results: jobs/20261008-122532-ilqr-tuned-r10000-x2/** index/episodes.jsonl leaderboard/*

results/index/episodes.jsonl

@@ -33905,3 +33905,18 @@
 {"key": "a664c801663279e70e262618fa004f57756785a38dbf67fe9630f0930d109382", "job_id": "20261008-122227-ilqr-tuned-r3000-x2", "shard": "jobs/20261008-122227-ilqr-tuned-r3000-x2/logs/shard-0000.jsonl.gz"}
 {"key": "6c6aac2be5622a6d84c2b5d6de39f897c574c85f9b4b9b7144cf0f7f76c1e1d9", "job_id": "20261008-122232-ilqr-tuned-r1000-x1", "shard": "jobs/20261008-122232-ilqr-tuned-r1000-x1/logs/shard-0000.jsonl.gz"}
 {"key": "f6ee7d25aea80cedc31f0b2df5735b89ce906878f4cc336b6e6f06d1e20e4275", "job_id": "20261008-122232-ilqr-tuned-r1000-x1", "shard": "jobs/20261008-122232-ilqr-tuned-r1000-x1/logs/shard-0000.jsonl.gz"}
+{"key": "7072ad5f1892888ae2c3a060d5cbb1a3fc466a1290db4bbdf1f8568f22fd1511", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}
+{"key": "0e7700c6eb9ecfb7eeb09d12e0829f907ebdf14aa2a6a6285ff33e149e0499be", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}
+{"key": "d14fbc621e11f0b875680171ecb0e293f86b6aebca015fe941dcb24e79ac2660", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}
+{"key": "bf808adae7ab0fed14352e59eb1d7427bc5a4317d6e70dd9955919e161fca66a", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}
+{"key": "3d4b1b9ada6c9db6c4a01ffce858d8f5311957cdcf60f93569f3ace567c659fc", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}
+{"key": "ba43e156ef627819e3e6aec8a46d7d2c13ca70f200bd0431fcfeaff1f9e1a336", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}
+{"key": "7fbef7fb6376be3f32cd35919a9dd3bc18cf74b85aa9067797e2b3acbdcc3e17", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}
+{"key": "991b0fdc242b74ab0cd4cae4ebf10779f525abc24e179a70f7f5875f500f1204", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}
+{"key": "d338c1e4df0d9130d0e63420d31bb028f269d231d9f09aa02c72526df101dc33", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}
+{"key": "65332fc02a30fcfaa5e286300a5f771542cfc7bd3571a400bf46cbbb408983b8", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}
+{"key": "5596d12419dafd3391458d2fd02a52a365fb1e9bb53a4addbaaf25e01a355460", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}
+{"key": "cbc7dd8c0af6660eff082bb551880eade72c018308a92c71ab3f94abf1b47f4d", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}
+{"key": "9a58dc340c44924375fc05f638e1f08fa843cc8706a9d015444cad0eb3f6485e", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}
+{"key": "e7118d99d6e9127c0ceeb91f7bc1beea0e3d64b4c52247124744dbe892830d9c", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}
+{"key": "1b0d43353947250e65835ccc125a49d208ea5dc41cbf37a5f733e6c6dc692ebf", "job_id": "20261008-122532-ilqr-tuned-r10000-x2", "shard": "jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz"}

