| schema_version: parking-python-tractor-trailer-runtime-profile/1 |
| status: ready |
| task: tractor_trailer |
| simulator_backend: analytic |
| name: python_tt_schema44_a75_l870_combined_full_horizon_shield |
| source: |
| controller_base_path: configs/parking/controller/tractor_trailer_dial_mpc_best.yaml |
| controller_base_sha256: b2513009b008c70b313beb65e1eee799d5bf2efa6cc10f6013dfb1420dacb1f8 |
| controller_base_trial_number: 111 |
| evidence_path: configs/parking/benchmark/evidence/tractor_trailer_python_schema44_a75_l870_combined_full96.json |
| evidence_sha256: da33a82d7ee8fe5d886d864a3219e2b0dfebf3c95f0f733eb23a495336f414de |
| settings: |
| compute: |
| schema_version: strict-deterministic-cuda-evaluation/1 |
| cublas_workspace_config: ":4096:8" |
| cudnn_deterministic: true |
| cudnn_benchmark: false |
| float32_matmul_precision: highest |
| cuda_matmul_allow_tf32: false |
| cudnn_allow_tf32: false |
| deterministic_algorithms: true |
| deterministic_algorithms_warn_only: false |
| benchmark_geometry: |
| start_profile: python_tt_proper_l870_a75_v7e |
| longitudinal_m: 8.70 |
| axial_heading_mismatch_deg: 75.0 |
| preserve_frozen_lateral_coordinate: true |
| max_longitudinal_shift_m: 4.25 |
| minimum_initial_clearance_m: 0.25 |
| parked_obstacle_linear_scale: 0.90 |
| controller: |
| optimizer: |
| planning_horizon: 24 |
| population_size: 640 |
| diffusion_steps: 6 |
| initial_diffusion_steps: 10 |
| temperature: 0.005 |
| initial_action_std: 2.499246826127968 |
| horizon_diffusion_factor: 0.80 |
| trajectory_diffusion_factor: 0.75 |
| control_nodes: 12 |
| lock_first_action: false |
| cost_softmax_mode: finite_only_unclipped |
| cost_weights: |
| goal_forward_terminal: 72.33291435275139 |
| goal_lateral_terminal: 717.4771684497391 |
| goal_forward_path: 109.2316707068826 |
| goal_lateral_path: 109.2316707068826 |
| trailer_position_terminal_scale: 5.0 |
| tractor_heading_near_terminal: 1000.0 |
| tractor_heading_near_path: 100.0 |
| trailer_heading_terminal: 25.0 |
| trailer_heading_near_terminal: 500.0 |
| trailer_heading_near_path: 100.0 |
| articulation_terminal: 1000.0 |
| articulation_path: 500.0 |
| hitch_threshold: 50.5 |
| hitch_penalty_weight: 806223.063200158 |
| jackknife_hard_limit_deg: 60.0 |
| action_l2: 0.0016573420091603036 |
| action_smoothness: 3.5161372353557706e-10 |
| articulated_occupancy_safety: |
| semantics: articulated-occupancy-independent-learned-hitch-tube/2 |
| trailer_longitudinal_tiles: 16 |
| trailer_lateral_tiles: 10 |
| nominal_jackknife_uses_body_heading_radii: false |
| robust_jackknife_uncertainty_source: independent_learned_articulation_tube |
| hitch_cost_bands: |
| barrier_exponent: 2.3 |
| high_cost_threshold_deg: 58.0 |
| high_cost_scale: 0.107693237419734 |
| conformal_shield: |
| enabled: true |
| horizon_mode: full_horizon |
| jackknife_threshold_deg: 58.5 |
| pseudo_quantile: 1.30 |
| position_sigma_initial_m: 0.050 |
| position_sigma_growth_m: 0.005 |
| max_position_radius_m: 0.75 |
| heading_sigma_initial_deg: 1.25 |
| heading_sigma_growth_deg: 0.025 |
