NuRec report

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- ▶
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- ▶
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    - job_group: 'rldriving_validation_f78ed37d-afad-4dbc-8050-40ea885eedde'
  - scene_list: ''
  - scene_ids: ['2d10a08d-2f60-49fe-94e8-9d2797a289d2', '3d1e57dc-7301-4c0a-88f9-91d0c58476b4', '3e73027c-2d42-471e-bbdd-364cd9d5d989', '2726cee4-301c-4d59-ad14-64fad8032e87', 'ae850982-a7b9-4df3-891f-4dc84be870f6', '23666aa2-ecb8-4c76-9524-fd3b0c615db0', 'eac1bf3c-d6e2-46c7-8fcb-1a6a612f2dae', 'fe240bc3-c958-4c6e-9a88-8b2ff87ce2e1']
  - root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
  - supercombo: 'f78ed37d-afad-4dbc-8050-40ea885eedde/12864'
  - render_dynamic_rigids: false
  - num_retries: 5
  - resume_existing: false
  - flatten_plots: false
  - fps: 20
  - frames: 400
  - ▶
    rollout: {} 9 keys
    - type: 'NuRecRL'
    - nowindow: true
    - debug: false
    - debug_render: true
    - save_observation_keys: ['debug_rendered']
    - output_dir: null
    - rerun: false
    - ▶
      env: {} 44 keys
      - debug_window_size: [512, 512]
      - ▶
        ep: {} 5 keys
        
        segment: ''
        
        depth_type: 'EASYDEPTH'
        
        pipeline_dir: 'http://data-ssd.comma.life/runner/training_2026_02'
        
        feature_dir: null
        
        ▶
        input_paths: {} 0 keys
      - ▶
        physics: {} 3 keys
        
        type: 'BICYCLE'
        
        ▶
        bicycle_model_config: {} 1 keys
        
        vehicle_platform: 'HONDA_CIVIC'
        
        ▶
        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/tinytower-haraschax_2026-09-14_10-41-51/xx/arena/envs/lib/physics_models/assets/platform_map.txt'
        
        lateral_tuning_type: 'AUTO'
        
        ▶
        lateral_tuning_params: {} 0 keys
        
        ▶
        lateral_initial_state_params: {} 0 keys
      - start: false
      - end: 400
      - env: 'xx.arena.envs.nurec_env.NurecEnv'
      - get_imgs: true
      - allow_resets: false
      - zero_desire: false
      - fps: 20
      - allow_lat: false
      - allow_long: true
      - 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
      - noise_model: 'NONE'
      - photo_noise_model: 'NONE'
      - augment_mode: 'SIMPLE'
      - inpaint_mode: 'NONE'
      - scene_root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
      - scene_id: null
      - narrow_cam_logical_id: ''
      - wide_cam_logical_id: ''
      - initial_speed: null
      - initial_lateral_offset: false
      - render_dynamic_rigids: false
      - native_camera_replay: false
      - zero_lat: false
      - zero_long: false
      - max_x_error: 10.0
      - max_y_error: 10.0
      - reset_every: null
      - publish_xodr_lane_metrics: false
      - ▶
        desire: {} 0 keys
      - warmup_zero_accel: false
      - warmup_zero_curv: false
      - lataccel_noise_scale: false
      - seed: false
    - ▶
      agent: {} 8 keys
      - supercombo: 'f78ed37d-afad-4dbc-8050-40ea885eedde/12864'
      - restrict_outputs: null
      - exclude_outputs: ['imgs']
      - use_allow_throttle: false
      - model_trained_fps: 5
      - use_worldmodel_as_agent: false
      - desired_curv_smooth_seconds: false
      - desired_accel_smooth_seconds: false
  - warmup_s: 2.0
  - initial_speeds_mps: [4.0, 9.0, 14.0, 18.0]
  - allow_lat: false
  - zero_lat: false
  - zero_long: false
  - recorded_stop_speed_mps: true
  - recorded_resume_speed_mps: 2.0
  - resume_buffer_seconds: 0.5
  - halt_tolerance_mps: 0.5
  - stop_position_tolerance_m: 5.0
- ▶
  analyse_nurec_speed_convergence: {} 30 keys
  - report_name: 'analyse_nurec_speed_convergence'
  - route_list: '/code.nfs/branches/caches/tinytower-haraschax_2026-09-14_10-41-51/xx/comma_data/lists/train_10m_20260826_test_2k.txt'
  - output_dir: null
  - save_tmp: false
  - read_only: false
  - shuffle: false
  - limit: 10000
  - use_virtual_webgl: true
  - format: 'HTML'
  - ▶
    miniray: {} 10 keys
    - priority: 3
    - job_name: 'analyse_nurec_speed_convergence'
    - queue_name: 'remote_v3'
    - redis_host: 'redis.comma.internal'
    - codedir: '/code.nfs/branches/caches/tinytower-haraschax_2026-09-14_10-41-51/xx'
    - use_local_codedir: false
    - ▶
      limits: {} 7 keys
      - cpu_threads: true
      - memory: true
      - small_gpu_memory: false
      - big_gpu_memory: false
      - timeout_seconds: 60
      - triton: true
      - node_whitelist: null
    - ▶
      env: {} 0 keys
    - queue_timeout: 259200
    - job_group: 'rldriving_validation_f78ed37d-afad-4dbc-8050-40ea885eedde'
  - scene_list: ''
  - scene_ids: ['04749bb9-9b37-495b-bed0-77f0e33ac7da', '6e7b42a3-285c-4252-bcdc-a453ef64a231', '7cd29a50-39b9-40d3-8ab5-d75a7efe7bc1', 'c0c88642-b952-47a4-957c-c6ed4d66b2d9', '325f6c39-d822-4ecf-9cd2-e6afc69b0f7e', '63844633-ef7c-4c48-8a61-a50af34b9e09']
  - root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
  - supercombo: 'f78ed37d-afad-4dbc-8050-40ea885eedde/12864'
  - render_dynamic_rigids: false
  - num_retries: 5
  - resume_existing: false
  - flatten_plots: false
  - fps: 20
  - frames: 400
  - ▶
    rollout: {} 9 keys
    - type: 'NuRecRL'
    - nowindow: true
    - debug: false
    - debug_render: true
    - save_observation_keys: ['debug_rendered']
    - output_dir: null
    - rerun: false
    - ▶
      env: {} 44 keys
      - debug_window_size: [512, 512]
      - ▶
        ep: {} 5 keys
        
