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ShayManor commited on 9 days ago

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results: jobs/20261105-071530-A27_RL__Large_256x256_/** index/episodes.jsonl leaderboard/*

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results/jobs/20261105-071530-A27_RL__Large_256x256_/breakdown.json +750 -0
results/jobs/20261105-071530-A27_RL__Large_256x256_/episodes.jsonl +6 -0
results/jobs/20261105-071530-A27_RL__Large_256x256_/gautschi/0/done.txt +6 -0
results/jobs/20261105-071530-A27_RL__Large_256x256_/gautschi/0/episodes.json +1 -0
results/jobs/20261105-071530-A27_RL__Large_256x256_/gautschi/0/gautschi_launch.py +145 -0
results/jobs/20261105-071530-A27_RL__Large_256x256_/job.json +50 -0
results/jobs/20261105-071530-A27_RL__Large_256x256_/summary.json +292 -0
results/leaderboard/slide-1__bbd85e0dce44.json +94 -94

results/jobs/20261105-071530-A27_RL__Large_256x256_/breakdown.json ADDED Viewed

	@@ -0,0 +1,750 @@

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+}

results/jobs/20261105-071530-A27_RL__Large_256x256_/episodes.jsonl ADDED Viewed

	@@ -0,0 +1,6 @@

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"tower_cam_stl": "data/cad/twister_tower_cam.stl", "sensor_mounts_json": "data/cad/sensor_mounts.json"}, "mounts": {"antenna": [0.6397, -0.1085, 0.6736], "baseline_m": 0.7626, "baseline_az_deg": 90.0, "active_imu": "back", "use_camera": false, "imu_front": {"name": "imu_1", "label": "IMU 1 (Front Waist / Floorpan)", "parent_body": "chassis_front", "pos_m": [0.9476, 0.0033, 0.0782], "rpy_deg": [0.0, 0.0, 0.0], "mass_kg": 0.045}, "imu_back": {"name": "imu_2", "label": "IMU 2 (Back Rear Crossbar B3)", "parent_body": "chassis_rear", "pos_m": [0.1852, -0.0117, 0.072], "rpy_deg": [0.0, 0.0, 0.0], "mass_kg": 0.045}, "gps_tower": {"name": "gps_tower", "label": "2-ft 80/20 GPS + Camera Tower", "parent_body": "chassis_waist", "x_m": 0.6397, "y_m": -0.1085, "z_base_m": 0.046, "height_m": 0.6096, "profile_width_m": 0.0381, "l_bracket_leg_m": 0.05, "l_bracket_yaw_deg": 0.0, "gps_antenna_xyz_m": [0.6397, -0.1085, 0.6736], "front_camera_xyz_m": [0.6717, -0.1085, 0.6276], "cam_pitch_deg": -14.0, "cam_yaw_deg": 0.0, "cam_fov_v_deg": 58.0, "cam_fov_h_deg": 86.0, "mass_kg": 1.45}}, "power_limit_kw": 14.0, "mechanical_brake": true, "tyres": {"grip": 0.8, "stiffness": 0.85}, "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, "current_per_nm": 0.45, "current_noise_a": 0.08}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "pos_m": [0.6397, -0.1085, 0.6736], "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, "name": "imu_2", "location": "back", "parent_body": "chassis_rear", "pos_m": [0.1852, -0.0117, 0.072], "vibration_scale": 0.3, "dlpf_hz": 0}, "imu2": {"enabled": true, "name": "imu_1", "location": "front", "parent_body": "chassis_front", "pos_m": [0.9476, 0.0033, 0.0782], "vibration_scale": 0.25, "dlpf_hz": 44}, "camera": {"enabled": false, "parent_body": "gps_tower", "pos_m": [0.6717, -0.1085, 0.6276], "pitch_deg": -14.0, "yaw_deg": 0.0, "fov_v_deg": 58.0, "fov_h_deg": 86.0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "slam": {"enabled": false, "rate_hz": 30.0, "latency_ms": 20.0, "pos_sigma_m": 0.015, "yaw_sigma_deg": 0.25, "drift_mps": 0.004}, "gs3d": {"enabled": false, "rate_hz": 15.0, "latency_ms": 35.0, "inlier_prob": 0.92, "inlier_sigma_m": 0.018, "deadband_min_m": 0.08, "deadband_max_m": 0.85, "yaw_sigma_deg": 0.2}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart1", "condition": "noise_medium_tire_low", "recipe": {"name": "A27 RL (Large 256x256)", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AutonomousKart-sim", "tree": "325b5920a3da0c8257d89868909f7be2b56a472ddd5f370def884efc6ea77f8f"}, "params": {"pathfinder_node": {"planner": "rl", "rl.model_size": "large", "mpc.adaptive_gain.enabled": false}}, "sim": {"cuda": true, "active_imu": "back", "use_camera": false, "controller_type": "rl", "rl": {"enabled": true, "model_size": "large", "world_model_arch": "mlp_256x256_z64", "alpha_schedule": "lap_progressive_1_to_0", "safety_shield": true}}, "notes": "A27 online alpha-conditioned