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:
'caches/workstation-yassine_2025-05-11_17-17-52'
force_local:
false
num_threads:
12
▶
hugging:
{} 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_2025-05-11_17-17-52'
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:
'5e4cb3d3-b9cc-45c7-a476-38083e75029c/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
▶
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:
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_2025-05-11_17-17-52'
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:
'5e4cb3d3-b9cc-45c7-a476-38083e75029c/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
▶
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:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-yassine_2025-05-11_17-17-52'
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:
'5e4cb3d3-b9cc-45c7-a476-38083e75029c/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_2025-05-11_17-17-52'
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:
'5e4cb3d3-b9cc-45c7-a476-38083e75029c/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_2025-05-11_17-17-52'
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:
'5e4cb3d3-b9cc-45c7-a476-38083e75029c/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
42/48 (87.5%)
28/72 (38.9%)
5/36 (13.9%)
19/20 (95.0%)
69/100 (69.0%)
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_2025-05-11_17-17-52'
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:
'5e4cb3d3-b9cc-45c7-a476-38083e75029c/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 % = 13.47%, Overall mean recovery % = 86.53%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-3.13
10.25
89.75
22.55
1
-20
-1.95
9.75
90.25
22.55
2
-10
-1
10.25
89.75
22.55
3
-5
-0.72
14.25
85.75
22.55
4
5
0.88
17.75
82.25
22.55
5
10
1.65
16.5
83.5
22.55
6
20
2.9
14.5
85.5
22.55
7
30
4.28
14.5
85.5
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 % = 42.0%, Overall mean recovery % = 58.0%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-13.37
44.5
55.5
22.55
1
-20
-9.02
45
55
22.55
2
-10
-4.39
43.75
56.25
22.55
3
-5
-2.1
42
58
22.55
4
5
1.86
37
63
22.55
5
10
3.92
39
61
22.55
6
20
8.44
42
58
22.55
7
30
12.86
42.75
57.25
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 % = 9.5%, Overall mean recovery % = 90.5%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-2.7
8.75
91.25
22.55
1
-20
-1.74
8.75
91.25
22.55
2
-10
-0.86
8.75
91.25
22.55
3
-5
-0.45
9
91
22.55
4
5
0.48
9.5
90.5
22.55
5
10
0.98
9.75
90.25
22.55
6
20
2.12
10.75
89.25
22.55
7
30
3.19
10.75
89.25
22.55
Metadrive convergence to lane-center test at 2.5 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 % = 35.72%, Overall mean recovery % = 64.28%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-10.48
34.75
65.25
22.55
1
-20
-7.36
36.75
63.25
22.55
2
-10
-3.64
36.75
63.25
22.55
3
-5
-1.75
34.75
65.25
22.55
4
5
1.6
31.75
68.25
22.55
5
10
3.43
34.5
65.5
22.55
6
20
7.52
37.25
62.75
22.55
7
30
11.77
39.25
60.75
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 % = 8.53%, Overall mean recovery % = 91.47%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-2.48
8.5
91.5
22.55
1
-20
-1.56
7.75
92.25
22.55
2
-10
-0.81
8.25
91.75
22.55
3
-5
-0.38
7.75
92.25
22.55
4
5
0.4
7.5
92.5
22.55
5
10
0.94
9.5
90.5
22.55
6
20
1.92
9.5
90.5
22.55
7
30
2.95
9.5
90.5
22.55
Metadrive convergence to lane-center test at 2.5 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 % = 36.5%, Overall mean recovery % = 63.5%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-11.07
36.75
63.25
22.55
1
-20
-7.53
37.25
62.75
22.55
2
-10
-3.78
38
62
22.55
3
-5
-1.78
35.75
64.25
22.55
4
5
1.72
34.25
65.75
22.55
5
10
3.56
35.5
64.5
22.55
6
20
7.38
36.75
63.25
22.55
7
30
11.39
37.75
62.25
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_2025-05-11_17-17-52'
