ship-heading: the draft controller against the accepted one
Scenario s1: Nomoto gain 0.2 per second, time constant 20 s, light waves. Ordered course 30 degrees to starboard. Both runs come from the built plimsoll/sandbox-sim image through the project API; the fingerprints below are the SHA-256 of each trajectory as recorded from that image.
The simulator is written in C, compiled to WebAssembly and shipped in that image: its source, EXTERNAL · source repo ↗. A controller is a separate program that reads the simulator's observations each tick and sets its input. This page runs two hand-written controllers against it: a draft that makes a plausible mistake and fails, and an accepted one that passes the environment's scoring program. The controllers, the scoring program and the other scenarios are not published. Every simulator in the image, EXTERNAL · source repo ↗.
Work in progress. These charts show two hand-written reference controllers. No AI-generated controller is plotted for this environment yet.
Draft controllerovershootmax heading deg 115.164, overshoot at 24, first on course s 19, band fraction 0.017
Accepted controllerscore 1.000max heading deg 34.061, overshoot at none, first on course s 22, band fraction 1
Draft controllerAccepted controllerhard limit
Table view (100 rows)
| seconds | draft heading_rad | draft yaw_rate_rad_per_s | draft rudder_angle_rad | draft action | accepted heading_rad | accepted yaw_rate_rad_per_s | accepted rudder_angle_rad | accepted action |
|---|---|---|---|---|---|---|---|---|
| 0 | 0.0000 | 0.0000 | 0.0000 | 0.6109 | 0.0000 | 0.0000 | 0.0000 | 0.6109 |
| 3 | 0.0059 | 0.0057 | 0.1572 | 0.6109 | 0.0059 | 0.0057 | 0.1572 | 0.6109 |
| 6 | 0.0378 | 0.0154 | 0.3144 | 0.6109 | 0.0378 | 0.0154 | 0.3144 | 0.6109 |
| 9 | 0.0935 | 0.0213 | 0.4716 | 0.6109 | 0.0935 | 0.0213 | 0.4603 | 0.4768 |
| 12 | 0.1672 | 0.0290 | 0.5789 | 0.6109 | 0.1644 | 0.0262 | 0.3815 | 0.2472 |
| 15 | 0.2745 | 0.0438 | 0.6039 | 0.6109 | 0.2529 | 0.0333 | 0.2243 | -0.0575 |
| 18 | 0.4302 | 0.0593 | 0.6094 | 0.5605 | 0.3609 | 0.0373 | 0.0671 | -0.3467 |
| 21 | 0.6192 | 0.0646 | 0.4674 | -0.5738 | 0.4652 | 0.0301 | -0.0901 | -0.4257 |
| 24 | 0.8090 | 0.0615 | 0.3102 | -0.6109 | 0.5354 | 0.0163 | -0.2468 | -0.3172 |
| 27 | 0.9907 | 0.0603 | 0.1530 | -0.6109 | 0.5691 | 0.0076 | -0.2563 | -0.2284 |
| 30 | 1.1711 | 0.0590 | -0.0042 | -0.6109 | 0.5879 | 0.0049 | -0.2306 | -0.2164 |
| 33 | 1.3351 | 0.0482 | -0.1614 | -0.6109 | 0.5939 | -0.0020 | -0.1832 | -0.1047 |
