dsh-eval-guard 0.7.3 → 0.7.4

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (58) hide show
  1. package/ISSUES.md +5 -1
  2. package/README.md +4 -2
  3. package/assets/neural-pendulum/SPEC.md +4 -3
  4. package/assets/neural-pendulum/TASK.md +4 -3
  5. package/assets/neural-pendulum/rl-feasibility/README.md +60 -0
  6. package/assets/neural-pendulum/rl-feasibility/RESULTS.md +370 -0
  7. package/assets/neural-pendulum/rl-feasibility/evaluate.py +107 -0
  8. package/assets/neural-pendulum/rl-feasibility/finalize_run.py +168 -0
  9. package/assets/neural-pendulum/rl-feasibility/models.py +124 -0
  10. package/assets/neural-pendulum/rl-feasibility/obs.py +205 -0
  11. package/assets/neural-pendulum/rl-feasibility/plot_selected.py +55 -0
  12. package/assets/neural-pendulum/rl-feasibility/reference_controller.py +112 -0
  13. package/assets/neural-pendulum/rl-feasibility/results/curves_selected.png +0 -0
  14. package/assets/neural-pendulum/rl-feasibility/results/reference_controller.json +417 -0
  15. package/assets/neural-pendulum/rl-feasibility/results/summary.json +1599 -0
  16. package/assets/neural-pendulum/rl-feasibility/results/table.md +39 -0
  17. package/assets/neural-pendulum/rl-feasibility/sim.py +324 -0
  18. package/assets/neural-pendulum/rl-feasibility/summarize.py +175 -0
  19. package/assets/neural-pendulum/rl-feasibility/task.py +342 -0
  20. package/assets/neural-pendulum/rl-feasibility/test_contract.py +188 -0
  21. package/assets/neural-pendulum/rl-feasibility/train_ppo.py +403 -0
  22. package/assets/neural-pendulum/rl-feasibility/train_sac.py +406 -0
  23. package/assets/neural-pendulum/sim.cpp +13 -2
  24. package/assets/neural-pendulum/sim_eval +0 -0
  25. package/assets/neural-pendulum/workspace.zip +0 -0
  26. package/lib/index.js +5 -1
  27. package/native/dsh-eval-supervisor +0 -0
  28. package/native/supervisor.c +42 -10
  29. package/neural-pendulum-eval/sim_eval +0 -0
  30. package/package.json +2 -2
  31. package/eval/__pycache__/bomberman.cpython-310.pyc +0 -0
  32. package/eval/__pycache__/commit0.cpython-310.pyc +0 -0
  33. package/eval/__pycache__/common.cpython-310.pyc +0 -0
  34. package/eval/__pycache__/ctf.cpython-310.pyc +0 -0
  35. package/eval/__pycache__/featurebench.cpython-310.pyc +0 -0
  36. package/eval/__pycache__/land.cpython-310.pyc +0 -0
  37. package/eval/__pycache__/neural-cifar.cpython-310.pyc +0 -0
  38. package/eval/__pycache__/neural-cpp.cpython-310.pyc +0 -0
  39. package/eval/__pycache__/neural-fp32.cpython-310.pyc +0 -0
  40. package/eval/__pycache__/neural-pendulum.cpython-310.pyc +0 -0
  41. package/eval/__pycache__/swe-bench-pro.cpython-310.pyc +0 -0
