Model analysis report for

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root: {} 12 keys
- report_name: 'mlsimdriving_driving.analyse_driving_rl'
- route_list: '/code.nfs/branches/caches/workstation-yassine_2025-10-06_15-35-15/xx/datasets/lists/train_500k_20240617_test_2k.txt'
- output_dir: null
- save_tmp: false
- read_only: false
- shuffle: false
- limit: 10000
- use_virtual_webgl: false
- format: 'HTML'
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  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: '/code.nfs/branches/caches/workstation-yassine_2025-10-06_15-35-15/xx'
  - use_local_codedir: false
- plan_only: false
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  rollout: {} 10 keys
  - type: 'RawVideoRL'
  - nowindow: false
  - debug: false
  - debug_render: false
  - save_observation_keys: []
  - output_dir: null
  - rerun: false
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    env: {} 22 keys
    - debug_window_size: [512, 512]
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      ep: {} 7 keys
      - segment: ''
      - augment_desire: false
      - depth_type: 'EASYDEPTH'
      - calibration_source: 'LOG'
      - pipeline_dir: 'http://data-ssd.comma.life/runner/training_2025_07'
      - feature_dir: null
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        input_paths: {} 0 keys
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      physics: {} 3 keys
      - type: 'BICYCLE'
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        bicycle_model_config: {} 1 keys
        
        vehicle_platform: 'HONDA_CIVIC'
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        ml_model_config: {} 11 keys
        
        platform: 'TOYOTA_COROLLA_TSS2'
        
        eid: 'effd03d9-472d-44a1-910a-6d49a41eb63f/50'
        
        y_range: [-3.0, 3.0]
        
        vocab_size: 1024
        
        temperature: 0.5
        
        use_gt_features: false
        
        platform_vec_size: 256
        
        platform_map_path: '/code.nfs/branches/caches/workstation-yassine_2025-10-06_15-35-15/xx/arena/envs/lib/physics_models/assets/platform_map.txt'
        
        lateral_tuning_type: 'AUTO'
        
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        lateral_tuning_params: {} 0 keys
        
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        lateral_initial_state_params: {} 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
    - with_gt: false
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    agent: {} 9 keys
    - supercombo: 'e2d9c622-25a8-4ccd-8c8e-c62537b7aa0c/400'
    - restrict_outputs: null
    - exclude_outputs: ['imgs']
    - use_allow_throttle: false
    - model_trained_fps: 5
    - use_worldmodel_as_agent: false
    - use_raw_plan_lat: true
    - desired_curv_smooth_seconds: false
    - desired_accel_smooth_seconds: false
  - ▶
    shadow_agent: {} 0 keys

Plan analysis

Plan overall error

Plan overall MAE: 0.355

Plan POSITION MAE: 2.647, 0.845, 0.180

Plan VELOCITY MAE: 0.898, 0.057, 0.044

Plan ACCELERATION MAE: 0.280, 0.180, 0.125

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: 0.073 meters/sec

Plan y error

Plan y MAE: 0.217 meters

Plan y error in turns (> 6°/s)

Plan y MAE in turns: 0.775 meters

Plan y MAE in turns (C2): 0.745 meters

Plan y MAE in turns (C3): 0.821 meters

Plan y error when path changing

Plan y MAE when path changing: 0.495 meters

Velocity prediction

Velocity MAE: 0.390 meters/sec

Plan x vel error

Plan x vel MAE: 0.390 meters/sec

Plan x vel mean err: 0.052 meters/sec

Pose x error

Pose x MAE: 0.435 meters/sec

Pose x mean err: 0.020 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: 0.005 radians

C2 Wide from device yaw MAE: 0.001 radians

Lanelines

Lane line overall MAE: 0.449 meters

Road edges

Road edge overall MAE: 1.394 meters

Lead pred

Leads (t=0) MAE: 1.602

Leads (t=0) MedAE: 0.813

Lead prob

Lead prob overall MAE: 0.074

Lead prob overall accuracy: 0.984

First lead metrics for various lead x buckets

	count	prob accuracy	x MedAE	y MedAE	v MedAE	a MedAE
lead x < 10	27459	0.985797	0.378126	0.125114	0.0499584	0.0630944
10 < lead x < 20	42322	0.979609	0.676585	0.186093	0.375569	0.233892
20 < lead x < 40	98674	0.984292	1.1029	0.21745	0.580137	0.18714
40 < lead x < 80	113788	0.978627	2.46691	0.291425	0.905727	0.150668
80 < lead x	49743	0.782442	6.78262	0.419283	1.57278	0.131563

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	251816	0.96609	1.31121	0.228448	0.527762	0.148333
2 < \|v_ego - v_lead\| < 5	62746	0.918959	2.39701	0.312673	1.58964	0.20715
5 < \|v_ego - v_lead\| < 10	14520	0.861777	3.88489	0.397991	3.1194	0.317478
10 < \|v_ego - v_lead\| < 15	2629	0.893876	4.08404	0.414578	2.6648	0.336915
15 < \|v_ego - v_lead\|	377	0.607427	8.46557	0.948809	5.60577	0.600684

Group	Gas prob	Brake prob	Steer prob
All segments	0.008	0.024	0.251
Easy straight	0.006	0.009	0.128
Low speed	0.014	0.038	0.346
No desire	0.007	0.014	0.193
No desire turns (max lat accel > 2.5 m/ss)	0.009	0.030	0.364