File size: 3,900 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 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 | schema_version: parking-tractor-trailer-dial-mpc-parameters/2
status: ready
task: tractor_trailer
review_warning: This controller is the optimization-bank winner of tractor-trailer-analytic-direct-motion-dialmpc-retune
current study (58/96 successes, 3 collisions, 30 jackknifes, and 0 out-of-bounds
episodes). It is not held-out validated; review and independently confirm it before
deployment.
source:
study_name: tractor-trailer-analytic-direct-motion-dialmpc-retune
protocol_version: tractor-trailer-direct-motion-dial-mpc-optuna-protocol/5
trial_number: 111
objective: 0.6041666666666666
tuning_successes: 58
tuning_num_eval: 96
tuning_collision_count: 3
tuning_jackknife_count: 30
tuning_out_of_bounds_count: 0
full_benchmark_complete: true
held_out_validated: false
protocol_sha256: a866c23220d3368c9bbb00798e121f191fa4dfcacea8cb9e97dc904558c9044c
scenario_bank_sha256: 1acbd2a881646156540f1b92965d3a337c7ee31e8b2d7dc3bb87c87fe4e332fa
source_artifact_sha256: df1de64dc4e6986918a77e5e4d08f7401f94c8790ac445a1ae51af249eb82011
simulator_revision: d22c79f66c8be294d8439840def9f7b598f61bad
study_state:
num_complete: 128
num_pruned: 0
interrupted_running_trials: []
artifact_sha256:
lewm_checkpoint: cb73901dbc5e7b2bbbf47e1fe3e2abb1ba8ea8f9142362f51ca5db73d4b3a51a
preprocessing: 0babfd971f28f6917ea14a74948952038c7a41dc79e63de43cc077ab00a0dc11
motion_checkpoint: 59af81d90cd51e883ccd2da9e96164603a84c4dc966e9848455d98e135220f97
motion_stats: d6492b5f936df9aa627ea36984089d75f25321a6ee02684df03a14d566f368c0
occupancy_config: 91abd85e9c49c6439d5d8b08b09861a4abeab2cb3d98511846166a66a88929db
occupancy_checkpoint: 7da31e6ebb5a82a1352462068c8d9e04a71af5ccafa64d27ac199d5fa34c84f5
occupancy_preprocessing: 0babfd971f28f6917ea14a74948952038c7a41dc79e63de43cc077ab00a0dc11
controller:
optimizer_semantics: probe-dial-mpc-tuning/1
safety_semantics: articulated-learned-occupancy-tuning/1
goal_heading_mode: axial_two_pose
planning_horizon: 120
population_size: 128
diffusion_steps: 7
initial_diffusion_steps: 14
temperature: 0.042382296535630234
initial_action_std: 0.9661112168989807
action_clip_sigma: 3.664732493853261
horizon_diffusion_factor: 0.7206652033358995
trajectory_diffusion_factor: 0.9311676057998469
control_nodes: 4
lock_first_action: false
rig_geometry:
tractor_wheelbase_m: 3.23
trailer_axle_distance_m: 2.9
hitch_offset_behind_rear_axle_m: 1.15
tractor_front_overhang_m: 0.9
tractor_rear_overhang_m: 1.848
trailer_front_overhang_m: 1.42
trailer_rear_overhang_m: 3.225
alternate_goal_shift_m: 3.1715
occupancy:
threshold: 0.5
dilation_pixels: 0
evaluation_horizon: 8
unsafe_margin_m: 0.0
hard_clearance_margin_m: 0.0
hard_unsafe_penalty: 0.0
cost_weights:
goal_forward_terminal: 28.147677253622312
goal_lateral_terminal: 28.147677253622312
goal_forward_path: 208.89273320419977
goal_lateral_path: 208.89273320419977
trailer_position_terminal_scale: 7.015469760229165
trailer_position_path_scale: 0.8618071244405531
tractor_heading_terminal: 0.37522597958529885
tractor_heading_near_terminal: 448.1872239828787
trailer_heading_terminal: 7.619398461866644
trailer_heading_near_terminal: 43.48840078689577
tractor_heading_path: 0.6333375769053522
tractor_heading_near_path: 0.31692251300221314
trailer_heading_path: 0.0011146989634242455
trailer_heading_near_path: 1.341984680267766
heading_switch_distance_m: 9.252964598763675
heading_switch_slope_m: 0.8300578352915423
articulation_terminal: 78.57433562555866
articulation_path: 397.219510427551
hitch_threshold: 53.47076543798321
hitch_penalty_weight: 912872.5839765152
jackknife_hard_limit_deg: 60.0
action_l2: 0.0005338047757385019
action_smoothness: 0.011082908761721492
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