File size: 1,555 Bytes
96177f5 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 | schema_version: parking-dial-mpc-parameters/2
status: ready
task: tractor
source:
study_name: parking-controller
trial_number: 123
objective: 103406.64136011986
protocol_sha256: 30961a33b4d897ddd738a2c44e06d5de43d6ef269d203fc480c6d33176466ce9
source_artifact_sha256: db4d2fa3fc791230234ac705f009835d1264f2b1554387eb40f7497b2af90fe4
controller:
optimizer_semantics: probe-dial-mpc-tuning/1
safety_semantics: learned-occupancy-tuning/1
goal_heading_mode: axial
planning_horizon: 32
population_size: 224
diffusion_steps: 8
initial_diffusion_steps: 14
temperature: 0.11749450183514516
initial_action_std: 2.5635976400285085
action_clip_sigma: 3.664732493853261
horizon_diffusion_factor: 0.934031586914306
trajectory_diffusion_factor: 0.8790902752755135
control_nodes: 6
lock_first_action: true
occupancy_evaluation_horizon: 8
hard_unsafe_penalty: 0.0
clearance_margin_m: 0.0
cost_weights:
goal_forward_terminal: 33.11093372487009
goal_lateral_terminal: 239.15905614991303
goal_heading_terminal: 0.49014621276282405
goal_heading_near_terminal: 1985.274374482975
goal_forward_path: 47.83297872336852
goal_lateral_path: 7.153821433111832e-05
goal_heading_path: 0.04745715538654024
goal_heading_near_path: 0.00011489879052140072
heading_switch_distance_m: 4.353145293615639
heading_switch_slope_m: 0.10525701346496041
collision: 0.0
out_of_bounds: 0.0
unsafe: 0.0
clearance: 0.0
action_l2: 0.001107649711418118
action_smoothness: 1.1440820023247989e-07
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