Metadrive Report
▶
root:
{} 14 keys
report_name:
'rldriving_analysemetadrive'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
use_virtual_webgl:
true
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'rldriving_analysemetadrive'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-weixing2_2025-03-06_21-31-46'
force_local:
false
num_threads:
12
▶
hugging:
{} 11 keys
report_name:
'analyse_hugging_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_hugging_rl'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-weixing2_2025-03-06_21-31-46'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 15 keys
seed:
2927071513
fps:
20
allow_resets:
true
end:
null
noise_model:
'NONE'
noise_end:
null
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
compressor_model:
null
future_observation_range_seconds:
null
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
npc_spawns:
[]
▶
scene:
{} 5 keys
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
traffic_light_plan:
[]
debug_window_size:
[512, 512]
▶
agent:
{} 15 keys
supercombo:
'e07ce1de-bdea-463e-b5bc-a38ce8d43f4f/700'
restrict_outputs:
null
exclude_outputs:
['imgs']
act_on_lat:
true
act_on_long:
false
min_hist_lat:
150
min_hist_long:
10
calibrate_speed:
false
run_planners:
true
use_long_mpc:
true
use_allow_throttle:
false
use_prev_desired_curv:
true
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan:
false
▶
shadow_agent:
{} 0 keys
▶
traffic_lights:
{} 11 keys
report_name:
'analyse_traffic_lights'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_traffic_lights'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-weixing2_2025-03-06_21-31-46'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 15 keys
seed:
118664988
fps:
20
allow_resets:
true
end:
null
noise_model:
'NONE'
noise_end:
null
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
compressor_model:
null
future_observation_range_seconds:
null
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
npc_spawns:
[]
▶
scene:
{} 5 keys
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
traffic_light_plan:
[]
debug_window_size:
[512, 512]
▶
agent:
{} 15 keys
supercombo:
'e07ce1de-bdea-463e-b5bc-a38ce8d43f4f/700'
restrict_outputs:
null
exclude_outputs:
['imgs']
act_on_lat:
true
act_on_long:
true
min_hist_lat:
20
min_hist_long:
20
calibrate_speed:
false
run_planners:
true
use_long_mpc:
true
use_allow_throttle:
false
use_prev_desired_curv:
true
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan:
false
▶
shadow_agent:
{} 0 keys
▶
speed_convergence:
{} 11 keys
report_name:
'analyse_speed_convergence_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_speed_convergence_rl'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-weixing2_2025-03-06_21-31-46'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 15 keys
seed:
5845776
fps:
20
allow_resets:
true
end:
null
noise_model:
'NONE'
noise_end:
null
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
compressor_model:
null
future_observation_range_seconds:
null
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
npc_spawns:
[]
▶
scene:
{} 5 keys
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
traffic_light_plan:
[]
debug_window_size:
[512, 512]
▶
agent:
{} 15 keys
supercombo:
'e07ce1de-bdea-463e-b5bc-a38ce8d43f4f/700'
restrict_outputs:
null
exclude_outputs:
['imgs']
act_on_lat:
false
act_on_long:
true
min_hist_lat:
true
min_hist_long:
100
calibrate_speed:
false
run_planners:
true
use_long_mpc:
true
use_allow_throttle:
false
use_prev_desired_curv:
true
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan:
false
▶
shadow_agent:
{} 0 keys
▶
lane_change:
{} 11 keys
report_name:
'analyse_lane_change_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_lane_change_rl'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-weixing2_2025-03-06_21-31-46'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'sm', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 15 keys
seed:
451135662
fps:
20
allow_resets:
true
end:
null
noise_model:
'NONE'
noise_end:
null
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
compressor_model:
null
future_observation_range_seconds:
null
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
npc_spawns:
[]
▶
scene:
{} 5 keys
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
traffic_light_plan:
[]
debug_window_size:
[512, 512]
▶
agent:
{} 15 keys
supercombo:
'e07ce1de-bdea-463e-b5bc-a38ce8d43f4f/700'
restrict_outputs:
null
exclude_outputs:
['imgs']
act_on_lat:
true
act_on_long:
false
min_hist_lat:
150
min_hist_long:
10
calibrate_speed:
false
run_planners:
true
use_long_mpc:
true
use_allow_throttle:
false
use_prev_desired_curv:
true
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan:
false
▶
shadow_agent:
{} 0 keys
▶
oscillation:
{} 11 keys
report_name:
'analyse_oscillation'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_oscillation'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-weixing2_2025-03-06_21-31-46'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'sim_lat_lag', 'sim_lat_antilag', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 15 keys
seed:
false
fps:
20
allow_resets:
true
end:
null
noise_model:
'REALISTIC'
noise_end:
null
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
compressor_model:
null
future_observation_range_seconds:
null
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
npc_spawns:
[]
▶
scene:
{} 5 keys
