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harryzhang1018
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TestRandomization

Tasks:
Robotics
Tags:
autonomous-vehicles
path-following
controller-evaluation
simulation
project-chrono
sim2real
License:
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TestRandomization / code /case1 /data /baseline_orders.json
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{
"_doc": "Baseline predicted orders per path and metric (ascending run MAE). predicted_scores are in the order MPC, NN-MPC, PID, NN-HD (P1/P2: nnhdx175, P3: nnhdx150 for the Chrono batches).",
"M-NOM": {
"description": "nominal Chrono simulation, one run per path and controller (B03, phase 0)",
"P1_lateral": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.09886875202466669,
0.06784866543904679,
0.07823180058083133,
0.13881433254702627
]
},
"P1_heading": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.07006203274268849,
0.060122510099338194,
0.06054692644803886,
0.08122106858479207
]
},
"P2_lateral": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.10447389261830418,
0.05731513867571875,
0.0692884642290438,
0.16526754431082621
]
},
"P2_heading": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.06591777279158538,
0.05089657659886402,
0.055318880640893735,
0.07837432525168948
]
},
"P3_lateral": {
"predicted_ordering": [
"mpc",
"nnmpc",
"pid",
"nnhd"
],
"predicted_scores": [
0.03093650473031334,
0.03175677995528383,
0.052267343389946076,
0.0625511218031436
]
},
"P3_heading": {
"predicted_ordering": [
"pid",
"nnmpc",
"mpc",
"nnhd"
],
"predicted_scores": [
0.028817820951596892,
0.02724842458283423,
0.02631327508062817,
0.02910717231712671
]
}
},
"NOM-archived-2024": {
"description": "nominal simulation logs of Tables II-III (one run per path and controller)",
"P1_lateral": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.09549125422272951,
0.06710286998687948,
0.07826332045250595,
0.1404303001872684
]
},
"P1_heading": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.06740708520838422,
0.05823528327572485,
0.06133483030225286,
0.08361372398180075
]
},
"P2_lateral": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.10403238785183493,
0.057185323142114323,
0.07061565620002716,
0.17336567070123646
]
},
"P2_heading": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.06367848698755407,
0.051256113355116366,
0.056166178058062996,
0.07511223939912481
]
},
"P3_lateral": {
"predicted_ordering": [
"mpc",
"nnmpc",
"pid",
"nnhd"
],
"predicted_scores": [
0.032191494203375706,
0.03584006417893131,
0.05618868352875091,
0.0824819407456265
]
},
"P3_heading": {
"predicted_ordering": [
"pid",
"nnmpc",
"nnhd",
"mpc"
],
"predicted_scores": [
0.03364696100371174,
0.03159831639351579,
0.0295006600823711,
0.033083173810324086
]
}
},
"RF-A": {
"description": "Monte Carlo, start jitter and random phase, 20 runs per path and controller (B04)",
"n_runs_per_controller": {
"P1": 20,
"P2": 20,
"P3": 20
},
"P1_lateral": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.10012691755631804,
0.06915369434006233,
0.08059080628166625,
0.13993556043459857
]
},
"P1_heading": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.07100891889468727,
0.06102148007194384,
0.06251859501443621,
0.0820557545220827
]
},
"P2_lateral": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.10913325997964973,
0.06218169273514157,
0.07492091409285317,
0.17076449853094486
]
},
"P2_heading": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.06701348642483508,
0.05407235407416783,
0.05640452238676628,
0.07694194025515867
]
},
"P3_lateral": {
"predicted_ordering": [
"nnmpc",
"mpc",
"pid",
"nnhd"
],
"predicted_scores": [
0.049997197352059305,
0.031599937504048985,
0.05287196380682931,
0.06099976056473586
]
},
"P3_heading": {
"predicted_ordering": [
"pid",
"nnmpc",
"nnhd",
"mpc"
],
"predicted_scores": [
0.06323907081435218,
0.02726230208299471,
0.02625122166156028,
0.02863425961822147
]
}
},
"RF-B": {
"description": "Monte Carlo, start jitter, random phase and disturbances, 20 runs per path and controller (B05)",
"n_runs_per_controller": {
"P1": 20,
"P2": 20,
"P3": 20
},
"P1_lateral": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.09697435022706176,
0.06372860883191009,
0.07614252654869832,
0.1390334720735392
]
},
"P1_heading": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.06672956446237997,
0.05365515006305841,
0.0539972932718583,
0.0781571443288642
]
},
"P2_lateral": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.1082907180075489,
0.06216668484172363,
0.07642256770625126,
0.1685826177366481
]
},
"P2_heading": {
"predicted_ordering": [
"nnmpc",
"pid",
"mpc",
"nnhd"
],
"predicted_scores": [
0.0645859268273734,
0.04939526053983849,
0.050355514584724405,
0.07260585402467278
]
},
"P3_lateral": {
"predicted_ordering": [
"pid",
"mpc",
"nnhd",
"nnmpc"
],
"predicted_scores": [
0.06102186701144867,
0.0843293269559422,
0.0573306276582361,
0.0707247614382319
]
},
"P3_heading": {
"predicted_ordering": [
"pid",
"nnhd",
"mpc",
"nnmpc"
],
"predicted_scores": [
0.06955467001591356,
0.09415596899974751,
0.03226970958096236,
0.033828897365618046
]
}
}
}