        segment: ''
        
        depth_type: 'EASYDEPTH'
        
        pipeline_dir: 'http://data-ssd.comma.life/runner/training_2026_02'
        
        feature_dir: null
        
        ▶
        input_paths: {} 0 keys
      - ▶
        physics: {} 3 keys
        
        type: 'BICYCLE'
        
        ▶
        bicycle_model_config: {} 1 keys
        
        vehicle_platform: 'HONDA_CIVIC'
        
        ▶
        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/tinytower-haraschax_2026-09-14_10-41-51/xx/arena/envs/lib/physics_models/assets/platform_map.txt'
        
        lateral_tuning_type: 'AUTO'
        
        ▶
        lateral_tuning_params: {} 0 keys
        
        ▶
        lateral_initial_state_params: {} 0 keys
      - start: false
      - end: 400
      - env: 'xx.arena.envs.nurec_env.NurecEnv'
      - get_imgs: true
      - allow_resets: false
      - zero_desire: false
      - fps: 20
      - allow_lat: false
      - allow_long: true
      - 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
      - noise_model: 'NONE'
      - photo_noise_model: 'NONE'
      - augment_mode: 'SIMPLE'
      - inpaint_mode: 'NONE'
      - scene_root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
      - scene_id: null
      - narrow_cam_logical_id: ''
      - wide_cam_logical_id: ''
      - initial_speed: null
      - initial_lateral_offset: false
      - render_dynamic_rigids: false
      - native_camera_replay: false
      - zero_lat: false
      - zero_long: false
      - max_x_error: 10.0
      - max_y_error: 10.0
      - reset_every: null
      - publish_xodr_lane_metrics: false
      - ▶
        desire: {} 0 keys
      - warmup_zero_accel: true
      - warmup_zero_curv: false
      - lataccel_noise_scale: false
      - seed: false
    - ▶
      agent: {} 8 keys
      - supercombo: 'f78ed37d-afad-4dbc-8050-40ea885eedde/12864'
      - restrict_outputs: null
      - exclude_outputs: ['imgs']
      - use_allow_throttle: false
      - model_trained_fps: 5
      - use_worldmodel_as_agent: false
      - desired_curv_smooth_seconds: false
      - desired_accel_smooth_seconds: false
  - warmup_s: 2.0
  - initial_speeds_mps: [5.0, 10.0, 15.0, 20.0, 25.0, 30.0]
  - allow_lat: false
  - warmup_zero_accel: true
  - warmup_zero_curv: false
  - convergence_tail_seconds: 10.0
  - gt_convergence_tolerance_mps: 2.0
  - cluster_spread_tolerance_mps: 3.0
  - stability_std_mps: 0.5
- ▶
  analyse_nurec_lane_change: {} 25 keys
  - report_name: 'analyse_nurec_lane_change'
  - route_list: '/code.nfs/branches/caches/tinytower-haraschax_2026-09-14_10-41-51/xx/comma_data/lists/train_10m_20260826_test_2k.txt'
  - output_dir: null
  - save_tmp: false
  - read_only: false
  - shuffle: false
  - limit: 10000
  - use_virtual_webgl: true
  - format: 'HTML'
  - ▶
    miniray: {} 10 keys
    - priority: 3
    - job_name: 'analyse_nurec_lane_change'
    - queue_name: 'remote_v3'
    - redis_host: 'redis.comma.internal'
    - codedir: '/code.nfs/branches/caches/tinytower-haraschax_2026-09-14_10-41-51/xx'
    - use_local_codedir: false
    - ▶
      limits: {} 7 keys
      - cpu_threads: true
      - memory: true
      - small_gpu_memory: false
      - big_gpu_memory: false
      - timeout_seconds: 60
      - triton: true
      - node_whitelist: null
    - ▶
      env: {} 0 keys
    - queue_timeout: 259200
    - job_group: 'rldriving_validation_f78ed37d-afad-4dbc-8050-40ea885eedde'
  - scene_list: ''
  - scene_ids: ['1cf49614-606e-4793-a0db-90e34f5370b2']
  - root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
  - supercombo: 'f78ed37d-afad-4dbc-8050-40ea885eedde/12864'
  - render_dynamic_rigids: false
  - num_retries: 5
  - resume_existing: false
  - flatten_plots: false
  - fps: 20
  - frames: 400
  - ▶
    rollout: {} 9 keys
    - type: 'NuRecRL'
    - nowindow: true
    - debug: false
    - debug_render: true
    - save_observation_keys: ['debug_rendered']
    - output_dir: null
    - rerun: false
    - ▶
      env: {} 44 keys
      - debug_window_size: [512, 512]
      - ▶
        ep: {} 5 keys
        