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
traffic_light_plan:
[]
debug_window_size:
[512, 512]
▶
agent:
{} 15 keys
supercombo:
'e07ce1de-bdea-463e-b5bc-a38ce8d43f4f/700'
restrict_outputs:
null
exclude_outputs:
['imgs']
act_on_lat:
true
act_on_long:
false
min_hist_lat:
40
min_hist_long:
10
calibrate_speed:
false
run_planners:
true
use_long_mpc:
true
use_allow_throttle:
false
use_prev_desired_curv:
true
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan:
false
▶
shadow_agent:
{} 0 keys
Summary
analyse_hugging_rl
analyse_traffic_lights
analyse_speed_convergence_rl
analyse_lane_change_rl
analyse_oscillation
24/48 (50.0%)
47/72 (65.3%)
1/36 (2.8%)
20/20 (100.0%)
65/100 (65.0%)
analyse_hugging_rl ▶ Hugging Report
▶
root:
{} 11 keys
report_name:
'analyse_hugging_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_hugging_rl'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-weixing2_2025-03-06_21-31-46'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 15 keys
seed:
2927071513
fps:
20
allow_resets:
true
end:
null
noise_model:
'NONE'
noise_end:
null
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
compressor_model:
null
future_observation_range_seconds:
null
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
npc_spawns:
[]
▶
scene:
{} 5 keys
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
traffic_light_plan:
[]
debug_window_size:
[512, 512]
▶
agent:
{} 15 keys
supercombo:
'e07ce1de-bdea-463e-b5bc-a38ce8d43f4f/700'
restrict_outputs:
null
exclude_outputs:
['imgs']
act_on_lat:
true
act_on_long:
false
min_hist_lat:
150
min_hist_long:
10
calibrate_speed:
false
run_planners:
true
use_long_mpc:
true
use_allow_throttle:
false
use_prev_desired_curv:
true
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan:
false
▶
shadow_agent:
{} 0 keys
Metadrive convergence to lane-center test at 15.0 m/s on straight_road TEST PASSED ✅
Note: hugging(offset=k) = sim_local_pos(offset=k) - sim_local_pos(offset=0)
Note: recovery = 1 - | hugging(offset) / offset |
Overall mean hugging/offset % = 15.69%, Overall mean recovery % = 84.31%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-4.79
15.75
84.25
22.55
1
-20
-3.09
15.5
84.5
22.55
2
-10
-1.53
15.25
84.75
22.55
3
-5
-0.86
17.25
82.75
22.55
4
5
0.8
15.75
84.25
22.55
5
10
1.51
15
85
22.55
6
20
3.08
15.25
84.75
22.55
7
30
4.66
15.75
84.25
22.55
Metadrive convergence to lane-center test at 2.5 m/s on straight_road TEST FAILED ❌
Note: hugging(offset=k) = sim_local_pos(offset=k) - sim_local_pos(offset=0)
Note: recovery = 1 - | hugging(offset) / offset |
Overall mean hugging/offset % = 52.69%, Overall mean recovery % = 47.31%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-17.88
59.75
40.25
22.55
1
-20
-11.51
57.5
42.5
22.55
2
-10
-5.59
56
44
22.55
3
-5
-2.69
54
46
22.55
4
5
2.52
50.5
49.5
22.55
5
10
4.95
49.25
50.75
22.55
6
20
9.57
48
52
22.55
7
30
13.98
46.5
53.5
22.55
Metadrive convergence to lane-center test at 15.0 m/s on left_turn TEST PASSED ✅
Note: hugging(offset=k) = sim_local_pos(offset=k) - sim_local_pos(offset=0)
Note: recovery = 1 - | hugging(offset) / offset |
Overall mean hugging/offset % = 9.44%, Overall mean recovery % = 90.56%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-2.89
9.75
90.25
22.55
1
-20
-1.96
10
90
22.55
2
-10
-0.93
9.25
90.75
22.55
3
-5
-0.49
9.75
90.25
22.55
4
5
0.45
9
91
22.55
5
10
0.93
9.5
90.5
22.55
6
20
1.88
9.25
90.75
22.55
7
30
2.7
9
91
22.55
Metadrive convergence to lane-center test at 2.5 m/s on left_turn TEST FAILED ❌
Note: hugging(offset=k) = sim_local_pos(offset=k) - sim_local_pos(offset=0)
Note: recovery = 1 - | hugging(offset) / offset |
Overall mean hugging/offset % = 51.78%, Overall mean recovery % = 48.22%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-17.34
57.75
42.25
22.55
1
-20
-11.2
55.75
44.25
22.55
2
-10
-5.53
55.25
44.75
22.55
3
-5
-2.7
54.25
45.75
22.55
4
5
2.47
49.5
50.5
22.55
5
10
4.83
48.25
51.75
22.55
6
20
9.36
46.5
53.5
22.55
7
30
14.08
47
53
22.55
Metadrive convergence to lane-center test at 15.0 m/s on right_turn TEST PASSED ✅
Note: hugging(offset=k) = sim_local_pos(offset=k) - sim_local_pos(offset=0)
Note: recovery = 1 - | hugging(offset) / offset |
Overall mean hugging/offset % = 6.97%, Overall mean recovery % = 93.03%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-2.05
6.75
93.25
22.55
1
-20
-1.3
6.5
93.5
22.55
2
-10
-0.62
6.25
93.75
22.55
3
-5
-0.33
6.5
93.5
22.55
4
5
0.36
7.25
92.75
22.55
5
10
0.74
7.5
92.5
22.55
6
20
1.48
7.75
92.25
22.55
7
30
2.24
7.25
92.75
22.55
Metadrive convergence to lane-center test at 2.5 m/s on right_turn TEST FAILED ❌
Note: hugging(offset=k) = sim_local_pos(offset=k) - sim_local_pos(offset=0)
Note: recovery = 1 - | hugging(offset) / offset |
Overall mean hugging/offset % = 50.19%, Overall mean recovery % = 49.81%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-17
56.5
43.5
22.55
1
-20
-10.79
54
46
22.55
2
-10
-5.28
53
47
22.55
3
-5
-2.57
51.5
48.5
22.55
4
5
2.4
48
52
22.55
5
10
4.64
46.25
53.75
22.55
6
20
9.3
46.5
53.5
22.55
7
30
13.73
45.75
54.25
22.55
analyse_traffic_lights ▶ Traffic Lights Report 🚦
▶
root:
{} 11 keys
report_name:
'analyse_traffic_lights'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_traffic_lights'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-weixing2_2025-03-06_21-31-46'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 15 keys
seed:
118664988
fps:
20