results/jobs/20261008-122532-ilqr-tuned-r10000-x2/breakdown.json

@@ -0,0 +1,232 @@
+{
+ "laps": {
+  "nominal": {
+   "kart3": {
+    "center": {
+     "cte_p90": 0.5560381057950923,
+     "status": "failed",
+     "cause": "off_track",
+     "key": "d338c1e4df0d9130d0e63420d31bb028f269d231d9f09aa02c72526df101dc33"
+    }
+   },
+   "kart2": {
+    "center": {
+     "cte_p90": 0.44982138999126503,
+     "status": "ok",
+     "cause": null,
+     "key": "e7118d99d6e9127c0ceeb91f7bc1beea0e3d64b4c52247124744dbe892830d9c"
+    }
+   },
+   "kart1": {
+    "center": {
+     "cte_p90": 0.4773952737860959,
+     "status": "failed",
+     "cause": "off_track",
+     "key": "1b0d43353947250e65835ccc125a49d208ea5dc41cbf37a5f733e6c6dc692ebf"
+    }
+   }
+  }
+ },
+ "clips": {
+  "recoverable_failure": {
+   "kart1": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 0.016500000000000625,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "7072ad5f1892888ae2c3a060d5cbb1a3fc466a1290db4bbdf1f8568f22fd1511",
+      "clip_id": "20260520_223739_00263",
+      "recovered": true,
+      "recovery_s": 0.016500000000000625,
+      "peak_cte_after_m": 0.6148745956834896,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart3": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 0.016500000000000625,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "991b0fdc242b74ab0cd4cae4ebf10779f525abc24e179a70f7f5875f500f1204",
+      "clip_id": "20260520_223739_00263",
+      "recovered": true,
+      "recovery_s": 0.016500000000000625,
+      "peak_cte_after_m": 0.8465195455599975,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart2": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 0.016500000000000625,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "9a58dc340c44924375fc05f638e1f08fa843cc8706a9d015444cad0eb3f6485e",
+      "clip_id": "20260520_223739_00263",
+      "recovered": true,
+      "recovery_s": 0.016500000000000625,
+      "peak_cte_after_m": 4.498540459789542,
+      "context_valid": true
+     }
+    ]
+   }
+  },
+  "offset_aligned": {
+   "kart2": {
+    "recovery_rate": null,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 0,
+    "episodes": [
+     {
+      "key": "0e7700c6eb9ecfb7eeb09d12e0829f907ebdf14aa2a6a6285ff33e149e0499be",
+      "clip_id": "20260520_000232_00021",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 3.3850603934002255,
+      "context_valid": false
+     }
+    ]
+   },
+   "kart1": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 1.2499999999999982,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "65332fc02a30fcfaa5e286300a5f771542cfc7bd3571a400bf46cbbb408983b8",
+      "clip_id": "20260520_000232_00021",
+      "recovered": true,
+      "recovery_s": 1.2499999999999982,
+      "peak_cte_after_m": 0.7612221717512478,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart3": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 1.3170000000000002,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "5596d12419dafd3391458d2fd02a52a365fb1e9bb53a4addbaaf25e01a355460",
+      "clip_id": "20260520_000232_00021",
+      "recovered": true,
+      "recovery_s": 1.3170000000000002,
+      "peak_cte_after_m": 0.7544723045874981,
+      "context_valid": true
+     }
+    ]
+   }
+  },
+  "misaligned_on_line": {
+   "kart2": {
+    "recovery_rate": 0.0,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "d14fbc621e11f0b875680171ecb0e293f86b6aebca015fe941dcb24e79ac2660",
+      "clip_id": "20260520_223739_00129",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 0.4031683355994232,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart1": {
+    "recovery_rate": 0.0,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "bf808adae7ab0fed14352e59eb1d7427bc5a4317d6e70dd9955919e161fca66a",
+      "clip_id": "20260520_223739_00129",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 0.3979802680278227,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart3": {
+    "recovery_rate": 0.0,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "3d4b1b9ada6c9db6c4a01ffce858d8f5311957cdcf60f93569f3ace567c659fc",
+      "clip_id": "20260520_223739_00129",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 0.37243720893029797,
+      "context_valid": true
+     }
+    ]
+   }
+  },
+  "oscillation": {
+   "kart1": {
+    "recovery_rate": 0.0,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "ba43e156ef627819e3e6aec8a46d7d2c13ca70f200bd0431fcfeaff1f9e1a336",
+      "clip_id": "20260520_000232_00015",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 2.1641639888079967,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart3": {
+    "recovery_rate": 0.0,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "7fbef7fb6376be3f32cd35919a9dd3bc18cf74b85aa9067797e2b3acbdcc3e17",
+      "clip_id": "20260520_000232_00015",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 2.1637787002434203,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart2": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 5.816500000000001,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "cbc7dd8c0af6660eff082bb551880eade72c018308a92c71ab3f94abf1b47f4d",
+      "clip_id": "20260520_000232_00015",
+      "recovered": true,
+      "recovery_s": 5.816500000000001,
+      "peak_cte_after_m": 2.168378516682729,
+      "context_valid": true
+     }
+    ]
+   }
+  }
+ }
+}