        segment: ''
        
        depth_type: 'EASYDEPTH'
        
        pipeline_dir: 'http://data-ssd.comma.life/runner/training_2026_02'
        
        feature_dir: null
        
        ▶
        input_paths: {} 0 keys
      - ▶
        physics: {} 3 keys
        
        type: 'BICYCLE'
        
        ▶
        bicycle_model_config: {} 1 keys
        
        vehicle_platform: 'HONDA_CIVIC'
        
        ▶
        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/tinytower-haraschax_2026-09-14_10-41-51/xx/arena/envs/lib/physics_models/assets/platform_map.txt'
        
        lateral_tuning_type: 'AUTO'
        
        ▶
        lateral_tuning_params: {} 0 keys
        
        ▶
        lateral_initial_state_params: {} 0 keys
      - start: false
      - end: 400
      - env: 'xx.arena.envs.nurec_env.NurecEnv'
      - get_imgs: true
      - allow_resets: false
      - zero_desire: false
      - 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
      - noise_model: 'NONE'
      - photo_noise_model: 'NONE'
      - augment_mode: 'SIMPLE'
      - inpaint_mode: 'NONE'
      - scene_root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
      - scene_id: null
      - narrow_cam_logical_id: ''
      - wide_cam_logical_id: ''
      - initial_speed: null
      - initial_lateral_offset: false
      - render_dynamic_rigids: false
      - native_camera_replay: false
      - zero_lat: false
      - zero_long: false
      - max_x_error: 10.0
      - max_y_error: 10.0
      - reset_every: null
      - publish_xodr_lane_metrics: true
      - ▶
        desire: {} 0 keys
      - warmup_zero_accel: false
      - warmup_zero_curv: true
      - lataccel_noise_scale: false
      - seed: false
    - ▶
      agent: {} 8 keys
      - supercombo: 'f78ed37d-afad-4dbc-8050-40ea885eedde/12864'
      - restrict_outputs: null
      - exclude_outputs: ['imgs']
      - use_allow_throttle: false
      - model_trained_fps: 5
      - use_worldmodel_as_agent: false
      - desired_curv_smooth_seconds: false
      - desired_accel_smooth_seconds: false
  - warmup_s: 2.0
  - directions: ['left', 'right']
  - position_offsets: [-1.0, -0.5, 0.0, 0.5, 1.0]
  - lane_change_after_warmup_s: false

Summary

analyse_nurec_oscillation	analyse_nurec_hugging	analyse_nurec_stop_red	analyse_nurec_speed_convergence	analyse_nurec_lane_change	analyse_nurec_jitter
567/600 (94.5%)	22/96 (22.9%)	18/32 (56.2%)	0/12 (0.0%)	10/10 (100.0%)	10/18 (55.6%)

