| { |
| "label": "Case 1 analysis. TR rows: Chrono digital-twin recovery tests; physical reference: archived physical runs (Sim2Real). Rule: per-start rank.", |
| "physical_order": { |
| "P1_lateral": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "P1_heading": [ |
| "MPC", |
| "NN-MPC", |
| "NN-HD", |
| "PID" |
| ], |
| "P2_lateral": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "P2_heading": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "P3_lateral": [ |
| "MPC", |
| "PID", |
| "NN-MPC", |
| "NN-HD" |
| ], |
| "P3_heading": [ |
| "MPC", |
| "PID", |
| "NN-MPC", |
| "NN-HD" |
| ] |
| }, |
| "physical_pairwise_tests": { |
| "P1_lateral": [ |
| { |
| "pair": "MPC vs NN-MPC", |
| "mean_a": 0.1051, |
| "mean_b": 0.2259, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "MPC vs PID", |
| "mean_a": 0.1051, |
| "mean_b": 0.2673, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "MPC vs NN-HD", |
| "mean_a": 0.1051, |
| "mean_b": 0.5113, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "NN-MPC vs PID", |
| "mean_a": 0.2259, |
| "mean_b": 0.2673, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "NN-MPC vs NN-HD", |
| "mean_a": 0.2259, |
| "mean_b": 0.5113, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "PID vs NN-HD", |
| "mean_a": 0.2673, |
| "mean_b": 0.5113, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| } |
| ], |
| "P1_heading": [ |
| { |
| "pair": "MPC vs NN-MPC", |
| "mean_a": 0.0851, |
| "mean_b": 0.1665, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "MPC vs PID", |
| "mean_a": 0.0851, |
| "mean_b": 0.2033, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "MPC vs NN-HD", |
| "mean_a": 0.0851, |
| "mean_b": 0.1812, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "NN-MPC vs PID", |
| "mean_a": 0.1665, |
| "mean_b": 0.2033, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "NN-MPC vs NN-HD", |
| "mean_a": 0.1665, |
| "mean_b": 0.1812, |
| "p_perm": 0.1349, |
| "p_holm": 0.1349 |
| }, |
| { |
| "pair": "PID vs NN-HD", |
| "mean_a": 0.2033, |
| "mean_b": 0.1812, |
| "p_perm": 0.0238, |
| "p_holm": 0.0476 |
| } |
| ], |
| "P2_lateral": [ |
| { |
| "pair": "MPC vs NN-MPC", |
| "mean_a": 0.1032, |
| "mean_b": 0.2735, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "MPC vs PID", |
| "mean_a": 0.1032, |
| "mean_b": 0.3171, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "MPC vs NN-HD", |
| "mean_a": 0.1032, |
| "mean_b": 0.6626, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "NN-MPC vs PID", |
| "mean_a": 0.2735, |
| "mean_b": 0.3171, |
| "p_perm": 0.0159, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "NN-MPC vs NN-HD", |
| "mean_a": 0.2735, |
| "mean_b": 0.6626, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "PID vs NN-HD", |
| "mean_a": 0.3171, |
| "mean_b": 0.6626, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| } |
| ], |
| "P2_heading": [ |
| { |
| "pair": "MPC vs NN-MPC", |
| "mean_a": 0.0659, |
| "mean_b": 0.1284, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "MPC vs PID", |
| "mean_a": 0.0659, |
| "mean_b": 0.1447, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "MPC vs NN-HD", |
| "mean_a": 0.0659, |
| "mean_b": 0.1782, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "NN-MPC vs PID", |
| "mean_a": 0.1284, |
| "mean_b": 0.1447, |
| "p_perm": 0.0556, |
| "p_holm": 0.0556 |
| }, |
| { |
| "pair": "NN-MPC vs NN-HD", |
| "mean_a": 0.1284, |
| "mean_b": 0.1782, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "PID vs NN-HD", |
| "mean_a": 0.1447, |
| "mean_b": 0.1782, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| } |
| ], |
| "P3_lateral": [ |
| { |
| "pair": "MPC vs NN-MPC", |
| "mean_a": 0.0891, |
| "mean_b": 0.1635, |
| "p_perm": 0.0159, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "MPC vs PID", |
| "mean_a": 0.0891, |
