diff --git a/.gitignore b/.gitignore index 68bc17f..9d1fc0b 100644 --- a/.gitignore +++ b/.gitignore @@ -152,6 +152,10 @@ dmypy.json # Cython debug symbols cython_debug/ +# ROAR competition run instrumentation +competition_code/telemetry/runs/ +experiment_results/ + # PyCharm # JetBrains specific template is maintained in a separate JetBrains.gitignore that can # be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore diff --git a/competition_code/LateralController.py b/competition_code/LateralController.py new file mode 100644 index 0000000..eb3e8c9 --- /dev/null +++ b/competition_code/LateralController.py @@ -0,0 +1,42 @@ +import numpy as np +import math + + +def normalize_rad(rad: float): + return rad % (2 * np.pi) + + +class LatController: + def run(self, vehicle_location, vehicle_rotation, next_waypoint) -> float: + """ + Calculates the steering command using the pure pursuit algorithm. + + Args: + vehicle_location (np.array): Current vehicle location [x, y]. + vehicle_rotation (float): Current vehicle rotation (yaw) in radians. + next_waypoint (Waypoint): Next waypoint to track. + + Returns: + steering_command (float): Steering command in radians. + """ + + # Calculate vector pointing from vehicle to next waypoint + waypoint_vector = np.array(next_waypoint.location) - np.array(vehicle_location) + + # Project waypoint vector onto heading vector to find lookahead point + distance_to_waypoint = np.linalg.norm(waypoint_vector) + if distance_to_waypoint == 0: + return 0 # Prevent division by zero + + waypoint_vector_normalized = waypoint_vector / distance_to_waypoint + + # Calculate steering command + alpha = normalize_rad(vehicle_rotation[2]) - normalize_rad( + math.atan2(waypoint_vector_normalized[1], waypoint_vector_normalized[0]) + ) + + steering_command = 1.5 * math.atan2( + 2.0 * 4.7 * math.sin(alpha) / distance_to_waypoint, 1.0 + ) + + return float(steering_command) diff --git a/competition_code/SpeedData.py b/competition_code/SpeedData.py new file mode 100644 index 0000000..c902657 --- /dev/null +++ b/competition_code/SpeedData.py @@ -0,0 +1,9 @@ +class SpeedData: + def __init__( + self, distance_to_section, current_speed, target_speed, recommended_speed + ): + self.current_speed = current_speed + self.distance_to_section = distance_to_section + self.target_speed_at_distance = target_speed + self.recommended_speed_now = recommended_speed + self.speed_diff = current_speed - recommended_speed diff --git a/competition_code/ThrottleController.py b/competition_code/ThrottleController.py new file mode 100644 index 0000000..2b9f571 --- /dev/null +++ b/competition_code/ThrottleController.py @@ -0,0 +1,556 @@ +import numpy as np +import math +from collections import deque +from SpeedData import SpeedData +import roar_py_interface + + +def distance_p_to_p( + p1: roar_py_interface.RoarPyWaypoint, p2: roar_py_interface.RoarPyWaypoint +): + return np.linalg.norm(p2.location[:2] - p1.location[:2]) + + +class ThrottleController: + display_debug = False + debug_strings = deque(maxlen=1000) + + def __init__(self): + self.max_radius = 10000 + self.max_speed = 300 + self.intended_target_distance = [0, 30, 60, 90, 120, 140, 170] + self.target_distance = [0, 30, 60, 90, 120, 150, 180] + self.close_index = 0 + self.mid_index = 1 + self.far_index = 2 + self.tick_counter = 0 + self.previous_speed = 1.0 + self.brake_ticks = 0 + self.last_longitudinal_debug = {} + + # for testing how fast the car stops + self.brake_test_counter = 0 + self.brake_test_in_progress = False + + def __del__(self): + print("done") + + def run( + self, waypoints, current_location, current_speed, current_section + ) -> (float, float, int): + self.tick_counter += 1 + throttle, brake = self.get_throttle_and_brake( + current_location, current_speed, current_section, waypoints + ) + # gear = max(1, (int)(math.log(current_speed + 0.00001, 5))) + gear = max(1, int(current_speed / 60)) + if throttle < 0: + gear = -1 + + # self.dprint("--- " + str(throttle) + " " + str(brake) + # + " steer " + str(steering) + # + " loc x,z" + str(self.agent.vehicle.transform.location.x) + # + " " + str(self.agent.vehicle.transform.location.z)) + + self.previous_speed = current_speed + if self.brake_ticks > 0 and brake > 0: + self.brake_ticks -= 1 + + if self.last_longitudinal_debug: + self.last_longitudinal_debug["brake_ticks_after_run"] = self.brake_ticks + self.last_longitudinal_debug["raw_throttle"] = throttle + self.last_longitudinal_debug["raw_brake"] = brake + + # throttle = 0.05 * (100 - current_speed) + return throttle, brake, gear + + def get_throttle_and_brake( + self, current_location, current_speed, current_section, waypoints + ): + """ + Returns throttle and brake values based off the car's current location and the radius of the approaching turn + """ + + nextWaypoint = self.get_next_interesting_waypoints(current_location, waypoints) + r1 = self.get_radius(nextWaypoint[self.close_index : self.close_index + 3]) + r2 = self.get_radius(nextWaypoint[self.mid_index : self.mid_index + 3]) + r3 = self.get_radius(nextWaypoint[self.far_index : self.far_index + 3]) + + target_speed1 = self.get_target_speed(r1, current_section) + target_speed2 = self.get_target_speed(r2, current_section) + target_speed3 = self.get_target_speed(r3, current_section) + + close_distance = self.target_distance[self.close_index] + 3 + mid_distance = self.target_distance[self.mid_index] + far_distance = self.target_distance[self.far_index] + speed_data = [] + constraint_debug = [] + speed_data.append( + self.speed_for_turn(close_distance, target_speed1, current_speed) + ) + constraint_debug.append(("close", r1, target_speed1, close_distance)) + speed_data.append( + self.speed_for_turn(mid_distance, target_speed2, current_speed) + ) + constraint_debug.append(("mid", r2, target_speed2, mid_distance)) + speed_data.append( + self.speed_for_turn(far_distance, target_speed3, current_speed) + ) + constraint_debug.append(("far", r3, target_speed3, far_distance)) + + if current_speed > 100: + # at high speed use larger spacing between points to look further ahead and detect wide turns. + if current_section != 9: + r4 = self.get_radius( + [ + nextWaypoint[self.mid_index], + nextWaypoint[self.mid_index + 2], + nextWaypoint[self.mid_index + 4], + ] + ) + target_speed4 = self.get_target_speed(r4, current_section) + speed_data.append( + self.speed_for_turn(close_distance, target_speed4, current_speed) + ) + constraint_debug.append(("wide-mid", r4, target_speed4, close_distance)) + + r5 = self.get_radius( + [ + nextWaypoint[self.close_index], + nextWaypoint[self.close_index + 3], + nextWaypoint[self.close_index + 6], + ] + ) + target_speed5 = self.get_target_speed(r5, current_section) + speed_data.append( + self.speed_for_turn(close_distance, target_speed5, current_speed) + ) + constraint_debug.append(("wide-far", r5, target_speed5, close_distance)) + + update = self.select_speed(speed_data) + selected_index = next( + index for index, candidate in enumerate(speed_data) if candidate is update + ) + constraint_name, radius, target_speed, target_distance = constraint_debug[ + selected_index + ] + speed_change = round(current_speed - self.previous_speed, 3) + true_percent_change_per_tick = round( + 2.4 / (current_speed + 0.001), 5 + ) + percent_speed_change = (current_speed - self.previous_speed) / ( + self.previous_speed + 0.0001 + ) + speed_ratio = current_speed / update.recommended_speed_now + brake_ticks_before = self.brake_ticks + self.last_longitudinal_debug = { + "decision_branch": self._debug_decision_branch(update), + "selected_constraint": constraint_name, + "selected_constraint_index": selected_index, + "selected_radius_m": radius, + "selected_target_speed_kmh": target_speed, + "selected_target_distance_m": target_distance, + "recommended_speed_kmh": update.recommended_speed_now, + "speed_error_kmh": current_speed - update.recommended_speed_now, + "speed_ratio": speed_ratio, + "previous_speed_kmh": self.previous_speed, + "speed_change_kmh": speed_change, + "percent_speed_change": percent_speed_change, + "brake_threshold_ratio": 1 + true_percent_change_per_tick, + "true_percent_change_per_tick": true_percent_change_per_tick, + "brake_ticks_before": brake_ticks_before, + "section_mu": self._debug_section_mu(current_section), + "brake_threshold_multiplier": 1.0, + } + + self.print_speed( + " -- SPEED: ", + speed_data[0].recommended_speed_now, + speed_data[1].recommended_speed_now, + speed_data[2].recommended_speed_now, + (0 if len(speed_data) < 4 else speed_data[3].recommended_speed_now), + current_speed, + ) + + throttle, brake = self.speed_data_to_throttle_and_brake(update) + self.last_longitudinal_debug["brake_ticks_after_decision"] = self.brake_ticks + self.dprint("--- throt " + str(throttle) + " brake " + str(brake) + "---") + return throttle, brake + + @staticmethod + def _debug_section_mu(current_section: int) -> float: + return { + 1: 3.00, + 2: 3.35, + 3: 3.4, + 4: 2.95, + 6: 3.3, + 7: 2.75, + 8: 2.75, + 9: 2.1, + }.get(current_section, 2.75) + + def _debug_decision_branch(self, speed_data: SpeedData) -> str: + """Mirror the existing branch predicates without changing controller state.""" + percent_of_max = speed_data.current_speed / speed_data.recommended_speed_now + true_percent_change_per_tick = round( + 2.4 / (speed_data.current_speed + 0.001), 5 + ) + percent_speed_change = ( + speed_data.current_speed - self.previous_speed + ) / (self.previous_speed + 0.0001) + speed_change = round(speed_data.current_speed - self.previous_speed, 3) + if percent_of_max > 1: + if percent_of_max > 1 + true_percent_change_per_tick: + if self.brake_ticks > 0: + return "brake_counter" + if self.brake_ticks <= 0 and speed_change < 2.5: + return "brake_initiate" + return "throttle_early1" + if speed_change >= 2.5: + return "throttle_early2" + if percent_of_max > 1.02 or percent_speed_change > ( + -true_percent_change_per_tick / 2 + ): + return "throttle_down" + return "throttle_maintain_over" + if speed_change >= 2.5: + return "throttle_full_speed_drop" + if percent_of_max < 0.9: + return "throttle_full" + if percent_of_max < 0.98 or true_percent_change_per_tick < -0.01: + return "throttle_up" + return "throttle_maintain" + + def speed_data_to_throttle_and_brake(self, speed_data: SpeedData): + """ + Converts speed data into throttle and brake values + """ + + # self.dprint("dist=" + str(round(speed_data.distance_to_section)) + " cs=" + str(round(speed_data.current_speed, 2)) + # + " ts= " + str(round(speed_data.target_speed_at_distance, 2)) + # + " maxs= " + str(round(speed_data.recommended_speed_now, 2)) + " pcnt= " + str(round(percent_of_max, 2))) + + percent_of_max = speed_data.current_speed / speed_data.recommended_speed_now + avg_speed_change_per_tick = 2.4 # Speed decrease in kph per tick + percent_change_per_tick = 0.075 # speed drop for one time-tick of braking + true_percent_change_per_tick = round( + avg_speed_change_per_tick / (speed_data.current_speed + 0.001), 5 + ) + speed_up_threshold = 0.9 + throttle_decrease_multiple = 0.7 + throttle_increase_multiple = 1.25 + brake_threshold_multiplier = 1.0 + percent_speed_change = (speed_data.current_speed - self.previous_speed) / ( + self.previous_speed + 0.0001 + ) # avoid division by zero + speed_change = round(speed_data.current_speed - self.previous_speed, 3) + + if percent_of_max > 1: + # Consider slowing down + # if speed_data.current_speed > 200: # Brake earlier at higher speeds + # brake_threshold_multiplier = 0.9 + + if percent_of_max > 1 + ( + brake_threshold_multiplier * true_percent_change_per_tick + ): + if self.brake_ticks > 0: + self.dprint( + "tb: tick " + + str(self.tick_counter) + + " brake: counter " + + str(self.brake_ticks) + ) + return -1, 1 + + # if speed is not decreasing fast, hit the brake. + if self.brake_ticks <= 0 and speed_change < 2.5: + # start braking, and set for how many ticks to brake + self.brake_ticks = ( + round( + ( + speed_data.current_speed + - speed_data.recommended_speed_now + )/7 + + ) + ) + # self.brake_ticks = 1, or (1 or 2 but not more) + self.dprint( + "tb: tick " + + str(self.tick_counter) + + " brake: initiate counter " + + str(self.brake_ticks) + ) + return -1, 1 + + else: + # speed is already dropping fast, ok to throttle because the effect of throttle is delayed + self.dprint( + "tb: tick " + + str(self.tick_counter) + + " brake: throttle early1: sp_ch=" + + str(percent_speed_change) + ) + self.brake_ticks = 0 # done slowing down. clear brake_ticks + return 1, 0 + else: + if speed_change >= 2.5: + # speed is already dropping fast, ok to throttle because the effect of throttle is delayed + self.dprint( + "tb: tick " + + str(self.tick_counter) + + " brake: throttle early2: sp_ch=" + + str(percent_speed_change) + ) + self.brake_ticks = 0 # done slowing down. clear brake_ticks + return 1, 0 + + # TODO: Try to get rid of coasting. Unnecessary idle time that could be spent speeding up or slowing down + throttle_to_maintain = self.get_throttle_to_maintain_speed( + speed_data.current_speed + ) + + if percent_of_max > 1.02 or percent_speed_change > ( + -true_percent_change_per_tick / 2 + ): + self.dprint( + "tb: tick " + + str(self.tick_counter) + + " brake: throttle down: sp_ch=" + + str(percent_speed_change) + ) + return ( + throttle_to_maintain * throttle_decrease_multiple, + 0, + ) # coast, to slow down + else: + # self.dprint("tb: tick " + str(self.tick_counter) + " brake: throttle maintain: sp_ch=" + str(percent_speed_change)) + return throttle_to_maintain, 0 + else: + self.brake_ticks = 0 # done slowing down. clear brake_ticks + # Speed up + if speed_change >= 2.5: + # speed is dropping fast, ok to throttle because the effect of throttle is delayed + self.dprint( + "tb: tick " + + str(self.tick_counter) + + " throttle: full speed drop: sp_ch=" + + str(percent_speed_change) + ) + return 1, 0 + if percent_of_max < speed_up_threshold: + self.dprint( + "tb: tick " + + str(self.tick_counter) + + " throttle full: p_max=" + + str(percent_of_max) + ) + return 1, 0 + throttle_to_maintain = self.get_throttle_to_maintain_speed( + speed_data.current_speed + ) + if percent_of_max < 0.98 or true_percent_change_per_tick < -0.01: + self.dprint( + "tb: tick " + + str(self.tick_counter) + + " throttle up: sp_ch=" + + str(percent_speed_change) + ) + return throttle_to_maintain * throttle_increase_multiple, 0 + else: + self.dprint( + "tb: tick " + + str(self.tick_counter) + + " throttle maintain: sp_ch=" + + str(percent_speed_change) + ) + return throttle_to_maintain, 0 + + # used to detect when speed is dropping due to brakes applied earlier. speed delta has a steep negative slope. + def isSpeedDroppingFast(self, percent_change_per_tick: float, current_speed): + """ + Detects if the speed of the car is dropping quickly. + Returns true if the speed is dropping fast + """ + percent_speed_change = (current_speed - self.previous_speed) / ( + self.previous_speed + 0.0001 + ) # avoid division by zero + return percent_speed_change < (-percent_change_per_tick / 2) + + # find speed_data with smallest recommended speed + def select_speed(self, speed_data: [SpeedData]): + """ + Selects the smallest speed out of the speeds provided + """ + min_speed = 1000 + index_of_min_speed = -1 + for i, sd in enumerate(speed_data): + if sd.recommended_speed_now < min_speed: + min_speed = sd.recommended_speed_now + index_of_min_speed = i + + if index_of_min_speed != -1: + return speed_data[index_of_min_speed] + else: + return speed_data[0] + + def get_throttle_to_maintain_speed(self, current_speed: float): + """ + Returns a throttle value to maintain the current speed + """ + throttle = 0.75 + current_speed / 500 + return throttle + + def speed_for_turn( + self, distance: float, target_speed: float, current_speed: float + ): + """Generates a SpeedData object with the target speed for the far + + Args: + distance (float): Distance from the start of the curve + target_speed (float): Target speed of the curve + current_speed (float): Current speed of the car + + Returns: + SpeedData: A SpeedData object containing the distance to the corner, current speed, target speed, and max speed + """ + # Takes in a target speed and distance and produces a speed that the car should target. Returns a SpeedData object + + d = (1 / 675) * (target_speed**2) + distance + max_speed = math.sqrt(825 * d) + return SpeedData(distance, current_speed, target_speed, max_speed) + + def get_next_interesting_waypoints(self, current_location, more_waypoints): + """Returns a list of waypoints that are approximately as far as specified in intended_target_distance from the current location + + Args: + current_location (roar_py_interface.RoarPyWaypoint): The current location of the car + more_waypoints ([roar_py_interface.RoarPyWaypoint]): A list of waypoints + + Returns: + [roar_py_interface.RoarPyWaypoint]: A list of waypoints within specified distances of the car + """ + # Returns a list of waypoints that are approximately as far as the given in intended_target_distance from the current location + + # return a list of points with distances approximately as given + # in intended_target_distance[] from the current location. + points = [] + dist = [] # for debugging + start = roar_py_interface.RoarPyWaypoint( + current_location, np.ndarray([0, 0, 0]), 0.0 + ) + # start = self.agent.vehicle.transform + points.append(start) + curr_dist = 0 + num_points = 0 + for p in more_waypoints: + end = p + num_points += 1 + # print("start " + str(start) + "\n- - - - -\n") + # print("end " + str(end) + "\n- - - - -\n") + curr_dist += distance_p_to_p(start, end) + # curr_dist += start.location.distance(end.location) + if curr_dist > self.intended_target_distance[len(points)]: + self.target_distance[len(points)] = curr_dist + points.append(end) + dist.append(curr_dist) + start = end + if len(points) >= len(self.target_distance): + break + + self.dprint("wp dist " + str(dist)) + return points + + def get_radius(self, wp: [roar_py_interface.RoarPyWaypoint]): + """Returns the radius of a curve given 3 waypoints using the Menger Curvature Formula + + Args: + wp ([roar_py_interface.RoarPyWaypoint]): A list of 3 RoarPyWaypoints + + Returns: + float: The radius of the curve made by the 3 given waypoints + """ + + point1 = (wp[0].location[0], wp[0].location[1]) + point2 = (wp[1].location[0], wp[1].location[1]) + point3 = (wp[2].location[0], wp[2].location[1]) + + # Calculating length of all three sides + len_side_1 = round(math.dist(point1, point2), 3) + len_side_2 = round(math.dist(point2, point3), 3) + len_side_3 = round(math.dist(point1, point3), 3) + + small_num = 2 + + if len_side_1 < small_num or len_side_2 < small_num or len_side_3 < small_num: + return self.max_radius + + # sp is semi-perimeter + sp = (len_side_1 + len_side_2 + len_side_3) / 2 + + # Calculating area using Herons formula + area_squared = sp * (sp - len_side_1) * (sp - len_side_2) * (sp - len_side_3) + if area_squared < small_num: + return self.max_radius + + # Calculating curvature using Menger curvature formula + radius = (len_side_1 * len_side_2 * len_side_3) / (4 * math.sqrt(area_squared)) + + return radius + + def get_target_speed(self, radius: float, current_section: int): + """Returns a target speed based on the radius of the turn and the section it is in""" + mu = 2.75 # default + + if radius >= self.max_radius: + return self.max_speed + + # Fine-tuned section-based mu values (0–15 range ready) + section_mu = { + 1: 3.00, + 2: 3.35, + 3: 3.4, + 4: 2.95, + 6: 3.3, + 7: 2.75, + 8: 2.75, + 9: 2.1 + } + + mu = section_mu.get(current_section, mu) + + target_speed = math.sqrt(mu * 9.81 * radius) * 3.6 + + if self.display_debug: + print(f"[SpeedCalc] Sec {current_section} | Radius: {round(radius,1)} | mu: {mu} | TargetSpeed: {round(target_speed,1)}") + + return max(20, min(target_speed, self.max_speed)) # Clamp between 20 and max_speed + def print_speed( + self, text: str, s1: float, s2: float, s3: float, s4: float, curr_s: float + ): + """ + Prints debug speed values + """ + self.dprint( + text + + " s1= " + + str(round(s1, 2)) + + " s2= " + + str(round(s2, 2)) + + " s3= " + + str(round(s3, 2)) + + " s4= " + + str(round(s4, 2)) + + " cspeed= " + + str(round(curr_s, 2)) + ) + + # debug print + def dprint(self, text): + """ + Prints debug text + """ + if self.display_debug: + print(text) + self.debug_strings.append(text) diff --git a/competition_code/competition_runner.py b/competition_code/competition_runner.py index 12ec932..a2d264d 100644 --- a/competition_code/competition_runner.py +++ b/competition_code/competition_runner.py @@ -2,11 +2,13 @@ import roar_py_carla from submission import RoarCompetitionSolution from infrastructure import RoarCompetitionAgentWrapper, ManualControlViewer +from telemetry import RaceTelemetry from typing import List, Type, Optional, Dict, Any import carla import numpy as np import gymnasium as gym import asyncio +import os class RoarCompetitionRule: def __init__( @@ -115,6 +117,9 @@ async def evaluate_solution( max_seconds = 12000, enable_visualization : bool = False, ) -> Optional[Dict[str, Any]]: + telemetry = RaceTelemetry( + os.path.join(os.path.dirname(__file__), "telemetry") + ) if enable_visualization: viewer = ManualControlViewer() @@ -181,12 +186,19 @@ async def evaluate_solution( current_time = start_time await vehicle.receive_observation() await solution.initialize() + telemetry_tick = 0 while True: # terminate if time out current_time = world.last_tick_elapsed_seconds if current_time - start_time > max_seconds: + telemetry_path = telemetry.write( + "timeout", + current_time - start_time, + world.control_timestep, + ) + print(f"Telemetry saved to {telemetry_path}") vehicle.close() return None @@ -198,10 +210,37 @@ async def evaluate_solution( # terminate if there is major collision collision_impulse_norm = np.linalg.norm(collision_sensor.get_last_observation().impulse_normal) if collision_impulse_norm > 100.0: - # vehicle.close() + telemetry.record_collision(collision_impulse_norm) print(f"major collision of tensity {collision_impulse_norm}") - # return None - await rule.respawn() + collision_location = location_sensor.get_last_gym_observation() + collision_velocity = velocity_sensor.get_last_gym_observation() + elapsed_time = current_time - start_time + telemetry_path = telemetry.write( + "collision", + elapsed_time, + world.control_timestep, + terminal_event={ + "terminal_tick": telemetry_tick, + "official_waypoint_index": rule.furthest_waypoints_index, + "custom_waypoint_index": int( + getattr(solution, "current_waypoint_idx", -1) + ), + "section": int(getattr(solution, "current_section", -1)), + "lap": int(getattr(solution, "lapNum", -1)), + "location": [float(value) for value in collision_location], + "speed_kmh": float(np.linalg.norm(collision_velocity) * 3.6), + "collision_impulse": float(collision_impulse_norm), + }, + ) + print(f"Telemetry saved to {telemetry_path}") + vehicle.close() + if enable_visualization: + viewer.close() + return { + "status": "collision", + "elapsed_time": elapsed_time, + "telemetry_path": telemetry_path, + } if rule.lap_finished(): break @@ -211,21 +250,40 @@ async def evaluate_solution( vehicle.close() return None - await solution.step() + control = await solution.step() + telemetry_tick += 1 + telemetry.record_tick( + telemetry_tick, + current_time - start_time, + location_sensor.get_last_gym_observation(), + velocity_sensor.get_last_gym_observation(), + control, + rule.furthest_waypoints_index, + solution, + collision_impulse_norm, + ) await world.step() print("end of the loop") end_time = world.last_tick_elapsed_seconds + telemetry_path = telemetry.write( + "finished", + end_time - start_time, + world.control_timestep, + ) + print(f"Telemetry saved to {telemetry_path}") vehicle.close() if enable_visualization: viewer.close() return { + "status": "finished", "elapsed_time" : end_time - start_time, + "telemetry_path": telemetry_path, } async def main(): - carla_client = carla.Client('127.0.0.1', 2000) + carla_client = carla.Client('172.31.86.36', 2000) carla_client.set_timeout(5.0) roar_py_instance = roar_py_carla.RoarPyCarlaInstance(carla_client) world = roar_py_instance.world @@ -238,9 +296,17 @@ async def main(): enable_visualization=True ) if evaluation_result is not None: - print("Solution finished in {} seconds".format(evaluation_result["elapsed_time"])) + if evaluation_result["status"] == "finished": + print("Solution finished in {} seconds".format(evaluation_result["elapsed_time"])) + else: + print( + "Solution terminated on {} after {} seconds".format( + evaluation_result["status"], + evaluation_result["elapsed_time"], + ) + ) else: print("Solution failed to finish in time") if __name__ == "__main__": - asyncio.run(main()) \ No newline at end of file + asyncio.run(main()) diff --git a/competition_code/debugData/debugData.json b/competition_code/debugData/debugData.json new file mode 100644 index 0000000..3aab7b3 --- /dev/null +++ b/competition_code/debugData/debugData.json @@ -0,0 +1,70798 @@ +{ + "1": { + "loc": [ + -283.8, + 391.7 + ], + "throttle": 1.0, + "brake": 0.0, + "steer": 1.21417e-05, + "speed": 0.218, + "lap": 1 + 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"steer": -0.0316452724, + "speed": 100.055, + "lap": 3 + }, + "6435": { + "loc": [ + -278.145, + 379.848 + ], + "throttle": 1.0, + "brake": 0.0, + "steer": -0.0298237159, + "speed": 100.597, + "lap": 3 + }, + "6436": { + "loc": [ + -278.432, + 381.22 + ], + "throttle": 1.0, + "brake": 0.0, + "steer": -0.0099867167, + "speed": 101.141, + "lap": 3 + } +} \ No newline at end of file diff --git a/competition_code/submission.py b/competition_code/submission.py index db70509..2d8050c 100644 --- a/competition_code/submission.py +++ b/competition_code/submission.py @@ -3,34 +3,74 @@ Please do not change anything else but fill out the to-do sections. """ +from collections import deque +from functools import reduce +import json +import os from typing import List, Tuple, Dict, Optional -import roar_py_interface +import math import numpy as np +import roar_py_interface +from LateralController import LatController +from ThrottleController import ThrottleController +import atexit -def normalize_rad(rad : float): - return (rad + np.pi) % (2 * np.pi) - np.pi +# from scipy.interpolate import interp1d -def filter_waypoints(location : np.ndarray, current_idx: int, waypoints : List[roar_py_interface.RoarPyWaypoint]) -> int: - def dist_to_waypoint(waypoint : roar_py_interface.RoarPyWaypoint): - return np.linalg.norm( - location[:2] - waypoint.location[:2] - ) +useDebug = True +useDebugPrinting = False +debugData = {} + + +def dist_to_waypoint(location, waypoint: roar_py_interface.RoarPyWaypoint): + return np.linalg.norm(location[:2] - waypoint.location[:2]) + + +def filter_waypoints( + location: np.ndarray, + current_idx: int, + waypoints: List[roar_py_interface.RoarPyWaypoint], +) -> int: for i in range(current_idx, len(waypoints) + current_idx): - if dist_to_waypoint(waypoints[i%len(waypoints)]) < 3: + if dist_to_waypoint(location, waypoints[i % len(waypoints)]) < 3: return i % len(waypoints) return current_idx + +def findClosestIndex(location, waypoints: List[roar_py_interface.RoarPyWaypoint]): + lowestDist = 100 + closestInd = 0 + for i in range(0, len(waypoints)): + dist = dist_to_waypoint(location, waypoints[i % len(waypoints)]) + if dist < lowestDist: + lowestDist = dist + closestInd = i + return closestInd % len(waypoints) + + +@atexit.register +def saveDebugData(): + if useDebug: + print("Saving debug data") + jsonData = json.dumps(debugData, indent=4) + with open( + f"{os.path.dirname(__file__)}/debugData/debugData.json", "w+" + ) as outfile: + outfile.write(jsonData) + print("Debug Data Saved") + + class RoarCompetitionSolution: def __init__( self, maneuverable_waypoints: List[roar_py_interface.RoarPyWaypoint], - vehicle : roar_py_interface.RoarPyActor, - camera_sensor : roar_py_interface.RoarPyCameraSensor = None, - location_sensor : roar_py_interface.RoarPyLocationInWorldSensor = None, - velocity_sensor : roar_py_interface.RoarPyVelocimeterSensor = None, - rpy_sensor : roar_py_interface.RoarPyRollPitchYawSensor = None, - occupancy_map_sensor : roar_py_interface.RoarPyOccupancyMapSensor = None, - collision_sensor : roar_py_interface.RoarPyCollisionSensor = None, + vehicle: roar_py_interface.RoarPyActor, + camera_sensor: roar_py_interface.RoarPyCameraSensor = None, + location_sensor: roar_py_interface.RoarPyLocationInWorldSensor = None, + velocity_sensor: roar_py_interface.RoarPyVelocimeterSensor = None, + rpy_sensor: roar_py_interface.RoarPyRollPitchYawSensor = None, + occupancy_map_sensor: roar_py_interface.RoarPyOccupancyMapSensor = None, + collision_sensor: roar_py_interface.RoarPyCollisionSensor = None, ) -> None: self.maneuverable_waypoints = maneuverable_waypoints self.vehicle = vehicle @@ -40,72 +80,305 @@ def __init__( self.rpy_sensor = rpy_sensor self.occupancy_map_sensor = occupancy_map_sensor self.collision_sensor = collision_sensor - + self.lat_controller = LatController() + self.throttle_controller = ThrottleController() + self.section_indeces = [] + self.num_ticks = 0 + self.section_start_ticks = 0 + self.current_section = 0 + self.lapNum = 1 + async def initialize(self) -> None: - # TODO: You can do some initial computation here if you want to. - # For example, you can compute the path to the first waypoint. + # NOTE waypoints are changed through this line + self.maneuverable_waypoints = ( + roar_py_interface.RoarPyWaypoint.load_waypoint_list( + np.load(f"{os.path.dirname(__file__)}/waypoints/waypointsPrimary.npz") + )[35:] + ) + + sectionLocations = [ + [-278, 372], # Section 0 + [-78, 869], # Section 1 + [511, 1037], # Section 2 start location + [762, 908], # Section 3 start location + [198, 307], # Section 4 start location + [-11, 60], # Section 5 start location + [-85, -339], # Section 6 start location + [-210, -1060], # Section 7 start location + [-318, -991], # Section 8 start location + [-352, -119], # Section 9 + ] + for i in sectionLocations: + self.section_indeces.append( + findClosestIndex(i, self.maneuverable_waypoints) + ) + + print(f"True total length: {len(self.maneuverable_waypoints) * 3}") + print(f"1 lap length: {len(self.maneuverable_waypoints)}") + print(f"Section indexes: {self.section_indeces}") + print("\nLap 1\n") - # Receive location, rotation and velocity data + # Receive location, rotation and velocity data vehicle_location = self.location_sensor.get_last_gym_observation() vehicle_rotation = self.rpy_sensor.get_last_gym_observation() vehicle_velocity = self.velocity_sensor.get_last_gym_observation() - self.current_waypoint_idx = 10 + self.current_waypoint_idx = 0 self.current_waypoint_idx = filter_waypoints( - vehicle_location, - self.current_waypoint_idx, - self.maneuverable_waypoints + vehicle_location, self.current_waypoint_idx, self.maneuverable_waypoints ) - - async def step( - self - ) -> None: + async def step(self) -> None: """ This function is called every world step. Note: You should not call receive_observation() on any sensor here, instead use get_last_observation() to get the last received observation. You can do whatever you want here, including apply_action() to the vehicle. """ - # TODO: Implement your solution here. + self.num_ticks += 1 - # Receive location, rotation and velocity data + # Receive location, rotation and velocity data vehicle_location = self.location_sensor.get_last_gym_observation() vehicle_rotation = self.rpy_sensor.get_last_gym_observation() vehicle_velocity = self.velocity_sensor.get_last_gym_observation() vehicle_velocity_norm = np.linalg.norm(vehicle_velocity) - + current_speed_kmh = vehicle_velocity_norm * 3.6 + # Find the waypoint closest to the vehicle self.current_waypoint_idx = filter_waypoints( - vehicle_location, - self.current_waypoint_idx, - self.maneuverable_waypoints + vehicle_location, self.current_waypoint_idx, self.maneuverable_waypoints ) - # We use the 3rd waypoint ahead of the current waypoint as the target waypoint - waypoint_to_follow = self.maneuverable_waypoints[(self.current_waypoint_idx + 3) % len(self.maneuverable_waypoints)] - # Calculate delta vector towards the target waypoint - vector_to_waypoint = (waypoint_to_follow.location - vehicle_location)[:2] - heading_to_waypoint = np.arctan2(vector_to_waypoint[1],vector_to_waypoint[0]) + # compute and print section timing + for i, section_ind in enumerate(self.section_indeces): + if ( + abs(self.current_waypoint_idx - section_ind) <= 2 + and i != self.current_section + ): + print(f"Section {i}: {self.num_ticks - self.section_start_ticks} ticks") + self.section_start_ticks = self.num_ticks + self.current_section = i + if self.current_section == 0 and self.lapNum != 3: + self.lapNum += 1 + print(f"\nLap {self.lapNum}\n") - # Calculate delta angle towards the target waypoint - delta_heading = normalize_rad(heading_to_waypoint - vehicle_rotation[2]) + nextWaypointIndex = self.get_lookahead_index(current_speed_kmh) + waypoint_to_follow = self.next_waypoint_smooth(current_speed_kmh) - # Proportional controller to steer the vehicle towards the target waypoint - steer_control = ( - -8.0 / np.sqrt(vehicle_velocity_norm) * delta_heading / np.pi - ) if vehicle_velocity_norm > 1e-2 else -np.sign(delta_heading) - steer_control = np.clip(steer_control, -1.0, 1.0) + # Pure pursuit controller to steer the vehicle + steer_control = self.lat_controller.run( + vehicle_location, vehicle_rotation, waypoint_to_follow + ) + + # Custom controller to control the vehicle's speed + waypoints_for_throttle = (self.maneuverable_waypoints * 2)[ + nextWaypointIndex : nextWaypointIndex + 300 + ] + throttle, brake, gear = self.throttle_controller.run( + waypoints_for_throttle, + vehicle_location, + current_speed_kmh, + self.current_section, + ) - # Proportional controller to control the vehicle's speed towards 40 m/s - throttle_control = 0.05 * (20 - vehicle_velocity_norm) + if self.throttle_controller.last_longitudinal_debug: + self.throttle_controller.last_longitudinal_debug.update( + { + "current_waypoint_index": self.current_waypoint_idx, + "lookahead_waypoint_index": nextWaypointIndex, + "lookahead_count": self.get_lookahead_value(current_speed_kmh), + } + ) + + steerMultiplier = round((current_speed_kmh + 0.001) / 120, 3) + + if self.current_section == 2: + steerMultiplier *= 1.2 + if self.current_section in [3]: + # steerMultiplier *= 0.9 + steerMultiplier = np.clip(steerMultiplier * 1.75, 2.3, 3.5) + if self.current_section == 4: + steerMultiplier = min(1.45, steerMultiplier * 1.65) + if self.current_section == 5: + steerMultiplier *= 1.1 + if self.current_section in [6]: + # steerMultiplier = min(steerMultiplier * 5, 5.35) + steerMultiplier = np.clip(steerMultiplier * 5.5, 5.5, 7) + if self.current_section == 7: + steerMultiplier *= 2 + if self.current_section == 9: + steerMultiplier = max(steerMultiplier, 1.6) control = { - "throttle": np.clip(throttle_control, 0.0, 1.0), - "steer": steer_control, - "brake": np.clip(-throttle_control, 0.0, 1.0), - "hand_brake": 0.0, + "throttle": np.clip(throttle, 0, 1), + "steer": np.clip(steer_control * steerMultiplier, -1, 1), + "brake": np.clip(brake, 0, 1), + "hand_brake": 0, "reverse": 0, - "target_gear": 0 + "target_gear": gear, # Gears do not appear to have an impact on speed } + + if useDebug: + debugData[self.num_ticks] = {} + debugData[self.num_ticks]["loc"] = [ + round(vehicle_location[0].item(), 3), + round(vehicle_location[1].item(), 3), + ] + debugData[self.num_ticks]["throttle"] = round(float(control["throttle"]), 3) + debugData[self.num_ticks]["brake"] = round(float(control["brake"]), 3) + debugData[self.num_ticks]["steer"] = round(float(control["steer"]), 