allow_resets:
true
end:
null
noise_model:
'NONE'
noise_end:
null
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
compressor_model:
null
future_observation_range_seconds:
null
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
npc_spawns:
[]
▶
scene:
{} 5 keys
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
traffic_light_plan:
[]
debug_window_size:
[512, 512]
▶
agent:
{} 15 keys
supercombo:
'e07ce1de-bdea-463e-b5bc-a38ce8d43f4f/700'
restrict_outputs:
null
exclude_outputs:
['imgs']
act_on_lat:
true
act_on_long:
true
min_hist_lat:
20
min_hist_long:
20
calibrate_speed:
false
run_planners:
true
use_long_mpc:
true
use_allow_throttle:
false
use_prev_desired_curv:
true
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan:
false
▶
shadow_agent:
{} 0 keys
Scenario: red traffic light without NPC Noise model: Noise.NONE Stopping success rate: 25 out of 36 (69.44%) Reasonable (max 3.0m off) success rate: 9 out of 36 (25.00%) Average distance from stopline: 4.356415887628511 Average absolute distance from stopline: 4.356415887628511 Noise model: Noise.TRAIN_ALL_MLSIM Stopping success rate: 22 out of 36 (61.11%) Reasonable (max 3.0m off) success rate: 7 out of 36 (19.44%) Average distance from stopline: 4.729140157118978 Average absolute distance from stopline: 4.729140157118978 Results per scenario
map_name
scene
noise_model
limit
first_speed
last_speed
distance_from_h_line
distance_from_v_line
stopped
stopped_reasonably
passed
curved_left_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.0188234
3.74225
2.63334
True
False
True
curved_left_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.00499983
7.69787
5.26652
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
1.13157
0.117499
0.0437911
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0.657152
32.4805
20.8335
False
False
False
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.0115234
0.0793279
1.62498
True
True
True
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.00421678
6.52838
5.77177
False
False
False
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.0150356
3.31046
0.73155
True
False
True
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0.00587949
3.92014
3.8888
True
False
True
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.00971087
3.29887
1.96057
True
False
True
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.00362915
2.72031
1.96893
True
True
True
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.00990225
9.7655
6.25483
True
False
True
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0.00377266
0.382217
0.234479
True
True
True
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.0167731
6.99816
4.55335
False
False
False
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.00487368
10.1644
6.56787
False
False
False
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.0167888
2.42374
1.64478
True
True
True
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0.00580806
9.09879
5.89579
False
False
False
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.0226436
0.196547
1.30745
True
True
True
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.00489159
5.37333
2.25355
True
False
True
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.0353729
3.52914
3.66864
True
False
True
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0.00498444
1.64821
0.301248
True
True
True
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.0164971
1.51881
1.01364
True
True
True
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.00507857
4.76795
3.25249
True
False
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.0161728
7.05039
4.53693
True
False
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0.0049502
0.134501
0.101123
True
True
True
straight_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.0120827
4.33566
0.182294
True
False
True
straight_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
12.5328
164.316
0.132075
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
1.23541
5.641
0.0324305
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
13.6099
1.65984
0.0339809
False
False
False
straight_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.0109305
8.34984
1.83249
True
False
True
straight_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.00334559
2.8127
1.86115
True
True
True
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.011657
8.59897
1.79898
True
False
True
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
1.29715
3.16832
1.76643
False
False
False
straight_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.0122398
8.36565
0.0509352
True
False
True
straight_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.00325296
4.70501
0.0363616
True
False
True
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.0088372
12.4341
0.0300274
True
False
True
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0.00318154
5.44674
0.044657
True
False
True
curved_left_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0.0144253
4.98171
3.46467
False
False
False
curved_left_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0.0466181
19.8179
15.3537
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
1.04275
1.34784
0.930216
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0.947953
46.998
30.1053
False
False
False
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
0.59464
1.96316
True
True
True
