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optimize_params.py

CLI options for gradient-based tuning of single-track dynamics parameters.

Typical invocation

UV_CACHE_DIR=.uv-cache-local uv run --project PCT python PCT/bin/optimize_params.py \
  --dataset datasets/aug_29/teleop1 \
  --samples 128 --steps 50 --optimizer adam --lr 1e-3

Key options

  • Datasets
  • --dataset PATH (repeatable, required): Training dataset folders.
  • --samples: Limit number of trajectories processed.
  • --dt: Timestep (hundredths of a second) when constructing Param.timestep.
  • Optimization
  • --steps: Number of gradient descent steps.
  • --lr: Learning rate.
  • --optimizer {sgd, adam, adamw, rmsprop}: Optax optimizer.
  • --momentum: Momentum term (used for SGD/RMSProp).
  • Outputs
  • --output: JSON path to store tuned parameters (defaults to the first dataset folder).

Refer to PCT/bin/optimize_params.py for full argument defaults and behavior.