| articulation_sigma_initial_deg: 0.3846153846153846 |
| articulation_sigma_growth_deg: 0.015384615384615384 |
| max_articulation_radius_deg: 1.5 |
| cost_tube_scale: 0.0 |
| intervention_cost_scale: 2.0 |
| tube_profile: local_q |
| backup_horizon_blocks: 6 |
| hitch_cost_horizon_blocks: 16 |
| target_pair_cost: |
| terminal_weight: 120.0 |
| joint_goal_set_weight: 0.0 |
| joint_goal_set_forward_weight: 0.0 |
| joint_goal_set_reverse_weight: 1250.0 |
| position_tolerance_m: 0.8 |
| heading_tolerance_deg: 15.0 |
| terminal_speed_weight: 150.0 |
| terminal_speed_goal_gate_enabled: false |
| near_goal_speed_path_weight: 500.0 |
| near_goal_speed_switch_distance_m: 0.8 |
| near_goal_speed_switch_slope_m: 0.15 |
| near_goal_speed_branch_mode: coherent |
| near_goal_speed_heading_switch_deg: 18.0 |
| near_goal_speed_heading_switch_slope_deg: 3.0 |
| near_goal_lateral_path_weight: 0.0 |
| near_goal_lateral_switch_distance_m: 3.0 |
| near_goal_lateral_switch_slope_m: 0.5 |
| goal_branch_mode: primary |
| intrinsic_direction_profiles: |
| forward: |
| planning_horizon: 32 |
| near_goal_speed_path_weight: 300.0 |
| near_goal_speed_heading_switch_deg: 14.0 |
| near_goal_speed_heading_switch_slope_deg: 2.0 |
| reverse: |
| planning_horizon: 24 |
| near_goal_speed_path_weight: 500.0 |
| near_goal_speed_heading_switch_deg: 18.0 |
| near_goal_speed_heading_switch_slope_deg: 3.0 |
| learned_target_flank_selector: |
| enabled: true |
| roi: |
| longitudinal_center_offset_m: -3.0 |
| longitudinal_half_extent_m: 1.5 |
| lateral_inner_offset_m: 3.0 |
| lateral_outer_offset_m: 4.0 |
| minimum_occupied_fraction: 0.50 |
| minimum_occupied_pixels: 64 |
| forward_open: |
| planning_horizon: 32 |
| near_goal_speed_path_weight: 300.0 |
| near_goal_speed_heading_switch_deg: 14.0 |
| near_goal_speed_heading_switch_slope_deg: 2.0 |
| joint_goal_set_weight: 0.0 |
| terminal_speed_weight: 150.0 |
| terminal_speed_goal_gate_enabled: false |
| trailer_heading_terminal: 500.0 |
| trailer_heading_near_terminal: 1500.0 |
| trailer_heading_near_path: 250.0 |
| population_size: 640 |
| diffusion_steps: 6 |
| initial_diffusion_steps: 10 |
| shield_pseudo_quantile: 1.46 |
| forward_tight: |
| planning_horizon: 32 |
| near_goal_speed_path_weight: 500.0 |
| near_goal_speed_heading_switch_deg: 18.0 |
| near_goal_speed_heading_switch_slope_deg: 3.0 |
| joint_goal_set_weight: 0.0 |
| terminal_speed_weight: 300.0 |
| terminal_speed_goal_gate_enabled: true |
| trailer_heading_terminal: 500.0 |
| trailer_heading_near_terminal: null |
| trailer_heading_near_path: 250.0 |
| population_size: 640 |
| diffusion_steps: 8 |
| initial_diffusion_steps: 12 |
| shield_pseudo_quantile: 1.40 |
| reverse_open: |
| planning_horizon: 24 |
| near_goal_speed_path_weight: 500.0 |
| near_goal_speed_heading_switch_deg: 18.0 |
| near_goal_speed_heading_switch_slope_deg: 3.0 |
| joint_goal_set_weight: 1250.0 |
| terminal_speed_weight: 150.0 |
| terminal_speed_goal_gate_enabled: false |
| trailer_heading_terminal: 500.0 |
| trailer_heading_near_terminal: 2000.0 |
| trailer_heading_near_path: 250.0 |
