Remove obsolete MPC baseline names

experiments/current_estimator_mpc/README.md

@@ -1,3 +0,0 @@
-# Current-Estimator MPC Baseline
-
-Traditional MPC baseline with an online estimator for approximately uniform current drift.

experiments/current_estimator_mpc/__init__.py

@@ -1 +0,0 @@
-"""Current-estimator MPC experiment package."""

experiments/current_estimator_mpc/src/__init__.py

@@ -1 +0,0 @@
-"""Current-estimator MPC source package."""

experiments/current_estimator_mpc/src/config.py

@@ -1,5 +0,0 @@
-"""Current-estimator MPC config."""
-
-
-def default_config():
-    return {"goal": [8.0, 8.0], "gain": 0.65, "current_gain": 0.5}

experiments/current_estimator_mpc/src/estimator.py

@@ -1,9 +0,0 @@
-"""Online current estimator."""
-
-import numpy as np
-
-from experiments.shared.src.vision.pose_from_image import estimate_pose_from_clean_image
-
-def estimate_current(history, config):
-    poses = np.stack([estimate_pose_from_clean_image(img) for img in history], axis=0)
-    return poses[-1, :2] - poses[0, :2]

experiments/current_estimator_mpc/src/evaluate.py

@@ -1,10 +0,0 @@
-"""Current-estimator MPC evaluation."""
-
-from experiments.current_estimator_mpc.src.config import default_config
-from experiments.current_estimator_mpc.src.estimator import estimate_current
-from experiments.current_estimator_mpc.src.mpc import plan
-
-def evaluate(config):
-    cfg = default_config() | config
-    current = estimate_current(config["history"], cfg)
-    return plan(config["history"][-1], current, {"goal": cfg["goal"]}, cfg)

experiments/current_estimator_mpc/src/mpc.py

@@ -1,19 +0,0 @@
-"""MPC with online current estimate."""
-
-import numpy as np
-
-from experiments.shared.src.control.geometric import goal_action
-from experiments.shared.src.vision.pose_from_image import estimate_pose_from_clean_image
-
-def plan(state, current_estimate, task, config):
-    pose = estimate_pose_from_clean_image(state)
-    goal = np.asarray(task["goal"], dtype=np.float32)
-    return goal_action(
-        pose,
-        goal,
-        int(config["action_dim"]),
-        float(config["gain"]),
-        0.6,
-        drift=np.asarray(current_estimate, dtype=np.float32),
-        drift_gain=float(config["current_gain"]),
-    )

experiments/oracle_flow_mpc/README.md

@@ -1,5 +0,0 @@
-# Oracle-Flow MPC Upper Bound
-
-MPC baseline with access to the true simulator flow field.
-
-This is an upper bound, not a fair comparison method.

experiments/oracle_flow_mpc/__init__.py

@@ -1 +0,0 @@
-"""Oracle-flow MPC experiment package."""

experiments/oracle_flow_mpc/src/__init__.py

@@ -1 +0,0 @@
-"""Oracle-flow MPC source package."""

experiments/oracle_flow_mpc/src/config.py

@@ -1,5 +0,0 @@
-"""Oracle-flow MPC config."""
-
-
-def default_config():
-    return {"goal": [8.0, 8.0], "gain": 0.65, "flow_gain": 1.0}

experiments/oracle_flow_mpc/src/evaluate.py

@@ -1,8 +0,0 @@
-"""Oracle-flow MPC evaluation."""
-
-from experiments.oracle_flow_mpc.src.config import default_config
-from experiments.oracle_flow_mpc.src.mpc import plan
-
-def evaluate(config):
-    cfg = default_config() | config
-    return plan(config["image"], config["true_flow"], {"goal": cfg["goal"]}, cfg)

experiments/oracle_flow_mpc/src/mpc.py

@@ -1,19 +0,0 @@
-"""Oracle-flow MPC."""
-
-import numpy as np
-
-from experiments.shared.src.control.geometric import goal_action
-from experiments.shared.src.vision.pose_from_image import estimate_pose_from_clean_image
-
-def plan(state, true_flow, task, config):
-    pose = estimate_pose_from_clean_image(state)
-    goal = np.asarray(task["goal"], dtype=np.float32)
-    return goal_action(
-        pose,
-        goal,
-        int(config["action_dim"]),
-        float(config["gain"]),
-        0.6,
-        drift=np.asarray(true_flow, dtype=np.float32),
-        drift_gain=float(config["flow_gain"]),
-    )

experiments/physics_mpc_no_flow/README.md

@@ -1,3 +0,0 @@
-# Physics MPC Without Flow Baseline
-
-Traditional physics-based MPC using known boat dynamics while assuming no external flow.

experiments/physics_mpc_no_flow/__init__.py

@@ -1 +0,0 @@
-"""Physics MPC without flow experiment package."""

experiments/physics_mpc_no_flow/src/__init__.py

@@ -1 +0,0 @@
-"""Physics MPC without flow source package."""

experiments/physics_mpc_no_flow/src/config.py

@@ -1,5 +0,0 @@
-"""Physics MPC without flow config."""
-
-
-def default_config():
-    return {"goal": [8.0, 8.0], "gain": 0.65}

experiments/physics_mpc_no_flow/src/evaluate.py

@@ -1,8 +0,0 @@
-"""Physics MPC without flow evaluation."""
-
-from experiments.physics_mpc_no_flow.src.config import default_config
-from experiments.physics_mpc_no_flow.src.mpc import plan
-
-def evaluate(config):
-    cfg = default_config() | config
-    return plan(config["image"], {"goal": cfg["goal"]}, cfg)

experiments/physics_mpc_no_flow/src/model.py

@@ -1,12 +0,0 @@
-"""Known boat dynamics model without external flow."""
-
-import numpy as np
-
-def predict_next_state(state, action, config):
-    next_state = np.asarray(state, dtype=np.float32).copy()
-    theta = float(next_state[2])
-    speed = 0.04 * float(np.mean(action[:2]))
-    next_state[0] += speed * np.cos(theta)
-    next_state[1] += speed * np.sin(theta)
-    next_state[2] += 0.03 * float(action[0] - action[1])
-    return next_state

experiments/physics_mpc_no_flow/src/mpc.py

@@ -1,11 +0,0 @@
-"""Physics MPC without flow."""
-
-import numpy as np
-
-from experiments.shared.src.control.geometric import goal_action
-from experiments.shared.src.vision.pose_from_image import estimate_pose_from_clean_image
-
-def plan(state, task, config):
-    pose = estimate_pose_from_clean_image(state)
-    goal = np.asarray(task["goal"], dtype=np.float32)
-    return goal_action(pose, goal, int(config["action_dim"]), float(config["gain"]), 0.6)