| # Case 2 exploration on goal set A (Sim2Sim) |
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| Generated by `report_explore.py` from `results/rom_A_explore/*.npz` and `results/chrono_A_explore/episodes.jsonl`. |
| Goal set A: 50 ID (10-20 m) + 50 OOD (20-40 m) goals. Pools: all 16 (released 1-4 + 12 new) and the 12 new policies. |
| Kendall tau-b of the ROM mean-rank order with the Chrono mean-rank order; 95 % goal-bootstrap ranges (2000 replicates, |
| stratified by goal range, paired). Delta = tau(condition) - tau(nominal ROM). These numbers were used to choose |
| the TR design that was then fixed for the held-out evaluation on goal set B. They are optimistic for the chosen |
| condition (selection among all rows); the held-out evaluation tests the choice on new policies and goals. |
| Condition 'paper_tr' is the noise-only TR (action and powertrain noise). |
| |
| Parameter units: sig_* = sd of additive noise on normalized throttle/steering per 0.1 s step; steer_rate = max change |
| of normalized steering per 0.1 s step; delay and hold in 0.1 s steps; wheelbase in m; vmax in m/s; tau0 in N m; |
| omega0 in rad/s; yaw0, g_rot in rad; obs_pos_sig in m; gx_scale = goal-radius factor. K = trials per goal. |
| |
| | Condition | Perturbation (per trial) | K | ROM success, 16 | tau, 16 (95 % range) | Delta, 16 (95 % range) | tau ID, 16 | tau OOD, 16 | tau, new 12 (95 % range) | Delta, new 12 (95 % range) | |
| |---|---|---:|---:|---|---|---:|---:|---|---| |
| | rate_rand | steer_rate~LogU(0.05,0.5) | 20 | 0.87 | 0.82 (0.68 to 0.85) | +0.28 (+0.08 to +0.40) | 0.56 | 0.62 | 0.91 (0.79 to 0.97) | +0.58 (+0.30 to +0.64) | |
| | rate_rand_paper | tau0~N(1000,50); omega0~N(2600,100); sig_thr=0.05; sig_steer=0.05; steer_rate~LogU(0.05,0.5) | 20 | 0.87 | 0.82 (0.68 to 0.85) | +0.28 (+0.08 to +0.40) | 0.56 | 0.57 | 0.91 (0.79 to 0.97) | +0.58 (+0.28 to +0.64) | |
| | delay_rand03 | delay in {0,1,2,3} | 20 | 1.00 | 0.80 (0.68 to 0.85) | +0.27 (+0.07 to +0.40) | 0.44 | 0.63 | 0.85 (0.73 to 0.91) | +0.52 (+0.22 to +0.55) | |
| | delay_1 | delay=1 | 1 | 1.00 | 0.78 (0.69 to 0.83) | +0.25 (+0.11 to +0.34) | 0.34 | 0.65 | 0.85 (0.70 to 0.91) | +0.52 (+0.21 to +0.55) | |
| | calib_wb_loop | wheelbase=3.378; steer_rate=0.1; hold=10 | 1 | 0.95 | 0.75 (0.65 to 0.85) | +0.22 (+0.17 to +0.28) | 0.49 | 0.70 | 0.67 (0.61 to 0.85) | +0.33 (+0.22 to +0.39) | |
| | vmax_u | vmax~U(5,15) | 20 | 1.00 | 0.68 (0.59 to 0.75) | +0.15 (+0.04 to +0.22) | 0.28 | 0.80 | 0.76 (0.64 to 0.85) | +0.42 (+0.15 to +0.48) | |