results/jobs/20261008-122532-ilqr-tuned-r10000-x2/gautschi/0/done.txt

@@ -0,0 +1,15 @@
+bf808adae7ab0fed14352e59eb1d7427bc5a4317d6e70dd9955919e161fca66a
+3d4b1b9ada6c9db6c4a01ffce858d8f5311957cdcf60f93569f3ace567c659fc
+7fbef7fb6376be3f32cd35919a9dd3bc18cf74b85aa9067797e2b3acbdcc3e17
+ba43e156ef627819e3e6aec8a46d7d2c13ca70f200bd0431fcfeaff1f9e1a336
+d14fbc621e11f0b875680171ecb0e293f86b6aebca015fe941dcb24e79ac2660
+0e7700c6eb9ecfb7eeb09d12e0829f907ebdf14aa2a6a6285ff33e149e0499be
+991b0fdc242b74ab0cd4cae4ebf10779f525abc24e179a70f7f5875f500f1204
+7072ad5f1892888ae2c3a060d5cbb1a3fc466a1290db4bbdf1f8568f22fd1511
+9a58dc340c44924375fc05f638e1f08fa843cc8706a9d015444cad0eb3f6485e
+5596d12419dafd3391458d2fd02a52a365fb1e9bb53a4addbaaf25e01a355460
+cbc7dd8c0af6660eff082bb551880eade72c018308a92c71ab3f94abf1b47f4d
+65332fc02a30fcfaa5e286300a5f771542cfc7bd3571a400bf46cbbb408983b8
+d338c1e4df0d9130d0e63420d31bb028f269d231d9f09aa02c72526df101dc33
+1b0d43353947250e65835ccc125a49d208ea5dc41cbf37a5f733e6c6dc692ebf
+e7118d99d6e9127c0ceeb91f7bc1beea0e3d64b4c52247124744dbe892830d9c

