0
100
200
300
400
−15.7
−15.65
−15.6
−15.55
−15.5
−15.45
−15.4
−15.35
loss
plotly-logomark
0
100
200
300
400
0.072
0.074
0.076
0.078
0.08
0.082
desire_state
plotly-logomark
0
100
200
300
400
−5.15
−5.14
−5.13
−5.12
−5.11
−5.1
−5.09
desired_curvature
plotly-logomark
0
100
200
300
400
0.00415
0.0042
0.00425
0.0043
0.00435
0.0044
0.00445
desired_curvature_metric
plotly-logomark
0
100
200
300
400
0.064
0.065
0.066
0.067
0.068
input_mean_desire_pulse
plotly-logomark
0
100
200
300
400
0
0.5
1
1.5
2
optimizer_steps_per_step
plotly-logomark
0
100
200
300
400
0.09
0.0905
0.091
0.0915
0.092
0.0925
0.093
plan_base_metric
plotly-logomark
0
100
200
300
400
−1
0
1
2
3
4
plan_base_non_stopped_metric
plotly-logomark
0
100
200
300
400
1.34
1.36
1.38
1.4
1.42
plan_class
plotly-logomark
0
100
200
300
400
−2.4
−2.38
−2.36
−2.34
−2.32
−2.3
plan_err
plotly-logomark
0
100
200
300
400
1.01
1.02
1.03
1.04
1.05
1.06
plan_err_5s_metric
plotly-logomark
0
100
200
300
400
−0.015
−0.01
−0.005
0
0.005
0.01
plan_v0_bias_metric
plotly-logomark
0
100
200
300
400
0.015
0.016
0.017
0.018
0.019
0.02
plan_v0_metric
plotly-logomark
0
100
200
300
400
0.0138
0.014
0.0142
0.0144
0.0146
plan_yaw_1s_metric
plotly-logomark
0
100
200
300
400
0.0164
0.0166
0.0168
0.017
0.0172
plan_yaw_rate_1s_metric
plotly-logomark
0
100
200
300
400
260
280
300
320
340
360
380
400
sim_epoch
plotly-logomark
0
100
200
300
400
0.71
0.72
0.73
0.74
0.75
sim_filt_ratio
plotly-logomark
0
100
200
300
400
0.25
0.255
0.26
0.265
sim_lanecenter_0s_mae
plotly-logomark
0
100
200
300
400
0.15
0.2
0.25
0.3
sim_lanecenter_5s_recovery
plotly-logomark
0
100
200
300
400
0.056
0.058
0.06
0.062
0.064
sim_lat_diverge_ratio
plotly-logomark
0
100
200
300
400
0.993
0.994
0.995
0.996
0.997
0.998
0.999
1
sim_long
plotly-logomark
0
100
200
300
400
0.4
0.41
0.42
0.43
0.44
0.45
0.46
sim_long_diverge_ratio
plotly-logomark
0
100
200
300
400
−1
−0.5
0
0.5
1
sim_reward
plotly-logomark
0
100
200
300
400
60
70
80
90
100
step_time
plotly-logomark
0
100
200
300
400
0
0.5e+5
1e+5
1.5e+5
train_0
val_0
unique_ids
plotly-logomark
0
100
200
300
400
0
0.5e−4
1e−4
1.5e−4
2e−4
lr_group0_0
lr_group1_0
lr
plotly-logomark