  42. package/eval/__pycache__/tank.cpython-310.pyc +0 -0
  43. package/eval/__pycache__/warehouse.cpython-310.pyc +0 -0
  44. package/eval/legacy/__pycache__/bomberman.cpython-310.pyc +0 -0
  45. package/eval/legacy/__pycache__/commit0.cpython-310.pyc +0 -0
  46. package/eval/legacy/__pycache__/ctf.cpython-310.pyc +0 -0
  47. package/eval/legacy/__pycache__/featurebench.cpython-310.pyc +0 -0
  48. package/eval/legacy/__pycache__/land.cpython-310.pyc +0 -0
  49. package/eval/legacy/__pycache__/swe_bench_pro.cpython-310.pyc +0 -0
  50. package/eval/legacy/__pycache__/tank.cpython-310.pyc +0 -0
  51. package/eval/legacy/__pycache__/warehouse.cpython-310.pyc +0 -0
  52. package/neural-cifar-eval/__pycache__/cifar_cache.cpython-310.pyc +0 -0
  53. package/neural-cifar-eval/__pycache__/common.cpython-310.pyc +0 -0
  54. package/neural-cifar-eval/__pycache__/fetch_cifar.cpython-310.pyc +0 -0
  55. package/neural-cifar-eval/__pycache__/ops_eval.cpython-310.pyc +0 -0
  56. package/neural-cifar-eval/__pycache__/run_eval.cpython-310.pyc +0 -0
  57. package/neural-pendulum-eval/__pycache__/ops_eval.cpython-310.pyc +0 -0
  58. package/neural-pendulum-eval/__pycache__/run_eval.cpython-310.pyc +0 -0
package/assets/neural-pendulum/rl-feasibility/results/reference_controller.json ADDED
@@ -0,0 +1,417 @@
1
+ {
2
+ "note": "Non-RL existence check. Pole-placement stabiliser using privileged full state (theta and simulator omega); not a learned policy. Shows whether the upright hold is physically reachable with the fixed torque mapping. The torque command is low-pass filtered (alpha=0.5); the unfiltered controller chatters and only holds ~1 s.",
3
+ "poles": [
4
+ -5.0,
5
+ -6.0,
6
+ -7.0,
7
+ -8.0,
8
+ -9.0,
9
+ -10.0
10
+ ],
11
+ "action_filter_alpha": 0.5,
12
+ "gain": [
13
+ [
14
+ -17.82008272259022,
15
+ -90.53020345591291,
16
+ -37.60973879998583,
17
+ -17.574950427476214,
18
+ -21.006026390694455,
19
+ -9.992697352896354
20
+ ],
21
+ [
22
+ 3.4221790257027664,
23
+ 6.7210733064834685,
24
+ 6.823263521680083,
25
+ 1.9296331848889634,
26
+ 2.183847052498074,
27
+ 1.386819759832599
28
+ ]
29
+ ],
30
+ "fixed_start": {
31
+ "theta0": [
32
+ 3.154592653589793,
33
+ 3.133592653589793,
34
+ 3.162592653589793
35
+ ],
36
+ "offset_from_upright": [
37
+ 0.013,
38
+ -0.008,
39
+ 0.021
40
+ ],
41
+ "omega0": [
42
+ 0.0,
43
+ 0.0,
44
+ 0.0
45
+ ],
46
+ "t_can": 29.99000000000189,
47
+ "ever_up": 1.0,
48
+ "final_ang_err": 2.1760371282653068e-14,
49
+ "sat_frac": 0.0,
50
+ "final_theta": [
51
+ 3.141592653589815,
52
+ 3.141592653589791,
53
+ 3.141592653589787
54
+ ]
55
+ },
56
+ "random_starts": {
57
+ "n": 32,
58
+ "success_rate": 1.0,
59
+ "mean_t_can": 24.79125000000196,
60
