| schema_version: parking-dial-mpc-parameters/3 |
| 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 |
|
|