| 36 | 1.4529 | 0.0297 | -0.3186 | -0.6109 | 0.5747 | -0.0101 | -0.0447 | 0.0791 |
| 39 | 1.5173 | 0.0140 | -0.4758 | -0.6109 | 0.5440 | -0.0084 | 0.0799 | 0.1102 |
| 42 | 1.5416 | 0.0020 | -0.5801 | -0.6109 | 0.5313 | -0.0000 | 0.0537 | -0.0150 |
| 45 | 1.5260 | -0.0137 | -0.6042 | -0.6109 | 0.5361 | 0.0014 | -0.0277 | -0.0499 |
| 48 | 1.4556 | -0.0336 | -0.6094 | -0.6109 | 0.5320 | -0.0043 | -0.0019 | 0.0612 |
| 51 | 1.3314 | -0.0478 | -0.6106 | -0.6109 | 0.5163 | -0.0045 | 0.0743 | 0.0951 |
| 54 | 1.1784 | -0.0536 | -0.6108 | -0.6109 | 0.5130 | 0.0027 | 0.0444 | -0.0270 |
| 57 | 1.0088 | -0.0606 | -0.6109 | -0.6109 | 0.5266 | 0.0047 | -0.0500 | -0.0897 |
| 60 | 0.8088 | -0.0734 | -0.6109 | -0.6109 | 0.5319 | -0.0018 | -0.0435 | 0.0166 |
| 63 | 0.5719 | -0.0833 | -0.5946 | -0.2897 | 0.5198 | -0.0046 | 0.0458 | 0.0910 |
| 66 | 0.3209 | -0.0823 | -0.4374 | 0.6109 | 0.5136 | 0.0014 | 0.0490 | -0.0058 |
| 69 | 0.0821 | -0.0771 | -0.2802 | 0.6109 | 0.5255 | 0.0050 | -0.0407 | -0.0938 |
| 72 | -0.1460 | -0.0753 | -0.1230 | 0.6109 | 0.5337 | -0.0006 | -0.0565 | -0.0089 |
| 75 | -0.3663 | -0.0701 | 0.0342 | 0.6109 | 0.5232 | -0.0051 | 0.0315 | 0.0917 |
| 78 | -0.5560 | -0.0545 | 0.1914 | 0.6109 | 0.5136 | -0.0001 | 0.0603 | 0.0215 |
| 81 | -0.6899 | -0.0348 | 0.3486 | 0.6109 | 0.5227 | 0.0050 | -0.0233 | -0.0888 |
| 84 | -0.7713 | -0.0201 | 0.5058 | 0.6109 | 0.5336 | 0.0008 | -0.0636 | -0.0340 |
| 87 | -0.8124 | -0.0065 | 0.5879 | 0.6109 | 0.5260 | -0.0049 | 0.0143 | 0.0840 |
| 90 | -0.8054 | 0.0125 | 0.6059 | 0.6109 | 0.5140 | -0.0015 | 0.0657 | 0.0460 |
| 93 | -0.7371 | 0.0327 | 0.6098 | 0.6109 | 0.5198 | 0.0047 | -0.0049 | -0.0775 |
| 96 | -0.6191 | 0.0445 | 0.6107 | 0.6109 | 0.5327 | 0.0021 | -0.0664 | -0.0569 |
| 99 | -0.4771 | 0.0502 | 0.6108 | 0.6109 | 0.5286 | -0.0044 | -0.0044 | 0.0695 |
| 102 | -0.3135 | 0.0602 | 0.6109 | 0.6109 | 0.5152 | -0.0028 | 0.0658 | 0.0667 |
| 105 | -0.1123 | 0.0739 | 0.6109 | 0.6109 | 0.5174 | 0.0040 | 0.0137 | -0.0600 |
| 108 | 0.1229 | 0.0814 | 0.6109 | 0.6109 | 0.5311 | 0.0033 | -0.0638 | -0.0752 |
| 111 | 0.3687 | 0.0821 | 0.6109 | 0.6109 | 0.5309 | -0.0036 | -0.0228 | 0.0494 |
| 114 | 0.6187 | 0.0853 | 0.5061 | -0.5709 | 0.5171 | -0.0038 | 0.0606 | 0.0822 |
| 117 | 0.8822 | 0.0900 | 0.3489 | -0.6109 | 0.5154 | 0.0030 | 0.0313 | -0.0378 |
| 120 | 1.1510 | 0.0871 | 0.1917 | -0.6109 | 0.5289 | 0.0043 | -0.0562 | -0.0875 |
| 123 | 1.3942 | 0.0737 | 0.0345 | -0.6109 | 0.5326 | -0.0024 | -0.0393 | 0.0254 |
