Metadrive Report
▶
root:
{} 15 keys
report_name:
'rldriving_analysemetadrive'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
shuffle:
false
use_virtual_webgl:
true
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'rldriving_analysemetadrive'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
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force_local:
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num_threads:
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▶
hugging:
{} 12 keys
report_name:
'analyse_hugging_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
shuffle:
false
use_virtual_webgl:
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format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
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queue_name:
'remote2'
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no_unique_id:
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codedir:
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force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 28 keys
debug_window_size:
[512, 512]
▶
ep:
{} 7 keys
segment:
''
augment_desire:
false
depth_type:
'EASYDEPTH'
calibration_source:
'LOG'
pipeline_dir:
'http://data-ssd.comma.life/runner/training_2024_06'
feature_dir:
null
▶
input_paths:
{} 0 keys
start:
null
end:
null
env:
'xx.arena.envs.metadrive_env.MetaDriveSimEnv'
get_imgs:
true
allow_resets:
true
zero_desire:
false
fps:
20
allow_lat:
true
allow_long:
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min_hist:
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compressor_model:
null
compressor_mode:
'NONE'
quantized_compressor_latents:
false
yolo_model:
false
lpips_model:
false
sharpness_metric:
true
future_observation_range_seconds:
null
seed:
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port_idx:
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noise_model:
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photo_noise_model:
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augment_mode:
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inpaint_mode:
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▶
desire:
{} 0 keys
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
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policy:
'ZERO'
policy_seed:
null
▶
scene:
{} 5 keys
traffic_light_plan:
[]
lane_width:
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lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
npc_spawns:
[]
▶
agent:
{} 10 keys
supercombo:
'1496451e-897b-4a1b-a284-37d244bfddb3/400'
restrict_outputs:
null
exclude_outputs:
['imgs']
calibrate_speed:
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use_allow_throttle:
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model_trained_fps:
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use_worldmodel_as_agent:
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use_raw_plan_lat:
true
use_raw_plan_long:
true
▶
shadow_agent:
{} 0 keys
▶
traffic_lights:
{} 12 keys
report_name:
'analyse_traffic_lights'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
shuffle:
false
use_virtual_webgl:
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format:
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▶
miniray:
{} 8 keys
priority:
1000
job_name:
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queue_name:
'remote2'
submit_host:
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result_host:
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no_unique_id:
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codedir:
'caches/workstation-yassine_2025-05-09_19-49-00'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 28 keys
debug_window_size:
[512, 512]
▶
ep:
{} 7 keys
segment:
''
augment_desire:
false
depth_type:
'EASYDEPTH'
calibration_source:
'LOG'
pipeline_dir:
'http://data-ssd.comma.life/runner/training_2024_06'
feature_dir:
null
▶
input_paths:
{} 0 keys
start:
null
end:
null
env:
'xx.arena.envs.metadrive_env.MetaDriveSimEnv'
get_imgs:
true
allow_resets:
true
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false
fps:
20
allow_lat:
true
allow_long:
true
min_hist:
40
compressor_model:
null
compressor_mode:
'NONE'
quantized_compressor_latents:
false
yolo_model:
false
lpips_model:
false
sharpness_metric:
true
future_observation_range_seconds:
null
seed:
118664988
port_idx:
false
noise_model:
'NONE'
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
▶
scene:
{} 5 keys
traffic_light_plan:
[]
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
npc_spawns:
[]
▶
agent:
{} 10 keys
supercombo:
'1496451e-897b-4a1b-a284-37d244bfddb3/400'
restrict_outputs:
null
exclude_outputs:
['imgs']
calibrate_speed:
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use_allow_throttle:
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use_prev_desired_curv:
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model_trained_fps:
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use_worldmodel_as_agent:
false
use_raw_plan_lat:
true
use_raw_plan_long:
true
▶
shadow_agent:
{} 0 keys
▶
speed_convergence:
{} 12 keys
report_name:
'analyse_speed_convergence_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
shuffle:
false
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_speed_convergence_rl'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
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no_unique_id:
false
codedir:
'caches/workstation-yassine_2025-05-09_19-49-00'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 28 keys
debug_window_size:
[512, 512]
▶
ep:
{} 7 keys
segment:
''
augment_desire:
false
depth_type:
'EASYDEPTH'
calibration_source:
'LOG'
pipeline_dir:
'http://data-ssd.comma.life/runner/training_2024_06'
feature_dir:
null
▶
input_paths:
{} 0 keys
start:
null
end:
null
env:
'xx.arena.envs.metadrive_env.MetaDriveSimEnv'
get_imgs:
true
allow_resets:
true
zero_desire:
false
fps:
20
allow_lat:
false
allow_long:
true
