207 lines
10 KiB
Python
207 lines
10 KiB
Python
"""Offline Q3 search ablations for docs/algo-3.md; no official socket access.
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The production planner is unchanged. Only coverage and task scheduling vary.
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Run: python scripts/benchmark_q3_search.py --seeds 0,1,2,3,4
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"""
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from __future__ import annotations
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import argparse
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from dataclasses import asdict
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import hashlib
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import json
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import math
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from pathlib import Path
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from statistics import mean, median
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from time import perf_counter
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from mcm26b.belief import ChannelStatus
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from mcm26b.config import ProblemConfig
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from mcm26b.coverage import CoverageLedger
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from mcm26b.planner import OmnidirectionalLoop, clear_certificate
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from mcm26b.protocol.client import SimulatorClient
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from mcm26b.protocol.rules import NEAR
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from mcm26b.sim import LocalSimulator, LocalSimTransport, Source
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from mcm26b.sim.scenes import random_omni_scene
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RING_RADIUS_M = 1200.0 # Engineering choice; analytic proof in algo-3 section 5.
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ROOT = Path(__file__).resolve().parents[1]
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def seven_points():
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return [(0.0, 0.0)] + [(RING_RADIUS_M * math.cos(k * math.pi / 3),
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RING_RADIUS_M * math.sin(k * math.pi / 3)) for k in range(6)]
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class SevenImmediate(OmnidirectionalLoop):
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def __init__(self, client, config):
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super().__init__(client, config)
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self.ledger = CoverageLedger(config=config, points=seven_points())
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class SevenBatch(SevenImmediate):
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"""Finish scanning a station, then serve detected sources in nearest order."""
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defer_all = False
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def _serve_queue(self):
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# Each detected channel gets at most one localization call in this pass.
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queue = self.belief.channels_by_status(ChannelStatus.DETECTED)
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while queue:
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c = min(queue, key=lambda c: (math.dist(self.client.state.position,
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self.belief.candidate_set(c).mec()[0]), c))
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queue.remove(c)
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self._localize_and_clear(c)
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if self._count_limit_reached():
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break
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def _coverage_phase(self):
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while not self._count_limit_reached():
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index = self._next_point_index()
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if index is None:
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return
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point = self.ledger.points[index]
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pending = self._pending_channels_at(index)
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# Keeping the current measuring channel first saves a switch when possible.
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pending.sort(key=lambda c: (c != self.client.state.channel, c))
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for c in pending:
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outcome = self.client.measure(point, c)
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self.ledger.mark_measured(c, index)
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self.belief.update_measure(c, point, outcome.result, outcome.svd_deg)
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if outcome.result == NEAR:
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cert = clear_certificate(self.belief.candidate_set(c), c, self.config)
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# Same-station near clear; do not displace the station scan.
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if cert.certified:
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self._attempt_clear(c, point, cert)
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if self._count_limit_reached():
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return
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if not self.defer_all:
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self._serve_queue()
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def _resolve_detected(self):
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self._serve_queue()
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unresolved = [c for c, b in self.belief.channels.items()
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if b.status not in (ChannelStatus.CLEARED, ChannelStatus.ABSENT)]
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return "all_resolved" if not unresolved else "unresolved_channels"
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class SevenSweep(SevenBatch):
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"""Finish discovery at all necessary stations before servicing the queue."""
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defer_all = True
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VARIANTS = {"grid49_immediate": OmnidirectionalLoop, "seven_immediate": SevenImmediate,
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"seven_batch": SevenBatch, "seven_sweep": SevenSweep}
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def run_case(name, sources, error_seed, out):
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scene_path = out / "scenes" / f"{name}.json"
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scene_path.parent.mkdir(parents=True, exist_ok=True)
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scene_path.write_text(json.dumps({"sources": [asdict(s) for s in sources],
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"error_seed": error_seed}, indent=2), encoding="utf-8")
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config = ProblemConfig()
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rows = []
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for label, cls in VARIANTS.items():
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sim = LocalSimulator(sources, robot_id="Q3-ABLATION", config=config, error_seed=error_seed)
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client = SimulatorClient("Q3-ABLATION", config=config, transport=LocalSimTransport(sim))
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loop = cls(client, config)
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start = perf_counter()
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summary = loop.run()
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elapsed = perf_counter() - start
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actions = client.log.action_events()
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log_path = out / "actions" / f"{name}-{label}.jsonl"
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log_path.parent.mkdir(parents=True, exist_ok=True)
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with log_path.open("w", encoding="utf-8") as handle:
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for event in actions:
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handle.write(json.dumps(event, ensure_ascii=False) + "\n")
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truth = {s.channel for s in sources}
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absent = set(range(1, 21)) - truth
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absence_valid = all(loop.ledger.coverage_complete(c) for c in summary["absent_channels"])
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row = {"case": name, "variant": label, "source_count": len(sources),
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"all_cleared": sim.cleared == truth, "completed": summary["completed"],
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"correct_absence": set(summary["absent_channels"]) <= absent and absence_valid,
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"normal_exit": summary["exit_reason"] == "user_exit",
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"virtual_time_s": sim.virtual_time_s, "measures": summary["measures"],
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"clears": summary["clears"], "failed_clears": summary["clears"]-len(sim.cleared),
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"distance_m": summary["move_distance_m"], "compute_wall_s": elapsed,
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"anomalies": summary["anomalies"], "stop_reason": summary["stop_reason"],
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"last_clear_s": max((e["response"]["virtual_time_s"] for e in actions
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if e["path"] == "/clear" and
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e["response"].get("clear_result") == "success"), default=0),
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"actions_file": str(log_path.relative_to(out)),
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"actions_sha256": hashlib.sha256(log_path.read_bytes()).hexdigest()}
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rows.append(row)
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print(f"{name} {label}: all_cleared={row['all_cleared']} T={row['virtual_time_s']:.1f}s M={row['measures']}", flush=True)
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return rows
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def geometry_check():
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points = seven_points()
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field = ProblemConfig().field
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# Exact radial-sector argument: switch nearest site at r=a/sqrt(3).