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:
'5e4cb3d3-b9cc-45c7-a476-38083e75029c/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: 3.016453132675278 Average absolute distance from stopline: 3.016453132675278 Noise model: Noise.TRAIN_ALL_MLSIM 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: 2.733608506334019 Average absolute distance from stopline: 2.733608506334019 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
1.22935
14.148
9.71556
False
False
False
curved_left_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
10.6738
125.029
80.1881
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
8.07502
4.4015
2.96066
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
10.8474
123.759
79.3584
False
False
False
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.791278
4.82795
4.71353
False
False
False
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
395
15
5.85285
23.3017
54.8659
False
False
False
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.815097
2.29647
2.95606
False
False
False
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0
6.11906
5.48336
True
False
True
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0
2.89452
2.04782
True
True
True
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
394
15
4.72745
17.4227
7.46704
False
False
False
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0
0.325054
0.130765
True
True
True
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
362
15
6.00296
24.8534
17.3276
False
False
False
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0
10.936
7.09058
False
False
False
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
8.25707
98.4741
63.3281
False
False
False
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0
4.89955
3.2467
False
False
False
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
8.74767
100.871
64.873
False
False
False
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0
3.87717
1.25453
True
False
True
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0
8.83684
4.39079
True
False
True
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0
1.14539
2.05896
True
True
True
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
5.89353
20.8856
23.871
False
False
False
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0
1.01403
0.804118
True
True
True
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0
2.86496
2.04203
True
True
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0
4.9164
3.09332
True
False
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0
2.61192
1.67275
True
True
True
straight_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
7.18115
6.71083
0.133131
False
False
False
straight_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
14.7797
43.7807
0.0635646
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
9.57982
22.8455
0.010491
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
14.8333
1.68116
0.0539252
False
False
False
straight_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0
3.19856
1.93909
True
False
True
straight_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0
1.55823
1.85016
True
True
True
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
1.34687
1.93273
1.81027
False
False
False
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
14.7288
60.7277
1.84928
False
False
False
straight_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0
2.39746
0.115003
True
True
True
straight_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0
0.470753
0.031395
True
True
True
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.786383
3.54554
0.0168725
False
False
False
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
14.849
55.4195
0.030859
False
False
False
curved_left_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
1.35604
13.1454
8.7244
False
False
False