TD3+BC RL controller (Large: 256x256 MLP, 64D latent world model) learning off Pure Pursuit and transitioning via alpha parameter"}, "scenario": {"type": "lap", "line": "line1", "laps": 15, "test": "slide"}, "seed": 2201359134, "tier": "slide", "engine_version": "bbd85e0dce441d49ae06ba82dddb973a04f86a9fdd0705c67c5e131c98efe8b5"}}, {"key": "a321b878858d661f5f3f866072758b2e0b9f8a5baaad1c6956418b93bd80ddd1", "resolved": {"kart": {"name": "kart1", "chrono_dir": "chrono/kart", "cad": {"full_kart_stl": "data/cad/twister_full_kart_with_sensors.stl", "bare_kart_stl": "data/cad/twister_kart.stl", "sensor_rig_stl": "data/cad/twister_sensor_rig.stl", "imu_1_stl": "data/cad/twister_imu_1.stl", "imu_2_stl": "data/cad/twister_imu_2.stl", "gps_tower_mast_stl": "data/cad/twister_gps_tower_mast.stl", "gps_puck_stl": "data/cad/twister_gps_puck.stl", "tower_cam_stl": "data/cad/twister_tower_cam.stl", "sensor_mounts_json": "data/cad/sensor_mounts.json"}, "mounts": {"antenna": [0.6397, -0.1085, 0.6736], "baseline_m": 0.7626, "baseline_az_deg": 90.0, "active_imu": "back", "use_camera": false, "imu_front": {"name": "imu_1", "label": "IMU 1 (Front Waist / Floorpan)", "parent_body": "chassis_front", "pos_m": [0.9476, 0.0033, 0.0782], "rpy_deg": [0.0, 0.0, 0.0], "mass_kg": 0.045}, "imu_back": {"name": "imu_2", "label": "IMU 2 (Back Rear Crossbar B3)", "parent_body": "chassis_rear", "pos_m": [0.1852, -0.0117, 0.072], "rpy_deg": [0.0, 0.0, 0.0], "mass_kg": 0.045}, "gps_tower": {"name": "gps_tower", "label": "2-ft 80/20 GPS + Camera Tower", "parent_body": "chassis_waist", "x_m": 0.6397, "y_m": -0.1085, "z_base_m": 0.046, "height_m": 0.6096, "profile_width_m": 0.0381, "l_bracket_leg_m": 0.05, "l_bracket_yaw_deg": 0.0, "gps_antenna_xyz_m": [0.6397, -0.1085, 0.6736], "front_camera_xyz_m": [0.6717, -0.1085, 0.6276], "cam_pitch_deg": -14.0, "cam_yaw_deg": 0.0, "cam_fov_v_deg": 58.0, "cam_fov_h_deg": 86.0, "mass_kg": 1.45}}, "power_limit_kw": 14.0, "mechanical_brake": true, "tyres": {"grip": 0.8, "stiffness": 0.85}, "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, "current_per_nm": 0.45, "current_noise_a": 0.08}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "pos_m": [0.6397, -0.1085, 0.6736], "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, "name": "imu_2", "location": "back", "parent_body": "chassis_rear", "pos_m": [0.1852, -0.0117, 0.072], "vibration_scale": 0.3, "dlpf_hz": 0}, "imu2": {"enabled": true, "name": "imu_1", "location": "front", "parent_body": "chassis_front", "pos_m": [0.9476, 0.0033, 0.0782], "vibration_scale": 0.25, "dlpf_hz": 44}, "camera": {"enabled": false, "parent_body": "gps_tower", "pos_m": [0.6717, -0.1085, 0.6276], "pitch_deg": -14.0, "yaw_deg": 0.0, "fov_v_deg": 58.0, "fov_h_deg": 86.0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "slam": {"enabled": false, "rate_hz": 30.0, "latency_ms": 20.0, "pos_sigma_m": 0.015, "yaw_sigma_deg": 0.25, "drift_mps": 0.004}, "gs3d": {"enabled": false, "rate_hz": 15.0, "latency_ms": 35.0, "inlier_prob": 0.92, "inlier_sigma_m": 0.018, "deadband_min_m": 0.08, "deadband_max_m": 0.85, "yaw_sigma_deg": 0.2}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart1", "condition": "noise_medium_tire_low", "recipe": {"name": "A27 RL (Large 256x256)", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AutonomousKart-sim", "tree": "325b5920a3da0c8257d89868909f7be2b56a472ddd5f370def884efc6ea77f8f"}, "params": {"pathfinder_node": {"planner": "rl", "rl.model_size": "large", "mpc.adaptive_gain.enabled": false}}, "sim": {"cuda": true, "active_imu": "back", "use_camera": false, "controller_type": "rl", "rl": {"enabled": true, "model_size": "large", "world_model_arch": "mlp_256x256_z64", "alpha_schedule": "lap_progressive_1_to_0", "safety_shield": true}}, "notes": "A27 online alpha-conditioned TD3+BC RL controller (Large: 256x256 MLP, 64D latent world model) learning off Pure Pursuit and transitioning via alpha parameter"}, "scenario": {"type": "lap", "line": "line3_less_aggressive", "laps": 15, "test": "slide"}, "seed": 3677877041, "tier": "slide", "engine_version": "bbd85e0dce441d49ae06ba82dddb973a04f86a9fdd0705c67c5e131c98efe8b5"}}]