| "mean_b": 0.1386, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "MPC vs NN-HD", |
| "mean_a": 0.0891, |
| "mean_b": 0.4047, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "NN-MPC vs PID", |
| "mean_a": 0.1635, |
| "mean_b": 0.1386, |
| "p_perm": 0.2937, |
| "p_holm": 0.2937 |
| }, |
| { |
| "pair": "NN-MPC vs NN-HD", |
| "mean_a": 0.1635, |
| "mean_b": 0.4047, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "PID vs NN-HD", |
| "mean_a": 0.1386, |
| "mean_b": 0.4047, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| } |
| ], |
| "P3_heading": [ |
| { |
| "pair": "MPC vs NN-MPC", |
| "mean_a": 0.0857, |
| "mean_b": 0.1259, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "MPC vs PID", |
| "mean_a": 0.0857, |
| "mean_b": 0.0944, |
| "p_perm": 0.0238, |
| "p_holm": 0.0477 |
| }, |
| { |
| "pair": "MPC vs NN-HD", |
| "mean_a": 0.0857, |
| "mean_b": 0.1352, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| }, |
| { |
| "pair": "NN-MPC vs PID", |
| "mean_a": 0.1259, |
| "mean_b": 0.0944, |
| "p_perm": 0.0159, |
| "p_holm": 0.0477 |
| }, |
| { |
| "pair": "NN-MPC vs NN-HD", |
| "mean_a": 0.1259, |
| "mean_b": 0.1352, |
| "p_perm": 0.6111, |
| "p_holm": 0.6111 |
| }, |
| { |
| "pair": "PID vs NN-HD", |
| "mean_a": 0.0944, |
| "mean_b": 0.1352, |
| "p_perm": 0.0079, |
| "p_holm": 0.0474 |
| } |
| ] |
| }, |
| "method_comparison": { |
| "TR (rank rule, S2)": { |
| "order": { |
| "P1_lateral": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "P1_heading": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "P2_lateral": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "P2_heading": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "P3_lateral": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "P3_heading": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ] |
| }, |
| "tau": { |
| "P1_lateral": 1.0, |
| "P1_heading": 0.67, |
| "P2_lateral": 1.0, |
| "P2_heading": 1.0, |
| "P3_lateral": 0.67, |
| "P3_heading": 0.67 |
| }, |
| "tau_ci95": { |
| "P1_lateral": [ |
| 1.0, |
| 1.0 |
| ], |
| "P1_heading": [ |
| 0.67, |
| 0.67 |
| ], |
| "P2_lateral": [ |
| 1.0, |
| 1.0 |
| ], |
| "P2_heading": [ |
| 1.0, |
| 1.0 |
| ], |
| "P3_lateral": [ |
| 0.67, |
| 1.0 |
| ], |
| "P3_heading": [ |
| 0.33, |
| 0.67 |
| ] |
| }, |
| "mean_tau": 0.83, |
| "mean_tau_ci95": [ |
| 0.78, |
| 0.89 |
| ], |
| "exact_order_matches": 3, |
| "best_selected": 6, |
| "selected_error_ratio_to_best": { |
| "P1_lateral": 1.0, |
| "P1_heading": 1.0, |
| "P2_lateral": 1.0, |
| "P2_heading": 1.0, |
| "P3_lateral": 1.0, |
| "P3_heading": 1.0 |
| }, |
| "resolved_pairs_correct": [ |
| 30, |
| 32 |
| ] |
| }, |
| "Nominal simulation": { |
| "order": { |
| "P1_lateral": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P1_heading": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P2_lateral": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P2_heading": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P3_lateral": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "P3_heading": [ |
| "PID", |
| "NN-MPC", |
| "MPC", |
| "NN-HD" |
| ] |
| }, |
| "tau": { |
| "P1_lateral": 0.33, |
| "P1_heading": 0.0, |
| "P2_lateral": 0.33, |
| "P2_heading": 0.33, |
| "P3_lateral": 0.67, |
| "P3_heading": 0.33 |
| }, |
| "tau_ci95": { |
| "P1_lateral": [ |
| 0.33, |
| 0.33 |
| ], |
| "P1_heading": [ |
| 0.0, |
| 0.0 |
| ], |
| "P2_lateral": [ |
| 0.33, |
| 0.33 |
| ], |
| "P2_heading": [ |
| 0.33, |
| 0.33 |
| ], |
| "P3_lateral": [ |
| 0.67, |
| 1.0 |
| ], |
| "P3_heading": [ |
| 0.0, |
| 0.33 |
| ] |
| }, |
| "mean_tau": 0.33, |
| "mean_tau_ci95": [ |
| 0.28, |
| 0.39 |
| ], |
| "exact_order_matches": 0, |
| "best_selected": 1, |
| "selected_error_ratio_to_best": { |
| "P1_lateral": 2.15, |
| "P1_heading": 1.96, |
| "P2_lateral": 2.65, |
| "P2_heading": 1.95, |
| "P3_lateral": 1.0, |
