Model analysis report for

• ▶
  root: {} 10 keys
  • report_name: 'rldriving_driving.analyse_lat_cheat_rl'
  • route_list: '/home/batman/xx/routes/default_test_2k'
  • output_dir: null
  • save_tmp: false
  • read_only: false
  • limit: 10000
  • use_virtual_webgl: false
  • format: 'HTML'
  • ▶
    miniray: {} 8 keys
    • priority: 10
    • job_name: 'rldriving_driving.analyse_lat_cheat_rl'
    • queue_name: 'remote2'
    • submit_host: 'redis.comma.internal'
    • result_host: 'data-ram.comma.internal'
    • no_unique_id: false
    • codedir: 'caches/workstation-yassine_2025-06-20_19-45-51'
    • force_local: false
  • ▶
    rollout: {} 10 keys
    • type: 'TinySimRL'
    • nowindow: false
    • debug: false
    • debug_render: false
    • save_observation_keys: []
    • output_dir: null
    • rerun: false
    • ▶
      env: {} 30 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.tinysim_env.TinySimEnv'
      • 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: true
      • future_observation_range_seconds: null
      • max_x_error: 4.0
      • max_y_error: 3.0
      • max_yaw_error: 0.2
      • reset_every: null
      • noise_model: 'REALISTIC'
      • photo_noise_model: 'NONE'
      • augment_mode: 'DEPTH'
      • inpaint_mode: 'NONE'
      • avoid_hood: false
      • cache_granularity: true
      • worldmodel: null
    • ▶
      agent: {} 12 keys
      • supercombo: '986745e3-b382-41a7-b15a-2cdcb664d072/700'
      • restrict_outputs: null
      • exclude_outputs: ['imgs']
      • calibrate_speed: false
      • use_allow_throttle: false
      • use_prev_desired_curv: true
      • model_trained_fps: 5
      • use_worldmodel_as_agent: false
      • use_raw_plan_lat: false
      • use_raw_plan_long: false
      • desired_curv_smooth_seconds: false
      • desired_accel_smooth_seconds: false
    • ▶
      shadow_agent: {} 0 keys

Plan analysis

All segments

Metrics

passed :1286 / 1658 aka 77.563%

better :936 / 1658 aka 56.454%

best (0.5m):426 / 1658 aka 25.694%

global mae x: 0.170

global mae y: 0.263

global mae y of lanecenter (when detected) in GT: 0.209

global mae y of lanecenter (when detected) in Sim: 0.257

avg resets: 0.356

Mean abs curvature: 0.218 deg/m

Mean abs curvature rate: 0.301 deg/ms

Mean abs lateral accel: 0.369 m/(ss)

Mean abs lateral accel GT: 0.336 m/(ss)

Mean abs lateral jerk: 0.495 m/(sss)

Mean abs lateral jerk GT: 0.272 m/(sss)

Easy straight

Metrics

passed :507 / 510 aka 99.412%

better :487 / 510 aka 95.490%

best (0.5m):296 / 510 aka 58.039%

global mae x: 0.106

global mae y: 0.175

global mae y of lanecenter (when detected) in GT: 0.161

global mae y of lanecenter (when detected) in Sim: 0.184

avg resets: 0.014

Mean abs curvature: 0.047 deg/m

Mean abs curvature rate: 0.084 deg/ms

Mean abs lateral accel: 0.174 m/(ss)

Mean abs lateral accel GT: 0.130 m/(ss)

Mean abs lateral jerk: 0.303 m/(sss)

Mean abs lateral jerk GT: 0.171 m/(sss)

Low speed

Metrics

passed :302 / 347 aka 87.032%

better :185 / 347 aka 53.314%

best (0.5m):71 / 347 aka 20.461%

global mae x: 0.230

global mae y: 0.271

global mae y of lanecenter (when detected) in GT: 0.266

global mae y of lanecenter (when detected) in Sim: 0.272

avg resets: 0.455

Mean abs curvature: 0.427 deg/m

Mean abs curvature rate: 0.599 deg/ms

Mean abs lateral accel: 0.312 m/(ss)

Mean abs lateral accel GT: 0.305 m/(ss)

Mean abs lateral jerk: 0.436 m/(sss)

