{ "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." }, "profileDefinitions": { "P0": "Synthetic furrow cue; small-angle propagation baseline. Body IMU remains available to the terrain observer, not row-fusion update.", "P1": "Synthetic furrow cue; nonlinear heading propagation. Body IMU remains available to the terrain observer, not row-fusion update.", "P2": "Synthetic furrow cue plus modeled row-fusion IMU.", "P3": "P2 plus synthetic crop-row lateral cue and innovation gate.", "P4": "P2 plus synthetic parallel-row cue.", "P5": "P2 plus synthetic GNSS lateral cue; GNSS model explicitly enabled." }, "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": "mpc", "controller.horizon": 12, "controller.q_lateral": 14, "controller.q_heading": 3, "controller.r_steer": 0.25, "sensor.level": "L2", "sensor.profile": "P0", "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": 107.64999999999603, "metrics": { "distance": 44.12073251034957, "crossTrackP95": 0.020346192820164255, "crossTrackMax": 0.03882610866169045, "centerTrackP95": 0.007727232992710942, "excessP95": 0.020346192820164255, "steerRateP95": 0.3258172315221545, "score": 93.6514315473097, "underbodyHits": 0, "clearance": 0.039500000000000035, "missionTime": 107.64999999999603, "slipMax": 0.45194355625743665, "tiltMax": 0.0014045957968207006, "deratedTime": 18.350000000000126, "brakeDistance": 0.008336193568032405 }, "sensorEvaluation": { "eligibleSamples": 385, "validSamples": 385, "validFraction": 1, "centerEstimateRMSE": 0.0030783416716088567, "meanQuality": 0.8514837886926916, "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": 62.04999999999861, "phase": "row_entry", "row": 2 }, { "time": 70.09999999999816, "phase": "row_follow", "row": 2 }, { "time": 97.4499999999966, "phase": "row_end_approach", "row": 2 }, { "time": 104.24999999999622, "phase": "row_exit", "row": 2 }, { "time": 107.64999999999603, "phase": "mission_complete", "row": 2 } ], "fieldTransitions": [ { "time": 38.399999999999956, "mode": "braking", "reason": "Waiting for measured standstill", "speed": 0.3334790422900464, "maxWheelSpeed": 0.3507062387549525, "steeringError": 0.613539692393791, "standstillDwell": 0 }, { "time": 39.19999999999991, "mode": "aligning", "reason": "Waiting for steering alignment", "speed": 0.0022549809112012466, "maxWheelSpeed": 0, "steeringError": 0.613539692393791, "standstillDwell": 0.2 }, { "time": 39.999999999999865, "mode": "ready", "reason": "Motion permitted", "speed": 0.0012788407897182034, "maxWheelSpeed": 0, "steeringError": 0.04230902643174539, "standstillDwell": 0.2 }, { "time": 47.44999999999944, "mode": "braking", "reason": "Waiting for measured standstill", "speed": 0.17733218926673017, "maxWheelSpeed": 0.1424873724974959, "steeringError": 0.9474007837759356, "standstillDwell": 0 }, { "time": 47.94999999999941, "mode": "aligning", "reason": "Waiting for steering alignment", "speed": 0.0021443203813134117, "maxWheelSpeed": 0, "steeringError": 0.9474007837759356, "standstillDwell": 0.2 }, { "time": 49.09999999999935, "mode": "ready", "reason": "Motion permitted", "speed": 0.0002932097186594985, "maxWheelSpeed": 0, "steeringError": 0.012102425298357034, "standstillDwell": 0.2 }, { "time": 53.24999999999911, "mode": "braking", "reason": "Waiting for measured standstill", "speed": 0.19143116702955945, "maxWheelSpeed": 0.16654258717034498, "steeringError": 0.9474007837759355, "standstillDwell": 0 }, { "time": 53.79999999999908, "mode": "aligning", "reason": "Waiting for steering alignment", "speed": 0.0008763651073540196, "maxWheelSpeed": 0, "steeringError": 0.9474007837759356, "standstillDwell": 0.2 }, { "time": 54.99999999999901, "mode": "ready", "reason": "Motion permitted", "speed": 0.0015894542813878565, "maxWheelSpeed": 0, "steeringError": 0.03786647621496564, "standstillDwell": 0.2 }, { "time": 62.04999999999861, "mode": "braking", "reason": "Waiting for measured standstill", "speed": 0.19088061371930218, "maxWheelSpeed": 0.16326891015176642, "steeringError": 0.6107259643892085, "standstillDwell": 0 }, { "time": 62.59999999999858, "mode": "aligning", "reason": "Waiting for steering alignment", "speed": 0.0020388083898613255, "maxWheelSpeed": 0, "steeringError": 0.6931752321526556, "standstillDwell": 0.2 }, { "time": 63.44999999999853, "mode": "ready", "reason": "Motion permitted", "speed": 0.001501730260223774, "maxWheelSpeed": 0, "steeringError": 0.01367668889342509, "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": 62.04999999999861, "type": "transition", "message": "Turn → Row entry" }, { "time": 62.04999999999861, "type": "field_control", "message": "braking: Waiting for measured standstill" }, { "time": 62.59999999999858, "type": "field_control", "message": "aligning: Waiting for steering alignment" }, { "time": 63.44999999999853, "type": "field_control", "message": "ready: Motion permitted" }, { "time": 70.09999999999816, "type": "transition", "message": "Row entry → Row follow" }, { "time": 97.4499999999966, "type": "transition", "message": "Row follow → Row end approach" }, { "time": 104.24999999999622, "type": "transition", "message": "Row end approach → Row exit" }, { "time": 107.64999999999603, "type": "transition", "message": "Row exit → Mission complete" }, { "time": 107.64999999999603, "type": "terrain", "message": "Modeled friction-limited braking requested" }, { "time": 107.64999999999603, "type": "terrain", "message": "Modeled vehicle reached standstill" } ], "series": { "samplingHz": 5, "columns": [ "t", "x", "y", "speed", "wheel_speed_mean_abs", "center_cross_track_truth", "center_cross_track_estimate", 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"aligning: Waiting for steering alignment" }, { "time": 63.34999999999854, "type": "field_control", "message": "ready: Motion permitted" }, { "time": 70.09999999999816, "type": "transition", "message": "Row entry → Row follow" }, { "time": 97.4499999999966, "type": "transition", "message": "Row follow → Row end approach" }, { "time": 104.24999999999622, "type": "transition", "message": "Row end approach → Row exit" }, { "time": 107.69999999999602, "type": "transition", "message": "Row exit → Mission complete" }, { "time": 107.69999999999602, "type": "terrain", "message": "Modeled friction-limited braking requested" }, { "time": 107.69999999999602, "type": "terrain", "message": "Modeled vehicle reached standstill" } ], "series": null } ] }