results: jobs/20261010-185329-diag-ilqr-gain/** index/episodes.jsonl leaderboard/*

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"fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 6}, "seed": 1731822051, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}, {"key": "d638275d7e750a11bdca9a5aaf57a44935a06fdc5f0d7f08a9fe0b64695bf188", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 140.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 0.2, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 8}, "seed": 901686615, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}, {"key": "8438ed678b74172a559cf71ba813d8485f55d188e1a7357220e8a0b5fa868bfc", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 140.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 0.2, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 8}, "seed": 3330365966, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}, {"key": "d3069998847ca93bc5d7ea9780f042dda2bcd31023ba7a68c55237b239c4f59d", "resolved": {"kart": {"name": "kart3", "chrono_dir": "chrono/kart3", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 142.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 1.7, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 8}, "seed": 1731822051, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}, {"key": "5b57ef0048eb6d0f852ecbf2aa6769abde573c54ae8c9e17d8c8006d1a5af967", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 140.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 0.2, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 10}, "seed": 901686615, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}, {"key": "5f249ac1fe24ab8c6c896b015e3ed227b3fbd7416353c6fe2016a8847ec8c6cb", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 140.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 0.2, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 10}, "seed": 3330365966, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}, {"key": "988031aa014d1b8de6e01574957c110afed5f8ef8fa46de13e1ed9831ee693ac", "resolved": {"kart": {"name": "kart3", "chrono_dir": "chrono/kart3", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 142.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 1.7, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 10}, "seed": 1731822051, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}]

results/jobs/20261010-185329-diag-ilqr-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/20261010-185329-diag-ilqr-gain/gautschi/0/sbatch.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+#SBATCH -p highmem -A lilly-rob1 -N 1 -n 1 -c 192 --time 45 -J AutoSim-large --comment 20261010-185329-diag-ilqr-gain -o AutoSim/jobs/20261010-185329-diag-ilqr-gain/0/slurm-%j.out
+W=/dev/shm/AutoSim-$SLURM_JOB_ID
+trap 'rm -rf "$W"' EXIT
+python3 $HOME/AutoSim/jobs/20261010-185329-diag-ilqr-gain/0/gautschi_launch.py --episodes $HOME/AutoSim/jobs/20261010-185329-diag-ilqr-gain/0/episodes.json --out /scratch/gautschi/manors/AutoSim/out/20261010-185329-diag-ilqr-gain --sif $HOME/AutoSim/images/AutoSim-99d206f40cb1.sif --engine $HOME/AutoSim/engine/ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8 --stack $HOME/AutoSim/stacks/04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f --workers 9 --work $W --timeline $HOME/AutoSim/jobs/20261010-185329-diag-ilqr-gain/0/timeline.jsonl --done $HOME/AutoSim/jobs/20261010-185329-diag-ilqr-gain/0/done.txt

results/jobs/20261010-185329-diag-ilqr-gain/gautschi/1/done.txt

@@ -0,0 +1,9 @@
+5b57ef0048eb6d0f852ecbf2aa6769abde573c54ae8c9e17d8c8006d1a5af967
+988031aa014d1b8de6e01574957c110afed5f8ef8fa46de13e1ed9831ee693ac
+5f249ac1fe24ab8c6c896b015e3ed227b3fbd7416353c6fe2016a8847ec8c6cb
+d638275d7e750a11bdca9a5aaf57a44935a06fdc5f0d7f08a9fe0b64695bf188
+d3069998847ca93bc5d7ea9780f042dda2bcd31023ba7a68c55237b239c4f59d
+8438ed678b74172a559cf71ba813d8485f55d188e1a7357220e8a0b5fa868bfc
+070505fbf5c5575a47f6c7bd26ea339473f46ac2707793cbab6806710195550c
+9d5e3710cc19217f21370fe91a68c9a4a3de7cc4594e2f22c208263784680689
+68d13b82f28ddf90ae431a6e3de97c9303216354d1bb2209600b2a12fd6ec0ee