results/jobs/20261008-122532-ilqr-tuned-r10000-x2/gautschi/0/episodes.json

@@ -0,0 +1 @@
+[{"key": "1b0d43353947250e65835ccc125a49d208ea5dc41cbf37a5f733e6c6dc692ebf", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart1", "condition": "nominal", "recipe": {"name": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "lap", "line": "center", "laps": 1}, "seed": 1397684096, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "e7118d99d6e9127c0ceeb91f7bc1beea0e3d64b4c52247124744dbe892830d9c", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart2", "condition": "nominal", "recipe": {"name": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "lap", "line": "center", "laps": 1}, "seed": 2801664949, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "d338c1e4df0d9130d0e63420d31bb028f269d231d9f09aa02c72526df101dc33", "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": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "lap", "line": "center", "laps": 1}, "seed": 3227499743, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "0e7700c6eb9ecfb7eeb09d12e0829f907ebdf14aa2a6a6285ff33e149e0499be", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart2", "condition": "nominal", "recipe": {"name": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00021"}, "seed": 2332282181, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "65332fc02a30fcfaa5e286300a5f771542cfc7bd3571a400bf46cbbb408983b8", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart1", "condition": "nominal", "recipe": {"name": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00021"}, "seed": 857259744, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "5596d12419dafd3391458d2fd02a52a365fb1e9bb53a4addbaaf25e01a355460", "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": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00021"}, "seed": 4145202149, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "d14fbc621e11f0b875680171ecb0e293f86b6aebca015fe941dcb24e79ac2660", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart2", "condition": "nominal", "recipe": {"name": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00129"}, "seed": 2846753418, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "bf808adae7ab0fed14352e59eb1d7427bc5a4317d6e70dd9955919e161fca66a", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart1", "condition": "nominal", "recipe": {"name": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00129"}, "seed": 4041637991, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "3d4b1b9ada6c9db6c4a01ffce858d8f5311957cdcf60f93569f3ace567c659fc", "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": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00129"}, "seed": 2699967160, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "cbc7dd8c0af6660eff082bb551880eade72c018308a92c71ab3f94abf1b47f4d", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart2", "condition": "nominal", "recipe": {"name": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00015"}, "seed": 3467601907, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "ba43e156ef627819e3e6aec8a46d7d2c13ca70f200bd0431fcfeaff1f9e1a336", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart1", "condition": "nominal", "recipe": {"name": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00015"}, "seed": 3237267125, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "7fbef7fb6376be3f32cd35919a9dd3bc18cf74b85aa9067797e2b3acbdcc3e17", "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": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00015"}, "seed": 1434202505, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "9a58dc340c44924375fc05f638e1f08fa843cc8706a9d015444cad0eb3f6485e", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart2", "condition": "nominal", "recipe": {"name": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00263"}, "seed": 3775292264, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "7072ad5f1892888ae2c3a060d5cbb1a3fc466a1290db4bbdf1f8568f22fd1511", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 1.0}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart1", "condition": "nominal", "recipe": {"name": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00263"}, "seed": 1416345111, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}, {"key": "991b0fdc242b74ab0cd4cae4ebf10779f525abc24e179a70f7f5875f500f1204", "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": "ilqr-tuned-r10000-x2", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-tuned", "tree": "6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 4096, "mpc.adaptive_gain.enabled": true, "ilqr.tuned_weights.w_delta_rate": 10000.0, "ilqr.tuned_weights.w_d": 17.7, "ilqr.tuned_weights.w_heading": 5.94}}, "sim": {}, "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00263"}, "seed": 130671560, "tier": "smoke", "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"}}]

