results: jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/** index/episodes.jsonl leaderboard/*
Browse files- results/jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/breakdown.json +4233 -0
- results/jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/episodes.jsonl +6 -0
- results/jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/gautschi/0/done.txt +6 -0
- results/jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/gautschi/0/episodes.json +1 -0
- results/jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/gautschi/0/gautschi_launch.py +145 -0
- results/jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/job.json +52 -0
- results/jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/summary.json +292 -0
- results/leaderboard/slide-1__bbd85e0dce44.json +60 -60
results/jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/breakdown.json
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|
| 1 |
+
{
|
| 2 |
+
"laps": {
|
| 3 |
+
"noise_medium_tire_high": {
|
| 4 |
+
"kart1": {
|
| 5 |
+
"line3_less_aggressive": {
|
| 6 |
+
"cte_p90": 1.7810656244712653,
|
| 7 |
+
"best_lap_s": 51.42,
|
| 8 |
+
"loc_p95": 0.593,
|
| 9 |
+
"slide_pct_p95": 56.43,
|
| 10 |
+
"overtake_completed": null,
|
| 11 |
+
"test": "slide",
|
| 12 |
+
"status": "ok",
|
| 13 |
+
"cause": null,
|
| 14 |
+
"key": "9f17345f90053f2cd29064967b0add07474aea9434b4bc8b117982419e2770d0"
|
| 15 |
+
},
|
| 16 |
+
"line1": {
|
| 17 |
+
"cte_p90": 1.419328981519056,
|
| 18 |
+
"best_lap_s": 51.93,
|
| 19 |
+
"loc_p95": 0.596,
|
| 20 |
+
"slide_pct_p95": 58.11,
|
| 21 |
+
"overtake_completed": null,
|
| 22 |
+
"test": "slide",
|
| 23 |
+
"status": "ok",
|
| 24 |
+
"cause": null,
|
| 25 |
+
"key": "14cc349d4b192d5a315c80144c9dc7c26ed453e2161a171e541c67da5c6d5da6"
|
| 26 |
+
}
|
| 27 |
+
}
|
| 28 |
+
},
|
| 29 |
+
"noise_medium_tire_medium": {
|
| 30 |
+
"kart1": {
|
| 31 |
+
"line3_less_aggressive": {
|
| 32 |
+
"cte_p90": 1.8228741266471356,
|
| 33 |
+
"best_lap_s": 51.84,
|
| 34 |
+
"loc_p95": 0.594,
|
| 35 |
+
"slide_pct_p95": 65.6,
|
| 36 |
+
"overtake_completed": null,
|
| 37 |
+
"test": "slide",
|
| 38 |
+
"status": "ok",
|
| 39 |
+
"cause": null,
|
| 40 |
+
"key": "3173cfe8cef23adacdc17ffdbe68f5db3f8cdad323354d7602f2ca6151c69e0b"
|
| 41 |
+
},
|
| 42 |
+
"line1": {
|
| 43 |
+
"cte_p90": 1.441316822104365,
|
| 44 |
+
"best_lap_s": 52.39,
|
| 45 |
+
"loc_p95": 0.591,
|
| 46 |
+
"slide_pct_p95": 67.73,
|
| 47 |
+
"overtake_completed": null,
|
| 48 |
+
"test": "slide",
|
| 49 |
+
"status": "ok",
|
| 50 |
+
"cause": null,
|
| 51 |
+
"key": "31674c2183fbd960a0cc707d3ea8d6dedec5390b3cca59acc601bafecaefddd4"
|
| 52 |
+
}
|
| 53 |
+
}
|
| 54 |
+
},
|
| 55 |
+
"noise_medium_tire_low": {
|
| 56 |
+
"kart1": {
|
| 57 |
+
"line1": {
|
| 58 |
+
"cte_p90": 1.4678265999465607,
|
| 59 |
+
"best_lap_s": 59.697,
|
| 60 |
+
"loc_p95": 0.47,
|
| 61 |
+
"slide_pct_p95": 66.87,
|
| 62 |
+
"overtake_completed": null,
|
| 63 |
+
"test": "slide",
|
| 64 |
+
"status": "failed",
|
| 65 |
+
"cause": "spin",
|
| 66 |
+
"key": "6ce2f230d56a6cbe69c3e6642fc1f268fcc64543cee4530247c1e7f8cc98f463"
|
| 67 |
+
},
|
| 68 |
+
"line3_less_aggressive": {
|
| 69 |
+
"cte_p90": 1.9902113564852995,
|
| 70 |
+
"best_lap_s": 59.047,
|
| 71 |
+
"loc_p95": 0.463,
|
| 72 |
+
"slide_pct_p95": 65.59,
|
| 73 |
+
"overtake_completed": null,
|
| 74 |
+
"test": "slide",
|
| 75 |
+
"status": "failed",
|
| 76 |
+
"cause": "spin",
|
| 77 |
+
"key": "238cd5acbfaacc0cc4fe8ea756b2d4cd7c0018ef340576f6a9494c96e2d0fbcc"
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
}
|
| 81 |
+
},
|
| 82 |
+
"clips": {},
|
| 83 |
+
"grid_3x3": {
|
| 84 |
+
"medium_high": {
|
| 85 |
+
"noise": "medium",
|
| 86 |
+
"tire": "high",
|
| 87 |
+
"episodes": [
|
| 88 |
+
{
|
| 89 |
+
"key": "9f17345f90053f2cd29064967b0add07474aea9434b4bc8b117982419e2770d0",
|
| 90 |
+
"line": "line3_less_aggressive",
|
| 91 |
+
"test": "slide",
|
| 92 |
+
"status": "ok",
|
| 93 |
+
"cause": null,
|
| 94 |
+
"cte_p90": 1.7810656244712653,
|
| 95 |
+
"best_lap_s": 51.42,
|
| 96 |
+
"safety": 0.6162571351576471,
|
| 97 |
+
"laps_completed": 100,
|
| 98 |
+
"laps_attempted": 100,
|
| 99 |
+
"overtake_completed": null
|
| 100 |
+
},
|
| 101 |
+
{
|
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| 1862 |
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| 1863 |
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| 1864 |
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| 1872 |
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| 1873 |
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| 1888 |
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| 1889 |
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| 1890 |
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| 1892 |
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| 1893 |
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| 1894 |
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|
| 1897 |
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| 1898 |
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| 1899 |
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| 1900 |
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| 1903 |
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| 1906 |
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| 1907 |
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| 1908 |
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| 1910 |
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|
| 1911 |
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|
| 1912 |
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|
| 1913 |
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| 1914 |
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|
| 1915 |
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| 1916 |