analyse_nurec_oscillation

▶

NuRec Oscillation Report

▶
root: {} 25 keys
- report_name: 'analyse_nurec_oscillation'
- route_list: '/code.nfs/branches/caches/tinytower-haraschax_2026-09-14_10-41-51/xx/comma_data/lists/train_10m_20260826_test_2k.txt'
- output_dir: null
- save_tmp: false
- read_only: false
- shuffle: false
- limit: 10000
- use_virtual_webgl: true
- format: 'HTML'
- ▶
  miniray: {} 10 keys
  - priority: 3
  - job_name: 'analyse_nurec_oscillation'
  - queue_name: 'remote_v3'
  - redis_host: 'redis.comma.internal'
  - codedir: '/code.nfs/branches/caches/tinytower-haraschax_2026-09-14_10-41-51/xx'
  - use_local_codedir: false
  - ▶
    limits: {} 7 keys
    - cpu_threads: true
    - memory: true
    - small_gpu_memory: false
    - big_gpu_memory: false
    - timeout_seconds: 60
    - triton: true
    - node_whitelist: null
  - ▶
    env: {} 0 keys
  - queue_timeout: 259200
  - job_group: 'rldriving_validation_f78ed37d-afad-4dbc-8050-40ea885eedde'
- scene_list: ''
- scene_ids: ['04749bb9-9b37-495b-bed0-77f0e33ac7da', '6e7b42a3-285c-4252-bcdc-a453ef64a231', '7cd29a50-39b9-40d3-8ab5-d75a7efe7bc1', 'c0c88642-b952-47a4-957c-c6ed4d66b2d9', '325f6c39-d822-4ecf-9cd2-e6afc69b0f7e', '63844633-ef7c-4c48-8a61-a50af34b9e09']
- root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
- supercombo: 'f78ed37d-afad-4dbc-8050-40ea885eedde/12864'
- render_dynamic_rigids: false
- num_retries: 5
- resume_existing: false
- flatten_plots: false
- fps: 20
- frames: 400
- ▶
  rollout: {} 9 keys
  - type: 'NuRecRL'
  - nowindow: true
  - debug: false
  - debug_render: true
  - save_observation_keys: ['debug_rendered']
  - output_dir: null
  - rerun: false
  - ▶
    env: {} 44 keys
    - debug_window_size: [512, 512]
    - ▶
      ep: {} 5 keys
      - segment: ''
      - depth_type: 'EASYDEPTH'
      - pipeline_dir: 'http://data-ssd.comma.life/runner/training_2026_02'
      - feature_dir: null
      - ▶
        input_paths: {} 0 keys
    - ▶
      physics: {} 3 keys
      - type: 'BICYCLE'
      - ▶
        bicycle_model_config: {} 1 keys
        
        vehicle_platform: 'HONDA_CIVIC'
      - ▶
        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/tinytower-haraschax_2026-09-14_10-41-51/xx/arena/envs/lib/physics_models/assets/platform_map.txt'
        
        lateral_tuning_type: 'AUTO'
        
        ▶
        lateral_tuning_params: {} 0 keys
        
        ▶
        lateral_initial_state_params: {} 0 keys
    - start: false
    - end: 400
    - env: 'xx.arena.envs.nurec_env.NurecEnv'
    - get_imgs: true
    - allow_resets: false
    - zero_desire: false
    - fps: 20
    - allow_lat: true
    - allow_long: true
    - 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
    - noise_model: 'LAGGY'
    - photo_noise_model: 'NONE'
    - augment_mode: 'SIMPLE'
    - inpaint_mode: 'NONE'
    - scene_root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
    - scene_id: null
    - narrow_cam_logical_id: ''
    - wide_cam_logical_id: ''
    - initial_speed: null
    - initial_lateral_offset: false
    - render_dynamic_rigids: false
    - native_camera_replay: false
    - zero_lat: false
    - zero_long: true
    - max_x_error: 10.0
    - max_y_error: 10.0
    - reset_every: null
    - publish_xodr_lane_metrics: true
    - ▶
      desire: {} 0 keys
    - warmup_zero_accel: false
    - warmup_zero_curv: false
    - lataccel_noise_scale: false
    - seed: false
  - ▶
    agent: {} 8 keys
    - supercombo: 'f78ed37d-afad-4dbc-8050-40ea885eedde/12864'
    - restrict_outputs: null
    - exclude_outputs: ['imgs']
    - use_allow_throttle: false
    - model_trained_fps: 5
    - use_worldmodel_as_agent: false
    - desired_curv_smooth_seconds: false
    - desired_accel_smooth_seconds: false
- warmup_s: 2.0
- initial_speeds_mps: [1.5, 5.0, 15.0, 30.0]
- seeds: [2086795304, 1289239046, 1739817190, 930028197, 1463543071, 2041944603, 1587923728, 760765945, 498479471, 938092900, 234007200, 114538791, 411746245, 1067688516, 1554855386, 1962269490, 652839312, 326810198, 1871006717, 514784224, 1051584069, 264906216, 284154515, 2023514216, 1623205683]
- oscillation_amplitude_threshold_mps2: 0.05

pass = dominant amplitude of detrended, Hann-windowed commanded lateral acceleration from 0.1-2.5 Hz < 0.05 m/s².

