results: jobs/20261007-211238-idea-gps-tov/** index/episodes.jsonl leaderboard/*

results/index/episodes.jsonl

@@ -25728,31 +25728,31 @@
 {"key": "b457afec971e2c14e31cea4a8673d12e78ca41792b054752c0ecbb2ec4ba0e79", "job_id": "20261007-210303-base", "shard": null}
 {"key": "0ec5076e95cd51f75ccbff92d4a13e6be9fa715cda075227492b3d28c606441f", "job_id": "20261007-210303-base", "shard": null}
 {"key": "f5a8284686c919fd69f2813ccf55936b71ed003eb5ad088867eb09a329eca38a", "job_id": "20261007-211427-idea-speed-profile", "shard": null}
-{"key": "82553e1d219d0d5307610db748f8a19b5b2bb9953e6e0ed32353477ca15b3fd8", "job_id": "20261007-211238-idea-gps-tov", "shard": null}
-{"key": "4bebb6362360d67edc95e14f20a6e5717112f4de50d9c4f8854133b2fbf26c09", "job_id": "20261007-211238-idea-gps-tov", "shard": null}
+{"key": "82553e1d219d0d5307610db748f8a19b5b2bb9953e6e0ed32353477ca15b3fd8", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}
+{"key": "4bebb6362360d67edc95e14f20a6e5717112f4de50d9c4f8854133b2fbf26c09", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}
 {"key": "cc78fafe7583f8e17ecdb7406d165bfd29f95c12f7fc53d3fa811b5b81b79f80", "job_id": "20261007-210303-base", "shard": null}
 {"key": "d70d4c7fa37916d1f051dc9fa2141aa0eb41cfc7528c7040278eaf2b376e32a4", "job_id": "20261007-210303-base", "shard": null}
-{"key": "bf20a62dea10ca045f4bc8c47b161d19c84a52ac3a3029540c39e3c8182ae08e", "job_id": "20261007-211238-idea-gps-tov", "shard": null}
+{"key": "bf20a62dea10ca045f4bc8c47b161d19c84a52ac3a3029540c39e3c8182ae08e", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}
 {"key": "2164fcbc952a39a9d0683ee506b70bab648eb693ed9d02ad0174a7a973eb6b1b", "job_id": "20261007-210303-base", "shard": null}
-{"key": "312973067458314642fd605fedf3f79d910dcd1de1f3deea06336be8d21131db", "job_id": "20261007-211238-idea-gps-tov", "shard": null}
+{"key": "312973067458314642fd605fedf3f79d910dcd1de1f3deea06336be8d21131db", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}
 {"key": "5377a222fbe2ffb4597aaed5349ddcd514a48e0b42e6c620130448c3029558b7", "job_id": "20261007-211427-idea-speed-profile", "shard": null}
-{"key": "4b39b4f163f08f11f5e4e65c871a937004b20853d5f883808da6d167cd8ad08a", "job_id": "20261007-211238-idea-gps-tov", "shard": null}
-{"key": "4e9db674a35ecf8e961dc3a7fa8d220081daf4043fbdce14e534335fbcc2e88c", "job_id": "20261007-211238-idea-gps-tov", "shard": null}
-{"key": "d92ce2ff1f2b1c814b7fb86c327d0996b8fbbc341a57547c58c7e12b65eaa96d", "job_id": "20261007-211238-idea-gps-tov", "shard": null}
+{"key": "4b39b4f163f08f11f5e4e65c871a937004b20853d5f883808da6d167cd8ad08a", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}
+{"key": "4e9db674a35ecf8e961dc3a7fa8d220081daf4043fbdce14e534335fbcc2e88c", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}
+{"key": "d92ce2ff1f2b1c814b7fb86c327d0996b8fbbc341a57547c58c7e12b65eaa96d", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}
 {"key": "67a57326795175b766be362a8c80eba68f2b41fe6ad4b47a7eb28bd8085ca5a9", "job_id": "20261007-210303-base", "shard": null}
 {"key": "9f2191760309fa0356b5d00caa25072fc4e7aea50b4429dfac1e936a19b0c7b6", "job_id": "20261007-210303-base", "shard": null}
-{"key": "4ec592c008c70eb28bdebf2b308a7650e18a245667057b0633d1f585dbc3ebaf", "job_id": "20261007-211238-idea-gps-tov", "shard": null}
-{"key": "cad377d9d7677dfd3ee90ea3c750674cf03473f5ecb5fd54f15fd24e84de713b", "job_id": "20261007-211238-idea-gps-tov", "shard": null}