min_hist:
40
compressor_model:
null
compressor_mode:
'NONE'
quantized_compressor_latents:
false
yolo_model:
false
lpips_model:
false
sharpness_metric:
true
future_observation_range_seconds:
null
seed:
5845776
port_idx:
false
noise_model:
'NONE'
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
▶
scene:
{} 5 keys
traffic_light_plan:
[]
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
npc_spawns:
[]
▶
agent:
{} 10 keys
supercombo:
'1496451e-897b-4a1b-a284-37d244bfddb3/400'
restrict_outputs:
null
exclude_outputs:
['imgs']
calibrate_speed:
false
use_allow_throttle:
false
use_prev_desired_curv:
false
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan_lat:
true
use_raw_plan_long:
true
▶
shadow_agent:
{} 0 keys
▶
lane_change:
{} 12 keys
report_name:
'analyse_lane_change_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
shuffle:
false
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_lane_change_rl'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-yassine_2025-05-09_19-49-00'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'sm', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 28 keys
debug_window_size:
[512, 512]
▶
ep:
{} 7 keys
segment:
''
augment_desire:
false
depth_type:
'EASYDEPTH'
calibration_source:
'LOG'
pipeline_dir:
'http://data-ssd.comma.life/runner/training_2024_06'
feature_dir:
null
▶
input_paths:
{} 0 keys
start:
null
end:
null
env:
'xx.arena.envs.metadrive_env.MetaDriveSimEnv'
get_imgs:
true
allow_resets:
true
zero_desire:
false
fps:
20
allow_lat:
true
allow_long:
false
min_hist:
150
compressor_model:
null
compressor_mode:
'NONE'
quantized_compressor_latents:
false
yolo_model:
false
lpips_model:
false
sharpness_metric:
true
future_observation_range_seconds:
null
seed:
451135662
port_idx:
false
noise_model:
'NONE'
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
▶
scene:
{} 5 keys
traffic_light_plan:
[]
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
npc_spawns:
[]
▶
agent:
{} 10 keys
supercombo:
'1496451e-897b-4a1b-a284-37d244bfddb3/400'
restrict_outputs:
null
exclude_outputs:
['imgs']
calibrate_speed:
false
use_allow_throttle:
false
use_prev_desired_curv:
false
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan_lat:
true
use_raw_plan_long:
true
▶
shadow_agent:
{} 0 keys
▶
oscillation:
{} 12 keys
report_name:
'analyse_oscillation'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
shuffle:
false
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_oscillation'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-yassine_2025-05-09_19-49-00'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'sim_lat_lag', 'sim_lat_antilag', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 28 keys
debug_window_size:
[512, 512]
▶
ep:
{} 7 keys
segment:
''
augment_desire:
false
depth_type:
'EASYDEPTH'
calibration_source:
'LOG'
pipeline_dir:
'http://data-ssd.comma.life/runner/training_2024_06'
feature_dir:
null
▶
input_paths:
{} 0 keys
start:
null
end:
null
env:
'xx.arena.envs.metadrive_env.MetaDriveSimEnv'
get_imgs:
true
allow_resets:
true
zero_desire:
false
fps:
20
allow_lat:
true
allow_long:
false
min_hist:
40
compressor_model:
null
compressor_mode:
'NONE'
quantized_compressor_latents:
false
yolo_model:
false
lpips_model:
false
sharpness_metric:
true
future_observation_range_seconds:
null
seed:
false
port_idx:
false
noise_model:
'LAGGY'
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
▶
scene:
{} 5 keys
traffic_light_plan:
[]
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
npc_spawns:
[]
▶
agent:
{} 10 keys
supercombo:
'1496451e-897b-4a1b-a284-37d244bfddb3/400'
restrict_outputs:
null
exclude_outputs:
['imgs']
calibrate_speed:
false
use_allow_throttle:
false
use_prev_desired_curv:
false
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan_lat:
true
use_raw_plan_long:
true
▶
shadow_agent:
{} 0 keys
Summary
analyse_hugging_rl
analyse_traffic_lights
analyse_speed_convergence_rl
analyse_lane_change_rl
analyse_oscillation
30/48 (62.5%)
26/72 (36.1%)
0/36 (0.0%)
20/20 (100.0%)
72/100 (72.0%)
analyse_hugging_rl ▶ Hugging Report
▶
root:
{} 12 keys
report_name:
'analyse_hugging_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
shuffle:
false
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_hugging_rl'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-yassine_2025-05-09_19-49-00'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 28 keys
debug_window_size:
[512, 512]
▶
ep:
{} 7 keys
segment:
''
augment_desire:
false
depth_type:
'EASYDEPTH'
calibration_source:
'LOG'
pipeline_dir:
'http://data-ssd.comma.life/runner/training_2024_06'
feature_dir:
null
▶
input_paths:
{} 0 keys
start:
null
end:
null
env:
'xx.arena.envs.metadrive_env.MetaDriveSimEnv'
get_imgs:
true
allow_resets:
true
zero_desire:
false
fps:
20
allow_lat:
true
allow_long:
false
min_hist:
150
compressor_model:
null
compressor_mode:
'NONE'
quantized_compressor_latents:
false
yolo_model:
false
lpips_model:
false
sharpness_metric:
true
future_observation_range_seconds:
null
seed:
2927071513
port_idx:
false
noise_model:
'NONE'
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
▶
scene:
{} 5 keys
traffic_light_plan:
[]
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
npc_spawns:
[]
▶
agent:
{} 10 keys
supercombo:
'1496451e-897b-4a1b-a284-37d244bfddb3/400'
restrict_outputs:
null
exclude_outputs:
['imgs']
calibrate_speed:
false
use_allow_throttle:
false
use_prev_desired_curv:
false
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan_lat:
true
use_raw_plan_long:
true
▶
shadow_agent:
{} 0 keys
Metadrive convergence to lane-center test at 15.0 m/s on straight_road TEST PASSED ✅
Note: hugging(offset=k) = sim_local_pos(offset=k) - sim_local_pos(offset=0)
Note: recovery = 1 - | hugging(offset) / offset |
Overall mean hugging/offset % = 14.16%, Overall mean recovery % = 85.84%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-4.44
15
85
22.55
1
-20
-2.91
14.5
85.5
22.55
2
-10
-1.4
14
86
22.55
3
-5
-0.82
