{
  "config": {
    "ckpt": "ml/runs/base_dag2_dag1/best.pt",
    "samples": "ml/data/samples",
    "tasks": null,
    "split": "val",
    "n": 16,
    "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_round46_ep16_smoke.json",
    "trace": null,
    "select": "endpoint",
    "replan": "empty",
    "safety": 1,
    "partial": 1,
    "inc_cap": 1,
    "gap_margin": 0.0,
    "cert_batch": 1,
    "steps": 1,
    "z_scale": 1.0,
    "len_w": 0.0,
    "tie": 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": "7b7c219c70d15b280682fe0626192b267f0e4dfd843b1e70fb279e148eb6eaa3",
  "kin_fp": "2ebcbf17",
  "act_scale": 1.0,
  "metrics": {
    "n": 16,
    "n_ref": 16,
    "success": 0.375,
    "collision_free_success": 0.375,
    "time_ok_1p3": 0.25,
    "collision_rate": 0.0,
    "collision_steps_mean": 0.0,
    "travel_ratio_median": 2.426271438598633,
    "time_mean_s": 2.680000066757202,
    "brakes_mean": 24.9375,
    "start_fail": 0.0,
    "goal_ratio_2s": 0.43800246715545654,
    "err_fail_med": 231.5127410888672,
    "err_success_med": 0.2731371223926544,
    "dls_share": 0.5,
    "time_budget": "teacher×2(≥3 s)",
    "speed_ratio_p50": 1.0000016689300537,
    "speed_ratio_p95": 1.0000053644180298,
    "speed_ratio_max": 1.0000101327896118,
    "over_vmax_rate": 0.0,
    "accel_ratio_p95": 1.0000016689300537,
    "accel_ratio_max": 1.0000016689300537,
    "reverse_p50": 0.22442243993282318,
    "reverse_mean": 0.2425607144832611,
    "reverse_moving_p50": 0.30572596192359924,
    "moving_share_p50": 0.7567567825317383,
    "brake_rate_mean": 0.14249999821186066,
    "brake_rate_p50": 0.07428571581840515,
    "brake_rate_p90": 0.3571428656578064,
    "stuck_share": 0.3125,
    "n_plans_mean": 175.0,
    "success_reachable": 0.375,
    "by_cat": {
      "A": [
        8,
        4
      ],
      "B": [
        8,
        2
      ]
    }
  },
  "simulation_wall_s": 35.48499080000329
}