| | agn_c2 | wheelbase~LogU(0.5,2); tau0~LogU(500,2e+03); omega0~LogU(1.3e+03,5.2e+03); vmax~LogU(2.5,10); sig_thr=0.05; sig_steer=0.05 | 20 | 0.99 | 0.63 (0.53 to 0.71) | +0.10 (+0.05 to +0.13) | 0.28 | 0.57 | 0.55 (0.45 to 0.69) | +0.21 (+0.06 to +0.24) | |
| | goal_far | gx_scale~U(1,2) | 20 | 1.00 | 0.62 (0.53 to 0.68) | +0.08 (+0.02 to +0.15) | 0.34 | 0.55 | 0.52 (0.42 to 0.64) | +0.18 (+0.03 to +0.21) | |
| | powertrain_speed | tau0~LogU(100,1e+03); vmax~U(5,15) | 20 | 1.00 | 0.60 (0.50 to 0.67) | +0.07 (+0.01 to +0.10) | 0.33 | 0.67 | 0.61 (0.52 to 0.70) | +0.27 (+0.09 to +0.30) | |
| | agn_c4 | wheelbase~LogU(0.25,4); tau0~LogU(250,4e+03); omega0~LogU(650,1.04e+04); vmax~LogU(1.25,20); sig_thr=0.05; sig_steer=0.05 | 20 | 0.95 | 0.58 (0.49 to 0.65) | +0.05 (-0.02 to +0.11) | 0.39 | 0.55 | 0.45 (0.39 to 0.58) | +0.12 (-0.05 to +0.15) | |
| | delay_2 | delay=2 | 1 | 1.00 | 0.57 (0.42 to 0.75) | +0.03 (-0.17 to +0.30) | 0.48 | 0.25 | 0.79 (0.67 to 0.88) | +0.45 (+0.16 to +0.50) | |
| | paper_tr | tau0~N(1000,50); omega0~N(2600,100); sig_thr=0.05; sig_steer=0.05 | 20 | 1.00 | 0.55 (0.43 to 0.62) | +0.02 (-0.03 to +0.03) | 0.28 | 0.55 | 0.36 (0.30 to 0.52) | +0.03 (-0.05 to +0.06) | |
| | act_0.3 | sig_thr=0.3; sig_steer=0.3 | 20 | 1.00 | 0.55 (0.47 to 0.63) | +0.02 (-0.02 to +0.07) | 0.33 | 0.65 | 0.42 (0.39 to 0.58) | +0.09 (+0.00 to +0.12) | |
| | yaw_45 | yaw0~U(-0.785,0.785) | 20 | 1.00 | 0.55 (0.45 to 0.63) | +0.02 (-0.03 to +0.06) | 0.24 | 0.55 | 0.36 (0.35 to 0.55) | +0.03 (-0.05 to +0.09) | |
| | obs_0.5 | obs_pos_sig=0.5 | 20 | 1.00 | 0.55 (0.45 to 0.63) | +0.02 (-0.02 to +0.05) | 0.29 | 0.55 | 0.39 (0.33 to 0.55) | +0.06 (-0.03 to +0.09) | |
| | nominal | none (training ROM) | 1 | 1.00 | 0.53 (0.43 to 0.62) | +0.00 (+0.00 to +0.00) | 0.27 | 0.53 | 0.33 (0.30 to 0.53) | +0.00 (+0.00 to +0.00) | |
| | paper_tr_x2 | tau0~N(1000,100); omega0~N(2600,200); sig_thr=0.1; sig_steer=0.1 | 20 | 1.00 | 0.53 (0.43 to 0.62) | +0.00 (-0.03 to +0.05) | 0.26 | 0.57 | 0.36 (0.33 to 0.52) | +0.03 (-0.06 to +0.07) | |
| | act_0.1 | sig_thr=0.1; sig_steer=0.1 | 20 | 1.00 | 0.53 (0.45 to 0.62) | +0.00 (-0.03 to +0.05) | 0.28 | 0.55 | 0.36 (0.33 to 0.55) | +0.03 (-0.05 to +0.06) | |
| | act_0.2 | sig_thr=0.2; sig_steer=0.2 | 20 | 1.00 | 0.53 (0.43 to 0.62) | +0.00 (-0.04 to +0.03) | 0.26 | 0.60 | 0.39 (0.33 to 0.53) | +0.06 (-0.05 to +0.09) | |
