{ "createdAt": "2026-10-26T15:21:07.578Z", "sources": { "core/engine.js": "6477c230bdc333a13a09c582154cb99ca774b97207d131a8deedec0f974286da", "core/config.js": "69c9f8cab9ba3946e34be50be095ec94e98ac4f98d5135c2e411f3937909cb43", "core/field-control.js": "cdc54e413bc0c7e20e79404b12302d66a68a0ec845ad5c83b32f8954cad00ec3", "core/terrain.js": "61295c4733d228e5421316887ec3c2a38b03592079eced430c3e1a3fed6e5dca", "core/experiments.js": "0e9968f3cb624da8599899b69fc40bbe5ff6fdbb99fd235c343f95e0eb136a52" }, "definitions": { "scope": "Fresh deterministic software simulations of the current uncalibrated model. No physical measurements or source-video performance figures.", "configuration": "Unless overridden: 18 m rows, 2 rows, 20 Hz integration, dry soil, ST2, low 0.56 m chassis, terrain and field control enabled.", "wheelCrossTrackP95": "Engine metric: maximum absolute wheel-to-corresponding-furrow error of four wheels, sampled every fourth 20 Hz tick (5 Hz), excluding turn and row_exit; quantile index floor((n-1)*0.95). Final metrics update every 0.5 s; raw engine values are preserved.", "centerTrackP95": "Absolute body-center lateral error on the same eligible 5 Hz ticks; distinct from maximum-wheel P95.", "centerEstimateRMSE": "sqrt(mean((estimated center crossTrack - simulation-truth center crossTrack)^2)) on eligible 5 Hz samples; simulation truth used only to score the estimate.", "steerRateP95": "95th percentile of maximum per-wheel absolute angular rate (rad/s), sampled at 5 Hz across phases.", "duration": "Elapsed simulation time including modeled deceleration; not wall-clock runtime.", "faultTiming": "Fault injected after 100 steps (~5.0 s). Latch is first state with safety.latched. Standstill is first subsequent stopped/blocked/complete terminal state; blocked with nonzero speed is never labeled standstill.", "brakeDistance": "Terrain model integrated distance while emergency friction braking is active; not a physical stopping-distance measurement.", "underbodyHits": "Count of integration ticks with negative truth-evaluated clearance in crop rows, not distinct plant contacts.", "statistics": "Three fixed seeds per paired comparison. Small synthetic sample, no claim of physical generalization or significance. Raw API normal-approximation intervals are retained only as API output.", "arrays": "series.rows columns are listed in series.columns; SI units unless *_deg. Fault series at 20 Hz; other series at 5 Hz plus the final state." }, "comparison": { "id": "9cc9a80e-6c4d-42a5-8efe-4eacd2de5e94", "createdAt": "2026-10-26T15:21:08.237Z", "kind": "paired", "baseline": { "terrain.enabled": true, "field_control.enabled": true, "terrain.surface": "dry_soil", "field.stage": "ST2", "vehicle.clearance": 0.56, "row.length": 18, "row.count": 2, "controller.type": "pure_pursuit", "sensor.profile": "P2", "sensor.imu": true, "sensor.gnss": false }, "candidate": { "terrain.enabled": true, "field_control.enabled": true, "terrain.surface": "dry_soil", "field.stage": "ST2", "vehicle.clearance": 0.56, "row.length": 18, "row.count": 2, "controller.type": "mpc", "sensor.profile": "P2", "sensor.imu": true, "sensor.gnss": false }, "seeds": [ 42, 101, 119 ], "maxSteps": 4800, "dt": 0.05, "pairs": [ { "seed": 42, "baseline": { "distance": 44.10145503258385, "crossTrackP95": 0.022853245002631972, "crossTrackMax": 0.0458060483756505, "centerTrackP95": 0.010610418659519671, "excessP95": 0.022853245002631972, "steerRateP95": 0.13275061841006613, "score": 93.33559016244293, "underbodyHits": 0, "clearance": 0.039500000000000035, "missionTime": 107.49999999999604, "slipMax": 0.45194627510551577, "tiltMax": 0.0014045957968207006, "deratedTime": 18.250000000000124, "brakeDistance": 0.00833617586948481, "duration": 107.5, "steps": 2150, "completed": true, "endReason": "complete" }, "candidate": { "distance": 44.10191576374499, "crossTrackP95": 