+{"key": "4ec592c008c70eb28bdebf2b308a7650e18a245667057b0633d1f585dbc3ebaf", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}
+{"key": "cad377d9d7677dfd3ee90ea3c750674cf03473f5ecb5fd54f15fd24e84de713b", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}
 {"key": "b55a7e7317566597bfbfa94d3fc8359d64caf2bcda004f104322771b0873a152", "job_id": "20261007-210303-base", "shard": null}
 {"key": "a427577f59228a5338d2470bfa7573a47dfceb3e4998d293c0f547f1db00ea0d", "job_id": "20261007-210303-base", "shard": null}
-{"key": "1a75993bb26d0dc979c94966726b6a5f86aa566fee4204ca2ea6ae05618f43a3", "job_id": "20261007-211238-idea-gps-tov", "shard": null}
+{"key": "1a75993bb26d0dc979c94966726b6a5f86aa566fee4204ca2ea6ae05618f43a3", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}
 {"key": "63f83654ce274c0b0e9ce9d2a6d9614e74a6e8297b1ded1143db693e5b14db44", "job_id": "20261007-210303-base", "shard": null}
 {"key": "5d72bb082d0af7601e0c3a1999fc317a2dac6fe543386c89a735886fd5fdae41", "job_id": "20261007-211427-idea-speed-profile", "shard": null}
 {"key": "f526d8ad5a26e7a2fc89b498ea084e1ceb84c24961328c574276d2798710e4d9", "job_id": "20261007-211427-idea-speed-profile", "shard": null}
 {"key": "3ccce53461d70a0c5bb8dea72324c0daea2d363329ec634c0ab43158eb13bd1b", "job_id": "20261007-210303-base", "shard": null}
 {"key": "bfb62166112d1359e3654df8b177df006b0f3edecb53cd1fa1c7f5ab653f5376", "job_id": "20261007-211427-idea-speed-profile", "shard": null}
-{"key": "ad8822340aac45a301f94ee2a8b1808de0c44d86db1c65fc1b5a7561fffce6b5", "job_id": "20261007-211238-idea-gps-tov", "shard": null}
-{"key": "4df11ceb81616c71072857afa3624da4afd622770b03e8ee7dbdf6987b9705fe", "job_id": "20261007-211238-idea-gps-tov", "shard": null}
+{"key": "ad8822340aac45a301f94ee2a8b1808de0c44d86db1c65fc1b5a7561fffce6b5", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}
+{"key": "4df11ceb81616c71072857afa3624da4afd622770b03e8ee7dbdf6987b9705fe", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}
 {"key": "49bf323b291603eee93b4592cc19bfcc88a2b0255c079493eae976f396aedd04", "job_id": "20261007-210303-base", "shard": null}
 {"key": "94f218d51367fe40eff17e1212180fd760c28f751d51aceb2ecdecc377b7aca1", "job_id": "20261007-210910-base-cpu", "shard": "jobs/20261007-210910-base-cpu/logs/shard-0000.jsonl.gz"}
 {"key": "7a26b3553d4d601394b7bd072b14ea1c1737fed9989ccc94e1978b85fd880510", "job_id": "20261007-210303-base", "shard": null}
@@ -25762,3 +25762,6 @@
 {"key": "f82a97bc73315237cde46774152d2a215f40dd1341623246160e96e148496e24", "job_id": "20261007-210910-base-cpu", "shard": "jobs/20261007-210910-base-cpu/logs/shard-0000.jsonl.gz"}
 {"key": "1d11d2fa11c2a1d1e0372cd7f96c7dde0ede4312e94c13299e19ba4ba6ad028e", "job_id": "20261007-211427-idea-speed-profile", "shard": null}
 {"key": "415ebcc46130e918fb7a2ea20dcbc97840346c5c275a5917865484af4c8c9d1e", "job_id": "20261007-210303-base", "shard": null}
+{"key": "3cf7f12c2b2907e6ddd2773474890f4fbc638c6a1f7f5991f69fd70936d8d1df", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}
+{"key": "a17d336ae8704992ca6d949698afa9a90f87d3ee4bad3111935cc647113a3b5b", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}
+{"key": "b9540e357b15cd4bada212dc88f31cf2e109459c409b9d8847279e46aeb5ee58", "job_id": "20261007-211238-idea-gps-tov", "shard": "jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz"}