| | hold_1s | hold=10 | 1 | 1.00 | 0.53 (0.43 to 0.62) | +0.00 (+0.00 to +0.00) | 0.27 | 0.53 | 0.33 (0.30 to 0.53) | +0.00 (+0.00 to +0.00) | |
| | pose_release | x0~U(-1,1); y0~U(-1,1); yaw0~U(-3.14,3.14) | 20 | 1.00 | 0.53 (0.46 to 0.63) | +0.00 (-0.02 to +0.05) | 0.28 | 0.55 | 0.36 (0.33 to 0.55) | +0.03 (-0.06 to +0.09) | |
| | goal_rot | g_rot~U(-0.524,0.524) | 20 | 1.00 | 0.53 (0.45 to 0.63) | +0.00 (-0.02 to +0.05) | 0.26 | 0.53 | 0.36 (0.33 to 0.55) | +0.03 (-0.05 to +0.09) | |
| | agn_c8 | wheelbase~LogU(0.125,8); tau0~LogU(125,8e+03); omega0~LogU(325,2.08e+04); vmax~LogU(0.625,40); sig_thr=0.05; sig_steer=0.05 | 20 | 0.87 | 0.53 (0.47 to 0.62) | +0.00 (-0.04 to +0.09) | 0.38 | 0.48 | 0.39 (0.33 to 0.52) | +0.06 (-0.09 to +0.10) | |
| | paper_tr_x4 | tau0~N(1000,200); omega0~N(2600,400); sig_thr=0.2; sig_steer=0.2 | 20 | 1.00 | 0.52 (0.43 to 0.62) | -0.02 (-0.04 to +0.04) | 0.26 | 0.62 | 0.36 (0.33 to 0.55) | +0.03 (-0.06 to +0.09) | |
| | tau0_logu | tau0~LogU(100,1e+03) | 20 | 1.00 | 0.48 (0.38 to 0.57) | -0.05 (-0.08 to -0.02) | 0.26 | 0.57 | 0.36 (0.30 to 0.52) | +0.03 (-0.09 to +0.06) | |
| | agn_c8_loop | wheelbase~LogU(0.125,8); tau0~LogU(125,8e+03); omega0~LogU(325,2.08e+04); vmax~LogU(0.625,40); sig_thr=0.05; sig_steer=0.05; steer_rate=0.1; hold=10 | 20 | 0.66 | 0.48 (0.33 to 0.63) | -0.05 (-0.22 to +0.15) | 0.49 | 0.10 | 0.64 (0.55 to 0.75) | +0.30 (+0.10 to +0.36) | |
| | wb_2 | wheelbase=2 | 1 | 0.98 | 0.47 (0.38 to 0.57) | -0.07 (-0.10 to +0.00) | 0.18 | 0.58 | 0.33 (0.24 to 0.45) | +0.00 (-0.17 to +0.03) | |
| | rate_0.1 | steer_rate=0.1 | 1 | 0.77 | 0.43 (0.31 to 0.48) | -0.10 (-0.28 to +0.05) | 0.49 | 0.30 | 0.88 (0.76 to 0.94) | +0.55 (+0.25 to +0.61) | |
| | wb_u1_4 | wheelbase~U(1,4) | 20 | 0.97 | 0.43 (0.35 to 0.55) | -0.10 (-0.13 to -0.02) | 0.19 | 0.58 | 0.30 (0.21 to 0.42) | -0.03 (-0.20 to +0.03) | |
| | agn_c4_loop | wheelbase~LogU(0.25,4); tau0~LogU(250,4e+03); omega0~LogU(650,1.04e+04); vmax~LogU(1.25,20); sig_thr=0.05; sig_steer=0.05; steer_rate=0.1; hold=10 | 20 | 0.68 | 0.40 (0.28 to 0.45) | -0.13 (-0.32 to +0.02) | 0.56 | 0.23 | 0.91 (0.76 to 0.97) | +0.58 (+0.25 to +0.64) | |
| | wb_3.4 | wheelbase=3.378 | 1 | 0.96 | 0.38 (0.30 to 0.48) | -0.15 (-0.19 to -0.07) | 0.16 | 0.53 | 0.24 (0.15 to 0.36) | -0.09 (-0.27 to -0.05) | |
| | wb_logu1_8 | wheelbase~LogU(1,8) | 20 | 0.95 | 0.38 (0.31 to 0.48) | -0.15 (-0.18 to -0.07) | 0.16 | 0.58 | 0.24 (0.15 to 0.36) | -0.09 (-0.27 to -0.06) | |
