Model analysis report for

▶
root: {} 12 keys
- report_name: 'mlsimdriving_driving.analyse_driving_rl'
- route_list: '/home/batman/xx/routes/default_test_2k'
- output_dir: null
- save_tmp: false
- read_only: false
- shuffle: false
- limit: 10000
- use_virtual_webgl: false
- format: 'HTML'
- ▶
  miniray: {} 8 keys
  - priority: 10
  - job_name: 'mlsimdriving_driving.analyse_driving_rl'
  - queue_name: 'remote2'
  - submit_host: 'redis.comma.internal'
  - result_host: 'data-ram.comma.internal'
  - no_unique_id: false
  - codedir: 'caches/workstation-harald_2025-08-15_16-18-00'
  - force_local: false
- plan_only: false
- ▶
  rollout: {} 10 keys
  - type: 'RawVideoRL'
  - nowindow: false
  - debug: false
  - debug_render: false
  - save_observation_keys: []
  - output_dir: null
  - rerun: false
  - ▶
    env: {} 22 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_decoder_model: null
    - compressor_mode: 'NONE'
    - quantized_compressor_latents: false
    - yolo_model: false
    - lpips_model: false
    - sharpness_metric: true
    - future_observation_range_seconds: null
    - ▶
      physics: {} 4 keys
      - type: 'BICYCLE'
      - ▶
        bicycle_model_config: {} 1 keys
        
        vehicle_platform: 'HONDA_CIVIC'
      - ▶
        classic_model_config: {} 1 keys
        
        platform: 'TOYOTA_COROLLA_TSS2'
      - ▶
        ml_model_config: {} 8 keys
        
        platform: 'TOYOTA_COROLLA_TSS2'
        
        eid: '3bec45a4-9512-4c7f-bdbc-9415e5890fb6/100'
        
        y_range: [-5.0, 5.0]
        
        vocab_size: 2048
        
        temperature: 0.5
        
        use_gt_features: false
        
        platform_vec_size: 256
        
        platform_map_path: '/code.nfs/branches/caches/workstation-harald_2025-08-15_16-18-00/xx/arena/envs/lib/physics_models/assets/platform_map.txt'
    - with_gt: false
  - ▶
    agent: {} 11 keys
    - supercombo: 'a8f96b93-bde2-4e28-a732-4df21ebba968/400'
    - restrict_outputs: null
    - exclude_outputs: ['imgs']
    - 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
    - desired_curv_smooth_seconds: false
    - desired_accel_smooth_seconds: false
  - ▶
    shadow_agent: {} 0 keys

Plan analysis

Plan overall error

Plan overall MAE: 0.369

Plan POSITION MAE: 2.792, 0.847, 0.181

Plan VELOCITY MAE: 0.945, 0.056, 0.045

Plan ACCELERATION MAE: 0.287, 0.180, 0.127

Plan T_FROM_CURRENT_EULER MAE: 0.007, 0.004, 0.030

Plan ORIENTATION_RATE MAE: 0.008, 0.007, 0.013

Plan error when stationary

Plan velocity MAE when stationary: 0.082 meters/sec

Plan y error

Plan y MAE: 0.215 meters

Plan y error in turns (> 6°/s)

Plan y MAE in turns: 0.753 meters

Plan y MAE in turns (C2): 0.742 meters

Plan y MAE in turns (C3): 0.769 meters

Plan y error when path changing

Plan y MAE when path changing: 0.489 meters

Velocity prediction

Velocity MAE: 0.424 meters/sec

Plan x vel error

Plan x vel MAE: 0.424 meters/sec

Plan x vel mean err: 0.037 meters/sec

Pose x error

Pose x MAE: 0.462 meters/sec

Pose x mean err: 0.099 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: 0.429 meters

Road edges

Road edge overall MAE: 1.323 meters

Lead pred

Leads (t=0) MAE: 1.317

Leads (t=0) MedAE: 0.664

Lead prob

Lead prob overall MAE: 0.065

Lead prob overall accuracy: 0.985

First lead metrics for various lead x buckets

	count	prob accuracy	x MedAE	y MedAE	v MedAE	a MedAE
lead x < 10	26293	0.985319	0.29748	0.102872	0.0474324	0.0608348
10 < lead x < 20	39591	0.985401	0.504563	0.129554	0.328467	0.232081
20 < lead x < 40	93355	0.987628	0.83152	0.155116	0.544622	0.187438
40 < lead x < 80	107395	0.985754	1.72226	0.234298	0.892443	0.152654
80 < lead x	47186	0.823189	5.3274	0.372854	1.65295	0.129936

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	239230	0.973628	0.955922	0.173807	0.530381	0.150401
2 < \|v_ego - v_lead\| < 5	58016	0.93569	1.73413	0.242531	1.31217	0.200606
5 < \|v_ego - v_lead\| < 10	13750	0.880509	2.82355	0.325562	2.43688	0.314459
10 < \|v_ego - v_lead\| < 15	2587	0.932741	3.24214	0.3813	2.42934	0.360626
15 < \|v_ego - v_lead\|	334	0.592814	6.57356	0.70052	4.40875	0.804962

Group	Gas prob	Brake prob	Steer prob
All segments	0.011	0.022	0.255
Easy straight	0.007	0.008	0.128
Low speed	0.019	0.035	0.367
No desire	0.008	0.013	0.196
No desire turns (max lat accel > 2.5 m/ss)	0.013	0.028	0.374