10) + debugData[self.num_ticks]["speed"] = round(current_speed_kmh, 3) + debugData[self.num_ticks]["lap"] = self.lapNum + + if useDebugPrinting and self.num_ticks % 5 == 0: + print( + f"- Target waypoint: ({waypoint_to_follow.location[0]:.2f}, {waypoint_to_follow.location[1]:.2f}) index {nextWaypointIndex} \n\ +Current location: ({vehicle_location[0]:.2f}, {vehicle_location[1]:.2f}) index {self.current_waypoint_idx} section {self.current_section} \n\ +Distance to target waypoint: {math.sqrt((waypoint_to_follow.location[0] - vehicle_location[0]) ** 2 + (waypoint_to_follow.location[1] - vehicle_location[1]) ** 2):.3f}\n" + ) + + print( + f"--- Speed: {current_speed_kmh:.2f} kph \n\ +Throttle: {control['throttle']:.3f} \n\ +Brake: {control['brake']:.3f} \n\ +Steer: {control['steer']:.10f} \n" + ) + await self.vehicle.apply_action(control) return control + + def get_lookahead_value(self, speed): + """ + Returns the number of waypoints to look ahead based on the speed the car is currently going + """ + speed_to_lookahead_dict = { + 90: 9, + 110: 11, + 130: 14, + 160: 18, + 180: 22, + 200: 26, + 250: 30, + 300: 35, + } + + # Interpolation method + # NOTE does not work as well as the dictionary lookahead method, likely to cause crashes. + + # speedBoundList = [0, 90, 110, 130, 160, 180, 200, 250, 300] + # lookaheadList = [5, 11, 13, 15, 18, 22, 25, 28, 32] + + # interpolationFunction = interp1d(speedBoundList, lookaheadList) + # return int(interpolationFunction(speed)) + + for speed_upper_bound, num_points in speed_to_lookahead_dict.items(): + if speed < speed_upper_bound: + return num_points + return 8 + + def get_lookahead_index(self, speed): + """ + Adds the lookahead waypoint to the current waypoint and normalizes it so that the value does not go out of bounds + """ + num_waypoints = self.get_lookahead_value(speed) + # print("speed " + str(speed) + # + " cur_ind " + str(self.current_waypoint_idx) + # + " num_points " + str(num_waypoints) + # + " index " + str((self.current_waypoint_idx + num_waypoints) % len(self.maneuverable_waypoints)) ) + return (self.current_waypoint_idx + num_waypoints) % len( + self.maneuverable_waypoints + ) + + # def get_lateral_pid_config(self): + # """ + # Returns the PID values for the lateral (steering) PID + # """ + # with open( + # f"{os.path.dirname(__file__)}\\configs\\LatPIDConfig.json", "r" + # ) as file: + # config = json.load(file) + # return config + + # The idea and code for averaging points is from smooth_waypoint_following_local_planner.py (Summer 2023) + def next_waypoint_smooth(self, current_speed: float): + """ + If the speed is higher than 70, 'smooth out' the path that the car will take + """ + if current_speed > 70 and current_speed < 300: + target_waypoint = self.average_point(current_speed) + else: + new_waypoint_index = self.get_lookahead_index(current_speed) + target_waypoint = self.maneuverable_waypoints[new_waypoint_index] + + return target_waypoint + + def average_point(self, current_speed): + """ + Returns a new averaged waypoint based on the location of a number of other waypoints + """ + next_waypoint_index = self.get_lookahead_index(current_speed) + lookahead_value = self.get_lookahead_value(current_speed) + num_points = lookahead_value * 2 + + # Section specific tuning + if self.current_section == 0: + num_points = round(lookahead_value * 1.5) + if self.current_section == 3: + next_waypoint_index = self.current_waypoint_idx + 22 + num_points = 35 + if self.current_section == 4: + num_points = lookahead_value + 5 + next_waypoint_index = self.current_waypoint_idx + 24 + if self.current_section == 5: + # num_points = round(lookahead_value * 1.1) + num_points = lookahead_value + if self.current_section == 6: + num_points = 5 + next_waypoint_index = self.current_waypoint_idx + 28 + if self.current_section == 7: + # Jolt between sections 6 and 7 likely due to the differences in lookahead values and steering multipliers. + num_points = round(lookahead_value * 1.25) + if self.current_section == 9: + (self.current_waypoint_idx + 8) % len(self.maneuverable_waypoints) + num_points = 0 + + start_index_for_avg = (next_waypoint_index - (num_points // 2)) % len( + self.maneuverable_waypoints + ) + + next_waypoint = self.maneuverable_waypoints[next_waypoint_index] + next_location = next_waypoint.location + + sample_points = [ + (start_index_for_avg + i) % len(self.maneuverable_waypoints) + for i in range(0, num_points) + ] + if num_points > 3: + location_sum = reduce( + lambda x, y: x + y, + (self.maneuverable_waypoints[i].location for i in sample_points), + ) + num_points = len(sample_points) + new_location = location_sum / num_points + shift_distance = np.linalg.norm(next_location - new_location) + max_shift_distance = 2.0 + if self.current_section == 1: + max_shift_distance = 0.2 + if shift_distance > max_shift_distance: + uv = (new_location - next_location) / shift_distance + new_location = next_location + uv * max_shift_distance + + target_waypoint = roar_py_interface.RoarPyWaypoint( + location=new_location, + roll_pitch_yaw=np.ndarray([0, 0, 0]), + lane_width=0.0, + ) + # if next_waypoint_index > 1900 and next_waypoint_index < 2300: + # print("AVG: next_ind:" + str(next_waypoint_index) + " next_loc: " + str(next_location) + # + " new_loc: " + str(new_location) + " shift:" + str(shift_distance) + # + " num_points: " + str(num_points) + " start_ind:" + str(start_index_for_avg) + # + " curr_speed: " + str(current_speed)) + + else: + target_waypoint = self.maneuverable_waypoints[next_waypoint_index] + + return target_waypoint diff --git a/competition_code/submission_starter.py b/competition_code/submission_starter.py new file mode 100644 index 0000000..db70509 --- /dev/null +++ b/competition_code/submission_starter.py @@ -0,0 +1,111 @@ +""" +Competition instructions: +Please do not change anything else but fill out the to-do sections. +""" + +from typing import List, Tuple, Dict, Optional +import roar_py_interface +import numpy as np + +def normalize_rad(rad : float): + return (rad + np.pi) % (2 * np.pi) - np.pi + +def filter_waypoints(location : np.ndarray, current_idx: int, waypoints : List[roar_py_interface.RoarPyWaypoint]) -> int: + def dist_to_waypoint(waypoint : roar_py_interface.RoarPyWaypoint): + return np.linalg.norm( + location[:2] - waypoint.location[:2] + ) + for i in range(current_idx, len(waypoints) + current_idx): + if dist_to_waypoint(waypoints[i%len(waypoints)]) < 3: + return i % len(waypoints) + return current_idx + +class RoarCompetitionSolution: + def __init__( + self, + maneuverable_waypoints: List[roar_py_interface.RoarPyWaypoint], + vehicle : roar_py_interface.RoarPyActor, + camera_sensor : roar_py_interface.RoarPyCameraSensor = None, + location_sensor : roar_py_interface.RoarPyLocationInWorldSensor = None, + velocity_sensor : roar_py_interface.RoarPyVelocimeterSensor = None, + rpy_sensor : roar_py_interface.RoarPyRollPitchYawSensor = None, + occupancy_map_sensor : roar_py_interface.RoarPyOccupancyMapSensor = None, + collision_sensor : roar_py_interface.RoarPyCollisionSensor = None, + ) -> None: + self.maneuverable_waypoints = maneuverable_waypoints + self.vehicle = vehicle + self.camera_sensor = camera_sensor + self.location_sensor = location_sensor + self.velocity_sensor = velocity_sensor + self.rpy_sensor = rpy_sensor + self.occupancy_map_sensor = occupancy_map_sensor + self.collision_sensor = collision_sensor + + async def initialize(self) -> None: + # TODO: You can do some initial computation here if you want to. + # For example, you can compute the path to the first waypoint. + + # Receive location, rotation and velocity data + vehicle_location = self.location_sensor.get_last_gym_observation() + vehicle_rotation = self.rpy_sensor.get_last_gym_observation() + vehicle_velocity = self.velocity_sensor.get_last_gym_observation() + + self.current_waypoint_idx = 10 + self.current_waypoint_idx = filter_waypoints( + vehicle_location, + self.current_waypoint_idx, + self.maneuverable_waypoints + ) + + + async def step( + self + ) -> None: + """ + This function is called every world step. + Note: You should not call receive_observation() on any sensor here, instead use get_last_observation() to get the last received observation. + You can do whatever you want here, including apply_action() to the vehicle. + """ + # TODO: Implement your solution here. + + # Receive location, rotation and velocity data + vehicle_location = self.location_sensor.get_last_gym_observation() + vehicle_rotation = self.rpy_sensor.get_last_gym_observation() + vehicle_velocity = self.velocity_sensor.get_last_gym_observation() + vehicle_velocity_norm = np.linalg.norm(vehicle_velocity) + + # Find the waypoint closest to the vehicle + self.current_waypoint_idx = filter_waypoints( + vehicle_location, + self.current_waypoint_idx, + self.maneuverable_waypoints + ) + # We use the 3rd waypoint ahead of the current waypoint as the target waypoint + waypoint_to_follow = self.maneuverable_waypoints[(self.current_waypoint_idx + 3) % len(self.maneuverable_waypoints)] + + # Calculate delta vector towards the target waypoint + vector_to_waypoint = (waypoint_to_follow.location - vehicle_location)[:2] + heading_to_waypoint = np.arctan2(vector_to_waypoint[1],vector_to_waypoint[0]) + + # Calculate delta angle towards the target waypoint + delta_heading = normalize_rad(heading_to_waypoint - vehicle_rotation[2]) + + # Proportional controller to steer the vehicle towards the target waypoint + steer_control = ( + -8.0 / np.sqrt(vehicle_velocity_norm) * delta_heading / np.pi + ) if vehicle_velocity_norm > 1e-2 else -np.sign(delta_heading) + steer_control = np.clip(steer_control, -1.0, 1.0) + + # Proportional controller to control the vehicle's speed towards 40 m/s + throttle_control = 0.05 * (20 - vehicle_velocity_norm) + + control = { + "throttle": np.clip(throttle_control, 0.0, 1.0), + "steer": steer_control, + "brake": np.clip(-throttle_control, 0.0, 1.0), + "hand_brake": 0.0, + "reverse": 0, + "target_gear": 0 + } + await self.vehicle.apply_action(control) + return control diff --git a/competition_code/telemetry.py b/competition_code/telemetry.py new file mode 100644 index 0000000..1e52f36 --- /dev/null +++ b/competition_code/telemetry.py @@ -0,0 +1,176 @@ +import csv +import json +import os +from datetime import datetime, timezone +from typing import Any, Dict, Optional + +import numpy as np + + +class RaceTelemetry: + """Collect read-only race data and write it after the timed run.""" + + fieldnames = [ + "tick", + "sim_time_seconds", + "x", + "y", + "z", + "speed_kmh", + "throttle", + "brake", + "steer", + "steer_change", + "target_gear", + "official_waypoint_index", + "custom_waypoint_index", + "section", + "lap", + "collision_impulse", + "controller_raw_throttle", + "controller_raw_brake", + "controller_decision_branch", + "controller_target_speed_kmh", + "controller_recommended_speed_kmh", + "controller_speed_error_kmh", + "controller_speed_ratio", + "controller_previous_speed_kmh", + "controller_speed_change_kmh", + "controller_percent_speed_change", + "controller_brake_threshold_ratio", + "controller_true_percent_change_per_tick", + "controller_brake_ticks_before", + "controller_brake_ticks_after_decision", + "controller_brake_ticks_after_run", + "controller_selected_constraint", + "controller_selected_constraint_index", + "controller_selected_radius_m", + "controller_selected_target_distance_m", + "controller_section_mu", + "controller_brake_threshold_multiplier", + "controller_current_waypoint_index", + "controller_lookahead_waypoint_index", + "controller_lookahead_count", + ] + + def __init__(self, output_root: str) -> None: + run_id = datetime.now(timezone.utc).strftime("%Y%m%dT%H%M%S.%fZ") + self.output_dir = os.path.join(output_root, "runs", run_id) + self.samples = [] + self.collision_count = 0 + self.max_collision_impulse = 0.0 + self.previous_steer = None + + @staticmethod + def _scalar(value: Any, default: float = 0.0) -> float: + if value is None: + return default + array = np.asarray(value) + if array.size == 0: + return default + return float(array.reshape(-1)[0]) + + def record_collision(self, impulse: float) -> None: + self.collision_count += 1 + self.max_collision_impulse = max(self.max_collision_impulse, float(impulse)) + + def record_tick( + self, + tick: int, + sim_time_seconds: float, + location: Any, + velocity: Any, + control: Dict[str, Any], + official_waypoint_index: int, + solution: Any, + collision_impulse: float, + ) -> None: + location_array = np.asarray(location).reshape(-1) + speed_kmh = float(np.linalg.norm(velocity) * 3.6) + steer = self._scalar(control.get("steer")) + steer_change = 0.0 if self.previous_steer is None else steer - self.previous_steer + self.previous_steer = steer + throttle_controller = getattr(solution, "throttle_controller", None) + longitudinal = getattr( + throttle_controller, "last_longitudinal_debug", {} + ) or {} + self.samples.append( + { + "tick": tick, + "sim_time_seconds": float(sim_time_seconds), + "x": float(location_array[0]), + "y": float(location_array[1]), + "z": float(location_array[2]), + "speed_kmh": speed_kmh, + "throttle": self._scalar(control.get("throttle")), + "brake": self._scalar(control.get("brake")), + "steer": steer, + "steer_change": steer_change, + "target_gear": int(self._scalar(control.get("target_gear"))), + "official_waypoint_index": int(official_waypoint_index), + "custom_waypoint_index": int( + getattr(solution, "current_waypoint_idx", -1) + ), + "section": int(getattr(solution, "current_section", -1)), + "lap": int(getattr(solution, "lapNum", -1)), + "collision_impulse": float(collision_impulse), + "controller_raw_throttle": longitudinal.get("raw_throttle"), + "controller_raw_brake": longitudinal.get("raw_brake"), + "controller_decision_branch": longitudinal.get("decision_branch"), + "controller_target_speed_kmh": longitudinal.get("selected_target_speed_kmh"), + "controller_recommended_speed_kmh": longitudinal.get("recommended_speed_kmh"), + "controller_speed_error_kmh": longitudinal.get("speed_error_kmh"), + "controller_speed_ratio": longitudinal.get("speed_ratio"), + "controller_previous_speed_kmh": longitudinal.get("previous_speed_kmh"), + "controller_speed_change_kmh": longitudinal.get("speed_change_kmh"), + "controller_percent_speed_change": longitudinal.get("percent_speed_change"), + "controller_brake_threshold_ratio": longitudinal.get("brake_threshold_ratio"), + "controller_true_percent_change_per_tick": longitudinal.get("true_percent_change_per_tick"), + "controller_brake_ticks_before": longitudinal.get("brake_ticks_before"), + "controller_brake_ticks_after_decision": longitudinal.get("brake_ticks_after_decision"), + "controller_brake_ticks_after_run": longitudinal.get("brake_ticks_after_run"), + "controller_selected_constraint": longitudinal.get("selected_constraint"), + "controller_selected_constraint_index": longitudinal.get("selected_constraint_index"), + "controller_selected_radius_m": longitudinal.get("selected_radius_m"), + "controller_selected_target_distance_m": longitudinal.get("selected_target_distance_m"), + "controller_section_mu": longitudinal.get("section_mu"), + "controller_brake_threshold_multiplier": longitudinal.get("brake_threshold_multiplier"), + "controller_current_waypoint_index": longitudinal.get("current_waypoint_index"), + "controller_lookahead_waypoint_index": longitudinal.get("lookahead_waypoint_index"), + "controller_lookahead_count": longitudinal.get("lookahead_count"), + } + ) + + def write( + self, + status: str, + elapsed_time: float, + control_timestep: float, + terminal_event: Optional[Dict[str, Any]] = None, + ) -> str: + os.makedirs(self.output_dir, exist_ok=False) + samples_path = os.path.join(self.output_dir, "ticks.csv") + with open(samples_path, "w", newline="") as outfile: + writer = csv.DictWriter(outfile, fieldnames=self.fieldnames) + writer.writeheader() + writer.writerows(self.samples) + + speeds = [sample["speed_kmh"] for sample in self.samples] + summary = { + "status": status, + "elapsed_time_seconds": float(elapsed_time), + "control_timestep_seconds": float(control_timestep), + "recorded_ticks": len(self.samples), + "average_speed_kmh": float(np.mean(speeds)) if speeds else 0.0, + "maximum_speed_kmh": max(speeds) if speeds else 0.0, + "collision_count": self.collision_count, + "maximum_collision_impulse": self.max_collision_impulse, + "samples_file": "ticks.csv", + } + if terminal_event is not None: + summary.update(terminal_event) + summary_path = os.path.join(self.output_dir, "summary.json") + with open(summary_path, "w") as outfile: + json.dump(summary, outfile, indent=2) + outfile.write("\n") + return summary_path diff --git a/competition_code/waypoints/waypointsPrimary.npz b/competition_code/waypoints/waypointsPrimary.npz new file mode 100644 index 0000000..8b40e88 Binary files /dev/null and b/competition_code/waypoints/waypointsPrimary.npz differ diff --git a/experiment_results/causal/55bc432db9f6055662bb/report.md b/experiment_results/causal/55bc432db9f6055662bb/report.md new file mode 100644 index 0000000..cb07dae --- /dev/null +++ b/experiment_results/causal/55bc432db9f6055662bb/report.md @@ -0,0 +1,44 @@ +# WP1799 Single Brake Tick Causal + +Every measurement used a forced-clean CARLA start. + +## Baseline control + +- Completion rate: 100.0% +- Collision rate: 0.0% +- Finished mean: 321.860 s + +## Treatment + +- Completion rate: 100.0% +- Collision rate: 0.0% +- Finished mean: 322.050 s + +This campaign tests causal stability, not lap-time acceptance. See result.json for the authoritative record. + +## Focused braking-event measurements + +Aggregation status: **COMPLETE**. +Missing cohorts: none. + +Incomplete cohorts: none. + +| Metric | Control | Treatment | Treatment − control | +|---|---:|---:|---:| +| Entry speed (km/h) | 256.331 | 256.345 | 0.014 | +| Exit speed (km/h) | 221.620 | 221.860 | 0.240 | +| Minimum speed (km/h) | 173.439 | 169.778 | -3.660 | +| Brake onset (WP) | 1780.667 | 1781.933 | 1.267 | +| Brake release (WP) | 1804.533 | 1805.267 | 0.733 | +| Brake ticks | 15.000 | 14.733 | -0.267 | +| Throttle reapplied (WP) | 1804.533 | 1805.267 | 0.733 | +| Section time (s) | 12.507 | 12.530 | 0.023 | +| Total race time (s) | 321.860 | 322.050 | 0.190 | +| Collision rate | 0.000 | 0.000 | 0.000 | +| Speed at WP 1849 (km/h) | 173.215 | 170.063 | -3.152 | +| Speed at WP 2000 (km/h) | 189.633 | 188.514 | -1.119 | +| Speed at WP 2200 (km/h) | 242.721 | 242.065 | -0.656 | + +- Actual total-race gain: -0.190 +- Offline prediction at observed modest exit-speed delta: 0.014 +- Actual minus offline prediction: -0.204 diff --git a/experiment_results/causal/55bc432db9f6055662bb/result.json b/experiment_results/causal/55bc432db9f6055662bb/result.json new file mode 100644 index 0000000..366457e --- /dev/null +++ b/experiment_results/causal/55bc432db9f6055662bb/result.json @@ -0,0 +1,1174 @@ +{ + "arrival_analysis": { + "baseline": { + "maximum_speed_kmh": 173.08075365339008, + "mean_speed_kmh": 172.47688870176978, + "median_speed_kmh": 172.59504318237305, + "minimum_speed_kmh": 170.29771859305245, + "runs": 35, + "traversals": 105 + }, + "custom_waypoint_window": [ + 1402, + 1409 + ], + "restricted": { + "maximum_speed_kmh": 173.10433502197267, + "mean_speed_kmh": 172.4889375959124, + "median_speed_kmh": 172.7735288347517, + "minimum_speed_kmh": 170.78735569545202, + "runs": 5, + "traversals": 15 + }, + "restricted_minus_baseline_mean_kmh": 0.012048894142623112, + "restricted_zone_collisions": 0 + }, + "attempt_ids": [ + "20260810T052131.850496Z-d9ea48d0", + "20260810T052503.595820Z-e2887cff", + "20260810T052835.002453Z-517cd8ca", + "20260810T053207.041035Z-b2f08869", + "20260810T053542.226460Z-06839293", + "20260810T053917.553557Z-8f6e1493", + "20260810T054252.118244Z-11c0e786", + "20260810T054627.277207Z-580f0e1e", + "20260810T055001.834736Z-5d7bc445", + "20260810T055338.992554Z-f2dbd87d" + ], + "baseline_commit": "fa7ff6f872d409936248146e43e849f791b655c3", + "campaign_complete": true, + "campaign_key": "55bc432db9f6055662bb", + "cohorts": { + "control": { + "collision_rate": 0.0, + "completion_rate": 1.0, + "controller_measurements": 5, + "finished_elapsed_seconds": { + "count": 5, + "maximum": 322.0000000000404, + "mean": 321.8600000000404, + "median": 321.90000000004034, + "minimum": 321.70000000004035, + "stdev": 0.12942179105545312 + }, + "measurement_attempt_ids": [ + "20260810T052131.850496Z-d9ea48d0", + "20260810T052835.002453Z-517cd8ca", + "20260810T053542.226460Z-06839293", + 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"attempt_id": "20260810T055338.992554Z-f2dbd87d", + "braking_onset_waypoint": 1783, + "braking_release_waypoint": 1806, + "downstream_speed_kmh": { + "1849": 168.04558753967285, + "2000": 187.93055305480956, + "2200": 241.7293487548828 + }, + "entry_speed_kmh": 256.35349731445314, + "exit_speed_kmh": 222.33978424072265, + "lap": 3, + "minimum_speed_kmh": 168.5337341308594, + "section": 6, + "section_time_seconds": 12.55, + "throttle_reapplication_waypoint": 1806, + "total_brake_ticks": 15 + } + ], + "traversals": 15 + } + }, + "complete": true, + "expected_measurements_per_cohort": 5, + "incomplete_cohorts": [], + "missing_cohorts": [], + "offline_comparison_note": "Local linearization of the 1.817 s full-envelope opportunity at the observed intervention-exit speed delta.", + "offline_predicted_gain_for_observed_exit_delta_seconds": 0.01441288684807106, + "restricted_minus_control": { + "braking_onset_waypoint": 1.2666666666666515, + "braking_release_waypoint": 0.7333333333333485, + "collision_rate": 0.0, + "downstream_speed_kmh": { + "1849": -3.1522566833496057, + "2000": -1.1187515258789062, + "2200": -0.6563316345215071 + }, + "entry_speed_kmh": 0.013760375976573869, + "exit_speed_kmh": 0.24034698486326533, + "minimum_speed_kmh": -3.6603305053710926, + "section_time_seconds": 0.023333333333335204, + "throttle_reapplication_waypoint": 0.7333333333333485, + "total_brake_ticks": -0.2666666666666675, + "total_race_time_seconds": 0.18999999999999773 + }, + "specification": { + "downstream_tolerance_waypoints": 2, + "downstream_waypoints": [ + 1849, + 2000, + 2200 + ], + "intervention_window": [ + 1779, + 1803 + ], + "minimum_speed_window": [ + 1779, + 1849 + ], + "offline_full_delta_kmh": 30.3, + "offline_full_gain_seconds": 1.817 + }, + "status": "complete" + }, + "human_report_path": "experiment_results/causal/55bc432db9f6055662bb/report.md", + "parameters": { + "control": {}, + "restricted": { + "causal.wp1779_1803_suppress_brake_ticks": 1 + } + }, + "pending_schedule_indices": [], + "result_path": "experiment_results/causal/55bc432db9f6055662bb/result.json", + "schedule": [ + "control", + "restricted", + "control", + "restricted", + "control", + "restricted", + "control", + "restricted", + "control", + "restricted" + ], + "schema_version": 2 +} diff --git a/experiment_results/causal/ea36f281c9c0a7816538/report.md b/experiment_results/causal/ea36f281c9c0a7816538/report.md new file mode 100644 index 0000000..85813a4 --- /dev/null +++ b/experiment_results/causal/ea36f281c9c0a7816538/report.md @@ -0,0 +1,19 @@ +# Instrumented Baseline Validation + +Every measurement used a forced-clean CARLA start. + +## Instrumented baseline + +- Completion rate: 100.0% +- Collision rate: 0.0% +- Finished mean: 321.760 s + +This campaign validates unchanged baseline behavior with instrumentation enabled. See result.json for the authoritative record. + +## Baseline equivalence check + +- Arrival window: custom WP 1402–1409 +- Baseline traversals: 120; mean arrival speed: 172.471 km/h +- Validation traversals: 15; mean arrival speed: 172.430 km/h +- Validation-minus-reference mean shift: -0.041 km/h +- Validation collisions in WP 1380–1420: 0 diff --git a/experiment_results/causal/ea36f281c9c0a7816538/result.json b/experiment_results/causal/ea36f281c9c0a7816538/result.json new file mode 100644 index 0000000..316ad22 --- /dev/null +++ b/experiment_results/causal/ea36f281c9c0a7816538/result.json @@ -0,0 +1,186 @@ +{ + "arrival_analysis": { + "baseline": { + "maximum_speed_kmh": 173.08075365339008, + "mean_speed_kmh": 172.47099898474556, + "median_speed_kmh": 172.6612632751465, + "minimum_speed_kmh": 170.29771859305245, + "runs": 40, + "traversals": 120 + }, + "custom_waypoint_window": [ + 1402, + 1409 + ], + "restricted": { + "maximum_speed_kmh": 173.02373853410995, + "mean_speed_kmh": 172.42977096557618, + "median_speed_kmh": 172.71867762974333, + "minimum_speed_kmh": 170.36549050467355, + "runs": 5, + "traversals": 15 + }, + "restricted_minus_baseline_mean_kmh": -0.041228019169381014, + "restricted_zone_collisions": 0 + }, + "attempt_ids": [ + "20260811T020509.100010Z-f3b7161f", + "20260811T020846.030467Z-648653b9", + "20260811T021220.935513Z-3f303c92", + "20260811T021554.144252Z-308c9239", + "20260811T021928.627435Z-12b19f09" + ], + "baseline_commit": "ee3040254d41c8e2d6fb501c8901ea94c34694d6", + "campaign_complete": true, + "campaign_key": "ea36f281c9c0a7816538", + "campaign_mode": "baseline_validation", + "cohorts": { + "control": { + "collision_rate": null, + "completion_rate": null, + "controller_measurements": 0, + "finished_elapsed_seconds": null, + "measurement_attempt_ids": [], + "missing_due_to_infrastructure": 0, + "outcome_counts": {}, + "penalized_objective_seconds": null, + "scheduled_repetitions": 0, + "section_elapsed_seconds": {}, + "terminal_failures": [] + }, + "restricted": { + "collision_rate": 0.0, + "completion_rate": 1.0, + "controller_measurements": 5, + "finished_elapsed_seconds": { + "count": 5, + "maximum": 321.95000000004023, + "mean": 321.76000000004024, + "median": 321.7000000000403, + "minimum": 321.60000000004027, + "stdev": 0.1557241150239824 + }, + "measurement_attempt_ids": [ + "20260811T020509.100010Z-f3b7161f", + "20260811T020846.030467Z-648653b9", + "20260811T021220.935513Z-3f303c92", + "20260811T021554.144252Z-308c9239", + "20260811T021928.627435Z-12b19f09" + ], + "missing_due_to_infrastructure": 0, + "outcome_counts": { + "finished": 5 + }, + "penalized_objective_seconds": { + "count": 5, + "maximum": 321.95000000004023, + "mean": 321.76000000004024, + "median": 321.7000000000403, + "minimum": 321.60000000004027, + "stdev": 0.1557241150239824 + }, + "scheduled_repetitions": 5, + "section_elapsed_seconds": { + "0": { + "count": 5, + "maximum": 47.400000000000006, + "mean": 47.38, + "median": 47.400000000000006, + "minimum": 47.35, + "stdev": 0.02738612787526064 + }, + "1": { + "count": 5, + "maximum": 38.0, + "mean": 37.93, + "median": 37.95, + "minimum": 37.85, + "stdev": 0.07582875444051494 + }, + "2": { + "count": 5, + "maximum": 25.0, + "mean": 24.98, + "median": 25.0, + "minimum": 24.950000000000003, + "stdev": 0.02738612787525675 + }, + "3": { + "count": 5, + "maximum": 49.800000000000004, + "mean": 49.78, + "median": 49.800000000000004, + "minimum": 49.75, + "stdev": 0.02738612787526064 + }, + "4": { + "count": 5, + "maximum": 17.150000000000002, + "mean": 17.12, + "median": 17.1, + "minimum": 17.1, + "stdev": 0.027386127875258695 + }, + "5": { + "count": 5, + "maximum": 25.35, + "mean": 25.240000000000002, + "median": 25.200000000000003, + "minimum": 25.150000000000002, + "stdev": 0.08215838362577424 + }, + "6": { + "count": 5, + "maximum": 37.550000000000004, + "mean": 37.5, + "median": 37.5, + "minimum": 37.45, + "stdev": 0.03535533905932788 + }, + "7": { + "count": 5, + "maximum": 8.75, + "mean": 8.74, + "median": 8.75, + "minimum": 8.700000000000001, + "stdev": 0.02236067977499742 + }, + "8": { + "count": 5, + "maximum": 42.75, + "mean": 42.67, + "median": 42.650000000000006, + "minimum": 42.6, + "stdev": 0.05700877125495584 + }, + "9": { + "count": 5, + "maximum": 30.450000000000003, + "mean": 30.42, + "median": 30.400000000000002, + "minimum": 30.400000000000002, + "stdev": 0.027386127875258695 + } + }, + "terminal_failures": [] + } + }, + "completed_utc": "2026-08-11T02:22:50.834857+00:00", + "event_type": "upstream_speed_causal_campaign", + "experiment_name": "instrumented-baseline-validation", + "human_report_path": "experiment_results/causal/ea36f281c9c0a7816538/report.md", + "parameters": { + "control": {}, + "restricted": {} + }, + "pending_schedule_indices": [], + "result_path": "experiment_results/causal/ea36f281c9c0a7816538/result.json", + "schedule": [ + "restricted", + "restricted", + "restricted", + "restricted", + "restricted" + ], + "schema_version": 2 +} diff --git a/experiments/README.md b/experiments/README.md new file mode 100644 index 0000000..3b787f8 --- /dev/null +++ b/experiments/README.md @@ -0,0 +1,192 @@ +# ROAR experiment harness + +The harness runs controlled experiments from a disposable export of the pinned +baseline commit. It never edits or runs the active working tree. + +## Safety and reproducibility + +- The default baseline is commit `fa7ff6f`. +- Parameters must be registered in `experiments/parameters.json`. +- Substitutions require an exact baseline-text match and are applied only inside + the disposable checkout. +- CARLA must report map `Carla/Maps/Monza` before a controller is started. +- Each attempt writes stdout, stderr, the exact source diff, resolved config, + preflight data, telemetry, provenance, and a result document. +- Provenance includes Python, CARLA client/server, ROAR_PY module paths and Git + commits when available, baseline/harness Git state, map, and control timestep. +- Every result is appended to `experiment_results/ledger.jsonl`. +- `experiment_id` identifies a parameter configuration. `attempt_id` identifies + one particular repetition or retry. + +## Commands + +From the repository root: + +```bash +python -m experiments.harness.cli dry-run experiments/configs/section3_mu_sweep.json +python -m experiments.harness.cli run experiments/configs/section3_mu_sweep.json +python -m experiments.harness.cli list +``` + +Evaluate named parameter configurations with repeated, bracketing controls: + +```bash +python -m experiments.harness.cli evaluate \ + experiments/configs/section3_mu_candidates.json +``` + +Review all candidate substitutions without contacting CARLA: + +```bash +python -m experiments.harness.cli evaluate \ + experiments/configs/section3_mu_candidates.json --dry-run +``` + +Candidate evaluation excludes infrastructure failures from controller metrics, +penalizes collision/timeout/exception/controller-hang outcomes, reports completion +and collision rates, aggregates finished total and section times, and emits a +normalized result under `experiment_results/candidate_summaries/`. The +`objective.control_adjusted_delta_seconds` value is negative when a candidate is +faster than its bracketing controls. An optimizer can treat each candidate result +as one configuration-level observation while retaining its underlying attempt IDs. +Each candidate also writes a same-named Markdown report containing a plain-English +decision, performance/control interpretation, collision clustering, section deltas, +acceptance failures, and a suggested isolation step when multiple changes fail. +The CLI prints these reports to stderr after emitting JSON on stdout. Use +`--json-only` to suppress terminal reports for machine-only workflows. + +### Stable candidate API + +Search code should depend on `CandidateEvaluator`, not on runner or CARLA details: + +```python +from experiments.harness.evaluation import CandidateEvaluator + +evaluator = CandidateEvaluator(config, parameter_registry, repository_root) +result = evaluator.evaluate( + parameters={ + "throttle.section_mu.3": 3.50, + "throttle.section_mu.4": 3.00, + }, + repetitions=3, + controls={"before": 1, "after": 1, "parameters": {}}, +) +``` + +The normalized schema reports `accepted`, acceptance checks, controller outcome +rates, penalized and finished-time statistics, before/after/combined controls, +total and per-section control-adjusted deltas, attempt IDs, and provenance links. +Completed configuration identities are skipped by default; pass `resume=False` +or CLI `--no-resume` to force a fresh evaluation. A repository-local advisory +lock prevents concurrent processes from controlling the single CARLA server. + +Arbitrary combinations of registered parameters are accepted. The registry now +contains every section-specific throttle `mu` override, while substitution remains +exact-match against the pinned winner source. + +### Proposal adapter + +The first API consumer is deliberately simple and lives outside the harness core. +It supports seeded random or deterministic Halton (quasi-random) proposals: + +```bash +python -m experiments.harness.cli search \ + experiments/configs/multi_mu_search.json --dry-run + +python -m experiments.harness.cli search \ + experiments/configs/multi_mu_search.json +``` + +The adapter proposes candidates, calls the stable evaluator, and ranks only +accepted results by control-adjusted time. It contains no Bayesian or adaptive +optimizer logic. + +### Baseline clean-start reliability campaign + +The reliability runner compares the identical pinned baseline in an interleaved +`warm, forced_clean` schedule. Forced-clean attempts invoke the configured SSM +restart before launching the client. Infrastructure failures are excluded from +controller rates, progress is checkpointed after every logical attempt, and an +exclusive lock covers the campaign. + +```bash +python -m experiments.harness.cli reliability \ + experiments/configs/baseline_clean_start_ab.json --dry-run + +python -m experiments.harness.cli reliability \ + experiments/configs/baseline_clean_start_ab.json +``` + +The JSON and Markdown reports compare completion/collision rates, Wilson +intervals, finished timing, and forced-clean minus warm completion rate against +the configured material-effect threshold. Repeating the command resumes an +interrupted campaign or prints a completed result without rerunning CARLA. + +Run only one configuration by copying its ID from dry-run output: + +```bash +python -m experiments.harness.cli run-one \ + experiments/configs/section3_mu_sweep.json \ + --experiment-id 'throttle.section_mu.3=3.3--...' +``` + +Rerun the exact resolved configuration of a prior attempt: + +```bash +python -m experiments.harness.cli rerun --attempt-id '' +``` + +## Classification + +- `finished`, `collision`, and `timeout` come from runner telemetry. +- `infra_error` means preflight failed, CARLA became unavailable, or logs show a + server/RPC failure. +- `controller_hang` means the client exceeded its watchdog while CARLA still + passed a second preflight. +- `exception` is a non-infrastructure client or harness failure. + +Infrastructure errors may be retried according to `max_infra_retries`. A valid +collision is never retried as an infrastructure failure. + +When `recovery.provider` is `aws_ssm`, an infrastructure failure invokes the +registered Windows restart script through Systems Manager, records the command +ID/stdout/stderr as a separate ledger event, waits until CARLA responds on +`Carla/Maps/Monza`, and only then retries the same parameter configuration. +Controller hangs remain distinct and do not automatically trigger this recovery. + +Known-good baseline runs can be inserted at the start, end, and after every N +primary experiments with the `controls` block. Sweep execution can stop after +configured consecutive collisions, infrastructure failures, controller hangs, +or any failed known-good control. + +## Offline velocity planning + +The empirical v1 analyzer remains available as a safety/reference layer: + +```bash +python -m experiments.harness.cli velocity-profile +``` + +The physics-informed v2 analyzer uniformly resamples the