16.25
83.75
22.55
4
5
0.74
14.75
85.25
22.55
5
10
1.34
13.5
86.5
22.55
6
20
2.49
12.25
87.75
22.55
7
30
3.86
13
87
22.55
Metadrive convergence to lane-center test at 2.5 m/s on straight_road TEST FAILED ❌
Note: hugging(offset=k) = sim_local_pos(offset=k) - sim_local_pos(offset=0)
Note: recovery = 1 - | hugging(offset) / offset |
Overall mean hugging/offset % = 43.25%, Overall mean recovery % = 56.75%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-12.21
40.75
59.25
22.55
1
-20
-8.35
41.75
58.25
22.55
2
-10
-4.28
43
57
22.55
3
-5
-2.26
45
55
22.55
4
5
2.14
42.75
57.25
22.55
5
10
4.34
43.5
56.5
22.55
6
20
8.96
44.75
55.25
22.55
7
30
13.38
44.5
55.5
22.55
Metadrive convergence to lane-center test at 15.0 m/s on left_turn TEST PASSED ✅
Note: hugging(offset=k) = sim_local_pos(offset=k) - sim_local_pos(offset=0)
Note: recovery = 1 - | hugging(offset) / offset |
Overall mean hugging/offset % = 10.88%, Overall mean recovery % = 89.12%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-3.24
10.75
89.25
22.55
1
-20
-2.15
11
89
22.55
2
-10
-0.99
10.25
89.75
22.55
3
-5
-0.51
10.25
89.75
22.55
4
5
0.56
11
89
22.55
5
10
1.13
11.5
88.5
22.55
6
20
2.28
11.25
88.75
22.55
7
30
3.4
11
89
22.55
Metadrive convergence to lane-center test at 2.5 m/s on left_turn TEST FAILED ❌
Note: hugging(offset=k) = sim_local_pos(offset=k) - sim_local_pos(offset=0)
Note: recovery = 1 - | hugging(offset) / offset |
Overall mean hugging/offset % = 40.44%, Overall mean recovery % = 59.56%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-12.2
40.75
59.25
22.55
1
-20
-8.38
41.75
58.25
22.55
2
-10
-4.22
42.25
57.75
22.55
3
-5
-2.1
41.75
58.25
22.55
4
5
1.96
39.5
60.5
22.55
5
10
3.85
38.5
61.5
22.55
6
20
7.8
39
61
22.55
7
30
12.04
40
60
22.55
Metadrive convergence to lane-center test at 15.0 m/s on right_turn TEST PASSED ✅
Note: hugging(offset=k) = sim_local_pos(offset=k) - sim_local_pos(offset=0)
Note: recovery = 1 - | hugging(offset) / offset |
Overall mean hugging/offset % = 10.28%, Overall mean recovery % = 89.72%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-2.6
8.75
91.25
22.55
1
-20
-1.68
8.75
91.25
22.55
2
-10
-0.96
9.75
90.25
22.55
3
-5
-0.49
9.75
90.25
22.55
4
5
0.54
10.5
89.5
22.55
5
10
1.12
11.25
88.75
22.55
6
20
2.32
11.75
88.25
22.55
7
30
3.53
11.75
88.25
22.55
Metadrive convergence to lane-center test at 2.5 m/s on right_turn TEST FAILED ❌
Note: hugging(offset=k) = sim_local_pos(offset=k) - sim_local_pos(offset=0)
Note: recovery = 1 - | hugging(offset) / offset |
Overall mean hugging/offset % = 40.88%, Overall mean recovery % = 59.12%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-12.81
42.75
57.25
22.55
1
-20
-8.43
42.25
57.75
22.55
2
-10
-4.01
40.25
59.75
22.55
3
-5
-1.98
39.5
60.5
22.55
4
5
2.03
40.5
59.5
22.55
5
10
4.04
40.75
59.25
22.55
6
20
8.13
41
59
22.55
7
30
11.98
40
60
22.55
analyse_traffic_lights ▶ Traffic Lights Report 🚦
▶
root:
{} 12 keys
report_name:
'analyse_traffic_lights'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
shuffle:
false
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_traffic_lights'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-yassine_2025-05-09_19-49-00'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 28 keys
debug_window_size:
[512, 512]
▶
ep:
{} 7 keys
segment:
''
augment_desire:
false
depth_type:
'EASYDEPTH'
calibration_source:
'LOG'
pipeline_dir:
'http://data-ssd.comma.life/runner/training_2024_06'
feature_dir:
null
▶
input_paths:
{} 0 keys
start:
null
end:
null
env:
'xx.arena.envs.metadrive_env.MetaDriveSimEnv'
get_imgs:
true
allow_resets:
true
zero_desire:
false
fps:
20
allow_lat:
true
allow_long:
true
min_hist:
40
compressor_model:
null
compressor_mode:
'NONE'
quantized_compressor_latents:
false
yolo_model:
false
lpips_model:
false
sharpness_metric:
true
future_observation_range_seconds:
null
seed:
118664988
port_idx:
false
noise_model:
'NONE'
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
▶
scene:
{} 5 keys
traffic_light_plan:
[]
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
npc_spawns:
[]
▶
agent:
{} 10 keys
supercombo:
'1496451e-897b-4a1b-a284-37d244bfddb3/400'
restrict_outputs:
null
exclude_outputs:
['imgs']
calibrate_speed:
false
use_allow_throttle:
false
use_prev_desired_curv:
false
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan_lat:
true
use_raw_plan_long:
true
▶
shadow_agent:
{} 0 keys
Scenario: red traffic light without NPC Noise model: Noise.NONE Stopping success rate: 14 out of 36 (38.89%) Reasonable (max 3.0m off) success rate: 9 out of 36 (25.00%) Average distance from stopline: 3.573396271031792 Average absolute distance from stopline: 3.573396271031792 Noise model: Noise.TRAIN_ALL_MLSIM Stopping success rate: 12 out of 36 (33.33%) Reasonable (max 3.0m off) success rate: 7 out of 36 (19.44%) Average distance from stopline: 2.90725194815128 Average absolute distance from stopline: 2.90725194815128 Results per scenario
map_name
scene
noise_model
limit
first_speed
last_speed
distance_from_h_line
distance_from_v_line
stopped
stopped_reasonably
passed
curved_left_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.0975278
5.74947
3.88868
False
False
False
curved_left_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
6.77452
18.4052
46.8272
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
1.21548
2.38436
1.55439
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
10.1705
1.808
0.995226
False
False
False
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
1.11242
3.43451
3.76528
False
False
False
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
6.39373
29.4713
67.3189
False
False
False
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.978742
1.74431
0.293902
False
False
False
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
5.48181
8.3176
9.09129
False
False
False
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0
2.72435
1.87668
True
True
True
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.0512586
8.2758
