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_2025-04-29_11-17-03'
  - 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
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    env: {} 20 keys
    - debug_window_size: [512, 512]
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      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
    - sharpness_metric: false
    - future_observation_range_seconds: null
    - with_gt: false
  - ▶
    agent: {} 10 keys
    - supercombo: '8d0a1b3b-9972-4e53-b9c5-3e13e5e3e404/400'
    - 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

Plan analysis

Plan overall error

Plan overall MAE: 0.377

Plan error when stationary

Plan velocity MAE when stationary: 0.084 meters/sec

Plan y error

Plan y MAE: 0.214 meters

Plan y error in turns (> 6°/s)

Plan y MAE in turns: 0.814 meters

Plan y MAE in turns (C2): 0.805 meters

Plan y MAE in turns (C3): 0.826 meters

Plan y error when path changing

Plan y MAE when path changing: 0.497 meters

Velocity prediction

Velocity MAE: 0.411 meters/sec

Plan x vel error

Plan x vel MAE: 0.411 meters/sec

Plan x vel mean err: 0.082 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	0.272734	0.102825	0.0723258	0.0978708
10 < lead x < 20	41124	0.986456	0.47194	0.132404	0.368921	0.258198
20 < lead x < 40	96012	0.991355	0.83531	0.162721	0.628011	0.200649
40 < lead x < 80	112011	0.985332	1.82489	0.235897	1.00746	0.158028
80 < lead x	70548	0.851647	8.4006	0.434676	1.813	0.139703

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	0.971621	1.06958	0.18258	0.614981	0.160078
2 < \|v_ego - v_lead\| < 5	69139	0.93717	2.32648	0.278468	1.60095	0.202858
5 < \|v_ego - v_lead\| < 10	16573	0.886985	4.27293	0.400123	3.08841	0.35993
10 < \|v_ego - v_lead\| < 15	3130	0.935783	4.21794	0.458085	2.64774	0.486763
15 < \|v_ego - v_lead\|	453	0.803532	10.9784	0.930733	3.89541	0.6558

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