System identification toolbox for MuJoCo.

This resulted from a lengthy collaboration with @kevinzakka, @jonathanembleyriches, @nimrod-gileadi, @gizemozd, @quagla, and @yuval.

python/mujoco/sysid/report/sections/insights.py

@@ -0,0 +1,95 @@
+from typing import Any
+
+from mujoco.sysid._src import parameter
+from mujoco.sysid.report.sections.base import ReportSection
+
+
+class AutomatedInsights(ReportSection):
+  """
+  Analyzes identification results and generates automated insights/suggestions.
+  Currently checks for parameters stuck at boundaries.
+  """
+
+  def __init__(
+    self,
+    title: str,
+    parameter_dict: parameter.ParameterDict,
+    anchor: str = "insights",
+    collapsible: bool = True,
+  ):
+    # Default to collapsed
+    super().__init__(collapsible=collapsible, is_open=False)
+    self._anchor = anchor
+    self._parameter_dict = parameter_dict
+    self._x_hat = parameter_dict.as_vector()
+
+    self._insights = self._generate_insights()
+    self._n_warnings = len([i for i in self._insights if i["type"] == "warning"])
+
+    self._title = f"Log - {self._n_warnings} warnings"
+
+  def _generate_insights(self) -> list[dict[str, Any]]:
+    insights = []
+
+    # Logic: Check for boundary hits
+    param_names = self._parameter_dict.get_non_frozen_parameter_names()
+    bounds = self._parameter_dict.get_bounds()
+    lower_bounds, upper_bounds = bounds
+
+    if len(self._x_hat) != len(param_names):
+      raise ValueError("Parameter count mismatch")
+
+    for i, name in enumerate(param_names):
+      val = self._x_hat[i]
+      lb = lower_bounds[i]
+      ub = upper_bounds[i]
+
+      rng = max(ub - lb, 1e-9)
+
+      # Threshold: 0.1% of range or 1e-6 absolute
+      threshold = rng * 1e-3
+      if threshold < 1e-8:
+        threshold = 1e-8
+
+      if abs(val - lb) < threshold:
+        insights.append(
+          {
+            "type": "warning",
+            "title": "Lower Bound Hit",
+            "message": f"Parameter <b>{name}</b> ({val:.4g}) is at its lower bound ({lb:.4g}).",
+          }
+        )
+      elif abs(val - ub) < threshold:
+        insights.append(
+          {
+            "type": "warning",
+            "title": "Upper Bound Hit",
+            "message": f"Parameter <b>{name}</b> ({val:.4g}) is at its upper bound ({ub:.4g}).",
+          }
+        )
+
+    if not insights:
+      insights.append(
+        {
+          "type": "success",
+          "title": "No Issues Detected",
+          "message": "All parameters are within their bounds.",
+        }
+      )
+
+    return insights
+
+  @property
+  def template_filename(self) -> str:
+    return "insights.html"
+
+  @property
+  def title(self) -> str:
+    return self._title
+
+  @property
+  def anchor(self) -> str:
+    return self._anchor
+
+  def get_context(self) -> dict[str, Any]:
+    return {"title": self._title, "insights": self._insights}