| "P3_heading": 1.1 |
| }, |
| "resolved_pairs_correct": [ |
| 21, |
| 32 |
| ] |
| }, |
| "Nominal simulation (2024 archive)": { |
| "order": { |
| "P1_lateral": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P1_heading": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P2_lateral": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P2_heading": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P3_lateral": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "P3_heading": [ |
| "PID", |
| "NN-MPC", |
| "NN-HD", |
| "MPC" |
| ] |
| }, |
| "tau": { |
| "P1_lateral": 0.33, |
| "P1_heading": 0.0, |
| "P2_lateral": 0.33, |
| "P2_heading": 0.33, |
| "P3_lateral": 0.67, |
| "P3_heading": 0.0 |
| }, |
| "tau_ci95": { |
| "P1_lateral": [ |
| 0.33, |
| 0.33 |
| ], |
| "P1_heading": [ |
| 0.0, |
| 0.0 |
| ], |
| "P2_lateral": [ |
| 0.33, |
| 0.33 |
| ], |
| "P2_heading": [ |
| 0.33, |
| 0.33 |
| ], |
| "P3_lateral": [ |
| 0.67, |
| 1.0 |
| ], |
| "P3_heading": [ |
| -0.33, |
| 0.0 |
| ] |
| }, |
| "mean_tau": 0.28, |
| "mean_tau_ci95": [ |
| 0.22, |
| 0.33 |
| ], |
| "exact_order_matches": 0, |
| "best_selected": 1, |
| "selected_error_ratio_to_best": { |
| "P1_lateral": 2.15, |
| "P1_heading": 1.96, |
| "P2_lateral": 2.65, |
| "P2_heading": 1.95, |
| "P3_lateral": 1.0, |
| "P3_heading": 1.1 |
| }, |
| "resolved_pairs_correct": [ |
| 20, |
| 32 |
| ] |
| }, |
| "Monte Carlo, start jitter (RF-A)": { |
| "order": { |
| "P1_lateral": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P1_heading": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P2_lateral": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P2_heading": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P3_lateral": [ |
| "NN-MPC", |
| "MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "P3_heading": [ |
| "PID", |
| "NN-MPC", |
| "NN-HD", |
| "MPC" |
| ] |
| }, |
| "tau": { |
| "P1_lateral": 0.33, |
| "P1_heading": 0.0, |
| "P2_lateral": 0.33, |
| "P2_heading": 0.33, |
| "P3_lateral": 0.33, |
| "P3_heading": 0.0 |
| }, |
| "tau_ci95": { |
| "P1_lateral": [ |
| 0.33, |
| 0.33 |
| ], |
| "P1_heading": [ |
| 0.0, |
| 0.0 |
| ], |
| "P2_lateral": [ |
| 0.33, |
| 0.33 |
| ], |
| "P2_heading": [ |
| 0.33, |
| 0.33 |
| ], |
| "P3_lateral": [ |
| 0.33, |
| 0.67 |
| ], |
| "P3_heading": [ |
| -0.33, |
| 0.0 |
| ] |
| }, |
| "mean_tau": 0.22, |
| "mean_tau_ci95": [ |
| 0.17, |
| 0.28 |
| ], |
| "exact_order_matches": 0, |
| "best_selected": 0, |
| "selected_error_ratio_to_best": { |
| "P1_lateral": 2.15, |
| "P1_heading": 1.96, |
| "P2_lateral": 2.65, |
| "P2_heading": 1.95, |
| "P3_lateral": 1.84, |
| "P3_heading": 1.1 |
| }, |
| "resolved_pairs_correct": [ |
| 19, |
| 32 |
| ] |
| }, |
| "Monte Carlo, jitter + disturbances (RF-B)": { |
| "order": { |
| "P1_lateral": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P1_heading": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P2_lateral": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P2_heading": [ |
| "NN-MPC", |
| "PID", |
| "MPC", |
| "NN-HD" |
| ], |
| "P3_lateral": [ |
| "PID", |
| "MPC", |
| "NN-HD", |
| "NN-MPC" |
| ], |
| "P3_heading": [ |
| "PID", |
| "NN-HD", |
| "MPC", |
| "NN-MPC" |
| ] |
| }, |
| "tau": { |
| "P1_lateral": 0.33, |
| "P1_heading": 0.0, |
| "P2_lateral": 0.33, |
| "P2_heading": 0.33, |
| "P3_lateral": 0.33, |
| "P3_heading": 0.0 |
| }, |
| "tau_ci95": { |
| "P1_lateral": [ |
| 0.33, |
| 0.33 |
| ], |
| "P1_heading": [ |
| 0.0, |
| 0.0 |
| ], |
| "P2_lateral": [ |
| 0.33, |
| 0.33 |
| ], |
| "P2_heading": [ |
| 0.33, |
| 0.33 |
| ], |
| "P3_lateral": [ |
| 0.0, |
| 0.33 |
| ], |
| "P3_heading": [ |
| 0.0, |
| 0.33 |
| ] |
| }, |
| "mean_tau": 0.22, |
| "mean_tau_ci95": [ |
| 0.17, |
| 0.28 |
| ], |
| "exact_order_matches": 0, |
| "best_selected": 0, |
| "selected_error_ratio_to_best": { |
