Sim in the loop report

• ▶
  root: {} 18 keys
  • report_name: 'mlsimdriving_driving.analyse_in_the_loop_sim'
  • route_list: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/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: true
  • format: 'HTML'
  • ▶
    miniray: {} 8 keys
    • priority: 10
    • job_name: 'mlsimdriving_driving.analyse_in_the_loop_sim'
    • queue_name: 'remote2'
    • submit_host: 'redis.comma.internal'
    • result_host: 'data-ram.comma.internal'
    • unique_id: null
    • codedir: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/xx'
    • use_local_codedir: false
  • child_reports_names: ['analyse_go_green', 'analyse_stop_red', 'analyse_hugging', 'analyse_lane_change', 'analyse_oscillation']
  • num_threads: 12
  • ▶
    rollout: {} 10 keys
    • type: 'CarlaRL'
    • nowindow: false
    • debug: false
    • debug_render: false
    • save_observation_keys: []
    • output_dir: null
    • rerun: false
    • ▶
      env: {} 35 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_2025_07'
        • 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/workstation-harald_2026-01-07_09-23-07/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: null
      • end: null
      • env: 'xx.arena.envs.carla_env.CarlaSimEnv'
      • get_imgs: true
      • allow_resets: true
      • 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'
      • scenario_name: 'default'
      • ▶
        scenario: {} 7 keys
        • name: ''
        • description: ''
        • length: 1000
        • ▶
          ego_spawn: {} 3 keys
          • position: [483.1, -485.0]
          • heading: 1.5707963267948966
          • velocity: 15.0
        • ▶
          lead_spawn: {} 3 keys
          • position: [483.1, -460.0]
          • heading: 1.5707963267948966
          • velocity: false
        • ▶
          scene: {} 6 keys
          • sim_map: 'turn'
          • lane_idx: true
          • lane_num: true
          • lane_width: 3.8
          • spawn_lead_car: false
          • traffic_light_plan: [{'color': 'RED', 'start': 0, 'end': 59}, {'color': 'GREEN', 'start': 60, 'end': None}]
        • gt_cache_dir: null
      • port_idx: false
      • render_off_screen: false
      • is_done_on_lead_crash: false
      • future_target_velocity: null
      • ▶
        desire: {} 0 keys
      • launch_carla_server: true
      • lataccel_noise_scale: false
      • seed: false
    • ▶
      agent: {} 8 keys
      • supercombo: 'default_supercombo'
      • 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
    • ▶
      shadow_agent: {} 0 keys
  • ▶
    analyse_go_green: {} 12 keys
    • report_name: 'analyse_go_green'
    • route_list: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/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'
    • ▶
      miniray: {} 8 keys
      • priority: 10
      • job_name: 'analyse_go_green'
      • queue_name: 'remote2'
      • submit_host: 'redis.comma.internal'
      • result_host: 'data-ram.comma.internal'
      • unique_id: null
      • codedir: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/xx'
      • use_local_codedir: false
    • num_retries: 5
    • ▶
      rollout: {} 10 keys
      • type: 'CarlaRL'
      • nowindow: false
      • debug: false
      • debug_render: true
      • save_observation_keys: ['step_idx', 'debug_rendered', 'raw_narrow_rgb_img']
      • output_dir: null
      • rerun: false
      • ▶
        env: {} 35 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_2025_07'
          • 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/workstation-harald_2026-01-07_09-23-07/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: null
        • end: null
        • env: 'xx.arena.envs.carla_env.CarlaSimEnv'
        • get_imgs: true
        • allow_resets: true
        • 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'
        • scenario_name: 'default'
        • ▶
          scenario: {} 7 keys
          • name: ''
          • description: ''
          • length: 200
          • ▶
            ego_spawn: {} 3 keys
            • position: [-24.8, -68.25]
            • heading: -3.1388001267866024
            • velocity: false
          • ▶
            lead_spawn: {} 3 keys
            • position: [-24.8, -68.25]
            • heading: -3.1388001267866024
            • velocity: 10.0
          • ▶
            scene: {} 6 keys
            • sim_map: 'intersection'
            • lane_idx: false
            • lane_num: 2
            • lane_width: 3.5
            • spawn_lead_car: false
            • traffic_light_plan: [{'color': 'RED', 'start': 0, 'end': 57}, {'color': 'GREEN', 'start': 58, 'end': None}]
          • gt_cache_dir: null
        • port_idx: false
        • render_off_screen: true
        • is_done_on_lead_crash: false
        • future_target_velocity: null
        • ▶
          desire: {} 0 keys
        • launch_carla_server: true
        • lataccel_noise_scale: false
        • seed: false
      • ▶
        agent: {} 8 keys
        • supercombo: 'f1d30a23-4122-400a-80a6-557502284c36/200'
        • 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
      • ▶
        shadow_agent: {} 0 keys
  • ▶
    analyse_stop_red: {} 12 keys