curved_left_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
13.3472
5.16361
3.71328
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
8.40967
4.26129
2.6755
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
13.1476
6.33083
3.51148
False
False
False
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
8.22105
6.63965
False
False
False
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
14.372
23.4766
12.469
False
False
False
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
1.76872
1.82594
True
True
True
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
14.5311
23.9796
12.842
False
False
False
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
5.55508
3.56123
True
False
True
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
10.206
24.3014
26.0979
False
False
False
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
0.942215
0.354819
True
True
True
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
9.88925
21.1178
22.6479
False
False
False
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0.147711
12.6484
8.06216
False
False
False
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
10.377
122.965
79.1841
False
False
False
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
4.94845
3.25924
False
False
False
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
10.8885
124.964
80.4693
False
False
False
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
5.50903
2.45602
True
False
True
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
4.34769
27.8805
26.1996
False
False
False
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
0.471655
1.56029
True
True
True
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
285
15
5.53616
20.4171
7.20114
False
False
False
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
1.43165
1.13533
True
True
True
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0
5.10631
3.41976
True
False
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
4.13098
2.61722
True
False
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0
0.24138
0.173137
True
True
True
straight_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
5.37013
12.8588
0.110605
False
False
False
straight_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
14.8164
6.07499
0.282494
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
8.67724
2.98806
0.268539
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
14.7444
14.5575
0.0633225
False
False
False
straight_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
1.40422
1.61501
True
True
True
straight_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0
1.2985
1.95554
True
True
True
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0.952473
2.57338
1.61392
False
False
False
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
14.2205
1.96227
1.88347
False
False
False
straight_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
2.65703
0.133672
True
True
True
straight_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0
2.19343
0.169252
True
True
True
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
5.56033
0.230319
True
False
True
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
14.8772
64.3488
0.118308
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_2025-05-11_17-17-52'
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:
'5e4cb3d3-b9cc-45c7-a476-38083e75029c/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: 1/9 (11.11%) 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
6.51
0.03
6.37
❌
5
6.48
0.02
6.31
❌
10
6.46
0.04
6.3
❌
15
16.07
0.21
15.6
✅
20
20.14
0.1
19.48
❌
25
27.02
0.04
26.12
❌
30
26.96
0.04
26.03
❌
35
33.89
0.19
31.67
❌
40
38.57
0.16
31.72
❌
straight_road (Number of lanes: 3) Convergence rate: 4/27 (14.81%) 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) | 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
0.12
0.01
0.02
❌