| "P1_lateral": 2.15, |
| "P1_heading": 1.96, |
| "P2_lateral": 2.65, |
| "P2_heading": 1.95, |
| "P3_lateral": 1.56, |
| "P3_heading": 1.1 |
| }, |
| "resolved_pairs_correct": [ |
| 19, |
| 32 |
| ] |
| } |
| }, |
| "tr_minus_nominal": { |
| "TR minus nominal, mean tau": 0.5, |
| "ci95": [ |
| 0.5, |
| 0.5 |
| ] |
| }, |
| "tr_minus_nominal_tables_II_III": { |
| "TR minus nominal (Tables II-III), mean tau": 0.56, |
| "ci95": [ |
| 0.56, |
| 0.56 |
| ], |
| "min": 0.56, |
| "share_of_replicates_gt_0": 1.0 |
| }, |
| "offset_sweep": [ |
| { |
| "n": 200, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_rank": { |
| "MPC": 1.42, |
| "NN-MPC": 2.28, |
| "PID": 3.03, |
| "NN-HD": 3.27 |
| }, |
| "rank_pct": { |
| "MPC": [ |
| 75.8, |
| 11.5, |
| 7.5, |
| 5.2 |
| ], |
| "NN-MPC": [ |
| 8.8, |
| 62.0, |
| 21.5, |
| 7.8 |
| ], |
| "PID": [ |
| 6.5, |
| 15.0, |
| 47.8, |
| 30.8 |
| ], |
| "NN-HD": [ |
| 9.0, |
| 11.5, |
| 23.2, |
| 56.2 |
| ] |
| }, |
| "fail_pct": { |
| "MPC": 0.0, |
| "NN-MPC": 0.0, |
| "PID": 0.0, |
| "NN-HD": 0.0 |
| }, |
| "n_all_recover": 200, |
| "mean_st_all_recover": { |
| "MPC": 1.28, |
| "NN-MPC": 1.58, |
| "PID": 1.77, |
| "NN-HD": 2.27 |
| }, |
| "pairwise_win_rate_ci95": { |
| "MPC beats NN-MPC": [ |
| 0.86, |
| [ |
| 0.818, |
| 0.9 |
| ] |
| ], |
| "MPC beats PID": [ |
| 0.858, |
| [ |
| 0.815, |
| 0.897 |
| ] |
| ], |
| "MPC beats NN-HD": [ |
| 0.86, |
| [ |
| 0.815, |
| 0.897 |
| ] |
| ], |
| "NN-MPC beats PID": [ |
| 0.782, |
| [ |
| 0.735, |
| 0.83 |
| ] |
| ], |
| "NN-MPC beats NN-HD": [ |
| 0.795, |
| [ |
| 0.745, |
| 0.845 |
| ] |
| ], |
| "PID beats NN-HD": [ |
| 0.612, |
| [ |
| 0.552, |
| 0.675 |
| ] |
| ] |
| }, |
| "range": "S0", |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "n": 200, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_rank": { |
| "MPC": 1.14, |
| "NN-MPC": 1.92, |
| "PID": 2.96, |
| "NN-HD": 3.98 |
| }, |
| "rank_pct": { |
| "MPC": [ |
| 89.5, |
| 8.5, |
| 0.5, |
| 1.5 |
| ], |
| "NN-MPC": [ |
| 9.8, |
| 88.2, |
| 2.0, |
| 0.0 |
| ], |
| "PID": [ |
| 0.8, |
| 3.2, |
| 95.0, |
| 1.0 |
| ], |
| "NN-HD": [ |
| 0.0, |
| 0.0, |
| 2.5, |
| 97.5 |
| ] |
| }, |
| "fail_pct": { |
| "MPC": 0.5, |
| "NN-MPC": 0.0, |
| "PID": 0.0, |
| "NN-HD": 0.0 |
| }, |
| "n_all_recover": 199, |
| "mean_st_all_recover": { |
| "MPC": 4.7, |
| "NN-MPC": 4.88, |
| "PID": 5.25, |
| "NN-HD": 7.98 |
| }, |
| "pairwise_win_rate_ci95": { |
| "MPC beats NN-MPC": [ |
| 0.898, |
| [ |
| 0.855, |
| 0.94 |
| ] |
| ], |
| "MPC beats PID": [ |
| 0.978, |
| [ |
| 0.955, |
| 0.995 |
| ] |
| ], |
| "MPC beats NN-HD": [ |
| 0.985, |
| [ |
| 0.965, |
| 1.0 |
| ] |
| ], |
| "NN-MPC beats PID": [ |
| 0.975, |
| [ |
| 0.95, |
| 0.995 |
| ] |
| ], |
| "NN-MPC beats NN-HD": [ |
| 1.0, |
| [ |
| 1.0, |
| 1.0 |
| ] |
| ], |
| "PID beats NN-HD": [ |
| 0.99, |
| [ |
| 0.975, |
| 1.0 |
| ] |
| ] |
| }, |
| "range": "S1", |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "n": 400, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_rank": { |
| "MPC": 1.27, |
| "NN-MPC": 2.17, |
| "PID": 2.68, |
| "NN-HD": 3.88 |
| }, |
| "rank_pct": { |
| "MPC": [ |
| 90.2, |
| 0.9, |
| 0.1, |
| 8.8 |
| ], |
| "NN-MPC": [ |
| 9.0, |
| 66.9, |
| 22.8, |
| 1.4 |
| ], |
| "PID": [ |
| 0.8, |
| 31.8, |
| 66.6, |
| 0.9 |
| ], |
| "NN-HD": [ |
| 0.0, |
| 0.5, |
| 10.5, |
| 89.0 |
| ] |
| }, |
| "fail_pct": { |
| "MPC": 8.2, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "n_all_recover": 361, |
| "mean_st_all_recover": { |
| "MPC": 6.1, |
| "NN-MPC": 6.54, |
| "PID": 6.64, |
| "NN-HD": 10.09 |
| }, |
| "pairwise_win_rate_ci95": { |
| "MPC beats NN-MPC": [ |
| 0.902, |
| [ |
| 0.875, |
| 0.93 |
| ] |
| ], |
| "MPC beats PID": [ |
| 0.911, |
| [ |
| 0.884, |
| 0.938 |
| ] |
| ], |
| "MPC beats NN-HD": [ |
| 0.912, |
| [ |
| 0.885, |
| 0.94 |