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| 1917 |
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| 1918 |
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| 1919 |
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|
| 1920 |
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|
| 1921 |
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|
| 1922 |
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|
| 1923 |
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|
| 1924 |
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|
| 1925 |
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|
| 1926 |
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|
| 1927 |
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|
| 1928 |
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|
| 1929 |
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|
| 1930 |
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|
| 1931 |
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| 1932 |
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| 1933 |
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|
| 1934 |
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| 1935 |
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| 1936 |
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| 1937 |
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|
| 1938 |
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|
| 1939 |
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|
| 1940 |
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| 1941 |
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|
| 1942 |
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| 1943 |
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| 1944 |
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| 1945 |
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| 1946 |
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| 1947 |
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| 1948 |
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| 1949 |
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| 1950 |
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|
| 1951 |
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|
| 1952 |
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| 1953 |
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| 1954 |
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| 1955 |
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|
| 1956 |
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|
| 1957 |
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| 1958 |
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|
| 1959 |
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|
| 1960 |
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| 1961 |
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| 1962 |
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| 1963 |
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| 1964 |
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|
| 1965 |
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| 1966 |
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| 1969 |
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| 1970 |
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| 1971 |
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| 1972 |
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| 1973 |
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| 1980 |
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| 1982 |
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| 4135 |
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| 4136 |
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| 4144 |
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| 4145 |
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| 4146 |
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| 4147 |
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| 4148 |
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| 4153 |
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| 4154 |
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| 4162 |
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| 4163 |
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| 4171 |
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| 4172 |
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| 4173 |
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| 4181 |
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| 4190 |
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| 4191 |
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| 4192 |
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| 4193 |
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| 4198 |
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| 4199 |
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{
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| 4200 |
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| 4201 |
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| 4202 |
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| 4203 |
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| 4205 |
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|
| 4206 |
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|
| 4207 |
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|
| 4208 |
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]
|
| 4209 |
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}
|
| 4210 |
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],
|
| 4211 |
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"tests": {
|
| 4212 |
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"slide": {
|
| 4213 |
