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