{ "config": { "ckpt": "ml/runs/base_dag2_dag1/best.pt", "samples": "ml/data/samples", "tasks": null, "split": "val", "n": 256, "K": 8, "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_round40_safetyoff_steps2.json", "trace": null, "select": "endpoint", "replan": "empty", "safety": 0, "partial": 1, "inc_cap": 0, "gap_margin": 0.0, "cert_batch": 0, "steps": 2, "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": 0.81640625, "collision_free_success": 0.375, "time_ok_1p3": 0.68359375, "collision_rate": 0.55859375, "collision_steps_mean": 45.07421875, "travel_ratio_median": 1.5936355590820312, "time_mean_s": 2.019808530807495, "brakes_mean": 0.0, "start_fail": 0.0, "goal_ratio_2s": 0.003008240135386586, "err_fail_med": 48.19245529174805, "err_success_med": 0.2415877878665924, "dls_share": 0.8515625, "time_budget": "teacherĂ—2(≥3 s)", "speed_ratio_p50": 1.6600004434585571, "speed_ratio_p95": 1.660003662109375, "speed_ratio_max": 1.660003662109375, "over_vmax_rate": 0.9921875, "accel_ratio_p95": 1.010289192199707, "accel_ratio_max": 1.4423871040344238, "reverse_p50": 0.08469945192337036, "reverse_mean": 0.09047156572341919, "reverse_moving_p50": 0.08469945192337036, "moving_share_p50": 1.0, "brake_rate_mean": 0.0, "brake_rate_p50": 0.0, "n_plans_mean": 195.0 }, "simulation_wall_s": 58.29419349999807 }