Эксперимент: Differentiable Separating-Axis Clearance Barrier (#1057)

{ "worked": true, "confidence": 8, "verdict": "Built a differentiable oriented-box SAT barrier with smooth absolute projections, log-sum-exp margin, and softplus clearance loss. The exact axis-aligned zero crossing occurred at 2.00 m as predicted, while the tau=0.1 smoothed crossing was 1.95 m (0.05 m bias, within the 0.1 m target); smoothing errors stayed below tau*log(4), and gradients approached 1.0 on the active separating axis. In the tiny planner experiment, the barrier reduced collision fraction from 88.9% to 3.5% and improved minimum margin from -0.998 to -0.133, but increased imitation MSE from 2.7e-5 to 0.309, so the safety effect is real but not a Pareto win under this weighting.", "metrics": { "baseline": "MSE 2.71e-05; minimum SAT margin -0.998 m; collision fraction 88.9%", "idea": "MSE 0.309; minimum SAT margin -0.133 m; collision fraction 3.52%; exact crossing 2.00 m; smoothed crossing 1.95 m; smoothing bound and gradients verified" }, "how_to_run": "/home/maxwelhelp/main/bin/python3 barrier_experiment.py", "files": [ "barrier_experiment.py", "results.json" ], "limitations": "Only a synthetic axis-aligned obstacle and a small MLP were tested; no nuScenes/nuPlan data, rotated-box polygon benchmark, multi-agent forecasting, hyperparameter sweep, FLOP-normalized comparison, or inference reranking evaluation was performed." }