results/jobs/20261010-185329-diag-ilqr-gain/gautschi/1/episodes.json

@@ -0,0 +1 @@
+[{"key": "070505fbf5c5575a47f6c7bd26ea339473f46ac2707793cbab6806710195550c", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 140.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 0.2, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 6}, "seed": 901686615, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}, {"key": "68d13b82f28ddf90ae431a6e3de97c9303216354d1bb2209600b2a12fd6ec0ee", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 140.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 0.2, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 6}, "seed": 3330365966, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}, {"key": "9d5e3710cc19217f21370fe91a68c9a4a3de7cc4594e2f22c208263784680689", "resolved": {"kart": {"name": "kart3", "chrono_dir": "chrono/kart3", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 142.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 1.7, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 6}, "seed": 1731822051, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}, {"key": "d638275d7e750a11bdca9a5aaf57a44935a06fdc5f0d7f08a9fe0b64695bf188", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 140.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 0.2, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 8}, "seed": 901686615, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}, {"key": "8438ed678b74172a559cf71ba813d8485f55d188e1a7357220e8a0b5fa868bfc", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 140.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 0.2, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 8}, "seed": 3330365966, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}, {"key": "d3069998847ca93bc5d7ea9780f042dda2bcd31023ba7a68c55237b239c4f59d", "resolved": {"kart": {"name": "kart3", "chrono_dir": "chrono/kart3", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 142.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 1.7, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 8}, "seed": 1731822051, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}, {"key": "5b57ef0048eb6d0f852ecbf2aa6769abde573c54ae8c9e17d8c8006d1a5af967", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 140.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 0.2, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 10}, "seed": 901686615, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}, {"key": "5f249ac1fe24ab8c6c896b015e3ed227b3fbd7416353c6fe2016a8847ec8c6cb", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 140.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 0.2, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 10}, "seed": 3330365966, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}, {"key": "988031aa014d1b8de6e01574957c110afed5f8ef8fa46de13e1ed9831ee693ac", "resolved": {"kart": {"name": "kart3", "chrono_dir": "chrono/kart3", "tyres": {"grip": 1.1}, "frame": {"torsion_scale": 2.0}, "steering_motor": {"rate_dps": 142.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 1.7, "center_offset_deg": 0.0, "position_uncertainty_deg": 0.5}, "actuator": {"latency_ms": 80.0, "drive_tau_s": 0.15375, "steer_latency_ms": 20.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "always_fixed", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 20.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.1, "dlpf_hz": 44}, "wheel": {"white_mps": 0.01, "scale_error": 0.0, "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": "steer_low_kart_low_sensors_low", "recipe": {"name": "diag-ilqr-gain", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/ilqr-fast", "tree": "04b9fd4babb22ac6bc9054b48914fd04cb4b0fdd0f061e9143868303fd91b22f"}, "params": {"pathfinder_node": {"planner": "ilqr", "mpc.num_samples": 16, "mpc.adaptive_gain.enabled": false, "mpc.actuator_gain": 0.62}}, "sim": {}, "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"}, "scenario": {"type": "lap", "line": "line1", "laps": 5, "speed_cap": 10}, "seed": 1731822051, "tier": "large", "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"}}]

results/jobs/20261010-185329-diag-ilqr-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/20261010-185329-diag-ilqr-gain/job.json

@@ -0,0 +1,40 @@
+{
+ "id": "20261010-185329-diag-ilqr-gain",
+ "tier": "large",
+ "tier_version": 3,
+ "recipe": {
+  "name": "diag-ilqr-gain",
+  "source": {
+   "repo": "AutonomousKart",
+   "ref": "worktree:ilqr-fast"
+  },
+  "params": {
+   "pathfinder_node": {
+    "planner": "ilqr",
+    "mpc.num_samples": 16,
+    "mpc.adaptive_gain.enabled": false,
+    "mpc.actuator_gain": 0.62
+   }
+  },
+  "sim": {},
+  "notes": "RCA diagnostic only: steer gain fixed at the measured plant gain (not a proposed setting)"
+ },
+ "user": "shay",
+ "notes": "RCA diagnostic gain",
+ "where": "gautschi",
+ "status": "done",
+ "submitted_at": "2026-10-11T01:53:29.459+00:00",
+ "started_at": "2026-10-11T02:06:27.856+00:00",
+ "finished_at": "2026-10-11T02:41:46.641+00:00",
+ "total": 9,
+ "done": 9,
+ "errors": 2,
+ "build_log": null,
+ "workers": 9,
+ "slurm_id": "3835867",
+ "slurm_ids": [
+  "16945090",
+  "3835867"
+ ],
+ "engine_version": "ded6f8168dff9c052caad6fa1d16ca257ed3716e49b4cd161aa09ae1c01f4af8"
+}