5.47507
True
False
True
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.495877
0.689688
0.444106
False
False
False
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
325
15
6.80684
9.43119
3.0247
False
False
False
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0
7.4535
4.81677
False
False
False
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
7.19409
11.1935
7.24821
False
False
False
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.0229065
2.46845
1.65904
True
True
True
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
8.77576
6.09415
3.99534
False
False
False
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0
0.0892397
1.33758
True
True
True
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0
5.84143
2.40922
True
False
True
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0
4.14816
4.05501
True
False
True
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0
6.06932
2.39532
True
False
True
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0
1.02329
0.615452
True
True
True
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0
2.61255
1.76838
True
True
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0
9.14774
5.84414
True
False
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0
1.71789
1.11854
True
True
True
straight_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.862505
7.18003
0.0396904
False
False
False
straight_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
14.3813
19.9009
0.00117957
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
1.30379
3.23446
0.156686
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
14.4268
10.6432
0.0722899
False
False
False
straight_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0
1.74877
1.94979
True
True
True
straight_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.0760266
1.37756
1.70726
True
True
True
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
1.42978
5.34592
1.77794
False
False
False
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
1.33233
1.97242
1.58817
False
False
False
straight_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0
2.783
0.138973
True
True
True
straight_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
1.01835
1.67238
0.0649104
False
False
False
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
1.24764
3.16385
0.0419886
False
False
False
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
1.02253
0.395566
0.225413
False
False
False
curved_left_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
7.19041
4.42907
False
False
False
curved_left_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
12.6312
7.35766
5.42488
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
1.64303
6.07365
3.68113
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
12.7052
1.44203
1.72229
False
False
False
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
2.33592
15.2677
7.1027
False
False
False
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
251
15
7.05152
29.3934
26.316
False
False
False
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
4.38159
1.16114
True
False
True
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
7.57439
16.5581
13.2868
False
False
False
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
5.81842
13.7271
4.21049
False
False
False
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
9.26043
20.8867
24.2742
False
False
False
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
376
10
5.41757
7.55577
0.69771
False
False
False
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
6.7364
14.6071
9.95778
False
False
False
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0.0611408
11.1357
7.08825
False
False
False
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
9.04253
10.0116
6.64652
False
False
False
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
4.13422
2.62586
True
False
True
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
9.30822
6.34083
4.36173
False
False
False
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
1.73025
0.236571
True
True
True
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0
12.5208
6.77749
False
False
False
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
1.0983
2.14749
True
True
True
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0
6.76807
3.03534
True
False
True
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
0.0970391
0.102502
True
True
True
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0
3.75593
2.59304
True
False
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
5.79932
3.74527
True
False
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0
2.04978
1.25854
True
True
True
straight_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
2.54022
11.0564
0.313023
False
False
False
straight_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
14.5618
6.12439
0.337153
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
5.75963
7.12397
0.30309
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
14.7567
8.12955
0.167692
False
False
False
straight_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
1.0502
1.74362
True
True
True
straight_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0.0777611
1.34249
1.92076
True
True
True
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
1.54532
5.39459
1.59931
False
False
False
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
2.08738
19.6951
7.10623
False
False
False
straight_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
2.67983
0.0748388
True
True
True
straight_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0.919507
1.89602
0.0794872
False
False
False
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
1.36289
3.54422
0.179298
False
False
False
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
10.2304
1.27968
0.161026
False
False
False
Final thumbnails for each scene Note 1: This doesn't cover all the test cases, only the first one for each scene. Use only as visual reference of the map.
