Implement tuned PID controller with feed-forward term (score ~96.7)

.gitignore

@@ -1,5 +1,74 @@
+# Python
 __pycache__/
-data/
+*.py[cod]
+*$py.class
+*.so
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# Virtual Environment
+venv/
+env/
+ENV/
+
+# Project specific
 report.html
-models/tinyphysics_*.onnx
-*.swp
+best_pid_params.txt
+visualizations/
+*.onnx
+
+# Jupyter Notebooks
+.ipynb_checkpoints
+*.ipynb_checkpoints/
+*.ipynb
+
+# Visual Studio Code
+.vscode/
+*.code-workspace
+.history/
+
+# PyCharm
+.idea/
+*.iml
+*.iws
+*.ipr
+
+# Logs
+logs/
+*.log
+
+# Data (optional - uncomment if you don't want to track data files)
+data/
+*.csv
+
+# Outputs
+*.png
+*.jpg
+*.jpeg
+*.gif
+*.svg
+*.pkl
+*.joblib
+
+# OS specific
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+ehthumbs.db
+Thumbs.db

controllers/tuned_pid.py

@@ -0,0 +1,40 @@
+from . import BaseController
+import numpy as np
+
+class Controller(BaseController):
+  """
+  A simplified tuned PID controller with feed-forward term
+
+  Based on the baseline PID controller but adds a feed-forward term
+  Feed-forward term: k_ff * target_lataccel / v_ego**2
+  """
+  def __init__(self):
+    # Optimized PID gains from Optuna (trial 25)
+    self.p = 0.21942091482230813  # Proportional gain
+    self.i = 0.09438349898803905  # Integral gain
+    self.d = -0.06219594603865014  # Derivative gain
+
+    # Add feed-forward gain
+    self.k_ff = 0.02737288447587737
+
+    # State variables
+    self.error_integral = 0
+    self.prev_error = 0
+
+  def update(self, target_lataccel, current_lataccel, state, future_plan):
+      # Extract vehicle velocity for feed-forward term
+      v_ego = state.v_ego
+
+      # Calculate PID terms (same as baseline)
+      error = (target_lataccel - current_lataccel)
+      self.error_integral += error
+      error_diff = error - self.prev_error
+      self.prev_error = error
+
+      # Calculate feed-forward term (avoid division by zero)
+      feed_forward = 0
+      if v_ego > 0.1:  # Only apply feed-forward when moving
+          feed_forward = self.k_ff * target_lataccel / (v_ego**2)
+
+      # Combine PID and feed-forward
+      return self.p * error + self.i * self.error_integral + self.d * error_diff + feed_forward 

requirements.txt

@@ -4,3 +4,6 @@ pandas==2.1.2
 matplotlib==3.8.1
 seaborn==0.13.2
 tqdm
+optuna==3.5.0
+plotly==5.26.0
+kaleido==0.2.1

scripts/run_tuning.bat

@@ -0,0 +1,34 @@
+@echo off
+echo Starting PID Controller Tuning Process
+echo ==================================
+
+REM Install requirements
+pip install -r requirements.txt
+
+REM Activate environment if needed
+REM call venv\Scripts\activate.bat
+
+REM Run PID tuning with recommended parameters
+python scripts/tune_pid.py ^
+  --model_path ./models/tinyphysics.onnx ^
+  --data_path ./data ^
+  --num_segs 200 ^
+  --n_trials 100 ^
+  --update_controller
+
+echo.
+echo Tuning completed! Updated controller with best parameters.
+echo Running final evaluation against baseline PID...
+echo.
+
+REM Generate final evaluation report
+python eval.py ^
+  --model_path ./models/tinyphysics.onnx ^
+  --data_path ./data ^
+  --num_segs 100 ^
+  --test_controller tuned_pid ^
+  --baseline_controller pid
+
+echo.
+echo Evaluation complete! See report.html for results.
+echo ================================== 

scripts/run_tuning.sh

@@ -0,0 +1,34 @@
+#!/bin/bash
+echo "Starting PID Controller Tuning Process"
+echo "=================================="
+
+# Install requirements
+pip install -r requirements.txt
+
+# Activate environment if needed
+# source venv/bin/activate
+
+# Run PID tuning with recommended parameters
+python scripts/tune_pid.py \
+  --model_path ./models/tinyphysics.onnx \
+  --data_path ./data \
+  --num_segs 200 \
+  --n_trials 100 \
+  --update_controller
+
+echo
+echo "Tuning completed! Updated controller with best parameters."
+echo "Running final evaluation against baseline PID..."
+echo
+
+# Generate final evaluation report
+python eval.py \
+  --model_path ./models/tinyphysics.onnx \
+  --data_path ./data \
+  --num_segs 100 \
+  --test_controller tuned_pid \
+  --baseline_controller pid
+
+echo
+echo "Evaluation complete! See report.html for results."
+echo "=================================="