| ] |
| ], |
| "NN-MPC beats PID": [ |
| 0.752, |
| [ |
| 0.713, |
| 0.796 |
| ] |
| ], |
| "NN-MPC beats NN-HD": [ |
| 0.985, |
| [ |
| 0.973, |
| 0.995 |
| ] |
| ], |
| "PID beats NN-HD": [ |
| 0.988, |
| [ |
| 0.977, |
| 0.998 |
| ] |
| ] |
| }, |
| "range": "S2", |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "n": 200, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_rank": { |
| "MPC": 1.31, |
| "NN-MPC": 1.99, |
| "PID": 2.92, |
| "NN-HD": 3.77 |
| }, |
| "rank_pct": { |
| "MPC": [ |
| 83.9, |
| 6.9, |
| 3.4, |
| 5.9 |
| ], |
| "NN-MPC": [ |
| 11.9, |
| 79.1, |
| 7.1, |
| 1.9 |
| ], |
| "PID": [ |
| 1.1, |
| 12.4, |
| 79.4, |
| 7.1 |
| ], |
| "NN-HD": [ |
| 3.1, |
| 1.6, |
| 10.1, |
| 85.1 |
| ] |
| }, |
| "fail_pct": { |
| "MPC": 4.0, |
| "NN-MPC": 0.5, |
| "PID": 0.5, |
| "NN-HD": 0.0 |
| }, |
| "n_all_recover": 191, |
| "mean_st_all_recover": { |
| "MPC": 4.46, |
| "NN-MPC": 4.79, |
| "PID": 5.08, |
| "NN-HD": 7.61 |
| }, |
| "pairwise_win_rate_ci95": { |
| "MPC beats NN-MPC": [ |
| 0.855, |
| [ |
| 0.807, |
| 0.902 |
| ] |
| ], |
| "MPC beats PID": [ |
| 0.915, |
| [ |
| 0.875, |
| 0.95 |
| ] |
| ], |
| "MPC beats NN-HD": [ |
| 0.918, |
| [ |
| 0.877, |
| 0.953 |
| ] |
| ], |
| "NN-MPC beats PID": [ |
| 0.918, |
| [ |
| 0.877, |
| 0.953 |
| ] |
| ], |
| "NN-MPC beats NN-HD": [ |
| 0.948, |
| [ |
| 0.915, |
| 0.975 |
| ] |
| ], |
| "PID beats NN-HD": [ |
| 0.908, |
| [ |
| 0.868, |
| 0.945 |
| ] |
| ] |
| }, |
| "range": "S3", |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "n": 200, |
| "order": [ |
| "MPC", |
| "PID", |
| "NN-MPC", |
| "NN-HD" |
| ], |
| "mean_rank": { |
| "MPC": 1.7, |
| "NN-MPC": 2.48, |
| "PID": 2.05, |
| "NN-HD": 3.77 |
| }, |
| "rank_pct": { |
| "MPC": [ |
| 73.6, |
| 0.6, |
| 8.4, |
| 17.4 |
| ], |
| "NN-MPC": [ |
| 18.6, |
| 16.4, |
| 63.4, |
| 1.6 |
| ], |
| "PID": [ |
| 7.1, |
| 81.9, |
| 9.9, |
| 1.1 |
| ], |
| "NN-HD": [ |
| 0.6, |
| 1.1, |
| 18.4, |
| 79.9 |
| ] |
| }, |
| "fail_pct": { |
| "MPC": 27.0, |
| "NN-MPC": 3.5, |
| "PID": 3.0, |
| "NN-HD": 18.0 |
| }, |
| "n_all_recover": 143, |
| "mean_st_all_recover": { |
| "MPC": 7.13, |
| "NN-MPC": 7.75, |
| "PID": 7.59, |
| "NN-HD": 11.31 |
| }, |
| "pairwise_win_rate_ci95": { |
| "MPC beats NN-MPC": [ |
| 0.742, |
| [ |
| 0.682, |
| 0.8 |
| ] |
| ], |
| "MPC beats PID": [ |
| 0.742, |
| [ |
| 0.682, |
| 0.802 |
| ] |
| ], |
| "MPC beats NN-HD": [ |
| 0.82, |
| [ |
| 0.775, |
| 0.863 |
| ] |
| ], |
| "NN-MPC beats PID": [ |
| 0.29, |
| [ |
| 0.23, |
| 0.352 |
| ] |
| ], |
| "NN-MPC beats NN-HD": [ |
| 0.972, |
| [ |
| 0.95, |
| 0.99 |
| ] |
| ], |
| "PID beats NN-HD": [ |
| 0.982, |
| [ |
| 0.968, |
| 0.995 |
| ] |
| ] |
| }, |
| "range": "S4", |
| "mean_tau_vs_physical": 0.72 |
| } |
| ], |
| "tube_horizon_sensitivity": [ |
| { |
| "tube_lat_m": 0.05, |
| "tube_head_rad": 0.05, |
| "H_s": 15.0, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 69.8, |
| "fail_pct": { |
| "MPC": 8.5, |
| "NN-MPC": 1.2, |
| "PID": 0.8, |
| "NN-HD": 29.0 |
| }, |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "tube_lat_m": 0.05, |
| "tube_head_rad": 0.05, |
| "H_s": 25.0, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 69.8, |
| "fail_pct": { |
| "MPC": 8.2, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "tube_lat_m": 0.05, |
| "tube_head_rad": 0.05, |
| "H_s": 40.0, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 69.8, |
| "fail_pct": { |
| "MPC": 8.0, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "tube_lat_m": 0.05, |
| "tube_head_rad": 0.1, |
| "H_s": 15.0, |
| "order": [ |
| "NN-MPC", |
| "MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 30.5, |
| "fail_pct": { |
| "MPC": 8.5, |
| "NN-MPC": 1.2, |
| "PID": 0.8, |
| "NN-HD": 29.0 |
| }, |
| "mean_tau_vs_physical": 0.5 |
| }, |
| { |
| "tube_lat_m": 0.05, |