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crossover = RING_RADIUS_M / math.sqrt(3)
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boundary = math.sqrt(field.omega_radius_m**2 + RING_RADIUS_M**2
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- math.sqrt(3)*field.omega_radius_m*RING_RADIUS_M)
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analytic = max(crossover, boundary)
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worst = (0.0, None)
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for ir in range(181):
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r = field.omega_radius_m * ir / 180
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for ia in range(721):
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angle = 2 * math.pi * ia / 720
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p = (r*math.cos(angle), r*math.sin(angle))
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d = min(math.dist(p, s) for s in points)
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if d > worst[0]:
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worst = (d, p)
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return {"ring_radius_m": RING_RADIUS_M, "points": points,
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"analytic_cover_radius_m": analytic, "reception_margin_m": field.r_eff_min_m-analytic,
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"sampled_max_distance_m": worst[0], "sampled_worst_point": worst[1],
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"samples": 181*721,
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"passed": worst[0] <= analytic+1e-8 and analytic < field.r_eff_min_m,
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"note": "Grid samples check the derivation; the sector proof establishes continuous coverage."}
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def main():
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--seeds", default="0,1,2,3,4")
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parser.add_argument("--out", type=Path, default=ROOT/"output/q3/search-ablation")
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args = parser.parse_args()
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args.out.mkdir(parents=True, exist_ok=True)
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rows = []
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for count in (10, 16):
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for seed in [int(s) for s in args.seeds.split(",")]:
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rows.extend(run_case(f"random-{count}-seed{seed}", random_omni_scene(seed, count),
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20260910+seed, args.out))
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# Sources on the exact outer boundary at sector seams; minimum receiving radius.
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edge = [Source(c+1, 1800*math.cos(math.pi/6+2*math.pi*c/count),
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1800*math.sin(math.pi/6+2*math.pi*c/count), 1000) for c in range(count)]
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rows.extend(run_case(f"boundary-{count}", edge, 20260910, args.out))
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aggregates = {}
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for label in VARIANTS:
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part = [r for r in rows if r["variant"] == label]
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baseline = {r["case"]: r for r in rows if r["variant"] == "grid49_immediate"}
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savings = [1-r["virtual_time_s"]/baseline[r["case"]]["virtual_time_s"] for r in part]
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aggregates[label] = {
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"runs": len(part), "all_cleared_runs": sum(r["all_cleared"] for r in part),
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"valid_runs": sum(r["all_cleared"] and r["completed"] and r["correct_absence"]
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and r["normal_exit"] and not r["anomalies"] for r in part),
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"mean_virtual_s": mean(r["virtual_time_s"] for r in part),
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"median_virtual_s": median(r["virtual_time_s"] for r in part),
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"max_virtual_s": max(r["virtual_time_s"] for r in part),
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"mean_measures": mean(r["measures"] for r in part),
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"mean_distance_m": mean(r["distance_m"] for r in part),
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"mean_compute_wall_s": mean(r["compute_wall_s"] for r in part),
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"mean_paired_time_reduction": mean(savings),
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"min_paired_time_reduction": min(savings),
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"max_paired_time_reduction": max(savings),
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"failed_clears": sum(r["failed_clears"] for r in part),
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}
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result = {"source": "local_simulator_only", "production_algorithm_modified": False,
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"seeds": args.seeds, "config": asdict(ProblemConfig()),
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"geometry": geometry_check(), "aggregates": aggregates, "runs": rows,
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"limitations": "Same scene and fixed per-position error field for each variant; synthetic data, not an official improvement estimate. Only search/scheduling is changed; no posterior or localizer redesign."}
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(args.out/"benchmark.json").write_text(json.dumps(result, ensure_ascii=False, indent=2), encoding="utf-8")
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print(json.dumps(aggregates, ensure_ascii=False, indent=2))
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return 0 if result["geometry"]["passed"] and all(a["valid_runs"] == a["runs"] for a in aggregates.values()) else 1
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if __name__ == "__main__":
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raise SystemExit(main())
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