| 126 | 1.5931 | 0.0594 | -0.1227 | -0.6109 | 0.5195 | -0.0046 | 0.0506 | 0.0911 |
| 129 | 1.7562 | 0.0495 | -0.2799 | -0.6109 | 0.5141 | 0.0018 | 0.0465 | -0.0125 |
| 132 | 1.8870 | 0.0359 | -0.4371 | -0.6109 | 0.5263 | 0.0049 | -0.0440 | -0.0929 |
| 135 | 1.9628 | 0.0131 | -0.5662 | -0.6109 | 0.5335 | -0.0011 | -0.0527 | -0.0007 |
| 138 | 1.9676 | -0.0090 | -0.6011 | -0.6109 | 0.5223 | -0.0050 | 0.0366 | 0.0928 |
| 141 | 1.9200 | -0.0216 | -0.6088 | -0.6109 | 0.5135 | 0.0004 | 0.0579 | 0.0138 |
| 144 | 1.8416 | -0.0313 | -0.6104 | -0.6109 | 0.5235 | 0.0051 | -0.0284 | -0.0908 |
| 147 | 1.7267 | -0.0464 | -0.6108 | -0.6109 | 0.5337 | 0.0004 | -0.0619 | -0.0266 |
| 150 | 1.5637 | -0.0616 | -0.6109 | -0.6109 | 0.5252 | -0.0050 | 0.0196 | 0.0871 |
| 153 | 1.3669 | -0.0683 | -0.6109 | -0.6109 | 0.5137 | -0.0011 | 0.0647 | 0.0390 |
| 156 | 1.1587 | -0.0709 | -0.6109 | -0.6109 | 0.5206 | 0.0049 | -0.0105 | -0.0816 |
| 159 | 0.9355 | -0.0792 | -0.6109 | -0.6109 | 0.5330 | 0.0018 | -0.0661 | -0.0505 |
| 162 | 0.6811 | -0.0902 | -0.6109 | -0.6109 | 0.5279 | -0.0046 | 0.0011 | 0.0744 |
| 165 | 0.4030 | -0.0933 | -0.5061 | 0.6109 | 0.5148 | -0.0024 | 0.0663 | 0.0610 |
| 168 | 0.1313 | -0.0871 | -0.3489 | 0.6109 | 0.5181 | 0.0043 | 0.0082 | -0.0658 |
| 171 | -0.1215 | -0.0821 | -0.1917 | 0.6109 | 0.5317 | 0.0030 | -0.0651 | -0.0703 |
| 174 | -0.3638 | -0.0788 | -0.0345 | 0.6109 | 0.5303 | -0.0038 | -0.0175 | 0.0558 |
| 177 | -0.5866 | -0.0676 | 0.1227 | 0.6109 | 0.5165 | -0.0036 | 0.0627 | 0.0782 |
| 180 | -0.7612 | -0.0477 | 0.2799 | 0.6109 | 0.5159 | 0.0033 | 0.0263 | -0.0448 |
| 183 | -0.8756 | -0.0293 | 0.4371 | 0.6109 | 0.5296 | 0.0040 | -0.0589 | -0.0846 |
| 186 | -0.9429 | -0.0156 | 0.5662 | 0.6109 | 0.5321 | -0.0028 | -0.0347 | 0.0328 |
| 189 | -0.9673 | 0.0006 | 0.6011 | 0.6109 | 0.5188 | -0.0044 | 0.0540 | 0.0892 |
| 192 | -0.9348 | 0.0217 | 0.6088 | 0.6109 | 0.5144 | 0.0021 | 0.0423 | -0.0202 |
| 195 | -0.8424 | 0.0387 | 0.6104 | 0.6109 | 0.5271 | 0.0047 | -0.0481 | -0.0921 |
| 198 | -0.7132 | 0.0464 | 0.6108 | 0.6109 | 0.5333 | -0.0015 | -0.0491 | 0.0072 |
| 201 | -0.5647 | 0.0535 | 0.6109 | 0.6109 | 0.5215 | -0.0049 | 0.0411 | 0.0931 |
| 204 | -0.3863 | 0.0664 | 0.6109 | 0.6109 | 0.5136 | 0.0008 | 0.0549 | 0.0060 |
| 207 | -0.1680 | 0.0782 | 0.6109 | 0.6109 | 0.5243 | 0.0050 | -0.0333 | -0.0922 |
| 210 | 0.0735 | 0.0815 | 0.6109 | 0.6109 | 0.5337 | -0.0001 | -0.0596 | -0.0191 |
| 213 | 0.3190 | 0.0828 | 0.6109 | 0.6109 | 0.5243 | -0.0051 | 0.0249 | 0.0895 |