5
10.02
0.19
9.68
❌
10
9.81
0.16
9.49
❌
15
16.68
0.16
16.04
✅
20
29.75
0.4
28.89
❌
25
30.38
0.12
29.65
❌
30
30.19
0.11
29.44
❌
35
32.55
0.15
31.66
❌
40
39.13
0.13
35.81
❌
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
0.84
1.23
0.68
❌
5
10.66
0.19
10.36
❌
10
10.4
0.15
10.13
❌
15
17.11
0.2
17.03
✅
20
19.1
0.28
19.24
✅
25
27.33
0.31
26.32
❌
30
26.95
0.33
25.86
❌
35
30.53
0.22
29.35
❌
40
40.01
0.11
21.89
❌
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
0.11
0.01
0.01
❌
5
5.81
0.11
5.58
❌
10
7.02
0.55
6.86
❌
15
19.25
0.3
18.5
✅
20
26.43
0.71
25.59
❌
25
28.29
0.04
27.78
❌
30
29.8
0.02
29.5
❌
35
34.46
0.07
33.81
❌
40
40.08
0.04
36.83
❌
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_2025-05-11_17-17-52'
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:
'5e4cb3d3-b9cc-45c7-a476-38083e75029c/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
-0.14
30
7.95
✅
-0.5
-0.14
30
7.45
✅
0
-0.14
30
7.05
✅
0.5
-0.15
30
7.45
✅
1
-0.15
30
8.65
✅
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
-0.01
30
6.7
✅
-0.5
-0.02
30
6.4
✅
0
-0.02
30
6.15
✅
0.5
-0.01
30
6.05
✅
1
-0.01
30
6.05
✅
Map: straight_road, Speed: 25.0 Successful lane changes: 9/10 (90.00%)
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
-0.08
30
7.05
✅
-0.5
-0.08
30
6
✅
0
-0.08
30
6
✅
0.5
-0.08
30
6.35
✅
1
-3.81
30
5.25
❌
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
-0.12
30
6.1
✅
-0.5
-0.12
30
5.85
✅
0
-0.12
30
5.7
✅
0.5
-0.12
30
5.6
✅
1
-0.11
30
5.4
✅
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_2025-05-11_17-17-52'
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:
'5e4cb3d3-b9cc-45c7-a476-38083e75029c/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: 0.071 m
Oscillation frequency: mean = 0.367 Hz , min = 0.116 Hz , max = 0.535 Hz
Oscillation amplitude: mean = 0.039 m , min = 0.005 m , max = 0.192 m
Oscillation significance: 1.645 ; just finished cases: 1.645
Number of finished cases: 50/50 ; passed cases: 32/50
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
30
15
50
0.15
0.15
0.126
0.037
0.116
0.005
0.062
✅
10
15
50
0.15
0.15
0.126
0.037
0.116
0.006
0.065
✅
80
15
50
0.15
0.15
0.126
0.037
0.116
0.006
0.066
✅
60
15
50
0.15
0.15
0.127
0.037
0.116
0.005
0.062
✅
28
15
50
0.15
0.15
0.126
0.037
0.116
0.006
0.065
✅
70
15
50
0.15
0.15
0.126
0.037
0.116
0.005
0.063
✅
4
15
50
0.15
0.15
0.127
0.037
0.116
0.005
0.064
✅
66
15
50
0.157
0.157
0.126
0.037
0.116
0.005
0.063
✅
82
15
50
0.161
0.161
0.126
0.038
0.116
0.005
0.062
✅
94
15
50
0.163
0.163
0.127
0.037
0.116
0.005
0.063
✅
18
15
50
0.167
0.167
0.127
0.037
0.116
0.005
0.063
✅
8
15
50
0.168
0.168
0.127
0.037
0.116
0.006
0.065
✅
68
15
50
0.192
0.192
0.126
0.037
0.116
0.006
0.065
✅
26
15
50
0.194
0.194
0.126
0.037
0.116
0.006
0.064
✅
90
15
50
0.222
0.222
0.13
0.038
0.465
0.006
0.269
✅
38
15
50
0.26
0.26
0.129
0.038
0.465
0.006
0.262
✅
22
15
50
0.284
0.284
0.128
0.038
0.465
0.006
0.271
✅
78
15
50
0.286
0.286
0.128
0.039
0.465
0.006
0.271
✅
44
15
50
0.288
0.288
0.128
0.038
0.465
0.006
0.27
✅
86
15
50
0.299
0.299
0.128
0.038
0.465
0.006
0.266
✅
56
15
50
0.312
0.312
0.129
0.037
0.465
0.006
0.285
✅
98
15
50
0.359
0.359
0.135
0.037
0.465
0.007
0.309
✅
58
15
50
0.395
0.395
0.137
0.036
0.465
0.006
0.297
✅
96
15
50
0.4
0.4
0.145
0.034
0.465
0.009
0.42
✅
54
15
50
0.409
0.409
0.144
0.034
0.465
0.009
0.411
✅
46
15
50
0.425
0.425
0.144
0.033
0.465
0.008
0.384
✅
64
15
50
0.432
0.432
0.142
0.034
0.465
0.008
0.366
✅
36
15
50
0.442
0.442
0.14
0.034
0.465
0.008
0.353
✅
50
15
50
0.464
0.464
0.142
0.037
0.465
0.008
0.35
✅
92
15
50
0.489
0.489
0.136
0.035
0.465
0.007
0.342
✅
14
15
50
0.498
0.498
0.134
0.035
0.465
0.007
0.343
✅
74
15
50
0.517
0.517
0.167
0.05
0.512
0.023
1.18
❌
32
15
50
0.528
0.528
0.162
0.046
0.512
0.019
0.989
✅
88
15
50
0.532
0.532
0.166
0.051
0.512
0.022
1.144
❌
76
15
50
0.547
0.547
0.166
0.054
0.535
0.024