    • report_name: 'analyse_stop_red'
    • route_list: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/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'
    • ▶
      miniray: {} 8 keys
      • priority: 10
      • job_name: 'analyse_stop_red'
      • queue_name: 'remote2'
      • submit_host: 'redis.comma.internal'
      • result_host: 'data-ram.comma.internal'
      • unique_id: null
      • codedir: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/xx'
      • use_local_codedir: false
    • num_retries: 5
    • ▶
      rollout: {} 10 keys
      • type: 'CarlaRL'
      • nowindow: false
      • debug: false
      • debug_render: true
      • save_observation_keys: ['step_idx', 'debug_rendered', 'raw_narrow_rgb_img']
      • output_dir: null
      • rerun: false
      • ▶
        env: {} 35 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_2025_07'
          • 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/workstation-harald_2026-01-07_09-23-07/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: null
        • end: null
        • env: 'xx.arena.envs.carla_env.CarlaSimEnv'
        • get_imgs: true
        • allow_resets: true
        • 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'
        • scenario_name: 'default'
        • ▶
          scenario: {} 7 keys
          • name: ''
          • description: ''
          • length: 600
          • ▶
            ego_spawn: {} 3 keys
            • position: [60.0, -67.922]
            • heading: -3.1388001267866024
            • velocity: 10.0
          • ▶
            lead_spawn: {} 3 keys
            • position: [-24.8, -68.254]
            • heading: -3.1388001267866024
            • velocity: false
          • ▶
            scene: {} 6 keys
            • sim_map: 'intersection'
            • lane_idx: false
            • lane_num: 2
            • lane_width: 3.5
            • spawn_lead_car: false
            • traffic_light_plan: []
          • gt_cache_dir: null
        • port_idx: false
        • render_off_screen: true
        • is_done_on_lead_crash: false
        • future_target_velocity: null
        • ▶
          desire: {} 0 keys
        • launch_carla_server: true
        • lataccel_noise_scale: false
        • seed: false
      • ▶
        agent: {} 8 keys
        • supercombo: 'f1d30a23-4122-400a-80a6-557502284c36/200'
        • 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
      • ▶
        shadow_agent: {} 0 keys
  • ▶
    analyse_hugging: {} 12 keys
    • report_name: 'analyse_hugging'
    • route_list: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/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'
    • ▶
      miniray: {} 8 keys
      • priority: 10
      • job_name: 'analyse_hugging'
      • queue_name: 'remote2'
      • submit_host: 'redis.comma.internal'
      • result_host: 'data-ram.comma.internal'
      • unique_id: null
      • codedir: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/xx'
      • use_local_codedir: false
    • num_retries: 5
    • ▶
      rollout: {} 10 keys
      • type: 'CarlaRL'
      • nowindow: false
      • debug: false
      • debug_render: true
      • save_observation_keys: ['step_idx', 'debug_rendered']
      • output_dir: null
      • rerun: false
      • ▶
        env: {} 35 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_2025_07'
          • 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/workstation-harald_2026-01-07_09-23-07/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: null
        • end: null
        • env: 'xx.arena.envs.carla_env.CarlaSimEnv'
        • get_imgs: true
        • allow_resets: true
        • 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'
        • scenario_name: 'default'
        • ▶
          scenario: {} 7 keys
          • name: ''
          • description: ''
          • length: 600
          • ▶
            ego_spawn: {} 3 keys
            • position: [0.0, 0.0]
            • heading: false
            • velocity: 15.0
          • ▶
            lead_spawn: {} 3 keys
            • position: [100.0, 0.0]
            • heading: false
            • velocity: false
          • ▶
            scene: {} 6 keys
            • sim_map: 'highway'
            • lane_idx: false
            • lane_num: 5
            • lane_width: 3.7
            • spawn_lead_car: false
            • traffic_light_plan: []
          • gt_cache_dir: null
        • port_idx: false
        • render_off_screen: true
        • is_done_on_lead_crash: false
        • future_target_velocity: null
        • ▶
          desire: {} 0 keys
        • launch_carla_server: true
        • lataccel_noise_scale: false
        • seed: false
      • ▶
        agent: {} 8 keys
        • supercombo: 'f1d30a23-4122-400a-80a6-557502284c36/200'
        • 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
      • ▶
        shadow_agent: {} 0 keys
  • ▶
    analyse_lane_change: {} 12 keys
    • report_name: 'analyse_lane_change'
    • route_list: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/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'
    • ▶
      miniray: {} 8 keys
      • priority: 10
      • job_name: 'analyse_lane_change'
