try some quick options to route around things before doing full cbirrt

[erh]

No description provided.

[github-actions]

Availability

Scene #	viamrobotics:main	erh:20251917-cbirt-quick-mode	Percent Improvement	Health
1	100%	100%	0%	➖
2	100%	100%	0%	➖
3	100%	100%	0%	➖
4	100%	100%	0%	➖
5	100%	100%	0%	➖
6	90%	90%	0%	➖
7	90%	90%	0%	➖
8	100%	100%	0%	➖
9	100%	100%	0%	➖
10	100%	100%	0%	➖

Quality

Scene #	viamrobotics:main	erh:20251917-cbirt-quick-mode	Percent Improvement	Probability of Improvement	Health
1	1.31±0.00	1.31±0.00	-0%	37%	➖
2	1.55±0.22	1.55±0.22	-0%	50%	➖
3	5.93±0.57	6.19±0.98	-4%	41%	➖
4	3.53±0.63	10.25±2.88	-190%	1%	❌
5	12.99±5.15	12.71±5.92	2%	51%	➖
6	12.82±5.31	14.10±6.12	-10%	44%	➖
7	7.69±2.65	6.27±2.53	18%	65%	➖
8	1.55±0.22	1.55±0.22	-0%	50%	➖
9	5.87±2.29	11.32±2.86	-93%	7%	❌
10	12.67±0.19	12.67±0.19	-0%	50%	➖

Performance

Scene #	viamrobotics:main	erh:20251917-cbirt-quick-mode	Percent Improvement	Probability of Improvement	Health
1	0.03±0.01	0.03±0.01	4%	53%	➖
2	0.03±0.00	0.03±0.00	-4%	42%	➖
3	0.17±0.02	0.15±0.01	8%	75%	➖
4	0.66±0.09	1.55±0.36	-136%	1%	❌
5	4.66±4.50	6.03±3.88	-30%	41%	➖
6	3.07±1.58	6.84±3.79	-123%	18%	➖
7	3.69±1.64	2.21±1.60	40%	74%	➖
8	0.03±0.00	0.03±0.00	3%	57%	➖
9	4.94±5.95	4.94±6.27	0%	50%	➖
10	7.72±1.41	7.61±1.39	1%	52%	➖

The above data was generated by running scenes defined in the motion-testing repository
The SHA1 for viamrobotics:main is: fc35a8593470e527c87fe1aa0c934a9719fa9f59
The SHA1 for erh:20251917-cbirt-quick-mode is: fc35a8593470e527c87fe1aa0c934a9719fa9f59

• 10 samples were taken for each scene

[dgottlieb]

IIUC, checkPath is false because:

• We haven't yet checked the path
• We have checked the path, but it was invalid

And here if checkPath is true, we're checking it again? But maybe with a different goal?

[dgottlieb]

These comments helped me understand a lot, thanks! I've pushed a higher level description above the triple for-loop.