results/jobs/20261007-211238-idea-gps-tov/breakdown.json

@@ -0,0 +1,232 @@
+{
+ "laps": {
+  "nominal": {
+   "kart1": {
+    "center": {
+     "cte_p90": 0.870651220950203,
+     "status": "ok",
+     "cause": null,
+     "key": "82553e1d219d0d5307610db748f8a19b5b2bb9953e6e0ed32353477ca15b3fd8"
+    }
+   },
+   "kart3": {
+    "center": {
+     "cte_p90": 0.7200564346167949,
+     "status": "ok",
+     "cause": null,
+     "key": "4bebb6362360d67edc95e14f20a6e5717112f4de50d9c4f8854133b2fbf26c09"
+    }
+   },
+   "kart2": {
+    "center": {
+     "cte_p90": 0.4714607346874281,
+     "status": "ok",
+     "cause": null,
+     "key": "bf20a62dea10ca045f4bc8c47b161d19c84a52ac3a3029540c39e3c8182ae08e"
+    }
+   }
+  }
+ },
+ "clips": {
+  "offset_aligned": {
+   "kart2": {
+    "recovery_rate": null,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 0,
+    "episodes": [
+     {
+      "key": "312973067458314642fd605fedf3f79d910dcd1de1f3deea06336be8d21131db",
+      "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": 3.5999999999999996,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "4b39b4f163f08f11f5e4e65c871a937004b20853d5f883808da6d167cd8ad08a",
+      "clip_id": "20260520_000232_00021",
+      "recovered": true,
+      "recovery_s": 3.5999999999999996,
+      "peak_cte_after_m": 0.7612221717512478,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart3": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 3.083500000000001,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "4e9db674a35ecf8e961dc3a7fa8d220081daf4043fbdce14e534335fbcc2e88c",
+      "clip_id": "20260520_000232_00021",
+      "recovered": true,
+      "recovery_s": 3.083500000000001,
+      "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": "d92ce2ff1f2b1c814b7fb86c327d0996b8fbbc341a57547c58c7e12b65eaa96d",
+      "clip_id": "20260520_223739_00129",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 2.6148760338830193,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart1": {
+    "recovery_rate": 0.0,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "4ec592c008c70eb28bdebf2b308a7650e18a245667057b0633d1f585dbc3ebaf",
+      "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": "cad377d9d7677dfd3ee90ea3c750674cf03473f5ecb5fd54f15fd24e84de713b",
+      "clip_id": "20260520_223739_00129",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 0.37243720893029797,
+      "context_valid": true
+     }
+    ]
+   }
+  },
+  "oscillation": {
+   "kart2": {
+    "recovery_rate": 0.0,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "1a75993bb26d0dc979c94966726b6a5f86aa566fee4204ca2ea6ae05618f43a3",
+      "clip_id": "20260520_000232_00015",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 2.9874490669381575,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart3": {
+    "recovery_rate": 0.0,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "ad8822340aac45a301f94ee2a8b1808de0c44d86db1c65fc1b5a7561fffce6b5",
+      "clip_id": "20260520_000232_00015",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 2.1637787002434203,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart1": {
+    "recovery_rate": 0.0,
+    "median_recovery_s": null,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "4df11ceb81616c71072857afa3624da4afd622770b03e8ee7dbdf6987b9705fe",
+      "clip_id": "20260520_000232_00015",
+      "recovered": false,
+      "recovery_s": null,
+      "peak_cte_after_m": 2.1641639888079967,
+      "context_valid": true
+     }
+    ]
+   }
+  },
+  "recoverable_failure": {
+   "kart2": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 0.016500000000000625,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "3cf7f12c2b2907e6ddd2773474890f4fbc638c6a1f7f5991f69fd70936d8d1df",
+      "clip_id": "20260520_223739_00263",
+      "recovered": true,
+      "recovery_s": 0.016500000000000625,
+      "peak_cte_after_m": 2.6570069242422383,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart3": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 0.016500000000000625,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "a17d336ae8704992ca6d949698afa9a90f87d3ee4bad3111935cc647113a3b5b",
+      "clip_id": "20260520_223739_00263",
+      "recovered": true,
+      "recovery_s": 0.016500000000000625,
+      "peak_cte_after_m": 1.4784990961708897,
+      "context_valid": true
+     }
+    ]
+   },
+   "kart1": {
+    "recovery_rate": 1.0,
+    "median_recovery_s": 2.433,
+    "n": 1,
+    "n_valid": 1,
+    "episodes": [
+     {
+      "key": "b9540e357b15cd4bada212dc88f31cf2e109459c409b9d8847279e46aeb5ee58",
+      "clip_id": "20260520_223739_00263",
+      "recovered": true,
+      "recovery_s": 2.433,
+      "peak_cte_after_m": 2.2042349892076882,
+      "context_valid": true
+     }
+    ]
+   }
+  }
+ }
+}

