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Exp14 Step 0-C: Tuned Rule (grid search)

Step 0-B와 동일한 Exp10 grounding 결과에 rule threshold만 grid search로 튜닝. Baseline PM 64.4% → Tuned PM 64.4%

Overall PM: 64.4% (58/90) · baseline 64.4%
Best rule: STOP_area≥0.35 | LEFT cx<0.15 | FWD+L cx<0.30 | FWD cx≤0.70 | FWD+R cx≤0.85 | RIGHT else

PM per Path Type

Path TypeCorrect/TotalPM
center_straight10/10100.0%
center_left4/1040.0%
center_right4/1040.0%
left_straight8/1080.0%
left_left6/1060.0%
left_right6/1060.0%
right_straight8/1080.0%
right_left6/1060.0%
right_right6/1060.0%

center_straight 10/10 = 100.0%

FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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center_left 4/10 = 40.0%

FORWARD vs GT LEFT
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FORWARD vs GT FWD+L
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FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FWD+R
no bbox
FORWARD vs GT FORWARD
no bbox
FORWARD vs GT LEFT
no bbox
FORWARD vs GT FWD+L
no bbox
FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FWD+R
no bbox
FORWARD vs GT FORWARD
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center_right 4/10 = 40.0%

FORWARD vs GT RIGHT
no bbox
FORWARD vs GT FWD+R
no bbox
FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FWD+L
no bbox
FORWARD vs GT FORWARD
no bbox
FORWARD vs GT RIGHT
no bbox
FORWARD vs GT FWD+R
no bbox
FORWARD vs GT FORWARD
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FORWARD vs GT FWD+L
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FORWARD vs GT FORWARD
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left_straight 8/10 = 80.0%

FORWARD vs GT ROT_R
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT ROT_R
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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left_left 6/10 = 60.0%

FORWARD vs GT FWD+L
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FORWARD vs GT FWD+L
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FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FWD+L
no bbox
FORWARD vs GT FWD+L
no bbox
FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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left_right 6/10 = 60.0%

FORWARD vs GT FWD+R
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FORWARD vs GT FWD+R
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FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FWD+R
no bbox
FORWARD vs GT FWD+R
no bbox
FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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right_straight 8/10 = 80.0%

FORWARD vs GT ROT_L
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT ROT_L
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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right_left 6/10 = 60.0%

FORWARD vs GT FWD+L
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FORWARD vs GT FWD+L
no bbox
FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FWD+L
no bbox
FORWARD vs GT FWD+L
no bbox
FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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right_right 6/10 = 60.0%

FORWARD vs GT RIGHT
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FORWARD vs GT FWD+R
no bbox
FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FORWARD
no bbox
FORWARD vs GT FWD+R
no bbox
FORWARD vs GT FWD+R
no bbox
FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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FORWARD vs GT FORWARD
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