File size: 3,733 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 | schema_version: parking-tractor-trailer-dial-mpc-parameters/1
status: ready
task: tractor_trailer
review_warning: This controller is the optimization-bank winner of 2026-07-31-tractor-trailer-direct-motion-dialmpc-retune-v1
current study (39/96 successes, 0 collisions, 48 jackknifes, and 0 out-of-bounds
episodes). It is not held-out validated; review and independently confirm it before
deployment.
source:
study_name: parking-controller
protocol_version: tractor-trailer-direct-motion-dial-mpc-optuna-protocol/1
trial_number: 104
objective: 0.40625
tuning_successes: 39
tuning_num_eval: 96
tuning_collision_count: 0
tuning_jackknife_count: 48
tuning_out_of_bounds_count: 0
full_benchmark_complete: true
held_out_validated: false
protocol_sha256: c48b122d25c68e7ee6918e92c038b04b1a9a9bed0ac0677c0eb6883d73c8a31c
scenario_bank_sha256: b6bb40d923ca136acc15fc158710d686d68832a0ac2550904c31f5ccd4ee5bf5
source_artifact_sha256: 437a88be12abc42b5023b2fcc08a04109990282fcf092a8415c5af6505f0e33f
simulator_revision: 1382119d93984e0617dcbdef1929fed9d644e6f1
study_state:
num_complete: 65
num_pruned: 63
interrupted_running_trials: []
artifact_sha256:
lewm_checkpoint: add820fd8611aca84e21c86ca95be3a73c4cf2b8ae64a2770529423daf88370e
preprocessing: 198582680ecbee98d98c358408576a5e350b446cc12974f52e99a22efc1d619f
motion_checkpoint: 4394ce4bcafc6cb1860d669b4718a025acbe682bae21111a784277bc137199ca
motion_stats: e7fe1e18b56c2835356fb5f43f5f50136b0a7237631db4d5247c043d4b20d5c4
occupancy_config: 9de577c39b8c9a7b8b4109f0e32ff52c1dbe0f2f48b8133185486e33dc93b9a2
occupancy_checkpoint: e146653054e0b964366275deaacd68685c2a97b99ab1d6bd27100117c7a5cbed
occupancy_preprocessing: 198582680ecbee98d98c358408576a5e350b446cc12974f52e99a22efc1d619f
controller:
optimizer_semantics: probe-dial-mpc-tuning/1
safety_semantics: articulated-learned-occupancy-tuning/1
goal_heading_mode: axial_two_pose
planning_horizon: 64
population_size: 160
diffusion_steps: 8
initial_diffusion_steps: 16
temperature: 0.021177507763768394
initial_action_std: 2.067169830308078
action_clip_sigma: 3.664732493853261
horizon_diffusion_factor: 0.8721395194846484
trajectory_diffusion_factor: 0.9734116447411457
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: 3.8115
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: 14.337656011704471
goal_lateral_terminal: 14.337656011704471
goal_forward_path: 53.47351805621884
goal_lateral_path: 53.47351805621884
trailer_position_terminal_scale: 3.3625466912283293
trailer_position_path_scale: 1.9086336416567382
tractor_heading_terminal: 0.6882146296038378
tractor_heading_near_terminal: 463.81151236405657
trailer_heading_terminal: 18.85571989923003
trailer_heading_near_terminal: 47.597724934043455
tractor_heading_path: 0.5320072489089487
tractor_heading_near_path: 0.625032484305923
trailer_heading_path: 0.0012589741676603053
trailer_heading_near_path: 1.1188952112276096
heading_switch_distance_m: 6.536732508265757
heading_switch_slope_m: 1.9494934423642716
articulation_terminal: 150.81286795325784
jackknife_hard_limit_deg: 60.0
action_l2: 0.0006858265795682604
action_smoothness: 0.04867292959063771
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