| 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 |
|
|