results/jobs/20261105-071530-A27_RL__Large_256x256_/gautschi/0/gautschi_launch.py ADDED Viewed

	@@ -0,0 +1,145 @@

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

results/jobs/20261105-071530-A27_RL__Large_256x256_/job.json ADDED Viewed

	@@ -0,0 +1,50 @@

+{
+ "id": "20261105-071530-A27_RL__Large_256x256_",
+ "tier": "slide",
+ "tier_version": 1,
+ "recipe": {
+  "name": "A27 RL (Large 256x256)",
+  "source": {
+   "repo": "AutonomousKart",
+   "ref": "worktree:AutonomousKart-sim"
+  },
+  "params": {
+   "pathfinder_node": {
+    "planner": "rl",
+    "rl.model_size": "large",
+    "mpc.adaptive_gain.enabled": false
+   }
+  },
+  "sim": {
+   "cuda": true,
+   "active_imu": "back",
+   "use_camera": false,
+   "controller_type": "rl",
+   "rl": {
+    "enabled": true,
+    "model_size": "large",
+    "world_model_arch": "mlp_256x256_z64",
+    "alpha_schedule": "lap_progressive_1_to_0",
+    "safety_shield": true
+   }
+  },
+  "notes": "A27 online alpha-conditioned TD3+BC RL controller (Large: 256x256 MLP, 64D latent world model) learning off Pure Pursuit and transitioning via alpha parameter"
+ },
+ "user": "shay",
+ "notes": "",
+ "where": "ideas",
+ "status": "done",
+ "submitted_at": "2026-11-05T12:15:30.423+00:00",
+ "started_at": "2026-11-05T12:15:30.424+00:00",
+ "finished_at": "2026-11-05T12:59:06.946+00:00",
+ "total": 6,
+ "done": 6,
+ "errors": 0,
+ "build_log": null,
+ "workers": 4,
+ "slurm_id": "19310",
+ "slurm_ids": [
+  "19310"
+ ],
+ "engine_version": "bbd85e0dce441d49ae06ba82dddb973a04f86a9fdd0705c67c5e131c98efe8b5"
+}

results/jobs/20261105-071530-A27_RL__Large_256x256_/summary.json ADDED Viewed

	@@ -0,0 +1,292 @@

+{
+ "cte_p50": {
+  "value": 0.769834904675004,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.769834904675004
+  }
+ },
+ "cte_p90": {
+  "value": 1.7014876002586563,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 1.7014876002586563
+  }
+ },
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results/leaderboard/slide-1__bbd85e0dce44.json CHANGED Viewed

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