Summary

567 / 600 rollouts passed (94.5%)

Oscillation plots (first 3 of 6 scenes)

Scene 04749bb9

Scene 325f6c39

Scene 63844633

Random rollout videos

325f6c39 lag=0.297, speed=1.5m/s amp=0.002m/s² @ 0.16Hz

debug video	lateral plot

325f6c39 lag=0.639, speed=1.5m/s amp=0.002m/s² @ 0.16Hz

debug video	lateral plot

63844633 lag=0.15, speed=30m/s amp=0.007m/s² @ 0.23Hz

debug video	lateral plot

7cd29a50 lag=0.26, speed=30m/s amp=0.012m/s² @ 0.26Hz

debug video	lateral plot

c0c88642 lag=0.26, speed=15m/s amp=0.014m/s² @ 0.23Hz

debug video	lateral plot

analyse_nurec_hugging

▶

NuRec Hugging Report

▶
root: {} 27 keys
- report_name: 'analyse_nurec_hugging'
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- ▶
  miniray: {} 10 keys
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- scene_list: ''
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- root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
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- render_dynamic_rigids: false
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- frames: 400
- ▶
  rollout: {} 9 keys
  - type: 'NuRecRL'
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  - debug_render: true
  - save_observation_keys: ['debug_rendered']
  - output_dir: null
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  - ▶
    env: {} 44 keys
    - debug_window_size: [512, 512]
    - ▶
      ep: {} 5 keys
      - segment: ''
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      - ▶
        input_paths: {} 0 keys
    - ▶
      physics: {} 3 keys
      - type: 'BICYCLE'
      - ▶
        bicycle_model_config: {} 1 keys
        
        vehicle_platform: 'HONDA_CIVIC'
      - ▶
        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/tinytower-haraschax_2026-09-14_10-41-51/xx/arena/envs/lib/physics_models/assets/platform_map.txt'
        
        lateral_tuning_type: 'AUTO'
        
        ▶
        lateral_tuning_params: {} 0 keys
        
        ▶
        lateral_initial_state_params: {} 0 keys
    - start: false
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    - compressor_decoder_model: null
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    - quantized_compressor_latents: false
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    - sharpness_metric: true
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    - noise_model: 'NONE'
    - photo_noise_model: 'NONE'
    - augment_mode: 'SIMPLE'
    - inpaint_mode: 'NONE'
    - scene_root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
    - scene_id: null
    - narrow_cam_logical_id: ''
    - wide_cam_logical_id: ''
    - initial_speed: null
    - initial_lateral_offset: false
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    - native_camera_replay: false
    - zero_lat: false
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    - max_x_error: 10.0
    - max_y_error: 10.0
    - reset_every: null
    - publish_xodr_lane_metrics: true
    - ▶
      desire: {} 0 keys
    - warmup_zero_accel: false
    - warmup_zero_curv: true
    - lataccel_noise_scale: false
    - seed: false
  - ▶
    agent: {} 8 keys
    - supercombo: 'f78ed37d-afad-4dbc-8050-40ea885eedde/12864'
    - restrict_outputs: null
    - exclude_outputs: ['imgs']
    - use_allow_throttle: false
    - model_trained_fps: 5
    - use_worldmodel_as_agent: false
    - desired_curv_smooth_seconds: false
    - desired_accel_smooth_seconds: false
- warmup_s: 2.0
- recovery_offsets_m: [-0.3, -0.15, 0.0, 0.15, 0.3]
- lataccel_biases_mps2: [-0.45, -0.25, 0.0, 0.25, 0.45]
- recovery_tail_seconds: 5.0
- y_axis_limit_m: true
- allow_long: false

pass = recovery_% >= 60 and min valid_duration_ratio >= 0.67, computed twice per scene: residuals vs the unperturbed baseline (perturbation rejection) and vs the recorded driver (GT tracking). Warmup = 2.0s.

Speed=30.0 m/s

Noise model: NONE

Noise model: LATACCEL_BIAS

Speed=15.0 m/s

Noise model: NONE

Noise model: LATACCEL_BIAS

Speed=5.0 m/s

Noise model: NONE

Noise model: LATACCEL_BIAS

Speed=1.5 m/s

Noise model: NONE

Noise model: LATACCEL_BIAS

Worst-rollout videos

7cd29a50 -0.45 m/s^2 speed=5.0 duration=5.5s mean=+4.77m

debug video	lane detail

04749bb9 -0.45 m/s^2 speed=5.0 duration=5.2s mean=-4.35m

debug video	lane detail

c0c88642 +0.45 m/s^2 speed=5.0 duration=5.2s mean=+4.34m

debug video	lane detail

analyse_nurec_stop_red

▶

NuRec Stop At Red Traffic Light Report

▶
root: {} 31 keys
- report_name: 'analyse_nurec_stop_red'
- route_list: '/code.nfs/branches/caches/tinytower-haraschax_2026-09-14_10-41-51/xx/comma_data/lists/train_10m_20260826_test_2k.txt'
- output_dir: null
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- limit: 10000
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- ▶
  miniray: {} 10 keys
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  - use_local_codedir: false
  - ▶
    limits: {} 7 keys
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    env: {} 0 keys
  - queue_timeout: 259200
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- ▶
  rollout: {} 9 keys
  - type: 'NuRecRL'
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  - ▶
    env: {} 44 keys
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      ep: {} 5 keys
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        vehicle_platform: 'HONDA_CIVIC'
      - ▶
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        platform: 'TOYOTA_COROLLA_TSS2'
        
