exp2/code/paper_knobs.py

import sys, numpy as np, json; sys.path.insert(0, "/workspace/isr/src/teleop_std_poc"); from isr_resample import isr_resample, _acceleration_magnitudes
from knob_table import load, run
for T in ["transfer_cube", "insertion"]:
    eps = load(f"trajs_aloha_{T}")                       # degrees
    eps_rad = [(np.deg2rad(P), t, np.deg2rad(g)) for P, t, g in eps]
    print(f"== {T}")
    for name, E, d, lam, gthr in [("paper knobs on RADIANS (d=0.05, lam=0.01, gthr=0.05)", eps_rad, 0.05, 0.01, 0.05), ("paper knobs on DEGREES (d=0.05, lam=0.01, gthr=0.05)", eps, 0.05, 0.01, 0.05), ("paper lam=0.01 with d re-solved for 33% kept, RADIANS", eps_rad, None, 0.01, 0.05)]:
        if d is None:
            from knob_table import solve_d; d = solve_d(E, 0.33, lam, gthr, lo=1e-4, hi=5.0)
        r = run(E, d, lam, gthr); dp = sum(np.linalg.norm(np.diff(P, axis=0), axis=1).sum() for P, t, g in E); acc = sum(_acceleration_magnitudes(P, t).sum() for P, t, g in E)
        print(f"  {name}: d={d:.4f} kept={100*r[0]:.1f}%  pauses kept={100*r[3]:.1f}%  acc-share={100*lam*acc/(dp+lam*acc):.0f}%")
    # jerkiness / human-ness stats (degrees)
    cv, npause, jerkfrac, rev = [], [], [], []
    for P, t, g in eps:
        v = np.linalg.norm(np.diff(P, axis=0), axis=1) * 50; a = np.diff(v) * 50; j = np.diff(a) * 50
        cv.append(v.std() / v.mean()); mov = v > 5; npause.append(int(np.sum(np.diff(mov.astype(int)) == -1))); jerkfrac.append(np.mean(np.abs(j) > np.percentile(np.abs(j), 50) * 5))
        dv = np.diff(P, axis=0); rev.append(np.mean(np.sum(dv[1:] * dv[:-1], axis=1) < 0))
    print(f"  speed CV (std/mean) {np.mean(cv):.2f} | stop-go segments per episode {np.mean(npause):.1f} | high-jerk frames {100*np.mean(jerkfrac):.1f}% | direction reversals {100*np.mean(rev):.1f}% of frames | quiet-hold frames {100*run(eps,1.79,0.00035,2.84)[4]:.1f}%")