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|
| 4214 |
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| 4215 |
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| 4216 |
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| 4217 |
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| 4218 |
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| 4219 |
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| 4220 |
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| 4221 |
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|
| 4222 |
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|
| 4223 |
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"overtake_rate": null,
|
| 4224 |
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|
| 4225 |
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|
| 4226 |
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|
| 4227 |
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"laps_to_slide": 16.0,
|
| 4228 |
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|
| 4229 |
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"recovery_rate": null,
|
| 4230 |
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|
| 4231 |
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}
|
| 4232 |
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}
|
| 4233 |
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}
|
results/jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/episodes.jsonl
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
| 1 |
+
{"key": "9f17345f90053f2cd29064967b0add07474aea9434b4bc8b117982419e2770d0", "kart_name": "kart1", "condition": "noise_medium_tire_high", "scenario": {"type": "lap", "line": "line3_less_aggressive", "laps": 100, "test": "slide"}, "status": "ok", "cause": null, "context_valid": null, "laps_completed": 100, "laps_attempted": 100, "wall_s": 19485.295330432, "sim_s": 5450.6335, "t_end": 5450.6335, "handoff_t": 8.1, "overtake_completed": null, "overtake_time_s": null, "min_clearance_m": null, "auto_s": 6531.039999845561, "cte_hist": [593, 40, 66, 51, 62, 64, 66, 71, 95, 90, 79, 97, 86, 129, 118, 127, 140, 140, 183, 168, 174, 196, 229, 244, 249, 276, 266, 332, 358, 330, 405, 458, 450, 493, 558, 617, 610, 666, 748, 807, 924, 948, 1066, 1187, 1258, 1434, 1697, 1684, 1660, 1761, 1782, 1903, 2287, 2340, 2015, 2109, 2253, 2280, 2260, 2248, 2380, 2434, 2263, 2400, 3044, 4198, 4238, 4106, 4736, 6625, 9170, 5551, 2408, 2960, 2925, 1339, 747, 710, 511, 79, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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| 2 |
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|
| 3 |
+
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|
| 4 |
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|
| 5 |
+
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| 6 |
+
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results/jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/gautschi/0/done.txt
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9f17345f90053f2cd29064967b0add07474aea9434b4bc8b117982419e2770d0
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3173cfe8cef23adacdc17ffdbe68f5db3f8cdad323354d7602f2ca6151c69e0b
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31674c2183fbd960a0cc707d3ea8d6dedec5390b3cca59acc601bafecaefddd4
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6ce2f230d56a6cbe69c3e6642fc1f268fcc64543cee4530247c1e7f8cc98f463
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238cd5acbfaacc0cc4fe8ea756b2d4cd7c0018ef340576f6a9494c96e2d0fbcc
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results/jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/gautschi/0/episodes.json
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100 Laps)", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AutonomousKart-sim", "tree": "65c342824279b7f4d31abee7cfd552933291b56cb9ad8a198b772e890af9c7bc"}, "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", "laps_override": 100, "rl": {"enabled": true, "model_size": "large", "world_model_arch": "mlp_256x256_z64", "alpha_schedule": "lap_progressive_1_to_0", "safety_shield": true, "laps": 100}}, "notes": "100-lap long-horizon RL progression test with A27 RL Large (256x256 MLP, 64D latent world model, online TD3+BC + per-sector speed envelope learning)"}, "scenario": {"type": "lap", "line": "line1", "laps": 100, "test": "slide"}, "seed": 2201359134, "tier": "slide", "engine_version": "bbd85e0dce441d49ae06ba82dddb973a04f86a9fdd0705c67c5e131c98efe8b5"}}, {"key": "238cd5acbfaacc0cc4fe8ea756b2d4cd7c0018ef340576f6a9494c96e2d0fbcc", "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 - 100 Laps)", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AutonomousKart-sim", "tree": "65c342824279b7f4d31abee7cfd552933291b56cb9ad8a198b772e890af9c7bc"}, "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", "laps_override": 100, "rl": {"enabled": true, "model_size": "large", "world_model_arch": "mlp_256x256_z64", "alpha_schedule": "lap_progressive_1_to_0", "safety_shield": true, "laps": 100}}, "notes": "100-lap long-horizon RL progression test with A27 RL Large (256x256 MLP, 64D latent world model, online TD3+BC + per-sector speed envelope learning)"}, "scenario": {"type": "lap", "line": "line3_less_aggressive", "laps": 100, "test": "slide"}, "seed": 3677877041, "tier": "slide", "engine_version": "bbd85e0dce441d49ae06ba82dddb973a04f86a9fdd0705c67c5e131c98efe8b5"}}]
|
results/jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/gautschi/0/gautschi_launch.py
ADDED
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@@ -0,0 +1,145 @@
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| 1 |
+
"""Runs on a Gautschi node (stdlib only): episodes from a queue in parallel workers, one contained Apptainer per episode."""
