Experiment configuration

Every published run begins with YAML loaded into ExperimentConfig.

name: single2d_mbd_demo
output_dir: results/single2d/mbd_demo
env_name: single_integrator_box_2d
method: mbd
backend: jax
device: cpu
seeds: [0]
n_steps: 64

env_params:
  dt: 0.05
  horizon: 64

method_params:
  Nsample: 64
  Ndiffuse: 20

obstacle_levels: [0]
obstacle_config:
  generator: box2d

metrics: [ssr]
visualizations: [trajectory]

Inheritance

Use a relative base: path for task families:

base: ../_base.yaml
name: mga_ablation_no_retraction
method_params:
  controller_method: mga_no_retraction

Nested dictionaries merge. Lists and scalar values replace the base value. Cyclic or missing bases fail during loading.

Formal and development outputs

Use --development-root for probes, local changes, or incomplete protocols. Formal configurations may declare a frozen protocol and required checkpoint hashes. The runner blocks formal execution when those readiness conditions are not satisfied.

Matrix selection

• --seed N selects one seed.
• --seeds N ... selects several seeds.
• --level N selects one obstacle level.
• --suite NAME and --suites NAME ... select named task/physics conditions.
• --device cpu|gpu|cuda overrides the configuration for that invocation.
• --resume executes only missing or configuration-mismatched entries.

Validate the full catalogue after changing any config:

python scripts/release/validate_release.py