Differentiable Separating-Axis Clearance Barrier / results.json

Mechanism confirmed, baseline not beaten

Raw ⬇ ZIP
 1{
 2  "seed": 2746,
 3  "device": "cuda",
 4  "math": {
 5    "zero_crossing": {
 6      "predicted_exact_m": 2.0,
 7      "observed_exact_m": 2.0,
 8      "observed_smooth_zero_m": 1.9500000000000002,
 9      "smooth_bias_m": 0.06932220421731472
10    },
11    "smoothing_bound": {
12      "predicted_error_leq_tau_log4": [
13        {
14          "tau": 0.2,
15          "value": 1.0039492845535278,
16          "error": 0.003949284553527832,
17          "bound": 0.2772588722239781
18        },
19        {
20          "tau": 0.1,
21          "value": 1.0000337362289429,
22          "error": 3.3736228942871094e-05,
23          "bound": 0.13862943611198905
24        },
25        {
26          "tau": 0.05,
27          "value": 1.0,
28          "error": 0.0,
29          "bound": 0.06931471805599453
30        },
31        {
32          "tau": 0.01,
33          "value": 1.0,
34          "error": 0.0,
35          "bound": 0.013862943611198907
36        }
37      ]
38    },
39    "gradient": {
40      "predicted_dx_near_1": [
41        {
42          "tau": 0.5,
43          "dx": 0.9820138812065125
44        },
45        {
46          "tau": 0.2,
47          "dx": 0.9999547004699707
48        },
49        {
50          "tau": 0.1,
51          "dx": 0.9999995827674866
52        },
53        {
54          "tau": 0.05,
55          "dx": 0.9999995827674866
56        },
57        {
58          "tau": 0.01,
59          "dx": 1.0000014305114746
60        }
61      ]
62    }
63  },
64  "mini_experiment": {
65    "baseline": {
66      "mse": 2.7087015041615814e-05,
67      "min_margin": -0.997573733329773,
68      "collision_fraction": 0.8893229365348816
69    },
70    "barrier": {
71      "mse": 0.30904942750930786,
72      "min_margin": -0.1329866647720337,
73      "collision_fraction": 0.03515625
74    }
75  }
76}