| # | value | state | exit | lap1 | lap2 | boost | e_y_rms | e_y_p95 | solve_p95 | vx_max | Q0 | Q1 | QN0 | QN1 | R0 | ay_max |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0 | — | PRUNED | crash | — | — | — | — | — | — | — | 64431 | 71483411 | 1590641 | 112560 | 91763 | 13 |
| 1 | — | PRUNED | crash | — | — | — | — | — | — | — | 89854 | 84475676 | 40047 | 491372 | 48591 | 13 |
| 2 | 85.660 | COMPLETE | ok | — | — | — | 0.761 | 1.796 | 6.77 | — | 62336 | 73079232 | 1706223 | 674 | 34406 | 13 |
| 3 | — | PRUNED | crash | — | — | — | — | — | — | — | 90891 | 75424017 | 309017 | 727549 | 61439 | 13 |
| 4 | 85.580 | COMPLETE | ok | — | — | — | 0.757 | 1.805 | 6.72 | — | 64431 | 71483411 | 1590641 | 112560 | 91763 | 13 |
| 5 | 78.893 | COMPLETE | ok | — | — | — | 0.440 | 0.851 | 6.96 | — | 89854 | 84475676 | 40047 | 491372 | 48591 | 13 |
| 6 | 78.673 | COMPLETE | ok | — | — | — | 0.482 | 1.002 | 6.88 | — | 62336 | 73079232 | 1706223 | 674 | 34406 | 13 |
| 7 | 78.298 | COMPLETE | ok | — | — | — | 0.449 | 0.962 | 6.83 | — | 90891 | 75424017 | 309017 | 727549 | 61439 | 13 |
trial #7 — value 78.298
Q0: 90891.4750640805 Q1: 75424016.63565862 QN0: 309016.82615505083 QN1: 727548.5704793076 R0: 61438.91986553829 ay_max: 13.111954401335842
config へ反映: uv run python optuna/apply_best.py --study mpc-costmat-repeats2（racingkart-analysis リポジトリで実行）
| param | importance | |
|---|---|---|
| Q1 | 0.276 | |
| Q0 | 0.183 | |
| R0 | 0.156 | |
| QN0 | 0.141 | |
| QN1 | 0.130 | |
| ay_max | 0.113 |
fANOVA による寄与度（optuna.importance.get_param_importances）