4000s上限优化

output/q3/optimization-20260911/development/route-endpoint/results.json

@@ -0,0 +1,259 @@
+{
+  "config": {
+    "field": {
+      "omega_radius_m": 1800.0,
+      "channel_min": 1,
+      "channel_max": 20,
+      "source_count_min": 10,
+      "source_count_max": 16,
+      "r_eff_min_m": 1000.0,
+      "r_eff_max_m": 1500.0,
+      "near_radius_m": 5.0,
+      "clear_radius_m": 20.0,
+      "bearing_error_half_deg": 1.0,
+      "bearing_decimals": 2,
+      "coord_abs_limit_m": 2000000.0,
+      "directional_half_angle_deg": 90.0,
+      "max_virtual_duration_s": 360000.0,
+      "max_real_duration_s": 1200.0,
+      "test_window_s": 1500.0
+    },
+    "cost": {
+      "speed_mps": 5.0,
+      "measure_s": 5.0,
+      "switch_s": 1.0,
+      "clear_success_s": 5.0,
+      "clear_fail_s": 3.0
+    },
+    "session": {
+      "arena_id": "default",
+      "base_url": "http://127.0.0.1:2026",
+      "robot_id_max_bytes": 64,
+      "request_id_max_bytes": 128,
+      "request_body_max_bytes": 65536,
+      "connect_timeout_s": 5.0,
+      "read_timeout_s": 15.0,
+      "max_attempts": 3,
+      "retry_backoff_s": 0.25,
+      "reserve_exit_s": 60.0,
+      "real_rtt_p95_s": 1.0,
+      "self_test_real_budget_s": 1800.0
+    },
+    "search": {
+      "grid_step_m": 700.0,
+      "grid_half_cells": 3,
+      "fallback_clear_grid_m": 20.0,
+      "bearing_rounding_margin_deg": 0.005,
+      "polygon_sides": 192,
+      "witness_spacing_m": 60.0,
+      "candidate_rings": [
+        0.0,
+        0.4,
+        0.75,
+        1.0
+      ],
+      "candidate_angles": 12,
+      "clear_margin_m": 0.5,
+      "max_localize_steps": 8,
+      "max_anomalies_per_channel": 3,
+      "max_blocked_probes": 4,
+      "fallback_max_cells": 400,
+      "persistent_search": false,
+      "virtual_reserve_s": 10000.0
+    },
+    "bayes": {
+      "particle_spacing_m": 25.0,
+      "score_mode": "entropy",
+      "score_subsample": 800,
+      "mc_representatives": 7,
+      "lambda_move_s": 0.0105,
+      "wide_rings": [
+        1.0,
+        1.5,
+        2.0
+      ],
+      "station_ring_radius_m": 1159.7,
+      "two_opt_enabled": true,
+      "two_opt_passes": 3,
+      "grid_cert_enabled": true,
+      "opportunistic_measure": true,
+      "opportunistic_radius_ratio": 0.65
+    }
+  },
+  "source": "local_simulator_only",
+  "rows": [
+    {
+      "case": "random-10-0",
+      "valid": true,
+      "virtual_s": 2958.5911,
+      "measures": 116,
+      "clears": 10,
+      "failed_clears": 0,
+      "distance_m": 11103.0,
+      "wall_s": 0.5848256000026595
+    },
+    {
+      "case": "random-10-1",
+      "valid": true,
+      "virtual_s": 3473.150338,
+      "measures": 119,
+      "clears": 10,
+      "failed_clears": 0,
+      "distance_m": 13610.8,
+      "wall_s": 1.056755899990094
+    },
+    {
+      "case": "random-10-2",
