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0c3dd1d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 | """Fixed TR design for the held-out evaluation on goal set B (Sim2Sim).
Fixed before any goal-set-B run and before any evaluation of the held-out policies (seeds 2001-2004).
Chosen from the goal-set-A exploration (see variants.py and results/exploration_report.md).
PRIMARY_TR is the only condition in the primary test. All others are secondary and are reported whatever
their result. Distributions use the same parameter names as rom_batch.DEFAULTS; one trial = one scenario.
Condition names also seed the random streams (run_rom.seed_of), so they are kept unchanged.
"""
from variants import REL
TRIALS = 20
PRIMARY_TR = 'tr_rate'
BASELINE = 'nominal'
CONDITIONS = {
# baseline: nominal ROM = the training ROM, deterministic, K = 1
'nominal': (1, {}),
# PRIMARY TR: noise-only TR (action N(0,0.05) on throttle and steering; tau0 N(1000,50), omega0 N(2600,100))
# plus a random steering-rate limit, LogUniform(0.05, 0.5) normalized units per 0.1 s control step, one draw per trial
'tr_rate': (TRIALS, {**REL, 'steer_rate': ('loguniform', 0.05, 0.5)}),
# secondary: noise-only TR (action and powertrain noise, no rate limit)
'paper_tr': (TRIALS, REL),
# secondary: sensitivity of the primary TR to the range and the shape of the rate-limit distribution
'tr_rate_half': (TRIALS, {**REL, 'steer_rate': ('loguniform', 0.025, 0.25)}),
'tr_rate_double': (TRIALS, {**REL, 'steer_rate': ('loguniform', 0.1, 1.0)}),
'tr_rate_uniform': (TRIALS, {**REL, 'steer_rate': ('uniform', 0.05, 0.5)}),
# secondary: the other actuator family (random delay of 0-3 control steps) with the noise-only TR
'tr_delay': (TRIALS, {**REL, 'delay': ('choice', [0, 1, 2, 3])}),
# secondary deterministic baselines (not TR): the release Chrono loop's fixed rate limit 0.1;
# the fixed rate limit with the 1 s start hold and the HMMWV wheelbase (3.378 m)
'det_rate_0.1': (1, {'steer_rate': ('const', 0.1)}),
'det_calibrated': (1, {'wheelbase': ('const', 3.378), 'steer_rate': ('const', 0.1), 'hold': ('const', 10)}),
}
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