| { |
| "_doc": "Runner defaults for the Case 1 (ART) recovery tests and full-path runs; read by default_episode.py. The latency schedule (ros_emulated, period 0.098 s, per-controller compute delays) was fitted to the measured schedule of the original ROS simulation stack (no physical logs were used). Every episode file carries an explicit latency block. The released episode configurations record tags.default_config_sha256 = c63a5babc9bb4330594a83e5e0ccb228414a67fb2bac545d2a765fffd775f980, the hash of the original version of this file; this copy has the same values for every field that the episode builders read, with descriptive text shortened, so its own SHA256 differs.", |
| "latency": { |
| "model": "ros_emulated", |
| "controller_period_s": 0.098, |
| "state_delay_s": 0.0, |
| "state_rate_hz": 25.0, |
| "driver_rate_hz": 10.0, |
| "compute_delay_s_by_controller": { |
| "mpc": 0.014, |
| "nnmpc": 0.009, |
| "pid": 0.008, |
| "nnhd": 0.009, |
| "plugin_default": 0.008, |
| "plugin:mpc_n5": 0.014 |
| }, |
| "compute_delay_note": "schedule-only fit to the measured state-to-actuation histogram and state age of the original ROS simulation stack; plugin:wrapped_released inherits its base controller value; plugin_default (= PID value) is used by the additional plug-ins pure pursuit and Stanley; plugin:mpc_n5 uses the MPC value.", |
| "phase_rule": "controller_phase_s = integer ms drawn uniformly on {0, ..., 97} per scenario (shared by all controllers of the scenario); nominal single runs use phase 0 (phase band {0, 20, 40, 60, 80} ms)" |
| }, |
| "control_start_s": 0.0, |
| "control_start_note": "the controller acts from t = 0 (first 25 Hz state at 40 ms) while the chassis settles from z = 0.25 m, as in the 2024 logs.", |
| "controller_registry": { |
| "_doc": "Controller ids for episode builders: default_episode.controller_spec(d, id) -> (controller, controller_params). Plug-in parameters are written out explicitly so that every episode config (and its hash) carries them; the defaults also live in art_runner/config.py PLUGIN_PARAM_SPECS (validated by config.normalize). pure_pursuit, stanley, mpc_n5, mpc_sluggish and pid_aggressive are simulation-only controllers that are not used in the paper.", |
| "ids": { |
| "mpc": { |
| "controller": "mpc", |
| "label": "MPC" |
| }, |
| "nnmpc": { |
| "controller": "nnmpc", |
| "label": "NN-MPC" |
| }, |
| "pid": { |
| "controller": "pid", |
| "label": "PID" |
| }, |
| "nnhd_x1.75": { |
| "controller": "plugin:wrapped_released", |
| "controller_params": { |
| "base": "nnhd", |
| "steering_scale": 1.75 |
| }, |
| "label": "NN-HD, steering gain x1.75 (configuration of the Path 1-2 physical runs)" |
| }, |
| "nnhd_x1.5": { |
| "controller": "plugin:wrapped_released", |
| "controller_params": { |
| "base": "nnhd", |
| "steering_scale": 1.5 |
| }, |
| "label": "NN-HD, steering gain x1.5 (configuration of the Path 3 physical runs)" |
| }, |
| "nnhd_x1.0": { |
| "controller": "nnhd", |
| "label": "NN-HD, steering gain x1.0" |
| }, |
| "pure_pursuit": { |
| "controller": "plugin:pure_pursuit", |
| "controller_params": { |
| "lookahead_m": 1.0, |
| "wheelbase_m": 0.5, |
| "k_v": 1.0, |
| "throttle_ff": 0.0 |
| }, |
| "label": "Pure pursuit (simulation-only; default gains)" |
| }, |
| "stanley": { |
| "controller": "plugin:stanley", |
| "controller_params": { |
| "k": 1.0, |
| "softening": 0.5, |
| "k_v": 1.0, |
| "throttle_ff": 0.0 |
| }, |
| "label": "Stanley (simulation-only; default gains)" |
| }, |
| "mpc_n5": { |
| "controller": "plugin:mpc_n5", |
