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| 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 | |