{
 "_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
   ]
  }
 }
}