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