+ "median_t_can": 27.840000000001897,
61
+ "max_t_can": 29.99000000000189,
62
+ "rows": [
63
+ {
64
+ "t_can": 29.99000000000189,
65
+ "ever_up": 1.0,
66
+ "final_ang_err": 8.43769498715119e-15,
67
+ "sat_frac": 0.0,
68
+ "final_theta": [
69
+ 3.1415926535898016,
70
+ 3.1415926535897905,
71
+ 3.1415926535897936
72
+ ]
73
+ },
74
+ {
75
+ "t_can": 18.890000000002082,
76
+ "ever_up": 1.0,
77
+ "final_ang_err": 5.595524044110789e-14,
78
+ "sat_frac": 0.0,
79
+ "final_theta": [
80
+ 3.141592653589849,
81
+ 3.1415926535897984,
82
+ 3.141592653589774
83
+ ]
84
+ },
85
+ {
86
+ "t_can": 18.0500000000021,
87
+ "ever_up": 1.0,
88
+ "final_ang_err": 5.3290705182007514e-14,
89
+ "sat_frac": 0.0,
90
+ "final_theta": [
91
+ 3.1415926535898464,
92
+ 3.1415926535897984,
93
+ 3.141592653589776
94
+ ]
95
+ },
96
+ {
97
+ "t_can": 11.180000000001748,
98
+ "ever_up": 1.0,
99
+ "final_ang_err": 5.717648576819556e-12,
100
+ "sat_frac": 0.0,
101
+ "final_theta": [
102
+ 3.1415926535840755,
103
+ 3.1415926535880225,
104
+ 3.141592653591231
105
+ ]
106
+ },
107
+ {
108
+ "t_can": 29.99000000000189,
109
+ "ever_up": 1.0,
110
+ "final_ang_err": 4.707345624410664e-14,
111
+ "sat_frac": 0.0,
112
+ "final_theta": [
113
+ 3.14159265358984,
114
+ 3.141592653589798,
115
+ 3.1415926535897785
116
+ ]
117
+ },
118
+ {
119
+ "t_can": 21.580000000002023,
120
+ "ever_up": 1.0,
121
+ "final_ang_err": 2.708944180085382e-14,
122
+ "sat_frac": 0.0,
123
+ "final_theta": [
124
+ 3.141592653589766,
125
+ 3.141592653589795,
126
+ 3.141592653589803
127
+ ]
128
+ },
129
+ {
130
+ "t_can": 28.81000000000189,
131
+ "ever_up": 1.0,
132
+ "final_ang_err": 1.4210854715202004e-14,
133
+ "sat_frac": 0.0,
134
+ "final_theta": [
135
+ 3.141592653589779,
136
+ 3.141592653589796,
137
+ 3.1415926535897962
138
+ ]
139
+ },
140
+ {
141
+ "t_can": 29.99000000000189,
142
+ "ever_up": 1.0,
143
+ "final_ang_err": 4.085620730620576e-14,
144
+ "sat_frac": 0.0,
145
+ "final_theta": [
146
+ 3.141592653589834,
147
+ 3.1415926535897913,
148
+ 3.1415926535897762
149
+ ]
150
+ },
151
+ {
152
+ "t_can": 29.99000000000189,
153
+ "ever_up": 1.0,
154
+ "final_ang_err": 2.5757174171303632e-14,
155
+ "sat_frac": 0.0,
156
+ "final_theta": [
157
+ 3.1415926535897674,
158
+ 3.141592653589791,
159
+ 3.141592653589812
160
+ ]
161
+ },
162
+ {
163
+ "t_can": 16.970000000002123,
164
+ "ever_up": 1.0,
165
+ "final_ang_err": 3.572708751065079e-08,
166
+ "sat_frac": 0.0,
167
+ "final_theta": [
168
+ 3.1415926893168806,
169
+ 3.1415926726829873,
170
+ 3.1415926548413156
171
+ ]
172
+ },
173
+ {
174
+ "t_can": 14.390000000002178,
175
+ "ever_up": 1.0,
176
+ "final_ang_err": 5.062616992290714e-14,
177
+ "sat_frac": 0.0,
178
