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_19-46-11'
    • 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: 'b2714021-a7bc-41d6-8e1c-bfd20e59cc75/700'
      • 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 :1261 / 1658 aka 76.055%

better :934 / 1658 aka 56.333%

best (0.5m):437 / 1658 aka 26.357%

global mae x: 0.170

global mae y: 0.264

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

global mae y of lanecenter (when detected) in Sim: 0.255

avg resets: 0.353

Mean abs curvature: 0.219 deg/m

Mean abs curvature rate: 0.304 deg/ms

Mean abs lateral accel: 0.369 m/(ss)

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

Mean abs lateral jerk: 0.492 m/(sss)

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

Easy straight

Metrics

passed :509 / 510 aka 99.804%

better :490 / 510 aka 96.078%

best (0.5m):297 / 510 aka 58.235%

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: 0.180

avg resets: 0.012

Mean abs curvature: 0.049 deg/m

Mean abs curvature rate: 0.085 deg/ms

Mean abs lateral accel: 0.174 m/(ss)

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

Mean abs lateral jerk: 0.298 m/(sss)

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

Low speed

Metrics

passed :293 / 347 aka 84.438%

better :191 / 347 aka 55.043%

best (0.5m):73 / 347 aka 21.037%

global mae x: 0.228

global mae y: 0.273

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

global mae y of lanecenter (when detected) in Sim: 0.270

avg resets: 0.473

Mean abs curvature: 0.426 deg/m

Mean abs curvature rate: 0.604 deg/ms

Mean abs lateral accel: 0.311 m/(ss)

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

Mean abs lateral jerk: 0.431 m/(sss)

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

No desire segments

Metrics

passed :924 / 938 aka 98.507%

better :813 / 938 aka 86.674%

best (0.5m):424 / 938 aka 45.203%

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: 0.191

avg resets: 0.051

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: 0.382 m/(sss)

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

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

Metrics

passed :121 / 131 aka 92.366%

better :72 / 131 aka 54.962%

best (0.5m):20 / 131 aka 15.267%

global mae x: 0.215

global mae y: 0.250

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

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

avg resets: 0.130

Mean abs curvature: 0.291 deg/m

Mean abs curvature rate: 0.325 deg/ms

Mean abs lateral accel: 0.669 m/(ss)

Mean abs lateral accel GT: 0.652 m/(ss)

Mean abs lateral jerk: 0.620 m/(sss)

Mean abs lateral jerk GT: 0.400 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: 2.130512

mean max error C2: 2.280903

global mae: 0.333428

avg resets: 0.383333

Right lane change segments

37/150 aka 24.67%

better: 12/150 aka 8.00%

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

mean max error C3: 2.252101

mean max error C2: 2.485871

global mae: 0.355232

avg resets: 0.566667

Left turn segments

63/79 aka 79.75%

better: 23/79 aka 29.11%

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

mean max error C3: 1.348044

mean max error C2: 1.532784

global mae: 0.295818

avg resets: 0.911392

Right turn segments

75/91 aka 82.42%

better: 34/91 aka 37.36%

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

mean max error C3: 1.264934

mean max error C2: 1.398313

global mae: 0.292306

avg resets: 0.714286

Left keep segments

20/33 aka 60.61%

better: 11/33 aka 33.33%

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

mean max error C3: 1.565217

mean max error C2: 1.726105

global mae: 0.294973

avg resets: 0.454545

Right keep segments

17/26 aka 65.38%

better: 7/26 aka 26.92%

best (0.5m): 1/26 aka 3.85%

mean max error C3: 1.939154

mean max error C2: 1.327858

global mae: 0.328168

avg resets: 0.153846

Plan y error in turns (> 6°/s)

Mean path error : 0.001 meters

Mean absolute path error : 0.448 meters

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

got 29069 left samples

got 30815 right samples

mean left gt: 0.00010722752

mean right gt: -0.000554486

mean turn lanecenter error (GT pos, GT ll): left = 0.21726641058921814, right = -0.24762772023677826

mean turn lanecenter error (sim pos, GT ll): left = 0.24083863198757172, right = -0.26450198888778687

mean turn lanecenter error (GT pos, model ll): left = 0.2017008513212204, right = -0.2273327261209488

mean turn lanecenter error (sim pos, model ll): left = 0.19986911118030548, right = -0.22146281599998474

Mean abs curvature: 0.213536 deg/m

Mean abs curvature rate: 0.204672 deg/ms

Mean gt pos in left and right turns

Lane position frequency-domain analysis

Mean frequency: 0.177053 Hz, period 5.648040 s

Mean amplitude: 0.133200 m

Mean ping-pong significance (frequency x amplitude): 2.298180 %