8e62716ce4
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>
19 lines
426 B
JSON
19 lines
426 B
JSON
{
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"scene": "karman_re100",
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"threshold": 0.003,
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"front_active": [
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"daF_dt"
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],
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"rear_active": [
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"bias",
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"u_a",
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"Cd_rear",
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"Cl_diff",
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"daF_dt",
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"daB_dt",
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"daT_dt"
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],
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"feature_count": 14,
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"note": "Cleaned Karman whitelist: removed aF_lag1/daF, replaced with daF_dt (time-normalized). Based on th=0.003 support from joint fit. Separate SINDy closed-loop sim=0.901 (94.4% of PPO)."
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}
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