Parameters and effective inputs¶
Documentation index · Scientific interpretation · Experiment reference
This table is generated from JobSubmissionRequest and ExperimentBudget in the current source. Regenerate with uv run --no-sync python scripts/documentation_reference.py; check drift with --check. These are application/API defaults, not an article protocol or the defaults of the separate direct mapf solve command.
One job or one expanded matrix trial¶
| Field | Default | Schema constraint |
|---|---|---|
grid_width |
8 |
integer; min 1, max 64 |
grid_height |
8 |
integer; min 1, max 64 |
obstacles |
"empty collection" |
array; max items 4096 |
starts |
"empty collection" |
object |
goals |
"empty collection" |
object |
setting |
"SETTING_1" |
SETTING_1, SETTING_2, SETTING_3, SETTING_4 |
name |
"Custom scenario" |
string; max characters 160 |
solver_id |
"Decentralized-HeatMap" |
string |
scenario_id |
null |
string; max characters 100 or null |
max_steps |
100 |
integer; min 1, max 10000 |
timeout_sec |
5.0 |
number; min 0.1, max 600.0 or null |
negotiation_deadline_sec |
60.0 |
number; min 0.01, max 600.0 |
fov_size |
3 |
integer; min 3, max 15 |
broadcast_horizon |
null |
integer; min 1, max 100 or null |
negotiation_horizon |
null |
integer; min 1, max 100 or null |
negotiation_protocol |
"taop-v2" |
taop-v2, taop-v1, legacy-alternating-v1 |
negotiation_round_limit |
30 |
integer; min 1, max 500 |
verification_pass_limit |
5 |
integer; min 1, max 20 |
max_astar_expansions |
1500 |
integer; min 100, max 100000 |
initial_tokens |
10 |
integer; min 0, max 100 |
commitment_type |
"SC" |
SC, DC, ZC |
random_seed |
42 |
integer; min 0, max 4294967295 |
recording_level |
"full-trace" |
metrics-only, events, full-trace |
heat_recording_limit |
250000 |
integer; min 0, max 2000000 |
suboptimality |
1.1 |
number; min 1.0, max 3.0 |
Scenario dictionaries use integer [x, y] coordinates. Starts/goals need the same IDs and at least one agent; semantic validation follows schema validation. A built-in or workspace-owned scenario_id resolves a snapshot; portable external batches should carry inline coordinates. Grid shape, starts, goals, obstacles and name are scenario data, not solver parameters.
FoV is an odd square width (3, 5, 7, 9, 11, 13 or 15); the radius is floor(width/2). Null temporal horizons are resolved to the FoV width in the effective plan. Those horizons count states, including the current position; they are not distances or seconds. The interactive GUI form caps max_steps at 500; the application/headless schema permits up to 10,000.
timeout_sec: null is accepted only for decentralized jobs. Centralized jobs require a number. The bilateral deadline resets for a new session, never for an offer. In TAOP v2 the round limit is a diagnostic checkpoint, not a hard terminal offer count. Heat values are recorded only for applicable full-trace HeatMap decisions, bounded by the declared value budget and internal record-count guard.
suboptimality is active only for solvers/profiles that support it. It is not a general guarantee for a solver with a familiar name. Native catalogs also constrain the setting and freeze executable provenance. Preview reports canonical solver identity and inactive_parameters; consult /api/v1/capabilities for controls supported by your installed catalog.
Whole experiment¶
| Field | Default | Schema constraint |
|---|---|---|
workers |
2 |
integer; min 1, max 6 |
wall_seconds |
900 |
number; min 1, max 86400 |
max_trials |
10000 |
integer; min 1, max 100000 |
disk_mb |
2048 |
integer; min 64, max 65536 |
threads_per_worker |
1 |
integer; min 1, max 1 |
resources |
null |
object or null |
The product of scenario count and matrix-axis lengths is checked against max_trials before exclusions. Fixed admission allows up to four workers; an explicit resources policy allows up to six. The GUI defaults to two workers and accepts an explicit --workers / --resource-policy configuration. Its experiment worker/policy settings must match the owning supervisor; the queue contains at most 32 pending/active jobs. Numerical-library thread caps are one per worker; they are not an OS memory guarantee.
Wall time is charged across resume. Disk limits stop work/admission when exhausted; do not treat them as a promise about the eventual compressed artifact size. The default interactive repository quota is 512 MiB; the batch runner applies its declared experiment disk budget. A GUI experiment must fit its existing workspace quota.
Optional resource policy¶
| Field | Default | Schema constraint |
|---|---|---|
centralized_slots |
2 |
integer; min 1, max 6 |
decentralized_slots |
4 |
integer; min 1, max 6 |
max_cpu_percent |
90 |
number; max 100 |
free_memory_mb |
1024 |
integer; min 0 |
max_owned_memory_mb |
18432 |
integer; min 1 |
optimal_reserve_mb |
10240 |
integer; min 1 |
bounded_reserve_mb |
2048 |
integer; min 1 |
decentralized_reserve_mb |
256 |
integer; min 1 |
idle_timeout_sec |
300 |
number; min 0.1, max 86400 |
Set budget.resources to opt in; null retains fixed admission. These are admission estimates and thresholds, not solver limits or OS memory guarantees. See resource-aware batches for blocked-state, resume and GUI policy semantics.
Recording choice¶
| Level | Retained evidence | Intended use |
|---|---|---|
metrics-only |
Paths, validation, measured counters, run/configuration provenance; no detailed replay frames/events/local heat | Broad batches and compact outcome analysis |
events |
Replay frames and recorded telemetry events; no full local decision/heat payloads | Movement and event inspection |
full-trace |
Available local observations, plans, commitments and applicable heat records, plus replay/events | Detailed explanations and debugging |
Recording limits and omissions are explicit. No later export can recreate a local decision that was never recorded. Replay is a visual artifact, not an exact-resume solver checkpoint.