| population_size: 640 |
| diffusion_steps: 6 |
| initial_diffusion_steps: 10 |
| shield_pseudo_quantile: null |
| reverse_tight: |
| planning_horizon: 24 |
| near_goal_speed_path_weight: 500.0 |
| near_goal_speed_heading_switch_deg: 18.0 |
| near_goal_speed_heading_switch_slope_deg: 3.0 |
| joint_goal_set_weight: 0.0 |
| terminal_speed_weight: 150.0 |
| terminal_speed_goal_gate_enabled: false |
| trailer_heading_terminal: 500.0 |
| trailer_heading_near_terminal: 1500.0 |
| trailer_heading_near_path: 250.0 |
| population_size: 640 |
| diffusion_steps: 6 |
| initial_diffusion_steps: 10 |
| shield_pseudo_quantile: null |
| variants: |
| schema_version: python-tt-a75-l870-combined-selector/1 |
| forward_open_right_only: |
| shield_pseudo_quantile: 1.475 |
| trailer_heading_near_terminal: 2000.0 |
| temperature: 0.015 |
| temperature_pair_center_left_min_threshold_m: 0.0 |
| base_temperature_near_goal_speed_heading_switch_deg: 12.0 |
| far_pair_center_forward_abs_threshold_m: 8.0 |
| far_near_goal_speed_heading_switch_deg: 12.0 |
| forward_open_left_only: |
| near_temperature: 0.015 |
| near_near_goal_speed_heading_switch_deg: 12.0 |
| far_pair_center_forward_abs_threshold_m: 7.8 |
| far_trailer_heading_near_terminal: 2000.0 |
| very_far_pair_center_forward_abs_threshold_m: 9.0 |
| very_far_trailer_heading_near_terminal: 2500.0 |
| very_far_near_goal_speed_heading_switch_deg: 12.0 |
| forward_open_neither: |
| near_pair_center_forward_abs_max_threshold_m: 5.0 |
| near_near_goal_speed_heading_switch_deg: 12.0 |
| far_pair_center_forward_abs_threshold_m: 9.0 |
| far_trailer_heading_near_terminal: 2000.0 |
| far_near_goal_speed_heading_switch_deg: 12.0 |
| forward_tight: |
| pair_center_forward_abs_threshold_m: 6.8 |
| near_trailer_heading_near_terminal: 2500.0 |
| far_trailer_heading_near_terminal: 3000.0 |
| far_shield_pseudo_quantile: 1.40 |
| very_far_pair_center_forward_abs_threshold_m: 8.5 |
| very_far_shield_pseudo_quantile: 2.0 |
| reverse_open_left_only: |
| shield_pseudo_quantile: 1.48 |
| trailer_heading_near_terminal: 2000.0 |
| shield_jackknife_threshold_deg: 58.05 |
| reverse_open_right_only: |
| temperature: 0.008 |
| temperature_pair_center_forward_abs_threshold_m: 10.25 |
| reverse_open_neither_distance_split: |
| medium_pair_center_forward_abs_threshold_m: 7.3 |
| far_pair_center_forward_abs_threshold_m: 9.0 |
| medium: |
| planning_horizon: 20 |
| terminal_speed_weight: 450.0 |
| trailer_heading_terminal: 500.0 |
| trailer_heading_near_terminal: 1500.0 |
| trailer_heading_near_path: 250.0 |
| far: |
| planning_horizon: 16 |
| terminal_speed_weight: 400.0 |
| trailer_heading_terminal: 500.0 |
| trailer_heading_near_terminal: 2000.0 |
| trailer_heading_near_path: 250.0 |
| far_temperature_pair_center_forward_abs_threshold_m: 10.3 |
| far_temperature: 0.014 |
| very_far_temperature_pair_center_forward_abs_threshold_m: 10.9 |
| very_far_temperature: 0.015 |
| reverse_tight_outer: |
| near_pair_center_forward_abs_threshold_m: 7.0 |
| far_pair_center_forward_abs_threshold_m: 10.3 |
| trailer_heading_near_terminal: 2000.0 |
|
|