|
| 2 |
+
import argparse
|
| 3 |
+
import json
|
| 4 |
+
import os
|
| 5 |
+
import queue
|
| 6 |
+
import shutil
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| 7 |
+
import subprocess
|
| 8 |
+
import threading
|
| 9 |
+
import time
|
| 10 |
+
|
| 11 |
+
RUN = ("source /opt/ros/humble/setup.bash && source /ws/install/setup.bash"
|
| 12 |
+
" && python3 -m simnode.batch /batch.json /out")
|
| 13 |
+
CUDA_LIB = "/ws/mpc_cuda/libmpc_cuda.so" # built per stack by runner/gautschi.build_stack for gautschi-gpu
|
| 14 |
+
SAMPLE_S = 15
|
| 15 |
+
STAGGER_S = 0.25 # between worker starts: the dev job's one error was a stack starved in the 96-way start burst
|
| 16 |
+
EPISODE_TIMEOUT_S = 1200 # about 4x the slowest lap; a killed episode has no outcome and is retried by the host
|
| 17 |
+
|
| 18 |
+
|
| 19 |
+
def worker_cmd(i, work, out, ep, sif, engine, stack, gpu=None):
|
| 20 |
+
"""Private /tmp, HOME, /dev/shm, IPC, PIDs and loopback per episode, plus a distinct ROS_DOMAIN_ID per worker;
|
| 21 |
+
gpu (a host CUDA device) adds the driver and the stack's CUDA MPC kernel."""
|
| 22 |
+
cuda = ["--nv", "--env", f"CUDA_VISIBLE_DEVICES={gpu}", "--env", f"MPC_CUDA_LIB={CUDA_LIB}"] if gpu is not None else []
|
| 23 |
+
if gpu is None and os.path.exists(os.path.join(stack, "mpc_cuda", "libmpc_cuda.so")):
|
| 24 |
+
cuda = ["--env", f"MPC_CUDA_LIB={CUDA_LIB}"] # CPU node: the library's native iLQR solve still loads; its MPPI falls back to numpy
|
| 25 |
+
return ["apptainer", "exec", *cuda, "--contain", "--cleanenv", "--ipc", "--pid", "--net", "--network", "none", "--workdir", work,
|
| 26 |
+
"--env", f"ROS_DOMAIN_ID={i + 1}", "--env", "ROS_HOME=/tmp/ros", "--env", "TMPDIR=/tmp",
|
| 27 |
+
"--bind", f"{engine}:/opt/sim:ro", "--bind", f"{stack}:/ws:ro", "--bind", f"{out}:/out",
|
| 28 |
+
"--bind", f"{ep}:/batch.json:ro", sif, "bash", "-lc", RUN]
|
| 29 |
+
|
| 30 |
+
|
| 31 |
+
def parse_smi(text):
|
| 32 |
+
"""nvidia-smi 'utilization.gpu, memory.used' csv rows to per-GPU lists."""
