From 1ace504e4b2b63c410957279e86d068274462c73 Mon Sep 17 00:00:00 2001
From: Krish Garg <kgarg@chapman.edu>
Date: Mon, 25 May 2026 12:57:05 -0700
Subject: [PATCH 1/2] benchmarks: add baseline planner comparison

---
 .../examples/compare_baseline_planners.py     | 104 ++++++++++++++++++
 1 file changed, 104 insertions(+)
 create mode 100644 benchmarks/toy-process-window/industrial-world-model/examples/compare_baseline_planners.py

diff --git a/benchmarks/toy-process-window/industrial-world-model/examples/compare_baseline_planners.py b/benchmarks/toy-process-window/industrial-world-model/examples/compare_baseline_planners.py
new file mode 100644
index 0000000..8b4c14d
--- /dev/null
+++ b/benchmarks/toy-process-window/industrial-world-model/examples/compare_baseline_planners.py
@@ -0,0 +1,104 @@
+"""Compare simple baseline planners on the toy process-window objective.
+
+Run from this directory with:
+
+    python examples/compare_baseline_planners.py
+
+The script intentionally uses only the synthetic physics proxy so it is fast,
+deterministic, and easy for new contributors to modify.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+
+import numpy as np
+
+from imwm.physics import process_physics_proxy, scale_action
+
+
+@dataclass(frozen=True)
+class CandidateResult:
+    planner: str
+    action: np.ndarray
+    quality: float
+    defect_risk: float
+    objective: float
+    feasible: bool
+    evaluated: int
+
+
+def score_action(action: np.ndarray) -> tuple[float, float, float, bool]:
+    """Return quality, defect risk, objective, and feasibility for an action."""
+    proxy = process_physics_proxy(action)
+    quality = proxy["quality_score"]
+    defect_risk = proxy["defect_risk"]
+    objective = quality - 0.55 * defect_risk
+    feasible = defect_risk <= 0.20 and quality >= 0.70
+    return quality, defect_risk, objective, feasible
+
+
+def best_candidate(planner: str, actions: np.ndarray) -> CandidateResult:
+    """Evaluate candidate actions and keep the best objective."""
+    best: CandidateResult | None = None
+    feasible_count = 0
+
+    for action in actions:
+        quality, defect_risk, objective, feasible = score_action(action)
+        feasible_count += int(feasible)
+        if best is None or objective > best.objective:
+            best = CandidateResult(
+                planner=planner,
+                action=action,
+                quality=quality,
+                defect_risk=defect_risk,
+                objective=objective,
+                feasible=feasible,
+                evaluated=len(actions),
+            )
+
+    assert best is not None
+    return CandidateResult(
+        planner=best.planner,
+        action=best.action,
+        quality=best.quality,
+        defect_risk=best.defect_risk,
+        objective=best.objective,
+        feasible=feasible_count > 0,
+        evaluated=best.evaluated,
+    )
+
+
+def random_planner(seed: int = 7, samples: int = 200) -> CandidateResult:
+    """Sample random process settings and keep the best candidate."""
+    rng = np.random.default_rng(seed)
+    actions = rng.uniform(0.0, 1.0, size=(samples, 2)).astype(np.float32)
+    return best_candidate("random", actions)
+
+
+def grid_search_planner(points_per_axis: int = 21) -> CandidateResult:
+    """Evaluate a small regular grid and keep the best candidate."""
+    axis = np.linspace(0.0, 1.0, points_per_axis, dtype=np.float32)
+    actions = np.array([(x, y) for x in axis for y in axis], dtype=np.float32)
+    return best_candidate("grid_search", actions)
+
+
+def print_result(result: CandidateResult) -> None:
+    physical = scale_action(result.action)
+    print(
+        f"{result.planner:<12} | evaluated={result.evaluated:>3} "
+        f"objective={result.objective:.3f} quality={result.quality:.3f} "
+        f"defect_risk={result.defect_risk:.3f} feasible={str(result.feasible):<5} "
+        f"laser_power={physical['laser_power']:.1f} scan_speed={physical['scan_speed']:.1f}"
+    )
+
+
+def main() -> None:
+    print("Planner      | comparison metrics")
+    print("-" * 120)
+    for result in (random_planner(), grid_search_planner()):
+        print_result(result)
+
+
+if __name__ == "__main__":
+    main()

From fa2f17d1ddcd10f42bd27c71a38454352b5200ce Mon Sep 17 00:00:00 2001
From: Krish Garg <kgarg@chapman.edu>
Date: Tue, 26 May 2026 16:04:18 -0700
Subject: [PATCH 2/2] fix: report feasibility for selected planner action

---
 .../examples/compare_baseline_planners.py                       | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/benchmarks/toy-process-window/industrial-world-model/examples/compare_baseline_planners.py b/benchmarks/toy-process-window/industrial-world-model/examples/compare_baseline_planners.py
index 8b4c14d..1934983 100644
--- a/benchmarks/toy-process-window/industrial-world-model/examples/compare_baseline_planners.py
+++ b/benchmarks/toy-process-window/industrial-world-model/examples/compare_baseline_planners.py
@@ -64,7 +64,7 @@ def best_candidate(planner: str, actions: np.ndarray) -> CandidateResult:
         quality=best.quality,
         defect_risk=best.defect_risk,
         objective=best.objective,
-        feasible=feasible_count > 0,
+        feasible=best.feasible,
         evaluated=best.evaluated,
     )