closed custom racing +line, estimates speed-dependent acceleration and braking envelopes from verified +baseline telemetry, calibrates a lateral-acceleration limit, solves periodic +backward/forward velocity passes, and overlays collision-derived stability caps: + +```bash +python -m experiments.harness.cli velocity-profile-v2 +``` + +Both commands are offline-only. Their JSON and Markdown products are written to +separate `experiment_results/analysis/velocity_profile*` directories so v1 and +v2 remain directly comparable. Neither command edits or applies controller code. + +Interpret the support-qualified v2 regions as causal intervention points with +300 m of upstream/downstream context: + +```bash +python -m experiments.harness.cli counterfactual-opportunity +``` + +This offline report replays the winner's target-speed geometry, compares measured +and required longitudinal state, separates initial-velocity from continued- +acceleration gains, and merges regions that share the same upstream event. diff --git a/experiments/__init__.py b/experiments/__init__.py new file mode 100644 index 0000000..90d23a5 --- /dev/null +++ b/experiments/__init__.py @@ -0,0 +1 @@ +"""Controlled experiment harness for the ROAR competition submission.""" diff --git a/experiments/analysis/__init__.py b/experiments/analysis/__init__.py new file mode 100644 index 0000000..c9916f3 --- /dev/null +++ b/experiments/analysis/__init__.py @@ -0,0 +1 @@ +"""Offline analysis tools for distance-domain ROAR telemetry.""" diff --git a/experiments/analysis/counterfactual_opportunity.py b/experiments/analysis/counterfactual_opportunity.py new file mode 100644 index 0000000..8948bfa --- /dev/null +++ b/experiments/analysis/counterfactual_opportunity.py @@ -0,0 +1,468 @@ +"""Causal, distance-domain interpretation of v2 velocity opportunities.""" + +import datetime as dt +import json +import math +import statistics +from collections import Counter, defaultdict +from pathlib import Path +from typing import Any, Dict, Iterable, List, Optional, Tuple + +import numpy as np + +from experiments.harness.core import read_json, write_json +from .velocity_profile import _ledger, _ticks, _verified_baseline +from .velocity_profile_v2 import _closed_line, _smoothed_acceleration, _lookup + + +SCHEMA_VERSION = 1 +CAUSES = { + "target-speed limitation", "braking onset", "braking magnitude", + "braking release", "throttle onset", "acceleration capability", + "preceding-corner exit speed", "racing-line/curvature limitation", + "unsupported model extrapolation", +} + + +def _median_or_none(values: Iterable[float]) -> Optional[float]: + materialized = list(values) + return float(statistics.median(materialized)) if materialized else None + + +def _circular_distance(a: float, b: float, lap: float) -> float: + difference = abs(a - b) % lap + return min(difference, lap - difference) + + +def _baseline_fields( + root: Path, runs: List[Dict[str, Any]], line: Dict[str, Any] +) -> Dict[str, np.ndarray]: + count = line["count"] + names = ("acceleration", "throttle", "brake", "steer", "line_error", "section") + per_name: Dict[str, List[List[float]]] = {name: [[] for _ in range(count)] for name in names} + speed_by_run: List[List[float]] = [[] for _ in range(count)] + for run in runs: + rows = _ticks(root, run) + accel_by_tick = {index: acceleration for index, _, acceleration, _, _ in _smoothed_acceleration(rows)} + per_bin: Dict[int, Dict[str, List[float]]] = defaultdict(lambda: defaultdict(list)) + for row_index, row in enumerate(rows): + original = int(row["custom_waypoint_index"]) % len(line["raw"]) + bucket = int(line["original_to_bin"][original]) + tangent = line["xy"][(bucket + 1) % count] - line["xy"][(bucket - 1) % count] + tangent /= max(float(np.linalg.norm(tangent)), 1e-9) + displacement = np.asarray([float(row["x"]), float(row["y"])]) - line["xy"][bucket] + signed_error = tangent[0] * displacement[1] - tangent[1] * displacement[0] + values = { + "throttle": float(row["throttle"]), "brake": float(row["brake"]), + "steer": float(row["steer"]), "line_error": float(signed_error), + "section": float(row["section"]), "speed": float(row["speed_kmh"]), + } + if row_index in accel_by_tick: + values["acceleration"] = float(accel_by_tick[row_index]) + for name, value in values.items(): + per_bin[bucket][name].append(value) + for bucket, values in per_bin.items(): + for name in names: + if values.get(name): + if name == "section": + per_name[name][bucket].append(float(Counter(int(x) for x in values[name]).most_common(1)[0][0])) + else: + per_name[name][bucket].append(float(np.mean(values[name]))) + speed_by_run[bucket].append(float(np.mean(values["speed"]))) + output = { + name: np.asarray([_median_or_none(values) if values else np.nan for values in bins], dtype=float) + for name, bins in per_name.items() + } + output["speed_std"] = np.asarray([ + float(np.std(values, ddof=1)) if len(values) > 1 else np.nan for values in speed_by_run + ]) + output["support"] = np.asarray([len(values) for values in speed_by_run], dtype=int) + return output + + +def _lookahead(speed_kmh: float) -> int: + for upper, points in ((70, 8), (90, 9), (110, 11), (130, 14), (160, 18), (180, 22), (200, 26), (250, 30), (300, 35)): + if speed_kmh < upper: + return points + return 8 + + +def _radius(points: np.ndarray, maximum: float = 10000.0) -> float: + first, second, third = points + side1 = round(float(np.linalg.norm(second - first)), 3) + side2 = round(float(np.linalg.norm(third - second)), 3) + side3 = round(float(np.linalg.norm(third - first)), 3) + if min(side1, side2, side3) < 2: + return maximum + semiperimeter = (side1 + side2 + side3) / 2.0 + area_squared = semiperimeter * (semiperimeter - side1) * (semiperimeter - side2) * (semiperimeter - side3) + if area_squared < 2: + return maximum + return side1 * side2 * side3 / (4.0 * math.sqrt(area_squared)) + + +def _target_speed(radius: float, section: int, maximum_radius: float = 10000.0) -> float: + if radius >= maximum_radius: + return 300.0 + mu = {1: 3.00, 2: 3.35, 3: 3.4, 4: 2.95, 6: 3.3, 7: 2.75, 8: 2.75, 9: 2.1}.get(section, 2.75) + return max(20.0, min(math.sqrt(mu * 9.81 * radius) * 3.6, 300.0)) + + +def _recommended_speed( + current_index: int, location: np.ndarray, speed_kmh: float, section: int, + raw: np.ndarray, +) -> float: + start_index = (current_index + _lookahead(speed_kmh)) % len(raw) + intended = [0, 30, 60, 90, 120, 140, 170] + target_distances = [0.0, 30.0, 60.0, 90.0, 120.0, 150.0, 180.0] + points = [location] + accumulated = 0.0 + start = location + for offset in range(300): + end = raw[(start_index + offset) % len(raw)] + accumulated += float(np.linalg.norm(end - start)) + if accumulated > intended[len(points)]: + target_distances[len(points)] = accumulated + points.append(end) + start = end + if len(points) >= len(target_distances): + break + if len(points) < 7: + return float("nan") + point_array = np.asarray(points) + candidates = [] + configurations = [((0, 1, 2), target_distances[0] + 3.0), ((1, 2, 3), target_distances[1]), ((2, 3, 4), target_distances[2])] + if speed_kmh > 100: + if section != 9: + configurations.append(((1, 3, 5), target_distances[0] + 3.0)) + configurations.append(((0, 3, 6), target_distances[0] + 3.0)) + for indices, distance in configurations: + target = _target_speed(_radius(point_array[list(indices)]), section) + candidates.append(math.sqrt(825.0 * ((target ** 2) / 675.0 + distance))) + return min(candidates) + + +def _material_divergence( + window_indices: List[int], profile: List[Dict[str, Any]], baseline: Dict[str, np.ndarray], + candidate_start_position: int, candidate_end_position: int, +) -> Optional[int]: + flags = [] + for index in window_indices: + difference = profile[index]["stability_capped_planned_speed_kmh"] - profile[index]["baseline_median_speed_kmh"] + noise = baseline["speed_std"][index] + threshold = max(2.0, 2.0 * noise if np.isfinite(noise) else 2.0) + flags.append(abs(difference) >= threshold and profile[index]["confidence"] != "low") + runs = [] + offset = 0 + while offset < len(flags): + if not flags[offset]: + offset += 1 + continue + end = offset + 1 + while end < len(flags) and flags[end]: + end += 1 + if end - offset >= 3: + runs.append((offset, end)) + offset = end + overlapping = [ + run for run in runs + if run[0] < candidate_end_position and run[1] > candidate_start_position + ] + if overlapping: + return window_indices[overlapping[-1][0]] + return None + + +def _classify( + divergence: Optional[int], window_indices: List[int], details: List[Dict[str, Any]], + at_window_start: bool, +) -> Tuple[str, str]: + if divergence is None: + return "unsupported model extrapolation", "No sustained, support-qualified speed separation was found in the extended window." + detail_by_index = {item["bin"]: item for item in details} + point = detail_by_index[divergence] + if point["confidence"] == "low": + return "unsupported model extrapolation", "The first separation lies in a low-support state bin." + if at_window_start: + return "preceding-corner exit speed", "The planned velocity advantage already exists at the upstream edge of the 300 m extension." + target_gap = point["planned"]["speed_kmh"] - point["baseline"]["controller_recommended_speed_kmh"] + if point["active_physics_constraint"] == "lateral": + return "racing-line/curvature limitation", "Separation begins where the lateral/curvature envelope is active." + if target_gap > 3.0 and point["baseline"]["speed_kmh"] <= point["baseline"]["controller_recommended_speed_kmh"] + 3.0: + return "target-speed limitation", "The existing controller recommendation sits materially below the physics-planned speed." + baseline_brake = point["baseline"]["brake"] + planned_brake = point["planned"]["required_brake_fraction"] + baseline_accel = point["baseline"]["acceleration_mps2"] + planned_accel = point["planned"]["acceleration_mps2"] + baseline_throttle = point["baseline"]["throttle"] + if baseline_brake is None or baseline_accel is None or baseline_throttle is None: + return "unsupported model extrapolation", "The initiating bin lacks measured baseline control or acceleration support." + if baseline_brake > .25 and planned_brake < .1: + if baseline_accel < -.5 and planned_accel >= -.25: + return "braking release", "Baseline remains in braking while the feasible plan has released it." + return "braking onset", "Baseline braking is active before the feasible trajectory requires comparable braking." + if baseline_brake > .25 and planned_brake > .1 and baseline_accel < planned_accel - .5: + return "braking magnitude", "Both trajectories brake, but baseline deceleration is materially stronger." + if point["planned"]["required_throttle_fraction"] > .1 and baseline_throttle < .5: + return "throttle onset", "The feasible trajectory calls for propulsion before baseline throttle is established." + if ( + baseline_throttle >= .5 + and point["planned"]["required_throttle_fraction"] > .1 + and planned_accel > baseline_accel + .25 + ): + return "acceleration capability", "Both trajectories accelerate; the planned envelope sustains a larger velocity build." + return "preceding-corner exit speed", "The separation is best explained by velocity carried from the immediately preceding corner." + + +def _gain_attribution( + indices_from_divergence: List[int], candidate_indices: set, profile: List[Dict[str, Any]], + ds: float, +) -> Dict[str, Any]: + if not indices_from_divergence: + return {"total_gain_seconds": 0.0, "initial_velocity_advantage_seconds": 0.0, "continued_acceleration_difference_seconds": 0.0} + first = indices_from_divergence[0] + initial_energy_advantage = ( + (profile[first]["stability_capped_planned_speed_kmh"] / 3.6) ** 2 + - (profile[first]["baseline_median_speed_kmh"] / 3.6) ** 2 + ) + total = initial = 0.0 + for index in indices_from_divergence: + baseline_speed = profile[index]["baseline_median_speed_kmh"] / 3.6 + planned_speed = profile[index]["stability_capped_planned_speed_kmh"] / 3.6 + # Under identical acceleration versus distance, v^2 differs by the + # initial kinetic-energy offset. This isolates carry-in velocity from + # any continuing difference in acceleration after the initiating bin. + initial_only = math.sqrt(max(.01, baseline_speed ** 2 + initial_energy_advantage)) + if index in candidate_indices: + total += ds * (1.0 / max(baseline_speed, .1) - 1.0 / max(planned_speed, .1)) + initial += ds * (1.0 / max(baseline_speed, .1) - 1.0 / max(initial_only, .1)) + continued = total - initial + return { + "total_gain_seconds": float(total), + "initial_velocity_advantage_seconds": float(initial), + "continued_acceleration_difference_seconds": float(continued), + "initial_velocity_fraction": None if abs(total) < 1e-9 else float(initial / total), + } + + +def analyze( + root: Path, results_dir: str = "experiment_results", extension_m: float = 300.0, +) -> Dict[str, Any]: + results_root = root / results_dir + v2 = read_json(results_root / "analysis/velocity_profile_v2/latest.json") + profile = v2["distance_profile"] + line = _closed_line(root, float(v2["line"]["spacing_m"])) + attempts = _ledger(results_root / "ledger.jsonl") + successes = [item for item in attempts if _verified_baseline(root, item)] + baseline = _baseline_fields(root, successes, line) + envelope = v2["longitudinal_envelopes"] + centers = np.asarray(envelope["speed_centers_kmh"], dtype=float) + accel_low = np.asarray(envelope["acceleration_low_lateral_mps2"], dtype=float) + accel_high = np.asarray(envelope["acceleration_high_lateral_mps2"], dtype=float) + decel_envelope = np.asarray(envelope["deceleration_mps2"], dtype=float) + count, ds, lap = len(profile), float(line["ds"]), float(line["lap_length"]) + top = v2["top_5_candidate_intervals"] + candidates = [] + for rank, candidate in enumerate(top, 1): + upstream_bins = int(math.ceil(extension_m / ds)) + start_bin = int(round(candidate["start_m"] / ds)) % count + candidate_length_bins = max(1, int(round((candidate["end_m"] - candidate["start_m"]) / ds))) + candidate_indices_ordered = [(start_bin + offset) % count for offset in range(candidate_length_bins)] + window_indices = [(start_bin - upstream_bins + offset) % count for offset in range(candidate_length_bins + 2 * upstream_bins)] + divergence = _material_divergence( + window_indices, profile, baseline, upstream_bins, + upstream_bins + candidate_length_bins, + ) + detail_rows = [] + for unwrapped_offset, index in enumerate(window_indices): + base_speed = profile[index]["baseline_median_speed_kmh"] + planned_speed = profile[index]["stability_capped_planned_speed_kmh"] + section = int(round(baseline["section"][index])) if np.isfinite(baseline["section"][index]) else 0 + base_recommended = _recommended_speed(profile[index]["custom_waypoint_index"], line["xy"][index], base_speed, section, line["raw"]) + planned_recommended = _recommended_speed(profile[index]["custom_waypoint_index"], line["xy"][index], planned_speed, section, line["raw"]) + previous = (index - 1) % count; following = (index + 1) % count + planned_acceleration = (((profile[following]["stability_capped_planned_speed_kmh"] / 3.6) ** 2 - (profile[previous]["stability_capped_planned_speed_kmh"] / 3.6) ** 2) / (4.0 * ds)) + lateral = (planned_speed / 3.6) ** 2 * abs(profile[index]["curvature_1pm"]) + accel_cap = _lookup(planned_speed, centers, accel_high if lateral >= 8.0 else accel_low) + decel_cap = _lookup(planned_speed, centers, decel_envelope) + required_throttle = max(0.0, min(1.0, planned_acceleration / max(accel_cap, .01))) + required_brake = max(0.0, min(1.0, -planned_acceleration / max(decel_cap, .01))) + base_steer = baseline["steer"][index] + planned_steer = float(np.clip(base_steer * planned_speed / max(base_speed, 1.0), -1.0, 1.0)) if np.isfinite(base_steer) else None + detail_rows.append({ + "bin": index, + "unwrapped_distance_from_candidate_start_m": float((unwrapped_offset - upstream_bins) * ds), + "s_m": profile[index]["s_m"], "custom_waypoint_index": profile[index]["custom_waypoint_index"], + "x": profile[index]["x"], "y": profile[index]["y"], "curvature_1pm": profile[index]["curvature_1pm"], + "active_physics_constraint": profile[index]["active_constraint"], "confidence": profile[index]["confidence"], + "baseline": { + "speed_kmh": base_speed, "acceleration_mps2": None if not np.isfinite(baseline["acceleration"][index]) else float(baseline["acceleration"][index]), + "controller_recommended_speed_kmh": base_recommended, + "throttle": None if not np.isfinite(baseline["throttle"][index]) else float(baseline["throttle"][index]), + "brake": None if not np.isfinite(baseline["brake"][index]) else float(baseline["brake"][index]), + "lateral_acceleration_mps2": (base_speed / 3.6) ** 2 * abs(profile[index]["curvature_1pm"]), + "steering": None if not np.isfinite(base_steer) else float(base_steer), + "racing_line_error_m": None if not np.isfinite(baseline["line_error"][index]) else float(baseline["line_error"][index]), + "support": int(baseline["support"][index]), + }, + "planned": { + "speed_kmh": planned_speed, "acceleration_mps2": float(planned_acceleration), + "controller_recommended_speed_kmh": planned_recommended, + "required_throttle_fraction": float(required_throttle), "required_brake_fraction": float(required_brake), + "lateral_acceleration_mps2": float(lateral), + "steering_proxy": planned_steer, "racing_line_error_m": 0.0, + }, + }) + at_start = divergence == window_indices[0] if divergence is not None else False + cause, explanation = _classify(divergence, window_indices, detail_rows, at_start) + if cause not in CAUSES: + raise RuntimeError("Unknown causal classification: " + cause) + if divergence is None: + downstream = [] + else: + divergence_position = window_indices.index(divergence) + downstream = window_indices[divergence_position:] + attribution = _gain_attribution( + downstream, set(candidate_indices_ordered), profile, ds + ) + candidates.append({ + "source_rank": rank, "candidate": candidate, + "extension_m": extension_m, + "earliest_material_divergence": None if divergence is None else { + "s_m": profile[divergence]["s_m"], "custom_waypoint_index": profile[divergence]["custom_waypoint_index"], + "distance_before_candidate_start_m": float((window_indices.index(divergence) - upstream_bins) * ds), + "baseline_speed_kmh": profile[divergence]["baseline_median_speed_kmh"], + "planned_speed_kmh": profile[divergence]["stability_capped_planned_speed_kmh"], + }, + "initiating_cause": cause, "causal_explanation": explanation, + "gain_attribution": attribution, "distance_profile": detail_rows, + }) + + # Merge only when candidate regions are adjacent on the closed lap and the + # statistically detected initiating events are spatially the same. + parent = list(range(len(candidates))) + def find(value: int) -> int: + while parent[value] != value: + parent[value] = parent[parent[value]]; value = parent[value] + return value + def union(first: int, second: int) -> None: + a, b = find(first), find(second) + if a != b: parent[b] = a + for first in range(len(candidates)): + for second in range(first + 1, len(candidates)): + a, b = candidates[first], candidates[second] + ad, bd = a["earliest_material_divergence"], b["earliest_material_divergence"] + if ad is None or bd is None: + continue + region_a, region_b = a["candidate"], b["candidate"] + gaps = [ + _circular_distance(region_a["end_m"], region_b["start_m"], lap), + _circular_distance(region_b["end_m"], region_a["start_m"], lap), + ] + same_event = _circular_distance(ad["s_m"], bd["s_m"], lap) <= 150.0 + if min(gaps) <= extension_m and same_event: + union(first, second) + groups: Dict[int, List[Dict[str, Any]]] = defaultdict(list) + for index, candidate in enumerate(candidates): groups[find(index)].append(candidate) + interventions = [] + for members in groups.values(): + earliest = min( + (member["earliest_material_divergence"] for member in members if member["earliest_material_divergence"] is not None), + key=lambda value: min(value["distance_before_candidate_start_m"], 0.0), + default=None, + ) + cause_counts = Counter(member["initiating_cause"] for member in members) + cause = cause_counts.most_common(1)[0][0] + total_gain = sum(member["gain_attribution"]["total_gain_seconds"] for member in members) + initial = sum(member["gain_attribution"]["initial_velocity_advantage_seconds"] for member in members) + continued = total_gain - initial + interventions.append({ + "source_candidate_ranks": [member["source_rank"] for member in members], + "source_custom_waypoint_regions": [[member["candidate"]["custom_waypoint_start"], member["candidate"]["custom_waypoint_end"]] for member in members], + "initiating_cause": cause, "intervention_point": earliest, + "predicted_gain_seconds": float(total_gain), + "initial_velocity_advantage_seconds": float(initial), + "continued_acceleration_difference_seconds": float(continued), + "initial_velocity_fraction": None if abs(total_gain) < 1e-9 else float(initial / total_gain), + "why_merged": "shared initiating event within 150 m and overlapping 300 m causal windows" if len(members) > 1 else "single causal region", + }) + interventions.sort(key=lambda value: value["predicted_gain_seconds"], reverse=True) + result = { + "schema_version": SCHEMA_VERSION, "event_type": "counterfactual_opportunity_analysis", + "created_utc": dt.datetime.now(dt.timezone.utc).isoformat(), + "source_v2_result": v2["result_path"], "population": {"verified_successful_baseline_runs": len(successes)}, + "semantics": { + "planned_throttle_brake": "required effort normalized by empirical acceleration/deceleration envelopes; not an applied command", + "planned_steering": "baseline applied steering scaled by planned/baseline speed; proxy only", + "planned_racing_line_error": "zero by construction because the physics plan follows the existing custom line", + "controller_recommended_speed": "offline replay of the winner's lookahead, radius, section-mu, and SpeedData recommendation", + "material_divergence": "three consecutive 5 m bins exceeding max(2 km/h, two baseline run standard deviations)", + }, + "candidate_analyses": candidates, "ranked_causal_intervention_points": interventions, + } + output = results_root / "analysis" / "counterfactual_opportunity" + result_path, report_path = output / "latest.json", output / "latest.md" + result["result_path"] = str(result_path.relative_to(root)); result["human_report_path"] = str(report_path.relative_to(root)) + write_json(result_path, result); report_path.parent.mkdir(parents=True, exist_ok=True) + report_path.write_text(render_report(result), encoding="utf-8") + return result + + +def render_report(result: Dict[str, Any]) -> str: + lines = [ + "# Counterfactual opportunity analysis", "", + "Offline/shadow analysis only. No applied controller is changed.", "", + "## Ranked causal intervention points", "", + "| Rank | Source regions | Intervention WP | Initiating cause | Gain | Initial velocity | Continued acceleration | Merge conclusion |", + "|---:|---|---:|---|---:|---:|---:|---|", + ] + for rank, item in enumerate(result["ranked_causal_intervention_points"], 1): + point = item["intervention_point"] + lines.append("| %d | %s | %s | %s | %.3f s | %.3f s | %.3f s | %s |" % ( + rank, ", ".join("WP %d–%d" % tuple(region) for region in item["source_custom_waypoint_regions"]), + "unresolved" if point is None else str(point["custom_waypoint_index"]), item["initiating_cause"], + item["predicted_gain_seconds"], item["initial_velocity_advantage_seconds"], + item["continued_acceleration_difference_seconds"], item["why_merged"], + )) + lines += ["", "## Candidate diagnoses", ""] + for item in result["candidate_analyses"]: + candidate = item["candidate"]; divergence = item["earliest_material_divergence"]; attribution = item["gain_attribution"] + divergence_detail = None + if divergence is not None: + divergence_detail = next( + row for row in item["distance_profile"] + if row["custom_waypoint_index"] == divergence["custom_waypoint_index"] + and abs(row["s_m"] - divergence["s_m"]) < 1e-6 + ) + lines += [ + "### Candidate %d: WP %d–%d" % (item["source_rank"], candidate["custom_waypoint_start"], candidate["custom_waypoint_end"]), "", + "- Earliest material separation: %s" % ("unresolved" if divergence is None else "WP %d, %+.1f m from candidate start (%.1f → %.1f km/h)" % (divergence["custom_waypoint_index"], divergence["distance_before_candidate_start_m"], divergence["baseline_speed_kmh"], divergence["planned_speed_kmh"])), + "- Initiating cause: **%s**" % item["initiating_cause"], + "- Diagnosis: %s" % item["causal_explanation"], + "- Candidate-region gain: %.3f s" % attribution["total_gain_seconds"], + "- Initial-velocity contribution: %.3f s" % attribution["initial_velocity_advantage_seconds"], + "- Continued-acceleration contribution: %.3f s" % attribution["continued_acceleration_difference_seconds"], "", + ] + if divergence_detail is not None: + base, plan = divergence_detail["baseline"], divergence_detail["planned"] + lines += [ + "Initiating-bin state:", "", + "| Quantity | Baseline | Planned |", "|---|---:|---:|", + "| Speed | %.1f km/h | %.1f km/h |" % (base["speed_kmh"], plan["speed_kmh"]), + "| Acceleration | %s | %.2f m/s² |" % ("unavailable" if base["acceleration_mps2"] is None else "%.2f m/s²" % base["acceleration_mps2"], plan["acceleration_mps2"]), + "| Controller recommended speed | %.1f km/h | %.1f km/h |" % (base["controller_recommended_speed_kmh"], plan["controller_recommended_speed_kmh"]), + "| Throttle / required throttle | %s | %.2f |" % ("unavailable" if base["throttle"] is None else "%.2f" % base["throttle"], plan["required_throttle_fraction"]), + "| Brake / required brake | %s | %.2f |" % ("unavailable" if base["brake"] is None else "%.2f" % base["brake"], plan["required_brake_fraction"]), + "| Lateral acceleration | %.2f m/s² | %.2f m/s² |" % (base["lateral_acceleration_mps2"], plan["lateral_acceleration_mps2"]), + "| Steering / steering proxy | %s | %s |" % ("unavailable" if base["steering"] is None else "%.3f" % base["steering"], "unavailable" if plan["steering_proxy"] is None else "%.3f" % plan["steering_proxy"]), + "| Racing-line error | %s | %.2f m |" % ("unavailable" if base["racing_line_error_m"] is None else "%.2f m" % base["racing_line_error_m"], plan["racing_line_error_m"]), + "", "Curvature: %.5f 1/m. Active physics constraint: **%s**. Baseline support: %d runs." % ( + divergence_detail["curvature_1pm"], divergence_detail["active_physics_constraint"], base["support"] + ), "", + ] + lines += [ + "## Interpretation", "", + "The ranked items are causal investigation points, not controller-change proposals. Full 5 m baseline/planned comparisons—including reconstructed controller recommendation, control-effort proxies, curvature, lateral acceleration, steering proxy, racing-line error, and active constraint—are in the JSON result.", "", + "Initial-velocity attribution preserves the initiating kinetic-energy offset while following the baseline speed history. The residual is attributed to continued acceleration/deceleration differences; a negative residual means the planned trajectory subsequently gives back part of its carry-in advantage.", "", + ] + return "\n".join(lines) diff --git a/experiments/analysis/velocity_profile.py b/experiments/analysis/velocity_profile.py new file mode 100644 index 0000000..7c21f6d --- /dev/null +++ b/experiments/analysis/velocity_profile.py @@ -0,0 +1,169 @@ +import csv +import datetime as dt +import json +import math +from collections import defaultdict +from pathlib import Path +from typing import Any, Dict, List, Tuple + +import numpy as np + +from experiments.harness.core import read_json, write_json + + +SCHEMA_VERSION = 1 + + +def _ledger(path: Path) -> List[Dict[str, Any]]: + if not path.exists(): + return [] + by_attempt = {} + with path.open(encoding="utf-8") as infile: + for line in infile: + item = json.loads(line) + if item.get("attempt_id") and item.get("outcome"): + by_attempt[item["attempt_id"]] = item + return list(by_attempt.values()) + + +def _verified_baseline(root: Path, item: Dict[str, Any]) -> bool: + if item.get("outcome") != "finished" or not item.get("telemetry_path"): + return False + diff = item.get("source_diff_path") + return bool(diff) and (root / diff).exists() and not (root / diff).read_text(encoding="utf-8").strip() + + +def _ticks(root: Path, item: Dict[str, Any]) -> List[Dict[str, str]]: + path = (root / item["telemetry_path"]).parent / "ticks.csv" + with path.open(encoding="utf-8", newline="") as infile: + return list(csv.DictReader(infile)) + + +def _line(root: Path) -> Tuple[np.ndarray, np.ndarray, float]: + points = np.load(str(root / "competition_code/waypoints/waypointsPrimary.npz"))["locations"][35:, :2] + segment = np.linalg.norm(np.diff(points, axis=0), axis=1) + closing = float(np.linalg.norm(points[0] - points[-1])) + arc = np.r_[0.0, np.cumsum(segment)] + return points, arc, float(arc[-1] + closing) + + +def _quantile(values: List[float], q: float) -> float: + return float(np.quantile(np.asarray(values, dtype=float), q)) + + +def analyze(root: Path, results_dir: str = "experiment_results", bin_m: float = 20.0, interval_m: float = 100.0) -> Dict[str, Any]: + results_root = root / results_dir + attempts = _ledger(results_root / "ledger.jsonl") + successes = [x for x in attempts if _verified_baseline(root, x)] + failures = [x for x in attempts if x.get("outcome") == "collision" and x.get("telemetry_path")] + points, arc, lap_length = _line(root) + bins = int(math.ceil(lap_length / bin_m)) + success_by_bin: Dict[int, List[Tuple[str, float, float, float]]] = defaultdict(list) + failure_by_bin: Dict[int, List[Tuple[str, float]]] = defaultdict(list) + + for item in successes: + per_bin: Dict[int, List[Tuple[float, float, float]]] = defaultdict(list) + for row in _ticks(root, item): + index = int(row["custom_waypoint_index"]) % len(points) + bucket = min(bins - 1, int(arc[index] / bin_m)) + per_bin[bucket].append((float(row["speed_kmh"]), float(row["throttle"]), float(row["brake"]))) + for bucket, values in per_bin.items(): + array = np.asarray(values) + success_by_bin[bucket].append((item["attempt_id"], float(array[:, 0].mean()), float(array[:, 1].mean()), float((array[:, 2] > 0).mean()))) + + for item in failures: + rows = _ticks(root, item) + terminal = rows[-160:] # about 8 seconds / typically 300–400 m of boundary evidence + per_bin: Dict[int, List[float]] = defaultdict(list) + for row in terminal: + index = int(row["custom_waypoint_index"]) % len(points) + per_bin[min(bins - 1, int(arc[index] / bin_m))].append(float(row["speed_kmh"])) + for bucket, values in per_bin.items(): + failure_by_bin[bucket].append((item["attempt_id"], float(np.mean(values)))) + + profiles = [] + for bucket in range(bins): + samples = success_by_bin.get(bucket, []) + if not samples: + continue + speeds = [x[1] for x in samples] + actual = _quantile(speeds, 0.5) + fastest_reliable = _quantile(speeds, 0.75) + boundary = [x[1] for x in failure_by_bin.get(bucket, [])] + feasible = fastest_reliable + stability_limited = False + if boundary: + lower_failure = _quantile(boundary, 0.25) + if lower_failure <= fastest_reliable + 2.0: + feasible = min(feasible, max(actual, lower_failure - 1.0)) + stability_limited = True + ds = min(bin_m, lap_length - bucket * bin_m) + opportunity = max(0.0, 3.6 * ds * (1.0 / actual - 1.0 / feasible)) if feasible > actual else 0.0 + profiles.append({ + "bin": bucket, "start_m": bucket * bin_m, "end_m": min(lap_length, (bucket + 1) * bin_m), + "custom_waypoint_start": int(np.searchsorted(arc, bucket * bin_m, side="left")), + "successful_runs": len(samples), "actual_speed_kmh": actual, + "feasible_speed_kmh": feasible, "successful_speed_q25_kmh": _quantile(speeds, .25), + "successful_speed_q75_kmh": fastest_reliable, + "failure_boundary_count": len(boundary), + "failure_speed_q25_kmh": _quantile(boundary, .25) if boundary else None, + "estimated_opportunity_seconds": opportunity, + "mean_throttle": float(np.mean([x[2] for x in samples])), + "braking_run_fraction": float(np.mean([x[3] > .05 for x in samples])), + "stability_limited": stability_limited, + }) + + group_bins = max(1, int(round(interval_m / bin_m))) + intervals = [] + for start in range(0, bins, group_bins): + members = [x for x in profiles if start <= x["bin"] < start + group_bins] + if not members: + continue + opportunity = sum(x["estimated_opportunity_seconds"] for x in members) + failures_here = sum(x["failure_boundary_count"] for x in members) + min_runs = min(x["successful_runs"] for x in members) + spread = float(np.mean([x["successful_speed_q75_kmh"] - x["successful_speed_q25_kmh"] for x in members])) + stable = any(x["stability_limited"] for x in members) + brake = float(np.mean([x["braking_run_fraction"] for x in members])) + throttle = float(np.mean([x["mean_throttle"] for x in members])) + if stable: + limitation = "stability constrained" + elif brake > .35: + limitation = "brake timing/release" + elif throttle > .75: + limitation = "acceleration/throttle recovery" + else: + limitation = "corner speed or transient balance" + confidence = "high" if min_runs >= 20 and spread <= 2.0 else ("medium" if min_runs >= 10 else "low") + intervals.append({ + "start_m": start * bin_m, "end_m": min(lap_length, (start + group_bins) * bin_m), + "custom_waypoint_start": members[0]["custom_waypoint_start"], + "custom_waypoint_end": members[-1]["custom_waypoint_start"], + "estimated_opportunity_seconds": opportunity, "confidence": confidence, + "limitation": limitation, "failure_boundary_samples": failures_here, + "minimum_successful_runs": min_runs, + }) + intervals.sort(key=lambda x: x["estimated_opportunity_seconds"], reverse=True) + result = { + "schema_version": SCHEMA_VERSION, "event_type": "offline_velocity_profile", + "created_utc": dt.datetime.now(dt.timezone.utc).isoformat(), + "method": { + "actual_speed": "median across provenance-verified successful baseline runs", + "feasible_speed": "successful-run 75th percentile, constrained by the lower quartile of nearby collision speeds minus 1 km/h", + "opportunity_formula": "3.6 * ds * (1/v_actual_kmh - 1/v_feasible_kmh)", + "failure_boundary_window": "final 160 telemetry ticks before each collision", + "bin_m": bin_m, "interval_m": interval_m, + }, + "population": {"successful_baseline_runs": len(successes), "collision_runs": len(failures)}, + "lap_length_m": lap_length, "ranked_intervals": intervals, "distance_profile": profiles, + } + output_dir = results_root / "analysis" / "velocity_profile" + result_path, report_path = output_dir / "latest.json", output_dir / "latest.md" + result["result_path"] = str(result_path.relative_to(root)); result["human_report_path"] = str(report_path.relative_to(root)) + write_json(result_path, result) + lines = ["# Offline Monza velocity-profile opportunity ranking", "", "Population: %d successful baseline runs; %d collision runs." % (len(successes), len(failures)), "", "| Rank | Distance | Custom WP | Opportunity | Confidence | Limitation |", "|---:|---:|---:|---:|---|---|"] + for rank, item in enumerate(intervals[:20], 1): + lines.append("| %d | %.0f–%.0f m | %d–%d | %.3f s | %s | %s |" % (rank, item["start_m"], item["end_m"], item["custom_waypoint_start"], item["custom_waypoint_end"], item["estimated_opportunity_seconds"], item["confidence"], item["limitation"])) + lines += ["", "The opportunity estimate is a screening statistic, not a claim that all gains can be combined. Collision-adjacent intervals are conservatively capped and should be treated as constraints, not optimization targets.", ""] + report_path.parent.mkdir(parents=True, exist_ok=True); report_path.write_text("\n".join(lines), encoding="utf-8") + return