| "tube_head_rad": 0.1, |
| "H_s": 25.0, |
| "order": [ |
| "NN-MPC", |
| "MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 30.5, |
| "fail_pct": { |
| "MPC": 8.2, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.5 |
| }, |
| { |
| "tube_lat_m": 0.05, |
| "tube_head_rad": 0.1, |
| "H_s": 40.0, |
| "order": [ |
| "NN-MPC", |
| "MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 30.5, |
| "fail_pct": { |
| "MPC": 7.8, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.5 |
| }, |
| { |
| "tube_lat_m": 0.05, |
| "tube_head_rad": 0.2, |
| "H_s": 15.0, |
| "order": [ |
| "NN-MPC", |
| "MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 30.5, |
| "fail_pct": { |
| "MPC": 8.5, |
| "NN-MPC": 1.2, |
| "PID": 0.8, |
| "NN-HD": 29.0 |
| }, |
| "mean_tau_vs_physical": 0.5 |
| }, |
| { |
| "tube_lat_m": 0.05, |
| "tube_head_rad": 0.2, |
| "H_s": 25.0, |
| "order": [ |
| "NN-MPC", |
| "MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 30.5, |
| "fail_pct": { |
| "MPC": 8.2, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.5 |
| }, |
| { |
| "tube_lat_m": 0.05, |
| "tube_head_rad": 0.2, |
| "H_s": 40.0, |
| "order": [ |
| "NN-MPC", |
| "MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 30.5, |
| "fail_pct": { |
| "MPC": 7.8, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.5 |
| }, |
| { |
| "tube_lat_m": 0.1, |
| "tube_head_rad": 0.05, |
| "H_s": 15.0, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 79.0, |
| "fail_pct": { |
| "MPC": 8.5, |
| "NN-MPC": 1.2, |
| "PID": 0.8, |
| "NN-HD": 1.0 |
| }, |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "tube_lat_m": 0.1, |
| "tube_head_rad": 0.05, |
| "H_s": 25.0, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 79.0, |
| "fail_pct": { |
| "MPC": 8.2, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "tube_lat_m": 0.1, |
| "tube_head_rad": 0.05, |
| "H_s": 40.0, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 79.0, |
| "fail_pct": { |
| "MPC": 7.5, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "tube_lat_m": 0.1, |
| "tube_head_rad": 0.1, |
| "H_s": 15.0, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 90.2, |
| "fail_pct": { |
| "MPC": 8.5, |
| "NN-MPC": 1.2, |
| "PID": 0.8, |
| "NN-HD": 1.0 |
| }, |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "tube_lat_m": 0.1, |
| "tube_head_rad": 0.1, |
| "H_s": 25.0, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 90.2, |
| "fail_pct": { |
| "MPC": 8.2, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "tube_lat_m": 0.1, |
| "tube_head_rad": 0.1, |
| "H_s": 40.0, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 90.2, |
| "fail_pct": { |
| "MPC": 7.5, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "tube_lat_m": 0.1, |
| "tube_head_rad": 0.2, |
| "H_s": 15.0, |
| "order": [ |
| "NN-MPC", |
| "MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 46.5, |
| "fail_pct": { |
| "MPC": 8.5, |
| "NN-MPC": 1.2, |
| "PID": 0.8, |
| "NN-HD": 1.0 |
| }, |
| "mean_tau_vs_physical": 0.5 |
| }, |
| { |
| "tube_lat_m": 0.1, |
| "tube_head_rad": 0.2, |
| "H_s": 25.0, |
| "order": [ |
| "NN-MPC", |
| "MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 46.5, |
| "fail_pct": { |
| "MPC": 8.2, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.5 |
| }, |
| { |
| "tube_lat_m": 0.1, |
| "tube_head_rad": 0.2, |
| "H_s": 40.0, |
| "order": [ |
| "NN-MPC", |
| "MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 46.5, |
| "fail_pct": { |
| "MPC": 7.5, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.5 |
| }, |
| { |
| "tube_lat_m": 0.2, |
| "tube_head_rad": 0.05, |
| "H_s": 15.0, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 79.0, |
| "fail_pct": { |
| "MPC": 8.5, |
| "NN-MPC": 1.2, |
| "PID": 0.8, |
| "NN-HD": 0.5 |
| }, |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "tube_lat_m": 0.2, |