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0
7.27633
6.3761
False
False
False
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
3.34547
0.741382
True
False
True
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0.850164
5.89954
5.11974
False
False
False
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
2.03562
1.06099
True
True
True
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0.00671411
6.57329
4.45498
True
False
True
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
7.8609
4.98887
True
False
True
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0.011406
3.16622
1.99095
True
False
True
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
7.2712
4.75124
False
False
False
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
1.12227
15.7743
10.2589
False
False
False
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0.00380654
2.67299
1.82724
True
True
True
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
12.9808
1.5548
1.12177
False
False
False
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
1.67038
0.285983
True
True
True
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0
9.13231
4.5874
True
False
True
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
1.92779
2.59645
True
True
True
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0.00560515
8.35912
3.94993
True
False
True
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0
0.0704066
0.0590509
True
True
True
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0
6.45979
4.22582
True
False
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0.00379636
4.94646
3.1556
True
False
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0
4.26333
2.74566
True
False
True
straight_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0.049603
5.24856
0.122285
True
False
True
straight_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
13.166
17.5045
0.0460578
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
8.04872
2.20581
0.0113792
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
13.3003
9.02628
0.0684644
False
False
False
straight_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0.0082339
6.92788
1.82133
True
False
True
straight_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0.00124406
0.960469
1.84101
True
True
True
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0.0170224
6.77189
1.7615
True
False
True
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
1.03823
1.86995
1.67117
False
False
False
straight_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0.00771412
6.79863
0.0367381
True
False
True
straight_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0.0107572
3.06223
0.00133872
True
False
True
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
10
0.0162885
11.1927
0.0531167
True
False
True
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL_MLSIM
400
15
0.417014
4.76059
0.114206
False
False
False
Final thumbnails for each scene Note 1: This doesn't cover all the test cases, only the first one for each scene. Use only as visual reference of the map.
Scene: 1 lane[s] | crosswalks | no-npc
Scene: 1 lane[s] | no-crosswalks | no-npc
Scene: 2 lane[s] | crosswalks | no-npc
Scene: 2 lane[s] | no-crosswalks | no-npc
Scene: 3 lane[s] | crosswalks | no-npc
Scene: 3 lane[s] | no-crosswalks | no-npc
Scene: 1 lane[s] | crosswalks | no-npc
Scene: 1 lane[s] | no-crosswalks | no-npc
Scene: 2 lane[s] | crosswalks | no-npc
Scene: 2 lane[s] | no-crosswalks | no-npc
Scene: 3 lane[s] | crosswalks | no-npc
Scene: 3 lane[s] | no-crosswalks | no-npc
Scene: 1 lane[s] | crosswalks | no-npc
Scene: 1 lane[s] | no-crosswalks | no-npc
Scene: 2 lane[s] | crosswalks | no-npc
Scene: 2 lane[s] | no-crosswalks | no-npc
Scene: 3 lane[s] | crosswalks | no-npc
Scene: 3 lane[s] | no-crosswalks | no-npc
analyse_speed_convergence_rl ▶ Speed Convergence Report
▶
root:
{} 11 keys
report_name:
'analyse_speed_convergence_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_speed_convergence_rl'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-weixing2_2025-03-06_21-31-46'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 15 keys
seed:
5845776
fps:
20
allow_resets:
true
end:
null
noise_model:
'NONE'
noise_end:
null
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
compressor_model:
null
future_observation_range_seconds:
null
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
npc_spawns:
[]
▶
scene:
{} 5 keys
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
traffic_light_plan:
[]
debug_window_size:
[512, 512]
▶
agent:
{} 15 keys
supercombo:
'e07ce1de-bdea-463e-b5bc-a38ce8d43f4f/700'
restrict_outputs:
null
exclude_outputs:
['imgs']
act_on_lat:
false
act_on_long:
true
min_hist_lat:
true
min_hist_long:
100
calibrate_speed:
false
run_planners:
true
use_long_mpc:
true
use_allow_throttle:
false
use_prev_desired_curv:
true
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan:
false
▶
shadow_agent:
{} 0 keys
straight_road (Number of lanes: 1) Convergence rate: 1/9 (11.11%) Note 1: All speeds in meters per second
Note 2: Initial longitudinal history is 100 steps
Note 3: If some test case ends prematurely, it either was reset or went out of map bounds (most likely for high-speed test cases)
Note 4: Convergence is determined by the standard deviation of speed at the last 200 frames. Which means the speed was stable at the end and not that it converged to some specific value.