0.03392094448716826, "crossTrackMax": 0.0501985601540329, "centerTrackP95": 0.019096049655960828, "excessP95": 0.03392094448716826, "steerRateP95": 0.19076964480132325, "score": 90.12059625399024, "underbodyHits": 0, "clearance": 0.039500000000000035, "missionTime": 107.64999999999603, "slipMax": 0.4519436023793047, "tiltMax": 0.0014045957968207006, "deratedTime": 18.450000000000127, "brakeDistance": 0.008325120192323709, "duration": 107.65, "steps": 2153, "completed": true, "endReason": "complete" }, "delta": { "crossTrackP95": 0.011067699484536286, "crossTrackMax": 0.004392511778382402, "excessP95": 0.011067699484536286, "steerRateP95": 0.05801902639125711, "score": -3.2149939084526835, "distance": 0.0004607311611408704, "clearance": 0, "underbodyHits": 0, "missionTime": 0.14999999999999147, "duration": 0.15000000000000568, "slipMax": -0.000002672726211072618, "tiltMax": 0, "deratedTime": 0.20000000000000284, "brakeDistance": -0.000011055677161100896 } }, { "seed": 101, "baseline": { "distance": 44.113289463842406, "crossTrackP95": 0.02829081945499662, "crossTrackMax": 0.04369365256337204, "centerTrackP95": 0.011288699252063085, "excessP95": 0.02829081945499662, "steerRateP95": 0.15347265116464104, "score": 91.77162525027167, "underbodyHits": 0, "clearance": 0.039500000000000035, "missionTime": 107.54999999999603, "slipMax": 0.45170856519537844, "tiltMax": 0.002213875707365654, "deratedTime": 18.250000000000124, "brakeDistance": 0.00833615821330276, "duration": 107.55000000000001, "steps": 2151, "completed": true, "endReason": "complete" }, "candidate": { "distance": 44.10076288524092, "crossTrackP95": 0.022914196530357145, "crossTrackMax": 0.043270204882316976, "centerTrackP95": 0.00848638484965325, "excessP95": 0.022914196530357145, "steerRateP95": 0.15291095546916322, "score": 93.27820306056168, "underbodyHits": 0, "clearance": 0.039500000000000035, "missionTime": 107.64999999999603, "slipMax": 0.45170608024137193, "tiltMax": 0.002213875707365654, "deratedTime": 18.55000000000013, "brakeDistance": 0.008336175869473487, "duration": 107.65, "steps": 2153, "completed": true, "endReason": "complete" }, "delta": { "crossTrackP95": -0.005376622924639474, "crossTrackMax": -0.0004234476810550669, "excessP95": -0.005376622924639474, "steerRateP95": -0.0005616956954778152, "score": 1.5065778102900111, "distance": -0.01252657860148787, "clearance": 0, "underbodyHits": 0, "missionTime": 0.09999999999999432, "duration": 0.09999999999999432, "slipMax": -0.000002484954006509721, "tiltMax": 0, "deratedTime": 0.30000000000000426, "brakeDistance": 1.7656170726854103e-8 } }, { "seed": 119, "baseline": { "distance": 44.128057082807985, "crossTrackP95": 0.03282455745621027, "crossTrackMax": 0.04480830447003714, "centerTrackP95": 0.01777104996239343, "excessP95": 0.03282455745621027, "steerRateP95": 0.1451294449455616, "score": 90.51886502237001, "underbodyHits": 0, "clearance": 0.039500000000000035, "missionTime": 107.69999999999602, "slipMax": 0.44130431906895823, "tiltMax": 0.001631200687125987, "deratedTime": 18.350000000000126, "brakeDistance": 0.008325120199399036, "duration": 107.7, "steps": 2154, "completed": true, "endReason": "complete" }, "candidate": { "distance": 44.12459022807797, "crossTrackP95": 0.029975009089421967, "crossTrackMax": 0.048780336661989554, "centerTrackP95": 0.014694932104800995, "excessP95": 0.029975009089421967, "steerRateP95": 0.16407923891856524, "score": 91.27883897712472, "underbodyHits": 0, "clearance": 0.039500000000000035, "missionTime": 107.14999999999606, "slipMax": 0.4413051824196869, "tiltMax": 0.001631200687125987, "deratedTime": 17.500000000000114, "brakeDistance": 0.008325120192318708, "duration": 107.15, "steps": 2143, "completed": true, "endReason": "complete" }, "delta": { "crossTrackP95": -0.0028495483667883015, "crossTrackMax": 