| "tube_head_rad": 0.05, |
| "H_s": 25.0, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 79.0, |
| "fail_pct": { |
| "MPC": 8.2, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "tube_lat_m": 0.2, |
| "tube_head_rad": 0.05, |
| "H_s": 40.0, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 79.0, |
| "fail_pct": { |
| "MPC": 7.2, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.83 |
| }, |
| { |
| "tube_lat_m": 0.2, |
| "tube_head_rad": 0.1, |
| "H_s": 15.0, |
| "order": [ |
| "MPC", |
| "PID", |
| "NN-MPC", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 87.0, |
| "fail_pct": { |
| "MPC": 8.2, |
| "NN-MPC": 1.2, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.72 |
| }, |
| { |
| "tube_lat_m": 0.2, |
| "tube_head_rad": 0.1, |
| "H_s": 25.0, |
| "order": [ |
| "MPC", |
| "PID", |
| "NN-MPC", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 87.0, |
| "fail_pct": { |
| "MPC": 8.2, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.72 |
| }, |
| { |
| "tube_lat_m": 0.2, |
| "tube_head_rad": 0.1, |
| "H_s": 40.0, |
| "order": [ |
| "MPC", |
| "PID", |
| "NN-MPC", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 87.0, |
| "fail_pct": { |
| "MPC": 7.2, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.72 |
| }, |
| { |
| "tube_lat_m": 0.2, |
| "tube_head_rad": 0.2, |
| "H_s": 15.0, |
| "order": [ |
| "MPC", |
| "PID", |
| "NN-MPC", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 89.8, |
| "fail_pct": { |
| "MPC": 8.2, |
| "NN-MPC": 1.2, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.72 |
| }, |
| { |
| "tube_lat_m": 0.2, |
| "tube_head_rad": 0.2, |
| "H_s": 25.0, |
| "order": [ |
| "MPC", |
| "PID", |
| "NN-MPC", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 89.8, |
| "fail_pct": { |
| "MPC": 8.2, |
| "NN-MPC": 1.0, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.72 |
| }, |
| { |
| "tube_lat_m": 0.2, |
| "tube_head_rad": 0.2, |
| "H_s": 40.0, |
| "order": [ |
| "MPC", |
| "PID", |
| "NN-MPC", |
| "NN-HD" |
| ], |
| "mpc_first_pct": 89.8, |
| "fail_pct": { |
| "MPC": 7.2, |
| "NN-MPC": 0.8, |
| "PID": 0.8, |
| "NN-HD": 0.0 |
| }, |
| "mean_tau_vs_physical": 0.72 |
| } |
| ], |
| "trial_number_sensitivity": [ |
| { |
| "N": 10, |
| "p_same_order_as_400": 0.942, |
| "p_mpc_first": 0.974 |
| }, |
| { |
| "N": 25, |
| "p_same_order_as_400": 0.999, |
| "p_mpc_first": 0.999 |
| }, |
| { |
| "N": 50, |
| "p_same_order_as_400": 1.0, |
| "p_mpc_first": 1.0 |
| }, |
| { |
| "N": 100, |
| "p_same_order_as_400": 1.0, |
| "p_mpc_first": 1.0 |
| }, |
| { |
| "N": 200, |
| "p_same_order_as_400": 1.0, |
| "p_mpc_first": 1.0 |
| }, |
| { |
| "N": 400, |
| "p_same_order_as_400": 1.0, |
| "p_mpc_first": 1.0 |
| } |
| ], |
| "hoeffding": { |
| "loss": "per-start rank, bounded in [1, 4] (B = 3)", |
| "K": 4, |
| "alpha": 0.05, |
| "smallest_adjacent_mean_rank_gap_at_N400": 0.511, |
| "n_bound": 350 |
| }, |
| "ablation_by_channel": [ |
| { |
| "condition": "D1a", |
| "channel": "actuation: +0.10 s delay", |
| "n": 200, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_rank": { |
| "MPC": 1.43, |
| "NN-MPC": 2.03, |
| "PID": 2.69, |
| "NN-HD": 3.85 |
| }, |
| "fail_pct": { |
| "MPC": 10.5, |
| "NN-MPC": 1.5, |
| "PID": 1.5, |
| "NN-HD": 0.0 |
| }, |
| "mpc_first_pct": 80.5, |
| "mean_tau_vs_physical": 0.83, |
| "same_starts_no_disturbance": { |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_tau_vs_physical": 0.83 |
| } |
| }, |
| { |
| "condition": "D1b", |
| "channel": "actuation: +0.20 s delay", |
| "n": 200, |
| "order": [ |
| "NN-MPC", |
| "MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_rank": { |
| "MPC": 1.88, |
| "NN-MPC": 1.73, |
| "PID": 2.52, |
| "NN-HD": 3.87 |
| }, |
| "fail_pct": { |
| "MPC": 9.0, |
| "NN-MPC": 1.5, |
| "PID": 2.0, |
| "NN-HD": 0.0 |
| }, |
| "mpc_first_pct": 51.8, |