results/jobs/20261008-122532-ilqr-tuned-r10000-x2/gautschi/0/gautschi_launch.py

@@ -0,0 +1,143 @@
+"""Runs on a Gautschi node (stdlib only): episodes from a queue in parallel workers, one contained Apptainer per episode."""
+import argparse
+import json
+import os
+import queue
+import shutil
+import subprocess
+import threading
+import time
+
+RUN = ("source /opt/ros/humble/setup.bash && source /ws/install/setup.bash"
+       " && python3 -m simnode.batch /batch.json /out")
+CUDA_LIB = "/ws/mpc_cuda/libmpc_cuda.so"   # built per stack by runner/gautschi.build_stack for gautschi-gpu
+SAMPLE_S = 15
+STAGGER_S = 0.25   # between worker starts: the dev job's one error was a stack starved in the 96-way start burst
+EPISODE_TIMEOUT_S = 1200   # about 4x the slowest lap; a killed episode has no outcome and is retried by the host
+
+
+def worker_cmd(i, work, out, ep, sif, engine, stack, gpu=None):
+    """Private /tmp, HOME, /dev/shm, IPC, PIDs and loopback per episode, plus a distinct ROS_DOMAIN_ID per worker;
+    gpu (a host CUDA device) adds the driver and the stack's CUDA MPC kernel."""
+    cuda = ["--nv", "--env", f"CUDA_VISIBLE_DEVICES={gpu}", "--env", f"MPC_CUDA_LIB={CUDA_LIB}"] if gpu is not None else []
+    return ["apptainer", "exec", *cuda, "--contain", "--cleanenv", "--ipc", "--pid", "--net", "--network", "none", "--workdir", work,
+            "--env", f"ROS_DOMAIN_ID={i + 1}", "--env", "ROS_HOME=/tmp/ros", "--env", "TMPDIR=/tmp",
+            "--bind", f"{engine}:/opt/sim:ro", "--bind", f"{stack}:/ws:ro", "--bind", f"{out}:/out",
+            "--bind", f"{ep}:/batch.json:ro", sif, "bash", "-lc", RUN]
+
+
+def parse_smi(text):
+    """nvidia-smi 'utilization.gpu, memory.used' csv rows to per-GPU lists."""
+    rows = [[int(v) for v in ln.split(",")] for ln in text.strip().splitlines() if ln.strip()]
+    return {"gpu_util": [r[0] for r in rows], "gpu_mem_mib": [r[1] for r in rows]}
+
+
+def _solver(logdir):
+    """pathfinder's 'MPC solver: ...' and CUDA fallback lines from the episode's ROS logs."""
+    lines = []
+    for dp, _, fns in os.walk(logdir):
+        for fn in fns:
+            try:
+                with open(os.path.join(dp, fn), errors="replace") as f:
+                    lines += [ln.strip() for ln in f if "MPC solver:" in ln or "CUDA MPC unavailable" in ln]
+            except OSError:
+                pass
+    return "\n".join(dict.fromkeys(lines))
+
+
+def main(argv=None):
+    p = argparse.ArgumentParser()
+    for a in ("episodes", "out", "sif", "engine", "stack", "work", "timeline", "done"):
+        p.add_argument("--" + a, required=True)
+    p.add_argument("--workers", type=int, required=True)
+    p.add_argument("--gpus", type=int, default=0)
+    a = p.parse_args(argv)
+    with open(a.episodes) as f:
+        q = queue.Queue()
+        for e in json.load(f):   # the host already ordered them, longest first
+            q.put(e)
+    os.makedirs(a.out, exist_ok=True)
+    lock, t0 = threading.Lock(), time.time()
+    devs = [d for d in os.environ.get("CUDA_VISIBLE_DEVICES", "").split(",") if d][:a.gpus] or [str(n) for n in range(a.gpus)]
+
+    def log(**ev):
+        with lock, open(a.timeline, "a") as f:
+            f.write(json.dumps(dict(ev, t=round(time.time() - t0, 3))) + "\n")
+
+    def worker(i):
+        time.sleep(i * STAGGER_S)
+        while True:
+            try:
+                e = q.get_nowait()
+            except queue.Empty:
+                return
+            key, work = e["key"], os.path.join(a.work, e["key"])
+            stage, ep = os.path.join(work, "stage"), os.path.join(work, "ep.json")
+            os.makedirs(stage)
+            with open(ep, "w") as f:
+                json.dump([e], f)
+            log(ev="start", key=key, worker=i)
+            gpu = devs[i % len(devs)] if devs and e["resolved"].get("recipe", {}).get("sim", {}).get("cuda") else None
+            limit = EPISODE_TIMEOUT_S * max(1, e["resolved"]["scenario"].get("laps", 1))   # per lap: 5-lap episodes run 5x longer
+            try:
+                rc = subprocess.run(worker_cmd(i, work, stage, ep, a.sif, a.engine, a.stack, gpu), stdout=subprocess.DEVNULL,
+                                    stderr=subprocess.DEVNULL, timeout=limit).returncode
+            except subprocess.TimeoutExpired:
+                rc = "timeout"
+            solver = _solver(os.path.join(work, "tmp", "ros", "log"))
+            if solver and os.path.isdir(os.path.join(stage, key)):
+                with open(os.path.join(stage, key, "solver.txt"), "w") as f:
+                    f.write(solver + "\n")
+            if os.path.exists(os.path.join(stage, key, "outcome.json")):
+                tmp, dst = os.path.join(a.out, ".tmp-" + key), os.path.join(a.out, key)
+                shutil.rmtree(tmp, ignore_errors=True)
+                shutil.copytree(os.path.join(stage, key), tmp)
+                shutil.rmtree(dst, ignore_errors=True)
+                os.rename(tmp, dst)   # the host's rsync sees a key only once its directory is complete
+                with lock, open(a.done, "a") as f:
+                    f.write(key + "\n")
+            shutil.rmtree(work, ignore_errors=True)
+            log(ev="end", key=key, worker=i, rc=rc, gpu=gpu,
+                solver=solver.split("MPC solver: ")[-1] if "MPC solver: " in solver else solver or None)
+
+    def sampler(stop):
+        """Job CPU use from its cgroup, as busy cores, every SAMPLE_S."""
+        try:
+            with open("/proc/self/cgroup") as f:
+                path = "/sys/fs/cgroup" + f.read().strip().split(":")[-1] + "/cpu.stat"
+            prev = None
+            while not stop.wait(SAMPLE_S if prev else 0):
+                with open(path) as f:
+                    use = next(int(ln.split()[1]) for ln in f if ln.startswith("usage_usec"))
+                now = time.time()
+                if prev:
+                    log(ev="cpu", busy_cores=round((use - prev[0]) / 1e6 / (now - prev[1]), 2))
+                prev = (use, now)
+        except (OSError, StopIteration, ValueError):
+            pass
+
+    def gpu_sampler(stop):
+        """GPU utilisation and memory of the job's GPUs, every SAMPLE_S."""
+        while not stop.wait(SAMPLE_S):
+            try:
+                p = subprocess.Popen(["nvidia-smi", "--query-gpu=utilization.gpu,memory.used", "--format=csv,noheader,nounits"],
+                                     stdout=subprocess.PIPE, stderr=subprocess.DEVNULL, text=True)
+                log(ev="gpu", **parse_smi(p.communicate(timeout=30)[0]))
+            except Exception:   # no driver or a hung query: skip this sample
+                pass
+
+    cores = len(os.sched_getaffinity(0)) if hasattr(os, "sched_getaffinity") else os.cpu_count()
+    log(ev="launch", workers=a.workers, cores=cores)
+    stop = threading.Event()
+    threads = [threading.Thread(target=worker, args=(i,)) for i in range(a.workers)]
+    samplers = [sampler] + ([gpu_sampler] if a.gpus else [])
+    for t in threads + [threading.Thread(target=f, args=(stop,), daemon=True) for f in samplers]:
+        t.start()
+    for t in threads:
+        t.join()
+    stop.set()
+    log(ev="done")
+
+
+if __name__ == "__main__":
+    main()

