ee62522 · mpc=3361035 · analysis=5ace34a · host=shiitake-HP-Z690 · power=performance · updated 2026-07-12 13:19| # | value | state | exit | lap1 | lap2 | boost | e_y_rms | e_y_p95 | solve_p95 | vx_max | fsm_clearance | fsm_t_hold | fsm_t_commit | fsm_cooldown | fsm_ttc_abort | fsm_tailgate |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0 | 210.274 | COMPLETE | ok | 110.45 | 99.82 | 🚀2 | 0.924 | 1.944 | 7.78 | 6.95 | 1 | 0 | 12 | 2 | 2 | 2 |
| 1 | 111.898 | COMPLETE | ok | 44.71 | 67.19 | 🚀2 | 0.859 | 1.659 | 7.85 | 9.75 | 1 | 1 | 8 | 4 | 2 | 2 |
| 2 | — | PRUNED | crash | — | — | — | — | — | — | — | 1 | 1 | 11 | 1 | 2 | 3 |
| 3 | 147.195 | COMPLETE | ok | 46.35 | 100.85 | 🚀2 | 1.424 | 3.158 | 7.74 | 9.75 | 1 | 0 | 13 | 1 | 2 | 3 |
| 4 | 237.159 | COMPLETE | ok | 111.22 | 125.94 | 🚀2 | 0.908 | 1.860 | 7.80 | 8.85 | 1 | 1 | 9 | 3 | 2 | 3 |
| 5 | 214.401 | COMPLETE | ok | 110.83 | 103.57 | 🚀2 | 1.079 | 2.231 | 7.92 | 7.45 | 1 | 0 | 10 | 2 | 2 | 2 |
| 6 | 217.480 | COMPLETE | ok | 116.01 | 101.47 | 🚀2 | 1.483 | 3.327 | 8.75 | 9.47 | 1 | 0 | 11 | 1 | 2 | 2 |
| 7 | 235.830 | COMPLETE | ok | 134.95 | 100.88 | 🚀2 | 1.518 | 3.762 | 8.62 | 6.54 | 1 | 1 | 12 | 2 | 2 | 2 |
| 8 | 112.164 | COMPLETE | ok | 46.26 | 65.91 | 🚀2 | 0.777 | 1.527 | 7.19 | 9.73 | 1 | 0 | 8 | 3 | 2 | 2 |
| 9 | 214.586 | COMPLETE | ok | 110.21 | 104.38 | 🚀2 | 0.893 | 1.883 | 7.51 | 4.62 | 1 | 1 | 12 | 3 | 2 | 2 |
| 10 | 213.602 | COMPLETE | ok | 108.68 | 104.92 | 🚀2 | 0.889 | 1.940 | 7.26 | 6.40 | 1 | 1 | 14 | 4 | 2 | 2 |
| 11 | 210.179 | COMPLETE | ok | 108.00 | 102.18 | 🚀2 | 0.969 | 2.222 | 7.61 | 7.42 | 1 | 1 | 8 | 4 | 3 | 2 |
| 12 | 110.629 | COMPLETE | ok | 44.74 | 65.89 | 🚀2 | 0.780 | 1.455 | 6.97 | 9.76 | 1 | 1 | 8 | 3 | 2 | 2 |
| 13 | 111.918 | COMPLETE | ok | 45.13 | 66.79 | 🚀2 | 0.808 | 1.505 | 7.15 | 9.76 | 1 | 1 | 9 | 3 | 2 | 2 |
| 14 | 214.587 | COMPLETE | ok | 138.29 | 76.30 | 🚀2 | 1.828 | 3.844 | 8.56 | 9.40 | 1 | 1 | 10 | 3 | 3 | 2 |
| 15 | 217.460 | COMPLETE | ok | 108.15 | 109.31 | 🚀2 | 1.149 | 2.642 | 7.66 | 8.94 | 1 | 1 | 8 | 4 | 2 | 2 |
trial #12 — value 110.629 · laps: 44.74, 65.89 · boost fires: 2
fsm_clearance: 0.5014418073679684 fsm_t_hold: 0.9498291758855877 fsm_t_commit: 8.084267223877038 fsm_cooldown: 3.395482143717427 fsm_ttc_abort: 2.378984003658785 fsm_tailgate: 1.8280672942599716
config へ反映: uv run python optuna/apply_best.py --study mpc-fsm-ot-1（racingkart-analysis リポジトリで実行）
| param | importance | |
|---|---|---|
| fsm_t_commit | 0.394 | |
| fsm_tailgate | 0.269 | |
| fsm_cooldown | 0.130 | |
| fsm_clearance | 0.096 | |
| fsm_t_hold | 0.077 | |
| fsm_ttc_abort | 0.034 |
fANOVA による寄与度（optuna.importance.get_param_importances）