Model analysis report for

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root: {} 11 keys
- report_name: 'rldriving_analysedriving'
- output_dir: null
- save_tmp: false
- read_only: false
- limit: 10000
- shuffle: false
- use_virtual_webgl: false
- format: 'HTML'
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  miniray: {} 8 keys
  - priority: 1000
  - job_name: 'rldriving_analysedriving'
  - queue_name: 'remote2'
  - submit_host: 'redis.comma.internal'
  - result_host: 'data-ram.comma.internal'
  - no_unique_id: false
  - codedir: 'caches/workstation-harald_2025-04-25_17-31-30'
  - force_local: false
- route_list: '/home/batman/xx/routes/default_test_2k'
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  rollout: {} 10 keys
  - type: 'RawVideoRL'
  - nowindow: false
  - debug: false
  - debug_render: false
  - save_observation_keys: []
  - output_dir: null
  - rerun: false
  - ▶
    env: {} 19 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.rawvideo_env.RawVideoEnv'
    - get_imgs: true
    - allow_resets: true
    - zero_desire: true
    - 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
    - future_observation_range_seconds: null
    - with_gt: false
  - ▶
    agent: {} 10 keys
    - supercombo: '846c53a4-b886-4942-a4d3-7ea3aff5be8d/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: false
    - use_raw_plan_long: true
  - ▶
    shadow_agent: {} 0 keys

Plan analysis

Plan overall error

Plan overall MAE: 0.366

Plan error when stationary

Plan velocity MAE when stationary: 0.080 meters/sec

Plan y error

Plan y MAE: 0.212 meters

Plan y error in turns (> 6°/s)

Plan y MAE in turns: 0.779 meters

Plan y MAE in turns (C2): 0.759 meters

Plan y MAE in turns (C3): 0.807 meters

Plan y error when path changing

Plan y MAE when path changing: 0.496 meters

Velocity prediction

Velocity MAE: 0.402 meters/sec

Plan x vel error

Plan x vel MAE: 0.402 meters/sec

Plan x vel mean err: 0.064 meters/sec

Pose x error

Pose x MAE: 0.457 meters/sec

Pose x mean err: 0.043 meters/sec

Wide from device

C3 Wide from device roll MAE: 0.000 radians

C2 Wide from device roll MAE: 0.000 radians

C3 Wide from device pitch MAE: 0.004 radians

C2 Wide from device pitch MAE: 0.001 radians

C3 Wide from device yaw MAE: 0.006 radians

C2 Wide from device yaw MAE: 0.001 radians

Lanelines

Lane line overall MAE: 0.426 meters

Road edges

Road edge overall MAE: 1.340 meters

Lead pred

Leads (t=0) MAE: 1.746

Leads (t=0) MedAE: 0.763

Lead prob

Lead prob overall MAE: 0.063

Lead prob overall accuracy: 0.987

First lead metrics for various lead x buckets

	count	prob accuracy	x MedAE	y MedAE	v MedAE	a MedAE
lead x < 10	23165	0.990935	0.272555	0.102814	0.0723595	0.0978401
10 < lead x < 20	41124	0.986456	0.472076	0.132438	0.368901	0.258291
20 < lead x < 40	96012	0.991355	0.835231	0.162714	0.627894	0.200612
40 < lead x < 80	112011	0.985332	1.82532	0.235896	1.00723	0.158014
80 < lead x	70548	0.851633	8.39861	0.43476	1.81336	0.139727

First lead metrics for various |v_ego - v_lead| buckets

	count	prob accuracy	x MedAE	y MedAE	v MedAE	a MedAE
\|v_ego - v_lead\| < 2	253670	0.971613	1.06959	0.182584	0.615089	0.160072
2 < \|v_ego - v_lead\| < 5	69139	0.937185	2.32582	0.278339	1.60087	0.202867
5 < \|v_ego - v_lead\| < 10	16573	0.886985	4.27516	0.400236	3.08701	0.359931
10 < \|v_ego - v_lead\| < 15	3130	0.935783	4.21837	0.458085	2.64922	0.486652
15 < \|v_ego - v_lead\|	453	0.803532	10.9835	0.930282	3.8967	0.656383

Group	Gas prob	Brake prob	Steer prob
All segments	0.009	0.023	0.254
Easy straight	0.006	0.009	0.127
Low speed	0.016	0.035	0.365
No desire	0.007	0.014	0.193
No desire turns (max lat accel > 2.5 m/ss)	0.011	0.029	0.368