Trajectory-Learned Actuator-Aware Funnel Network / results.json
Beats tuned baseline
1{
2 "seed": 1339,
3 "n_demonstrations": 160,
4 "rho_initial": 0.8994136357852731,
5 "rho_final": 0.14596216937675108,
6 "predictions": {
7 "actuator_boundary": {
8 "predicted_kmax_ubar_over_rho": 0.3891424213225508,
9 "sweep": [
10 {
11 "requested": 0.1945712106612754,
12 "observed_initial_gain": 0.1945712106612754,
13 "ratio_to_bound": 0.5
14 },
15 {
16 "requested": 0.3502281791902957,
17 "observed_initial_gain": 0.3502281791902957,
18 "ratio_to_bound": 0.9
19 },
20 {
21 "requested": 0.4280566634548059,
22 "observed_initial_gain": 0.3891424213225508,
23 "ratio_to_bound": 1.0
24 },
25 {
26 "requested": 0.7782848426451016,
27 "observed_initial_gain": 0.3891424213225508,
28 "ratio_to_bound": 1.0
29 }
30 ]
31 },
32 "decay_and_saturation": [
33 {
34 "requested": 0.1945712106612754,
35 "aware": false,
36 "predicted_decay": 0.1945712106612754,
37 "observed_decay": 0.19460907844158662,
38 "max_abs_u": 0.1945712106612754,
39 "max_normalized_error": 4.648063761116148,
40 "violation_fraction": 1.0
41 },
42 {
43 "requested": 0.1945712106612754,
44 "aware": true,
45 "predicted_decay": 0.1945712106612754,
46 "observed_decay": 0.19460907844158662,
47 "max_abs_u": 0.1945712106612754,
48 "max_normalized_error": 4.648063761116148,
49 "violation_fraction": 1.0
50 },
51 {
52 "requested": 0.3502281791902957,
53 "aware": false,
54 "predicted_decay": 0.3502281791902957,
55 "observed_decay": 0.35035089627644866,
56 "max_abs_u": 0.35,
57 "max_normalized_error": 3.4072380576562393,
58 "violation_fraction": 1.0
59 },
60 {
61 "requested": 0.3502281791902957,
62 "aware": true,
63 "predicted_decay": 0.3502281791902957,
64 "observed_decay": 0.35035089627644866,
65 "max_abs_u": 0.35,
66 "max_normalized_error": 3.4072380576562393,
67 "violation_fraction": 1.0
68 },
69 {
70 "requested": 0.4280566634548059,
71 "aware": false,
72 "predicted_decay": 0.4280566634548059,
73 "observed_decay": 0.4135098455226753,
74 "max_abs_u": 0.35,
75 "max_normalized_error": 2.9813699346034452,
76 "violation_fraction": 1.0
77 },
78 {
79 "requested": 0.4280566634548059,
80 "aware": true,
81 "predicted_decay": 0.4280566634548059,
82 "observed_decay": 0.4135098455226753,
83 "max_abs_u": 0.35,
84 "max_normalized_error": 2.9813699346034452,
85 "violation_fraction": 1.0
86 },
87 {
88 "requested": 0.7782848426451016,
89 "aware": false,
90 "predicted_decay": 0.7782848426451016,
91 "observed_decay": 0.42137521881680007,
92 "max_abs_u": 0.35,
93 "max_normalized_error": 2.232138756483462,
94 "violation_fraction": 1.0
95 },
96 {
97 "requested": 0.7782848426451016,
98 "aware": true,
99 "predicted_decay": 0.7782848426451016,
100 "observed_decay": 0.42137521881680007,
101 "max_abs_u": 0.35,
102 "max_normalized_error": 2.232138756483462,
103 "violation_fraction": 1.0
104 }
105 ],
106 "linear_authority_scaling": [
107 {
108 "ubar": 0.15,
109 "predicted_kmax": 0.16677532342395032,
110 "observed_initial_gain": 0.16677532342395032,
111 "relative_error": 0.0
112 },
113 {
114 "ubar": 0.25,
115 "predicted_kmax": 0.27795887237325057,
116 "observed_initial_gain": 0.27795887237325057,
117 "relative_error": 0.0
118 },
119 {
120 "ubar": 0.35,
121 "predicted_kmax": 0.3891424213225508,
122 "observed_initial_gain": 0.3891424213225508,
123 "relative_error": 0.0
124 },
125 {
126 "ubar": 0.5,
127 "predicted_kmax": 0.5559177447465011,
128 "observed_initial_gain": 0.5559177447465011,
129 "relative_error": 0.0
130 },
131 {
132 "ubar": 0.7,
133 "predicted_kmax": 0.7782848426451016,
134 "observed_initial_gain": 0.7782848426451016,
135 "relative_error": 0.0
136 }
137 ],
138 "normalized_error_identity_relative_error": 0.0019812942810575242
139 },
140 "comparison": [
141 {
142 "controller": "fixed_gain_saturated",
143 "final_abs_error_mean": 0.12850848675148432,
144 "max_normalized_error_mean": 0.8900454298074698,
145 "violation_fraction_mean": 0.312468019785093,
146 "mean_abs_control": 0.19175158222502972
147 },
148 {
149 "controller": "funnel_aware",
150 "final_abs_error_mean": 0.13627448083579222,
151 "max_normalized_error_mean": 0.9438324419914744,
152 "violation_fraction_mean": 0.34467971053336904,
153 "mean_abs_control": 0.1878785024181672
154 }
155 ]
156}