78 lines
2.0 KiB
JSON
78 lines
2.0 KiB
JSON
|
{
|
|||
|
|
"config": {
|
|||
|
|
"ckpt": "ml/runs/base_dag2_dag1/best.pt",
|
|||
|
|
"samples": "ml/data/samples",
|
|||
|
|
"tasks": null,
|
|||
|
|
"split": "val",
|
|||
|
|
"n": 256,
|
|||
|
|
"K": 16,
|
|||
|
|
"commit": 2,
|
|||
|
|
"fb": 2.2,
|
|||
|
|
"ki": 0.0,
|
|||
|
|
"fb_scale": 0.0,
|
|||
|
|
"fb_near": 0.2,
|
|||
|
|
"fb_fallback": 0.0,
|
|||
|
|
"kdecay": 0.9,
|
|||
|
|
"kimax": 0.5,
|
|||
|
|
"fb_every": 1,
|
|||
|
|
"safety_try": 0,
|
|||
|
|
"sel_w": 0.1,
|
|||
|
|
"dls_safety": 1,
|
|||
|
|
"fb_clear": 0.0,
|
|||
|
|
"fb_cmin": 0.3,
|
|||
|
|
"sub_refresh": 0,
|
|||
|
|
"fb_block_gain": 0.5,
|
|||
|
|
"dump": null,
|
|||
|
|
"out": "docs/experiment_round39_K16.json",
|
|||
|
|
"trace": null,
|
|||
|
|
"select": "endpoint",
|
|||
|
|
"replan": "empty",
|
|||
|
|
"safety": 1,
|
|||
|
|
"partial": 1,
|
|||
|
|
"inc_cap": 1,
|
|||
|
|
"gap_margin": 0.0,
|
|||
|
|
"cert_batch": 0,
|
|||
|
|
"steps": 1,
|
|||
|
|
"z_scale": 1.0,
|
|||
|
|
"len_w": 0.0,
|
|||
|
|
"backoff": 0,
|
|||
|
|
"max_sec": null,
|
|||
|
|
"seed": 0,
|
|||
|
|
"dls": "analytic",
|
|||
|
|
"device": "cuda"
|
|||
|
|
},
|
|||
|
|
"batch_size": 256,
|
|||
|
|
"batch_seed_rule": "same seed per batch",
|
|||
|
|
"checkpoint_sha256": "f7f686fd8ee92fb6948fbcc4ee954636065ad87bb54f661c4f8f575bc16c2ce1",
|
|||
|
|
"tasks_sha256": "249bd93457825cda98c59e64d9a096d3473c69aeb3553de1dea6d9e56be71772",
|
|||
|
|
"kin_fp": "2ebcbf17",
|
|||
|
|
"act_scale": 1.0,
|
|||
|
|
"metrics": {
|
|||
|
|
"n": 256,
|
|||
|
|
"n_ref": 256,
|
|||
|
|
"success": 0.5625,
|
|||
|
|
"collision_free_success": 0.5625,
|
|||
|
|
"time_ok_1p3": 0.296875,
|
|||
|
|
"collision_rate": 0.0,
|
|||
|
|
"collision_steps_mean": 0.0,
|
|||
|
|
"travel_ratio_median": 2.6243183612823486,
|
|||
|
|
"time_mean_s": 2.6024999618530273,
|
|||
|
|
"brakes_mean": 13.7734375,
|
|||
|
|
"start_fail": 0.0,
|
|||
|
|
"goal_ratio_2s": 0.2799961566925049,
|
|||
|
|
"err_fail_med": 195.448486328125,
|
|||
|
|
"err_success_med": 0.15947841107845306,
|
|||
|
|
"dls_share": 0.640625,
|
|||
|
|
"time_budget": "teacher×2(≥3 s)",
|
|||
|
|
"speed_ratio_p50": 1.0000016689300537,
|
|||
|
|
"speed_ratio_p95": 1.0000101327896118,
|
|||
|
|
"speed_ratio_max": 1.0000101327896118,
|
|||
|
|
"over_vmax_rate": 0.0,
|
|||
|
|
"accel_ratio_p95": 1.0000016689300537,
|
|||
|
|
"accel_ratio_max": 1.0000101327896118,
|
|||
|
|
"reverse_p50": 1.5750000476837158,
|
|||
|
|
"reverse_mean": 1.6161863803863525
|
|||
|
|
},
|
|||
|
|
"simulation_wall_s": 573.4911701000092
|
|||
|
|
}
|