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        platform_vec_size: 256
        
        platform_map_path: '/code.nfs/branches/caches/tinytower-haraschax_2026-09-14_10-41-51/xx/arena/envs/lib/physics_models/assets/platform_map.txt'
        
        lateral_tuning_type: 'AUTO'
        
        ▶
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        ▶
        lateral_initial_state_params: {} 0 keys
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    - photo_noise_model: 'NONE'
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    - scene_root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
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      desire: {} 0 keys
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    agent: {} 8 keys
    - supercombo: 'f78ed37d-afad-4dbc-8050-40ea885eedde/12864'
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    - model_trained_fps: 5
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    - desired_curv_smooth_seconds: false
    - desired_accel_smooth_seconds: false
- warmup_s: 2.0
- initial_speeds_mps: [4.0, 9.0, 14.0, 18.0]
- allow_lat: false
- zero_lat: false
- zero_long: false
- recorded_stop_speed_mps: true
- recorded_resume_speed_mps: 2.0
- resume_buffer_seconds: 0.5
- halt_tolerance_mps: 0.5
- stop_position_tolerance_m: 5.0

pass = sim slowed at least as much as the recorded driver (within 0.5 m/s) AND stopped within 5.0 m of the recorded stop. Eval window ends at the driver's resume + 0.5s (dashed red eval cutoff line on plots).

Summary

18 / 32 rollouts passed (56.2%)

Stop traces (first 3 of 8 scenes)

Scene 23666aa2 (0/4 passed)

Scene 2726cee4 (3/4 passed)

Scene 2d10a08d (0/4 passed)

Worst-rollout video

init=9m/s

debug video	rollout plot

analyse_nurec_speed_convergence

▶

NuRec Speed Convergence Report

▶
root: {} 30 keys
- report_name: 'analyse_nurec_speed_convergence'
- route_list: '/code.nfs/branches/caches/tinytower-haraschax_2026-09-14_10-41-51/xx/comma_data/lists/train_10m_20260826_test_2k.txt'
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- format: 'HTML'
- ▶
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    limits: {} 7 keys
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  - ▶
    env: {} 0 keys
  - queue_timeout: 259200
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- root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
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- fps: 20
- frames: 400
- ▶
  rollout: {} 9 keys
  - type: 'NuRecRL'
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  - debug: false
  - debug_render: true
  - save_observation_keys: ['debug_rendered']
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  - ▶
    env: {} 44 keys
    - debug_window_size: [512, 512]
    - ▶
      ep: {} 5 keys
      - segment: ''
      - depth_type: 'EASYDEPTH'
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        input_paths: {} 0 keys
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      physics: {} 3 keys
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      - ▶
        bicycle_model_config: {} 1 keys
        
        vehicle_platform: 'HONDA_CIVIC'
      - ▶
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        platform: 'TOYOTA_COROLLA_TSS2'
        
        eid: 'effd03d9-472d-44a1-910a-6d49a41eb63f/50'
        
        y_range: [-3.0, 3.0]
        
        vocab_size: 1024
        
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        use_gt_features: false
        
        platform_vec_size: 256
        
        platform_map_path: '/code.nfs/branches/caches/tinytower-haraschax_2026-09-14_10-41-51/xx/arena/envs/lib/physics_models/assets/platform_map.txt'
        
        lateral_tuning_type: 'AUTO'
        
        ▶
        lateral_tuning_params: {} 0 keys
        
        ▶
        lateral_initial_state_params: {} 0 keys
    - start: false
    - end: 400
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    - quantized_compressor_latents: false
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    - photo_noise_model: 'NONE'
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    - inpaint_mode: 'NONE'
    - scene_root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
    - scene_id: null
    - narrow_cam_logical_id: ''
    - wide_cam_logical_id: ''
    - initial_speed: null
    - initial_lateral_offset: false
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    - max_x_error: 10.0
    - max_y_error: 10.0
    - reset_every: null
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    - ▶
      desire: {} 0 keys
    - warmup_zero_accel: true
    - warmup_zero_curv: false
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  - ▶
    agent: {} 8 keys
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    - model_trained_fps: 5
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    - desired_accel_smooth_seconds: false
- warmup_s: 2.0
- initial_speeds_mps: [5.0, 10.0, 15.0, 20.0, 25.0, 30.0]
- allow_lat: false
- warmup_zero_accel: true
- warmup_zero_curv: false
- convergence_tail_seconds: 10.0
- gt_convergence_tolerance_mps: 2.0
- cluster_spread_tolerance_mps: 3.0
- stability_std_mps: 0.5

Summary

pass per scene: GT convergence = sim tail speed within 2.0 m/s of the recorded driver; cluster tightness = tail speeds from all init speeds within 3.0 m/s spread. Tail = last 10s; warmup = 2.0s (shaded).

GT convergence: 0/6 scenes · cluster tightness: 0/6 scenes

Speed vs time

Worst rollout videos

Worst definition: for each scene, choose the rollout maximizing the GT-convergence error |sim_tail_mean_mps - gt_tail_mean_mps|.