+ "final_theta": [
179
+ 3.1415926535898437,
180
+ 3.141592653589805,
181
+ 3.141592653589778
182
+ ]
183
+ },
184
+ {
185
+ "t_can": 29.99000000000189,
186
+ "ever_up": 1.0,
187
+ "final_ang_err": 3.952393967665557e-14,
188
+ "sat_frac": 0.0,
189
+ "final_theta": [
190
+ 3.1415926535897536,
191
+ 3.141592653589795,
192
+ 3.141592653589809
193
+ ]
194
+ },
195
+ {
196
+ "t_can": 24.62000000000196,
197
+ "ever_up": 1.0,
198
+ "final_ang_err": 3.952393967665557e-14,
199
+ "sat_frac": 0.0,
200
+ "final_theta": [
201
+ 3.1415926535898326,
202
+ 3.1415926535897913,
203
+ 3.1415926535897767
204
+ ]
205
+ },
206
+ {
207
+ "t_can": 29.99000000000189,
208
+ "ever_up": 1.0,
209
+ "final_ang_err": 4.218847493575595e-14,
210
+ "sat_frac": 0.0,
211
+ "final_theta": [
212
+ 3.1415926535898353,
213
+ 3.1415926535897922,
214
+ 3.141592653589776
215
+ ]
216
+ },
217
+ {
218
+ "t_can": 29.99000000000189,
219
+ "ever_up": 1.0,
220
+ "final_ang_err": 3.907985046680551e-14,
221
+ "sat_frac": 0.0,
222
+ "final_theta": [
223
+ 3.141592653589832,
224
+ 3.1415926535897922,
225
+ 3.141592653589779
226
+ ]
227
+ },
228
+ {
229
+ "t_can": 17.260000000002115,
230
+ "ever_up": 1.0,
231
+ "final_ang_err": 3.79389852867007e-11,
232
+ "sat_frac": 0.0,
233
+ "final_theta": [
234
+ 3.141592653592213,
235
+ 3.141592653561257,
236
+ 3.141592653551854
237
+ ]
238
+ },
239
+ {
240
+ "t_can": 25.760000000001938,
241
+ "ever_up": 1.0,
242
+ "final_ang_err": 1.5987211554602254e-14,
243
+ "sat_frac": 0.0,
244
+ "final_theta": [
245
+ 3.141592653589809,
246
+ 3.1415926535897936,
247
+ 3.1415926535897833
248
+ ]
249
+ },
250
+ {
251
+ "t_can": 27.260000000001906,
252
+ "ever_up": 1.0,
253
+ "final_ang_err": 2.6201263381153694e-14,
254
+ "sat_frac": 0.0,
255
+ "final_theta": [
256
+ 3.141592653589767,
257
+ 3.141592653589795,
258
+ 3.141592653589802
259
+ ]
260
+ },
261
+ {
262
+ "t_can": 14.380000000002179,
263
+ "ever_up": 1.0,
264
+ "final_ang_err": 7.682743330406083e-14,
265
+ "sat_frac": 0.0,
266
+ "final_theta": [
267
+ 3.1415926535897163,
268
+ 3.1415926535897825,
269
+ 3.141592653589821
270
+ ]
271
+ },
272
+ {
273
+ "t_can": 24.21000000000197,
274
+ "ever_up": 1.0,
275
+ "final_ang_err": 4.574118861455645e-14,
276
+ "sat_frac": 0.0,
277
+ "final_theta": [
278
+ 3.141592653589839,
279
+ 3.1415926535897922,
280
+ 3.141592653589775
281
+ ]
282
+ },
283
+ {
284
+ "t_can": 25.350000000001945,
285
+ "ever_up": 1.0,
286
+ "final_ang_err": 3.3306690738754696e-14,
287
+ "sat_frac": 0.0,
288
+ "final_theta": [
289
+ 3.14159265358976,
290
+ 3.1415926535897953,
291
+ 3.141592653589806
292
+ ]
293
+ },
294
+ {
295
+ "t_can": 19.280000000002076,
296
+ "ever_up": 1.0,
297