Scene: empty (opposite-way) | ego | shoulder Wide camera view of the scene (at the start of the test case)
Initial Speed
Mean simulator speed (last 200 frames)
Std dev of simulator speed (last 200 frames)
Mean model speed (last 200 frames)
Converged
0
0
0
0
❌
5
0
0
0
❌
10
9.46
0.07
9.37
❌
15
9.61
0.27
9.48
❌
20
17.62
0.1
17.26
✅
25
18.42
0.19
18.01
❌
30
24.77
0.15
24.4
❌
35
30.17
0.04
29.94
❌
40
30.29
0.03
29.99
❌
straight_road (Number of lanes: 3) Convergence rate: 0/27 (0.00%) Note 1: All speeds in meters per second
Note 2: Initial longitudinal history is 100 steps
Note 3: If some test case ends prematurely, it either was reset or went out of map bounds (most likely for high-speed test cases)
Note 4: Convergence is determined by the standard deviation of speed at the last 200 frames. Which means the speed was stable at the end and not that it converged to some specific value.
Scene: empty (opposite-way) | ego | empty (same-way) | empty (same-way) | shoulder Wide camera view of the scene (at the start of the test case)
Initial Speed
Mean simulator speed (last 200 frames)
Std dev of simulator speed (last 200 frames)
Mean model speed (last 200 frames)
Converged
0
0
0
0
❌
5
0
0
0
❌
10
12.28
0.57
12.17
❌
15
15.73
0.51
15.67
❌
20
22.52
0.32
22.79
❌
25
25.88
0.22
25.75
❌
30
25.73
0.25
25.59
❌
35
25.57
0.13
25.43
❌
40
25.42
0.09
25.26
❌
Scene: empty (opposite-way) | empty (same-way) | ego | empty (same-way) | shoulder Wide camera view of the scene (at the start of the test case)
Initial Speed
Mean simulator speed (last 200 frames)
Std dev of simulator speed (last 200 frames)
Mean model speed (last 200 frames)
Converged
0
0
0
0
❌
5
0
0
0.01
❌
10
0
0
0.01
❌
15
7.36
0.26
7.08
❌
20
7.23
0.16
6.96
❌
25
8.48
0.87
8.01
❌
30
11.67
1.12
11.22
❌
35
17.12
0.38
16.49
❌
40
18.86
0.6
18.12
❌
Scene: empty (opposite-way) | empty (same-way) | empty (same-way) | ego | shoulder Wide camera view of the scene (at the start of the test case)
Initial Speed
Mean simulator speed (last 200 frames)
Std dev of simulator speed (last 200 frames)
Mean model speed (last 200 frames)
Converged
0
0
0
0
❌
5
0
0
0
❌
10
0
0
0
❌
15
8.08
0.24
7.82
❌
20
9.21
0.33
8.9
❌
25
11.71
0.47
11.34
❌
30
15.59
1.12
15.07
❌
35
32.66
0.21
32.61
❌
40
33.18
0.09
32.98
❌
analyse_lane_change_rl ▶ Lane Change Report
▶
root:
{} 11 keys
report_name:
'analyse_lane_change_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_lane_change_rl'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-weixing2_2025-03-06_21-31-46'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'sm', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 15 keys
seed:
451135662
fps:
20
allow_resets:
true
end:
null
noise_model:
'NONE'
noise_end:
null
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
compressor_model:
null
future_observation_range_seconds:
null
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
npc_spawns:
[]
▶
scene:
{} 5 keys
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
traffic_light_plan:
[]
debug_window_size:
[512, 512]
▶
agent:
{} 15 keys
supercombo:
'e07ce1de-bdea-463e-b5bc-a38ce8d43f4f/700'
restrict_outputs:
null
exclude_outputs:
['imgs']
act_on_lat:
true
act_on_long:
false
min_hist_lat:
150
min_hist_long:
10
calibrate_speed:
false
run_planners:
true
use_long_mpc:
true
use_allow_throttle:
false
use_prev_desired_curv:
true
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan:
false
▶
shadow_agent:
{} 0 keys
Map: straight_road, Speed: 15.0 TEST PASSED ✅
Note 1: Initial lateral history is 150 steps (7.5 sec)
Note 2: Lane change is considered successful if the last 20.0% of the episode is spent in the target lane, and the mean offset from the target lane-center is at most 1.0m