|
| 33 |
+
rows = [[int(v) for v in ln.split(",")] for ln in text.strip().splitlines() if ln.strip()]
|
| 34 |
+
return {"gpu_util": [r[0] for r in rows], "gpu_mem_mib": [r[1] for r in rows]}
|
| 35 |
+
|
| 36 |
+
|
| 37 |
+
def _solver(logdir):
|
| 38 |
+
"""pathfinder's 'MPC solver: ...' and CUDA fallback lines from the episode's ROS logs."""
|
| 39 |
+
lines = []
|
| 40 |
+
for dp, _, fns in os.walk(logdir):
|
| 41 |
+
for fn in fns:
|
| 42 |
+
try:
|
| 43 |
+
with open(os.path.join(dp, fn), errors="replace") as f:
|
| 44 |
+
lines += [ln.strip() for ln in f if "MPC solver:" in ln or "CUDA MPC unavailable" in ln]
|
| 45 |
+
except OSError:
|
| 46 |
+
pass
|
| 47 |
+
return "\n".join(dict.fromkeys(lines))
|
| 48 |
+
|
| 49 |
+
|
| 50 |
+
def main(argv=None):
|
| 51 |
+
p = argparse.ArgumentParser()
|
| 52 |
+
for a in ("episodes", "out", "sif", "engine", "stack", "work", "timeline", "done"):
|
| 53 |
+
p.add_argument("--" + a, required=True)
|
| 54 |
+
p.add_argument("--workers", type=int, required=True)
|
| 55 |
+
p.add_argument("--gpus", type=int, default=0)
|
| 56 |
+
a = p.parse_args(argv)
|
| 57 |
+
with open(a.episodes) as f:
|
| 58 |
+
q = queue.Queue()
|
| 59 |
+
for e in json.load(f): # the host already ordered them, longest first
|
| 60 |
+
q.put(e)
|
| 61 |
+
os.makedirs(a.out, exist_ok=True)
|
| 62 |
+
lock, t0 = threading.Lock(), time.time()
|
| 63 |
+
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)]
|
| 64 |
+
|
| 65 |
+
def log(**ev):
|
| 66 |
+
with lock, open(a.timeline, "a") as f:
|
| 67 |
+
f.write(json.dumps(dict(ev, t=round(time.time() - t0, 3))) + "\n")
|
| 68 |
+
|
| 69 |
+
def worker(i):
|
| 70 |
+
time.sleep(i * STAGGER_S)
|
| 71 |
+
while True:
|
| 72 |
+
try:
|
| 73 |
+
e = q.get_nowait()
|
| 74 |
+
except queue.Empty:
|
| 75 |
+
return
|
| 76 |
+
key, work = e["key"], os.path.join(a.work, e["key"])
|
| 77 |
+
stage, ep = os.path.join(work, "stage"), os.path.join(work, "ep.json")
|
| 78 |
+
os.makedirs(stage)
|
| 79 |
+
with open(ep, "w") as f:
|
| 80 |
+
json.dump([e], f)
|
| 81 |
+
log(ev="start", key=key, worker=i)
|
| 82 |
+
gpu = devs[i % len(devs)] if devs and e["resolved"].get("recipe", {}).get("sim", {}).get("cuda") else None
|
| 83 |
+
limit = EPISODE_TIMEOUT_S * max(1, e["resolved"]["scenario"].get("laps", 1)) # per lap: 5-lap episodes run 5x longer
|
| 84 |
+
try:
|
| 85 |
+
rc = subprocess.run(worker_cmd(i, work, stage, ep, a.sif, a.engine, a.stack, gpu), stdout=subprocess.DEVNULL,
|
| 86 |
+
stderr=subprocess.DEVNULL, timeout=limit).returncode
|
| 87 |
+
except subprocess.TimeoutExpired:
|
| 88 |
+
rc = "timeout"
|
| 89 |
+
solver = _solver(os.path.join(work, "tmp", "ros", "log"))
|
| 90 |
+
if solver and os.path.isdir(os.path.join(stage, key)):
|
| 91 |
+
with open(os.path.join(stage, key, "solver.txt"), "w") as f:
|
| 92 |
+
f.write(solver + "\n")
|
| 93 |
+
if os.path.exists(os.path.join(stage, key, "outcome.json")):
|
| 94 |
+
tmp, dst = os.path.join(a.out, ".tmp-" + key), os.path.join(a.out, key)
|
| 95 |
+
shutil.rmtree(tmp, ignore_errors=True)
|
| 96 |
+
shutil.copytree(os.path.join(stage, key), tmp)
|
| 97 |
+
shutil.rmtree(dst, ignore_errors=True)
|
| 98 |
+
os.rename(tmp, dst) # the host's rsync sees a key only once its directory is complete
|
| 99 |
+
with lock, open(a.done, "a") as f:
|
| 100 |
+
f.write(key + "\n")
|
| 101 |
+
shutil.rmtree(work, ignore_errors=True)
|
| 102 |
+
log(ev="end", key=key, worker=i, rc=rc, gpu=gpu,
|
| 103 |
+
solver=solver.split("MPC solver: ")[-1] if "MPC solver: " in solver else solver or None)
|
| 104 |
+
|
| 105 |
+
def sampler(stop):
|
| 106 |
+
"""Job CPU use from its cgroup, as busy cores, every SAMPLE_S."""
