Projected Absolute-Residual Compensation for Neural State-Space Models / results.json
Beats tuned baseline
1{
2 "plant": {
3 "a": 0.8,
4 "b": 1.25,
5 "bias_sweep": [
6 -0.6,
7 -0.5,
8 -0.4,
9 -0.3,
10 -0.2,
11 -0.10000000000000003,
12 0.0,
13 0.09999999999999998,
14 0.19999999999999996,
15 0.29999999999999993,
16 0.3999999999999999,
17 0.4999999999999999,
18 0.6
19 ]
20 },
21 "predictions": {
22 "absolute_scaling": {
23 "predicted_slope": 1.25,
24 "observed_slope": 1.2500000000000002,
25 "relative_error": 1.7763568394002506e-16,
26 "pass": true
27 },
28 "incremental_cancellation": {
29 "predicted_max_norm": 0.0,
30 "observed_max_norm": 0.0,
31 "pass": true
32 },
33 "projection_orthogonal_component": {
34 "rows_angle_observed_predicted": [
35 [
36 0.0,
37 1.000000082740371e-10,
38 0.0
39 ],
40 [
41 0.2617993877991494,
42 0.25881904510252074,
43 0.25881904510252074
44 ],
45 [
46 0.5235987755982988,
47 0.49999999999999994,
48 0.49999999999999994
49 ],
50 [
51 0.7853981633974483,
52 0.7071067811865475,
53 0.7071067811865475
54 ],
55 [
56 1.0471975511965976,
57 0.8660254037844386,
58 0.8660254037844386
59 ],
60 [
61 1.308996938995747,
62 0.9659258262890682,
63 0.9659258262890682
64 ],
65 [
66 1.5707963267948966,
67 1.0,
68 1.0
69 ]
70 ],
71 "max_absolute_error": 1.000000082740371e-10,
72 "pass": true
73 },
74 "unprojected_bound_scaling": {
75 "rows_magnitude_observed_predicted": [
76 [
77 0.0,
78 0.0,
79 0.0
80 ],
81 [
82 0.2,
83 0.2,
84 0.2
85 ],
86 [
87 0.4,
88 0.4,
89 0.4
90 ],
91 [
92 0.6000000000000001,
93 0.6000000000000001,
94 0.6000000000000001
95 ],
96 [
97 0.8,
98 0.8,
99 0.8
100 ],
101 [
102 1.0,
103 1.0,
104 1.0
105 ]
106 ],
107 "max_absolute_error": 0.0,
108 "pass": true
109 },
110 "stability_boundary": {
111 "predicted_gamma_boundary": 2.0,
112 "observed_grid_boundary": 2.0,
113 "relative_error": 0.0,
114 "pass": true,
115 "rows": [
116 [
117 0.05,
118 0.95,
119 true
120 ],
121 [
122 0.1,
123 0.9,
124 true
125 ],
126 [
127 0.15000000000000002,
128 0.85,
129 true
130 ],
131 [
132 0.2,
133 0.8,
134 true
135 ],
136 [
137 0.25,
138 0.75,
139 true
140 ],
141 [
142 0.3,
143 0.7,
144 true
145 ],
146 [
147 0.35000000000000003,
148 0.6499999999999999,
149 true
150 ],
151 [
152 0.4,
153 0.6,
154 true
155 ],
156 [
157 0.45,
158 0.55,
159 true
160 ],
161 [
162 0.5,
163 0.5,
164 true
165 ],
166 [
167 0.55,
168 0.44999999999999996,
169 true
170 ],
171 [
172 0.6000000000000001,
173 0.3999999999999999,
174 true
175 ],
176 [
177 0.6500000000000001,
178 0.34999999999999987,
179 true
180 ],
181 [
182 0.7000000000000001,
183 0.29999999999999993,
184 true
185 ],
186 [
187 0.7500000000000001,
188 0.2499999999999999,
189 true
190 ],
191 [
192 0.8,
193 0.19999999999999996,
194 true
195 ],
196 [
197 0.8500000000000001,
198 0.1499999999999999,
199 true
200 ],
201 [
202 0.9000000000000001,
203 0.09999999999999987,
204 true
205 ],
206 [
207 0.9500000000000001,
208 0.04999999999999993,
209 true
210 ],
211 [
212 1.0,
213 0.0,
214 true
215 ],
216 [
217 1.05,
218 0.050000000000000044,
219 true
220 ],
221 [
222 1.1,
223 0.10000000000000009,
224 true
225 ],
226 [
227 1.1500000000000001,
228 0.15000000000000013,
229 true
230 ],
231 [
232 1.2000000000000002,
233 0.20000000000000018,
234 true
235 ],
236 [
237 1.2500000000000002,
238 0.2500000000000002,
239 true
240 ],
241 [
242 1.3,
243 0.30000000000000004,
244 true
245 ],
246 [
247 1.35,
248 0.3500000000000001,
249 true
250 ],
251 [
252 1.4000000000000001,
253 0.40000000000000013,
254 true
255 ],
256 [
257 1.4500000000000002,
258 0.4500000000000002,
259 true
260 ],
261 [
262 1.5000000000000002,
263 0.5000000000000002,
264 true
265 ],
266 [
267 1.55,
268 0.55,
269 true
270 ],
271 [
272 1.6,
273 0.6000000000000001,
274 true
275 ],
276 [
277 1.6500000000000001,
278 0.6500000000000001,
279 true
280 ],
281 [
282 1.7000000000000002,
283 0.7000000000000002,
284 true
285 ],
286 [
287 1.7500000000000002,
288 0.7500000000000002,
289 true
290 ],
291 [
292 1.8,
293 0.8,
294 true
295 ],
296 [
297 1.85,
298 0.8500000000000001,
299 true
300 ],
301 [
302 1.9000000000000001,
303 0.9000000000000001,
304 true
305 ],
306 [
307 1.9500000000000002,
308 0.9500000000000002,
309 true
310 ],
311 [
312 2.0,
313 1.0,
314 false
315 ],
316 [
317 2.05,
318 1.0499999999999998,
319 false
320 ],
321 [
322 2.1,
323 1.1,
324 false
325 ],
326 [
327 2.15,
328 1.15,
329 false
330 ],
331 [
332 2.1999999999999997,
333 1.1999999999999997,
334 false
335 ],
336 [
337 2.25,
338 1.25,
339 false
340 ],
341 [
342 2.3,
343 1.2999999999999998,
344 false
345 ],
346 [
347 2.35,
348 1.35,
349 false
350 ],
351 [
352 2.4,
353 1.4,
354 false
355 ]
356 ]
357 }
358 },
359 "controller_tracking_abs_error_mean_last50": {
360 "baseline": 0.2727272727272727,
361 "projected": 0.054545454545454675,
362 "unprojected": 0.054545454545454675
363 },
364 "controller_tracking_abs_error_last": {
365 "baseline": 0.2727272727272727,
366 "projected": 0.054545454545454675,
367 "unprojected": 0.054545454545454675
368 },
369 "notes": "This is an exact linear toy verification, not a trained GRU experiment."
370}