Note 3: If some test case ends prematurely, it either was reset or went out of map bounds
Scene: left lane change
Position offset
Mean offset from target lane-center at the end (m)
Simulation duration (s)
Lane change completion time (s)
Success
-1
-0.06
30
7.35
✅
-0.5
-0.07
30
7.05
✅
0
-0.06
30
7
✅
0.5
-0.06
30
6.95
✅
1
-0.06
30
6.7
✅
Scene: right lane change
Position offset
Mean offset from target lane-center at the end (m)
Simulation duration (s)
Lane change completion time (s)
Success
-1
-0.03
30
6
✅
-0.5
-0.03
30
6.15
✅
0
-0.03
30
6.05
✅
0.5
-0.03
30
6.15
✅
1
-0.03
30
6
✅
Map: straight_road, Speed: 25.0 TEST PASSED ✅
Note 1: Initial lateral history is 150 steps (7.5 sec)
Note 2: Lane change is considered successful if the last 20.0% of the episode is spent in the target lane, and the mean offset from the target lane-center is at most 1.0m
Note 3: If some test case ends prematurely, it either was reset or went out of map bounds
Scene: left lane change
Position offset
Mean offset from target lane-center at the end (m)
Simulation duration (s)
Lane change completion time (s)
Success
-1
-0.12
30
6.95
✅
-0.5
-0.12
30
6.85
✅
0
-0.11
30
7
✅
0.5
-0.11
30
7.15
✅
1
-0.12
30
7.2
✅
Scene: right lane change
Position offset
Mean offset from target lane-center at the end (m)
Simulation duration (s)
Lane change completion time (s)
Success
-1
-0.02
30
6
✅
-0.5
-0.02
30
6
✅
0
-0.02
30
6
✅
0.5
-0.02
30
6
✅
1
-0.02
30
6
✅
analyse_oscillation ▶ Oscilllation Report
▶
root:
{} 11 keys
report_name:
'analyse_oscillation'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
use_virtual_webgl:
false
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_oscillation'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-weixing2_2025-03-06_21-31-46'
force_local:
false
max_length:
null
assert_all_passed:
false
▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
false
debug:
false
debug_render:
true
save_observation_keys:
['step_idx', 'sim_lat_lag', 'sim_lat_antilag', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 15 keys
seed:
false
fps:
20
allow_resets:
true
end:
null
noise_model:
'REALISTIC'
noise_end:
null
photo_noise_model:
'NONE'
augment_mode:
'SIMPLE'
inpaint_mode:
'NONE'
▶
desire:
{} 0 keys
compressor_model:
null
future_observation_range_seconds:
null
future_target_velocity:
null
▶
scenario:
{} 6 keys
name:
'straight_road'
description:
''
length:
600
▶
ego_spawn:
{} 5 keys
position:
[0.0, 0.0]
heading:
false
velocity:
15.0
policy:
'ZERO'
policy_seed:
null
npc_spawns:
[]
▶
scene:
{} 5 keys
lane_width:
3.8
lane_number:
2
start_position:
[0.0, 0.0]
map_pg_blocks:
[{'id': 'I', 'pre_block_socket_index': None}, {'id': 'S', 'pre_block_socket_index': 0, 'length': 2048}]
traffic_light_plan:
[]
debug_window_size:
[512, 512]
▶
agent:
{} 15 keys
supercombo:
'e07ce1de-bdea-463e-b5bc-a38ce8d43f4f/700'
restrict_outputs:
null
exclude_outputs:
['imgs']
act_on_lat:
true
act_on_long:
false
min_hist_lat:
40
min_hist_long:
10
calibrate_speed:
false
run_planners:
true
use_long_mpc:
true
use_allow_throttle:
false
use_prev_desired_curv:
true
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan:
false
▶
shadow_agent:
{} 0 keys
Metadrive lane-center oscillation test at 15.0 m/s on straight_road TEST FAILED ❌
Standard deviation of lateral position: 0.111 m
Oscillation frequency: mean = 0.135 Hz , min = 0.116 Hz , max = 0.209 Hz
Oscillation amplitude: mean = 0.047 m , min = 0.019 m , max = 0.081 m
Oscillation significance: 0.630 ; just finished cases: 0.630
Number of finished cases: 50/50 ; passed cases: 47/50
Note 1: Oscillation significance is the product of frequency and amplitude (x100). A value of 1 or less is considered acceptable.
