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