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