63844633 init=5m/s mean=9.2

debug video	route detail

analyse_nurec_lane_change

▶

NuRec Lane Change Report

▶
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    env: {} 0 keys
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- ▶
  rollout: {} 9 keys
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  - ▶
    env: {} 44 keys
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      ep: {} 5 keys
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    - ▶
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      - ▶
        bicycle_model_config: {} 1 keys
        
        vehicle_platform: 'HONDA_CIVIC'
      - ▶
        ml_model_config: {} 11 keys
        
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        lateral_tuning_type: 'AUTO'
        
        ▶
        lateral_tuning_params: {} 0 keys
        
        ▶
        lateral_initial_state_params: {} 0 keys
    - start: false
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    - zero_lat: false
    - zero_long: false
    - max_x_error: 10.0
    - max_y_error: 10.0
    - reset_every: null
    - publish_xodr_lane_metrics: true
    - ▶
      desire: {} 0 keys
    - warmup_zero_accel: false
    - warmup_zero_curv: true
    - lataccel_noise_scale: false
    - seed: false
  - ▶
    agent: {} 8 keys
    - supercombo: 'f78ed37d-afad-4dbc-8050-40ea885eedde/12864'
    - restrict_outputs: null
    - exclude_outputs: ['imgs']
    - use_allow_throttle: false
    - model_trained_fps: 5
    - use_worldmodel_as_agent: false
    - desired_curv_smooth_seconds: false
    - desired_accel_smooth_seconds: false
- warmup_s: 2.0
- directions: ['left', 'right']
- position_offsets: [-1.0, -0.5, 0.0, 0.5, 1.0]
- lane_change_after_warmup_s: false

Summary

A lane-change desire fires at warmup end from each spawn offset; pass = the ego reaches the target lane and holds its center (within 1.0 m) over the last 20% of the episode. +y = LEFT; dotted lines = lane centers, dashed = lane lines; warmup = 2.0s.

Scene 1cf49614

Worst rollout videos

Worst rollout per scene/direction: tail lateral furthest from its lane center.

1cf49614 right offset=-1.00m moved=-1 lane ego_tail=-3.15m PASS

debug video	lane-change detail

analyse_nurec_jitter

▶

NuRec Jitter Report

▶
root: {} 28 keys
- report_name: 'analyse_nurec_jitter'
- route_list: '/code.nfs/branches/caches/tinytower-haraschax_2026-09-14_10-41-51/xx/comma_data/lists/train_10m_20260826_test_2k.txt'
- output_dir: null
- save_tmp: false
- read_only: false
- shuffle: false
- limit: 10000
- use_virtual_webgl: true
- format: 'HTML'
- ▶
  miniray: {} 10 keys
  - priority: 3
  - job_name: 'analyse_nurec_jitter'
  - queue_name: 'remote_v3'
  - redis_host: 'redis.comma.internal'
  - codedir: '/code.nfs/branches/caches/tinytower-haraschax_2026-09-14_10-41-51/xx'
  - use_local_codedir: false
  - ▶
    limits: {} 7 keys
    - cpu_threads: true
    - memory: true
    - small_gpu_memory: false
    - big_gpu_memory: false
    - timeout_seconds: 60
    - triton: true
    - node_whitelist: null
  - ▶
    env: {} 0 keys
  - queue_timeout: 259200
  - job_group: 'rldriving_validation_f78ed37d-afad-4dbc-8050-40ea885eedde'
- scene_list: ''
- scene_ids: ['04749bb9-9b37-495b-bed0-77f0e33ac7da', '6e7b42a3-285c-4252-bcdc-a453ef64a231', '7cd29a50-39b9-40d3-8ab5-d75a7efe7bc1', 'c0c88642-b952-47a4-957c-c6ed4d66b2d9', '325f6c39-d822-4ecf-9cd2-e6afc69b0f7e', '63844633-ef7c-4c48-8a61-a50af34b9e09']
- root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
- supercombo: 'f78ed37d-afad-4dbc-8050-40ea885eedde/12864'
- render_dynamic_rigids: false
- num_retries: 5
- resume_existing: false
- flatten_plots: false
- fps: 20
- frames: 400
- ▶
  rollout: {} 9 keys
  - type: 'NuRecRL'
  - nowindow: true
  - debug: false
  - debug_render: false
  - save_observation_keys: []
  - output_dir: null
  - rerun: false
  - ▶
    env: {} 44 keys
    - debug_window_size: [512, 512]
    - ▶
      ep: {} 5 keys
      - segment: ''
      - depth_type: 'EASYDEPTH'
      - pipeline_dir: 'http://data-ssd.comma.life/runner/training_2026_02'
      - feature_dir: null
      - ▶
        input_paths: {} 0 keys
    - ▶
      physics: {} 3 keys
      - type: 'BICYCLE'
      - ▶
        bicycle_model_config: {} 1 keys
        
        vehicle_platform: 'HONDA_CIVIC'
      - ▶
        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/tinytower-haraschax_2026-09-14_10-41-51/xx/arena/envs/lib/physics_models/assets/platform_map.txt'
        
        lateral_tuning_type: 'AUTO'
        
