Blame for README.md

---
license: cc-by-4.0
pretty_name: "Test randomization for ground vehicle controllers: simulation logs and physical-run videos"
task_categories:
  - robotics
tags:
  - autonomous-vehicles
  - path-following
  - controller-evaluation
  - simulation
  - project-chrono
  - sim2real
---

# Test randomization for ground vehicle controllers: data

This dataset accompanies the paper *Screening Ground Vehicle Controllers via Test Randomization: Sim2Real and
Sim2Sim Studies*. It contains:

1. `code/`: the scripts that produce the results of the paper, with intermediate files, the Case 2 policies,
   and the result records. **How to reproduce each table: [`code/README.md`](code/README.md).**
2. `videos/`: videos of physical runs of the 1/6-scale vehicle on Paths 2 and 3.
3. `simulation_logs/`: raw simulation logs of the scale-vehicle study (Case 1) in the Chrono digital twin.

The logs of all 60 physical runs and the Docker image with the controller source are at
<https://github.com/uwsbel/sbel-reproducibility/tree/master/2024/PathFollowingSim2real>.

## Videos

One physical run of each controller on Paths 2 and 3. There is no video of the Path 1 runs.

| File | Path | Controller | Duration (s) |
|---|---|---|---|
| `videos/path2_mpc.mp4` | 2 | MPC | 55 |
| `videos/path2_nnmpc.mp4` | 2 | NN-MPC | 55 |
| `videos/path2_pid.mp4` | 2 | PID | 56 |
| `videos/path2_nnhd.mp4` | 2 | NN-HD | 56 |
| `videos/path3_mpc.mp4` | 3 | MPC | 176 |
| `videos/path3_nnmpc.mp4` | 3 | NN-MPC | 154 |
| `videos/path3_pid.mp4` | 3 | PID | 157 |
| `videos/path3_nnhd.mp4` | 3 | NN-HD | 173 |

The physical logs of Path 2 are in `TestingData/syn_path` and those of Path 3 in `TestingData/lot17` of the
GitHub repository.

## Simulation logs

One archive per batch (35,144 episodes in total). Extract with `tar -xzf <archive>`.

| Archive | Content | Episodes |
|---|---|---|
| `case1_B01_main_tr.tar.gz` | Recovery tests, offset range S2 (400 starts), 40 s horizon; metrics also for 15 s and 25 s | 2,400 |
| `case1_B02_c0_arm.tar.gz` | As B01, with control starting 0.5 s after the episode start | 2,000 |
| `case1_B03_nominal.tar.gz` | Nominal simulation on Paths 1-3, five controller phase offsets per path | 90 |
| `case1_B04_rf_a.tar.gz` | Monte Carlo on Paths 1-3: start jitter of up to 0.2 m in x and y and 0.067 rad in yaw, random controller phase; 20 runs per path | 300 |
| `case1_B04w_rf_a_wide.tar.gz` | As B04, with a wider start jitter | 300 |
| `case1_B05_rf_b.tar.gz` | As B04, with condition D5 (delay, steering bias, pose noise) | 300 |
| `case1_B06_severity_shape.tar.gz` | Recovery tests for offset ranges S0, S1, S3, S4, lateral-only and heading-only ranges, and a Beta(3,3) shape; 200 starts each | 9,000 |
| `case1_B07_dist_recovery.tar.gz` | Recovery tests (S2, 200 starts) under conditions D1a-D5 | 9,000 |
| `case1_B08_dist_fullpath.tar.gz` | Monte Carlo on Paths 1-3 (10 runs per path) under conditions D1a-D4b | 1,200 |
| `case1_B09_placement_floor.tar.gz` | Recovery tests (S2, 50 starts) at five placements of the reference line in the world frame | 1,250 |
| `case1_B10_sensitivity.tar.gz` | Recovery tests (S2, 200 starts) with ideal latency, with a 0.095 s controller period, and with default OSQP settings (MPC, two repeats) | 2,400 |
| `case1_B11_ws7_tuning.tar.gz` | Gain selection for Stanley and pure-pursuit controllers (S2 starts and two circular references) | 4,356 |
| `case1_B12_ws7_eval.tar.gz` | Stanley, pure pursuit, MPC-N5, MPC-sluggish, and PID-aggressive: recovery tests (S2, 400 starts), nominal simulation, and Monte Carlo under D5 | 2,225 |
| `case1_B13_determinism_audit.tar.gz` | Repeats of 323 episodes of batches B01-B11; each repeat is byte-identical to its source episode | 323 |

Controllers: MPC, NN-MPC, PID, and NN-HD with steering gains x1.0, x1.5, and x1.75; batches B11-B13 add the
controllers listed above. The field `tags.ctrl_desc` of each episode names its controller.

Offset ranges of the recovery tests: S2 is |e| ~ U[1.5, 2.5] m and phi ~ U[-pi/4, pi/4]; the other ranges are
given by `tags.family` and the initial pose in each episode configuration.

Disturbance conditions (`tags.condition`):

| Condition | Actuation delay (s) | Steering bias | Pose noise SD (m, rad) | Friction |
|---|---|---|---|---|
| none | 0 | 0 | 0, 0 | 0.9 |
| D1a / D1b | 0.10 / 0.20 | 0 | 0, 0 | 0.9 |
| D2a / D2b | 0 | 0.013 / 0.026 | 0, 0 | 0.9 |
| D3a / D3b | 0 | 0 | 0.02, 0.01 / 0.05, 0.03 | 0.9 |
| D4a / D4b | 0 | 0 | 0, 0 | 0.6 / 0.4 |
| D5 | 0.10 | 0.013 (either sign) | 0.02, 0.01 | 0.9 |

Steering bias is in normalized steering units.

### Episode files

Each episode is a folder `<batch>/episodes/<episode_id>/`:

| File | Content |
|---|---|
| `episode_config.json` | Initial pose, reference, controller, latency model, perturbation, horizon, and tags (batch, offset range, condition, path, controller description) |
| `summary.json` | Outcome, time of first entry into the reference tube, per-run mean absolute lateral and heading errors, metrics for each horizon (`by_H`), divergence flags, `config_hash`, and SHA-256 of the data files |
| `state100.csv.gz` | Vehicle state at 100 Hz: position, yaw, speed, applied inputs, and lateral and heading errors |
| `ticks.csv.gz` | Controller ticks: observation, error state, and raw and published commands |
| `mpc_diag.csv.gz` | MPC solver diagnostics (MPC episodes only) |
| `obs_noise.csv.gz` | Pose-noise draws (episodes with pose noise only) |
| `RigidPlane_mu_*.json` | Terrain file (episodes with reduced friction only) |

Each batch also has `summary.csv` and `summary.jsonl`, with one row per episode.

`config_hash` is the SHA-256 of `episode_config.json` written as compact JSON with sorted keys. SHA-256 sums of
the archives are in `simulation_logs/SHA256SUMS.txt`.

## License

Data (videos, simulation logs, result records): CC BY 4.0. Code in `code/` and the four checkpoints in
`code/case2/policies/released/`: BSD 3-Clause, as in the original repository.