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| 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 | |