Scene: 1 lane[s] | crosswalks | no-npc
Scene: 1 lane[s] | no-crosswalks | no-npc
Scene: 2 lane[s] | crosswalks | no-npc
Scene: 2 lane[s] | no-crosswalks | no-npc
Scene: 3 lane[s] | crosswalks | no-npc
Scene: 3 lane[s] | no-crosswalks | no-npc
Scene: 1 lane[s] | crosswalks | no-npc
Scene: 1 lane[s] | no-crosswalks | no-npc
Scene: 2 lane[s] | crosswalks | no-npc
Scene: 2 lane[s] | no-crosswalks | no-npc
Scene: 3 lane[s] | crosswalks | no-npc
Scene: 3 lane[s] | no-crosswalks | no-npc
Scene: 1 lane[s] | crosswalks | no-npc
Scene: 1 lane[s] | no-crosswalks | no-npc
Scene: 2 lane[s] | crosswalks | no-npc
Scene: 2 lane[s] | no-crosswalks | no-npc
Scene: 3 lane[s] | crosswalks | no-npc
Scene: 3 lane[s] | no-crosswalks | no-npc
analyse_speed_convergence_rl ▶ Speed Convergence Report
▶
root:
{} 12 keys
report_name:
'analyse_speed_convergence_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
shuffle:
false
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_speed_convergence_rl'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-yassine_2025-05-09_19-49-00'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 28 keys
debug_window_size:
[512, 512]
▶
ep:
{} 7 keys
segment:
''
augment_desire:
false
depth_type:
'EASYDEPTH'
calibration_source:
'LOG'
pipeline_dir:
'http://data-ssd.comma.life/runner/training_2024_06'
feature_dir:
null
▶
input_paths:
{} 0 keys
start:
null
end:
null
env:
'xx.arena.envs.metadrive_env.MetaDriveSimEnv'
get_imgs:
true
allow_resets:
true
zero_desire:
false
fps:
20
allow_lat:
false
allow_long:
true
min_hist:
40
compressor_model:
null
compressor_mode:
'NONE'
quantized_compressor_latents:
false
yolo_model:
false
lpips_model:
false
sharpness_metric:
true
future_observation_range_seconds:
null
seed:
5845776
port_idx:
false
noise_model:
'NONE'
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
▶
scene:
{} 5 keys
traffic_light_plan:
[]
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
npc_spawns:
[]
▶
agent:
{} 10 keys
supercombo:
'1496451e-897b-4a1b-a284-37d244bfddb3/400'
restrict_outputs:
null
exclude_outputs:
['imgs']
calibrate_speed:
false
use_allow_throttle:
false
use_prev_desired_curv:
false
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan_lat:
true
use_raw_plan_long:
true
▶
shadow_agent:
{} 0 keys
straight_road (Number of lanes: 1) Convergence rate: 0/9 (0.00%) Note 1: All speeds in meters per second
Note 2: Initial longitudinal history is 40 steps
Note 3: If some test case ends prematurely, it either was reset or went out of map bounds (most likely for high-speed test cases)
Note 4: Convergence is determined by the standard deviation of speed at the last 200 frames. Which means the speed was stable at the end and not that it converged to some specific value.
Scene: empty (opposite-way) | ego | shoulder Wide camera view of the scene (at the start of the test case)
Initial Speed
Mean simulator speed (last 200 frames)
Std dev of simulator speed (last 200 frames)
Mean model speed (last 200 frames)
Converged
0
0.14
0
0.06
❌
5
20.68
0.19
19.8
❌
10
20.92
0.06
19.96
❌
15
21.09
0.06
19.99
❌
20
21.6
0.22
20.6
❌
25
22.69
0.13
21.86
❌
30
30.55
0.15
30.13
❌
35
37.65
0.42
31.56
❌
40
44.55
0.47
23.39
❌
straight_road (Number of lanes: 3) Convergence rate: 0/27 (0.00%) Note 1: All speeds in meters per second
Note 2: Initial longitudinal history is 40 steps
Note 3: If some test case ends prematurely, it either was reset or went out of map bounds (most likely for high-speed test cases)
Note 4: Convergence is determined by the standard deviation of speed at the last 200 frames. Which means the speed was stable at the end and not that it converged to some specific value.
Scene: empty (opposite-way) | ego | empty (same-way) | empty (same-way) | shoulder Wide camera view of the scene (at the start of the test case)
Initial Speed
Mean simulator speed (last 200 frames)
Std dev of simulator speed (last 200 frames)
Mean model speed (last 200 frames)
Converged
0
0.13
0
0.04
❌
5
23.27
0.16
22.92
❌
10
23.81
0.22
23.39
❌
15
24.32
0.44
23.9
❌
20
26.61
0.61
25.67
❌
25
32.46
0.46
31.09
❌
30
34.97
0.26
32.38
❌
35
39.14
0.33
24.15
❌
40
44.46
0.23
22.48
❌
Scene: empty (opposite-way) | empty (same-way) | ego | empty (same-way) | shoulder Wide camera view of the scene (at the start of the test case)
Initial Speed
Mean simulator speed (last 200 frames)
Std dev of simulator speed (last 200 frames)
Mean model speed (last 200 frames)
Converged
0
0.25
0.02
0.07
❌
5
26.33
0.6
24.83
❌
10
26.97
0.48
25.59
❌
15
27.7
0.38
26.48
❌
20
28.58
0.28
27.56
❌
25
30.63
0.12
29.82
❌
30
32.15
0.11
31.35
❌
35
37.78
0.46
34.62
❌
40
44.64
0.11
23.6
❌
Scene: empty (opposite-way) | empty (same-way) | empty (same-way) | ego | shoulder Wide camera view of the scene (at the start of the test case)
Initial Speed
Mean simulator speed (last 200 frames)
Std dev of simulator speed (last 200 frames)
Mean model speed (last 200 frames)
Converged
0
0.12
0
0.04
❌
5
28.68
0.56
27.91
❌
10
29.43
0.44
28.86
❌
15
30.19
0.4
29.74
❌
20
31.04
0.36
30.74
❌
25
32.61
0.28
32.13
❌
30
34.31
0.24
33.63
❌
35
38.83
0.45
36.06
❌
40
48.35
0.58
32.17
❌
analyse_lane_change_rl ▶ Lane Change Report
▶
root:
{} 12 keys
report_name:
'analyse_lane_change_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
