Karti Tripathi
47 lines
2.0 KiB
Python
47 lines
2.0 KiB
Python
"""Diagnostic matrix: evaluate several controller configs on a fixed 100-seg set."""
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import numpy as np
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from pathlib import Path
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from multiprocessing import Pool
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from tinyphysics import TinyPhysicsModel, TinyPhysicsSimulator, COST_END_IDX
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from controllers.karti import Controller
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MODEL_PATH = './models/tinyphysics.onnx'
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SEGS = sorted(Path('data').glob('*.csv'))[:100]
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NOC0 = (0.0, 0.70797, -0.006298, -0.000029)
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_model = None
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def _init():
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global _model
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_model = TinyPhysicsModel(MODEL_PATH, debug=False)
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def _ev(args):
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seg, params = args
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sim = TinyPhysicsSimulator(_model, str(seg), controller=Controller(params), debug=False)
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while sim.step_idx < COST_END_IDX:
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sim.step()
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c = sim.compute_cost()
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return c['total_cost'], c['lataccel_cost'], c['jerk_cost']
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def evalp(params, pool):
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r = np.array(pool.map(_ev, [(s, params) for s in SEGS]))
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return r[:, 0].mean(), r[:, 1].mean(), r[:, 2].mean()
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TESTS = {
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'pid-repro (FF off, baseline gains)': dict(ff=(0,0,0,0), preview=0, kp=0.195, ki=0.1, kd=-0.053, int_clip=1e9),
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'FF + baseline-PID gains': dict(preview=0, kp=0.195, ki=0.1, kd=-0.053, int_clip=1e9),
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'FF + strong PID': dict(preview=0, kp=0.4, ki=0.1, kd=-0.05, int_clip=1.0),
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'FF + very strong PID': dict(preview=0, kp=0.6, ki=0.15, kd=-0.07, int_clip=1.0),
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'FF noC0 + baseline gains': dict(ff=NOC0, preview=0, kp=0.195, ki=0.1, kd=-0.053, int_clip=1e9),
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'FF noC0 + strong PID': dict(ff=NOC0, preview=0, kp=0.4, ki=0.1, kd=-0.05, int_clip=1.0),
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'FF noC0 + strong PID + preview1': dict(ff=NOC0, preview=1, kp=0.4, ki=0.1, kd=-0.05, int_clip=1.0),
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}
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if __name__ == "__main__":
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with Pool(4, initializer=_init) as pool:
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print(f"{'config':<38} {'total':>8} {'lat':>7} {'jerk':>7}")
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print("-" * 64)
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for name, p in TESTS.items():
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t, l, j = evalp(p, pool)
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print(f"{name:<38} {t:8.3f} {l:7.3f} {j:7.3f}", flush=True)
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print("\n(target to beat: pid total=84.85 lat=1.27 jerk=21.3)")
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