0.003972032191952413, "excessP95": -0.0028495483667883015, "steerRateP95": 0.018949793973003642, "score": 0.7599739547547131, "distance": -0.0034668547300142905, "clearance": 0, "underbodyHits": 0, "missionTime": -0.5499999999999687, "duration": -0.5499999999999972, "slipMax": 8.633507286859299e-7, "tiltMax": 0, "deratedTime": -0.8500000000000121, "brakeDistance": -7.0803276436270934e-12 } } ], "summary": { "pairs": 3, "baseline": { "crossTrackP95": 0.027989540637946286, "crossTrackMax": 0.04476933513635323, "excessP95": 0.027989540637946286, "steerRateP95": 0.14378423817342292, "score": 91.8753601450282, "distance": 44.11426719307807, "clearance": 0.039500000000000035, "underbodyHits": 0, "missionTime": 107.58333333332935, "duration": 107.58333333333333, "slipMax": 0.44831971978995083, "tiltMax": 0.0017498907304374471, "deratedTime": 18.28333333333346, "brakeDistance": 0.00833248476072887, "completionRate": 1 }, "candidate": { "crossTrackP95": 0.02893671670231579, "crossTrackMax": 0.04741636723277981, "excessP95": 0.02893671670231579, "steerRateP95": 0.16925327972968388, "score": 91.55921276389222, "distance": 44.109089625687965, "clearance": 0.039500000000000035, "underbodyHits": 0, "missionTime": 107.48333333332937, "duration": 107.48333333333335, "slipMax": 0.44831828834678783, "tiltMax": 0.0017498907304374471, "deratedTime": 18.16666666666679, "brakeDistance": 0.008328805418038635, "completionRate": 1 }, "delta": { "crossTrackP95": 0.0009471760643695037, "crossTrackMax": 0.0026470320964265825, "excessP95": 0.0009471760643695037, "steerRateP95": 0.025469041556260952, "score": -0.31614738113597696, "distance": -0.005177567390106219, "clearance": 0, "underbodyHits": 0, "missionTime": -0.0999999999999801, "duration": -0.0999999999999801, "slipMax": -0.000001431443163002477, "tiltMax": 0, "deratedTime": -0.1166666666666707, "brakeDistance": -0.0000036793426902350518, "completionRate": 0 }, "confidence": { "crossTrackP95": { "low": -0.009073471113703095, "high": 0.010967823242442103, "method": "normal approximation", "samples": 3 }, "crossTrackMax": { "low": -0.00037142842509264255, "high": 0.005665492617945808, "method": "normal approximation", "samples": 3 }, "excessP95": { "low": -0.009073471113703095, "high": 0.010967823242442103, "method": "normal approximation", "samples": 3 }, "steerRateP95": { "low": -0.008286246117283784, "high": 0.05922432922980574, "method": "normal approximation", "samples": 3 }, "score": { "low": -3.1882525201647107, "high": 2.555957757892738, "method": "normal approximation", "samples": 3 }, "distance": { "low": -0.012714649387079559, "high": 0.002359514606838699, "method": "normal approximation", "samples": 3 }, "clearance": { "low": 0, "high": 0, "method": "normal approximation", "samples": 3 }, "underbodyHits": { "low": 0, "high": 0, "method": "normal approximation", "samples": 3 }, "missionTime": { "low": -0.5419064757766128, "high": 0.3419064757766242, "method": "normal approximation", "samples": 3 }, "duration": { "low": -0.5419064757766413, "high": 0.3419064757766432, "method": "normal approximation", "samples": 3 }, "slipMax": { "low": -0.000003682849316002805, "high": 8.199629900718659e-7, "method": "normal approximation", "samples": 3 }, "tiltMax": { "low": 0, "high": 0, "method": "normal approximation", "samples": 3 }, "deratedTime": { "low": -0.837557165363333, "high": 0.6042238320299963, "method": "normal approximation", "samples": 3 }, "brakeDistance": { "low": -0.000010908157380048956, "high": 0.0000035494719995811652, "method": "normal approximation", "samples": 3 } } } }, "runs": [ { "seed": 42, "config": { "vehicle.wheelbase": 1.4, "vehicle.track": 1, "vehicle.steer_max": 0.7853981633974483, "vehicle.steer_rate": 1.0471975511965976, "vehicle.acceleration": 0.8, "vehicle.clearance": 0.56, "vehicle.cg_height": 0.7, "row.speed": 0.6, "row.length": 18, "row.count": 2, "row.pitch": 