|
| 107 |
+
try:
|
| 108 |
+
with open("/proc/self/cgroup") as f:
|
| 109 |
+
path = "/sys/fs/cgroup" + f.read().strip().split(":")[-1] + "/cpu.stat"
|
| 110 |
+
prev = None
|
| 111 |
+
while not stop.wait(SAMPLE_S if prev else 0):
|
| 112 |
+
with open(path) as f:
|
| 113 |
+
use = next(int(ln.split()[1]) for ln in f if ln.startswith("usage_usec"))
|
| 114 |
+
now = time.time()
|
| 115 |
+
if prev:
|
| 116 |
+
log(ev="cpu", busy_cores=round((use - prev[0]) / 1e6 / (now - prev[1]), 2))
|
| 117 |
+
prev = (use, now)
|
| 118 |
+
except (OSError, StopIteration, ValueError):
|
| 119 |
+
pass
|
| 120 |
+
|
| 121 |
+
def gpu_sampler(stop):
|
| 122 |
+
"""GPU utilisation and memory of the job's GPUs, every SAMPLE_S."""
|
| 123 |
+
while not stop.wait(SAMPLE_S):
|
| 124 |
+
try:
|
| 125 |
+
p = subprocess.Popen(["nvidia-smi", "--query-gpu=utilization.gpu,memory.used", "--format=csv,noheader,nounits"],
|
| 126 |
+
stdout=subprocess.PIPE, stderr=subprocess.DEVNULL, text=True)
|
| 127 |
+
log(ev="gpu", **parse_smi(p.communicate(timeout=30)[0]))
|
| 128 |
+
except Exception: # no driver or a hung query: skip this sample
|
| 129 |
+
pass
|
| 130 |
+
|
| 131 |
+
cores = len(os.sched_getaffinity(0)) if hasattr(os, "sched_getaffinity") else os.cpu_count()
|
| 132 |
+
log(ev="launch", workers=a.workers, cores=cores)
|
| 133 |
+
stop = threading.Event()
|
| 134 |
+
threads = [threading.Thread(target=worker, args=(i,)) for i in range(a.workers)]
|
| 135 |
+
samplers = [sampler] + ([gpu_sampler] if a.gpus else [])
|
| 136 |
+
for t in threads + [threading.Thread(target=f, args=(stop,), daemon=True) for f in samplers]:
|
| 137 |
+
t.start()
|
| 138 |
+
for t in threads:
|
| 139 |
+
t.join()
|
| 140 |
+
stop.set()
|
| 141 |
+
log(ev="done")
|
| 142 |
+
|
| 143 |
+
|
| 144 |
+
if __name__ == "__main__":
|
| 145 |
+
main()
|
results/jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/job.json
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"id": "20261105-153436-A27_RL__Large_256x256_-_100_Laps_",
|
| 3 |
+
"tier": "slide",
|
| 4 |
+
"tier_version": 1,
|
| 5 |
+
"recipe": {
|
| 6 |
+
"name": "A27 RL (Large 256x256 - 100 Laps)",
|
| 7 |
+
"source": {
|
| 8 |
+
"repo": "AutonomousKart",
|
| 9 |
+
"ref": "worktree:AutonomousKart-sim"
|
| 10 |
+
},
|
| 11 |
+
"params": {
|
| 12 |
+
"pathfinder_node": {
|
| 13 |
+
"planner": "rl",
|
| 14 |
+
"rl.model_size": "large",
|
| 15 |
+
"mpc.adaptive_gain.enabled": false
|
| 16 |
+
}
|
| 17 |
+
},
|
| 18 |
+
"sim": {
|
| 19 |
+
"cuda": true,
|
| 20 |
+
"active_imu": "back",
|
| 21 |
+
"use_camera": false,
|
| 22 |
+
"controller_type": "rl",
|
| 23 |
+
"laps_override": 100,
|
| 24 |
+
"rl": {
|
| 25 |
+
"enabled": true,
|
| 26 |
+
"model_size": "large",
|
| 27 |
+
"world_model_arch": "mlp_256x256_z64",
|
| 28 |
+
"alpha_schedule": "lap_progressive_1_to_0",
|
| 29 |
+
"safety_shield": true,
|
| 30 |
+
"laps": 100
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"notes": "100-lap long-horizon RL progression test with A27 RL Large (256x256 MLP, 64D latent world model, online TD3+BC + per-sector speed envelope learning)"
|
| 34 |
+
},
|
| 35 |
+
"user": "shay",
|
| 36 |
+
"notes": "100-lap RL Large progression (5-lap warmup + 15-lap ramp + capped cornering mu <= 0.76 + EKF outlier gate)",
|
| 37 |
+
"where": "ideas",
|
| 38 |
+
"status": "done",
|
| 39 |
+
"submitted_at": "2026-11-05T20:34:36.039+00:00",
|
| 40 |
+
"started_at": "2026-11-05T20:54:36.905+00:00",
|
| 41 |
+
"finished_at": "2026-11-06T03:19:58.637+00:00",
|
| 42 |
+
"total": 6,
|
| 43 |
+
"done": 6,
|
| 44 |
+
"errors": 0,
|
| 45 |
+
"build_log": null,
|
| 46 |
+
"workers": 4,
|
| 47 |
+
"slurm_id": "11845",
|
| 48 |
+
"slurm_ids": [
|
| 49 |
+
"11845"
|
| 50 |
+
],
|
| 51 |
+
"engine_version": "bbd85e0dce441d49ae06ba82dddb973a04f86a9fdd0705c67c5e131c98efe8b5"
|
| 52 |
+
}
|
results/jobs/20261105-153436-A27_RL__Large_256x256_-_100_Laps_/summary.json
ADDED
|