result diff --git a/experiments/analysis/velocity_profile_v2.py b/experiments/analysis/velocity_profile_v2.py new file mode 100644 index 0000000..89937e4 --- /dev/null +++ b/experiments/analysis/velocity_profile_v2.py @@ -0,0 +1,536 @@ +"""Physics-informed, offline-only velocity planner for the Monza racing line.""" + +import csv +import datetime as dt +import json +import math +import statistics +from collections import defaultdict +from pathlib import Path +from typing import Any, Dict, Iterable, List, Optional, Tuple + +import numpy as np + +from experiments.harness.core import write_json +from .velocity_profile import _ledger, _ticks, _verified_baseline + + +SCHEMA_VERSION = 2 + + +def _closed_line(root: Path, spacing_m: float) -> Dict[str, Any]: + raw = np.load(str(root / "competition_code/waypoints/waypointsPrimary.npz"))["locations"][35:, :2] + segment = np.linalg.norm(np.diff(raw, axis=0), axis=1) + raw_s = np.r_[0.0, np.cumsum(segment)] + lap_length = float(raw_s[-1] + np.linalg.norm(raw[0] - raw[-1])) + count = max(3, int(round(lap_length / spacing_m))) + ds = lap_length / count + s = np.arange(count, dtype=float) * ds + extended_s = np.r_[raw_s, lap_length] + extended = np.vstack([raw, raw[0]]) + xy = np.column_stack([ + np.interp(s, extended_s, extended[:, 0]), + np.interp(s, extended_s, extended[:, 1]), + ]) + # A 10 m centered stencil suppresses waypoint quantization while retaining + # the chicane geometry relevant to lateral acceleration. + half_window = max(1, int(round(10.0 / ds))) + previous = np.roll(xy, half_window, axis=0) + following = np.roll(xy, -half_window, axis=0) + first = (following - previous) / (2.0 * half_window * ds) + second = (following - 2.0 * xy + previous) / ((half_window * ds) ** 2) + denominator = np.maximum(np.linalg.norm(first, axis=1) ** 3, 1e-9) + curvature = (first[:, 0] * second[:, 1] - first[:, 1] * second[:, 0]) / denominator + original_to_bin = np.minimum(count - 1, np.floor(raw_s / ds).astype(int)) + bin_to_waypoint = np.searchsorted(raw_s, s, side="left") + bin_to_waypoint = np.minimum(len(raw) - 1, bin_to_waypoint) + return { + "raw": raw, "raw_s": raw_s, "lap_length": lap_length, + "count": count, "ds": ds, "s": s, "xy": xy, + "curvature": curvature, "original_to_bin": original_to_bin, + "bin_to_waypoint": bin_to_waypoint, + } + + +def _fill(values: np.ndarray, fallback: float) -> np.ndarray: + result = values.astype(float).copy() + valid = np.flatnonzero(np.isfinite(result)) + if not len(valid): + result[:] = fallback + elif len(valid) == 1: + result[:] = result[valid[0]] + else: + missing = np.flatnonzero(~np.isfinite(result)) + result[missing] = np.interp(missing, valid, result[valid]) + return result + + +def _speed_stats( + root: Path, runs: List[Dict[str, Any]], line: Dict[str, Any] +) -> Tuple[Dict[str, np.ndarray], List[Dict[str, Any]]]: + count = line["count"] + by_bin: List[List[float]] = [[] for _ in range(count)] + control_by_bin: List[List[Tuple[float, float]]] = [[] for _ in range(count)] + cached = [] + for run in runs: + rows = _ticks(root, run) + cached.append({"run": run, "rows": rows}) + per_bin: Dict[int, List[Tuple[float, float, float]]] = defaultdict(list) + for row in rows: + original = int(row["custom_waypoint_index"]) % len(line["raw"]) + bucket = int(line["original_to_bin"][original]) + per_bin[bucket].append((float(row["speed_kmh"]), float(row["throttle"]), float(row["brake"]))) + for bucket, values in per_bin.items(): + array = np.asarray(values, dtype=float) + by_bin[bucket].append(float(np.mean(array[:, 0]))) + control_by_bin[bucket].append((float(np.mean(array[:, 1])), float(np.mean(array[:, 2] > 0.0)))) + stats: Dict[str, np.ndarray] = {} + for name, quantile in (("median", .50), ("p75", .75), ("p90", .90)): + stats[name] = _fill(np.asarray([ + np.quantile(values, quantile) if values else np.nan for values in by_bin + ]), 20.0) + stats["support"] = np.asarray([len(values) for values in by_bin], dtype=int) + stats["throttle"] = _fill(np.asarray([ + np.mean([value[0] for value in values]) if values else np.nan + for values in control_by_bin + ]), 0.0) + stats["brake_fraction"] = _fill(np.asarray([ + np.mean([value[1] for value in values]) if values else np.nan + for values in control_by_bin + ]), 0.0) + return stats, cached + + +def _smoothed_acceleration(rows: List[Dict[str, str]], half_window: int = 3) -> Iterable[Tuple[int, float, float, float, float]]: + if len(rows) < 2 * half_window + 1: + return [] + time = np.asarray([float(row["sim_time_seconds"]) for row in rows]) + speed = np.asarray([float(row["speed_kmh"]) / 3.6 for row in rows]) + output = [] + for index in range(half_window, len(rows) - half_window): + dt_seconds = time[index + half_window] - time[index - half_window] + if dt_seconds <= 0 or dt_seconds > 1.0: + continue + acceleration = (speed[index + half_window] - speed[index - half_window]) / dt_seconds + output.append(( + index, speed[index] * 3.6, acceleration, + float(rows[index]["throttle"]), float(rows[index]["brake"]), + )) + return output + + +def _longitudinal_envelopes( + cached_runs: List[Dict[str, Any]], line: Dict[str, Any], speed_step_kmh: float = 10.0 +) -> Dict[str, Any]: + centers = np.arange(5.0, 305.0, speed_step_kmh) + acceleration: List[List[float]] = [[] for _ in centers] + acceleration_low_lat: List[List[float]] = [[] for _ in centers] + acceleration_high_lat: List[List[float]] = [[] for _ in centers] + deceleration: List[List[float]] = [[] for _ in centers] + lateral_values: List[float] = [] + transitions = {"throttle_to_brake": [], "brake_to_throttle": []} + for cached in cached_runs: + rows = cached["rows"] + prior_mode = None + for index, speed_kmh, longitudinal, throttle, brake in _smoothed_acceleration(rows): + row = rows[index] + original = int(row["custom_waypoint_index"]) % len(line["raw"]) + bucket = int(line["original_to_bin"][original]) + lateral = (speed_kmh / 3.6) ** 2 * abs(float(line["curvature"][bucket])) + lateral_values.append(lateral) + speed_bucket = int(np.clip(math.floor(speed_kmh / speed_step_kmh), 0, len(centers) - 1)) + if throttle >= .9 and brake <= .01 and longitudinal > 0: + acceleration[speed_bucket].append(longitudinal) + (acceleration_high_lat if lateral >= 8.0 else acceleration_low_lat)[speed_bucket].append(longitudinal) + if brake >= .5 and longitudinal < 0: + deceleration[speed_bucket].append(-longitudinal) + mode = "brake" if brake > .5 else ("throttle" if throttle > .8 else "coast") + if prior_mode == "throttle" and mode == "brake": + transitions["throttle_to_brake"].append({"speed_kmh": speed_kmh, "custom_waypoint_index": original}) + elif prior_mode == "brake" and mode == "throttle": + transitions["brake_to_throttle"].append({"speed_kmh": speed_kmh, "custom_waypoint_index": original}) + prior_mode = mode + + def envelope(samples: List[List[float]], quantile: float, fallback: float, low: float, high: float) -> Tuple[np.ndarray, np.ndarray]: + raw = np.asarray([np.quantile(values, quantile) if len(values) >= 10 else np.nan for values in samples]) + support = np.asarray([len(values) for values in samples], dtype=int) + return np.clip(_fill(raw, fallback), low, high), support + + accel, accel_support = envelope(acceleration, .90, 1.0, .15, 8.0) + accel_low, accel_low_support = envelope(acceleration_low_lat, .90, 1.0, .15, 8.0) + accel_high, accel_high_support = envelope(acceleration_high_lat, .90, .7, .10, 8.0) + decel, decel_support = envelope(deceleration, .90, 8.0, 1.0, 20.0) + lateral = np.asarray(lateral_values) + lateral_limit = float(np.quantile(lateral, .99)) + return { + "speed_centers_kmh": centers, "acceleration_mps2": accel, + "acceleration_low_lateral_mps2": accel_low, + "acceleration_high_lateral_mps2": accel_high, + "deceleration_mps2": decel, "acceleration_support": accel_support, + "acceleration_low_lateral_support": accel_low_support, + "acceleration_high_lateral_support": accel_high_support, + "deceleration_support": decel_support, + "lateral_acceleration_limit_mps2": lateral_limit, + "lateral_acceleration_p95_mps2": float(np.quantile(lateral, .95)), + "lateral_acceleration_p99_mps2": float(np.quantile(lateral, .99)), + "lateral_samples": int(len(lateral)), "transitions": transitions, + } + + +def _lookup(speed_kmh: float, centers: np.ndarray, values: np.ndarray) -> float: + return float(np.interp(speed_kmh, centers, values, left=values[0], right=values[-1])) + + +def _acceleration_at(speed_kmh: float, lateral_mps2: float, envelope: Dict[str, Any]) -> float: + values = ( + envelope["acceleration_high_lateral_mps2"] + if lateral_mps2 >= 8.0 + else envelope["acceleration_low_lateral_mps2"] + ) + return _lookup(speed_kmh, envelope["speed_centers_kmh"], values) + + +def _solve_closed( + limit_kmh: np.ndarray, curvature: np.ndarray, ds: float, + envelope: Dict[str, Any], tolerance_kmh: float = .001, maximum_iterations: int = 1000, +) -> Tuple[np.ndarray, int, float]: + velocity = np.maximum(1.0, limit_kmh / 3.6) + count = len(velocity) + final_change = math.inf + for iteration in range(1, maximum_iterations + 1): + before = velocity.copy() + # Backward braking feasibility: velocity at i must be slow enough to + # reach the already-constrained velocity at i+1. + for offset in range(count): + index = count - 1 - offset + following = (index + 1) % count + decel = _lookup(velocity[index] * 3.6, envelope["speed_centers_kmh"], envelope["deceleration_mps2"]) + velocity[index] = min(velocity[index], math.sqrt(max(0.0, velocity[following] ** 2 + 2.0 * decel * ds))) + # Forward propulsion feasibility. + for index in range(count): + following = (index + 1) % count + lateral = velocity[index] ** 2 * abs(curvature[index]) + accel = _acceleration_at(velocity[index] * 3.6, lateral, envelope) + velocity[following] = min(velocity[following], math.sqrt(max(0.0, velocity[index] ** 2 + 2.0 * accel * ds))) + final_change = float(np.max(np.abs(velocity - before)) * 3.6) + if final_change <= tolerance_kmh: + return velocity * 3.6, iteration, final_change + return velocity * 3.6, maximum_iterations, final_change + + +def _stability_caps( + root: Path, failures: List[Dict[str, Any]], line: Dict[str, Any], + baseline: Dict[str, np.ndarray], lateral_limit_kmh: np.ndarray, +) -> Tuple[np.ndarray, np.ndarray, np.ndarray]: + samples: List[List[float]] = [[] for _ in range(line["count"])] + for failure in failures: + rows = _ticks(root, failure)[-160:] + per_bin: Dict[int, List[float]] = defaultdict(list) + for row in rows: + original = int(row["custom_waypoint_index"]) % len(line["raw"]) + per_bin[int(line["original_to_bin"][original])].append(float(row["speed_kmh"])) + for bucket, values in per_bin.items(): + samples[bucket].append(float(np.mean(values))) + cap = lateral_limit_kmh.copy() + support = np.asarray([len(values) for values in samples], dtype=int) + boundary = np.asarray([np.quantile(values, .25) if values else np.nan for values in samples]) + for index, values in enumerate(samples): + if not values: + continue + failure_q25 = float(np.quantile(values, .25)) + # Only declare a stability boundary when failures overlap the observed + # baseline operating range. Extremely high-speed experimental failures + # remain evidence but do not suppress unrelated feasible speeds. + if failure_q25 <= baseline["p90"][index] + 5.0: + cap[index] = min(cap[index], max(baseline["median"][index], failure_q25 - 1.0)) + return cap, support, boundary + + +def _time_seconds(speed_kmh: np.ndarray, ds: float) -> float: + return float(np.sum(ds / np.maximum(speed_kmh / 3.6, .1))) + + +def _constraint_reason( + index: int, planned: np.ndarray, uncapped: np.ndarray, lateral_limit: np.ndarray, + stability_limit: np.ndarray, curvature: np.ndarray, ds: float, envelope: Dict[str, Any], +) -> str: + if stability_limit[index] + .05 < uncapped[index] and abs(planned[index] - stability_limit[index]) < .25: + return "empirical_stability" + if abs(planned[index] - lateral_limit[index]) < .25: + return "lateral" + previous = (index - 1) % len(planned) + lateral = (planned[previous] / 3.6) ** 2 * abs(curvature[previous]) + accel = _acceleration_at(planned[previous], lateral, envelope) + forward = 3.6 * math.sqrt((planned[previous] / 3.6) ** 2 + 2.0 * accel * ds) + following = (index + 1) % len(planned) + decel = _lookup(planned[index], envelope["speed_centers_kmh"], envelope["deceleration_mps2"]) + backward = 3.6 * math.sqrt((planned[following] / 3.6) ** 2 + 2.0 * decel * ds) + if abs(planned[index] - forward) <= abs(planned[index] - backward): + return "acceleration" + return "braking" + + +def _candidate_regions(intervals: List[Dict[str, Any]], adjacency_tolerance_m: float) -> List[Dict[str, Any]]: + eligible = sorted( + ( + dict(item) for item in intervals + if item["stability_capped_predicted_gain_seconds"] > 0 + and item["active_constraint"] != "empirical_stability" + and item["confidence"] in {"medium", "high"} + ), + key=lambda item: item["start_m"], + ) + regions: List[Dict[str, Any]] = [] + for item in eligible: + if ( + regions and item["active_constraint"] == regions[-1]["active_constraint"] + and item["start_m"] - regions[-1]["end_m"] <= adjacency_tolerance_m + ): + region = regions[-1] + old_length = region["end_m"] - region["start_m"] + new_length = item["end_m"] - item["start_m"] + total_length = old_length + new_length + region["end_m"] = item["end_m"] + region["custom_waypoint_end"] = item["custom_waypoint_end"] + for key in ( + "empirical_opportunity_seconds", "physics_predicted_gain_seconds", + "stability_capped_predicted_gain_seconds", "failure_boundary_support", + ): + region[key] += item[key] + for key in ("mean_baseline_speed_kmh", "mean_planned_speed_kmh"): + region[key] = (region[key] * old_length + item[key] * new_length) / total_length + region["minimum_successful_run_support"] = min(region["minimum_successful_run_support"], item["minimum_successful_run_support"]) + region["minimum_longitudinal_envelope_support"] = min(region["minimum_longitudinal_envelope_support"], item["minimum_longitudinal_envelope_support"]) + if item["confidence"] == "medium": + region["confidence"] = "medium" + for key, value in item["constraint_counts"].items(): + region["constraint_counts"][key] = region["constraint_counts"].get(key, 0) + value + else: + regions.append(item) + return sorted(regions, key=lambda item: item["stability_capped_predicted_gain_seconds"], reverse=True) + + +def analyze( + root: Path, results_dir: str = "experiment_results", spacing_m: float = 5.0, + interval_m: float = 100.0, +) -> Dict[str, Any]: + results_root = root / results_dir + attempts = _ledger(results_root / "ledger.jsonl") + successes = [item for item in attempts if _verified_baseline(root, item)] + failures = [item for item in attempts if item.get("outcome") == "collision" and item.get("telemetry_path")] + line = _closed_line(root, spacing_m) + baseline, cached = _speed_stats(root, successes, line) + envelope = _longitudinal_envelopes(cached, line) + curvature = line["curvature"] + lateral_limit = np.minimum( + 300.0, + 3.6 * np.sqrt(envelope["lateral_acceleration_limit_mps2"] / np.maximum(np.abs(curvature), 1e-7)), + ) + physics, physics_iterations, physics_error = _solve_closed( + lateral_limit, curvature, line["ds"], envelope + ) + stability_limit, failure_support, failure_boundary = _stability_caps( + root, failures, line, baseline, lateral_limit + ) + capped, capped_iterations, capped_error = _solve_closed( + stability_limit, curvature, line["ds"], envelope + ) + + records = [] + for index in range(line["count"]): + speed = capped[index] + lateral = (speed / 3.6) ** 2 * abs(curvature[index]) + accel = _acceleration_at(speed, lateral, envelope) + decel = _lookup(speed, envelope["speed_centers_kmh"], envelope["deceleration_mps2"]) + empirical_gain = max(0.0, line["ds"] * 3.6 * (1.0 / baseline["median"][index] - 1.0 / baseline["p90"][index])) + physics_gain = line["ds"] * 3.6 * (1.0 / baseline["median"][index] - 1.0 / physics[index]) + capped_gain = line["ds"] * 3.6 * (1.0 / baseline["median"][index] - 1.0 / capped[index]) + reason = _constraint_reason(index, capped, physics, lateral_limit, stability_limit, curvature, line["ds"], envelope) + support = int(baseline["support"][index]) + speed_bin = int(np.argmin(np.abs(envelope["speed_centers_kmh"] - speed))) + acceleration_support_values = ( + envelope["acceleration_high_lateral_support"] + if lateral >= 8.0 else envelope["acceleration_low_lateral_support"] + ) + acceleration_support = int(acceleration_support_values[speed_bin]) + deceleration_support = int(envelope["deceleration_support"][speed_bin]) + if reason == "acceleration": + envelope_support = acceleration_support + elif reason == "braking": + envelope_support = deceleration_support + else: + envelope_support = max(acceleration_support, deceleration_support) + confidence = "high" if support >= 20 and envelope_support >= 50 else ("medium" if support >= 10 and envelope_support >= 10 else "low") + records.append({ + "bin": index, "s_m": float(line["s"][index]), "ds_m": line["ds"], + "x": float(line["xy"][index, 0]), "y": float(line["xy"][index, 1]), + "custom_waypoint_index": int(line["bin_to_waypoint"][index]), + "curvature_1pm": float(curvature[index]), + "baseline_median_speed_kmh": float(baseline["median"][index]), + "baseline_p75_speed_kmh": float(baseline["p75"][index]), + "baseline_p90_speed_kmh": float(baseline["p90"][index]), + "physics_planned_speed_kmh": float(physics[index]), + "stability_capped_planned_speed_kmh": float(capped[index]), + "lateral_speed_limit_kmh": float(lateral_limit[index]), + "stability_speed_limit_kmh": float(stability_limit[index]), + "estimated_lateral_acceleration_mps2": float(lateral), + "observed_acceleration_envelope_mps2": float(accel), + "observed_deceleration_envelope_mps2": float(decel), + "empirical_opportunity_seconds": float(empirical_gain), + "physics_predicted_gain_seconds": float(physics_gain), + "stability_capped_predicted_gain_seconds": float(capped_gain), + "successful_run_support": support, + "longitudinal_envelope_support": envelope_support, + "acceleration_envelope_support": acceleration_support, + "deceleration_envelope_support": deceleration_support, + "failure_boundary_support": int(failure_support[index]), + "failure_boundary_q25_speed_kmh": None if not np.isfinite(failure_boundary[index]) else float(failure_boundary[index]), + "confidence": confidence, "active_constraint": reason, + "mean_baseline_throttle": float(baseline["throttle"][index]), + "baseline_braking_run_fraction": float(baseline["brake_fraction"][index]), + }) + + group = max(1, int(round(interval_m / line["ds"]))) + intervals = [] + for start in range(0, len(records), group): + members = records[start:start + group] + if not members: + continue + reasons = defaultdict(int) + for member in members: + reasons[member["active_constraint"]] += 1 + active = max(reasons, key=reasons.get) + support = min(member["successful_run_support"] for member in members) + envelope_support = min(member["longitudinal_envelope_support"] for member in members) + confidence = "high" if support >= 20 and envelope_support >= 50 else ("medium" if support >= 10 and envelope_support >= 10 else "low") + intervals.append({ + "start_m": members[0]["s_m"], "end_m": min(line["lap_length"], members[-1]["s_m"] + line["ds"]), + "custom_waypoint_start": members[0]["custom_waypoint_index"], + "custom_waypoint_end": members[-1]["custom_waypoint_index"], + "empirical_opportunity_seconds": float(sum(x["empirical_opportunity_seconds"] for x in members)), + "physics_predicted_gain_seconds": float(sum(x["physics_predicted_gain_seconds"] for x in members)), + "stability_capped_predicted_gain_seconds": float(sum(x["stability_capped_predicted_gain_seconds"] for x in members)), + "active_constraint": active, "constraint_counts": dict(reasons), + "confidence": confidence, "minimum_successful_run_support": support, + "minimum_longitudinal_envelope_support": envelope_support, + "failure_boundary_support": int(sum(x["failure_boundary_support"] for x in members)), + "mean_baseline_speed_kmh": float(statistics.mean(x["baseline_median_speed_kmh"] for x in members)), + "mean_planned_speed_kmh": float(statistics.mean(x["stability_capped_planned_speed_kmh"] for x in members)), + }) + ranked = sorted(intervals, key=lambda item: item["stability_capped_predicted_gain_seconds"], reverse=True) + recommended = _candidate_regions(intervals, 2.0 * line["ds"])[:5] + baseline_time = _time_seconds(baseline["median"], line["ds"]) + physics_time = _time_seconds(physics, line["ds"]) + capped_time = _time_seconds(capped, line["ds"]) + support_mask = np.asarray([record["confidence"] in {"medium", "high"} for record in records]) + support_qualified_speed = np.where(support_mask, capped, baseline["median"]) + support_qualified_time = _time_seconds(support_qualified_speed, line["ds"]) + envelope_json = { + key: value.tolist() if isinstance(value, np.ndarray) else value + for key, value in envelope.items() if key != "transitions" + } + envelope_json["transitions"] = { + key: {"count": len(values), "median_speed_kmh": statistics.median(x["speed_kmh"] for x in values) if values else None} + for key, values in envelope["transitions"].items() + } + result = { + "schema_version": SCHEMA_VERSION, "event_type": "physics_informed_velocity_profile", + "created_utc": dt.datetime.now(dt.timezone.utc).isoformat(), + "population": {"verified_successful_baseline_runs": len(successes), "collision_runs": len(failures)}, + "line": {"lap_length_m": line["lap_length"], "spacing_m": line["ds"], "bins": line["count"], "curvature_stencil_m": 10.0}, + "longitudinal_envelopes": envelope_json, + "solver": { + "physics_iterations": physics_iterations, "physics_final_change_kmh": physics_error, + "stability_capped_iterations": capped_iterations, "stability_capped_final_change_kmh": capped_error, + "closed_lap_periodic": True, + }, + "integrated_lap_time": { + "baseline_median_seconds": baseline_time, + "physics_planned_seconds": physics_time, + "stability_capped_planned_seconds": capped_time, + "support_qualified_planned_seconds": support_qualified_time, + "physics_theoretical_gain_seconds": baseline_time - physics_time, + "stability_capped_theoretical_gain_seconds": baseline_time - capped_time, + "support_qualified_theoretical_gain_seconds": baseline_time - support_qualified_time, + "low_confidence_distance_m": float(np.sum(~support_mask) * line["ds"]), + }, + "top_5_candidate_intervals": recommended, + "ranked_intervals": ranked, + "distance_profile": records, + "v1_reference": { + "result_path": str((results_root / "analysis/velocity_profile/latest.json").relative_to(root)), + "report_path": str((results_root / "analysis/velocity_profile/latest.md").relative_to(root)), + }, + } + output = results_root / "analysis" / "velocity_profile_v2" + result_path, report_path = output / "latest.json", output / "latest.md" + result["result_path"] = str(result_path.relative_to(root)); result["human_report_path"] = str(report_path.relative_to(root)) + write_json(result_path, result) + report_path.parent.mkdir(parents=True, exist_ok=True) + report_path.write_text(render_report(result), encoding="utf-8") + return result + + +def render_report(result: Dict[str, Any]) -> str: + timing = result["integrated_lap_time"] + envelope = result["longitudinal_envelopes"] + lines = [ + "# Monza physics-informed velocity profile (v2)", "", + "This is an offline/shadow planner. It does not modify or apply vehicle control.", "", + "## Whole-lap integration", "", + "- Baseline median trajectory: %.3f s" % timing["baseline_median_seconds"], + "- Physics-only plan: %.3f s (%+.3f s versus baseline)" % (timing["physics_planned_seconds"], timing["physics_theoretical_gain_seconds"]), + "- Stability-capped plan: %.3f s (%+.3f s versus baseline)" % (timing["stability_capped_planned_seconds"], timing["stability_capped_theoretical_gain_seconds"]), + "- Support-qualified plan: %.3f s (%+.3f s; baseline retained in low-confidence bins)" % (timing["support_qualified_planned_seconds"], timing["support_qualified_theoretical_gain_seconds"]), + "- Low-confidence distance excluded from the support-qualified gain: %.1f m" % timing["low_confidence_distance_m"], "", + "## Empirical capability calibration", "", + "- Lateral acceleration P95/P99/planner limit: %.2f / %.2f / %.2f m/s²" % ( + envelope["lateral_acceleration_p95_mps2"], envelope["lateral_acceleration_p99_mps2"], envelope["lateral_acceleration_limit_mps2"]), + "- Lateral samples: %d" % envelope["lateral_samples"], + "- Acceleration and deceleration envelopes use the 90th percentile of smoothed, state-filtered observations in 10 km/h speed bins.", + "- Acceleration is conditioned on low versus high lateral acceleration (threshold 8 m/s²).", "", + "### Speed-dependent longitudinal envelopes", "", + "| Speed | Acceleration P90 | Accel support | Deceleration P90 | Brake support |", + "|---:|---:|---:|---:|---:|", + ] + centers = envelope["speed_centers_kmh"] + for index in range(len(centers)): + if 125 <= centers[index] <= 255 and index % 2 == 0: + lines.append("| %.0f km/h | %.2f m/s² | %d | %.2f m/s² | %d |" % ( + centers[index], envelope["acceleration_mps2"][index], envelope["acceleration_support"][index], + envelope["deceleration_mps2"][index], envelope["deceleration_support"][index], + )) + transitions = envelope["transitions"] + lines += [ + "", "### Observed control transitions", "", + "- Throttle→brake transitions: %d; median transition speed: %.1f km/h" % ( + transitions["throttle_to_brake"]["count"], transitions["throttle_to_brake"]["median_speed_kmh"]), + "- Brake→throttle transitions: %d; median transition speed: %.1f km/h" % ( + transitions["brake_to_throttle"]["count"], transitions["brake_to_throttle"]["median_speed_kmh"]), "", + "## Top 5 telemetry-supported candidate intervals", "", + "| Rank | Distance | Custom WP | Baseline → plan | Physics gain | Capped gain | Empirical opportunity | Active constraint | Confidence | Why supported |", + "|---:|---:|---:|---:|---:|---:|---:|---|---|---|", + ] + for rank, item in enumerate(result["top_5_candidate_intervals"], 1): + why = "%d baseline runs; longitudinal envelope n≥%d" % ( + item["minimum_successful_run_support"], item["minimum_longitudinal_envelope_support"] + ) + if item["failure_boundary_support"]: + why += "; %d collision-boundary samples applied" % item["failure_boundary_support"] + lines.append( + "| %d | %.0f–%.0f m | %d–%d | %.1f→%.1f km/h | %.3f s | %.3f s | %.3f s | %s | %s | %s |" % ( + rank, item["start_m"], item["end_m"], item["custom_waypoint_start"], item["custom_waypoint_end"], + item["mean_baseline_speed_kmh"], item["mean_planned_speed_kmh"], + item["physics_predicted_gain_seconds"], item["stability_capped_predicted_gain_seconds"], + item["empirical_opportunity_seconds"], item["active_constraint"], item["confidence"], why, + ) + ) + lines += [ + "", "## Interpretation guardrails", "", + "- Physics-predicted opportunity extrapolates from observed acceleration, braking, and lateral envelopes.", + "- Empirical opportunity is the smaller baseline-median-to-P90 comparison and is reported separately.", + "- Collision evidence is retained as a stability ceiling and propagated upstream by the braking pass.", + "- Positive theoretical gain is not an online experiment proposal; controller realizability and repeated shadow validation come first.", "", + "The JSON result contains the full per-bin line geometry, constraints, supports, and envelopes.", "", + ] + return "\n".join(lines) diff --git a/experiments/analysis_results/wp1799_regime.md b/experiments/analysis_results/wp1799_regime.md new file mode 100644 index 0000000..23466e1 --- /dev/null +++ b/experiments/analysis_results/wp1799_regime.md @@ -0,0 +1,175 @@ +# WP1799 longitudinal-controller regime analysis + +This is offline replay analysis. No controller source is changed. + +## Population and method + +The five treatment attempts contain 15 complete lap traversals. Four traversals +applied 14 brake ticks in custom WP 1779–1849; eleven applied 15. Each telemetry +state was replayed through the unmodified winner `ThrottleController`. The replay +reconstructed the selected `SpeedData`, radius sample, permissible-speed formula, +pre/post `brake_ticks`, and exact conditional branch. The treatment's post-controller +command suppression was then overlaid from recorded telemetry. + +The selected constraint throughout the separating event was `wide-mid`: interesting +waypoints `[1, 3, 5]`, with `distance_to_section = close_distance = 3 m`. +Its permissible speed is: + +`recommended = sqrt(825 * (target_speed^2 / 675 + 3))` + +## Regime outcomes + +| Regime | Traversals | Mean minimum speed | Mean WP1849 speed | Behavior | +|---|---:|---:|---:|---| +| 14 applied brake ticks | 4 | ~174.9 km/h | ~175.1 km/h | early raw brake decision, one suppressed tick, no replacement | +| 15 applied brake ticks | 11 | ~167.9 km/h | ~168.2 km/h | later raw onset, longer queued brake burst, late compensation | + +## Earliest separation + +At WP1779 the 15-tick regime has approximately `speed=256.35`, +`recommended=254.72`, and ratio `1.0064`. The hard-brake boundary is +`1 + 2.4/current_speed = 1.0094`, so it takes `throttle_down` rather than +`brake_initiate`. It does not encounter the suppressed first brake command until +WP1781. + +The 14-tick regime encounters a sufficiently lower wide-mid permissible speed at +WP1779–1780 that the ratio is already above the same hard-brake boundary. Its first +`brake_initiate` is suppressed there; its next applied brake arrives one controller +tick earlier than in the compensating regime. + +Thus the first separating internal decision is the comparison: + +```python +if percent_of_max > 1 + true_percent_change_per_tick: +``` + +The difference is caused by the selected wide-mid curvature/permissible-speed value, +not by a different lateral command. + +## Representative 14-tick traversal + +`raw` is the controller output; `applied` includes the reviewed one-tick suppression. +All rows select the wide-mid constraint. + +| WP | Speed | Recommended | Ratio | Counter pre→post | Δspeed | Radius | Curve target | Branch | Raw brake | Applied brake | +|---:|---:|---:|---:|---:|---:|---:|---:|---|---:|---:| +| 1780 | 256.28 | 250.46 | 1.0233 | 0→0 | +0.04 | 117.5 | 222.0 | brake_initiate | 1 | 0 | +| 1781 | 256.28 | 245.36 | 1.0445 | 0→1 | -0.01 | 112.6 | 217.3 | brake_initiate | 1 | 1 | +| 1783 | 255.91 | 241.86 | 1.0581 | 1→0 | -0.37 | 109.3 | 214.1 | brake_counter | 1 | 1 | +| 1785 | 254.85 | 237.69 | 1.0722 | 0→1 | -1.06 | 105.3 | 210.2 | brake_initiate | 1 | 1 | +| 1786 | 253.17 | 236.25 | 1.0716 | 1→0 | -1.68 | 104.0 | 208.9 | brake_counter | 1 | 1 | +| 1788 | 250.99 | 234.43 | 1.0706 | 0→1 | -2.17 | 102.4 | 207.2 | brake_initiate | 1 | 1 | +| 1790 | 248.49 | 235.52 | 1.0551 | 1→0 | -2.50 | 103.3 | 208.2 | brake_counter | 1 | 1 | +| 1791 | 245.74 | 233.46 | 1.0526 | 0→1 | -2.75 | 101.5 | 206.3 | brake_initiate | 1 | 1 | +| 1793 | 242.81 | 232.00 | 1.0466 | 1→0 | -2.93 | 100.1 | 205.0 | brake_counter | 1 | 1 | +| 1795 | 239.73 | 230.17 | 1.0415 | 0→0 | -3.08 | 98.5 | 203.3 | brake_initiate | 1 | 1 | +| 1796 | 236.54 | 229.05 | 1.0327 | 0→0 | -3.19 | 97.5 | 202.2 | brake_initiate | 1 | 1 | +| 1798 | 233.27 | 226.63 | 1.0293 | 0→0 | -3.28 | 95.3 | 200.0 | brake_initiate | 1 | 1 | +| 1799 | 229.92 | 224.09 | 1.0260 | 0→0 | -3.35 | 93.1 | 197.6 | brake_initiate | 1 | 1 | +| 1801 | 226.52 | 222.21 | 1.0194 | 0→0 | -3.40 | 91.5 | 195.9 | brake_initiate | 1 | 1 | +| 1802 | 223.08 | 219.31 | 1.0172 | 0→0 | -3.44 | 89.0 | 193.2 | brake_initiate | 1 | 1 | +| 1804 | 219.63 | 217.68 | 1.0090 | 0→0 | -3.45 | 87.6 | 191.7 | throttle_maintain_over | 0 | 0 | +| 1805 | 216.24 | 214.66 | 1.0074 | 0→0 | -3.39 | 85.0 | 188.9 | throttle_maintain_over | 0 | 0 | + +## Representative 15-tick compensating traversal + +| WP | Speed | Recommended | Ratio | Counter pre→post | Δspeed | Radius | Curve target | Branch | Raw brake | Applied brake | +|---:|---:|---:|---:|---:|---:|---:|---:|---|---:|---:| +| 1779 | 256.34 | 254.72 | 1.0064 | 0→0 | +0.04 | 121.7 | 226.0 | throttle_down | 0 | 0 | +| 1781 | 256.36 | 246.84 | 1.0385 | 0→0 | +0.02 | 114.0 | 218.7 | brake_initiate | 1 | 0 | +| 1782 | 256.27 | 243.27 | 1.0534 | 0→1 | -0.09 | 110.6 | 215.4 | brake_initiate | 1 | 1 | +| 1784 | 255.74 | 239.78 | 1.0666 | 1→0 | -0.52 | 107.3 | 212.2 | brake_counter | 1 | 1 | +| 1786 | 254.54 | 236.80 | 1.0749 | 0→2 | -1.20 | 104.5 | 209.4 | brake_initiate | 1 | 1 | +| 1787 | 252.75 | 235.29 | 1.0742 | 2→1 | -1.79 | 103.1 | 208.0 | brake_counter | 1 | 1 | +| 1789 | 250.50 | 234.21 | 1.0696 | 1→0 | -2.25 | 102.1 | 207.0 | brake_counter | 1 | 1 | +| 1791 | 247.94 | 234.51 | 1.0573 | 0→1 | -2.57 | 102.4 | 207.3 | brake_initiate | 1 | 1 | +| 1792 | 245.14 | 232.31 | 1.0552 | 1→0 | -2.79 | 100.4 | 205.3 | brake_counter | 1 | 1 | +| 1794 | 242.17 | 230.84 | 1.0491 | 0→1 | -2.97 | 99.1 | 203.9 | brake_initiate | 1 | 1 | +| 1796 | 239.07 | 228.99 | 1.0440 | 1→0 | -3.10 | 97.4 | 202.2 | brake_counter | 1 | 1 | +| 1797 | 235.85 | 227.73 | 1.0357 | 0→0 | -3.21 | 96.3 | 201.0 | brake_initiate | 1 | 1 | +| 1799 | 232.56 | 225.45 | 1.0315 | 0→0 | -3.29 | 94.3 | 198.9 | brake_initiate | 1 | 1 | +| 1800 | 229.20 | 223.46 | 1.0257 | 0→0 | -3.36 | 92.5 | 197.1 | brake_initiate | 1 | 1 | +| 1802 | 225.78 | 220.49 | 1.0240 | 0→0 | -3.42 | 90.0 | 194.3 | brake_initiate | 1 | 1 | +| 1803 | 222.33 | 218.41 | 1.0180 | 0→0 | -3.45 | 88.2 | 192.4 | brake_initiate | 1 | 1 | +| 1805 | 218.87 | 216.02 | 1.0132 | 0→0 | -3.46 | 86.2 | 190.1 | brake_initiate | 1 | 1 | +| 1806 | 215.42 | 213.56 | 1.0087 | 0→0 | -3.45 | 84.1 | 187.9 | throttle_maintain_over | 0 | 0 | + +## Conditional that creates the compensating tick + +The decisive queued-state difference occurs at WP1786. The compensating trace has: + +`round((254.54 - 236.80) / 7) = round(2.534) = 3` + +The current brake is returned immediately, and `run()` decrements the new counter to +2. Those two queued ticks are then consumed by the `if self.brake_ticks > 0` branch at +WP1787 and WP1789. In the 14-tick regime, the analogous initiation stays below the +2.5 rounding boundary and leaves only one queued tick. + +At WP1803 the accumulated phase difference causes the visible late compensation: +ratio `1.0180` exceeds `1 + 2.4/222.33 = 1.0108`. With `brake_ticks == 0` and +`speed_change < 2.5`, the controller enters `brake_initiate`. The successful regime +is already at ratio ~`1.009`, below its ~`1.011` hard-brake boundary, and takes +`throttle_maintain_over`. + +## Proposed next intervention (not applied) + +Add a small `+0.75 km/h` bias to the selected permissible speed before it enters +the braking state machine. This is enough to move the critical WP1786 speed gap +below the `17.5 km/h` rounding boundary while being far smaller than the requested +2–3 km/h vehicle-speed effect. The controller then computes the shorter brake burst +itself; no final command is suppressed and its counter remains consistent. + +The proposed source diff is: + +```diff +--- a/competition_code/submission.py ++++ b/competition_code/submission.py +@@ + throttle, brake, gear = self.throttle_controller.run( + waypoints_for_throttle, + vehicle_location, + current_speed_kmh, + self.current_section, ++ self.current_waypoint_idx, + ) +``` + +```diff +--- a/competition_code/ThrottleController.py ++++ b/competition_code/ThrottleController.py +@@ +- def run(self, waypoints, current_location, current_speed, current_section): ++ def run( ++ self, waypoints, current_location, current_speed, current_section, ++ current_waypoint_index=None, ++ ): + self.tick_counter += 1 + throttle, brake = self.get_throttle_and_brake( +- current_location, current_speed, current_section, waypoints ++ current_location, current_speed, current_section, waypoints, ++ current_waypoint_index, + ) +@@ +- def get_throttle_and_brake( +- self, current_location, current_speed, current_section, waypoints +- ): ++ def get_throttle_and_brake( ++ self, current_location, current_speed, current_section, waypoints, ++ current_waypoint_index=None, ++ ): +@@ + update = self.select_speed(speed_data) ++ if ( ++ current_waypoint_index is not None ++ and 1779 <= current_waypoint_index <= 1803 ++ ): ++ update.recommended_speed_now += 0.75 ++ update.speed_diff = current_speed - update.recommended_speed_now +``` + +This proposal preserves every existing curvature sample, target-speed calculation, +threshold, counter update, and throttle/brake branch. It changes only the selected +longitudinal envelope presented to that unchanged state machine in the observed +event window. It must be dry-run and replay-checked before an online campaign; +specifically, replay should confirm that the late WP1805 branch is not merely shifted +outside the window. diff --git a/experiments/configs/baseline_clean_start_ab.json b/experiments/configs/baseline_clean_start_ab.json new file mode 100644 index 0000000..21e3e4d --- /dev/null +++ b/experiments/configs/baseline_clean_start_ab.json @@ -0,0 +1,32 @@ +{ + "name": "baseline-clean-start-ab", + "baseline_commit": "fa7ff6f", + "results_dir": "experiment_results", + "parameters": {}, + "carla": { + "host": "172.31.86.36", + "port": 2000, + "timeout_seconds": 10, + "expected_map": "Carla/Maps/Monza" + }, + "execution": { + "client_timeout_seconds": 600, + "max_infra_retries": 2 + }, + "recovery": { + "provider": "aws_ssm", + "region": "us-east-1", + "instance_id": "i-045f5f07dd2aa5ad8", + "document_name": "AWS-RunPowerShellScript", + "restart_command": "& 'D:\\Monza\\ROAR\\Restart-Carla.ps1'", + "command_timeout_seconds": 240, + "readiness_timeout_seconds": 240, + "readiness_poll_seconds": 5 + }, + "reliability": { + "repetitions_per_cohort": 10, + "minimum_valid_attempts_per_cohort": 8, + "material_completion_rate_improvement": 0.20, + "failure_penalty_seconds": 600 + } +} diff --git a/experiments/configs/instrumented_baseline_validation.json b/experiments/configs/instrumented_baseline_validation.json new file mode 100644 index 0000000..3fc02b4 --- /dev/null +++ b/experiments/configs/instrumented_baseline_validation.json @@ -0,0 +1,32 @@ +{ + "name": "instrumented-baseline-validation", + "baseline_commit": "ee30402", + "results_dir": "experiment_results", + "carla": { + "host": "172.31.86.36", + "port": 2000, + "timeout_seconds": 10, + "expected_map": "Carla/Maps/Monza" + }, + "execution": { + "client_timeout_seconds": 600, + "max_infra_retries": 2 + }, + "recovery": { + "provider": "aws_ssm", + "region": "us-east-1", + "instance_id": "i-045f5f07dd2aa5ad8", + "document_name": "AWS-RunPowerShellScript", + "restart_command": "& 'D:\\Monza\\ROAR\\Restart-Carla.ps1'", + "command_timeout_seconds": 240, + "readiness_timeout_seconds": 240, + "readiness_poll_seconds": 5 + }, + "causal": { + "repetitions": 5, + "include_controls": false, + "control_parameters": {}, + "candidate_parameters": {}, + "failure_penalty_seconds": 600 + } +} diff --git a/experiments/configs/mu_isolation_candidates.json b/experiments/configs/mu_isolation_candidates.json new file mode 100644 index 0000000..9c5f5ff --- /dev/null +++ b/experiments/configs/mu_isolation_candidates.json @@ -0,0 +1,57 @@ +{ + "name": "mu-isolation-candidates", + "baseline_commit": "fa7ff6f", + "results_dir": "experiment_results", + "carla": { + "host": "172.31.86.36", + "port": 2000, + "timeout_seconds": 10, + "expected_map": "Carla/Maps/Monza" + }, + "execution": { + "client_timeout_seconds": 600, + "max_infra_retries": 2 + }, + "recovery": { + "provider": "aws_ssm", + "region": "us-east-1", + "instance_id": "i-045f5f07dd2aa5ad8", + "document_name": "AWS-RunPowerShellScript", + "restart_command": "& 'D:\\Monza\\ROAR\\Restart-Carla.ps1'", + "command_timeout_seconds": 240, + "readiness_timeout_seconds": 240, + "readiness_poll_seconds": 5 + }, + "evaluation": { + "repetitions": 3, + "controls": { + "before": 1, + "after": 1, + "parameters": {} + }, + "failure_penalty_seconds": 600, + "acceptance": { + "min_controller_measurements": 3, + "min_completion_rate": 1.0, + "max_collision_rate": 0.0, + "require_all_controls_finished": true, + "max_control_drift_seconds": 1.0 + } + }, + "candidates": [ + { + "name": "section3-only-3.50", + "parameters": { + "throttle.section_mu.3": 3.50, + "throttle.section_mu.4": 2.95 + } + }, + { + "name": "section4-only-3.00", + "parameters": { + "throttle.section_mu.3": 3.40, + "throttle.section_mu.4": 3.00 + } + } + ] +} diff --git a/experiments/configs/multi_mu_candidates.json b/experiments/configs/multi_mu_candidates.json new file mode 100644 index 0000000..de8362f --- /dev/null +++ b/experiments/configs/multi_mu_candidates.json @@ -0,0 +1,25 @@ +{ + "name": "multi-mu-candidates", + "baseline_commit": "fa7ff6f", + "results_dir": "experiment_results", + "carla": {"host": "172.31.86.36", "port": 2000, "timeout_seconds": 10, "expected_map": "Carla/Maps/Monza"}, + "execution": {"client_timeout_seconds": 600, "max_infra_retries": 2}, + "recovery": { + "provider": "aws_ssm", "region": "us-east-1", "instance_id": "i-045f5f07dd2aa5ad8", + "document_name": "AWS-RunPowerShellScript", "restart_command": "& 'D:\\Monza\\ROAR\\Restart-Carla.ps1'", + "command_timeout_seconds": 240, "readiness_timeout_seconds": 240, "readiness_poll_seconds": 5 + }, + "evaluation": { + "repetitions": 3, + "controls": {"before": 1, "after": 1, "parameters": {}}, + "failure_penalty_seconds": 600, + "acceptance": { + "min_controller_measurements": 3, "min_completion_rate": 1.0, "max_collision_rate": 0.0, + "require_all_controls_finished": true, "max_control_drift_seconds": 1.0 + } + }, + "candidates": [ + {"name": "baseline-explicit", "parameters": {"throttle.section_mu.3": 3.4, "throttle.section_mu.4": 2.95}}, + {"name": "two-parameter-probe", "parameters": {"throttle.section_mu.3": 3.5, "throttle.section_mu.4": 3.0}} + ] +} diff --git a/experiments/configs/multi_mu_search.json b/experiments/configs/multi_mu_search.json new file mode 100644 index 0000000..27c6207 --- /dev/null +++ b/experiments/configs/multi_mu_search.json @@ -0,0 +1,23 @@ +{ + "name": "multi-mu-halton-search", + "baseline_commit": "fa7ff6f", + "results_dir": "experiment_results", + "carla": {"host": "172.31.86.36", "port": 2000, "timeout_seconds": 10, "expected_map": "Carla/Maps/Monza"}, + "execution": {"client_timeout_seconds": 600, "max_infra_retries": 2}, + "recovery": { + "provider": "aws_ssm", "region": "us-east-1", "instance_id": "i-045f5f07dd2aa5ad8", + "document_name": "AWS-RunPowerShellScript", "restart_command": "& 'D:\\Monza\\ROAR\\Restart-Carla.ps1'", + "command_timeout_seconds": 240, "readiness_timeout_seconds": 240, "readiness_poll_seconds": 5 + }, + "evaluation": { + "repetitions": 2, "controls": {"before": 1, "after": 1}, "failure_penalty_seconds": 600, + "acceptance": {"min_controller_measurements": 2, "min_completion_rate": 1.0, "max_collision_rate": 0.0, "require_all_controls_finished": true, "max_control_drift_seconds": 1.0} + }, + "search": { + "mode": "halton", "samples": 4, "halton_start_index": 1, + "space": { + "throttle.section_mu.3": {"minimum": 3.4, "maximum": 3.7, "precision": 2}, + "throttle.section_mu.4": {"minimum": 2.95, "maximum": 3.2, "precision": 2} + } + } +} diff --git a/experiments/configs/section3_mu_candidates.json b/experiments/configs/section3_mu_candidates.json new file mode 100644 index 0000000..52ade63 --- /dev/null +++ b/experiments/configs/section3_mu_candidates.json @@ -0,0 +1,44 @@ +{ + "name": "section3-mu-candidates", + "baseline_commit": "fa7ff6f", + "results_dir": "experiment_results", + "carla": { + "host": "172.31.86.36", + "port": 2000, + "timeout_seconds": 10, + "expected_map": "Carla/Maps/Monza" + }, + "execution": { + "client_timeout_seconds": 600, + "max_infra_retries": 2 + }, + "recovery": { + "provider": "aws_ssm", + "region": "us-east-1", + "instance_id": "i-045f5f07dd2aa5ad8", + "document_name": "AWS-RunPowerShellScript", + "restart_command": "& 'D:\\Monza\\ROAR\\Restart-Carla.ps1'", + "command_timeout_seconds": 240, + "readiness_timeout_seconds": 240, + "readiness_poll_seconds": 5 + }, + "evaluation": { + "repetitions": 3, + "control_repetitions": 1, + "failure_penalty_seconds": 600 + }, + "candidates": [ + { + "name": "trusted-baseline", + "parameters": { + "throttle.section_mu.3": 3.4 + } + }, + { + "name": "higher-mu-probe", + "parameters": { + "throttle.section_mu.3": 3.5 + } + } + ] +} diff --git a/experiments/configs/section3_mu_sweep.json b/experiments/configs/section3_mu_sweep.json new file mode 100644 index 0000000..166757d --- /dev/null +++ b/experiments/configs/section3_mu_sweep.json @@ -0,0 +1,43 @@ +{ + "name": "section3-mu-sweep", + "baseline_commit": "fa7ff6f", + "results_dir": "experiment_results", + "carla": { + "host": "172.31.86.36", + "port": 2000, + "timeout_seconds": 10, + "expected_map": "Carla/Maps/Monza" + }, + "execution": { + "client_timeout_seconds": 600, + "max_infra_retries": 2 + }, + "recovery": { + "provider": "aws_ssm", + "region": "us-east-1", + "instance_id": "i-045f5f07dd2aa5ad8", + "document_name": "AWS-RunPowerShellScript", + "restart_command": "& 'D:\\Monza\\ROAR\\Restart-Carla.ps1'", + "command_timeout_seconds": 240, + "readiness_timeout_seconds": 240, + "readiness_poll_seconds": 5 + }, + "sweep": { + "parameter": "throttle.section_mu.3", + "values": [3.4, 3.3, 3.2, 3.1], + "repetitions": 1 + }, + "controls": { + "enabled": true, + "every": 2, + "at_start": true, + "at_end": true, + "parameters": {} + }, + "stop_conditions": { + "consecutive_collisions": 3, + "consecutive_infra_failures": 2, + "consecutive_controller_hangs": 1, + "stop_on_control_failure": true + } +} diff --git a/experiments/configs/wp1240_speed_causal.json b/experiments/configs/wp1240_speed_causal.json new file mode 100644 index 0000000..0160661 --- /dev/null +++ b/experiments/configs/wp1240_speed_causal.json @@ -0,0 +1,34 @@ +{ + "name": "wp1240-1295-speed-causal", + "baseline_commit": "fa7ff6f", + "results_dir": "experiment_results", + "carla": { + "host": "172.31.86.36", + "port": 2000, + "timeout_seconds": 10, + "expected_map": "Carla/Maps/Monza" + }, + "execution": { + "client_timeout_seconds": 600, + "max_infra_retries": 2 + }, + "recovery": { + "provider": "aws_ssm", + "region": "us-east-1", + "instance_id": "i-045f5f07dd2aa5ad8", + "document_name": "AWS-RunPowerShellScript", + "restart_command": "& 'D:\\Monza\\ROAR\\Restart-Carla.ps1'", + "command_timeout_seconds": 240, + "readiness_timeout_seconds": 240, + "readiness_poll_seconds": 5 + }, + "causal": { + "repetitions": 5, + "include_controls": false, + "control_parameters": {}, + "candidate_parameters": { + "causal.wp1240_1295_throttle_cap_percent": 92 + }, + "failure_penalty_seconds": 600 + } +} diff --git a/experiments/configs/wp1799_brake_causal.json b/experiments/configs/wp1799_brake_causal.json new file mode 100644 index 0000000..47c8f7c --- /dev/null +++ b/experiments/configs/wp1799_brake_causal.json @@ -0,0 +1,42 @@ +{ + "name": "wp1799-single-brake-tick-causal", + "baseline_commit": "fa7ff6f", + "results_dir": "experiment_results", + "carla": { + "host": "172.31.86.36", + "port": 2000, + "timeout_seconds": 10, + "expected_map": "Carla/Maps/Monza" + }, + "execution": { + "client_timeout_seconds": 600, + "max_infra_retries": 2 + }, + "recovery": { + "provider": "aws_ssm", + "region": "us-east-1", + "instance_id": "i-045f5f07dd2aa5ad8", + "document_name": "AWS-RunPowerShellScript", + "restart_command": "& 'D:\\Monza\\ROAR\\Restart-Carla.ps1'", + "command_timeout_seconds": 240, + "readiness_timeout_seconds": 240, + "readiness_poll_seconds": 5 + }, + "causal": { + "repetitions": 5, + "include_controls": true, + "control_parameters": {}, + "candidate_parameters": { + "causal.wp1779_1803_suppress_brake_ticks": 1 + }, + "failure_penalty_seconds": 600, + "event_analysis": { + "intervention_window": [1779, 1803], + "minimum_speed_window": [1779, 1849], + "downstream_waypoints": [1849, 2000, 2200], + "downstream_tolerance_waypoints": 2, + "offline_full_delta_kmh": 30.3, + "offline_full_gain_seconds": 1.817 + } + } +} diff --git a/experiments/harness/__init__.py b/experiments/harness/__init__.py new file mode 100644 index 0000000..729015b --- /dev/null +++ b/experiments/harness/__init__.py @@ -0,0 +1 @@ +"""Implementation package for the experiment harness.""" diff --git a/experiments/harness/causal.py b/experiments/harness/causal.py new file mode 100644 index 0000000..70a2b16 --- /dev/null +++ b/experiments/harness/causal.py @@ -0,0 +1,503 @@ +import datetime as dt +import csv +import hashlib +import json +import statistics +from pathlib import Path +from typing import Any, Callable, Dict, List, Optional + +from .core import ( + append_jsonl, dry_run, execute_with_recovery, git_output, load_ledger, read_json, + run_recovery, write_json, +) +from .evaluation import CONTROLLER_OUTCOMES, evaluation_lock, summarize_measurements + + +SCHEMA_VERSION = 2 + + +def _campaign_mode(result: Dict[str, Any]) -> str: + """Return the semantic mode without changing legacy cohort storage keys.""" + if result.get("campaign_mode"): + return str(result["campaign_mode"]) + schedule = result.get("schedule", []) + parameters = result.get("parameters", {}) + if ( + schedule + and set(schedule) == {"restricted"} + and parameters.get("restricted", {}) == parameters.get("control", {}) + ): + return "baseline_validation" + return "causal_treatment" + + +def causal_schedule(repetitions: int, include_controls: bool = True) -> List[str]: + if repetitions < 1: + raise ValueError("causal repetitions must be positive") + if include_controls: + return [cohort for _ in range(repetitions) for cohort in ("control", "restricted")] + return ["restricted"] * repetitions + + +def _key(config: Dict[str, Any], commit: str) -> str: + causal = config["causal"] + value = { + "schema_version": SCHEMA_VERSION, + "baseline_commit": commit, + "repetitions": int(causal.get("repetitions", 5)), + "control_parameters": causal.get("control_parameters", {}), + "candidate_parameters": causal["candidate_parameters"], + "include_controls": bool(causal.get("include_controls", True)), + "schedule": "forced_clean_control_restricted_interleaved", + } + return hashlib.sha256(json.dumps(value, sort_keys=True, separators=(",", ":")).encode()).hexdigest()[:20] + + +def _terminal(attempts: List[Dict[str, Any]]) -> Optional[Dict[str, Any]]: + return next((x for x in reversed(attempts) if x.get("outcome") in CONTROLLER_OUTCOMES), None) + + +def dry_run_causal(config: Dict[str, Any], registry: Dict[str, Any], root: Path) -> Dict[str, Any]: + causal = config["causal"] + output = {} + for cohort, parameters in ( + ("control", causal.get("control_parameters", {})), + ("restricted", causal["candidate_parameters"]), + ): + concrete = dict(config) + concrete["parameters"] = dict(parameters) + output[cohort] = dry_run(concrete, registry, root)[0] + repetitions = int(causal.get("repetitions", 5)) + schedule = causal_schedule(repetitions, bool(causal.get("include_controls", True))) + return {"schedule": schedule, "total_scheduled_attempts": len(schedule), "cohorts": output} + + +def _write_report(path: Path, result: Dict[str, Any]) -> None: + control = result["cohorts"]["control"] + restricted = result["cohorts"]["restricted"] + baseline_validation = _campaign_mode(result) == "baseline_validation" + title = result.get("experiment_name", "causal campaign").replace("-", " ").title().replace("Wp", "WP") + lines = [ + "# %s" % title, "", + "Every measurement used a forced-clean CARLA start.", "", + ] + report_cohorts = ( + (("Instrumented baseline", restricted),) + if baseline_validation + else (("Baseline control", control), ("Treatment", restricted)) + ) + for label, summary in report_cohorts: + elapsed = summary.get("finished_elapsed_seconds") + lines += [ + "## " + label, "", + "- Completion rate: %s" % ("unavailable" if summary["completion_rate"] is None else "%.1f%%" % (100 * summary["completion_rate"])), + "- Collision rate: %s" % ("unavailable" if summary["collision_rate"] is None else "%.1f%%" % (100 * summary["collision_rate"])), + "- Finished mean: %s" % ("unavailable" if elapsed is None else "%.3f s" % elapsed["mean"]), "", + ] + lines += [ + ( + "This campaign validates unchanged baseline behavior with instrumentation enabled. " + "See result.json for the authoritative record." + if baseline_validation + else "This campaign tests causal stability, not lap-time acceptance. See result.json for the authoritative record." + ), "", + ] + focused = result.get("focused_event_analysis") + arrival = result.get("arrival_analysis") + if arrival and not focused: + baseline = arrival["baseline"] + restricted_arrival = arrival["restricted"] + lines += [ + "## %s" % ( + "Baseline equivalence check" if baseline_validation else "Causal intermediate variable" + ), "", + "- Arrival window: custom WP %d–%d" % tuple(arrival["custom_waypoint_window"]), + "- Baseline traversals: %d; mean arrival speed: %s" % (baseline["traversals"], "unavailable" if baseline["mean_speed_kmh"] is None else "%.3f km/h" % baseline["mean_speed_kmh"]), + "- %s traversals: %d; mean arrival speed: %s" % ( + "Validation" if baseline_validation else "Restricted", + restricted_arrival["traversals"], + "unavailable" if restricted_arrival["mean_speed_kmh"] is None else "%.3f km/h" % restricted_arrival["mean_speed_kmh"], + ), + "- %s mean shift: %s" % ( + "Validation-minus-reference" if baseline_validation else "Restricted-minus-baseline", + "unavailable" if arrival["restricted_minus_baseline_mean_kmh"] is None else "%+.3f km/h" % arrival["restricted_minus_baseline_mean_kmh"], + ), + "- %s collisions in WP 1380–1420: %d" % ( + "Validation" if baseline_validation else "Restricted", + arrival["restricted_zone_collisions"], + ), "", + ] + if focused: + control = focused["cohorts"]["control"]["aggregate"] + treatment = focused["cohorts"]["restricted"]["aggregate"] + adjusted = focused["restricted_minus_control"] + labels = ( + ("Entry speed (km/h)", "entry_speed_kmh"), + ("Exit speed (km/h)", "exit_speed_kmh"), + ("Minimum speed (km/h)", "minimum_speed_kmh"), + ("Brake onset (WP)", "braking_onset_waypoint"), + ("Brake release (WP)", "braking_release_waypoint"), + ("Brake ticks", "total_brake_ticks"), + ("Throttle reapplied (WP)", "throttle_reapplication_waypoint"), + ("Section time (s)", "section_time_seconds"), + ("Total race time (s)", "total_race_time_seconds"), + ("Collision rate", "collision_rate"), + ) + lines += [ + "## Focused braking-event measurements", "", + "Aggregation status: **%s**." % focused.get("status", "complete").upper(), + "Missing cohorts: %s." % (", ".join(focused.get("missing_cohorts", [])) or "none"), "", + "Incomplete cohorts: %s." % (", ".join(focused.get("incomplete_cohorts", [])) or "none"), "", + "| Metric | Control | Treatment | Treatment − control |", "|---|---:|---:|---:|", + ] + def display(value: Optional[float]) -> str: + return "unavailable" if value is None else "%.3f" % value + for label, field in labels: + lines.append("| %s | %s | %s | %s |" % ( + label, display(control[field]), display(treatment[field]), display(adjusted[field]), + )) + for waypoint in focused["specification"]["downstream_waypoints"]: + key = str(waypoint) + lines.append("| Speed at WP %d (km/h) | %s | %s | %s |" % ( + waypoint, display(control["downstream_speed_kmh"][key]), + display(treatment["downstream_speed_kmh"][key]), + display(adjusted["downstream_speed_kmh"][key]), + )) + lines += [ + "", "- Actual total-race gain: %s" % display(focused["actual_total_race_gain_seconds"]), + "- Offline prediction at observed modest exit-speed delta: %s" % display(focused["offline_predicted_gain_for_observed_exit_delta_seconds"]), + "- Actual minus offline prediction: %s" % display(focused["actual_minus_offline_predicted_gain_seconds"]), "", + ] + path.parent.mkdir(parents=True, exist_ok=True) + path.write_text("\n".join(lines), encoding="utf-8") + + +def _arrival_values(root: Path, measurement: Dict[str, Any], low: int = 1402, high: int = 1409) -> List[float]: + telemetry = measurement.get("telemetry_path") + if not telemetry: + return [] + ticks = (root / telemetry).parent / "ticks.csv" + by_lap: Dict[str, List[float]] = {} + with ticks.open(encoding="utf-8", newline="") as infile: + for row in csv.DictReader(infile): + if low <= int(row["custom_waypoint_index"]) <= high: + by_lap.setdefault(row["lap"], []).append(float(row["speed_kmh"])) + return [statistics.mean(values) for values in by_lap.values() if values] + + +def _arrival_analysis(root: Path, results_root: Path, restricted: List[Optional[Dict[str, Any]]]) -> Dict[str, Any]: + ledger = load_ledger(results_root / "ledger.jsonl") + attempts = {item["attempt_id"]: item for item in ledger if item.get("attempt_id") and item.get("outcome")} + baseline_values: List[float] = [] + baseline_runs = 0 + for item in attempts.values(): + diff_value = item.get("source_diff_path") + diff = root / diff_value if diff_value else None + if item.get("outcome") == "finished" and diff is not None and diff.exists() and not diff.read_text(encoding="utf-8").strip(): + baseline_runs += 1 + baseline_values.extend(_arrival_values(root, item)) + usable = [item for item in restricted if item is not None] + restricted_values = [value for item in usable for value in _arrival_values(root, item)] + def summary(values: List[float], runs: int) -> Dict[str, Any]: + return { + "runs": runs, "traversals": len(values), + "mean_speed_kmh": statistics.mean(values) if values else None, + "median_speed_kmh": statistics.median(values) if values else None, + "minimum_speed_kmh": min(values) if values else None, + "maximum_speed_kmh": max(values) if values else None, + } + baseline = summary(baseline_values, baseline_runs) + treatment = summary(restricted_values, len(usable)) + shift = None + if treatment["mean_speed_kmh"] is not None and baseline["mean_speed_kmh"] is not None: + shift = treatment["mean_speed_kmh"] - baseline["mean_speed_kmh"] + return { + "custom_waypoint_window": [1402, 1409], "baseline": baseline, "restricted": treatment, + "restricted_minus_baseline_mean_kmh": shift, + "restricted_zone_collisions": sum( + item.get("outcome") == "collision" and 1380 <= int(item.get("custom_waypoint_index") or -1) <= 1420 + for item in usable + ), + } + + +def _mean_or_none(values: List[float]) -> Optional[float]: + return statistics.mean(values) if values else None + + +def _focused_traversals( + root: Path, measurement: Dict[str, Any], specification: Dict[str, Any], +) -> List[Dict[str, Any]]: + telemetry = measurement.get("telemetry_path") + if not telemetry: + return [] + ticks_path = (root / telemetry).parent / "ticks.csv" + if not ticks_path.exists(): + return [] + rows = list(csv.DictReader(ticks_path.open(encoding="utf-8", newline=""))) + intervention_low, intervention_high = map(int, specification["intervention_window"]) + minimum_low, minimum_high = map(int, specification["minimum_speed_window"]) + tolerance = int(specification.get("downstream_tolerance_waypoints", 2)) + downstream = [int(value) for value in specification["downstream_waypoints"]] + traversals = [] + for lap in sorted({int(row["lap"]) for row in rows}): + lap_rows = [row for row in rows if int(row["lap"]) == lap] + intervention = [ + row for row in lap_rows + if intervention_low <= int(row["custom_waypoint_index"]) <= intervention_high + ] + minimum_window = [ + row for row in lap_rows + if minimum_low <= int(row["custom_waypoint_index"]) <= minimum_high + ] + if not intervention or not minimum_window: + continue + braking = [row for row in minimum_window if float(row["brake"]) > .5] + onset_tick = int(braking[0]["tick"]) if braking else None + after_onset = [ + row for row in minimum_window + if onset_tick is not None and int(row["tick"]) > onset_tick + ] + release = next((row for row in after_onset if float(row["brake"]) <= .5), None) + throttle = next( + (row for row in after_onset if float(row["brake"]) <= .5 and float(row["throttle"]) >= .5), + None, + ) + section = int(statistics.mode(int(row["section"]) for row in intervention)) + timestep = float(measurement.get("control_timestep_seconds") or .05) + speeds = {} + for waypoint in downstream: + samples = [ + float(row["speed_kmh"]) for row in lap_rows + if abs(int(row["custom_waypoint_index"]) - waypoint) <= tolerance + ] + speeds[str(waypoint)] = _mean_or_none(samples) + traversals.append({ + "attempt_id": measurement["attempt_id"], "lap": lap, + "entry_speed_kmh": float(intervention[0]["speed_kmh"]), + "exit_speed_kmh": float(intervention[-1]["speed_kmh"]), + "minimum_speed_kmh": min(float(row["speed_kmh"]) for row in minimum_window), + "braking_onset_waypoint": None if not braking else int(braking[0]["custom_waypoint_index"]), + "braking_release_waypoint": None if release is None else int(release["custom_waypoint_index"]), + "total_brake_ticks": len(braking), + "throttle_reapplication_waypoint": None if throttle is None else int(throttle["custom_waypoint_index"]), + "downstream_speed_kmh": speeds, "section": section, + "section_time_seconds": sum(int(row["section"]) == section for row in lap_rows) * timestep, + }) + return traversals + + +def _focused_summary( + root: Path, records: List[Dict[str, Any]], specification: Dict[str, Any], penalty: float, +) -> Dict[str, Any]: + measurements = [record.get("measurement") for record in records if record.get("measurement")] + traversals = [ + traversal for measurement in measurements + for traversal in _focused_traversals(root, measurement, specification) + ] + fields = ( + "entry_speed_kmh", "exit_speed_kmh", "minimum_speed_kmh", + "braking_onset_waypoint", "braking_release_waypoint", "total_brake_ticks", + "throttle_reapplication_waypoint", "section_time_seconds", + ) + aggregate = { + field: _mean_or_none([float(item[field]) for item in traversals if item[field] is not None]) + for field in fields + } + aggregate["downstream_speed_kmh"] = { + str(waypoint): _mean_or_none([ + item["downstream_speed_kmh"][str(waypoint)] for item in traversals + if item["downstream_speed_kmh"][str(waypoint)] is not None + ]) for waypoint in specification["downstream_waypoints"] + } + aggregate["total_race_time_seconds"] = _mean_or_none([ + float(item["elapsed_time_seconds"]) for item in measurements if item.get("outcome") == "finished" + ]) + aggregate["collision_rate"] = ( + sum(item.get("outcome") == "collision" for item in measurements) / len(measurements) + if measurements else None + ) + return { + "attempts": len(measurements), "traversals": len(traversals), + "aggregate": aggregate, "per_traversal": traversals, + "outcomes": summarize_measurements(measurements, penalty, root), + } + + +def _focused_event_analysis( + root: Path, records: List[Dict[str, Any]], specification: Dict[str, Any], penalty: float, + expected_measurements_per_cohort: int = 1, +) -> Dict[str, Any]: + cohorts = { + cohort: _focused_summary( + root, [record for record in records if record["cohort"] == cohort], + specification, penalty, + ) for cohort in ("control", "restricted") + } + return _compare_focused_cohorts( + cohorts, specification, expected_measurements_per_cohort, + ) + + +def _compare_focused_cohorts( + cohorts: Dict[str, Dict[str, Any]], specification: Dict[str, Any], + expected_measurements_per_cohort: int = 1, +) -> Dict[str, Any]: + control_summary, treatment_summary = cohorts["control"], cohorts["restricted"] + control, treatment = control_summary["aggregate"], treatment_summary["aggregate"] + availability = { + "control": int(control_summary.get("attempts", 0)) > 0, + "restricted": int(treatment_summary.get("attempts", 0)) > 0, + } + completeness = { + "control": int(control_summary.get("attempts", 0)) >= expected_measurements_per_cohort, + "restricted": int(treatment_summary.get("attempts", 0)) >= expected_measurements_per_cohort, + } + cross_cohort_available = all(completeness.values()) + adjusted = {} + for field in ( + "entry_speed_kmh", "exit_speed_kmh", "minimum_speed_kmh", + "braking_onset_waypoint", "braking_release_waypoint", "total_brake_ticks", + "throttle_reapplication_waypoint", "section_time_seconds", "total_race_time_seconds", + "collision_rate", + ): + adjusted[field] = ( + None if not cross_cohort_available or control[field] is None or treatment[field] is None + else treatment[field] - control[field] + ) + adjusted["downstream_speed_kmh"] = { + waypoint: ( + None if not cross_cohort_available or control["downstream_speed_kmh"][waypoint] is None or treatment["downstream_speed_kmh"][waypoint] is None + else treatment["downstream_speed_kmh"][waypoint] - control["downstream_speed_kmh"][waypoint] + ) for waypoint in control["downstream_speed_kmh"] + } + actual_gain = None + if adjusted["total_race_time_seconds"] is not None: + actual_gain = -adjusted["total_race_time_seconds"] + modest_delta = adjusted["exit_speed_kmh"] + offline_gain = None + if modest_delta is not None: + offline_gain = ( + float(specification["offline_full_gain_seconds"]) + * modest_delta / float(specification["offline_full_delta_kmh"]) + ) + return { + "specification": specification, "cohorts": cohorts, + "status": "complete" if all(completeness.values()) else "incomplete", + "complete": all(completeness.values()), + "cohort_measurements_available": availability, + "cohort_measurements_complete": completeness, + "missing_cohorts": [name for name, available in availability.items() if not available], + "incomplete_cohorts": [name for name, complete in completeness.items() if not complete], + "expected_measurements_per_cohort": expected_measurements_per_cohort, + "restricted_minus_control": adjusted, + "actual_total_race_gain_seconds": actual_gain, + "offline_predicted_gain_for_observed_exit_delta_seconds": offline_gain, + "actual_minus_offline_predicted_gain_seconds": ( + None if actual_gain is None or offline_gain is None else actual_gain - offline_gain + ), + "offline_comparison_note": "Local linearization of the 1.817 s full-envelope opportunity at the observed intervention-exit speed delta.", + } + + +def run_causal_campaign( + config: Dict[str, Any], registry: Dict[str, Any], root: Path, resume: bool = True, + progress_callback: Optional[Callable[[str], None]] = None, +) -> Dict[str, Any]: + commit = git_output(root, "rev-parse", "%s^{commit}" % config["baseline_commit"]) + causal = config["causal"] + schedule = causal_schedule( + int(causal.get("repetitions", 5)), bool(causal.get("include_controls", True)) + ) + key = _key(config, commit) + results_root = root / config.get("results_dir", "experiment_results") + campaign_dir = results_root / "causal" / key + progress_path, result_path, report_path = (campaign_dir / x for x in ("progress.json", "result.json", "report.md")) + parameters = { + "control": dict(causal.get("control_parameters", {})), + "restricted": dict(causal["candidate_parameters"]), + } + with evaluation_lock(results_root): + if resume and result_path.exists() and read_json(result_path).get("campaign_complete"): + result = read_json(result_path) + if "arrival_analysis" not in result and progress_path.exists(): + saved_progress = read_json(progress_path) + result["arrival_analysis"] = _arrival_analysis( + root, results_root, + [r.get("measurement") for r in saved_progress["records"] if r["cohort"] == "restricted"], + ) + result["campaign_mode"] = _campaign_mode(result) + write_json(result_path, result) + _write_report(report_path, result) + result["resume"] = {"skipped_completed": True}; return result + progress = read_json(progress_path) if resume and progress_path.exists() else { + "schema_version": SCHEMA_VERSION, "campaign_key": key, "schedule": schedule, + "next_schedule_index": 0, "records": [], "started_utc": dt.datetime.now(dt.timezone.utc).isoformat(), + } + write_json(progress_path, progress) + completed_indices = { + int(record["schedule_index"]) + for record in progress["records"] + if record.get("measurement") is not None + } + for index in range(len(schedule)): + if index in completed_indices: + continue + cohort = schedule[index] + if progress_callback: progress_callback("[%d/%d] restarting CARLA for %s" % (index + 1, len(schedule), cohort)) + recovery = run_recovery(config["recovery"], config["carla"]) + recovery.update({"experiment_name": config["name"], "campaign_key": key, "reason": "causal_forced_clean", "schedule_index": index}) + recovery_path = campaign_dir / "recoveries" / ("%03d.json" % index) + write_json(recovery_path, recovery); append_jsonl(results_root / "ledger.jsonl", recovery) + record = {"schedule_index": index, "cohort": cohort, "recovery_path": str(recovery_path.relative_to(root))} + if recovery.get("success"): + attempts, stop_reason = execute_with_recovery(dict(config, baseline_commit=commit), parameters[cohort], cohort == "control", registry, root) + record.update({"attempt_ids": [x["attempt_id"] for x in attempts], "measurement": _terminal(attempts), "stop_reason": stop_reason}) + else: + record.update({"attempt_ids": [], "measurement": None, "infrastructure_error": recovery.get("error")}) + progress["records"] = [r for r in progress["records"] if int(r["schedule_index"]) != index] + progress["records"].append(record) + progress["records"].sort(key=lambda r: int(r["schedule_index"])) + progress["next_schedule_index"] = next( + (i for i in range(len(schedule)) if i not in { + int(r["schedule_index"]) for r in progress["records"] if r.get("measurement") is not None + }), + len(schedule), + ) + write_json(progress_path, progress) + if progress_callback: + m = record.get("measurement") + progress_callback("[%d/%d] outcome=%s elapsed=%s" % (index + 1, len(schedule), "infra_error" if m is None else m["outcome"], "n/a" if m is None else m.get("elapsed_time_seconds"))) + penalty = float(causal.get("failure_penalty_seconds", 600)) + cohorts = {name: summarize_measurements([r.get("measurement") for r in progress["records"] if r["cohort"] == name], penalty, root) for name in parameters} + result = { + "schema_version": SCHEMA_VERSION, "event_type": "upstream_speed_causal_campaign", + "campaign_key": key, "experiment_name": config["name"], "baseline_commit": commit, + "parameters": parameters, "schedule": schedule, "cohorts": cohorts, + "campaign_complete": all( + any(int(r["schedule_index"]) == i and r.get("measurement") is not None for r in progress["records"]) + for i in range(len(schedule)) + ), + "pending_schedule_indices": [ + i for i in range(len(schedule)) + if not any( + int(record["schedule_index"]) == i and record.get("measurement") is not None + for record in progress["records"] + ) + ], + "attempt_ids": [a for r in progress["records"] for a in r.get("attempt_ids", [])], + "result_path": str(result_path.relative_to(root)), "human_report_path": str(report_path.relative_to(root)), + "completed_utc": dt.datetime.now(dt.timezone.utc).isoformat(), + } + result["campaign_mode"] = _campaign_mode(result) + result["arrival_analysis"] = _arrival_analysis( + root, results_root, + [r.get("measurement") for r in progress["records"] if r["cohort"] == "restricted"], + ) + if causal.get("event_analysis"): + result["focused_event_analysis"] = _focused_event_analysis( + root, progress["records"], causal["event_analysis"], penalty, + int(causal.get("repetitions", 5)), + ) + write_json(result_path, result); _write_report(report_path, result); append_jsonl(results_root / "ledger.jsonl", result) + return result diff --git