results/jobs/20261007-211238-idea-gps-tov/gautschi/0/done.txt

@@ -0,0 +1,15 @@
+82553e1d219d0d5307610db748f8a19b5b2bb9953e6e0ed32353477ca15b3fd8
+4bebb6362360d67edc95e14f20a6e5717112f4de50d9c4f8854133b2fbf26c09
+bf20a62dea10ca045f4bc8c47b161d19c84a52ac3a3029540c39e3c8182ae08e
+312973067458314642fd605fedf3f79d910dcd1de1f3deea06336be8d21131db
+4b39b4f163f08f11f5e4e65c871a937004b20853d5f883808da6d167cd8ad08a
+4e9db674a35ecf8e961dc3a7fa8d220081daf4043fbdce14e534335fbcc2e88c
+d92ce2ff1f2b1c814b7fb86c327d0996b8fbbc341a57547c58c7e12b65eaa96d
+4ec592c008c70eb28bdebf2b308a7650e18a245667057b0633d1f585dbc3ebaf
+cad377d9d7677dfd3ee90ea3c750674cf03473f5ecb5fd54f15fd24e84de713b
+1a75993bb26d0dc979c94966726b6a5f86aa566fee4204ca2ea6ae05618f43a3
+4df11ceb81616c71072857afa3624da4afd622770b03e8ee7dbdf6987b9705fe
+ad8822340aac45a301f94ee2a8b1808de0c44d86db1c65fc1b5a7561fffce6b5
+3cf7f12c2b2907e6ddd2773474890f4fbc638c6a1f7f5991f69fd70936d8d1df
+b9540e357b15cd4bada212dc88f31cf2e109459c409b9d8847279e46aeb5ee58
+a17d336ae8704992ca6d949698afa9a90f87d3ee4bad3111935cc647113a3b5b

results/jobs/20261007-211238-idea-gps-tov/gautschi/0/episodes.json

@@ -0,0 +1 @@
+[{"key": "82553e1d219d0d5307610db748f8a19b5b2bb9953e6e0ed32353477ca15b3fd8", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "lap", "line": "center", "laps": 1}, "seed": 1397684096, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}, {"key": "bf20a62dea10ca045f4bc8c47b161d19c84a52ac3a3029540c39e3c8182ae08e", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "lap", "line": "center", "laps": 1}, "seed": 2801664949, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}, {"key": "4bebb6362360d67edc95e14f20a6e5717112f4de50d9c4f8854133b2fbf26c09", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "lap", "line": "center", "laps": 1}, "seed": 3227499743, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}, {"key": "312973067458314642fd605fedf3f79d910dcd1de1f3deea06336be8d21131db", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00021"}, "seed": 2332282181, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}, {"key": "4b39b4f163f08f11f5e4e65c871a937004b20853d5f883808da6d167cd8ad08a", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00021"}, "seed": 857259744, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}, {"key": "4e9db674a35ecf8e961dc3a7fa8d220081daf4043fbdce14e534335fbcc2e88c", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00021"}, "seed": 4145202149, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}, {"key": "d92ce2ff1f2b1c814b7fb86c327d0996b8fbbc341a57547c58c7e12b65eaa96d", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00129"}, "seed": 2846753418, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}, {"key": "4ec592c008c70eb28bdebf2b308a7650e18a245667057b0633d1f585dbc3ebaf", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00129"}, "seed": 4041637991, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}, {"key": "cad377d9d7677dfd3ee90ea3c750674cf03473f5ecb5fd54f15fd24e84de713b", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00129"}, "seed": 2699967160, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}, {"key": "1a75993bb26d0dc979c94966726b6a5f86aa566fee4204ca2ea6ae05618f43a3", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00015"}, "seed": 3467601907, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}, {"key": "4df11ceb81616c71072857afa3624da4afd622770b03e8ee7dbdf6987b9705fe", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00015"}, "seed": 3237267125, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}, {"key": "ad8822340aac45a301f94ee2a8b1808de0c44d86db1c65fc1b5a7561fffce6b5", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "clip", "clip_id": "20260520_000232_00015"}, "seed": 1434202505, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}, {"key": "3cf7f12c2b2907e6ddd2773474890f4fbc638c6a1f7f5991f69fd70936d8d1df", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00263"}, "seed": 3775292264, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}, {"key": "b9540e357b15cd4bada212dc88f31cf2e109459c409b9d8847279e46aeb5ee58", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00263"}, "seed": 1416345111, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}, {"key": "a17d336ae8704992ca6d949698afa9a90f87d3ee4bad3111935cc647113a3b5b", "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": "idea-gps-tov", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AK-ideas/gps-tov", "tree": "84bead5e6bf6729583c0ad7df6b8490b10d2e0b2dea705d9a896695683903258"}, "params": {"pathfinder_node": {"mpc.num_samples": 4096}}, "sim": {"cuda": true}, "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"}, "scenario": {"type": "clip", "clip_id": "20260520_223739_00263"}, "seed": 130671560, "tier": "smoke", "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"}}]