shuffle:
false
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_lane_change_rl'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-yassine_2025-05-09_19-49-00'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'sm', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 28 keys
debug_window_size:
[512, 512]
▶
ep:
{} 7 keys
segment:
''
augment_desire:
false
depth_type:
'EASYDEPTH'
calibration_source:
'LOG'
pipeline_dir:
'http://data-ssd.comma.life/runner/training_2024_06'
feature_dir:
null
▶
input_paths:
{} 0 keys
start:
null
end:
null
env:
'xx.arena.envs.metadrive_env.MetaDriveSimEnv'
get_imgs:
true
allow_resets:
true
zero_desire:
false
fps:
20
allow_lat:
true
allow_long:
false
min_hist:
150
compressor_model:
null
compressor_mode:
'NONE'
quantized_compressor_latents:
false
yolo_model:
false
lpips_model:
false
sharpness_metric:
true
future_observation_range_seconds:
null
seed:
451135662
port_idx:
false
noise_model:
'NONE'
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
▶
scene:
{} 5 keys
traffic_light_plan:
[]
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
npc_spawns:
[]
▶
agent:
{} 10 keys
supercombo:
'1496451e-897b-4a1b-a284-37d244bfddb3/400'
restrict_outputs:
null
exclude_outputs:
['imgs']
calibrate_speed:
false
use_allow_throttle:
false
use_prev_desired_curv:
false
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan_lat:
true
use_raw_plan_long:
true
▶
shadow_agent:
{} 0 keys
Map: straight_road, Speed: 15.0 TEST PASSED ✅
Note 1: Initial lateral history is 150 steps (7.5 sec)
Note 2: Lane change is considered successful if the last 20.0% of the episode is spent in the target lane, and the mean offset from the target lane-center is at most 1.0m
Note 3: If some test case ends prematurely, it either was reset or went out of map bounds
Scene: left lane change
Position offset
Mean offset from target lane-center at the end (m)
Simulation duration (s)
Lane change completion time (s)
Success
-1
-0.13
30
6
✅
-0.5
-0.13
30
6
✅
0
-0.14
30
6
✅
0.5
-0.14
30
6.05
✅
1
-0.14
30
7
✅
Scene: right lane change
Position offset
Mean offset from target lane-center at the end (m)
Simulation duration (s)
Lane change completion time (s)
Success
-1
-0.09
30
6.35
✅
-0.5
-0.09
30
6.05
✅
0
-0.08
30
6
✅
0.5
-0.08
30
6
✅
1
-0.08
30
6
✅
Map: straight_road, Speed: 25.0 TEST PASSED ✅
Note 1: Initial lateral history is 150 steps (7.5 sec)
Note 2: Lane change is considered successful if the last 20.0% of the episode is spent in the target lane, and the mean offset from the target lane-center is at most 1.0m
Note 3: If some test case ends prematurely, it either was reset or went out of map bounds
Scene: left lane change
Position offset
Mean offset from target lane-center at the end (m)
Simulation duration (s)
Lane change completion time (s)
Success
-1
-0.06
30
5.9
✅
-0.5
-0.06
30
5.9
✅
0
-0.06
30
6
✅
0.5
-0.05
30
6
✅
1
-0.05
30
6.45
✅
Scene: right lane change
Position offset
Mean offset from target lane-center at the end (m)
Simulation duration (s)
Lane change completion time (s)
Success
-1
-0.07
30
6
✅
-0.5
-0.08
30
5.6
✅
0
-0.08
30
5.45
✅
0.5
-0.08
30
5.25
✅
1
-0.08
30
5.1
✅
analyse_oscillation ▶ Oscilllation Report
▶
root:
{} 12 keys
report_name:
'analyse_oscillation'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
shuffle:
false
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_oscillation'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-yassine_2025-05-09_19-49-00'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'sim_lat_lag', 'sim_lat_antilag', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 28 keys
debug_window_size:
[512, 512]
▶
ep:
{} 7 keys
segment:
''
augment_desire:
false
depth_type:
'EASYDEPTH'
calibration_source:
'LOG'
pipeline_dir:
'http://data-ssd.comma.life/runner/training_2024_06'
feature_dir:
null
▶
input_paths:
{} 0 keys
start:
null
end:
null
env:
'xx.arena.envs.metadrive_env.MetaDriveSimEnv'
get_imgs:
true
allow_resets:
true
zero_desire:
false
fps:
20
allow_lat:
true
allow_long:
false
min_hist:
40
compressor_model:
null
compressor_mode:
'NONE'
quantized_compressor_latents:
false
yolo_model:
false
lpips_model:
false
sharpness_metric:
true
future_observation_range_seconds:
null
seed:
false
port_idx:
false
noise_model:
'LAGGY'
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
▶
scene:
{} 5 keys
traffic_light_plan:
[]
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
npc_spawns:
[]
▶
agent:
{} 10 keys
supercombo:
'1496451e-897b-4a1b-a284-37d244bfddb3/400'
restrict_outputs:
null
exclude_outputs:
['imgs']
calibrate_speed:
false
use_allow_throttle:
false
use_prev_desired_curv:
false
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan_lat:
true
use_raw_plan_long:
true
▶
shadow_agent:
{} 0 keys
Metadrive lane-center oscillation test at 15.0 m/s on straight_road TEST FAILED ❌
Standard deviation of lateral position: 0.079 m
Oscillation frequency: mean = 0.311 Hz , min = 0.116 Hz , max = 0.558 Hz
Oscillation amplitude: mean = 0.052 m , min = 0.006 m , max = 0.221 m
Oscillation significance: 2.116 ; just finished cases: 2.116
Number of finished cases: 50/50 ; passed cases: 30/50
Note 1: Oscillation significance is the product of frequency and amplitude (x100). A value of 1 or less is considered acceptable.