+      "valid": true,
+      "virtual_s": 3024.484542,
+      "measures": 112,
+      "clears": 10,
+      "failed_clears": 0,
+      "distance_m": 11547.4,
+      "wall_s": 1.0590423999965424
+    },
+    {
+      "case": "random-10-3",
+      "valid": true,
+      "virtual_s": 3197.856813,
+      "measures": 117,
+      "clears": 10,
+      "failed_clears": 0,
+      "distance_m": 12264.3,
+      "wall_s": 0.7646372000017436
+    },
+    {
+      "case": "random-10-4",
+      "valid": true,
+      "virtual_s": 3201.6552,
+      "measures": 122,
+      "clears": 10,
+      "failed_clears": 0,
+      "distance_m": 12143.3,
+      "wall_s": 1.044187100007548
+    },
+    {
+      "case": "random-10-5",
+      "valid": true,
+      "virtual_s": 2940.099079,
+      "measures": 112,
+      "clears": 10,
+      "failed_clears": 0,
+      "distance_m": 11130.5,
+      "wall_s": 0.7773485999932745
+    },
+    {
+      "case": "boundary-10",
+      "valid": true,
+      "virtual_s": 4144.807971,
+      "measures": 144,
+      "clears": 10,
+      "failed_clears": 0,
+      "distance_m": 16239.0,
+      "wall_s": 0.49276029999600723
+    },
+    {
+      "case": "random-16-0",
+      "valid": true,
+      "virtual_s": 3833.288563,
+      "measures": 95,
+      "clears": 16,
+      "failed_clears": 0,
+      "distance_m": 15951.4,
+      "wall_s": 1.8353732999967178
+    },
+    {
+      "case": "random-16-1",
+      "valid": true,
+      "virtual_s": 3749.587742,
+      "measures": 97,
+      "clears": 16,
+      "failed_clears": 0,
+      "distance_m": 15457.9,
+      "wall_s": 1.6017328000016278
+    },
+    {
+      "case": "random-16-2",
+      "valid": true,
+      "virtual_s": 3554.338273,
+      "measures": 114,
+      "clears": 16,
+      "failed_clears": 0,
+      "distance_m": 14011.7,
+      "wall_s": 1.2566069999884348
+    },
+    {
+      "case": "random-16-3",
+      "valid": true,
+      "virtual_s": 3355.439323,
+      "measures": 98,
+      "clears": 16,
+      "failed_clears": 0,
+      "distance_m": 13472.2,
+      "wall_s": 1.8687091999890981
+    },
+    {
+      "case": "random-16-4",
+      "valid": true,
+      "virtual_s": 3854.458757,
+      "measures": 106,
+      "clears": 16,
+      "failed_clears": 0,
+      "distance_m": 15742.3,
+      "wall_s": 1.519354200005182
+    },
+    {
+      "case": "random-16-5",
+      "valid": true,
+      "virtual_s": 3839.746309,
+      "measures": 104,
+      "clears": 16,
+      "failed_clears": 0,
+      "distance_m": 15733.7,
+      "wall_s": 1.4910044999996899
+    },
+    {
+      "case": "boundary-16",
+      "valid": true,
+      "virtual_s": 4849.848511,
+      "measures": 139,
+      "clears": 16,
+      "failed_clears": 0,
+      "distance_m": 19709.2,
+      "wall_s": 0.5919216000038432
+    }
+  ],
+  "mean_s": 3569.810894357143,
+  "median_s": 3513.7443055,