a/experiments/harness/cli.py b/experiments/harness/cli.py new file mode 100644 index 0000000..de58038 --- /dev/null +++ b/experiments/harness/cli.py @@ -0,0 +1,238 @@ +import argparse +import json +import sys +from pathlib import Path +from typing import Any, Dict + +from .core import ( + dry_run, + execute_with_recovery, + experiment_id, + load_ledger, + read_json, + repo_root, + run_plan, +) +from .evaluation import dry_run_candidates, evaluate_candidates +from .reliability import dry_run_reliability, run_reliability_campaign +from .causal import dry_run_causal, run_causal_campaign +from experiments.search.adapter import run_search +from experiments.analysis.velocity_profile import analyze as analyze_velocity_profile +from experiments.analysis.velocity_profile_v2 import analyze as analyze_velocity_profile_v2 +from experiments.analysis.counterfactual_opportunity import analyze as analyze_counterfactual + + +def load_inputs(config_path: Path) -> tuple: + root = repo_root() + config = read_json(config_path.resolve()) + registry = read_json(root / "experiments" / "parameters.json") + return root, config, registry + + +def print_results(results: Any) -> None: + print(json.dumps(results, indent=2, sort_keys=True)) + + +def print_human_reports(results: Dict[str, Any], root: Path) -> None: + for candidate in results.get("candidate_results", []): + report_path = candidate.get("human_report_path") + if not report_path: + continue + path = root / report_path + if not path.exists(): + continue + print("\n" + "=" * 72, file=sys.stderr) + print("Human report: " + report_path, file=sys.stderr) + print("=" * 72, file=sys.stderr) + print(path.read_text(encoding="utf-8"), file=sys.stderr) + + +def print_human_report(result: Dict[str, Any], root: Path) -> None: + path_value = result.get("human_report_path") + if not path_value: + return + path = root / path_value + if path.exists(): + print("\n" + "=" * 72, file=sys.stderr) + print("Human report: " + path_value, file=sys.stderr) + print("=" * 72, file=sys.stderr) + print(path.read_text(encoding="utf-8"), file=sys.stderr) + + +def main() -> int: + parser = argparse.ArgumentParser(description="ROAR controlled experiment harness") + subparsers = parser.add_subparsers(dest="command", required=True) + + for command in ("dry-run", "run"): + child = subparsers.add_parser(command) + child.add_argument("config", type=Path) + + evaluate = subparsers.add_parser("evaluate") + evaluate.add_argument("config", type=Path) + evaluate.add_argument("--dry-run", action="store_true") + evaluate.add_argument("--no-resume", action="store_true") + evaluate.add_argument("--json-only", action="store_true") + + search = subparsers.add_parser("search") + search.add_argument("config", type=Path) + search.add_argument("--dry-run", action="store_true") + search.add_argument("--no-resume", action="store_true") + search.add_argument("--json-only", action="store_true") + + reliability = subparsers.add_parser("reliability") + reliability.add_argument("config", type=Path) + reliability.add_argument("--dry-run", action="store_true") + reliability.add_argument("--no-resume", action="store_true") + reliability.add_argument("--json-only", action="store_true") + + causal = subparsers.add_parser("causal") + causal.add_argument("config", type=Path) + causal.add_argument("--dry-run", action="store_true") + causal.add_argument("--no-resume", action="store_true") + causal.add_argument("--json-only", action="store_true") + + profile = subparsers.add_parser("velocity-profile") + profile.add_argument("--results-dir", default="experiment_results") + profile.add_argument("--bin-m", type=float, default=20.0) + profile.add_argument("--interval-m", type=float, default=100.0) + profile.add_argument("--json-only", action="store_true") + + profile_v2 = subparsers.add_parser("velocity-profile-v2") + profile_v2.add_argument("--results-dir", default="experiment_results") + profile_v2.add_argument("--spacing-m", type=float, default=5.0) + profile_v2.add_argument("--interval-m", type=float, default=100.0) + profile_v2.add_argument("--json-only", action="store_true") + + counterfactual = subparsers.add_parser("counterfactual-opportunity") + counterfactual.add_argument("--results-dir", default="experiment_results") + counterfactual.add_argument("--extension-m", type=float, default=300.0) + counterfactual.add_argument("--json-only", action="store_true") + + run_one = subparsers.add_parser("run-one") + run_one.add_argument("config", type=Path) + run_one.add_argument("--experiment-id", required=True) + + rerun = subparsers.add_parser("rerun") + rerun.add_argument("--attempt-id", required=True) + rerun.add_argument("--ledger", type=Path, default=Path("experiment_results/ledger.jsonl")) + + listing = subparsers.add_parser("list") + listing.add_argument("--ledger", type=Path, default=Path("experiment_results/ledger.jsonl")) + + args = parser.parse_args() + root = repo_root() + + if args.command == "list": + print_results(load_ledger((root / args.ledger).resolve())) + return 0 + + if args.command == "rerun": + ledger = load_ledger((root / args.ledger).resolve()) + matches = [item for item in ledger if item["attempt_id"] == args.attempt_id] + if len(matches) != 1: + raise ValueError(f"Expected one ledger entry for {args.attempt_id}, found {len(matches)}") + previous = matches[0] + result_path = root / previous["stdout_path"] + resolved_path = result_path.parent / "resolved_config.json" + resolved = read_json(resolved_path) + config: Dict[str, Any] = { + "name": resolved["experiment_name"], + "baseline_commit": resolved["baseline_commit"], + "results_dir": str((root / args.ledger).resolve().parent.relative_to(root)), + "carla": resolved["carla"], + "execution": resolved["execution"], + "recovery": resolved.get("recovery"), + "parameters": resolved["parameters"], + } + registry = read_json(root / "experiments" / "parameters.json") + results, stop_reason = execute_with_recovery( + config, + resolved["parameters"], + bool(resolved["is_control"]), + registry, + root, + ) + print_results(results) + if stop_reason: + print(f"Rerun stopped: {stop_reason}", file=sys.stderr) + return 1 + return 0 + + if args.command == "velocity-profile": + result = analyze_velocity_profile(root, args.results_dir, args.bin_m, args.interval_m) + print_results(result) + if not args.json_only: + print_human_report(result, root) + return 0 + + if args.command == "velocity-profile-v2": + result = analyze_velocity_profile_v2(root, args.results_dir, args.spacing_m, args.interval_m) + print_results(result) + if not args.json_only: + print_human_report(result, root) + return 0 + + if args.command == "counterfactual-opportunity": + result = analyze_counterfactual(root, args.results_dir, args.extension_m) + print_results(result) + if not args.json_only: + print_human_report(result, root) + return 0 + + root, config, registry = load_inputs(args.config) + if args.command == "evaluate": + if args.dry_run: + print_results(dry_run_candidates(config, registry, root)) + else: + results = evaluate_candidates(config, registry, root, resume=not args.no_resume) + print_results(results) + sys.stdout.flush() + if not args.json_only: + print_human_reports(results, root) + elif args.command == "search": + results = run_search(config, registry, root, args.dry_run, not args.no_resume) + print_results(results) + sys.stdout.flush() + if not args.dry_run and not args.json_only: + print_human_reports({"candidate_results": results.get("candidate_results", [])}, root) + elif args.command == "reliability": + if args.dry_run: + print_results(dry_run_reliability(config, registry, root)) + else: + result = run_reliability_campaign( + config, registry, root, not args.no_resume, + progress_callback=lambda message: print(message, file=sys.stderr, flush=True), + ) + print_results(result) + sys.stdout.flush() + if not args.json_only: + print_human_report(result, root) + elif args.command == "causal": + if args.dry_run: + print_results(dry_run_causal(config, registry, root)) + else: + result = run_causal_campaign( + config, registry, root, not args.no_resume, + progress_callback=lambda message: print(message, file=sys.stderr, flush=True), + ) + print_results(result) + sys.stdout.flush() + if not args.json_only: + print_human_report(result, root) + elif args.command == "dry-run": + print_results(dry_run(config, registry, root)) + elif args.command == "run": + print_results(run_plan(config, registry, root)) + elif args.command == "run-one": + print_results( + run_plan(config, registry, root, only_experiment_id=args.experiment_id) + ) + return 0 + + +if __name__ == "__main__": + try: + raise SystemExit(main()) + except Exception as error: + print(f"{type(error).__name__}: {error}", file=sys.stderr) + raise diff --git a/experiments/harness/core.py b/experiments/harness/core.py new file mode 100644 index 0000000..12a6aad --- /dev/null +++ b/experiments/harness/core.py @@ -0,0 +1,832 @@ +import contextlib +import datetime as dt +import difflib +import hashlib +import importlib +import importlib.metadata +import io +import json +import os +import platform +import re +import shutil +import subprocess +import sys +import tarfile +import tempfile +import time +import uuid +from pathlib import Path +from typing import Any, Dict, Iterable, List, Optional, Tuple + + +OUTCOMES = { + "finished", + "collision", + "timeout", + "exception", + "infra_error", + "controller_hang", +} + +INFRA_PATTERNS = ( + "time-out of", + "waiting for the simulator", + "connection refused", + "connection reset", + "failed to connect", + "rpc error", + "carla server", +) + + +def read_json(path: Path) -> Dict[str, Any]: + with path.open(encoding="utf-8") as infile: + return json.load(infile) + + +def write_json(path: Path, value: Any) -> None: + path.parent.mkdir(parents=True, exist_ok=True) + temporary = path.with_name(path.name + ".tmp") + with temporary.open("w", encoding="utf-8") as outfile: + json.dump(value, outfile, indent=2, sort_keys=True) + outfile.write("\n") + outfile.flush() + os.fsync(outfile.fileno()) + os.replace(str(temporary), str(path)) + + +def append_jsonl(path: Path, value: Dict[str, Any]) -> None: + path.parent.mkdir(parents=True, exist_ok=True) + line = json.dumps(value, sort_keys=True, separators=(",", ":")) + "\n" + with path.open("a", encoding="utf-8") as outfile: + outfile.write(line) + outfile.flush() + os.fsync(outfile.fileno()) + + +def repo_root() -> Path: + return Path(__file__).resolve().parents[2] + + +def git_output(root: Path, *args: str) -> str: + result = subprocess.run( + ["git", *args], cwd=str(root), check=True, capture_output=True, text=True + ) + return result.stdout.strip() + + +def canonical_parameters(parameters: Dict[str, Any]) -> str: + return json.dumps(parameters, sort_keys=True, separators=(",", ":")) + + +def experiment_id(parameters: Dict[str, Any]) -> str: + canonical = canonical_parameters(parameters) + digest = hashlib.sha256(canonical.encode("utf-8")).hexdigest()[:12] + if not parameters: + return f"baseline-{digest}" + readable = "__".join( + f"{re.sub(r'[^A-Za-z0-9_.-]+', '-', name)}={value}" + for name, value in sorted(parameters.items()) + ) + return f"{readable}--{digest}" + + +def new_attempt_id() -> str: + timestamp = dt.datetime.now(dt.timezone.utc).strftime("%Y%m%dT%H%M%S.%fZ") + return f"{timestamp}-{uuid.uuid4().hex[:8]}" + + +def validate_config(config: Dict[str, Any]) -> None: + required = ("name", "baseline_commit", "carla") + missing = [name for name in required if name not in config] + if missing: + raise ValueError(f"Missing config keys: {', '.join(missing)}") + carla_config = config["carla"] + if carla_config.get("expected_map") != "Carla/Maps/Monza": + raise ValueError("carla.expected_map must be Carla/Maps/Monza") + if "sweep" not in config and "parameters" not in config: + raise ValueError("Config must contain sweep or parameters") + + +def expand_config(config: Dict[str, Any]) -> List[Dict[str, Any]]: + validate_config(config) + primary: List[Dict[str, Any]] = [] + if "sweep" in config: + sweep = config["sweep"] + repetitions = int(sweep.get("repetitions", 1)) + for value in sweep["values"]: + for _ in range(repetitions): + primary.append({sweep["parameter"]: value}) + else: + repetitions = int(config.get("repetitions", 1)) + for _ in range(repetitions): + primary.append(dict(config.get("parameters", {}))) + + controls = config.get("controls", {}) + if not controls.get("enabled", False): + return [{"parameters": item, "is_control": False} for item in primary] + + control_parameters = dict(controls.get("parameters", {})) + every = max(1, int(controls.get("every", 1))) + expanded: List[Dict[str, Any]] = [] + if controls.get("at_start", True): + expanded.append({"parameters": control_parameters, "is_control": True}) + for index, parameters in enumerate(primary, start=1): + expanded.append({"parameters": parameters, "is_control": False}) + if index % every == 0 and index < len(primary): + expanded.append({"parameters": control_parameters, "is_control": True}) + if controls.get("at_end", True): + expanded.append({"parameters": control_parameters, "is_control": True}) + return expanded + + +def safe_extract_archive(archive_bytes: bytes, destination: Path) -> None: + with tarfile.open(fileobj=io.BytesIO(archive_bytes), mode="r:") as archive: + destination_resolved = destination.resolve() + for member in archive.getmembers(): + target = (destination / member.name).resolve() + if destination_resolved not in target.parents and target != destination_resolved: + raise ValueError(f"Unsafe archive member: {member.name}") + archive.extractall(str(destination)) + + +def export_baseline(root: Path, commit: str, destination: Path) -> str: + resolved_commit = git_output(root, "rev-parse", f"{commit}^{{commit}}") + result = subprocess.run( + ["git", "archive", resolved_commit], + cwd=str(root), + check=True, + capture_output=True, + ) + safe_extract_archive(result.stdout, destination) + return resolved_commit + + +def format_parameter_value(specification: Dict[str, Any], value: Any) -> str: + value_type = specification["type"] + if value_type == "float": + converted = float(value) + if not specification["minimum"] <= converted <= specification["maximum"]: + raise ValueError(f"Float value {converted} is outside registered range") + return str(value) + if value_type == "int": + converted = int(value) + if converted != value: + raise ValueError(f"Expected integer, got {value}") + return str(converted) + raise ValueError(f"Unsupported parameter type: {value_type}") + + +def apply_parameters( + checkout: Path, + parameters: Dict[str, Any], + registry: Dict[str, Any], +) -> str: + diffs: List[str] = [] + for name, value in sorted(parameters.items()): + if name not in registry: + raise ValueError(f"Unregistered experiment parameter: {name}") + specification = registry[name] + source_path = checkout / specification["file"] + before = source_path.read_text(encoding="utf-8") + baseline_text = specification["baseline_text"] + required_matches = int(specification.get("required_matches", 1)) + matches = before.count(baseline_text) + if matches != required_matches: + raise ValueError( + f"{name}: expected {required_matches} exact baseline matches, found {matches}" + ) + rendered = specification["replacement_template"].format( + value=format_parameter_value(specification, value) + ) + after = before.replace(baseline_text, rendered, required_matches) + source_path.write_text(after, encoding="utf-8") + diffs.extend( + difflib.unified_diff( + before.splitlines(keepends=True), + after.splitlines(keepends=True), + fromfile=f"a/{specification['file']}", + tofile=f"b/{specification['file']}", + ) + ) + return "".join(diffs) + + +def distribution_version(names: Iterable[str]) -> Optional[str]: + for name in names: + with contextlib.suppress(importlib.metadata.PackageNotFoundError): + return importlib.metadata.version(name) + return None + + +def module_provenance(module_name: str, distributions: Iterable[str]) -> Dict[str, Any]: + result: Dict[str, Any] = {"module": module_name} + try: + module = importlib.import_module(module_name) + module_path = getattr(module, "__file__", None) + result["path"] = module_path + result["version"] = distribution_version(distributions) or getattr( + module, "__version__", None + ) + if module_path is not None: + module_directory = Path(module_path).resolve().parent + git_result = subprocess.run( + ["git", "rev-parse", "HEAD"], + cwd=str(module_directory), + capture_output=True, + text=True, + ) + if git_result.returncode == 0: + result["repository_commit"] = git_result.stdout.strip() + except Exception as error: + result["error"] = f"{type(error).__name__}: {error}" + return result + + +def local_provenance(root: Path, baseline_commit: str) -> Dict[str, Any]: + repository_status = git_output(root, "status", "--porcelain") + return { + "python": { + "version": sys.version, + "executable": sys.executable, + "platform": platform.platform(), + }, + "carla_python": module_provenance("carla", ("carla",)), + "roar_py": module_provenance( + "roar_py_interface", ("roar-py-interface", "roar_py_interface") + ), + "roar_py_carla": module_provenance( + "roar_py_carla", ("roar-py-carla", "roar_py_carla") + ), + "repo": { + "baseline_commit": baseline_commit, + "harness_commit": git_output(root, "rev-parse", "HEAD"), + "harness_dirty": bool(repository_status), + "harness_status": repository_status.splitlines(), + }, + } + + +def aws_provenance(region: str) -> Dict[str, Any]: + result: Dict[str, Any] = {"region": region} + version = subprocess.run( + ["aws", "--version"], capture_output=True, text=True + ) + result["cli_version"] = (version.stdout or version.stderr).strip() + identity = subprocess.run( + ["aws", "sts", "get-caller-identity", "--output", "json"], + capture_output=True, + text=True, + ) + if identity.returncode == 0: + result["caller_identity"] = json.loads(identity.stdout) + else: + result["identity_error"] = identity.stderr.strip() + return result + + +def preflight(carla_config: Dict[str, Any]) -> Dict[str, Any]: + started = time.monotonic() + result: Dict[str, Any] = { + "ok": False, + "host": carla_config["host"], + "port": int(carla_config["port"]), + "expected_map": carla_config["expected_map"], + } + try: + import carla + + client = carla.Client(carla_config["host"], int(carla_config["port"])) + client.set_timeout(float(carla_config.get("timeout_seconds", 10))) + world = client.get_world() + map_name = world.get_map().name + settings = world.get_settings() + result.update( + { + "map": map_name, + "server_version": client.get_server_version(), + "client_version": client.get_client_version(), + "world_fixed_delta_seconds": settings.fixed_delta_seconds, + "synchronous_mode": settings.synchronous_mode, + } + ) + if map_name != carla_config["expected_map"]: + result["error"] = ( + f"Expected map {carla_config['expected_map']}, found {map_name}" + ) + elif settings.synchronous_mode: + result["error"] = ( + "CARLA world is unexpectedly in synchronous mode; " + "a previous client may have left stale simulation state" + ) + else: + result["ok"] = True + except Exception as error: + result["error"] = f"{type(error).__name__}: {error}" + result["latency_seconds"] = time.monotonic() - started + return result + + +def run_aws_command(arguments: List[str]) -> subprocess.CompletedProcess: + return subprocess.run( + ["aws", *arguments], capture_output=True, text=True + ) + + +def recover_with_ssm( + recovery_config: Dict[str, Any], carla_config: Dict[str, Any] +) -> Dict[str, Any]: + started = time.monotonic() + event: Dict[str, Any] = { + "event_type": "infrastructure_recovery", + "provider": "aws_ssm", + "region": recovery_config["region"], + "instance_id": recovery_config["instance_id"], + "started_utc": dt.datetime.now(dt.timezone.utc).isoformat(), + "success": False, + } + parameters = json.dumps( + {"commands": [recovery_config["restart_command"]]}, separators=(",", ":") + ) + send = run_aws_command( + [ + "ssm", + "send-command", + "--region", + recovery_config["region"], + "--instance-ids", + recovery_config["instance_id"], + "--document-name", + recovery_config.get("document_name", "AWS-RunPowerShellScript"), + "--comment", + "ROAR experiment harness CARLA recovery", + "--parameters", + parameters, + "--query", + "Command.CommandId", + "--output", + "text", + ] + ) + if send.returncode != 0: + event["error"] = "send_command_failed" + event["stderr"] = send.stderr.strip() + event["wall_time_seconds"] = time.monotonic() - started + return event + + command_id = send.stdout.strip() + event["command_id"] = command_id + command_deadline = time.monotonic() + float( + recovery_config.get("command_timeout_seconds", 240) + ) + terminal_statuses = { + "Success", + "Cancelled", + "Failed", + "TimedOut", + "Cancelling", + } + invocation: Optional[Dict[str, Any]] = None + while time.monotonic() < command_deadline: + query = run_aws_command( + [ + "ssm", + "get-command-invocation", + "--region", + recovery_config["region"], + "--command-id", + command_id, + "--instance-id", + recovery_config["instance_id"], + "--output", + "json", + ] + ) + if query.returncode == 0: + invocation = json.loads(query.stdout) + if invocation.get("Status") in terminal_statuses: + break + elif "InvocationDoesNotExist" not in query.stderr: + event["invocation_query_error"] = query.stderr.strip() + time.sleep(2) + + if invocation is None: + event["error"] = "command_invocation_unavailable" + event["wall_time_seconds"] = time.monotonic() - started + return event + event["command_status"] = invocation.get("Status") + event["command_response_code"] = invocation.get("ResponseCode") + event["command_stdout"] = invocation.get("StandardOutputContent", "") + event["command_stderr"] = invocation.get("StandardErrorContent", "") + if invocation.get("Status") != "Success": + event["error"] = "restart_command_failed" + event["wall_time_seconds"] = time.monotonic() - started + return event + + readiness_deadline = time.monotonic() + float( + recovery_config.get("readiness_timeout_seconds", 240) + ) + readiness_checks: List[Dict[str, Any]] = [] + while time.monotonic() < readiness_deadline: + check = preflight(carla_config) + readiness_checks.append(check) + if check.get("ok"): + event["success"] = True + event["readiness"] = check + break + time.sleep(float(recovery_config.get("readiness_poll_seconds", 5))) + event["readiness_attempts"] = len(readiness_checks) + if not event["success"]: + event["error"] = "carla_readiness_timeout" + if readiness_checks: + event["last_readiness"] = readiness_checks[-1] + event["wall_time_seconds"] = time.monotonic() - started + return event + + +def run_recovery( + recovery_config: Dict[str, Any], carla_config: Dict[str, Any] +) -> Dict[str, Any]: + provider = recovery_config.get("provider") + if provider == "aws_ssm": + return recover_with_ssm(recovery_config, carla_config) + return { + "event_type": "infrastructure_recovery", + "provider": provider, + "success": False, + "error": f"unsupported_recovery_provider: {provider}", + } + + +def compile_checkout(checkout: Path) -> None: + files = [ + "competition_code/competition_runner.py", + "competition_code/submission.py", + "competition_code/LateralController.py", + "competition_code/ThrottleController.py", + "competition_code/telemetry.py", + ] + subprocess.run( + [sys.executable, "-m", "py_compile", *files], + cwd=str(checkout), + check=True, + capture_output=True, + text=True, + ) + + +def find_telemetry(checkout: Path) -> Optional[Tuple[Path, Dict[str, Any]]]: + summaries = sorted( + (checkout / "competition_code" / "telemetry" / "runs").glob( + "*/summary.json" + ) + ) + if not summaries: + return None + summary_path = summaries[-1] + return summary_path.parent, read_json(summary_path) + + +def log_indicates_infra_error(stdout_path: Path, stderr_path: Path) -> bool: + text = "" + for path in (stdout_path, stderr_path): + if path.exists(): + text += path.read_text(encoding="utf-8", errors="replace").lower() + return any(pattern in text for pattern in INFRA_PATTERNS) + + +def copy_telemetry(source: Path, destination: Path) -> None: + if destination.exists(): + shutil.rmtree(str(destination)) + shutil.copytree(str(source), str(destination)) + + +def execute_attempt( + config: Dict[str, Any], + parameters: Dict[str, Any], + is_control: bool, + registry: Dict[str, Any], + root: Path, +) -> Dict[str, Any]: + exp_id = experiment_id(parameters) + att_id = new_attempt_id() + results_root = root / config.get("results_dir", "experiment_results") + attempt_dir = results_root / "runs" / att_id + attempt_dir.mkdir(parents=True, exist_ok=False) + stdout_path = attempt_dir / "stdout.log" + stderr_path = attempt_dir / "stderr.log" + resolved_path = attempt_dir / "resolved_config.json" + preflight_path = attempt_dir / "preflight.json" + diff_path = attempt_dir / "source.diff" + started_utc = dt.datetime.now(dt.timezone.utc).isoformat() + monotonic_start = time.monotonic() + + with tempfile.TemporaryDirectory(prefix="roar-experiment-") as temporary: + checkout = Path(temporary) + resolved_commit = export_baseline(root, config["baseline_commit"], checkout) + provenance = local_provenance(root, resolved_commit) + if config.get("recovery", {}).get("provider") == "aws_ssm": + provenance["aws"] = aws_provenance(config["recovery"]["region"]) + source_diff = apply_parameters(checkout, parameters, registry) + diff_path.write_text(source_diff, encoding="utf-8") + resolved = { + "experiment_name": config["name"], + "experiment_id": exp_id, + "attempt_id": att_id, + "parameters": parameters, + "is_control": is_control, + "baseline_commit": resolved_commit, + "carla": config["carla"], + "execution": config.get("execution", {}), + "recovery": config.get("recovery"), + } + write_json(resolved_path, resolved) + + try: + compile_checkout(checkout) + except subprocess.CalledProcessError as error: + stderr_path.write_text(error.stderr or str(error), encoding="utf-8") + outcome = "exception" + preflight_result = {"ok": False, "skipped": "source compilation failed"} + write_json(preflight_path, preflight_result) + telemetry_summary = None + else: + preflight_result = preflight(config["carla"]) + write_json(preflight_path, preflight_result) + provenance["carla_server"] = preflight_result + if not preflight_result["ok"]: + stdout_path.write_text("", encoding="utf-8") + stderr_path.write_text( + preflight_result.get("error", "CARLA preflight failed") + "\n", + encoding="utf-8", + ) + outcome = "infra_error" + telemetry_summary = None + else: + timeout_seconds = float( + config.get("execution", {}).get("client_timeout_seconds", 600) + ) + with stdout_path.open("w", encoding="utf-8") as stdout_file, stderr_path.open( + "w", encoding="utf-8" + ) as stderr_file: + process = subprocess.Popen( + [sys.executable, "competition_runner.py"], + cwd=str(checkout / "competition_code"), + stdout=stdout_file, + stderr=stderr_file, + text=True, + ) + try: + return_code = process.wait(timeout=timeout_seconds) + except subprocess.TimeoutExpired: + process.terminate() + try: + process.wait(timeout=10) + except subprocess.TimeoutExpired: + process.kill() + process.wait() + post_hang_preflight = preflight(config["carla"]) + write_json(attempt_dir / "post_hang_preflight.json", post_hang_preflight) + outcome = ( + "controller_hang" + if post_hang_preflight.get("ok") + else "infra_error" + ) + return_code = process.returncode + else: + outcome = "exception" + + telemetry = find_telemetry(checkout) + telemetry_summary = None + if telemetry is not None: + telemetry_dir, telemetry_summary = telemetry + copy_telemetry(telemetry_dir, attempt_dir / "telemetry") + telemetry_status = telemetry_summary.get("status") + if telemetry_status in {"finished", "collision", "timeout"}: + outcome = telemetry_status + elif outcome not in {"controller_hang", "infra_error"}: + outcome = ( + "infra_error" + if log_indicates_infra_error(stdout_path, stderr_path) + else "exception" + ) + if return_code != 0 and outcome == "exception" and log_indicates_infra_error( + stdout_path, stderr_path + ): + outcome = "infra_error" + + if outcome not in OUTCOMES: + raise RuntimeError(f"Unknown outcome: {outcome}") + elapsed_wall = time.monotonic() - monotonic_start + summary = telemetry_summary or {} + result = { + "experiment_name": config["name"], + "experiment_id": exp_id, + "attempt_id": att_id, + "is_control": is_control, + "parameters": parameters, + "baseline_commit": provenance["repo"]["baseline_commit"], + "outcome": outcome, + "started_utc": started_utc, + "wall_time_seconds": elapsed_wall, + "elapsed_time_seconds": summary.get("elapsed_time_seconds"), + "control_timestep_seconds": summary.get("control_timestep_seconds"), + "terminal_tick": summary.get("terminal_tick"), + "official_waypoint_index": summary.get("official_waypoint_index"), + "custom_waypoint_index": summary.get("custom_waypoint_index"), + "terminal_location": summary.get("location"), + "collision_impulse": summary.get("collision_impulse"), + "telemetry_path": ( + str((attempt_dir / "telemetry" / "summary.json").relative_to(root)) + if (attempt_dir / "telemetry" / "summary.json").exists() + else None + ), + "stdout_path": str(stdout_path.relative_to(root)), + "stderr_path": str(stderr_path.relative_to(root)), + "source_diff_path": str(diff_path.relative_to(root)), + "provenance": provenance, + } + write_json(attempt_dir / "result.json", result) + append_jsonl(results_root / "ledger.jsonl", result) + return result + + +def dry_run( + config: Dict[str, Any], registry: Dict[str, Any], root: Path +) -> List[Dict[str, Any]]: + output: List[Dict[str, Any]] = [] + seen = set() + for concrete in expand_config(config): + parameters = concrete["parameters"] + key = canonical_parameters(parameters) + if key in seen: + continue + seen.add(key) + with tempfile.TemporaryDirectory(prefix="roar-experiment-dry-run-") as temporary: + checkout = Path(temporary) + resolved_commit = export_baseline(root, config["baseline_commit"], checkout) + source_diff = apply_parameters(checkout, parameters, registry) + compile_checkout(checkout) + output.append( + { + "experiment_id": experiment_id(parameters), + "parameters": parameters, + "baseline_commit": resolved_commit, + "source_diff": source_diff, + } + ) + return output + + +def load_ledger(path: Path) -> List[Dict[str, Any]]: + if not path.exists(): + return [] + with path.open(encoding="utf-8") as infile: + return [json.loads(line) for line in infile if line.strip()] + + +def should_stop( + counters: Dict[str, int], stop_conditions: Dict[str, Any] +) -> Optional[str]: + checks = ( + ("collision", "consecutive_collisions"), + ("infra_error", "consecutive_infra_failures"), + ("controller_hang", "consecutive_controller_hangs"), + ) + for outcome, setting in checks: + limit = stop_conditions.get(setting) + if limit is not None and counters[outcome] >= int(limit): + return f"{setting} reached ({limit})" + return None + + +def update_counters( + counters: Dict[str, int], outcome: str, is_control: bool +) -> None: + if is_control: + counters["infra_error"] = ( + counters["infra_error"] + 1 if outcome == "infra_error" else 0 + ) + counters["controller_hang"] = ( + counters["controller_hang"] + 1 + if outcome == "controller_hang" + else 0 + ) + return + for key in counters: + counters[key] = counters[key] + 1 if key == outcome else 0 + + +def record_recovery( + config: Dict[str, Any], + root: Path, + result: Dict[str, Any], + reason: str, +) -> Dict[str, Any]: + recovery_config = config.get("recovery") + if recovery_config is None: + recovery = { + "event_type": "infrastructure_recovery", + "success": False, + "error": "recovery_not_configured", + } + else: + recovery = run_recovery(recovery_config, config["carla"]) + recovery.update( + { + "experiment_name": config["name"], + "experiment_id": result["experiment_id"], + "source_attempt_id": result["attempt_id"], + "reason": reason, + } + ) + results_root = root / config.get("results_dir", "experiment_results") + recovery_path = results_root / "runs" / result["attempt_id"] / "recovery.json" + write_json(recovery_path, recovery) + append_jsonl(results_root / "ledger.jsonl", recovery) + return recovery + + +def execute_with_recovery( + config: Dict[str, Any], + parameters: Dict[str, Any], + is_control: bool, + registry: Dict[str, Any], + root: Path, +) -> Tuple[List[Dict[str, Any]], Optional[str]]: + """Run one configuration, recovering/retrying infrastructure failures. + + Controller outcomes are never retried here. After a collision, however, the + world is checked because CARLA can remain synchronously locked after the + early-exit instrumentation closes the client. + """ + attempts: List[Dict[str, Any]] = [] + max_infra_retries = int( + config.get("execution", {}).get("max_infra_retries", 0) + ) + infra_retries = 0 + while True: + result = execute_attempt(config, parameters, is_control, registry, root) + attempts.append(result) + outcome = result["outcome"] + if outcome == "infra_error" and infra_retries < max_infra_retries: + infra_retries += 1 + recovery = record_recovery(config, root, result, "infra_error") + if not recovery["success"]: + return attempts, "infrastructure recovery failed" + continue + if outcome == "collision": + cleanup_check = preflight(config["carla"]) + attempt_dir = ( + root + / config.get("results_dir", "experiment_results") + / "runs" + / result["attempt_id"] + ) + write_json(attempt_dir / "post_collision_preflight.json", cleanup_check) + if not cleanup_check.get("ok"): + recovery = record_recovery( + config, root, result, "post_collision_cleanup" + ) + if not recovery["success"]: + return attempts, "post-collision infrastructure recovery failed" + return attempts, None + + +def run_plan( + config: Dict[str, Any], + registry: Dict[str, Any], + root: Path, + only_experiment_id: Optional[str] = None, +) -> List[Dict[str, Any]]: + results: List[Dict[str, Any]] = [] + counters = {outcome: 0 for outcome in OUTCOMES} + stop_conditions = config.get("stop_conditions", {}) + for concrete in expand_config(config): + parameters = concrete["parameters"] + exp_id = experiment_id(parameters) + if only_experiment_id is not None and exp_id != only_experiment_id: + continue + attempt_results, stop_reason = execute_with_recovery( + config, parameters, concrete["is_control"], registry, root + ) + results.extend(attempt_results) + for result in attempt_results: + outcome = result["outcome"] + update_counters(counters, outcome, concrete["is_control"]) + counter_stop_reason = should_stop(counters, stop_conditions) + if counter_stop_reason: + stop_reason = counter_stop_reason + break + + if concrete["is_control"] and stop_conditions.get( + "stop_on_control_failure", True + ) and result["outcome"] != "finished": + break + if stop_reason: + print(f"Stopping sweep: {stop_reason}") + break + if only_experiment_id is not None: + break + return results diff --git a/experiments/harness/evaluation.py b/experiments/harness/evaluation.py new file mode 100644 index 0000000..eed7370 --- /dev/null +++ b/experiments/harness/evaluation.py @@ -0,0 +1,597 @@ +import contextlib +import csv +import datetime as dt +import fcntl +import hashlib +import json +import math +import os +import socket +import statistics +from collections import Counter, defaultdict +from pathlib import Path +from typing import Any, Dict, Iterator, List, Optional, Tuple + +from .core import ( + append_jsonl, + dry_run, + execute_with_recovery, + experiment_id, + git_output, + read_json, + write_json, +) + + +SCHEMA_VERSION = 2 +CONTROLLER_OUTCOMES = { + "finished", "collision", "timeout", "exception", "controller_hang" +} +DEFAULT_ACCEPTANCE = { + "min_controller_measurements": None, + "min_completion_rate": 1.0, + "max_collision_rate": 0.0, + "require_all_controls_finished": True, + "max_control_drift_seconds": 1.0, + "max_control_adjusted_delta_seconds": None, +} + + +def _stats(values: List[float]) -> Optional[Dict[str, float]]: + if not values: + return None + return { + "count": len(values), + "mean": statistics.mean(values), + "median": statistics.median(values), + "minimum": min(values), + "maximum": max(values), + "stdev": statistics.stdev(values) if len(values) > 1 else 0.0, + } + + +def _terminal_measurement(attempts: List[Dict[str, Any]]) -> Optional[Dict[str, Any]]: + for attempt in reversed(attempts): + if attempt.get("outcome") in CONTROLLER_OUTCOMES: + return attempt + return None + + +def _section_times(root: Path, result: Dict[str, Any]) -> Dict[str, float]: + telemetry_path = result.get("telemetry_path") + if not telemetry_path: + return {} + ticks_path = (root / telemetry_path).parent / "ticks.csv" + if not ticks_path.exists(): + return {} + counts: Dict[str, int] = defaultdict(int) + with ticks_path.open(encoding="utf-8", newline="") as infile: + for row in csv.DictReader(infile): + counts[row["section"]] += 1 + timestep = result.get("control_timestep_seconds") + if timestep is None: + return {} + return {section: count * float(timestep) for section, count in counts.items()} + + +def summarize_measurements( + measurements: List[Optional[Dict[str, Any]]], + penalty_seconds: float, + root: Path, +) -> Dict[str, Any]: + usable = [item for item in measurements if item is not None] + counts = Counter(item["outcome"] for item in usable) + finished_times = [ + float(item["elapsed_time_seconds"]) + for item in usable + if item["outcome"] == "finished" and item.get("elapsed_time_seconds") is not None + ] + scores = [ + float(item["elapsed_time_seconds"]) + if item["outcome"] == "finished" and item.get("elapsed_time_seconds") is not None + else penalty_seconds + for item in usable + ] + section_values: Dict[str, List[float]] = defaultdict(list) + for item in usable: + if item["outcome"] == "finished": + for section, seconds in _section_times(root, item).items(): + section_values[section].append(seconds) + terminal_failures = [ + { + "attempt_id": item["attempt_id"], + "outcome": item["outcome"], + "elapsed_time_seconds": item.get("elapsed_time_seconds"), + "official_waypoint_index": item.get("official_waypoint_index"), + "custom_waypoint_index": item.get("custom_waypoint_index"), + "terminal_location": item.get("terminal_location"), + "collision_impulse": item.get("collision_impulse"), + } + for item in usable + if item["outcome"] != "finished" + ] + return { + "scheduled_repetitions": len(measurements), + "controller_measurements": len(usable), + "missing_due_to_infrastructure": len(measurements) - len(usable), + "outcome_counts": dict(sorted(counts.items())), + "completion_rate": counts.get("finished", 0) / len(usable) if usable else None, + "collision_rate": counts.get("collision", 0) / len(usable) if usable else None, + "finished_elapsed_seconds": _stats(finished_times), + "penalized_objective_seconds": _stats(scores), + "section_elapsed_seconds": { + section: _stats(values) + for section, values in sorted(section_values.items(), key=lambda item: int(item[0])) + }, + "measurement_attempt_ids": [item["attempt_id"] for item in usable], + "terminal_failures": terminal_failures, + } + + +def _format_seconds(value: Optional[float]) -> str: + return "unavailable" if value is None else "%.3f s" % value + + +def _collision_interpretation(summary: Dict[str, Any]) -> Optional[str]: + collisions = [ + item for item in summary["terminal_failures"] + if item["outcome"] == "collision" + ] + if not collisions: + return None + waypoints = [ + item["official_waypoint_index"] for item in collisions + if item["official_waypoint_index"] is not None + ] + elapsed = [ + float(item["elapsed_time_seconds"]) for item in collisions + if item["elapsed_time_seconds"] is not None + ] + locations = [ + item["terminal_location"] for item in collisions + if item["terminal_location"] is not None + ] + detail = "%d collision(s)" % len(collisions) + if waypoints: + detail += " at official waypoint%s %d–%d" % ( + "" if min(waypoints) == max(waypoints) else "s", + min(waypoints), max(waypoints), + ) + if elapsed: + detail += " after %.2f–%.2f seconds" % (min(elapsed), max(elapsed)) + waypoint_clustered = ( + len(collisions) >= 2 + and waypoints and max(waypoints) - min(waypoints) <= 10 + and elapsed and max(elapsed) - min(elapsed) <= 1.0 + ) + maximum_separation = 0.0 + for index, first in enumerate(locations): + for second in locations[index + 1:]: + maximum_separation = max( + maximum_separation, + math.sqrt(sum((float(a) - float(b)) ** 2 for a, b in zip(first, second))), + ) + spatially_clustered = len(locations) >= 2 and maximum_separation <= 15.0 + if waypoint_clustered: + detail += "; the tight clustering indicates a repeatable stability failure" + elif spatially_clustered: + detail += "; despite different lap-indexed waypoints, all impacts are within %.1f m and indicate a repeatable physical failure zone" % maximum_separation + elif len(collisions) >= 2: + detail += "; the failures are dispersed and may be stochastic or multi-modal" + return detail + "." + + +def render_candidate_report(result: Dict[str, Any]) -> str: + candidate = result["candidate"] + controls = result["controls"] + objective = result["objective"] + lines = [ + "# Candidate evaluation: %s" % (result.get("candidate_name") or result["experiment_id"]), + "", + "## Decision", + "", + "**%s.**" % result["status"].upper(), + "", + ] + if result["status"] == "inconclusive": + lines.append("The candidate cannot be compared reliably because its control runs were invalid.") + elif result["status"] == "rejected": + lines.append("The candidate completed evaluation but failed one or more candidate acceptance rules.") + elif result["status"] == "accepted": + lines.append("The candidate and its controls satisfied every configured acceptance rule.") + else: + lines.append("The requested evaluation did not produce enough valid measurements.") + lines.extend(["", "## Configuration", "", "```json", json.dumps(result["parameters"], indent=2, sort_keys=True), "```", ""]) + finished = candidate["finished_elapsed_seconds"] + lines.extend([ + "## Candidate performance", + "", + "- Controller measurements: %d of %d scheduled" % ( + candidate["controller_measurements"], candidate["scheduled_repetitions"]), + "- Completion rate: %s" % ( + "unavailable" if candidate["completion_rate"] is None else "%.1f%%" % (100 * candidate["completion_rate"])), + "- Collision rate: %s" % ( + "unavailable" if candidate["collision_rate"] is None else "%.1f%%" % (100 * candidate["collision_rate"])), + ]) + if finished: + lines.extend([ + "- Finished mean: %s" % _format_seconds(finished["mean"]), + "- Finished median: %s" % _format_seconds(finished["median"]), + "- Finished range: %s–%s" % ( + _format_seconds(finished["minimum"]), _format_seconds(finished["maximum"])), + "- Finished standard deviation: %s" % _format_seconds(finished["stdev"]), + ]) + collision_text = _collision_interpretation(candidate) + if collision_text: + lines.extend(["", collision_text]) + + before = controls["before"]["finished_elapsed_seconds"] + after = controls["after"]["finished_elapsed_seconds"] + lines.extend([ + "", "## Controls", "", + "- Controls valid: %s" % ("yes" if result["controls_valid"] else "no"), + "- Before-control finished mean: %s" % _format_seconds(before["mean"] if before else None), + "- After-control finished mean: %s" % _format_seconds(after["mean"] if after else None), + ]) + if before and after: + lines.append("- Control drift: %+.3f s" % (after["mean"] - before["mean"])) + delta = objective["control_adjusted_delta_seconds"] + lines.append("- Control-adjusted candidate delta: %s" % ( + "unavailable because controls were invalid" if delta is None else "%+.3f s" % delta + )) + + section_deltas = objective["section_control_adjusted_delta_seconds"] + if section_deltas: + lines.extend(["", "## Section deltas", "", "Negative values are faster than the controls.", ""]) + for section, value in sorted(section_deltas.items(), key=lambda item: item[1]): + lines.append("- Section %s: %+.3f s" % (section, value)) + + lines.extend(["", "## Acceptance checks", ""]) + for check in result["acceptance_checks"]: + lines.append("- %s %s — actual `%s`, required `%s`" % ( + "PASS" if check["passed"] else "FAIL", check["name"], + check["actual"], check["expected"], + )) + + if len(result.get("changed_parameters", result["parameters"])) > 1 and result["status"] == "rejected": + lines.extend([ + "", "## Suggested next experiment", "", + "Multiple parameters changed, so this result cannot identify which change caused the failure. Test each parameter independently against the pinned baseline before combining them.", + ]) + lines.extend(["", "The JSON summary remains the authoritative machine-readable record.", ""]) + return "\n".join(lines) + + +def write_candidate_report(path: Path, result: Dict[str, Any]) -> None: + path.parent.mkdir(parents=True, exist_ok=True) + temporary = path.with_name(path.name + ".tmp") + temporary.write_text(render_candidate_report(result), encoding="utf-8") + os.replace(str(temporary), str(path)) + + +def _control_spec(controls: Any) -> Dict[str, Any]: + if isinstance(controls, int): + controls = {"before": controls, "after": controls} + controls = dict(controls or {}) + return { + "before": int(controls.get("before", controls.get("repetitions", 1))), + "after": int(controls.get("after", controls.get("repetitions", 1))), + "parameters": dict(controls.get("parameters", {})), + } + + +def _evaluation_key( + config: Dict[str, Any], parameters: Dict[str, Any], repetitions: int, + controls: Dict[str, Any], acceptance: Dict[str, Any], penalty_seconds: float, +) -> str: + identity = { + "schema_version": SCHEMA_VERSION, + "baseline_commit": config["baseline_commit"], + "parameters": parameters, + "repetitions": repetitions, + "controls": controls, + "acceptance": acceptance, + "failure_penalty_seconds": penalty_seconds, + } + return hashlib.sha256( + json.dumps(identity, sort_keys=True, separators=(",", ":")).encode("utf-8") + ).hexdigest()[:20] + + +@contextlib.contextmanager +def evaluation_lock(results_root: Path) -> Iterator[None]: + results_root.mkdir(parents=True, exist_ok=True) + path = results_root / "evaluation.lock" + with path.open("a+", encoding="utf-8") as lock_file: + try: + fcntl.flock(lock_file.fileno(), fcntl.LOCK_EX | fcntl.LOCK_NB) + except BlockingIOError: + lock_file.seek(0) + owner = lock_file.read().strip() or "unknown owner" + raise RuntimeError("Another CARLA evaluation holds the lock: " + owner) + lock_file.seek(0) + lock_file.truncate() + json.dump( + { + "pid": os.getpid(), "host": socket.gethostname(), + "acquired_utc": dt.datetime.now(dt.timezone.utc).isoformat(), + }, + lock_file, + ) + lock_file.flush() + try: + yield + finally: + lock_file.seek(0) + lock_file.truncate() + lock_file.flush() + fcntl.flock(lock_file.fileno(), fcntl.LOCK_UN) + + +def _run_measurement( + config: Dict[str, Any], parameters: Dict[str, Any], is_control: bool, + registry: Dict[str, Any], root: Path, +) -> Tuple[List[Dict[str, Any]], Optional[Dict[str, Any]], Optional[str]]: + attempts, stop_reason = execute_with_recovery( + config, parameters, is_control, registry, root + ) + return attempts, _terminal_measurement(attempts), stop_reason + + +def _rule(name: str, actual: Any, expected: Any, passed: bool) -> Dict[str, Any]: + return {"name": name, "actual": actual, "expected": expected, "passed": passed} + + +def _section_deltas( + candidate: Dict[str, Any], control: Dict[str, Any] +) -> Dict[str, float]: + output = {} + for section, candidate_stats in candidate["section_elapsed_seconds"].items(): + control_stats = control["section_elapsed_seconds"].get(section) + if candidate_stats and control_stats: + output[section] = candidate_stats["mean"] - control_stats["mean"] + return output + + +def _acceptance( + candidate: Dict[str, Any], before: Dict[str, Any], after: Dict[str, Any], + controls: Dict[str, Any], rules: Dict[str, Any], delta: Optional[float], +) -> Tuple[str, List[Dict[str, Any]]]: + minimum = rules["min_controller_measurements"] + checks = [ + _rule("minimum_controller_measurements", candidate["controller_measurements"], minimum, + candidate["controller_measurements"] >= minimum), + _rule("minimum_completion_rate", candidate["completion_rate"], rules["min_completion_rate"], + candidate["completion_rate"] is not None and candidate["completion_rate"] >= rules["min_completion_rate"]), + _rule("maximum_collision_rate", candidate["collision_rate"], rules["max_collision_rate"], + candidate["collision_rate"] is not None and candidate["collision_rate"] <= rules["max_collision_rate"]), + ] + control_finished = ( + before["controller_measurements"] == controls["before"] + and after["controller_measurements"] == controls["after"] + and before["completion_rate"] in (1.0, None if controls["before"] == 0 else -1) + and after["completion_rate"] in (1.0, None if controls["after"] == 0 else -1) + ) + if rules["require_all_controls_finished"]: + checks.append(_rule("all_controls_finished", control_finished, True, control_finished)) + before_time = before["finished_elapsed_seconds"] + after_time = after["finished_elapsed_seconds"] + drift = None + if before_time and after_time: + drift = after_time["mean"] - before_time["mean"] + if rules["max_control_drift_seconds"] is not None and controls["before"] and controls["after"]: + checks.append(_rule("maximum_absolute_control_drift_seconds", drift, + rules["max_control_drift_seconds"], + drift is not None and abs(drift) <= rules["max_control_drift_seconds"])) + if rules["max_control_adjusted_delta_seconds"] is not None: + checks.append(_rule("maximum_control_adjusted_delta_seconds", delta, + rules["max_control_adjusted_delta_seconds"], + delta is not None and delta <= rules["max_control_adjusted_delta_seconds"])) + if candidate["controller_measurements"] < minimum: + return "incomplete", checks + control_rule_names = { + "all_controls_finished", "maximum_absolute_control_drift_seconds" + } + if any( + not item["passed"] and item["name"] in control_rule_names + for item in checks + ): + return "inconclusive", checks + return ("accepted" if all(item["passed"] for item in checks) else "rejected"), checks + + +class CandidateEvaluator: + """Stable execution boundary used by search/optimization clients.""" + + def __init__(self, config: Dict[str, Any], registry: Dict[str, Any], root: Path): + self.config = dict(config) + self.config["baseline_commit"] = git_output( + root, "rev-parse", "%s^{commit}" % config["baseline_commit"] + ) + self.registry = registry + self.root = root + self.results_root = root / config.get("results_dir", "experiment_results") + + def _changed_parameters(self, parameters: Dict[str, Any]) -> Dict[str, Any]: + return { + name: value + for name, value in parameters.items() + if self.registry.get(name, {}).get("baseline_value") != value + } + + def evaluate( + self, parameters: Dict[str, Any], repetitions: int, controls: Any, + candidate_name: Optional[str] = None, resume: bool = True, + ) -> Dict[str, Any]: + with evaluation_lock(self.results_root): + return self._evaluate_locked( + parameters, repetitions, controls, candidate_name, resume + ) + + def _evaluate_locked( + self, parameters: Dict[str, Any], repetitions: int, controls: Any, + candidate_name: Optional[str], resume: bool, + ) -> Dict[str, Any]: + if repetitions < 1: + raise ValueError("repetitions must be positive") + parameters = dict(parameters) + control = _control_spec(controls) + if control["before"] < 0 or control["after"] < 0: + raise ValueError("control counts must be non-negative") + evaluation = self.config.get("evaluation", {}) + penalty = float(evaluation.get("failure_penalty_seconds", 600.0)) + rules = dict(DEFAULT_ACCEPTANCE) + rules.update(evaluation.get("acceptance", {})) + if rules["min_controller_measurements"] is None: + rules["min_controller_measurements"] = repetitions + key = _evaluation_key(self.config, parameters, repetitions, control, rules, penalty) + summary_path = self.results_root / "candidate_summaries" / (key + ".json") + report_path = summary_path.with_suffix(".md") + if resume and summary_path.exists(): + prior = read_json(summary_path) + if prior.get("status") in {"accepted", "rejected", "inconclusive"}: + prior["changed_parameters"] = self._changed_parameters(prior["parameters"]) + prior["human_report_path"] = str(report_path.relative_to(self.root)) + write_json(summary_path, prior) + if not report_path.exists(): + write_candidate_report(report_path, prior) + resumed = dict(prior) + resumed["resume"] = {"skipped_completed": True, "source": str(summary_path.relative_to(self.root))} + return resumed + + attempts: List[Dict[str, Any]] = [] + before_items: List[Optional[Dict[str, Any]]] = [] + candidate_items: List[Optional[Dict[str, Any]]] = [] + after_items: List[Optional[Dict[str, Any]]] = [] + stop_reason = None + phases = ( + (control["before"], control["parameters"], True, before_items), + (repetitions, parameters, False, candidate_items), + (control["after"], control["parameters"], True, after_items), + ) + for count, phase_parameters, is_control, destination in phases: + for _ in range(count): + run_attempts, measurement, stop_reason = _run_measurement( + self.config, phase_parameters, is_control, self.registry, self.root + ) + attempts.extend(run_attempts) + destination.append(measurement) + if stop_reason: + break + if stop_reason: + break + + candidate_summary = summarize_measurements(candidate_items, penalty, self.root) + before_summary = summarize_measurements(before_items, penalty, self.root) + after_summary = summarize_measurements(after_items, penalty, self.root) + control_items = before_items + after_items + control_summary = summarize_measurements(control_items, penalty, self.root) + candidate_objective = candidate_summary["penalized_objective_seconds"] + control_objective = control_summary["penalized_objective_seconds"] + raw_delta = None + if candidate_objective and control_objective: + raw_delta = candidate_objective["mean"] - control_objective["mean"] + status, acceptance_checks = _acceptance( + candidate_summary, before_summary, after_summary, control, rules, raw_delta + ) + if stop_reason: + status = "incomplete" + controls_valid = not any( + not item["passed"] and item["name"] in { + "all_controls_finished", "maximum_absolute_control_drift_seconds" + } + for item in acceptance_checks + ) + delta = raw_delta if controls_valid else None + result = { + "schema_version": SCHEMA_VERSION, + "event_type": "candidate_summary", + "evaluation_key": key, + "candidate_name": candidate_name, + "experiment_name": self.config["name"], + "experiment_id": experiment_id(parameters), + "baseline_commit": self.config["baseline_commit"], + "parameters": parameters, + "changed_parameters": self._changed_parameters(parameters), + "requested": {"repetitions": repetitions, "controls": control}, + "status": status, + "accepted": status == "accepted", + "controls_valid": controls_valid, + "stop_reason": stop_reason, + "acceptance_rules": rules, + "acceptance_checks": acceptance_checks, + "candidate": candidate_summary, + "controls": {"before": before_summary, "after": after_summary, "combined": control_summary}, + "objective": { + "failure_penalty_seconds": penalty, + "penalized_seconds": candidate_objective, + "control_adjusted_delta_seconds": delta, + "section_control_adjusted_delta_seconds": _section_deltas( + candidate_summary, control_summary + ) if controls_valid else {}, + }, + "attempt_ids": [item["attempt_id"] for item in attempts], + "created_utc": dt.datetime.now(dt.timezone.utc).isoformat(), + "result_path": str(summary_path.relative_to(self.root)), + "human_report_path": str(report_path.relative_to(self.root)), + } + write_json(summary_path, result) + write_candidate_report(report_path, result) + append_jsonl(self.results_root / "ledger.jsonl", result) + return result + + +def evaluate( + parameters: Dict[str, Any], repetitions: int, controls: Any, *, + config: Dict[str, Any], registry: Dict[str, Any], root: Path, + candidate_name: Optional[str] = None, resume: bool = True, +) -> Dict[str, Any]: + """Evaluate one parameter configuration and return a normalized result.""" + return CandidateEvaluator(config, registry, root).evaluate( + parameters, repetitions, controls, candidate_name, resume + ) + + +def dry_run_candidates( + config: Dict[str, Any], registry: Dict[str, Any], root: Path +) -> List[Dict[str, Any]]: + candidates = config.get("candidates") + if not isinstance(candidates, list) or not candidates: + raise ValueError("Candidate evaluation requires a non-empty candidates list") + output = [] + for candidate in candidates: + concrete = dict(config) + concrete.pop("candidates", None) + concrete["parameters"] = dict(candidate.get("parameters", {})) + item = dry_run(concrete, registry, root)[0] + item["candidate_name"] = candidate.get("name") + output.append(item) + return output + + +def evaluate_candidates( + config: Dict[str, Any], registry: Dict[str, Any], root: Path, + resume: bool = True, +) -> Dict[str, Any]: + candidates = config.get("candidates") + if not isinstance(candidates, list) or not candidates: + raise ValueError("Candidate evaluation requires a non-empty candidates list") + evaluation = config.get("evaluation", {}) + repetitions = int(evaluation.get("repetitions", 1)) + controls = evaluation.get("controls", { + "before": int(evaluation.get("control_repetitions", 1)), + "after": int(evaluation.get("control_repetitions", 1)), + }) + results = [] + evaluator = CandidateEvaluator(config, registry, root) + for candidate in candidates: + results.append(evaluator.evaluate( + dict(candidate.get("parameters", {})), repetitions, controls, + candidate.get("name"), resume, + )) + return { + "schema_version": SCHEMA_VERSION, + "event_type": "candidate_evaluation_batch", + "experiment_name": config["name"], + "candidate_results": results, + } diff --git a/experiments/harness/reliability.py b/experiments/harness/reliability.py new file mode 100644 index 0000000..a27bb1c --- /dev/null +++ b/experiments/harness/reliability.py @@ -0,0 +1,285 @@ +import datetime as dt +import hashlib +import json +import math +from pathlib import Path +from typing import Any, Callable, Dict, List, Optional + +from .core import ( + append_jsonl, + dry_run, + execute_with_recovery, + git_output, + read_json, + run_recovery, + write_json, +) +from .evaluation import ( + CONTROLLER_OUTCOMES, + evaluation_lock, + summarize_measurements, +) + + +RELIABILITY_SCHEMA_VERSION = 1 + + +def campaign_schedule(repetitions_per_cohort: int) -> List[str]: + if repetitions_per_cohort < 1: + raise ValueError("repetitions_per_cohort must be positive") + return [cohort for _ in range(repetitions_per_cohort) for cohort in ("warm", "forced_clean")] + + +def _campaign_key(config: Dict[str, Any], commit: str) -> str: + reliability = config.get("reliability", {}) + identity = { + "schema_version": RELIABILITY_SCHEMA_VERSION, + "baseline_commit": commit, + "parameters": dict(config.get("parameters", {})), + "repetitions_per_cohort": int(reliability.get("repetitions_per_cohort", 10)), + "material_improvement": float(reliability.get("material_completion_rate_improvement", 0.20)), + "minimum_valid_attempts_per_cohort": int(reliability.get("minimum_valid_attempts_per_cohort", 8)), + "schedule": "warm_then_forced_clean_interleaved", + } + return hashlib.sha256( + json.dumps(identity, sort_keys=True, separators=(",", ":")).encode("utf-8") + ).hexdigest()[:20] + + +def _terminal_measurement(attempts: List[Dict[str, Any]]) -> Optional[Dict[str, Any]]: + for attempt in reversed(attempts): + if attempt.get("outcome") in CONTROLLER_OUTCOMES: + return attempt + return None + + +def wilson_interval(successes: int, total: int, z: float = 1.96) -> Optional[List[float]]: + if total == 0: + return None + probability = successes / total + denominator = 1 + z * z / total + center = (probability + z * z / (2 * total)) / denominator + margin = z * math.sqrt( + probability * (1 - probability) / total + z * z / (4 * total * total) + ) / denominator + return [max(0.0, center - margin), min(1.0, center + margin)] + + +def reliability_decision( + warm: Dict[str, Any], forced: Dict[str, Any], minimum_valid: int, + material_improvement: float, +) -> Dict[str, Any]: + warm_count = warm["controller_measurements"] + forced_count = forced["controller_measurements"] + difference = None + if warm["completion_rate"] is not None and forced["completion_rate"] is not None: + difference = forced["completion_rate"] - warm["completion_rate"] + if warm_count < minimum_valid or forced_count < minimum_valid: + conclusion = "incomplete" + elif difference is not None and difference >= material_improvement: + conclusion = "simulator_state_factor_supported" + else: + conclusion = "no_material_clean_start_improvement" + return { + "conclusion": conclusion, + "forced_clean_minus_warm_completion_rate": difference, + "material_improvement_threshold": material_improvement, + "minimum_valid_attempts_per_cohort": minimum_valid, + "warm_completion_rate_95pct_wilson": wilson_interval( + warm["outcome_counts"].get("finished", 0), warm_count + ), + "forced_clean_completion_rate_95pct_wilson": wilson_interval( + forced["outcome_counts"].get("finished", 0), forced_count + ), + } + + +def render_reliability_report(result: Dict[str, Any]) -> str: + warm = result["cohorts"]["warm"] + forced = result["cohorts"]["forced_clean"] + decision = result["decision"] + labels = { + "incomplete": "INCOMPLETE", + "simulator_state_factor_supported": "SIMULATOR-STATE FACTOR SUPPORTED", + "no_material_clean_start_improvement": "NO MATERIAL CLEAN-START IMPROVEMENT", + } + lines = [ + "# Baseline clean-start A/B reliability campaign", "", + "## Conclusion", "", "**%s.**" % labels[decision["conclusion"]], "", + ] + if decision["conclusion"] == "simulator_state_factor_supported": + lines.append("Forced CARLA restarts improved completion rate by at least the configured material threshold, supporting persistent simulator state as a factor.") + elif decision["conclusion"] == "no_material_clean_start_improvement": + lines.append("Forced CARLA restarts did not materially improve completion rate; the baseline controller appears stochastic or marginal in this setup, subject to the reported sample uncertainty.") + else: + lines.append("The campaign lacks enough controller-valid attempts in one or both cohorts to decide.") + lines.extend(["", "## Cohort results", ""]) + for name, summary in (("Warm server", warm), ("Forced clean start", forced)): + elapsed = summary["finished_elapsed_seconds"] + interval = decision[("warm" if name == "Warm server" else "forced_clean") + "_completion_rate_95pct_wilson"] + lines.extend([ + "### " + name, "", + "- Controller-valid attempts: %d of %d scheduled" % (summary["controller_measurements"], summary["scheduled_repetitions"]), + "- Infrastructure-only misses: %d" % summary["missing_due_to_infrastructure"], + "- Completion rate: %s" % ("unavailable" if summary["completion_rate"] is None else "%.1f%%" % (100 * summary["completion_rate"])), + "- Collision rate: %s" % ("unavailable" if summary["collision_rate"] is None else "%.1f%%" % (100 * summary["collision_rate"])), + "- Completion-rate 95%% Wilson interval: %s" % ("unavailable" if interval is None else "%.1f%%–%.1f%%" % (100 * interval[0], 100 * interval[1])), + "- Finished mean time: %s" % ("unavailable" if elapsed is None else "%.3f s" % elapsed["mean"]), + ]) + difference = decision["forced_clean_minus_warm_completion_rate"] + lines.extend([ + "", "## A/B effect", "", + "- Forced-clean minus warm completion rate: %s" % ("unavailable" if difference is None else "%+.1f percentage points" % (100 * difference)), + "- Material-improvement threshold: %.1f percentage points" % (100 * decision["material_improvement_threshold"]), + "", "The JSON result is the authoritative machine-readable record.", "", + ]) + return "\n".join(lines) + + +def _write_text(path: Path, text: str) -> None: + path.parent.mkdir(parents=True, exist_ok=True) + temporary = path.with_name(path.name + ".tmp") + temporary.write_text(text, encoding="utf-8") + temporary.replace(path) + + +def dry_run_reliability( + config: Dict[str, Any], registry: Dict[str, Any], root: Path +) -> Dict[str, Any]: + concrete = dict(config) + concrete["parameters"] = dict(config.get("parameters", {})) + source = dry_run(concrete, registry, root)[0] + repetitions = int(config.get("reliability", {}).get("repetitions_per_cohort", 10)) + return { + "baseline_commit": source["baseline_commit"], + "parameters": source["parameters"], + "source_diff": source["source_diff"], + "schedule": campaign_schedule(repetitions), + "total_scheduled_attempts": repetitions * 2, + } + + +def run_reliability_campaign( + config: Dict[str, Any], registry: Dict[str, Any], root: Path, + resume: bool = True, + progress_callback: Optional[Callable[[str], None]] = None, +) -> Dict[str, Any]: + commit = git_output(root, "rev-parse", "%s^{commit}" % config["baseline_commit"]) + reliability = config.get("reliability", {}) + repetitions = int(reliability.get("repetitions_per_cohort", 10)) + schedule = campaign_schedule(repetitions) + key = _campaign_key(config, commit) + results_root = root / config.get("results_dir", "experiment_results") + campaign_dir = results_root / "reliability" / key + progress_path = campaign_dir / "progress.json" + result_path = campaign_dir / "result.json" + report_path = campaign_dir / "report.md" + parameters = dict(config.get("parameters", {})) + + with evaluation_lock(results_root): + if resume and result_path.exists() and read_json(result_path).get("campaign_complete"): + result = read_json(result_path) + result["resume"] = {"skipped_completed": True} + if not report_path.exists(): + _write_text(report_path, render_reliability_report(result)) + return result + if resume and progress_path.exists(): + progress = read_json(progress_path) + else: + progress = { + "schema_version": RELIABILITY_SCHEMA_VERSION, + "campaign_key": key, + "baseline_commit": commit, + "parameters": parameters, + "schedule": schedule, + "next_schedule_index": 0, + "records": [], + "started_utc": dt.datetime.now(dt.timezone.utc).isoformat(), + } + write_json(progress_path, progress) + + for index in range(int(progress["next_schedule_index"]), len(schedule)): + cohort = schedule[index] + if progress_callback: + progress_callback("[%d/%d] starting %s baseline attempt" % (index + 1, len(schedule), cohort)) + record: Dict[str, Any] = {"schedule_index": index, "cohort": cohort} + if cohort == "forced_clean": + if progress_callback: + progress_callback("[%d/%d] restarting CARLA through SSM" % (index + 1, len(schedule))) + recovery_config = config.get("recovery") + recovery = ( + run_recovery(recovery_config, config["carla"]) + if recovery_config is not None + else {"event_type": "infrastructure_recovery", "success": False, "error": "recovery_not_configured"} + ) + recovery.update({ + "experiment_name": config["name"], "campaign_key": key, + "reason": "scheduled_forced_clean_start", "schedule_index": index, + }) + recovery_path = campaign_dir / "recoveries" / ("%03d.json" % index) + write_json(recovery_path, recovery) + append_jsonl(results_root / "ledger.jsonl", recovery) + record["scheduled_recovery_path"] = str(recovery_path.relative_to(root)) + if not recovery.get("success"): + if progress_callback: + progress_callback("[%d/%d] scheduled restart failed: %s" % (index + 1, len(schedule), recovery.get("error"))) + record["measurement"] = None + record["attempt_ids"] = [] + record["infrastructure_error"] = recovery.get("error") + progress["records"].append(record) + progress["next_schedule_index"] = index + 1 + write_json(progress_path, progress) + continue + attempts, stop_reason = execute_with_recovery( + dict(config, baseline_commit=commit), parameters, True, registry, root + ) + record["attempt_ids"] = [attempt["attempt_id"] for attempt in attempts] + record["measurement"] = _terminal_measurement(attempts) + record["stop_reason"] = stop_reason + if progress_callback: + measurement = record["measurement"] + progress_callback("[%d/%d] outcome=%s elapsed=%s" % ( + index + 1, len(schedule), + "infra_error" if measurement is None else measurement.get("outcome"), + "n/a" if measurement is None else measurement.get("elapsed_time_seconds"), + )) + progress["records"].append(record) + progress["next_schedule_index"] = index + 1 + write_json(progress_path, progress) + if stop_reason: + break + + measurements = { + cohort: [record.get("measurement") for record in progress["records"] if record["cohort"] == cohort] + for cohort in ("warm", "forced_clean") + } + penalty = float(reliability.get("failure_penalty_seconds", 600.0)) + cohorts = { + cohort: summarize_measurements(items, penalty, root) + for cohort, items in measurements.items() + } + decision = reliability_decision( + cohorts["warm"], cohorts["forced_clean"], + int(reliability.get("minimum_valid_attempts_per_cohort", 8)), + float(reliability.get("material_completion_rate_improvement", 0.20)), + ) + result = { + "schema_version": RELIABILITY_SCHEMA_VERSION, + "event_type": "baseline_reliability_campaign", + "campaign_key": key, + "experiment_name": config["name"], + "baseline_commit": commit, + "parameters": parameters, + "campaign_complete": int(progress["next_schedule_index"]) >= len(schedule), + "schedule": schedule, + "cohorts": cohorts, + "decision": decision, + "attempt_ids": [attempt_id for record in progress["records"] for attempt_id in record.get("attempt_ids", [])], + "result_path": str(result_path.relative_to(root)), + "human_report_path": str(report_path.relative_to(root)), + "completed_utc": dt.datetime.now(dt.timezone.utc).isoformat(), + } + write_json(result_path, result) + _write_text(report_path, render_reliability_report(result)) + append_jsonl(results_root / "ledger.jsonl", result) + return result diff --git a/experiments/hybrid/README.md b/experiments/hybrid/README.md new file mode 100644 index 0000000..fd72418 --- /dev/null +++ b/experiments/hybrid/README.md @@ -0,0 +1,92 @@ +# Hybrid controller research + +This workstream seeks a controller faster than the validated 321.75-second +Summer 2025 baseline. Historical submissions are evidence and ablation sources, +not a target architecture and not code to splice together wholesale. + +## Provenance-backed findings + +The source revisions are pinned in `historical_sources.json`. + +| Component | Historical evidence | Compatibility | Decision | +|---|---|---|---| +| Summer 2024 pure pursuit | 325.6 s winner; current lateral file has the identical SHA-256 | Already present | Retain as applied baseline | +| Custom racing line | Major improvement in Summer/Fall 2024 lineage | Already present and validated | Retain initially | +| Distance-weighted preview steering | Spring 2025 winner concept; used again in Spring 2026 third-place lineage | Can produce a shadow target without changing longitudinal control | Evaluate in shadow mode | +| Left-foot braking | Fall 2025 winner; throttle is retained while brake remains active near release | Orthogonal to path and lateral control, but changes CARLA actuation semantics | Evaluate event-by-event in shadow, then causal online tests | +| Precomputed turn geometry | Fall 2024 experimental controller reported 327.35 s | Useful as a stable geometric feature, not as a complete controller | Feed the