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firestar5683
83 lines
3.6 KiB
Python
83 lines
3.6 KiB
Python
"""Uncensored score-baseline and physical-drift seams, synthetic data only."""
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from dataclasses import replace
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from types import SimpleNamespace
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from openpilot.starpilot.flm.tests.test_live_tracking_rollout import _optimizer, _refresh, _episode, NS
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from openpilot.starpilot.flm.live_tracking_response import ResponseMonitor
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from openpilot.starpilot.flm.tests.test_live_tracking_requalification import certificate, synthetic_pair
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def test_error_selected_discovery_is_not_reused_as_comparison_baseline():
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owner = _optimizer()
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index = 0
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while owner.discovery is None and index < 24:
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index += 1
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now = index*8*NS
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_refresh(owner, now)
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owner.observe_episode(_episode(owner, index, now, owner.accepted, .6, .35, 22.), now_ns=now)
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assert owner.discovery is not None
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assert owner.offer_state is None
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discovery = dict(owner.discovery)
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comparison = []
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for _ in range(discovery['quota']):
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index += 1
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now = index*8*NS
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_refresh(owner, now)
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# Every newly requested comparison episode is retained, even perfect0.
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row = _episode(owner, index, now, owner.accepted, .6, 0., 22.)
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comparison.append(row)
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owner.observe_episode(row, now_ns=now)
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if owner.offer_state is not None:
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assert owner.before == tuple(comparison)
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assert all(row.error_rms == 0. for row in owner.before)
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else:
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assert owner.reason == 'independent_baseline_trial_power_insufficient'
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assert owner.discovery is None
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def test_overlapping_comparison_does_not_count_twice():
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owner = _optimizer()
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index = 0
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while owner.discovery is None and index < 24:
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index += 1
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now = index*8*NS
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_refresh(owner, now)
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owner.observe_episode(_episode(owner, index, now, owner.accepted, .6, .35, 22.), now_ns=now)
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assert owner.discovery is not None
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index += 1
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now = index*8*NS
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_refresh(owner, now)
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first = _episode(owner, index, now, owner.accepted, .6, .35, 22.)
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owner.observe_episode(first, now_ns=now)
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overlap = replace(first, episode_id='1'*64, start_ns=first.start_ns+1, end_ns=first.end_ns+1)
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assert not owner.observe_episode(overlap, now_ns=now+1)
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assert owner.comparison == [first]
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def test_constant_command_point12_physical_shift_cannot_refresh_response_witness():
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cert = certificate()
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source = SimpleNamespace(_binding=cert.binding, original=cert)
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monitor = ResponseMonitor(cert)
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for index in range(8):
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control, output, pose = synthetic_pair(source, index, command=.1)
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assert monitor.observe(control, output, pose, now_ns=pose.mono_ns, binding=cert.binding, current_native=True)
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assert monitor.witness(pose.mono_ns) is not None
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for index in range(8, 16):
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control, output, pose = synthetic_pair(source, index, command=.1)
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shifted_yaw = pose.yaw_rate+.12/pose.speed_mps
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pose = replace(pose, yaw_rate=shifted_yaw, angular_velocity_device=(0., 0., shifted_yaw))
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monitor.observe(control, output, pose, now_ns=pose.mono_ns, binding=cert.binding, current_native=True)
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assert monitor.witness(pose.mono_ns) is None
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def test_changed_actual_commands_explain_point12_shift_without_proving_trial_benefit():
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cert = certificate()
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source = SimpleNamespace(_binding=cert.binding, original=cert)
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monitor = ResponseMonitor(cert)
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for index in range(16):
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control, output, pose = synthetic_pair(source, index, command=.1 if index < 8 else .14)
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assert monitor.observe(control, output, pose, now_ns=pose.mono_ns, binding=cert.binding, current_native=True)
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assert monitor.witness(pose.mono_ns) is not None
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# A response witness licenses the numerical model, never causal attribution
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# of a tracking improvement to the offered knob rather than another input.
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