        ▶
        lateral_tuning_params: {} 0 keys
        
        ▶
        lateral_initial_state_params: {} 0 keys
    - start: false
    - end: 400
    - env: 'xx.arena.envs.nurec_env.NurecEnv'
    - get_imgs: true
    - allow_resets: false
    - zero_desire: false
    - 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
    - noise_model: 'NONE'
    - photo_noise_model: 'NONE'
    - augment_mode: 'SIMPLE'
    - inpaint_mode: 'NONE'
    - scene_root: '/raid.unprotected/nurec_hf/sample_set/26.02_release'
    - scene_id: null
    - narrow_cam_logical_id: ''
    - wide_cam_logical_id: ''
    - initial_speed: null
    - initial_lateral_offset: false
    - render_dynamic_rigids: false
    - native_camera_replay: false
    - zero_lat: false
    - zero_long: false
    - max_x_error: 10.0
    - max_y_error: 10.0
    - reset_every: null
    - publish_xodr_lane_metrics: true
    - ▶
      desire: {} 0 keys
    - warmup_zero_accel: false
    - warmup_zero_curv: false
    - lataccel_noise_scale: false
    - seed: false
  - ▶
    agent: {} 8 keys
    - supercombo: 'f78ed37d-afad-4dbc-8050-40ea885eedde/12864'
    - restrict_outputs: null
    - exclude_outputs: ['imgs']
    - use_allow_throttle: false
    - model_trained_fps: 5
    - use_worldmodel_as_agent: false
    - desired_curv_smooth_seconds: false
    - desired_accel_smooth_seconds: false
- warmup_s: 2.0
- lateral_offsets: [0.0, -0.3, 0.3]
- settle_s: 3.0
- detrend_s: 0.8
- min_analysis_s: 8.0
- jitter_acf_delta_threshold: -0.5
- jitter_rms_floor: 0.001

pass = finished rollout AND jitter_acf_delta (acf(4) − acf(1) of the detrended 20Hz cmd) < -0.5 (gate skipped if jitter_rms < 0.001 m/s²)

NuRec report

Summary

analyse_nurec_oscillation

NuRec Oscillation Report

Summary

Oscillation plots (first 3 of 6 scenes)

Scene 04749bb9

Scene 325f6c39

Scene 63844633

Random rollout videos

325f6c39 lag=0.297, speed=1.5m/s amp=0.002m/s² @ 0.16Hz

325f6c39 lag=0.639, speed=1.5m/s amp=0.002m/s² @ 0.16Hz

63844633 lag=0.15, speed=30m/s amp=0.007m/s² @ 0.23Hz

7cd29a50 lag=0.26, speed=30m/s amp=0.012m/s² @ 0.26Hz

c0c88642 lag=0.26, speed=15m/s amp=0.014m/s² @ 0.23Hz

analyse_nurec_hugging

NuRec Hugging Report

Speed=30.0 m/s

Noise model: NONE

Noise model: LATACCEL_BIAS

Speed=15.0 m/s

Noise model: NONE

Noise model: LATACCEL_BIAS

Speed=5.0 m/s

Noise model: NONE

Noise model: LATACCEL_BIAS

Speed=1.5 m/s

Noise model: NONE

Noise model: LATACCEL_BIAS

Worst-rollout videos

7cd29a50 -0.45 m/s^2 speed=5.0 duration=5.5s mean=+4.77m

04749bb9 -0.45 m/s^2 speed=5.0 duration=5.2s mean=-4.35m

c0c88642 +0.45 m/s^2 speed=5.0 duration=5.2s mean=+4.34m

analyse_nurec_stop_red

NuRec Stop At Red Traffic Light Report

Summary

Stop traces (first 3 of 8 scenes)

Scene 23666aa2 (0/4 passed)

Scene 2726cee4 (3/4 passed)

Scene 2d10a08d (0/4 passed)

Worst-rollout video

init=9m/s

analyse_nurec_speed_convergence

NuRec Speed Convergence Report

Summary

Speed vs time

Worst rollout videos

63844633 init=5m/s mean=9.2

analyse_nurec_lane_change

NuRec Lane Change Report

Summary

Scene 1cf49614

Worst rollout videos

1cf49614 right offset=-1.00m moved=-1 lane ego_tail=-3.15m PASS

analyse_nurec_jitter

NuRec Jitter Report

Summary

Scene 04749bb9 (offset +0.0, jitter_acf_delta -0.539)

Scene 325f6c39 (offset +0.0, jitter_acf_delta -0.615)

Scene 63844633 (offset +0.0, jitter_acf_delta -0.162)

Scene 6e7b42a3 (offset +0.0, jitter_acf_delta -0.552)

Scene 7cd29a50 (offset +0.0, jitter_acf_delta -0.548)

Scene c0c88642 (offset +0.0, jitter_acf_delta -0.486)