predictive planner | +| Expanded section friction and recovery | Spring 2026 winner reported 320.4 s | Directly applicable but still coarse and potentially marginal | Use as benchmark, not final architecture | +| Stanley tracking | Spring 2026 experiment reported 348.9 s | Removes beneficial corner cutting | Reject as primary lateral controller | +| Textbook friction profile | Spring 2026 experiment reported 361 s | CARLA limits were badly calibrated | Retain empirical envelopes from velocity-profile v2 | +| Minimum-curvature racing line | Spring 2026 experiment crashed | Insufficient wall margin | Defer until boundaries and uncertainty are modeled | + +## Proposed novel hybrid + +The intended controller is not a historical submission. It combines their +supported mechanisms inside a distance-domain predictive architecture: + +1. Keep the validated custom racing line and pure-pursuit controller as the + initial applied lateral system. +2. Use the v2 empirical acceleration/deceleration envelopes and precomputed + curvature to plan speed over complete braking events. +3. Track that profile with a stateful event controller, including hysteresis, + rather than recomputing an independent brake-tick threshold each frame. +4. Test a clean-room left-foot-braking actuator only near planned brake release, + where historical evidence says it improves response. +5. Compute distance-weighted preview steering in shadow and promote it only in + intervals where it reduces steering rate without increasing line error or + consuming the stability margin. +6. Apply empirical stability caps and uncertainty penalties learned from both + successful and failed traversals. + +## Candidate ladder + +Each stage must pass offline support checks and forced-clean repeated trials +before the next stage is applied. + +### H0: provenance benchmark + +Reproduce the public Spring 2026 pure-pursuit winner as an independent benchmark. +Do not merge its parameters into the baseline. This determines whether its +reported 320.4-second improvement transfers to this CARLA build. + +### H1: longitudinal shadow planner + +For every tick, emit a shadow target speed, planned brake phase, planned release +distance, and shadow throttle/brake. Applied control remains the validated +baseline. Compare event timing against successful telemetry and collision +boundaries. + +### H2: release-phase actuator + +Apply simultaneous throttle and brake only in one support-qualified event and +only during the final planned braking phase. The first test measures exit speed, +downstream persistence, segment time, and stability; it does not tune broad +sections. + +### H3: weighted-preview lateral shadow + +Compute the alternative target and steering command without applying it. Rank +intervals by reduced steering variation, maintained racing-line margin, and +compatibility with the longitudinal plan. + +### H4: coupled predictive controller + +Promote independently validated longitudinal and lateral mechanisms into a +short-horizon controller with a shared lateral/longitudinal friction budget. + +## Acceptance principles + +- Compare candidates with interleaved forced-clean controls. +- Treat infrastructure failures as pending, never as controller failures. +- Require full completion before considering time improvement. +- Prefer event-local interventions over section-wide constants. +- Preserve the baseline source before every attempt. +- Do not optimize speed in empirically stability-constrained regions such as + custom WP 1240–1409 without an explicit margin experiment. + +## Source-use rule + +The audited public repositories did not expose a license file at their roots. +Their reports and behavior may inform independent designs, but source code must +not be copied into this repository without clarified licensing. diff --git a/experiments/hybrid/historical_sources.json b/experiments/hybrid/historical_sources.json new file mode 100644 index 0000000..7d95699 --- /dev/null +++ b/experiments/hybrid/historical_sources.json @@ -0,0 +1,45 @@ +{ + "schema_version": 1, + "captured_utc": "2026-08-11T02:48:52Z", + "sources": [ + { + "id": "summer_2024_winner", + "repository": "https://github.com/DerekChen1/ROARCompetition", + "commit": "99ded3d8e92c92cb2f601ac265324f2eb01c200e", + "reported_result_seconds": 325.6, + "features": ["custom_racing_line", "pure_pursuit", "curvature_speed_control"], + "relationship_to_current": "Current LateralController.py has the same SHA-256 as this source." + }, + { + "id": "fall_2025_winner", + "repository": "https://github.com/MightyMark3/ROAR_1_S25", + "commit": "78d07a58b31456421f92b368b93d204c7c2d731e", + "features": ["left_foot_braking", "precomputed_turn_experiment", "curvature_speed_control"], + "relationship_to_current": "Distinct longitudinal actuation: retains throttle while braking near release." + }, + { + "id": "spring_2026_third", + "repository": "https://github.com/MightyMark3/ROAR_1_S26", + "commit": "3bd555fcb7d412b1e39656813cd63786a558534c", + "features": ["distance_weighted_preview", "left_foot_braking"], + "relationship_to_current": "Distinct lateral target construction and longitudinal actuation." + }, + { + "id": "spring_2026_winner_pure_pursuit", + "repository": "https://github.com/advaybansal/roar_feb", + "commit": "27d965dac8c97add9a8758532d210bd32604f88f", + "reported_result_seconds": 320.4, + "features": ["expanded_section_mu", "aggressive_post_brake_recovery", "pure_pursuit"], + "relationship_to_current": "Newer direct descendant with a reported 1.4-second improvement." + }, + { + "id": "spring_2026_winner_stanley_experiment", + "repository": "https://github.com/CodeWizard17/ROAR_stuff", + "commit": "326da7ed63897818d38192b98366389fb0b2db5c", + "reported_result_seconds": 348.9, + "features": ["stanley", "physics_speed_profile", "minimum_curvature_line"], + "relationship_to_current": "Negative control: precise tracking lost pure-pursuit corner cutting and was slower." + } + ], + "licensing_note": "No LICENSE or COPYING file was found at the audited repository roots. Reimplement published concepts independently; do not vendor source code." +} diff --git a/experiments/parameters.json b/experiments/parameters.json new file mode 100644 index 0000000..65d75de --- /dev/null +++ b/experiments/parameters.json @@ -0,0 +1,72 @@ +{ + "causal.wp1779_1803_suppress_brake_ticks": { + "file": "competition_code/submission.py", + "baseline_value": 0, + "baseline_text": " steerMultiplier = round((current_speed_kmh + 0.001) / 120, 3)\n", + "replacement_template": " if not 1779 <= self.current_waypoint_idx <= 1803:\n self._wp1799_suppressed_brake_ticks = 0\n elif (\n brake > 0\n and getattr(self, \"_wp1799_suppressed_brake_ticks\", 0) < {value}\n ):\n throttle = 0.0\n brake = 0.0\n gear = max(1, int(current_speed_kmh / 60))\n self._wp1799_suppressed_brake_ticks = (\n getattr(self, \"_wp1799_suppressed_brake_ticks\", 0) + 1\n )\n\n steerMultiplier = round((current_speed_kmh + 0.001) / 120, 3)\n", + "type": "int", "minimum": 0, "maximum": 3, "required_matches": 1 + }, + "causal.wp1240_1295_throttle_cap_percent": { + "file": "competition_code/submission.py", + "baseline_value": 100, + "baseline_text": " steerMultiplier = round((current_speed_kmh + 0.001) / 120, 3)\n", + "replacement_template": " if 1240 <= self.current_waypoint_idx <= 1295:\n throttle = min(throttle, {value} / 100.0)\n\n steerMultiplier = round((current_speed_kmh + 0.001) / 120, 3)\n", + "type": "int", "minimum": 0, "maximum": 100, "required_matches": 1 + }, + "throttle.section_mu.1": { + "file": "competition_code/ThrottleController.py", + "baseline_value": 3.0, + "baseline_text": " 1: 3.00,\n", + "replacement_template": " 1: {value},\n", + "type": "float", "minimum": 0.1, "maximum": 10.0, "required_matches": 1 + }, + "throttle.section_mu.2": { + "file": "competition_code/ThrottleController.py", + "baseline_value": 3.35, + "baseline_text": " 2: 3.35,\n", + "replacement_template": " 2: {value},\n", + "type": "float", "minimum": 0.1, "maximum": 10.0, "required_matches": 1 + }, + "throttle.section_mu.3": { + "file": "competition_code/ThrottleController.py", + "baseline_value": 3.4, + "baseline_text": " 3: 3.4,\n", + "replacement_template": " 3: {value},\n", + "type": "float", "minimum": 0.1, "maximum": 10.0, "required_matches": 1 + }, + "throttle.section_mu.4": { + "file": "competition_code/ThrottleController.py", + "baseline_value": 2.95, + "baseline_text": " 4: 2.95,\n", + "replacement_template": " 4: {value},\n", + "type": "float", "minimum": 0.1, "maximum": 10.0, "required_matches": 1 + }, + "throttle.section_mu.6": { + "file": "competition_code/ThrottleController.py", + "baseline_value": 3.3, + "baseline_text": " 6: 3.3,\n", + "replacement_template": " 6: {value},\n", + "type": "float", "minimum": 0.1, "maximum": 10.0, "required_matches": 1 + }, + "throttle.section_mu.7": { + "file": "competition_code/ThrottleController.py", + "baseline_value": 2.75, + "baseline_text": " 7: 2.75,\n", + "replacement_template": " 7: {value},\n", + "type": "float", "minimum": 0.1, "maximum": 10.0, "required_matches": 1 + }, + "throttle.section_mu.8": { + "file": "competition_code/ThrottleController.py", + "baseline_value": 2.75, + "baseline_text": " 8: 2.75,\n", + "replacement_template": " 8: {value},\n", + "type": "float", "minimum": 0.1, "maximum": 10.0, "required_matches": 1 + }, + "throttle.section_mu.9": { + "file": "competition_code/ThrottleController.py", + "baseline_value": 2.1, + "baseline_text": " 9: 2.1\n", + "replacement_template": " 9: {value}\n", + "type": "float", "minimum": 0.1, "maximum": 10.0, "required_matches": 1 + } +} diff --git a/experiments/search/__init__.py b/experiments/search/__init__.py new file mode 100644 index 0000000..0b865b8 --- /dev/null +++ b/experiments/search/__init__.py @@ -0,0 +1 @@ +"""Search adapters that consume the candidate evaluation API.""" diff --git a/experiments/search/adapter.py b/experiments/search/adapter.py new file mode 100644 index 0000000..fd04b9f --- /dev/null +++ b/experiments/search/adapter.py @@ -0,0 +1,122 @@ +import datetime as dt +import math +import random +import uuid +from pathlib import Path +from typing import Any, Dict, List + +from experiments.harness.core import append_jsonl, write_json +from experiments.harness.evaluation import CandidateEvaluator + + +def _halton(index: int, base: int) -> float: + value = 0.0 + fraction = 1.0 + while index > 0: + fraction /= base + value += fraction * (index % base) + index //= base + return value + + +def _primes(count: int) -> List[int]: + output: List[int] = [] + candidate = 2 + while len(output) < count: + if all(candidate % divisor for divisor in range(2, int(math.sqrt(candidate)) + 1)): + output.append(candidate) + candidate += 1 + return output + + +def propose(config: Dict[str, Any], registry: Dict[str, Any]) -> List[Dict[str, Any]]: + search = config.get("search", {}) + samples = int(search.get("samples", 1)) + if samples < 1: + raise ValueError("search.samples must be positive") + mode = search.get("mode", "halton") + if mode not in {"random", "halton"}: + raise ValueError("search.mode must be random or halton") + space = search.get("space", {}) + if not space: + raise ValueError("search.space must not be empty") + names = sorted(space) + for name in names: + if name not in registry: + raise ValueError("Unregistered search parameter: " + name) + bounds = space[name] + if float(bounds["minimum"]) > float(bounds["maximum"]): + raise ValueError("Invalid search bounds for " + name) + fixed = dict(search.get("fixed_parameters", {})) + unknown_fixed = sorted(set(fixed) - set(registry)) + if unknown_fixed: + raise ValueError("Unregistered fixed parameters: " + ", ".join(unknown_fixed)) + generator = random.Random(search.get("seed", 0)) + bases = _primes(len(names)) + offset = int(search.get("halton_start_index", 1)) + candidates = [] + for sample_index in range(samples): + parameters = dict(fixed) + for dimension, name in enumerate(names): + bounds = space[name] + unit = ( + generator.random() + if mode == "random" + else _halton(offset + sample_index, bases[dimension]) + ) + minimum = float(bounds["minimum"]) + maximum = float(bounds["maximum"]) + value = minimum + unit * (maximum - minimum) + precision = int(bounds.get("precision", 3)) + parameters[name] = round(value, precision) + candidates.append(parameters) + return candidates + + +def run_search( + config: Dict[str, Any], registry: Dict[str, Any], root: Path, + dry_run: bool = False, resume: bool = True, +) -> Dict[str, Any]: + candidates = propose(config, registry) + if dry_run: + return {"mode": config.get("search", {}).get("mode", "halton"), "candidates": candidates} + evaluation = config.get("evaluation", {}) + repetitions = int(evaluation.get("repetitions", 1)) + controls = evaluation.get("controls", {"before": 1, "after": 1}) + evaluator = CandidateEvaluator(config, registry, root) + results = [ + evaluator.evaluate( + parameters, repetitions, controls, + candidate_name="search-%03d" % (index + 1), resume=resume, + ) + for index, parameters in enumerate(candidates) + ] + ranked = sorted( + [item for item in results if item["accepted"] and item["objective"]["control_adjusted_delta_seconds"] is not None], + key=lambda item: item["objective"]["control_adjusted_delta_seconds"], + ) + search_id = dt.datetime.now(dt.timezone.utc).strftime("%Y%m%dT%H%M%S.%fZ") + "-" + uuid.uuid4().hex[:8] + output = { + "schema_version": 1, + "event_type": "candidate_search", + "search_id": search_id, + "experiment_name": config["name"], + "search": config["search"], + "candidate_results": results, + "accepted_ranking": [ + { + "rank": index + 1, + "evaluation_key": item["evaluation_key"], + "parameters": item["parameters"], + "control_adjusted_delta_seconds": item["objective"]["control_adjusted_delta_seconds"], + } + for index, item in enumerate(ranked) + ], + "created_utc": dt.datetime.now(dt.timezone.utc).isoformat(), + } + results_root = root / config.get("results_dir", "experiment_results") + output_path = results_root / "searches" / (search_id + ".json") + output["result_path"] = str(output_path.relative_to(root)) + write_json(output_path, output) + append_jsonl(results_root / "ledger.jsonl", output) + return output diff --git a/experiments/tests/test_harness.py b/experiments/tests/test_harness.py new file mode 100644 index 0000000..460be40 --- /dev/null +++ b/experiments/tests/test_harness.py @@ -0,0 +1,562 @@ +import io +import json +import tempfile +import unittest +import numpy as np +from pathlib import Path +from subprocess import CompletedProcess +from unittest.mock import patch + +from experiments.harness.core import ( + apply_parameters, + expand_config, + experiment_id, + execute_with_recovery, + preflight, + recover_with_ssm, + should_stop, + update_counters, +) +from experiments.harness.evaluation import summarize_measurements +from experiments.harness.evaluation import CandidateEvaluator, _acceptance, evaluation_lock, render_candidate_report +from experiments.search.adapter import propose +from experiments.harness.cli import print_human_reports +from experiments.harness.reliability import ( + campaign_schedule, + reliability_decision, + render_reliability_report, + wilson_interval, +) +from experiments.harness.causal import ( + _campaign_mode, + _compare_focused_cohorts, + _write_report, + causal_schedule, +) +from experiments.analysis.velocity_profile_v2 import _solve_closed +from experiments.analysis.counterfactual_opportunity import CAUSES, _gain_attribution + + +class HarnessTests(unittest.TestCase): + def test_focused_causal_aggregation_handles_all_cohort_availability_states(self): + specification = { + "downstream_waypoints": [1849, 2000, 2200], + "offline_full_delta_kmh": 30.3, + "offline_full_gain_seconds": 1.817, + } + fields = ( + "entry_speed_kmh", "exit_speed_kmh", "minimum_speed_kmh", + "braking_onset_waypoint", "braking_release_waypoint", "total_brake_ticks", + "throttle_reapplication_waypoint", "section_time_seconds", + "total_race_time_seconds", "collision_rate", + ) + + def summary(attempts, offset=0.0): + aggregate = { + field: (None if not attempts else 100.0 + offset) + for field in fields + } + aggregate["downstream_speed_kmh"] = { + str(waypoint): (None if not attempts else 150.0 + offset) + for waypoint in specification["downstream_waypoints"] + } + return {"attempts": attempts, "aggregate": aggregate} + + cases = ( + ("no valid measurements", 0, 0, ["control", "restricted"]), + ("control only", 1, 0, ["restricted"]), + ("treatment only", 0, 1, ["control"]), + ("both cohorts present", 1, 1, []), + ) + for name, controls, treatments, missing in cases: + with self.subTest(name=name): + result = _compare_focused_cohorts( + { + "control": summary(controls), + "restricted": summary(treatments, 4.0), + }, + specification, + expected_measurements_per_cohort=1, + ) + self.assertEqual(result["missing_cohorts"], missing) + self.assertEqual(result["complete"], not missing) + expected_delta = 4.0 if not missing else None + self.assertEqual( + result["restricted_minus_control"]["exit_speed_kmh"], + expected_delta, + ) + self.assertEqual( + result["restricted_minus_control"]["downstream_speed_kmh"]["1849"], + expected_delta, + ) + if missing: + self.assertIsNone(result["actual_total_race_gain_seconds"]) + self.assertIsNone(result["offline_predicted_gain_for_observed_exit_delta_seconds"]) + self.assertIsNone(result["actual_minus_offline_predicted_gain_seconds"]) + else: + self.assertIsNotNone(result["actual_total_race_gain_seconds"]) + self.assertIsNotNone(result["offline_predicted_gain_for_observed_exit_delta_seconds"]) + + def test_counterfactual_cause_vocabulary_is_stable(self): + self.assertEqual( + CAUSES, + { + "target-speed limitation", "braking onset", "braking magnitude", + "braking release", "throttle onset", "acceleration capability", + "preceding-corner exit speed", "racing-line/curvature limitation", + "unsupported model extrapolation", + }, + ) + + def test_counterfactual_gain_separates_carry_in_from_acceleration(self): + profile = [ + {"baseline_median_speed_kmh": 100.0, "stability_capped_planned_speed_kmh": 110.0}, + {"baseline_median_speed_kmh": 105.0, "stability_capped_planned_speed_kmh": 120.0}, + ] + attribution = _gain_attribution([0, 1], {0, 1}, profile, 5.0) + self.assertGreater(attribution["initial_velocity_advantage_seconds"], 0.0) + self.assertGreater(attribution["continued_acceleration_difference_seconds"], 0.0) + self.assertAlmostEqual( + attribution["total_gain_seconds"], + attribution["initial_velocity_advantage_seconds"] + + attribution["continued_acceleration_difference_seconds"], + ) + + def test_closed_velocity_solver_enforces_forward_and_backward_limits(self): + limit = np.array([100.0, 300.0, 300.0, 80.0]) + curvature = np.zeros(4) + envelope = { + "speed_centers_kmh": np.array([0.0, 300.0]), + "acceleration_low_lateral_mps2": np.array([2.0, 2.0]), + "acceleration_high_lateral_mps2": np.array([2.0, 2.0]), + "deceleration_mps2": np.array([4.0, 4.0]), + } + solved, iterations, error = _solve_closed(limit, curvature, 10.0, envelope) + self.assertGreater(iterations, 0) + self.assertLess(error, 0.0011) + self.assertTrue(np.all(solved <= limit + 1e-8)) + velocity = solved / 3.6 + for index in range(4): + following = (index + 1) % 4 + self.assertLessEqual(velocity[following] ** 2, velocity[index] ** 2 + 2 * 2.0 * 10.0 + 1e-6) + self.assertLessEqual(velocity[index] ** 2, velocity[following] ** 2 + 2 * 4.0 * 10.0 + 1e-6) + + def test_causal_schedule_interleaves_forced_clean_cohorts(self): + self.assertEqual( + causal_schedule(3), + ["control", "restricted", "control", "restricted", "control", "restricted"], + ) + self.assertEqual(causal_schedule(3, include_controls=False), ["restricted"] * 3) + + def test_empty_single_cohort_campaign_is_reported_as_baseline_validation(self): + unavailable = { + "completion_rate": None, + "collision_rate": None, + "finished_elapsed_seconds": None, + } + measured = { + "completion_rate": 1.0, + "collision_rate": 0.0, + "finished_elapsed_seconds": {"mean": 321.76}, + } + result = { + "experiment_name": "instrumented-baseline-validation", + "schedule": ["restricted"] * 5, + "parameters": {"control": {}, "restricted": {}}, + "cohorts": {"control": unavailable, "restricted": measured}, + "arrival_analysis": { + "custom_waypoint_window": [1402, 1409], + "baseline": {"traversals": 120, "mean_speed_kmh": 172.471}, + "restricted": {"traversals": 15, "mean_speed_kmh": 172.430}, + "restricted_minus_baseline_mean_kmh": -0.041, + "restricted_zone_collisions": 0, + }, + } + self.assertEqual(_campaign_mode(result), "baseline_validation") + with tempfile.TemporaryDirectory() as temporary: + report_path = Path(temporary) / "report.md" + _write_report(report_path, result) + report = report_path.read_text(encoding="utf-8") + self.assertIn("## Instrumented baseline", report) + self.assertIn("## Baseline equivalence check", report) + self.assertIn("unchanged baseline behavior", report) + self.assertNotIn("## Treatment", report) + self.assertNotIn("## Baseline control", report) + + def test_parameterized_single_cohort_remains_causal_treatment(self): + result = { + "schedule": ["restricted"], + "parameters": { + "control": {}, + "restricted": {"throttle.section_mu.3": 3.5}, + }, + } + self.assertEqual(_campaign_mode(result), "causal_treatment") + + def base_config(self): + return { + "name": "test", + "baseline_commit": "fa7ff6f", + "carla": {"expected_map": "Carla/Maps/Monza"}, + "sweep": { + "parameter": "throttle.section_mu.3", + "values": [3.4, 3.3], + "repetitions": 1, + }, + "controls": { + "enabled": True, + "every": 1, + "at_start": True, + "at_end": True, + "parameters": {}, + }, + } + + def test_experiment_id_identifies_parameters(self): + self.assertEqual(experiment_id({"a": 1}), experiment_id({"a": 1})) + self.assertNotEqual(experiment_id({"a": 1}), experiment_id({"a": 2})) + + def test_controls_are_interleaved(self): + expanded = expand_config(self.base_config()) + self.assertEqual( + [item["is_control"] for item in expanded], + [True, False, True, False, True], + ) + + def test_exact_parameter_substitution(self): + registry = { + "mu": { + "file": "controller.py", + "baseline_text": "mu = 3.4\n", + "replacement_template": "mu = {value}\n", + "type": "float", + "minimum": 0.1, + "maximum": 10.0, + "required_matches": 1, + } + } + with tempfile.TemporaryDirectory() as temporary: + root = Path(temporary) + (root / "controller.py").write_text("mu = 3.4\n", encoding="utf-8") + diff = apply_parameters(root, {"mu": 3.3}, registry) + self.assertEqual( + (root / "controller.py").read_text(encoding="utf-8"), "mu = 3.3\n" + ) + self.assertIn("-mu = 3.4", diff) + self.assertIn("+mu = 3.3", diff) + + def test_stop_conditions(self): + counters = {"collision": 2, "infra_error": 0, "controller_hang": 0} + self.assertIsNotNone( + should_stop(counters, {"consecutive_collisions": 2}) + ) + + def test_baseline_and_explicit_baseline_parameter_have_distinct_ids(self): + self.assertNotEqual( + experiment_id({}), + experiment_id({"throttle.section_mu.3": 3.4}), + ) + + def test_successful_control_does_not_reset_primary_collision_streak(self): + counters = {name: 0 for name in ( + "finished", "collision", "timeout", "exception", + "infra_error", "controller_hang", + )} + update_counters(counters, "collision", is_control=False) + update_counters(counters, "finished", is_control=True) + self.assertEqual(counters["collision"], 1) + + def test_preflight_rejects_stale_synchronous_world(self): + settings = type( + "Settings", (), {"fixed_delta_seconds": 0.05, "synchronous_mode": True} + )() + world = unittest.mock.Mock() + world.get_map.return_value.name = "Carla/Maps/Monza" + world.get_settings.return_value = settings + client = unittest.mock.Mock() + client.get_world.return_value = world + client.get_server_version.return_value = "server" + client.get_client_version.return_value = "client" + carla_module = type("Carla", (), {"Client": unittest.mock.Mock(return_value=client)}) + with patch.dict("sys.modules", {"carla": carla_module}): + result = preflight( + { + "host": "localhost", + "port": 2000, + "expected_map": "Carla/Maps/Monza", + } + ) + self.assertFalse(result["ok"]) + self.assertIn("synchronous mode", result["error"]) + + @patch("experiments.harness.core.record_recovery") + @patch("experiments.harness.core.execute_attempt") + def test_execute_with_recovery_retries_infra_error( + self, execute_attempt_mock, record_recovery_mock + ): + execute_attempt_mock.side_effect = [ + {"outcome": "infra_error", "attempt_id": "a", "experiment_id": "e"}, + {"outcome": "finished", "attempt_id": "b", "experiment_id": "e"}, + ] + record_recovery_mock.return_value = {"success": True} + attempts, stop_reason = execute_with_recovery( + { + "name": "test", + "carla": {}, + "execution": {"max_infra_retries": 1}, + }, + {}, + True, + {}, + Path("."), + ) + self.assertEqual([item["outcome"] for item in attempts], ["infra_error", "finished"]) + self.assertIsNone(stop_reason) + + def test_candidate_summary_excludes_infrastructure_and_penalizes_collision(self): + measurements = [ + { + "attempt_id": "finished", + "outcome": "finished", + "elapsed_time_seconds": 320.0, + "telemetry_path": None, + }, + { + "attempt_id": "collision", + "outcome": "collision", + "elapsed_time_seconds": 40.0, + "telemetry_path": None, + }, + None, + ] + summary = summarize_measurements(measurements, 600.0, Path(".")) + self.assertEqual(summary["controller_measurements"], 2) + self.assertEqual(summary["missing_due_to_infrastructure"], 1) + self.assertEqual(summary["completion_rate"], 0.5) + self.assertEqual(summary["penalized_objective_seconds"]["mean"], 460.0) + + def test_acceptance_rejects_collision_rate(self): + candidate = { + "controller_measurements": 2, + "completion_rate": 0.5, + "collision_rate": 0.5, + } + empty_control = { + "controller_measurements": 0, + "completion_rate": None, + "finished_elapsed_seconds": None, + } + status, checks = _acceptance( + candidate, + empty_control, + empty_control, + {"before": 0, "after": 0}, + { + "min_controller_measurements": 2, + "min_completion_rate": 0.5, + "max_collision_rate": 0.0, + "require_all_controls_finished": False, + "max_control_drift_seconds": None, + "max_control_adjusted_delta_seconds": None, + }, + None, + ) + self.assertEqual(status, "rejected") + collision_check = next(item for item in checks if item["name"] == "maximum_collision_rate") + self.assertFalse(collision_check["passed"]) + + def test_failed_control_makes_evaluation_inconclusive(self): + candidate = { + "controller_measurements": 3, + "completion_rate": 1.0, + "collision_rate": 0.0, + } + failed_control = { + "controller_measurements": 1, + "completion_rate": 0.0, + "finished_elapsed_seconds": None, + } + good_control = { + "controller_measurements": 1, + "completion_rate": 1.0, + "finished_elapsed_seconds": {"mean": 321.8}, + } + status, _ = _acceptance( + candidate, + failed_control, + good_control, + {"before": 1, "after": 1}, + { + "min_controller_measurements": 3, + "min_completion_rate": 1.0, + "max_collision_rate": 0.0, + "require_all_controls_finished": True, + "max_control_drift_seconds": 1.0, + "max_control_adjusted_delta_seconds": None, + }, + -100.0, + ) + self.assertEqual(status, "inconclusive") + + def test_evaluation_lock_excludes_second_process_owner(self): + with tempfile.TemporaryDirectory() as temporary: + results = Path(temporary) + with evaluation_lock(results): + with self.assertRaisesRegex(RuntimeError, "holds the lock"): + with evaluation_lock(results): + pass + + def test_halton_search_is_deterministic_and_multi_parameter(self): + config = { + "search": { + "mode": "halton", + "samples": 2, + "space": { + "a": {"minimum": 0, "maximum": 1, "precision": 3}, + "b": {"minimum": 10, "maximum": 20, "precision": 3}, + }, + } + } + registry = {"a": {}, "b": {}} + first = propose(config, registry) + second = propose(config, registry) + self.assertEqual(first, second) + self.assertEqual(set(first[0]), {"a", "b"}) + + @patch("experiments.harness.evaluation.git_output", return_value="full-commit") + @patch("experiments.harness.evaluation._evaluation_key", return_value="known-key") + def test_completed_candidate_is_resumed_without_execution(self, _key, _git): + with tempfile.TemporaryDirectory() as temporary: + root = Path(temporary) + summary_path = root / "results" / "candidate_summaries" / "known-key.json" + summary_path.parent.mkdir(parents=True) + summary_path.write_text( + json.dumps({ + "status": "accepted", + "evaluation_key": "known-key", + "parameters": {}, + }), + encoding="utf-8", + ) + summary_path.with_suffix(".md").write_text("existing report", encoding="utf-8") + evaluator = CandidateEvaluator( + { + "name": "test", + "baseline_commit": "short", + "results_dir": "results", + }, + {}, + root, + ) + result = evaluator.evaluate({}, 1, {"before": 0, "after": 0}) + self.assertTrue(result["resume"]["skipped_completed"]) + + def test_human_report_suppresses_invalid_control_delta(self): + result = { + "candidate_name": "baseline", + "experiment_id": "baseline-id", + "status": "inconclusive", + "parameters": {}, + "controls_valid": False, + "candidate": { + "controller_measurements": 1, "scheduled_repetitions": 1, + "completion_rate": 1.0, "collision_rate": 0.0, + "finished_elapsed_seconds": { + "mean": 321.8, "median": 321.8, "minimum": 321.8, + "maximum": 321.8, "stdev": 0.0, + }, + "terminal_failures": [], + }, + "controls": { + "before": {"finished_elapsed_seconds": None}, + "after": {"finished_elapsed_seconds": {"mean": 321.8}}, + }, + "objective": { + "control_adjusted_delta_seconds": None, + "section_control_adjusted_delta_seconds": {}, + }, + "acceptance_checks": [], + } + report = render_candidate_report(result) + self.assertIn("INCONCLUSIVE", report) + self.assertIn("unavailable because controls were invalid", report) + + def test_cli_prints_saved_human_report_to_stderr(self): + with tempfile.TemporaryDirectory() as temporary: + root = Path(temporary) + report = root / "results" / "candidate.md" + report.parent.mkdir(parents=True) + report.write_text("Plain English result", encoding="utf-8") + with patch("sys.stderr", new_callable=io.StringIO) as stderr: + print_human_reports( + {"candidate_results": [{"human_report_path": "results/candidate.md"}]}, + root, + ) + self.assertIn("Plain English result", stderr.getvalue()) + + def test_reliability_schedule_is_interleaved(self): + self.assertEqual( + campaign_schedule(3), + ["warm", "forced_clean", "warm", "forced_clean", "warm", "forced_clean"], + ) + + def test_reliability_decision_detects_material_clean_start_effect(self): + warm = { + "controller_measurements": 10, + "completion_rate": 0.6, + "outcome_counts": {"finished": 6, "collision": 4}, + } + forced = { + "controller_measurements": 10, + "completion_rate": 0.9, + "outcome_counts": {"finished": 9, "collision": 1}, + } + decision = reliability_decision(warm, forced, 8, 0.2) + self.assertEqual(decision["conclusion"], "simulator_state_factor_supported") + self.assertAlmostEqual(decision["forced_clean_minus_warm_completion_rate"], 0.3) + + def test_wilson_interval_contains_observed_rate(self): + interval = wilson_interval(7, 10) + self.assertLessEqual(interval[0], 0.7) + self.assertGreaterEqual(interval[1], 0.7) + + @patch("experiments.harness.core.preflight") + @patch("experiments.harness.core.run_aws_command") + def test_ssm_recovery_waits_for_monza(self, aws_command, carla_preflight): + aws_command.side_effect = [ + CompletedProcess([], 0, "command-123\n", ""), + CompletedProcess( + [], + 0, + json.dumps( + { + "Status": "Success", + "ResponseCode": 0, + "StandardOutputContent": "restarted", + "StandardErrorContent": "", + } + ), + "", + ), + ] + carla_preflight.return_value = { + "ok": True, + "map": "Carla/Maps/Monza", + } + recovery = recover_with_ssm( + { + "region": "us-east-1", + "instance_id": "i-test", + "restart_command": "restart", + "command_timeout_seconds": 1, + "readiness_timeout_seconds": 1, + }, + {"expected_map": "Carla/Maps/Monza"}, + ) + self.assertTrue(recovery["success"]) + self.assertEqual(recovery["command_id"], "command-123") + self.assertEqual(recovery["readiness"]["map"], "Carla/Maps/Monza") + + +if __name__ == "__main__": + unittest.main() diff --git a/experiments/tests/test_longitudinal_instrumentation.py b/experiments/tests/test_longitudinal_instrumentation.py new file mode 100644 index 0000000..20a5543 --- /dev/null +++ b/experiments/tests/test_longitudinal_instrumentation.py @@ -0,0 +1,87 @@ +import sys +import unittest +from pathlib import Path + +import numpy as np + + +COMPETITION_CODE = Path(__file__).resolve().parents[2] / "competition_code" +if str(COMPETITION_CODE) not in sys.path: + sys.path.insert(0, str(COMPETITION_CODE)) + +from SpeedData import SpeedData +from ThrottleController import ThrottleController +from telemetry import RaceTelemetry + + +class LongitudinalInstrumentationTests(unittest.TestCase): + def test_debug_branch_mirrors_controller_decisions(self): + cases = ( + # current, recommended, previous, counter, branch, throttle, brake + (220.0, 218.0, 223.0, 0, "throttle_maintain_over", None, 0), + (222.3, 218.4, 225.7, 0, "brake_initiate", -1, 1), + (250.0, 235.0, 252.0, 2, "brake_counter", -1, 1), + (200.0, 250.0, 199.0, 0, "throttle_full", 1, 0), + ) + for current, recommended, previous, counter, branch, throttle, brake in cases: + with self.subTest(branch=branch): + controller = ThrottleController() + controller.previous_speed = previous + controller.brake_ticks = counter + speed_data = SpeedData(3.0, current, 190.0, recommended) + self.assertEqual(controller._debug_decision_branch(speed_data), branch) + actual_throttle, actual_brake = controller.speed_data_to_throttle_and_brake(speed_data) + self.assertEqual(actual_brake, brake) + if throttle is not None: + self.assertEqual(actual_throttle, throttle) + + def test_debug_branch_does_not_change_controller_state(self): + controller = ThrottleController() + controller.previous_speed = 250.0 + controller.brake_ticks = 2 + speed_data = SpeedData(3.0, 248.0, 200.0, 235.0) + before = (controller.previous_speed, controller.brake_ticks) + controller._debug_decision_branch(speed_data) + self.assertEqual((controller.previous_speed, controller.brake_ticks), before) + + def test_race_telemetry_records_raw_decision_and_steering_change(self): + controller = type("Controller", (), {"last_longitudinal_debug": { + "raw_throttle": -1, "raw_brake": 1, + "decision_branch": "brake_initiate", + "recommended_speed_kmh": 218.4, + "brake_ticks_before": 0, + "brake_ticks_after_decision": 1, + "brake_ticks_after_run": 0, + }})() + solution = type("Solution", (), { + "throttle_controller": controller, + "current_waypoint_idx": 1803, + "current_section": 4, + "lapNum": 1, + })() + telemetry = RaceTelemetry("unused") + common = dict( + location=np.zeros(3), velocity=np.zeros(3), + official_waypoint_index=1, solution=solution, + collision_impulse=0.0, + ) + telemetry.record_tick( + tick=1, sim_time_seconds=0.0, + control={"throttle": 0.0, "brake": 0.0, "steer": 0.1, "target_gear": 4}, + **common, + ) + telemetry.record_tick( + tick=2, sim_time_seconds=0.05, + control={"throttle": 0.0, "brake": 1.0, "steer": 0.15, "target_gear": -1}, + **common, + ) + first, second = telemetry.samples + self.assertEqual(first["controller_raw_brake"], 1) + self.assertEqual(first["controller_decision_branch"], "brake_initiate") + self.assertEqual(first["controller_recommended_speed_kmh"], 218.4) + self.assertEqual(first["steer_change"], 0.0) + self.assertAlmostEqual(second["steer_change"], 0.05) + + +if __name__ == "__main__": + unittest.main()