Note 2: The green shaded area in the frequency domain plot represents the acceptable frequency range (0.1-1.0 Hz)
Note 3: nan values indicate that the case ended prematurely due to a reset or out-of-bounds
key
initial_speed
duration
lag
antilag
lat_position_mean
lat_position_stddev
dominant_frequency
dominant_amplitude
oscillation_significance
passed
80
15
50
0.15
0.15
0.191
0.045
0.116
0.006
0.07
✅
28
15
50
0.15
0.15
0.191
0.045
0.116
0.006
0.071
✅
10
15
50
0.15
0.15
0.191
0.045
0.116
0.006
0.071
✅
30
15
50
0.15
0.15
0.191
0.045
0.116
0.006
0.071
✅
60
15
50
0.15
0.15
0.191
0.045
0.116
0.006
0.071
✅
4
15
50
0.15
0.15
0.191
0.045
0.116
0.006
0.07
✅
70
15
50
0.15
0.15
0.191
0.045
0.116
0.006
0.071
✅
66
15
50
0.157
0.157
0.191
0.045
0.116
0.006
0.07
✅
82
15
50
0.161
0.161
0.191
0.045
0.116
0.006
0.07
✅
94
15
50
0.163
0.163
0.191
0.045
0.116
0.006
0.071
✅
18
15
50
0.167
0.167
0.191
0.045
0.116
0.006
0.069
✅
8
15
50
0.168
0.168
0.191
0.045
0.116
0.006
0.072
✅
68
15
50
0.192
0.192
0.191
0.045
0.116
0.006
0.071
✅
26
15
50
0.194
0.194
0.191
0.044
0.116
0.006
0.071
✅
90
15
50
0.222
0.222
0.191
0.045
0.116
0.006
0.072
✅
38
15
50
0.26
0.26
0.192
0.044
0.116
0.006
0.074
✅
22
15
50
0.284
0.284
0.193
0.044
0.116
0.006
0.072
✅
78
15
50
0.286
0.286
0.193
0.044
0.116
0.006
0.072
✅
44
15
50
0.288
0.288
0.192
0.044
0.116
0.006
0.07
✅
86
15
50
0.299
0.299
0.193
0.044
0.116
0.006
0.071
✅
56
15
50
0.312
0.312
0.193
0.043
0.465
0.006
0.288
✅
98
15
50
0.359
0.359
0.194
0.042
0.465
0.006
0.295
✅
58
15
50
0.395
0.395
0.194
0.041
0.116
0.006
0.067
✅
96
15
50
0.4
0.4
0.194
0.041
0.465
0.007
0.33
✅
54
15
50
0.409
0.409
0.194
0.041
0.465
0.007
0.315
✅
46
15
50
0.425
0.425
0.195
0.041
0.465
0.006
0.296
✅
64
15
50
0.432
0.432
0.195
0.041
0.465
0.006
0.283
✅
36
15
50
0.442
0.442
0.196
0.04
0.465
0.006
0.271
✅
50
15
50
0.464
0.464
0.209
0.034
0.465
0.011
0.494
✅
92
15
50
0.489
0.489
0.215
0.03
0.558
0.014
0.799
✅
14
15
50
0.498
0.498
0.219
0.032
0.558
0.018
1.027
❌
74
15
50
0.517
0.517
0.24
0.055
0.488
0.052
2.532
❌
32
15
50
0.528
0.528
0.245
0.057
0.488
0.054
2.634
❌
88
15
50
0.532
0.532
0.246
0.057
0.488
0.052
2.558
❌
76
15
50
0.547
0.547
0.253
0.062
0.488
0.057
2.8
❌
12
15
50
0.55
0.55
0.254
0.063
0.488
0.056
2.758
❌
62
15
50
0.57
0.57
0.301
0.102
0.465
0.1
4.634
❌
72
15
50
0.578
0.578
0.307
0.106
0.465
0.102
4.742
❌
2
15
50
0.583
0.583
0.314
0.109
0.465
0.102
4.76
❌
48
15
50
0.618
0.618
0.386
0.148
0.419
0.118
4.948
❌
0
15
50
0.627
0.627
0.391
0.149
0.419
0.112
4.702
❌
24
15
50
0.65
0.65
0.399
0.153
0.442
0.12
5.31
❌
34
15
50
0.694
0.694
0.474
0.171
0.419
0.14
5.864
❌
16
15
50
0.697
0.697
0.473
0.17
0.419
0.153
6.404
❌
40
15
50
0.7
0.7
0.506
0.201
0.395
0.178
7.021
❌
6
15
50
0.707
0.707
0.506
0.193
0.395
0.181
7.153
❌
20
15
50
0.725
0.725
0.518
0.196
0.395
0.187
7.382
❌
42
15
50
0.74
0.74
0.52
0.2
0.395
0.197
7.784
❌
52
15
50
0.757
0.757
0.555
0.22
0.372
0.221
8.226
❌
84
15
50
0.774
0.774
0.555
0.219
0.372
0.207
7.684
❌
Metadrive lane-center oscillation test at 30.0 m/s on straight_road TEST FAILED ❌
Standard deviation of lateral position: 0.111 m
Oscillation frequency: mean = 0.181 Hz , min = 0.116 Hz , max = 0.372 Hz
Oscillation amplitude: mean = 0.062 m , min = 0.002 m , max = 0.582 m
Oscillation significance: 2.104 ; just finished cases: 1.425
Number of finished cases: 48/50 ; passed cases: 42/50
Note 1: Oscillation significance is the product of frequency and amplitude (x100). A value of 1 or less is considered acceptable.