| 216 | 0.5768 | 0.0899 | 0.5323 | -0.3190 | 0.5136 | -0.0006 | 0.0632 | 0.0317 |
| 219 | 0.8557 | 0.0947 | 0.3751 | -0.6109 | 0.5215 | 0.0050 | -0.0160 | -0.0850 |
| 222 | 1.1333 | 0.0883 | 0.2179 | -0.6109 | 0.5333 | 0.0014 | -0.0654 | -0.0438 |
| 225 | 1.3786 | 0.0749 | 0.0607 | -0.6109 | 0.5271 | -0.0048 | 0.0067 | 0.0788 |
| 228 | 1.5870 | 0.0647 | -0.0965 | -0.6109 | 0.5144 | -0.0020 | 0.0664 | 0.0549 |
| 231 | 1.7691 | 0.0559 | -0.2537 | -0.6109 | 0.5188 | 0.0045 | 0.0027 | -0.0711 |
| 234 | 1.9140 | 0.0387 | -0.4109 | -0.6109 | 0.5321 | 0.0027 | -0.0660 | -0.0650 |
| 237 | 1.9948 | 0.0146 | -0.5533 | -0.6109 | 0.5296 | -0.0041 | -0.0120 | 0.0619 |
| 240 | 2.0083 | -0.0043 | -0.5983 | -0.6109 | 0.5159 | -0.0032 | 0.0643 | 0.0737 |
| 243 | 1.9781 | -0.0156 | -0.6081 | -0.6109 | 0.5165 | 0.0036 | 0.0211 | -0.0515 |
| 246 | 1.9131 | -0.0291 | -0.6103 | -0.6109 | 0.5303 | 0.0038 | -0.0613 | -0.0810 |
| 249 | 1.7998 | -0.0468 | -0.6108 | -0.6109 | 0.5317 | -0.0031 | -0.0298 | 0.0400 |
| 252 | 1.6384 | -0.0593 | -0.6109 | -0.6109 | 0.5181 | -0.0042 | 0.0571 | 0.0867 |
| 255 | 1.4530 | -0.0636 | -0.6109 | -0.6109 | 0.5148 | 0.0025 | 0.0379 | -0.0277 |
| 258 | 1.2556 | -0.0691 | -0.6109 | -0.6109 | 0.5279 | 0.0046 | -0.0517 | -0.0906 |
| 261 | 1.0321 | -0.0807 | -0.6109 | -0.6109 | 0.5330 | -0.0019 | -0.0452 | 0.0149 |
| 264 | 0.7749 | -0.0897 | -0.6109 | -0.6109 | 0.5206 | -0.0048 | 0.0453 | 0.0927 |
| 267 | 0.5031 | -0.0903 | -0.5585 | 0.1228 | 0.5137 | 0.0012 | 0.0516 | -0.0018 |
| 270 | 0.2370 | -0.0873 | -0.4013 | 0.6109 | 0.5252 | 0.0050 | -0.0380 | -0.0929 |
| 273 | -0.0244 | -0.0873 | -0.2441 | 0.6109 | 0.5337 | -0.0005 | -0.0570 | -0.0113 |
| 276 | -0.2834 | -0.0839 | -0.0869 | 0.6109 | 0.5235 | -0.0051 | 0.0300 | 0.0913 |
| 279 | -0.5168 | -0.0698 | 0.0703 | 0.6109 | 0.5135 | -0.0002 | 0.0612 | 0.0243 |
| 282 | -0.6987 | -0.0514 | 0.2275 | 0.6109 | 0.5223 | 0.0050 | -0.0213 | -0.0879 |
| 285 | -0.8312 | -0.0376 | 0.3847 | 0.6109 | 0.5335 | 0.0009 | -0.0642 | -0.0367 |
| 288 | -0.9255 | -0.0242 | 0.5367 | 0.6109 | 0.5263 | -0.0049 | 0.0122 | 0.0827 |
| 291 | -0.9695 | -0.0036 | 0.5947 | 0.6109 | 0.5141 | -0.0016 | 0.0660 | 0.0484 |
| 294 | -0.9464 | 0.0187 | 0.6073 | 0.6109 | 0.5196 | 0.0047 | -0.0029 | -0.0759 |
| 297 | -0.8674 | 0.0325 | 0.6101 | 0.6109 | 0.5326 | 0.0023 | -0.0664 | -0.0591 |
Fingerprints, scenario s1 (0.2, 20, 0.002)
draft: 7e7ac88046b296b701c8c51ba913dee711d2e6f725a0a3624fc4aef8761623f9
accepted: b18f8db0abf07b6cd52a6896f809fcf2344842c6064b1e7c4ded6cbfac1f00fd