lsy_drone_racing-test

Use when training, evaluating, tuning, or analyzing the v54/v55 Level3 low-level PPO reference tracker as a trajectory-following controller, before planner integration. Use for tracker qualification curricula such as hover, point hold, point reach, straight-line tracking, L-shaped tracking, curved trajectory tracking, braking-to-point, heading tracking, multi-point reference following, optional gate-aperture diagnostics, and deciding whether the tracker is ready for a planner-driven Level3 run. Use this instead of level3-ppo-loop when the question is about proving the bottom PPO can accurately, smoothly, and stably follow reference points/trajectories rather than directly optimizing Level3 gate-pass success.

Use when tuning, evaluating, or diagnosing the deterministic GeometricSlowGatePlanner gate-crossing strategy for Level3 on unchanged config/level3.toml, especially v56_geometric_gate_crossing_tuning_loop work involving align stabilization, gate-local speed metrics, cross speed, near-plane backout, recover-after-environment-target-gate-switch logic, per-step trace metrics, or fixed seeds 101-120 planner smoke. Use this instead of level3-ppo-loop when the task says not to train PPO and only to adjust geometric planner/reference generation.

Use when implementing, evaluating, tuning, or analyzing the Level3 MPPI oracle/teacher loop for drone racing on unchanged config/level3.toml, including MPPI controller work, non-PPO controller evaluation, hard-eval reports, and teacher-data gating for later PPO imitation. Use instead of level3-ppo-loop when the task is about MPPI, sampling-based control, oracle controllers, teacher trajectories, BC/DAgger data from MPPI, or checking whether MPPI can pass Level3 before PPO training.

Use when training, evaluating, or tuning the Level3 PPO drone-racing loop for final evaluation on config/level3.toml with the target of at most 7.0s mean successful time and at least 60 percent success.