1, "row.curvature": 0.006, "row.lookahead": 0.85, "row.steer_gain": 0.9, "turn.speed": 0.32, "turn.radius": 1.5, "turn.headland": 6, "entry.speed": 0.3, "entry.crab_gain": 0.9, "field_control.enabled": true, "field_control.overhang": 0.222, "field_control.side_margin": 0.233, "field_control.tire_radius": 0.282, "field_control.tire_half_width": 0.11, "field_control.boundary_margin": 0.15, "field_control.deceleration": 0.35, "field_control.reaction_time": 0.3, "field_control.standstill_speed": 0.015, "field_control.standstill_hold": 0.2, "field_control.steer_tolerance": 0.05235987755982989, "field_control.alignment_trigger": 0.20943951023931956, "field_control.interlock_timeout": 8, "field_control.crop_margin": 0.02, "controller.type": "pure_pursuit", "controller.horizon": 12, "controller.q_lateral": 14, "controller.q_heading": 3, "controller.r_steer": 0.25, "sensor.level": "L2", "sensor.profile": "P2", "sensor.noise": 0.012, "sensor.imu": true, "sensor.gnss": false, "field.stage": "ST2", "field.density": 0.75, "field.bed_height": 0.247, "terrain.enabled": true, "terrain.surface": "dry_soil", "terrain.grade": 0, "terrain.cross_slope": 0, "terrain.roughness": 0, "terrain.traction_scale": 1, "terrain.patch_surface": "none", "terrain.patch_start": 2, "terrain.patch_length": 5, "terrain.ground_sensor": true, "terrain.slip_warn": 0.16, "terrain.slip_stop": 0.55, "terrain.slip_hold": 0.6, "terrain.tilt_warn": 6, "terrain.tilt_stop": 14, "terrain.sensor_timeout": 0.7, "safety.enabled": true, "safety.watchdog": 0.3, "safety.perception_timeout": 0.7, "safety.obstacle_distance": 1.2, "simulation.seed": 42, "simulation.initial_offset": 0.035, "camera.height": 1.15, "camera.pitch": 0.5235987755982988, "contract.version": "ridge-reconstruction-1" }, "status": "complete", "reason": "", "time": 107.49999999999604, "metrics": { "distance": 44.10145503258385, "crossTrackP95": 0.022853245002631972, "crossTrackMax": 0.0458060483756505, "centerTrackP95": 0.010610418659519671, "excessP95": 0.022853245002631972, "steerRateP95": 0.13275061841006613, "score": 93.33559016244293, "underbodyHits": 0, "clearance": 0.039500000000000035, "missionTime": 107.49999999999604, "slipMax": 0.45194627510551577, "tiltMax": 0.0014045957968207006, "deratedTime": 18.250000000000124, "brakeDistance": 0.00833617586948481 }, "sensorEvaluation": { "eligibleSamples": 385, "validSamples": 384, "validFraction": 0.9974025974025974, "centerEstimateRMSE": 0.002770294023394194, "meanQuality": 0.8493026012325523, "availableCues": [ "furrow" ] }, "fault": null, "phaseChanges": [ { "time": 28.200000000000266, "phase": "row_end_approach", "row": 1 }, { "time": 35.00000000000015, "phase": "row_exit", "row": 1 }, { "time": 38.399999999999956, "phase": "turn", "row": 1 }, { "time": 61.999999999998614, "phase": "row_entry", "row": 2 }, { "time": 69.94999999999817, "phase": "row_follow", "row": 2 }, { "time": 97.29999999999661, "phase": "row_end_approach", "row": 2 }, { "time": 104.09999999999623, "phase": "row_exit", "row": 2 }, { "time": 107.49999999999604, "phase": "mission_complete", "row": 2 } ], "fieldTransitions": [ { "time": 38.399999999999956, "mode": "braking", "reason": "Waiting for measured standstill", "speed": 0.3334992650532367, "maxWheelSpeed": 0.3502234692003844, "steeringError": 0.611618713047893, "standstillDwell": 0 }, { "time": 39.19999999999991, "mode": "aligning", "reason": "Waiting for steering alignment", "speed": 0.0022605715936092614, "maxWheelSpeed": 0, "steeringError": 0.611618713047893, "standstillDwell": 0.2 }, { "time": 39.999999999999865, "mode": "ready", "reason": "Motion permitted", "speed": 0.001278842747300939, "maxWheelSpeed": 0, "steeringError": 0.04039052923496822, "standstillDwell": 0.2 }, { "time": 47.44999999999944, "mode": "braking", "reason": "Waiting for measured standstill", "speed": 0.17592493309560897, "maxWheelSpeed": 