comma controls challenge: sim-calibrated feedforward + PID (72.3 vs 110.3 baseline)

2026-06-16 13:30:25 -07:00
commit cea2c9c82a
13 changed files with 616 additions and 0 deletions
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+"""Sweep the future-target averaging window (navg) + forward roll-avg + PID tweaks."""
+import numpy as np
+from pathlib import Path
+from multiprocessing import Pool
+from tinyphysics import TinyPhysicsModel, TinyPhysicsSimulator, COST_END_IDX
+from controllers.karti import Controller
+
+MODEL_PATH = './models/tinyphysics.onnx'
+SEGS = sorted(Path('data').glob('*.csv'))[:100]
+NOC0 = (0.0, 0.70797, -0.006298, -0.000029)
+
+_model = None
+def _init():
+    global _model
+    _model = TinyPhysicsModel(MODEL_PATH, debug=False)
+
+def _ev(args):
+    seg, params = args
+    sim = TinyPhysicsSimulator(_model, str(seg), controller=Controller(params), debug=False)
+    while sim.step_idx < COST_END_IDX:
+        sim.step()
+    c = sim.compute_cost()
+    return c['total_cost'], c['lataccel_cost'], c['jerk_cost']
+
+def evalp(params, pool):
+    r = np.array(pool.map(_ev, [(s, params) for s in SEGS]))
+    return r[:, 0].mean(), r[:, 1].mean(), r[:, 2].mean()
+
+def base(**kw):
+    d = dict(ff=NOC0)
+    d.update(kw)
+    return d
+
+TESTS = {
+    'navg8':                  base(ff_navg=8),
+    'navg10':                 base(ff_navg=10),
+    'navg12':                 base(ff_navg=12),
+    'navg15':                 base(ff_navg=15),
+    'navg20':                 base(ff_navg=20),
+    'navg25':                 base(ff_navg=25),
+    'navg15 + rollnavg10':    base(ff_navg=15, roll_navg=10),
+    'navg15 + rollnavg20':    base(ff_navg=15, roll_navg=20),
+    'navg15 + kd=-0.03':      base(ff_navg=15, kd=-0.03),
+    'navg15 + ki=0.05':       base(ff_navg=15, ki=0.05),
+    'navg15 + ki0.05 kd-0.03':base(ff_navg=15, ki=0.05, kd=-0.03),
+    'navg12 keepC0':          dict(ff_navg=12),
+}
+
+if __name__ == "__main__":
+    with Pool(4, initializer=_init) as pool:
+        print(f"{'config':<28} {'total':>8} {'lat':>7} {'jerk':>7}")
+        print("-" * 54)
+        best = None
+        for name, p in TESTS.items():
+            t, l, j = evalp(p, pool)
+            star = ""
+            if best is None or t < best[1]:
+                best, star = (name, t), "  <"
+            print(f"{name:<28} {t:8.3f} {l:7.3f} {j:7.3f}{star}", flush=True)
+        print(f"\nbest: {best[0]} ({best[1]:.3f})  | beat pid=84.85")