results/jobs/20261007-211238-idea-gps-tov/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/20261007-211238-idea-gps-tov/job.json

@@ -0,0 +1,38 @@
+{
+ "id": "20261007-211238-idea-gps-tov",
+ "tier": "smoke",
+ "tier_version": 2,
+ "recipe": {
+  "name": "idea-gps-tov",
+  "source": {
+   "repo": "AutonomousKart",
+   "ref": "worktree:gps-tov"
+  },
+  "params": {
+   "pathfinder_node": {
+    "mpc.num_samples": 4096
+   }
+  },
+  "sim": {
+   "cuda": true
+  },
+  "notes": "GPS fused at its NMEA UTC time of validity (online latency estimate, EKF rewind and replay), VTG in the same epoch"
+ },
+ "user": "shay",
+ "notes": "gps-tov smoke",
+ "where": "ideas",
+ "status": "done",
+ "submitted_at": "2026-10-08T01:12:38.755+00:00",
+ "started_at": "2026-10-08T01:12:38.756+00:00",
+ "finished_at": "2026-10-08T01:19:22.312+00:00",
+ "total": 15,
+ "done": 15,
+ "errors": 0,
+ "build_log": null,
+ "workers": 3,
+ "slurm_id": "374379",
+ "slurm_ids": [
+  "374379"
+ ],
+ "engine_version": "8ed3f9d53ba24ba24c621b7ab6ef469ad0560c0bdc5381145928d3517459bfce"
+}

results/jobs/20261007-211238-idea-gps-tov/logs/shard-0000.jsonl.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b33711cb76351a04497264ee449ddb9b27d541e8d2f6ef070b59e998174ca524
+size 12193733