results/jobs/20261010-185329-diag-ilqr-gain/summary.json

@@ -0,0 +1,156 @@
+{
+ "cte_p50": {
+  "value": 0.3234534293922803,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.2768871148678024,
+   "kart2": 0.40332343958404443,
+   "kart3": 0.2401436199640415
+  }
+ },
+ "cte_p90": {
+  "value": 0.6042523422183028,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.5517657998713167,
+   "kart2": 0.6742890703525521,
+   "kart3": 0.5327525141704541
+  }
+ },
+ "cte_p99": {
+  "value": 0.8920831736082043,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.7704811176572219,
+   "kart2": 1.0146380190566187,
+   "kart3": 0.7848378495964787
+  }
+ },
+ "recovery_rate": {
+  "value": null,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": null,
+   "kart2": null,
+   "kart3": null
+  }
+ },
+ "recovery_s_median": {
+  "value": null,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": null,
+   "kart2": null,
+   "kart3": null
+  }
+ },
+ "safety": {
+  "value": 0.8605621358028834,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.824623058610135,
+   "kart2": 0.8876637464641749,
+   "kart3": 0.859213055440395
+  }
+ },
+ "unsafe_lat": {
+  "value": 0.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0,
+   "kart2": 0.0,
+   "kart3": 0.0
+  }
+ },
+ "unsafe_rate": {
+  "value": 0.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0,
+   "kart2": 0.0,
+   "kart3": 0.0
+  }
+ },
+ "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": 0.13943786419711662,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.17537694138986512,
+   "kart2": 0.1123362535358251,
+   "kart3": 0.140786944559605
+  }
+ },
+ "osc_10": {
+  "value": 11.644299884845589,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 12.324392522710788,
+   "kart2": 11.078159785997252,
+   "kart3": 11.742953182382157
+  }
+ },
+ "osc_20": {
+  "value": 0.8174943709639698,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.482524879919085,
+   "kart2": 1.40614336407928,
+   "kart3": 0.34373798665812383
+  }
+ },
+ "osc_30": {
+  "value": 0.08183736620556235,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0,
+   "kart2": 0.20094463721948544,
+   "kart3": 0.0
+  }
+ },
+ "laps_pct": {
+  "value": 100.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 100.0,
+   "kart2": 100.0,
+   "kart3": 100.0
+  }
+ },
+ "failures": {
+  "value": 0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0,
+   "kart2": 0,
+   "kart3": 0
+  }
+ },
+ "n": {
+  "value": 9,
+  "worst_kart": null,
+  "per_kart": {}
+ },
+ "errors": {
+  "value": 2,
+  "worst_kart": null,
+  "per_kart": {}
+ }
+}

results/leaderboard/large-3__ded6f8168dff.json

@@ -182,5 +182,51 @@
    "n": 9,
    "errors": 0
   }
+ },
+ {
+  "job_id": "20261010-185329-diag-ilqr-gain",
+  "recipe": "diag-ilqr-gain",
+  "notes": "RCA diagnostic gain",
+  "user": "shay",
+  "ran_at": "2026-10-11T02:41:46.641+00:00",
+  "duration_s": 2118.785,
+  "cte_p50": 0.3234534293922803,
+  "cte_p90": 0.6042523422183028,
+  "cte_p99": 0.8920831736082043,
+  "recovery_rate": null,
+  "recovery_s_median": null,
+  "safety": 0.8605621358028834,
+  "unsafe_lat": 0.0,
+  "unsafe_rate": 0.0,
+  "unsafe_travel": 0.0,
+  "unsafe_spin": 0.0,
+  "unsafe_off": 0.13943786419711662,
+  "osc_10": 11.644299884845589,
+  "osc_20": 0.8174943709639698,
+  "osc_30": 0.08183736620556235,
+  "laps_pct": 100.0,
+  "failures": 0,
+  "n": 9,
+  "errors": 2,
+  "worst": {
+   "cte_p50": 0.40332343958404443,
+   "cte_p90": 0.6742890703525521,
+   "cte_p99": 1.0146380190566187,
+   "recovery_rate": null,
+   "recovery_s_median": null,
+   "safety": 0.824623058610135,
+   "unsafe_lat": 0.0,
+   "unsafe_rate": 0.0,
+   "unsafe_travel": 0.0,
+   "unsafe_spin": 0.0,
+   "unsafe_off": 0.17537694138986512,
+   "osc_10": 12.324392522710788,
+   "osc_20": 1.40614336407928,
+   "osc_30": 0.20094463721948544,
+   "laps_pct": 100.0,
+   "failures": 0,
+   "n": 9,
+   "errors": 2
+  }
  }
 ]