results/jobs/20261008-122532-ilqr-tuned-r10000-x2/gautschi/0/sbatch.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+#SBATCH -p highmem -A lilly-rob1 -N 1 -n 1 -c 96 --time 34 -J AutoSim-smoke --comment 20261008-122532-ilqr-tuned-r10000-x2 -o AutoSim/jobs/20261008-122532-ilqr-tuned-r10000-x2/0/slurm-%j.out
+W=/dev/shm/AutoSim-$SLURM_JOB_ID
+trap 'rm -rf "$W"' EXIT
+python3 $HOME/AutoSim/jobs/20261008-122532-ilqr-tuned-r10000-x2/0/gautschi_launch.py --episodes $HOME/AutoSim/jobs/20261008-122532-ilqr-tuned-r10000-x2/0/episodes.json --out /scratch/gautschi/manors/AutoSim/out/20261008-122532-ilqr-tuned-r10000-x2 --sif $HOME/AutoSim/images/AutoSim-99d206f40cb1.sif --engine $HOME/AutoSim/engine/9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3 --stack $HOME/AutoSim/stacks/6fdf37babcd086e56ce216e44552540cc0c70d4563961f1e91b8b50abab970be --workers 15 --work $W --timeline $HOME/AutoSim/jobs/20261008-122532-ilqr-tuned-r10000-x2/0/timeline.jsonl --done $HOME/AutoSim/jobs/20261008-122532-ilqr-tuned-r10000-x2/0/done.txt