| | delay_3 | delay=3 | 1 | 1.00 | 0.37 (0.20 to 0.43) | -0.17 (-0.39 to -0.02) | 0.46 | 0.12 | 0.88 (0.73 to 0.91) | +0.55 (+0.21 to +0.58) | |
| | act_rate_delay_paper | tau0~N(1000,50); omega0~N(2600,100); sig_thr=0.05; sig_steer=0.05; steer_rate~LogU(0.05,0.5); delay in {0,1,2,3} | 20 | 0.68 | 0.37 (0.27 to 0.45) | -0.17 (-0.33 to +0.00) | 0.43 | 0.22 | 0.82 (0.73 to 0.91) | +0.48 (+0.24 to +0.58) | |
| | act_rate_delay | steer_rate~LogU(0.05,0.5); delay in {0,1,2,3} | 20 | 0.67 | 0.35 (0.25 to 0.43) | -0.18 (-0.35 to -0.02) | 0.41 | 0.20 | 0.82 (0.73 to 0.91) | +0.48 (+0.24 to +0.58) | |
| | loop_rate_hold | steer_rate=0.1; hold=10 | 1 | 0.68 | 0.33 (0.22 to 0.41) | -0.20 (-0.38 to -0.03) | 0.43 | 0.20 | 0.85 (0.70 to 0.91) | +0.52 (+0.19 to +0.58) | |
| |
| ## Per policy, goal set A (exploration) |
| |
| Mean rank among 16 policies (1 = best). Success = share of goals (ROM TR: share of goal-trials). |
| |
| | Policy | Chrono success ID | Chrono success OOD | Chrono mean rank | Nominal ROM success | Nominal ROM mean rank | Rate-limit TR (rate_rand_paper) success | Rate-limit TR mean rank | Noise-only TR (paper_tr) mean rank | |
| |---|---:|---:|---:|---:|---:|---:|---:|---:| |
| | robust_s1002 | 0.46 | 0.98 | 5.21 | 1.00 | 4.29 | 0.99 | 3.16 | 4.25 | |
| | robust_s1003 | 0.50 | 1.00 | 6.08 | 1.00 | 6.12 | 1.00 | 4.01 | 6.04 | |
| | robust_s1004 | 0.46 | 0.98 | 6.31 | 1.00 | 5.21 | 0.91 | 5.70 | 5.21 | |
| | release_s1002 | 0.46 | 0.98 | 6.38 | 1.00 | 3.85 | 0.87 | 6.42 | 4.01 | |
| | nonoise_s1001 | 0.46 | 0.98 | 6.64 | 1.00 | 3.73 | 0.84 | 6.96 | 3.78 | |
| | robust_s1001 | 0.46 | 0.94 | 6.99 | 1.00 | 4.33 | 0.84 | 7.06 | 4.34 | |
| | nonoise_s1004 | 0.46 | 0.92 | 7.38 | 1.00 | 3.71 | 0.80 | 7.67 | 3.78 | |
| | rel4 | 0.96 | 1.00 | 8.45 | 1.00 | 12.51 | 0.99 | 8.81 | 12.56 | |
| | rel3 | 0.94 | 0.96 | 9.04 | 1.00 | 12.78 | 1.00 | 8.25 | 12.93 | |
| | release_s1001 | 0.46 | 0.42 | 9.65 | 1.00 | 9.17 | 0.77 | 10.63 | 9.21 | |
| | release_s1003 | 0.34 | 0.58 | 9.68 | 1.00 | 10.04 | 0.74 | 11.98 | 9.78 | |
| | release_s1004 | 0.32 | 0.58 | 10.07 | 1.00 | 10.07 | 0.76 | 11.17 | 9.84 | |
| | rel2 | 0.84 | 0.96 | 10.18 | 1.00 | 13.67 | 1.00 | 8.26 | 13.70 | |
| | nonoise_s1003 | 0.30 | 0.52 | 10.77 | 1.00 | 7.86 | 0.67 | 13.05 | 7.74 | |
| | nonoise_s1002 | 0.28 | 0.34 | 11.19 | 1.00 | 13.71 | 0.76 | 13.14 | 13.75 | |
| | rel1 | 0.48 | 0.58 | 11.99 | 0.94 | 14.96 | 0.94 | 9.72 | 15.09 | |
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