Mean abs lateral jerk GT: 0.228 m/(sss)

No desire segments

Metrics

passed :922 / 938 aka 98.294%

better :810 / 938 aka 86.354%

best (0.5m):413 / 938 aka 44.030%

global mae x: 0.125

global mae y: 0.195

global mae y of lanecenter (when detected) in GT: 0.180

global mae y of lanecenter (when detected) in Sim: 0.195

avg resets: 0.057

Mean abs curvature: 0.120 deg/m

Mean abs curvature rate: 0.158 deg/ms

Mean abs lateral accel: 0.318 m/(ss)

Mean abs lateral accel GT: 0.284 m/(ss)

Mean abs lateral jerk: 0.386 m/(sss)

Mean abs lateral jerk GT: 0.236 m/(sss)

No desire turns (max lat accel > 2.5 m/ss)

Metrics

passed :123 / 132 aka 93.182%

better :74 / 132 aka 56.061%

best (0.5m):18 / 132 aka 13.636%

global mae x: 0.217

global mae y: 0.251

global mae y of lanecenter (when detected) in GT: 0.262

global mae y of lanecenter (when detected) in Sim: 0.240

avg resets: 0.129

Mean abs curvature: 0.299 deg/m

Mean abs curvature rate: 0.338 deg/ms

Mean abs lateral accel: 0.665 m/(ss)

Mean abs lateral accel GT: 0.649 m/(ss)

Mean abs lateral jerk: 0.618 m/(sss)

Mean abs lateral jerk GT: 0.398 m/(sss)

Left lane change segments

39/120 aka 32.50%

better: 12/120 aka 10.00%

best (0.5m): 3/120 aka 2.50%

mean max error C3: 2.151709

mean max error C2: 2.322146

global mae: 0.335758

avg resets: 0.416667

Right lane change segments

40/150 aka 26.67%

better: 12/150 aka 8.00%

best (0.5m): 4/150 aka 2.67%

mean max error C3: 2.212620

mean max error C2: 2.498657

global mae: 0.352899

avg resets: 0.586667

Left turn segments

66/79 aka 83.54%

better: 24/79 aka 30.38%

best (0.5m): 3/79 aka 3.80%

mean max error C3: 1.307130

mean max error C2: 1.453477

global mae: 0.288183

avg resets: 0.835443

Right turn segments

83/91 aka 91.21%

better: 36/91 aka 39.56%

best (0.5m): 1/91 aka 1.10%

mean max error C3: 1.220026

mean max error C2: 1.295700

global mae: 0.292479

avg resets: 0.758242

Left keep segments

21/33 aka 63.64%

better: 12/33 aka 36.36%

best (0.5m): 1/33 aka 3.03%

mean max error C3: 1.585794

mean max error C2: 1.664884

global mae: 0.292560

avg resets: 0.424242

Right keep segments

19/26 aka 73.08%

better: 9/26 aka 34.62%

best (0.5m): 0/26 aka 0.00%

mean max error C3: 1.826067

mean max error C2: 1.332334

global mae: 0.330884

avg resets: 0.192308

Plan y error in turns (> 6°/s)

Mean path error : -0.002 meters

Mean absolute path error : 0.445 meters

Turn bias test (y_pos at 50m > 3m)

got 29069 left samples

got 30815 right samples

mean left gt: -0.004309138

mean right gt: 0.025516585

mean turn lanecenter error (GT pos, GT ll): left = 0.21726641058921814, right = -0.24762769043445587

mean turn lanecenter error (sim pos, GT ll): left = 0.24236470460891724, right = -0.229674831032753

mean turn lanecenter error (GT pos, model ll): left = 0.1998864859342575, right = -0.23606234788894653

mean turn lanecenter error (sim pos, model ll): left = 0.2008897066116333, right = -0.20513366162776947

Mean abs curvature: 0.213677 deg/m

Mean abs curvature rate: 0.202669 deg/ms

Mean gt pos in left and right turns

Lane position frequency-domain analysis

Mean frequency: 0.174536 Hz, period 5.729463 s

Mean amplitude: 0.133327 m

Mean ping-pong significance (frequency x amplitude): 2.250798 %