@@ -0,0 +1,292 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cte_p50": {
|
| 3 |
+
"value": 0.7448846978066891,
|
| 4 |
+
"worst_kart": null,
|
| 5 |
+
"per_kart": {
|
| 6 |
+
"kart1": 0.7448846978066891
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
"cte_p90": {
|
| 10 |
+
"value": 1.6878647666465136,
|
| 11 |
+
"worst_kart": null,
|
| 12 |
+
"per_kart": {
|
| 13 |
+
"kart1": 1.6878647666465136
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"cte_p99": {
|
| 17 |
+
"value": 2.3786892872810457,
|
| 18 |
+
"worst_kart": null,
|
| 19 |
+
"per_kart": {
|
| 20 |
+
"kart1": 2.3786892872810457
|
| 21 |
+
}
|
| 22 |
+
},
|
| 23 |
+
"recovery_rate": {
|
| 24 |
+
"value": null,
|
| 25 |
+
"worst_kart": null,
|
| 26 |
+
"per_kart": {
|
| 27 |
+
"kart1": null
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"recovery_s_median": {
|
| 31 |
+
"value": null,
|
| 32 |
+
"worst_kart": null,
|
| 33 |
+
"per_kart": {
|
| 34 |
+
"kart1": null
|
| 35 |
+
}
|
| 36 |
+
},
|
| 37 |
+
"safety": {
|
| 38 |
+
"value": 0.582149234189957,
|
| 39 |
+
"worst_kart": null,
|
| 40 |
+
"per_kart": {
|
| 41 |
+
"kart1": 0.582149234189957
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
"unsafe_lat": {
|
| 45 |
+
"value": 2.9525390305943255e-05,
|
| 46 |
+
"worst_kart": null,
|
| 47 |
+
"per_kart": {
|
| 48 |
+
"kart1": 2.9525390305943255e-05
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"unsafe_rate": {
|
| 52 |
+
"value": 0.4178421759732873,
|
| 53 |
+
"worst_kart": null,
|
| 54 |
+
"per_kart": {
|
| 55 |
+
"kart1": 0.4178421759732873
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"unsafe_travel": {
|
| 59 |
+
"value": 0.0,
|
| 60 |
+
"worst_kart": null,
|
| 61 |
+
"per_kart": {
|
| 62 |
+
"kart1": 0.0
|
| 63 |
+
}
|
| 64 |
+
},
|
| 65 |
+
"unsafe_spin": {
|
| 66 |
+
"value": 1.1824066789259827e-06,
|
| 67 |
+
"worst_kart": null,
|
| 68 |
+
"per_kart": {
|
| 69 |
+
"kart1": 1.1824066789259827e-06
|
| 70 |
+
}
|
| 71 |
+
},
|
| 72 |
+
"unsafe_off": {
|
| 73 |
+
"value": 3.665460704670546e-05,
|
| 74 |
+
"worst_kart": null,
|
| 75 |
+
"per_kart": {
|
| 76 |
+
"kart1": 3.665460704670546e-05
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"osc_10": {
|
| 80 |
+
"value": 44.43702276325646,
|
| 81 |
+
"worst_kart": null,
|
| 82 |
+
"per_kart": {
|
| 83 |
+
"kart1": 44.43702276325646
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"osc_20": {
|
| 87 |
+
"value": 31.323471706016026,
|
| 88 |
+
"worst_kart": null,
|
| 89 |
+
"per_kart": {
|
| 90 |
+
"kart1": 31.323471706016026
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"osc_30": {
|
| 94 |
+
"value": 20.11196585624256,
|
| 95 |
+
"worst_kart": null,
|
| 96 |
+
"per_kart": {
|
| 97 |
+
"kart1": 20.11196585624256
|
| 98 |
+
}
|
| 99 |
+
},
|
| 100 |
+
"laps_pct": {
|
| 101 |
+
"value": 72.33333333333333,
|
| 102 |
+
"worst_kart": null,
|
| 103 |
+
"per_kart": {
|
| 104 |
+
"kart1": 72.33333333333333
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"failures": {
|
| 108 |
+
"value": 2,
|
| 109 |
+
"worst_kart": null,
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| 110 |
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| 112 |
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| 113 |
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| 116 |
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| 119 |
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| 134 |
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| 135 |
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| 138 |
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| 139 |
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| 142 |
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| 181 |
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| 190 |
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| 218 |
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| 222 |