Note 2: The green shaded area in the frequency domain plot represents the acceptable frequency range (0.1-1.0 Hz)
Note 3: nan values indicate that the case ended prematurely due to a reset or out-of-bounds
key
initial_speed
duration
lag
antilag
lat_position_mean
lat_position_stddev
dominant_frequency
dominant_amplitude
oscillation_significance
passed
64
15
50
0.014
0.02
0.085
0.088
0.116
0.037
0.425
✅
56
15
50
0.019
0.021
0.223
0.157
0.116
0.065
0.754
✅
72
15
50
0.023
0.031
0.112
0.099
0.14
0.068
0.948
✅
48
15
50
0.026
0.02
0.284
0.08
0.14
0.035
0.494
✅
90
15
50
0.04
0.056
0.2
0.174
0.116
0.06
0.7
✅
38
15
50
0.043
0.028
0.09
0.125
0.14
0.036
0.496
✅
36
15
50
0.045
0.056
0.161
0.101
0.116
0.021
0.246
✅
0
15
50
0.062
0.083
0.222
0.081
0.14
0.055
0.762
✅
24
15
50
0.075
0.062
0.107
0.199
0.116
0.073
0.845
✅
16
15
50
0.075
0.066
0.252
0.082
0.116
0.033
0.384
✅
80
15
50
0.087
0.097
0.293
0.101
0.14
0.019
0.265
✅
50
15
50
0.088
0.121
0.211
0.149
0.116
0.053
0.612
✅
12
15
50
0.089
0.096
0.2
0.108
0.14
0.038
0.534
✅
86
15
50
0.091
0.047
0.234
0.143
0.116
0.042
0.487
✅
62
15
50
0.1
0.075
0.095
0.104
0.116
0.068
0.786
✅
10
15
50
0.101
0.103
0.216
0.133
0.14
0.063
0.873
✅
66
15
50
0.133
0.178
0.2
0.128
0.116
0.051
0.591
✅
52
15
50
0.151
0.149
0.213
0.087
0.14
0.054
0.75
✅
74
15
50
0.156
0.233
0.215
0.067
0.116
0.047
0.543
✅
28
15
50
0.163
0.106
0.311
0.17
0.116
0.081
0.947
✅
2
15
50
0.171
0.104
0.142
0.121
0.163
0.037
0.609
✅
4
15
50
0.186
0.13
0.221
0.075
0.14
0.044
0.61
✅
58
15
50
0.212
0.129
0.136
0.073
0.116
0.034
0.396
✅
68
15
50
0.219
0.173
0.212
0.12
0.116
0.058
0.679
✅
18
15
50
0.223
0.198
0.15
0.153
0.14
0.039
0.55
✅
34
15
50
0.226
0.247
0.282
0.138
0.14
0.038
0.529
✅
40
15
50
0.232
0.254
0.257
0.083
0.186
0.06
1.121
❌
60
15
50
0.241
0.194
0.118
0.087
0.116
0.051
0.593
✅
32
15
50
0.256
0.235
0.147
0.076
0.163
0.039
0.63
✅
8
15
50
0.282
0.157
0.211
0.084
0.116
0.053
0.621
✅
46
15
50
0.284
0.366
0.2
0.096
0.186
0.055
1.027
❌
6
15
50
0.285
0.15
0.215
0.14
0.14
0.049
0.686
✅
14
15
50
0.304
0.259
0.219
0.093
0.116
0.056
0.652
✅
30
15
50
0.331
0.44
0.183
0.145
0.116
0.033
0.387
✅
82
15
50
0.342
0.366
0.229
0.108
0.116
0.063
0.733
✅
22
15
50
0.342
0.369
0.21
0.075
0.116
0.03
0.349
✅
94
15
50
0.36
0.533
0.261
0.087
0.14
0.044
0.617
✅
98
15
50
0.374
0.514
0.088
0.126
0.186
0.027
0.502
✅
76
15
50
0.382
0.361
0.06
0.078
0.116
0.06
0.7
✅
44
15
50
0.387
0.289
0.169
0.096
0.186
0.061
1.137
❌
42
15
50
0.399
0.522
0.238
0.05
0.14
0.022
0.301
✅
54
15
50
0.404
0.203
0.23
0.14
0.14
0.057
0.79
✅
88
15
50
0.414
0.439
0.187
0.113
0.14
0.038
0.523
✅
20
15
50
0.453
0.415
0.133
0.145
0.14
0.037
0.521
✅
84
15
50
0.456
0.301
0.185
0.042
0.209
0.021
0.444
✅
26
15
50
0.459
0.337
0.208
0.104
0.14
0.035
0.488
✅
92
15
50
0.468
0.596
0.251
0.153
0.116
0.044
0.512
✅
96
15
50
0.468
0.272
0.252
0.098
0.163
0.055
0.889
✅
70
15
50
0.469
0.483
0.096
0.139
0.14
0.07
0.981
✅
78
15
50
0.483
0.261
0.18
0.126
0.116
0.04
0.465
✅
Metadrive lane-center oscillation test at 30.0 m/s on straight_road TEST FAILED ❌
Standard deviation of lateral position: 0.169 m
Oscillation frequency: mean = 0.140 Hz , min = 0.116 Hz , max = 0.209 Hz
Oscillation amplitude: mean = 0.083 m , min = 0.029 m , max = 0.133 m
Oscillation significance: 1.142 ; just finished cases: 1.142
Number of finished cases: 50/50 ; passed cases: 18/50
Note 1: Oscillation significance is the product of frequency and amplitude (x100). A value of 1 or less is considered acceptable.