results/jobs/20261008-122532-ilqr-tuned-r10000-x2/job.json

@@ -0,0 +1,41 @@
+{
+ "id": "20261008-122532-ilqr-tuned-r10000-x2",
+ "tier": "smoke",
+ "tier_version": 2,
+ "recipe": {
+  "name": "ilqr-tuned-r10000-x2",
+  "source": {
+   "repo": "AutonomousKart",
+   "ref": "worktree:ilqr-tuned"
+  },
+  "params": {
+   "pathfinder_node": {
+    "planner": "ilqr",
+    "mpc.num_samples": 4096,
+    "mpc.adaptive_gain.enabled": true,
+    "ilqr.tuned_weights.w_delta_rate": 10000.0,
+    "ilqr.tuned_weights.w_d": 17.7,
+    "ilqr.tuned_weights.w_heading": 5.94
+   }
+  },
+  "sim": {},
+  "notes": "iLQR sim-in-the-loop sweep: w_delta_rate 10000, lateral/heading x2"
+ },
+ "user": "shay",
+ "notes": "ilqr-tuned-r10000-x2 smoke",
+ "where": "gautschi",
+ "status": "done",
+ "submitted_at": "2026-10-08T16:25:32.910+00:00",
+ "started_at": "2026-10-08T16:25:32.911+00:00",
+ "finished_at": "2026-10-08T16:27:03.083+00:00",
+ "total": 15,
+ "done": 15,
+ "errors": 0,
+ "build_log": null,
+ "workers": 15,
+ "slurm_id": "16907081",
+ "slurm_ids": [
+  "16907081"
+ ],
+ "engine_version": "9468b6d2e43b440756c4f5e2ee7b6fcd221e3f1b7d9724496e70de28f1d0cde3"
+}

results/jobs/20261008-122532-ilqr-tuned-r10000-x2/logs/shard-0000.jsonl.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccf70c03eb8f52149c5e4094b77e81dd09501ab0546194030c94a4e0c26962a2
+size 9953795