+  "max_s": 4849.848511,
+  "valid": 14,
+  "under_4000": 12,
+  "source_sha256": {
+    "src\\mcm26b\\__init__.py": "a1ea628e2b44a8b288c59fcda19a8f02b53f2d6fec675ef1e8c481ffdcbd7f35",
+    "src\\mcm26b\\belief\\__init__.py": "8613467122928e70dd2b07f14e1009a1edddb1d495d44f063f222fb118f78ba5",
+    "src\\mcm26b\\cli.py": "2fac81a16cecdf23ce1f91031009cd2817fd3f2b66cb5f66d0a31bdd16088a04",
+    "src\\mcm26b\\config.py": "deeb25419a7c7b7fba81b943fa25c32255d6607e6666f172c56893fe58addea0",
+    "src\\mcm26b\\coverage\\__init__.py": "ef24a48e91a099ca58a1fd9b5efa01b0bd76c21f63bd5febd444026281ec18c7",
+    "src\\mcm26b\\evaluation\\__init__.py": "3d7d9103675e4731f65ceacaac76c97096e244d0902e37d62376ea60b0a42217",
+    "src\\mcm26b\\geometry\\__init__.py": "c8f8d3e6320acb44fe9c14261116f8a668fdd59304e1d5b0318d8d50ea89b25c",
+    "src\\mcm26b\\geometry\\__main__.py": "41967f321b05abe515d2f0c10839b94c1e5c55a4c760b17345e0815f62acd676",
+    "src\\mcm26b\\geometry\\localization.py": "019a04a4205ca5cfb5832c7e2337e6ae3274ef9bdae1981c3764b8df8c2afd97",
+    "src\\mcm26b\\geometry\\planning.py": "5d6a11b2c4633c4f27bb4a61f77f4fbd20cfdce653d839845a735f9f1d3be2d1",
+    "src\\mcm26b\\particles.py": "c2cfabb07154883d4293f5c739b8ab06bd4b467c773365e1d4c153a0bd0fc30b",
+    "src\\mcm26b\\planner\\__init__.py": "bdd36737b2a8562612634d45290bf7165ee81c80fa8e7bcb9fcc9f4001390cda",
+    "src\\mcm26b\\planner\\bayes_loop.py": "dd7b92a91200a55fe9aa7b01f7063474fe13c19426a82a057b9e73992e534b5a",
+    "src\\mcm26b\\planner\\seven.py": "cc143ce0703f231d8b5444ac6a2b2f4925cabf1556e58b0ea5166a510e6933f0",
+    "src\\mcm26b\\protocol\\__init__.py": "67423a0fe7f3ee3c7b1c0439da9554dab4bc30a09c5f3720d69e11076a36de0c",
+    "src\\mcm26b\\protocol\\client.py": "a486694b570bc00286ad30d4be04b01687ef3801d95154e75caa6209314dac36",
+    "src\\mcm26b\\protocol\\log.py": "0eb51302a0bdfa3c680b7726d0be59cebe6fdc6197fd9643a4d5cc0646e34ac3",
+    "src\\mcm26b\\protocol\\rules.py": "7941a4cddafd875dedf0c57aa90e640cb5e22201800d3eb300dac313db19e6a3",
+    "src\\mcm26b\\protocol\\state.py": "dc4c50f38cc1014af848f21d3f972b2f51fba28b0feb3320ce85bf51389d3d34",
+    "src\\mcm26b\\protocol\\timing.py": "49fb1ca99db9db273364ddb27281b95e6e76099c16ce7fccddccbfe105d604ac",
+    "src\\mcm26b\\protocol\\transport.py": "668a8ab280e5e42a7994d7cedc0f487af19b140622d76b04da0dbbea3ad4940f",
+    "src\\mcm26b\\sim\\__init__.py": "7adcbaab5b94d4006ff926306a43c1042182be14789026e71885ed69389a6d55",
+    "src\\mcm26b\\sim\\playback.py": "073b74c149334604cd678c218e112f69d64fe907ef7c3b6f42b69470e48fbb7a",
+    "src\\mcm26b\\sim\\scenes.py": "0647bd19409acb5160625dd39e71157aeb20f9e979e82a7fe86aaec75a1cbf32",
+    "src\\mcm26b\\sim\\simulator.py": "553bf9fbb9fd4875a6ec68792e90a08287e5b87c749ffda9a7556b582a5ecba3",
+    "src\\mcm26b\\sim\\transport.py": "889c06965fdb905f5d9fa8e947940ea68be216f60a487340c2f326b6e8a9a36d"
+  }
+}