| "label": "MPC-N5 (MPC with horizon N = 5)" |
| }, |
| "mpc_sluggish": { |
| "controller": "plugin:wrapped_released", |
| "controller_params": { |
| "base": "mpc", |
| "steering_scale": 0.5 |
| }, |
| "label": "MPC-sluggish (MPC with steering x0.5)" |
| }, |
| "pid_aggressive": { |
| "controller": "plugin:wrapped_released", |
| "controller_params": { |
| "base": "pid", |
| "steering_scale": 2.0 |
| }, |
| "label": "PID-aggressive (PID with steering gains x2)" |
| } |
| }, |
| "speed_loop": "pure_pursuit and stanley: throttle = clip(throttle_ff + k_v * (v_ref - v), 0, 1) with v_ref - v = e[3] of the released error_state(1.0) (v_ref = 1.0 m/s on every reference); steering angle / 0.6 = command; released 0.25-per-tick rate limit and clipping; same 10 Hz schedule and latency model as the released controllers" |
| }, |
| "observation_noise_model": "noise of the state publication observed by a tick (ros_emulated: 25 Hz publication boundary; ideal: the tick boundary) = (std_x, std_y, std_yaw) x standard_normal(3) from numpy default_rng(SeedSequence([7301, obs_noise.seed, publication_step])); all three components are always drawn (common random numbers across noise levels and controllers). Metrics use the true state.", |
| "mpc_osqp_adaptive_rho_interval": 25, |
| "mpc_osqp_note": "pinned OSQP adaptive-rho interval (deterministic; reproduces the archived MPC commands). null = released wall-clock-dependent behaviour.", |
| "placement": { |
| "heading_rad": [ |
| -3.141592653589793, |
| 3.141592653589793 |
| ], |
| "origin_box_m": [ |
| -50.0, |
| 50.0 |
| ], |
| "draw_order": "heading ~ U[-pi, pi), x0 ~ U[-50, 50], y0 ~ U[-50, 50] (default_episode.draw_placement)", |
| "note": "rigid placement of reference + initial pose is a per-scenario nuisance factor, drawn once per scenario and shared by all controllers (paired); used because the Chrono ARTcar model is not exactly invariant to rigid placement." |
| }, |
| "recovery": { |
| "reference": { |
| "type": "straight", |
| "s_start": -30.0, |
| "s_end": 60.0, |
| "spacing": 0.1, |
| "v_ref": 1.0 |
| }, |
| "reference_note": "straight line in the path frame (paper: straight reference), 901 waypoints from s = -30 m to s = +60 m; placed per scenario by `placement`. The start is at s = 0; the vehicle can travel at most ~26.5 m in 25 s (top speed ~1.06 m/s) in ANY direction, and the lookahead adds 1 m, so the nearest-waypoint argmin can never be clipped at either end (guard: index 0 or 900 is an design error).", |
| "start_x_m": 0.0, |
| "initial_pose_frame": "chassis_ref", |
| "initial_pose_note": "chassis reference frame at path-frame (0, e) with yaw phi, z = 0.25 m, at rest (the same SetInitPosition(x, y, theta) call as the original TR hook of the Chrono fork). The controller sees the COG, which lies 0.1336 m behind the chassis reference (COG lateral offset = e - 0.1336 sin(phi) - 0.0014 cos(phi)).", |
| "horizon_s": 25.0, |
| "termination": { |
| "type": "fixed_horizon", |
| "tube_lat_m": 0.1, |
| "tube_head_rad": 0.1, |
| "divergence_dist_m": 5.0, |
| "divergence_hold_s": 2.0, |
| "stop_on_divergence": true |
| } |
| }, |
| "nominal": { |
| "paths": { |
| "P1": { |
| "reference": "path_iros_1", |
| "horizon_s": 150.0 |
| }, |
| "P2": { |
| "reference": "path_iros_2", |
| "horizon_s": 120.0 |
| }, |
| "P3": { |
| "reference": "lot17_sinsquare", |
| "horizon_s": 400.0 |
| } |
| }, |
| "initial_pose": { |
| "x": 0.0, |
| "y": 0.0, |
| "yaw": 0.0, |
| "frame": "chassis_ref" |
| }, |
| "termination": { |
| "type": "path_completion", |
| "completion_margin_s": 0.0 |
| } |
| } |
| } |
|
|
