Complete implementation of Observable-Inferred Decomposition (OID)
for the fluidic pinball project. Covers Phases 0-7 for all 5 scenes
(steady cloak, Karman cloak, illusion 0.75L/1.0L/1.5L).
Key deliverables:
- Full analysis pipeline: configs, utils, 11 collection scripts, 7 phase
scripts, robustness analysis, figure generator, batch runner
- Data collected: 500 snapshots per scene, separate illusion-position q_blk
- 7 publication-quality figures: force-sig overlap, rank sensitivity,
OID vs POD comparison, tau_c sensitivity, POD energy, steady metrics,
white-box chain
- Comprehensive report at docs/OID_analysis_results.md (292 lines)
- Handover document at docs/OID_handover.md
- Updated knowledge base and notes with all Phase 2 results
Core finding: force-relevant and signature-relevant correction structures
systematically separate across control tasks (steady: +0.763 -> Karman: -0.034
-> illusion: -0.082 to -0.932), with OID consistently outperforming POD.
Co-authored-by: Cursor <cursoragent@cursor.com>
Core changes:
- New phase-state features (PHASE_STATE_KEYS, ILLUSION_PHASE_KEYS) with obs dynamics
- Derivative and absolute output modes (output_mode="deriv"|"absolute")
- predict_v23_deriv() with integration support for closed-loop
- Offline multi-step rollout evaluator (eval_rollout.py)
Key results:
- Illusion 0.75L/1L: phase-state+error-state+abs achieves 0.974/0.958 closed-loop
with zero action history features — proving the new route works
- Karman re100: phase-state+abs reaches 0.699 (vs 0.901 with action history)
- 1.5L confirmed as bang-bang regime (R2=0.12 for linear SINDy)
- Feature ablation: 6-dim phase-state outperforms 16-dim full-lag in closed-loop
Documentation:
- docs/SR_analysis_results.md: comprehensive analysis report
- docs/HANDOVER_SR_ANALYSIS.md: handover notes for next coder
- 6 figures in docs/figures/SR_analysis/
- Updated README.md, sindy_sr_notes.md, sindy_sr_knowledge.md
- Updated configs.py with generalization scenes
Co-authored-by: Cursor <cursoragent@cursor.com>