0.1403378968451071, "steeringError": 0.9474007837759356, "standstillDwell": 0 }, { "time": 47.94999999999941, "mode": "aligning", "reason": "Waiting for steering alignment", "speed": 0.0021112717945845822, "maxWheelSpeed": 0, "steeringError": 0.9474007837759356, "standstillDwell": 0.2 }, { "time": 49.09999999999935, "mode": "ready", "reason": "Motion permitted", "speed": 0.0002932096981632809, "maxWheelSpeed": 0, "steeringError": 0.01594945473972298, "standstillDwell": 0.2 }, { "time": 53.24999999999911, "mode": "braking", "reason": "Waiting for measured standstill", "speed": 0.1955838777113344, "maxWheelSpeed": 0.1741408639160025, "steeringError": 0.9474007837759356, "standstillDwell": 0 }, { "time": 53.79999999999908, "mode": "aligning", "reason": "Waiting for steering alignment", "speed": 0.0009692433653283541, "maxWheelSpeed": 0, "steeringError": 0.9474007837759355, "standstillDwell": 0.2 }, { "time": 54.99999999999901, "mode": "ready", "reason": "Motion permitted", "speed": 0.0015894542746879273, "maxWheelSpeed": 0, "steeringError": 0.02169509915490453, "standstillDwell": 0.2 }, { "time": 61.999999999998614, "mode": "braking", "reason": "Waiting for measured standstill", "speed": 0.1886357032709825, "maxWheelSpeed": 0.16045689996159995, "steeringError": 0.6107259643892085, "standstillDwell": 0 }, { "time": 62.54999999999858, "mode": "aligning", "reason": "Waiting for steering alignment", "speed": 0.004280977433601514, "maxWheelSpeed": 0, "steeringError": 0.7204288891629398, "standstillDwell": 0.2 }, { "time": 63.34999999999854, "mode": "ready", "reason": "Motion permitted", "speed": 0.0016382703082912038, "maxWheelSpeed": 0, "steeringError": 0.044092112796929796, "standstillDwell": 0.2 } ], "events": [ { "time": 0, "type": "system", "message": "Simulation ready · reconstructed MIL model" }, { "time": 0, "type": "transition", "message": "Idle → Row follow" }, { "time": 28.200000000000266, "type": "transition", "message": "Row follow → Row end approach" }, { "time": 35.00000000000015, "type": "transition", "message": "Row end approach → Row exit" }, { "time": 38.399999999999956, "type": "transition", "message": "Row exit → Turn" }, { "time": 38.399999999999956, "type": "field_control", "message": "braking: Waiting for measured standstill" }, { "time": 39.19999999999991, "type": "field_control", "message": "aligning: Waiting for steering alignment" }, { "time": 39.999999999999865, "type": "field_control", "message": "ready: Motion permitted" }, { "time": 47.44999999999944, "type": "maneuver", "message": "K-turn leg 2" }, { "time": 47.44999999999944, "type": "field_control", "message": "braking: Waiting for measured standstill" }, { "time": 47.94999999999941, "type": "field_control", "message": "aligning: Waiting for steering alignment" }, { "time": 49.09999999999935, "type": "field_control", "message": "ready: Motion permitted" }, { "time": 53.24999999999911, "type": "maneuver", "message": "K-turn leg 3" }, { "time": 53.24999999999911, "type": "field_control", "message": "braking: Waiting for measured standstill" }, { "time": 53.79999999999908, "type": "field_control", "message": "aligning: Waiting for steering alignment" }, { "time": 54.99999999999901, "type": "field_control", "message": "ready: Motion permitted" }, { "time": 61.999999999998614, "type": "transition", "message": "Turn → Row entry" }, { "time": 61.999999999998614, "type": "field_control", "message": "braking: Waiting for measured standstill" }, { "time": 62.54999999999858, "type": "field_control", "message": "aligning: Waiting for steering alignment" }, { "time": 63.34999999999854, "type": "field_control", "message": "ready: Motion permitted" }, { "time": 69.94999999999817, "type": "transition", "message": "Row entry → Row follow" }, { "time": 97.29999999999661, "type": "transition", 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