{ "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_round34_cert_batch_check.json", "trace": null, "select": "endpoint", "replan": "empty", "safety": 1, "partial": 1, "inc_cap": 0, "gap_margin": 0.0, "cert_batch": 1, "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": 0.57421875, "collision_free_success": 0.57421875, "time_ok_1p3": 0.390625, "collision_rate": 0.0, "collision_steps_mean": 0.0, "travel_ratio_median": 2.4449527263641357, "time_mean_s": 2.3076188564300537, "brakes_mean": 19.25, "start_fail": 0.0, "goal_ratio_2s": 0.20997506380081177, "err_fail_med": 229.68746948242188, "err_success_med": 0.18899640440940857, "dls_share": 0.625, "time_budget": "teacherĂ—2(≥3 s)", "speed_ratio_p50": 1.6600004434585571, "speed_ratio_p95": 1.6600035429000854, "speed_ratio_max": 1.660003662109375, "over_vmax_rate": 1.0, "accel_ratio_p95": 1.5835107564926147, "accel_ratio_max": 1.6600004434585571 }, "simulation_wall_s": 306.9490996999957 }