File size: 1,981 Bytes
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status: ready
task: tractor
source:
study_name: python-car-dial-mpc
trial_number: 80
objective: 102146.64637571765
protocol_sha256: c33500bebd10b3307b97d68f842afd2799167be0b5351e89198bc503d12931a3
source_artifact_sha256: 230c1436b6ecb85b4fabf95097b1825ce6ec3e0c425dbe776eb528ace875dffd
controller:
optimizer_semantics: probe-dial-mpc-tuning/1
safety_semantics: learned-occupancy-tuning/1
goal_heading_mode: axial
planning_horizon: 32
population_size: 192
diffusion_steps: 7
initial_diffusion_steps: 14
temperature: 0.05767810094209592
initial_action_std: 2.217650109069124
action_clip_sigma: 3.664732493853261
horizon_diffusion_factor: 0.8360629355161849
trajectory_diffusion_factor: 0.828306072046216
control_nodes: 8
lock_first_action: true
occupancy_evaluation_horizon: 8
hard_unsafe_penalty: 0.0
clearance_margin_m: 0.0
cost_weights:
goal_forward_terminal: 42.84570426087972
goal_lateral_terminal: 239.15905614991303
goal_heading_terminal: 0.9097068979005226
goal_heading_near_terminal: 5423.512334687127
goal_forward_path: 56.76562479422984
goal_lateral_path: 4.582352281646906e-05
goal_heading_path: 0.14196150136070634
goal_heading_near_path: 0.00014529201730955303
heading_switch_distance_m: 3.77462210499037
heading_switch_slope_m: 0.3713118346633383
collision: 0.0
out_of_bounds: 0.0
unsafe: 0.0
clearance: 0.0
action_l2: 0.0031950043061968864
action_smoothness: 1.1074888430081267e-09
conformal_shield:
enabled: true
horizon_mode: full_horizon
pseudo_quantile: 0.5390240052596672
position_sigma_initial_m: 0.025
position_sigma_growth_m: 0.01
max_position_radius_m: 0.75
heading_sigma_initial_deg: 1.25
heading_sigma_growth_deg: 0.025
max_heading_radius_deg: 35.0
cost_tube_scale: 0.0
intervention_cost_scale: 0.1
tube_profile: local_q
backup_horizon_blocks: 6
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