Note 2: The green shaded area in the frequency domain plot represents the acceptable frequency range (0.1-1.0 Hz)
Note 3: nan values indicate that the case ended prematurely due to a reset or out-of-bounds
key
initial_speed
duration
lag
antilag
lat_position_mean
lat_position_stddev
dominant_frequency
dominant_amplitude
oscillation_significance
passed
65
30
50
0.014
0.02
-0.022
0.151
0.116
0.077
0.895
✅
57
30
50
0.019
0.021
0.166
0.243
0.14
0.105
1.469
❌
73
30
50
0.023
0.031
0.014
0.16
0.14
0.113
1.582
❌
49
30
50
0.026
0.02
0.255
0.123
0.186
0.063
1.175
❌
91
30
50
0.04
0.056
0.122
0.229
0.116
0.11
1.284
❌
39
30
50
0.043
0.028
0.001
0.195
0.14
0.057
0.793
✅
37
30
50
0.045
0.056
0.083
0.132
0.116
0.045
0.519
✅
1
30
50
0.062
0.083
0.172
0.117
0.14
0.087
1.211
❌
25
30
50
0.075
0.062
0.034
0.281
0.116
0.114
1.322
❌
17
30
50
0.075
0.066
0.209
0.119
0.186
0.037
0.696
✅
81
30
50
0.087
0.097
0.25
0.107
0.116
0.029
0.337
✅
51
30
50
0.088
0.121
0.173
0.191
0.116
0.092
1.064
❌
13
30
50
0.089
0.096
0.141
0.168
0.14
0.06
0.84
✅
87
30
50
0.091
0.047
0.171
0.206
0.14
0.079
1.105
❌
63
30
50
0.1
0.075
0.022
0.173
0.116
0.124
1.448
❌
11
30
50
0.101
0.103
0.162
0.202
0.14
0.105
1.47
❌
67
30
50
0.133
0.178
0.136
0.187
0.116
0.083
0.968
✅
53
30
50
0.151
0.149
0.189
0.149
0.209
0.083
1.743
❌
75
30
50
0.156
0.233
0.175
0.135
0.116
0.072
0.839
✅
29
30
50
0.163
0.106
0.28
0.219
0.116
0.11
1.273
❌
3
30
50
0.171
0.104
0.035
0.172
0.163
0.056
0.91
✅
5
30
50
0.186
0.13
0.171
0.108
0.14
0.064
0.9
✅
59
30
50
0.212
0.129
0.054
0.122
0.116
0.06
0.695
✅
69
30
50
0.219
0.173
0.19
0.182
0.116
0.091
1.054
❌
19
30
50
0.223
0.198
0.091
0.253
0.14
0.093
1.291
❌
35
30
50
0.226
0.247
0.256
0.19
0.14
0.056
0.782
✅
41
30
50
0.232
0.254
0.23
0.148
0.186
0.111
2.058
❌
61
30
50
0.241
0.194
0.036
0.139
0.116
0.095
1.107
❌
33
30
50
0.256
0.235
0.08
0.129
0.163
0.077
1.257
❌
9
30
50
0.282
0.157
0.153
0.138
0.116
0.091
1.06
❌
47
30
50
0.284
0.366
0.144
0.138
0.186
0.096
1.793
❌
7
30
50
0.285
0.15
0.153
0.19
0.163
0.083
1.346
❌
15
30
50
0.304
0.259
0.18
0.139
0.116
0.12
1.391
❌
31
30
50
0.331
0.44
0.127
0.224
0.116
0.073
0.849
✅
83
30
50
0.342
0.366
0.175
0.159
0.116
0.106
1.23
❌
23
30
50
0.342
0.369
0.166
0.141
0.116
0.063
0.729
✅
95
30
50
0.36
0.533
0.264
0.137
0.14
0.082
1.139
❌
99
30
50
0.374
0.514
0.002
0.214
0.116
0.057
0.658
✅
77
30
50
0.382
0.361
-0.021
0.148
0.116
0.105
1.226
❌
45
30
50
0.387
0.289
0.132
0.148
0.186
0.099
1.839
❌
43
30
50
0.399
0.522
0.21
0.136
0.14
0.052
0.72
✅
55
30
50
0.404
0.203
0.184
0.195
0.14
0.099
1.385
❌
89
30
50
0.414
0.439
0.137
0.196
0.186
0.064
1.195
❌
21
30
50
0.453
0.415
0.06
0.224
0.14
0.07
0.981
✅
85
30
50
0.456
0.301
0.103
0.07
0.209
0.041
0.861
✅
27
30
50
0.459
0.337
0.145
0.163
0.14
0.074
1.031
❌
93
30
50
0.468
0.596
0.226
0.207
0.163
0.083
1.348
❌
97
30
50
0.468
0.272
0.197
0.155
0.14
0.096
1.344
❌
71
30
50
0.469
0.483
-0.013
0.222
0.14
0.133
1.857
❌
79
30
50
0.483
0.261
0.144
0.189
0.116
0.09
1.05
❌
