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_2025-06-07_19-42-25'
    • 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: 'b92dd772-6ae6-4329-880d-7e1cc60dd9da/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 :1267 / 1658 aka 76.417%

better :922 / 1658 aka 55.609%

best (0.5m):427 / 1658 aka 25.754%

global mae x: 0.231

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: 0.253

avg resets: 0.392

Mean abs curvature: 0.221 deg/m

Mean abs curvature rate: 0.319 deg/ms

Mean abs lateral accel: 0.368 m/(ss)

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

Mean abs lateral jerk: 0.512 m/(sss)

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

Easy straight

Metrics

passed :509 / 510 aka 99.804%

better :494 / 510 aka 96.863%

best (0.5m):291 / 510 aka 57.059%

global mae x: 0.158

global mae y: 0.173

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

global mae y of lanecenter (when detected) in Sim: 0.182

avg resets: 0.016

Mean abs curvature: 0.048 deg/m

Mean abs curvature rate: 0.090 deg/ms

Mean abs lateral accel: 0.174 m/(ss)

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

Mean abs lateral jerk: 0.312 m/(sss)

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

Low speed

Metrics

passed :301 / 347 aka 86.744%

better :185 / 347 aka 53.314%

best (0.5m):70 / 347 aka 20.173%

global mae x: 0.315

global mae y: 0.279

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

global mae y of lanecenter (when detected) in Sim: 0.274

avg resets: 0.476

Mean abs curvature: 0.433 deg/m

Mean abs curvature rate: 0.633 deg/ms

Mean abs lateral accel: 0.310 m/(ss)

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

Mean abs lateral jerk: 0.450 m/(sss)

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

No desire segments

Metrics

passed :918 / 938 aka 97.868%

better :822 / 938 aka 87.633%

best (0.5m):416 / 938 aka 44.350%

global mae x: 0.178

global mae y: 0.197

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

global mae y of lanecenter (when detected) in Sim: 0.191

avg resets: 0.059

Mean abs curvature: 0.121 deg/m

Mean abs curvature rate: 0.167 deg/ms

Mean abs lateral accel: 0.318 m/(ss)

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

Mean abs lateral jerk: 0.397 m/(sss)

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

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

Metrics

passed :119 / 132 aka 90.152%

better :72 / 132 aka 54.545%

best (0.5m):15 / 132 aka 11.364%

global mae x: 0.254

global mae y: 0.266

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

global mae y of lanecenter (when detected) in Sim: 0.230

avg resets: 0.182

Mean abs curvature: 0.295 deg/m

Mean abs curvature rate: 0.339 deg/ms

Mean abs lateral accel: 0.664 m/(ss)

Mean abs lateral accel GT: 0.648 m/(ss)

Mean abs lateral jerk: 0.635 m/(sss)

Mean abs lateral jerk GT: 0.397 m/(sss)

Left lane change segments

34/120 aka 28.33%

better: 11/120 aka 9.17%

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

mean max error C3: 2.198203

mean max error C2: 2.372419

global mae: 0.327396

avg resets: 0.383333

Right lane change segments

40/150 aka 26.67%

better: 12/150 aka 8.00%

best (0.5m): 3/150 aka 2.00%

mean max error C3: 2.317798

mean max error C2: 2.449201

global mae: 0.356486

avg resets: 0.640000

Left turn segments

66/79 aka 83.54%

better: 18/79 aka 22.78%

best (0.5m): 1/79 aka 1.27%

mean max error C3: 1.419275

mean max error C2: 1.387943

global mae: 0.291699

avg resets: 0.848101

Right turn segments

79/91 aka 86.81%

better: 31/91 aka 34.07%

best (0.5m): 2/91 aka 2.20%

mean max error C3: 1.333365

mean max error C2: 1.366274

global mae: 0.296508

avg resets: 0.868132

Left keep segments

18/33 aka 54.55%

better: 10/33 aka 30.30%

best (0.5m): 2/33 aka 6.06%

mean max error C3: 1.542397

mean max error C2: 1.864618

global mae: 0.306652

avg resets: 0.363636

Right keep segments

20/26 aka 76.92%

better: 6/26 aka 23.08%

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

mean max error C3: 2.002099

mean max error C2: 1.394121

global mae: 0.315764

avg resets: 0.269231

Plan y error in turns (> 6°/s)

Mean path error : -0.008 meters

Mean absolute path error : 0.471 meters

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

got 29069 left samples

got 30815 right samples

mean left gt: -0.042195365

mean right gt: 0.034480136

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

mean turn lanecenter error (sim pos, GT ll): left = 0.20434176921844482, right = -0.2271314114332199

mean turn lanecenter error (GT pos, model ll): left = 0.1954309493303299, right = -0.2578420042991638

mean turn lanecenter error (sim pos, model ll): left = 0.16100946068763733, right = -0.2224431186914444

Mean abs curvature: 0.214361 deg/m

Mean abs curvature rate: 0.220207 deg/ms

Mean gt pos in left and right turns

Lane position frequency-domain analysis

Mean frequency: 0.173854 Hz, period 5.751962 s

Mean amplitude: 0.136568 m

Mean ping-pong significance (frequency x amplitude): 2.305816 %