Model analysis report for

▶
root: {} 10 keys
- report_name: 'rldriving_analysedriving'
- output_dir: null
- save_tmp: false
- read_only: false
- limit: 10000
- use_virtual_webgl: false
- format: 'HTML'
- ▶
  miniray: {} 8 keys
  - priority: 1000
  - job_name: 'rldriving_analysedriving'
  - 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
- route_list: '/home/batman/xx/routes/default_test_2k'
- ▶
  rollout: {} 10 keys
  - type: 'RawVideoRL'
  - nowindow: false
  - debug: false
  - debug_render: false
  - save_observation_keys: []
  - output_dir: null
  - rerun: false
  - ▶
    env: {} 14 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
    - get_imgs: true
    - allow_resets: true
    - zero_desire: true
    - fps: 20
    - compressor_model: null
    - compressor_mode: 'NONE'
    - quantized_compressor_latents: false
    - lpips_model: null
    - future_observation_range_seconds: null
    - with_gt: false
  - ▶
    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: true
    - min_hist_long: 10
    - calibrate_speed: false
    - run_planners: false
    - 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

Plan analysis

Plan overall error

Plan overall MAE: 0.398

Plan error when stationary

Plan velocity MAE when stationary: 0.084 meters/sec

Plan y error

Plan y MAE: 0.247 meters

Plan y error in turns (> 6°/s)

Plan y MAE in turns: 0.850 meters

Plan y MAE in turns (C2): 0.824 meters

Plan y MAE in turns (C3): 0.887 meters

Plan y error when path changing

Plan y MAE when path changing: 0.545 meters

Velocity prediction

Velocity MAE: 0.468 meters/sec

Plan x vel error

Plan x vel MAE: 0.468 meters/sec

Plan x vel mean err: 0.136 meters/sec

Pose x error

Pose x MAE: 0.457 meters/sec

Pose x mean err: 0.043 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: 0.006 radians

C2 Wide from device yaw MAE: 0.001 radians

Lanelines

Lane line overall MAE: 0.428 meters

Road edges

Road edge overall MAE: 1.378 meters

Lead pred

Leads (t=0) MAE: 1.857

Leads (t=0) MedAE: 0.783

Lead prob

Lead prob overall MAE: 0.061

Lead prob overall accuracy: 0.987

First lead metrics for various lead x buckets

	count	prob accuracy	x MedAE	y MedAE	v MedAE	a MedAE
lead x < 10	23165	0.993179	0.439528	0.12305	0.0744446	0.0969298
10 < lead x < 20	41124	0.985337	0.598269	0.149856	0.389414	0.259529
20 < lead x < 40	96012	0.991303	0.956705	0.180978	0.524064	0.198943
40 < lead x < 80	112011	0.987564	2.08243	0.260891	0.927582	0.158023
80 < lead x	70548	0.866063	9.17403	0.515837	1.79411	0.14206

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	253670	0.974798	1.23952	0.204733	0.566014	0.15985
2 < \|v_ego - v_lead\| < 5	69139	0.944503	2.54774	0.317077	1.43409	0.205616
5 < \|v_ego - v_lead\| < 10	16573	0.885959	4.06795	0.471031	2.67225	0.35609
10 < \|v_ego - v_lead\| < 15	3130	0.923642	5.34408	0.556828	3.14346	0.45668
15 < \|v_ego - v_lead\|	453	0.825607	13.3521	0.893052	4.39186	0.628978

Group	Gas prob	Brake prob	Steer prob
All segments	0.009	0.023	0.254
Easy straight	0.006	0.009	0.127
Low speed	0.016	0.035	0.365
No desire	0.007	0.014	0.193
No desire turns (max lat accel > 2.5 m/ss)	0.011	0.029	0.368