder_node": {
+     "mpc.steer_map_wheel_deg": [
+      -38.112,
+      -19.056,
+      -11.4336,
+      -9.528,
+      -7.6224,
+      -5.7168,
+      -3.8112,
+      -1.9056,
+      0.0,
+      1.9056,
+      3.8112,
+      5.7168,
+      7.6224,
+      9.528,
+      11.4336,
+      19.056,
+      38.112
+     ]
+    }
+   },
+   "kart2": {
+    "pathfinder_node": {
+     "mpc.steer_map_wheel_deg": [
+      -21.408,
+      -10.704,
+      -6.4224,
+      -5.352,
+      -4.2816,
+      -3.2112,
+      -2.1408,
+      -1.0704,
+      0.0,
+      1.0704,
+      2.1408,
+      3.2112,
+      4.2816,
+      5.352,
+      6.4224,
+      10.704,
+      21.408
+     ]
+    }
+   },
+   "kart3": {
+    "pathfinder_node": {
+     "mpc.steer_map_wheel_deg": [
+      -32.19,
+      -16.095,
+      -9.657,
+      -8.0475,
+      -6.438,
+      -4.8285,
+      -3.219,
+      -1.6095,
+      0.0,
+      1.6095,
+      3.219,
+      4.8285,
+      6.438,
+      8.0475,
+      9.657,
+      16.095,
+      32.19
+     ]
+    }
+   }
+  }
+ },
+ "user": "shay",
+ "notes": "learned estfix",
+ "where": "ideas",
+ "status": "done",
+ "submitted_at": "2026-10-12T03:29:58.880+00:00",
+ "started_at": "2026-10-12T03:29:58.881+00:00",
+ "finished_at": "2026-10-12T04:39:35.981+00:00",
+ "total": 558,
+ "done": 558,
+ "errors": 0,
+ "build_log": null,
+ "workers": 9,
+ "slurm_id": "530037",
+ "slurm_ids": [
+  "530037"
+ ],
+ "engine_version": "b37fb519b32e564d2d8a8ea1259cbf2e695ba1a28d93504f20e4c2970a4f6f00"
+}

results/jobs/20261011-202958-dev-ilqr-steer-learn-estfix/summary.json

@@ -0,0 +1,156 @@
+{
+ "cte_p50": {
+  "value": 0.22918577082556743,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.23272633048587993,
+   "kart2": 0.23411721176882305,
+   "kart3": 0.22066726901135372
+  }
+ },
+ "cte_p90": {
+  "value": 0.5044433698555211,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.48342856536090756,
+   "kart2": 0.5391203209874035,
+   "kart3": 0.4932290894289952
+  }
+ },
+ "cte_p99": {
+  "value": 0.9616440652587871,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.8654417816912763,
+   "kart2": 1.0792807583818087,
+   "kart3": 0.9631000181105045
+  }
+ },
+ "recovery_rate": {
+  "value": 0.9790419161676647,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.9821428571428571,
+   "kart2": 0.9716981132075472,
+   "kart3": 0.9827586206896551
+  }
+ },
+ "recovery_s_median": {
+  "value": 1.799999999999999,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 1.4750000000000005,
+   "kart2": 2.4335000000000004,
+   "kart3": 2.14175
+  }
+ },
+ "safety": {
+  "value": 0.8389273396992234,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.8614388670995242,
+   "kart2": 0.8118433584228752,
+   "kart3": 0.8432336777015602
+  }
+ },
+ "unsafe_lat": {
+  "value": 0.0001051075710297245,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 8.514331542576944e-05,
+   "kart2": 0.0,
+   "kart3": 0.00023536887048125507
+  }
+ },
+ "unsafe_rate": {
+  "value": 0.09651533991819758,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.06574803437958905,
+   "kart2": 0.12783353404345246,
+   "kart3": 0.09654676091753171
+  }
+ },
+ "unsafe_travel": {
+  "value": 0.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0,
+   "kart2": 0.0,
+   "kart3": 0.0
+  }
+ },
+ "unsafe_spin": {
+  "value": 3.7538418224901532e-06,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 5.493117124243211e-06,
+   "kart2": 0.0,
+   "kart3": 5.811577048919878e-06
+  }
+ },
+ "unsafe_off": {
+  "value": 0.07391940188786955,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.07869348040238909,
+   "kart2": 0.07236478185717334,
+   "kart3": 0.07048280644930066
+  }
+ },
+ "osc_10": {
+  "value": 28.640888768965844,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 28.37601620196416,
+   "kart2": 26.534208663698916,
+   "kart3": 31.10861214293825
+  }
+ },
+ "osc_20": {
+  "value": 12.645381825555848,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 11.945091485166074,
+   "kart2": 10.213468793738366,
+   "kart3": 15.91147530632222
+  }
+ },
+ "osc_30": {
+  "value": 5.786925004306983,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 5.387319515268195,
+   "kart2": 3.893135872493639,
+   "kart3": 8.176134617000045
+  }
+ },
+ "laps_pct": {
+  "value": 91.2280701754386,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 94.73684210526316,
+   "kart2": 96.49122807017544,
+   "kart3": 82.45614035087719
+  }
+ },
+ "failures": {
+  "value": 20,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 5,
+   "kart2": 3,
+   "kart3": 12
+  }
+ },
+ "n": {
+  "value": 558,
+  "worst_kart": null,
+  "per_kart": {}
+ },
+ "errors": {
+  "value": 0,
+  "worst_kart": null,
+  "per_kart": {}
+ }
+}

results/leaderboard/2__b37fb519b32e.json

@@ -320,5 +320,51 @@
    "n": 558,
    "errors": 0
   }
+ },
+ {
+  "job_id": "20261011-202958-dev-ilqr-steer-learn-estfix",
+  "recipe": "dev-ilqr-steer-learn-estfix",
+  "notes": "learned estfix",
+  "user": "shay",
+  "ran_at": "2026-10-12T04:39:35.981+00:00",
+  "duration_s": 4177.1,
+  "cte_p50": 0.22918577082556743,
+  "cte_p90": 0.5044433698555211,
+  "cte_p99": 0.9616440652587871,
+  "recovery_rate": 0.9790419161676647,
+  "recovery_s_median": 1.799999999999999,
+  "safety": 0.8389273396992234,
+  "unsafe_lat": 0.0001051075710297245,
+  "unsafe_rate": 0.09651533991819758,
+  "unsafe_travel": 0.0,
+  "unsafe_spin": 3.7538418224901532e-06,
+  "unsafe_off": 0.07391940188786955,
+  "osc_10": 28.640888768965844,
+  "osc_20": 12.645381825555848,
+  "osc_30": 5.786925004306983,
+  "laps_pct": 91.2280701754386,
+  "failures": 20,
+  "n": 558,
+  "errors": 0,
+  "worst": {
+   "cte_p50": 0.23411721176882305,
+   "cte_p90": 0.5391203209874035,
+   "cte_p99": 1.0792807583818087,
+   "recovery_rate": 0.9716981132075472,
+   "recovery_s_median": 2.4335000000000004,
+   "safety": 0.8118433584228752,
+   "unsafe_lat": 0.00023536887048125507,
+   "unsafe_rate": 0.12783353404345246,
+   "unsafe_travel": 0.0,
+   "unsafe_spin": 5.811577048919878e-06,
+   "unsafe_off": 0.07869348040238909,
+   "osc_10": 31.10861214293825,
+   "osc_20": 15.91147530632222,
+   "osc_30": 8.176134617000045,
+   "laps_pct": 82.45614035087719,
+   "failures": 12,
+   "n": 558,
+   "errors": 0
+  }
  }
 ]