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