Note 2: The green shaded area in the frequency domain plot represents the acceptable frequency range (0.1-1.0 Hz)
Note 3: nan values indicate that the case ended prematurely due to a reset or out-of-bounds
key
initial_speed
duration
lag
antilag
lat_position_mean
lat_position_stddev
dominant_frequency
dominant_amplitude
oscillation_significance
passed
81
30
50
0.15
0.15
-0.016
0.042
0.14
0.003
0.04
✅
29
30
50
0.15
0.15
-0.016
0.042
0.14
0.003
0.043
✅
61
30
50
0.15
0.15
-0.017
0.042
0.14
0.003
0.04
✅
71
30
50
0.15
0.15
-0.013
0.043
0.14
0.003
0.046
✅
5
30
50
0.15
0.15
-0.017
0.042
0.14
0.003
0.039
✅
31
30
50
0.15
0.15
-0.017
0.042
0.14
0.003
0.039
✅
11
30
50
0.15
0.15
-0.017
0.041
0.14
0.003
0.036
✅
67
30
50
0.157
0.157
-0.017
0.042
0.14
0.003
0.037
✅
83
30
50
0.161
0.161
-0.018
0.041
0.14
0.003
0.039
✅
95
30
50
0.163
0.163
-0.014
0.043
0.14
0.003
0.045
✅
19
30
50
0.167
0.167
-0.017
0.042
0.14
0.003
0.039
✅
9
30
50
0.168
0.168
-0.017
0.042
0.14
0.003
0.037
✅
69
30
50
0.192
0.192
-0.015
0.043
0.14
0.003
0.042
✅
27
30
50
0.194
0.194
-0.017
0.042
0.14
0.003
0.036
✅
91
30
50
0.222
0.222
-0.013
0.043
0.14
0.003
0.048
✅
39
30
50
0.26
0.26
-0.016
0.041
0.14
0.003
0.046
✅
23
30
50
0.284
0.284
-0.01
0.041
0.14
0.004
0.05
✅
79
30
50
0.286
0.286
-0.01
0.042
0.14
0.004
0.052
✅
45
30
50
0.288
0.288
-0.009
0.043
0.14
0.004
0.053
✅
87
30
50
0.299
0.299
-0.009
0.041
0.14
0.004
0.053
✅
57
30
50
0.312
0.312
-0.001
0.046
0.14
0.005
0.065
✅
99
30
50
0.359
0.359
0.031
0.062
0.14
0.005
0.071
✅
59
30
50
0.395
0.395
0.048
0.068
0.14
0.005
0.069
✅
97
30
50
0.4
0.4
0.049
0.069
0.14
0.005
0.071
✅
55
30
50
0.409
0.409
0.051
0.07
0.14
0.005
0.07
✅
47
30
50
0.425
0.425
0.054
0.071
0.14
0.005
0.067
✅
65
30
50
0.432
0.432
0.056
0.071
0.14
0.005
0.068
✅
37
30
50
0.442
0.442
0.058
0.07
0.14
0.004
0.054
✅
51
30
50
0.464
0.464
0.066
0.067
0.116
0.004
0.044
✅
93
30
50
0.489
0.489
0.083
0.054
0.116
0.002
0.025
✅
15
30
50
0.498
0.498
0.089
0.05
0.116
0.002
0.024
✅
75
30
50
0.517
0.517
0.097
0.046
0.186
0.002
0.04
✅
33
30
50
0.528
0.528
0.101
0.043
0.233
0.002
0.052
✅
89
30
50
0.532
0.532
0.102
0.043
0.186
0.002
0.039
✅
77
30
50
0.547
0.547
0.106
0.04
0.186
0.003
0.051
✅
13
30
50
0.55
0.55
0.108
0.039
0.186
0.003
0.051
✅
63
30
50
0.57
0.57
0.118
0.034
0.186
0.004
0.076
✅
73
30
50
0.578
0.578
0.121
0.033
0.186
0.004
0.082
✅
3
30
50
0.583
0.583
0.122
0.032
0.186
0.005
0.087
✅
49
30
50
0.618
0.618
0.127
0.03
0.14
0.005
0.072
✅
1
30
50
0.627
0.627
0.127
0.03
0.14
0.006
0.082
✅
25
30
50
0.65
0.65
0.13
0.029
0.186
0.006
0.116
✅
35
30
50
0.694
0.694
0.219
0.296
0.372
0.194
7.23
❌
17
30
50
0.697
0.697
0.279
0.344
0.372
0.219
8.153
❌
41
30
50
0.7
0.7
0.336
0.433
0.349
0.344
11.996
❌
7
30
50
0.707
0.707
0.384
0.436
0.349
0.312
10.887
❌
21
30
50
0.725
0.725
0.413
0.457
0.349
0.347
12.113
❌
43
30
50
0.74
0.74
0.36
0.472
0.349
0.453
15.79
❌
53
30
40
0.757
0.757
0.28
0.609
0.333
0.582
19.407
❌
85
30
39.65
0.774
0.774
0.282
0.555
0.337
0.515
17.365
❌