| "mean_tau_vs_physical": 0.5, |
| "same_starts_no_disturbance": { |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_tau_vs_physical": 0.83 |
| } |
| }, |
| { |
| "condition": "D2a", |
| "channel": "actuation: steering bias 0.013", |
| "n": 200, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_rank": { |
| "MPC": 1.37, |
| "NN-MPC": 2.24, |
| "PID": 2.51, |
| "NN-HD": 3.88 |
| }, |
| "fail_pct": { |
| "MPC": 10.0, |
| "NN-MPC": 0.5, |
| "PID": 0.5, |
| "NN-HD": 0.0 |
| }, |
| "mpc_first_pct": 84.8, |
| "mean_tau_vs_physical": 0.83, |
| "same_starts_no_disturbance": { |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_tau_vs_physical": 0.83 |
| } |
| }, |
| { |
| "condition": "D2b", |
| "channel": "actuation: steering bias 0.026", |
| "n": 200, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_rank": { |
| "MPC": 1.38, |
| "NN-MPC": 2.17, |
| "PID": 2.56, |
| "NN-HD": 3.89 |
| }, |
| "fail_pct": { |
| "MPC": 8.5, |
| "NN-MPC": 0.5, |
| "PID": 1.0, |
| "NN-HD": 0.5 |
| }, |
| "mpc_first_pct": 81.2, |
| "mean_tau_vs_physical": 0.83, |
| "same_starts_no_disturbance": { |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_tau_vs_physical": 0.83 |
| } |
| }, |
| { |
| "condition": "D3a", |
| "channel": "observation: pose noise 0.02 m / 0.01 rad", |
| "n": 200, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_rank": { |
| "MPC": 1.29, |
| "NN-MPC": 2.14, |
| "PID": 2.66, |
| "NN-HD": 3.9 |
| }, |
| "fail_pct": { |
| "MPC": 8.5, |
| "NN-MPC": 0.5, |
| "PID": 0.5, |
| "NN-HD": 0.0 |
| }, |
| "mpc_first_pct": 88.5, |
| "mean_tau_vs_physical": 0.83, |
| "same_starts_no_disturbance": { |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_tau_vs_physical": 0.83 |
| } |
| }, |
| { |
| "condition": "D3b", |
| "channel": "observation: pose noise 0.05 m / 0.03 rad", |
| "n": 200, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_rank": { |
| "MPC": 1.61, |
| "NN-MPC": 2.04, |
| "PID": 2.5, |
| "NN-HD": 3.85 |
| }, |
| "fail_pct": { |
| "MPC": 9.5, |
| "NN-MPC": 1.0, |
| "PID": 2.5, |
| "NN-HD": 0.0 |
| }, |
| "mpc_first_pct": 71.2, |
| "mean_tau_vs_physical": 0.83, |
| "same_starts_no_disturbance": { |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_tau_vs_physical": 0.83 |
| } |
| }, |
| { |
| "condition": "D4a", |
| "channel": "plant: friction 0.6", |
| "n": 200, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_rank": { |
| "MPC": 1.34, |
| "NN-MPC": 2.19, |
| "PID": 2.61, |
| "NN-HD": 3.85 |
| }, |
| "fail_pct": { |
| "MPC": 9.0, |
| "NN-MPC": 0.5, |
| "PID": 0.0, |
| "NN-HD": 1.0 |
| }, |
| "mpc_first_pct": 85.5, |
| "mean_tau_vs_physical": 0.83, |
| "same_starts_no_disturbance": { |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_tau_vs_physical": 0.83 |
| } |
| }, |
| { |
| "condition": "D4b", |
| "channel": "plant: friction 0.4", |
| "n": 200, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_rank": { |
| "MPC": 1.72, |
| "NN-MPC": 2.22, |
| "PID": 2.56, |
| "NN-HD": 3.51 |
| }, |
| "fail_pct": { |
| "MPC": 9.5, |
| "NN-MPC": 0.5, |
| "PID": 0.0, |
| "NN-HD": 0.0 |
| }, |
| "mpc_first_pct": 67.5, |
| "mean_tau_vs_physical": 0.83, |
| "same_starts_no_disturbance": { |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_tau_vs_physical": 0.83 |
| } |
| }, |
| { |
| "condition": "D5", |
| "channel": "combined D1a + D2a + D3a", |
| "n": 200, |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_rank": { |
| "MPC": 1.64, |
| "NN-MPC": 1.94, |
| "PID": 2.54, |
| "NN-HD": 3.88 |
| }, |
| "fail_pct": { |
| "MPC": 10.5, |
| "NN-MPC": 0.5, |
| "PID": 0.5, |
| "NN-HD": 0.5 |
| }, |
| "mpc_first_pct": 71.2, |
| "mean_tau_vs_physical": 0.83, |
| "same_starts_no_disturbance": { |
| "order": [ |
| "MPC", |
| "NN-MPC", |
| "PID", |
| "NN-HD" |
| ], |
| "mean_tau_vs_physical": 0.83 |
| } |
| } |
| ], |
| "bootstrap_B": 2000 |
| } |