results/jobs/20261008-122532-ilqr-tuned-r10000-x2/summary.json

@@ -0,0 +1,156 @@
+{
+ "cte_p50": {
+  "value": 0.1749517978302066,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.17961977840409188,
+   "kart2": 0.1653575477943868,
+   "kart3": 0.1811888924595009
+  }
+ },
+ "cte_p90": {
+  "value": 0.5337907850846771,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.4792188761448763,
+   "kart2": 0.5828744341640026,
+   "kart3": 0.5733805966424602
+  }
+ },
+ "cte_p99": {
+  "value": 2.0619848760038595,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 1.9625050600151193,
+   "kart2": 1.942208098257799,
+   "kart3": 2.161743256980997
+  }
+ },
+ "recovery_rate": {
+  "value": 0.5454545454545454,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.5,
+   "kart2": 0.6666666666666666,
+   "kart3": 0.5
+  }
+ },
+ "recovery_s_median": {
+  "value": 0.6332499999999994,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.6332499999999994,
+   "kart2": 2.916500000000001,
+   "kart3": 0.6667500000000004
+  }
+ },
+ "safety": {
+  "value": 0.702372927059458,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.7401057815064747,
+   "kart2": 0.6640963855421685,
+   "kart3": 0.7124120281509917
+  }
+ },
+ "unsafe_lat": {
+  "value": 0.0056626668464338685,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.008571949662593472,
+   "kart2": 0.0,
+   "kart3": 0.011836212412028152
+  }
+ },
+ "unsafe_rate": {
+  "value": 0.2817176756100849,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.24092650009119096,
+   "kart2": 0.3262650602409638,
+   "kart3": 0.26455534229046707
+  }
+ },
+ "unsafe_travel": {
+  "value": 0.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0,
+   "kart2": 0.0,
+   "kart3": 0.0
+  }
+ },
+ "unsafe_spin": {
+  "value": 0.000471888903869489,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0005471457231442642,
+   "kart2": 0.0001606425702811245,
+   "kart3": 0.0009596928982725527
+  }
+ },
+ "unsafe_off": {
+  "value": 0.041256572738303895,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.03902972825095751,
+   "kart2": 0.03534136546184739,
+   "kart3": 0.05694177863083813
+  }
+ },
+ "osc_10": {
+  "value": 42.051855341059394,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 43.356530832653704,
+   "kart2": 41.75718769150132,
+   "kart3": 40.35024638331384
+  }
+ },
+ "osc_20": {
+  "value": 23.65970046765902,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 23.039781504602495,
+   "kart2": 25.655901573682343,
+   "kart3": 20.771876983795863
+  }
+ },
+ "osc_30": {
+  "value": 12.403648129123054,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 14.94478969162769,
+   "kart2": 12.827950786841171,
+   "kart3": 7.101548566900344
+  }
+ },
+ "laps_pct": {
+  "value": 33.333333333333336,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0,
+   "kart2": 100.0,
+   "kart3": 0.0
+  }
+ },
+ "failures": {
+  "value": 10,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 4,
+   "kart2": 2,
+   "kart3": 4
+  }
+ },
+ "n": {
+  "value": 15,
+  "worst_kart": null,
+  "per_kart": {}
+ },
+ "errors": {
+  "value": 0,
+  "worst_kart": null,
+  "per_kart": {}
+ }
+}

results/leaderboard/smoke-2__9468b6d2e43b.json

@@ -182,5 +182,51 @@
    "n": 15,
    "errors": 0
   }
+ },
+ {
+  "job_id": "20261008-122532-ilqr-tuned-r10000-x2",
+  "recipe": "ilqr-tuned-r10000-x2",
+  "notes": "ilqr-tuned-r10000-x2 smoke",
+  "user": "shay",
+  "ran_at": "2026-10-08T16:27:03.083+00:00",
+  "duration_s": 90.172,
+  "cte_p50": 0.1749517978302066,
+  "cte_p90": 0.5337907850846771,
+  "cte_p99": 2.0619848760038595,
+  "recovery_rate": 0.5454545454545454,
+  "recovery_s_median": 0.6332499999999994,
+  "safety": 0.702372927059458,
+  "unsafe_lat": 0.0056626668464338685,
+  "unsafe_rate": 0.2817176756100849,
+  "unsafe_travel": 0.0,
+  "unsafe_spin": 0.000471888903869489,
+  "unsafe_off": 0.041256572738303895,
+  "osc_10": 42.051855341059394,
+  "osc_20": 23.65970046765902,
+  "osc_30": 12.403648129123054,
+  "laps_pct": 33.333333333333336,
+  "failures": 10,
+  "n": 15,
+  "errors": 0,
+  "worst": {
+   "cte_p50": 0.1811888924595009,
+   "cte_p90": 0.5828744341640026,
+   "cte_p99": 2.161743256980997,
+   "recovery_rate": 0.5,
+   "recovery_s_median": 2.916500000000001,
+   "safety": 0.6640963855421685,
+   "unsafe_lat": 0.011836212412028152,
+   "unsafe_rate": 0.3262650602409638,
+   "unsafe_travel": 0.0,
+   "unsafe_spin": 0.0009596928982725527,
+   "unsafe_off": 0.05694177863083813,
+   "osc_10": 43.356530832653704,
+   "osc_20": 25.655901573682343,
+   "osc_30": 14.94478969162769,
+   "laps_pct": 0.0,
+   "failures": 4,
+   "n": 15,
+   "errors": 0
+  }
  }
 ]