+ "final_ang_err": 1.865174681370263e-14,
298
+ "sat_frac": 0.0,
299
+ "final_theta": [
300
+ 3.1415926535898118,
301
+ 3.14159265358979,
302
+ 3.141592653589787
303
+ ]
304
+ },
305
+ {
306
+ "t_can": 29.99000000000189,
307
+ "ever_up": 1.0,
308
+ "final_ang_err": 3.5083047578154947e-14,
309
+ "sat_frac": 0.0,
310
+ "final_theta": [
311
+ 3.141592653589758,
312
+ 3.1415926535897953,
313
+ 3.1415926535898073
314
+ ]
315
+ },
316
+ {
317
+ "t_can": 29.89000000000189,
318
+ "ever_up": 1.0,
319
+ "final_ang_err": 1.3322676295501878e-14,
320
+ "sat_frac": 0.0,
321
+ "final_theta": [
322
+ 3.1415926535898064,
323
+ 3.14159265358979,
324
+ 3.1415926535897896
325
+ ]
326
+ },
327
+ {
328
+ "t_can": 28.420000000001888,
329
+ "ever_up": 1.0,
330
+ "final_ang_err": 2.353672812205332e-14,
331
+ "sat_frac": 0.0,
332
+ "final_theta": [
333
+ 3.1415926535897696,
334
+ 3.1415926535897962,
335
+ 3.1415926535898024
336
+ ]
337
+ },
338
+ {
339
+ "t_can": 29.94000000000189,
340
+ "ever_up": 1.0,
341
+ "final_ang_err": 1.8207657603852567e-14,
342
+ "sat_frac": 0.0,
343
+ "final_theta": [
344
+ 3.1415926535898113,
345
+ 3.1415926535897905,
346
+ 3.1415926535897873
347
+ ]
348
+ },
349
+ {
350
+ "t_can": 29.53000000000189,
351
+ "ever_up": 1.0,
352
+ "final_ang_err": 4.263256414560601e-14,
353
+ "sat_frac": 0.0,
354
+ "final_theta": [
355
+ 3.1415926535898357,
356
+ 3.1415926535897913,
357
+ 3.1415926535897754
358
+ ]
359
+ },
360
+ {
361
+ "t_can": 29.99000000000189,
362
+ "ever_up": 1.0,
363
+ "final_ang_err": 4.4853010194856324e-14,
364
+ "sat_frac": 0.0,
365
+ "final_theta": [
366
+ 3.1415926535897483,
367
+ 3.141592653589794,
368
+ 3.1415926535898113
369
+ ]
370
+ },
371
+ {
372
+ "t_can": 29.88000000000189,
373
+ "ever_up": 1.0,
374
+ "final_ang_err": 2.6201263381153694e-14,
375
+ "sat_frac": 0.0,
376
+ "final_theta": [
377
+ 3.1415926535898193,
378
+ 3.141592653589792,
379
+ 3.1415926535897847
380
+ ]
381
+ },
382
+ {
383
+ "t_can": 21.020000000002035,
384
+ "ever_up": 1.0,
385
+ "final_ang_err": 4.1744385725905886e-14,
386
+ "sat_frac": 0.0,
387
+ "final_theta": [
388
+ 3.141592653589835,
389
+ 3.1415926535897936,
390
+ 3.141592653589775
391
+ ]
392
+ },
393
+ {
394
+ "t_can": 17.920000000002105,
395
+ "ever_up": 1.0,
396
+ "final_ang_err": 3.998623654410949e-11,
397
+ "sat_frac": 0.0,
398
+ "final_theta": [
399
+ 3.141592653549807,
400
+ 3.141592653569871,
401
+ 3.1415926535902368
402
+ ]
403
+ },
404
+ {
405
+ "t_can": 28.82000000000189,
406
+ "ever_up": 1.0,
407
+ "final_ang_err": 3.419486915845482e-14,
408
+ "sat_frac": 0.0,
409
+ "final_theta": [
410
+ 3.1415926535898273,
411
+ 3.1415926535897913,
412
+ 3.14159265358978
413
+ ]
414
+ }
415
+ ]
416
+ }
417
+ }