results/jobs/20261007-211238-idea-gps-tov/summary.json

@@ -0,0 +1,156 @@
+{
+ "cte_p50": {
+  "value": 0.24561025220165952,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.30713950403342555,
+   "kart2": 0.2097868525061397,
+   "kart3": 0.24098256873693755
+  }
+ },
+ "cte_p90": {
+  "value": 0.8232409996227288,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.8872732148670335,
+   "kart2": 1.1163867318841383,
+   "kart3": 0.7223453266633779
+  }
+ },
+ "cte_p99": {
+  "value": 2.2857292969638867,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 1.6684489740953343,
+   "kart2": 2.5577596826452,
+   "kart3": 1.4179256525270671
+  }
+ },
+ "recovery_rate": {
+  "value": 0.45454545454545453,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.5,
+   "kart2": 0.3333333333333333,
+   "kart3": 0.5
+  }
+ },
+ "recovery_s_median": {
+  "value": 2.433,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 3.0164999999999997,
+   "kart2": 0.016500000000000625,
+   "kart3": 1.5500000000000007
+  }
+ },
+ "safety": {
+  "value": 0.786777607969661,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.8080105925190334,
+   "kart2": 0.7473626773372136,
+   "kart3": 0.8012077688917905
+  }
+ },
+ "unsafe_lat": {
+  "value": 0.0032263542197317036,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.003806686527639855,
+   "kart2": 0.0,
+   "kart3": 0.00554920842173984
+  }
+ },
+ "unsafe_rate": {
+  "value": 0.18497764193128433,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.1552466070837471,
+   "kart2": 0.21917060749363404,
+   "kart3": 0.18361351395462708
+  }
+ },
+ "unsafe_travel": {
+  "value": 0.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.0,
+   "kart2": 0.0,
+   "kart3": 0.0
+  }
+ },
+ "unsafe_spin": {
+  "value": 0.00022641082243731253,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.00033101621979477,
+   "kart2": 0.0,
+   "kart3": 0.0003264240248082259
+  }
+ },
+ "unsafe_off": {
+  "value": 0.04731986188939832,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 0.05395564382654751,
+   "kart2": 0.05674790833030193,
+   "kart3": 0.03231597845601437
+  }
+ },
+ "osc_10": {
+  "value": 41.29393219112842,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 43.28471195640478,
+   "kart2": 36.79716261492223,
+   "kart3": 43.365900167002735
+  }
+ },
+ "osc_20": {
+  "value": 17.293125325955142,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 15.898322724907343,
+   "kart2": 15.15288053123352,
+   "kart3": 20.589104303743667
+  }
+ },
+ "osc_30": {
+  "value": 7.816173780730971,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 6.153811193499053,
+   "kart2": 8.124293443898598,
+   "kart3": 9.178986387873067
+  }
+ },
+ "laps_pct": {
+  "value": 100.0,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 100.0,
+   "kart2": 100.0,
+   "kart3": 100.0
+  }
+ },
+ "failures": {
+  "value": 9,
+  "worst_kart": null,
+  "per_kart": {
+   "kart1": 3,
+   "kart2": 3,
+   "kart3": 3
+  }
+ },
+ "n": {
+  "value": 15,
+  "worst_kart": null,
+  "per_kart": {}
+ },
+ "errors": {
+  "value": 0,
+  "worst_kart": null,
+  "per_kart": {}
+ }
+}

results/leaderboard/smoke-2__8ed3f9d53ba2.json

@@ -0,0 +1,48 @@
+[
+ {
+  "job_id": "20261007-211238-idea-gps-tov",
+  "recipe": "idea-gps-tov",
+  "notes": "gps-tov smoke",
+  "user": "shay",
+  "ran_at": "2026-10-08T01:19:22.312+00:00",
+  "duration_s": 403.556,
+  "cte_p50": 0.24561025220165952,
+  "cte_p90": 0.8232409996227288,
+  "cte_p99": 2.2857292969638867,
+  "recovery_rate": 0.45454545454545453,
+  "recovery_s_median": 2.433,
+  "safety": 0.786777607969661,
+  "unsafe_lat": 0.0032263542197317036,
+  "unsafe_rate": 0.18497764193128433,
+  "unsafe_travel": 0.0,
+  "unsafe_spin": 0.00022641082243731253,
+  "unsafe_off": 0.04731986188939832,
+  "osc_10": 41.29393219112842,
+  "osc_20": 17.293125325955142,
+  "osc_30": 7.816173780730971,
+  "laps_pct": 100.0,
+  "failures": 9,
+  "n": 15,
+  "errors": 0,
+  "worst": {
+   "cte_p50": 0.30713950403342555,
+   "cte_p90": 1.1163867318841383,
+   "cte_p99": 2.5577596826452,
+   "recovery_rate": 0.3333333333333333,
+   "recovery_s_median": 3.0164999999999997,
+   "safety": 0.7473626773372136,
+   "unsafe_lat": 0.00554920842173984,
+   "unsafe_rate": 0.21917060749363404,
+   "unsafe_travel": 0.0,
+   "unsafe_spin": 0.00033101621979477,
+   "unsafe_off": 0.05674790833030193,
+   "osc_10": 43.365900167002735,
+   "osc_20": 20.589104303743667,
+   "osc_30": 9.178986387873067,
+   "laps_pct": 100.0,
+   "failures": 3,
+   "n": 15,
+   "errors": 0
+  }
+ }
+]