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| 223 |
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| 224 |
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| 238 |
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| 274 |
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| 280 |
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| 281 |
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| 291 |
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| 292 |
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}
|
results/leaderboard/slide-1__bbd85e0dce44.json
CHANGED
|
@@ -376,95 +376,95 @@
|
|
| 376 |
}
|
| 377 |
},
|
| 378 |
{
|
| 379 |
-
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|
| 380 |
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|
| 381 |
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"notes": "100-lap RL Large progression (
|
| 382 |
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| 383 |
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| 384 |
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| 385 |
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| 386 |
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| 387 |
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| 388 |
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| 389 |
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| 390 |
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| 391 |
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| 392 |
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| 393 |
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| 394 |
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| 395 |
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| 396 |
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| 397 |
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| 398 |
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| 399 |
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| 400 |
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| 401 |
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| 402 |
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| 405 |
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| 406 |
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| 407 |
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| 409 |
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| 410 |
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| 436 |
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| 437 |
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| 438 |
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| 439 |
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| 440 |
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| 441 |
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| 442 |
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| 443 |
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| 444 |
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| 453 |
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|
| 376 |
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| 377 |
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| 378 |
{
|
| 379 |
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"job_id": "20261105-153436-A27_RL__Large_256x256_-_100_Laps_",
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| 380 |
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|
| 381 |
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"notes": "100-lap RL Large progression (5-lap warmup + 15-lap ramp + capped cornering mu <= 0.76 + EKF outlier gate)",
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| 382 |
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| 383 |
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| 384 |
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| 385 |
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