1.275
❌
12
15
50
0.55
0.55
0.16
0.048
0.535
0.022
1.177
❌
62
15
50
0.57
0.57
0.19
0.081
0.488
0.056
2.733
❌
72
15
50
0.578
0.578
0.192
0.085
0.488
0.061
2.966
❌
2
15
50
0.583
0.583
0.192
0.086
0.488
0.06
2.929
❌
48
15
50
0.618
0.618
0.216
0.123
0.465
0.083
3.881
❌
0
15
50
0.627
0.627
0.215
0.125
0.465
0.084
3.91
❌
24
15
50
0.65
0.65
0.226
0.135
0.465
0.09
4.166
❌
34
15
50
0.694
0.694
0.252
0.163
0.442
0.125
5.505
❌
16
15
50
0.697
0.697
0.253
0.162
0.442
0.125
5.533
❌
40
15
50
0.7
0.7
0.286
0.187
0.419
0.128
5.338
❌
6
15
50
0.707
0.707
0.286
0.187
0.419
0.132
5.528
❌
20
15
50
0.725
0.725
0.299
0.192
0.419
0.148
6.199
❌
42
15
50
0.74
0.74
0.296
0.192
0.419
0.154
6.443
❌
52
15
50
0.757
0.757
0.315
0.216
0.395
0.187
7.398
❌
84
15
50
0.774
0.774
0.323
0.22
0.395
0.192
7.588
❌
Metadrive lane-center oscillation test at 30.0 m/s on straight_road TEST FAILED ❌
Standard deviation of lateral position: 0.123 m
Oscillation frequency: mean = 0.195 Hz , min = 0.116 Hz , max = 0.465 Hz
Oscillation amplitude: mean = 0.108 m , min = 0.004 m , max = 0.698 m
Oscillation significance: 3.921 ; just finished cases: 2.423
Number of finished cases: 46/50 ; passed cases: 37/50
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
29
30
50
0.15
0.15
0.109
0.032
0.14
0.004
0.052
✅
11
30
50
0.15
0.15
0.11
0.033
0.14
0.004
0.055
✅
71
30
50
0.15
0.15
0.109
0.032
0.14
0.004
0.057
✅
81
30
50
0.15
0.15
0.109
0.032
0.14
0.004
0.056
✅
31
30
50
0.15
0.15
0.109
0.032
0.14
0.004
0.057
✅
61
30
50
0.15
0.15
0.109
0.032
0.14
0.004
0.058
✅
5
30
50
0.15
0.15
0.109
0.033
0.14
0.004
0.057
✅
67
30
50
0.157
0.157
0.109
0.033
0.14
0.004
0.052
✅
83
30
50
0.161
0.161
0.11
0.032
0.14
0.004
0.054
✅
95
30
50
0.163
0.163
0.11
0.032
0.14
0.004
0.053
✅
19
30
50
0.167
0.167
0.11
0.032
0.14
0.004
0.056
✅
9
30
50
0.168
0.168
0.109
0.032
0.14
0.004
0.056
✅
69
30
50
0.192
0.192
0.109
0.032
0.14
0.004
0.055
✅
27
30
50
0.194
0.194
0.109
0.032
0.14
0.004
0.054
✅
91
30
50
0.222
0.222
0.109
0.032
0.14
0.004
0.054
✅
39
30
50
0.26
0.26
0.112
0.032
0.116
0.004
0.045
✅
23
30
50
0.284
0.284
0.119
0.03
0.116
0.005
0.059
✅
79
30
50
0.286
0.286
0.121
0.029
0.116
0.005
0.057
✅
45
30
50
0.288
0.288
0.122
0.03
0.116
0.005
0.058
✅
87
30
50
0.299
0.299
0.125
0.028
0.116
0.005
0.06
✅
57
30
50
0.312
0.312
0.135
0.025
0.116
0.006
0.068
✅
99
30
50
0.359
0.359
0.152
0.018
0.116
0.005
0.062
✅
59
30
50
0.395
0.395
0.16
0.015
0.116
0.005
0.059
✅
97
30
50
0.4
0.4
0.161
0.015
0.116
0.004
0.051
✅
55
30
50
0.409
0.409
0.163
0.015
0.116
0.004
0.049
✅
47
30
50
0.425
0.425
0.164
0.014
0.116
0.004
0.042
✅
65
30
50
0.432
0.432
0.165
0.014
0.116
0.004
0.043
✅
37
30
50
0.442
0.442
0.166
0.013
0.116
0.004
0.043
✅
51
30
50
0.464
0.464
0.169
0.013
0.116
0.004
0.043
✅
93
30
50
0.489
0.489
0.171
0.013
0.116
0.004
0.044
✅
15
30
50
0.498
0.498
0.171
0.013
0.116
0.004
0.043
✅
75
30
50
0.517
0.517
0.17
0.015
0.116
0.004
0.051
✅
33
30
50
0.528
0.528
0.171
0.015
0.116
0.004
0.051
✅
89
30
50
0.532
0.532
0.171
0.015
0.116
0.005
0.055
✅
77
30
50
0.547
0.547
0.172
0.015
0.116
0.005
0.06
✅
13
30
50
0.55
0.55
0.173
0.015
0.116
0.005
0.056
✅
63
30
50
0.57
0.57
0.174
0.111
0.465
0.074
3.439
❌
73
30
50
0.578
0.578
0.177
0.116
0.465
0.079
3.659
❌
3
30
50
0.583
0.583
0.174
0.015
0.116
0.005
0.055
✅
49
30
50
0.618
0.618
0.284
0.241
0.419
0.246
10.285
❌
1
30
50
0.627
0.627
0.294
0.245
0.419
0.252
10.568
❌
25
30
50
0.65
0.65
0.318
0.25
0.419
0.252
10.546
❌
35
30
50
0.694
0.694
0.325
0.319
0.395
0.34
13.455
❌
17
30
50
0.697
0.697
0.333
0.316
0.395
0.339
13.421
❌
41
30
41.85
0.7
0.7
0.235
0.604
0.344
0.604
20.808
❌
7
30
47.35
0.707
0.707
0.252
0.673
0.347
0.698
24.219
❌
21
30
50
0.725
0.725
0.3
0.646
0.349
0.609
21.249
❌
43
30
50
0.74
0.74
0.316
0.652
0.372
0.614
22.86
❌
53
30
26.8
0.757
0.757
0.184
0.556
0.354
0.553
19.556
❌
85
30
26.85
0.774
0.774
0.195
0.549
0.353
0.568
20.026
❌