      • queue_name: 'remote2'
      • submit_host: 'redis.comma.internal'
      • result_host: 'data-ram.comma.internal'
      • unique_id: null
      • codedir: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/xx'
      • use_local_codedir: false
    • num_retries: 5
    • ▶
      rollout: {} 10 keys
      • type: 'CarlaRL'
      • nowindow: false
      • debug: false
      • debug_render: true
      • save_observation_keys: ['step_idx', 'sm', 'debug_rendered']
      • output_dir: null
      • rerun: false
      • ▶
        env: {} 35 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_2025_07'
          • 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/workstation-harald_2026-01-07_09-23-07/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: null
        • end: null
        • env: 'xx.arena.envs.carla_env.CarlaSimEnv'
        • get_imgs: true
        • allow_resets: true
        • 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'
        • scenario_name: 'default'
        • ▶
          scenario: {} 7 keys
          • name: ''
          • description: ''
          • length: 600
          • ▶
            ego_spawn: {} 3 keys
            • position: [0.0, 0.0]
            • heading: false
            • velocity: 15.0
          • ▶
            lead_spawn: {} 3 keys
            • position: [100.0, 0.0]
            • heading: false
            • velocity: false
          • ▶
            scene: {} 6 keys
            • sim_map: 'highway'
            • lane_idx: false
            • lane_num: 5
            • lane_width: 3.7
            • spawn_lead_car: false
            • traffic_light_plan: []
          • gt_cache_dir: null
        • port_idx: false
        • render_off_screen: true
        • is_done_on_lead_crash: false
        • future_target_velocity: null
        • ▶
          desire: {} 0 keys
        • launch_carla_server: true
        • lataccel_noise_scale: false
        • seed: false
      • ▶
        agent: {} 8 keys
        • supercombo: 'f1d30a23-4122-400a-80a6-557502284c36/200'
        • 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
      • ▶
        shadow_agent: {} 0 keys
  • ▶
    analyse_oscillation: {} 12 keys
    • report_name: 'analyse_oscillation'
    • route_list: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/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'
    • ▶
      miniray: {} 8 keys
      • priority: 10
      • job_name: 'analyse_oscillation'
      • queue_name: 'remote2'
      • submit_host: 'redis.comma.internal'
      • result_host: 'data-ram.comma.internal'
      • unique_id: null
      • codedir: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/xx'
      • use_local_codedir: false
    • num_retries: 5
    • ▶
      rollout: {} 10 keys
      • type: 'CarlaRL'
      • 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: {} 35 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_2025_07'
          • 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/workstation-harald_2026-01-07_09-23-07/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: null
        • end: null
        • env: 'xx.arena.envs.carla_env.CarlaSimEnv'
        • get_imgs: true
        • allow_resets: true
        • 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: 'LAGGY'
        • photo_noise_model: 'NONE'
        • augment_mode: 'SIMPLE'
        • inpaint_mode: 'NONE'
        • scenario_name: 'default'
        • ▶
          scenario: {} 7 keys
          • name: ''
          • description: 'straight 5 lanes'
          • length: 1000
          • ▶
            ego_spawn: {} 3 keys
            • position: [0.0, 0.5]
            • heading: false
            • velocity: 15.0
          • ▶
            lead_spawn: {} 3 keys
            • position: [100.0, 0.0]
            • heading: false
            • velocity: false
          • ▶
            scene: {} 6 keys
            • sim_map: 'highway'
            • lane_idx: 2
            • lane_num: 5
            • lane_width: 3.7
            • spawn_lead_car: false
            • traffic_light_plan: []
          • gt_cache_dir: null
        • port_idx: false
        • render_off_screen: true
        • is_done_on_lead_crash: false
        • future_target_velocity: null
        • ▶
          desire: {} 0 keys
        • launch_carla_server: true
        • lataccel_noise_scale: false
        • seed: false
      • ▶
        agent: {} 8 keys
        • supercombo: 'f1d30a23-4122-400a-80a6-557502284c36/200'
        • 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
      • ▶
        shadow_agent: {} 0 keys

Summary

analyse_go_green

▶

Go At Green Traffic Light Report 🚦

• ▶
  root: {} 12 keys
  • report_name: 'analyse_go_green'
  • route_list: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/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'
  • ▶
    miniray: {} 8 keys
    • priority: 10
    • job_name: 'analyse_go_green'
    • queue_name: 'remote2'
    • submit_host: 'redis.comma.internal'
    • result_host: 'data-ram.comma.internal'
    • unique_id: null
    • codedir: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/xx'
    • use_local_codedir: false
  • num_retries: 5
  • ▶
    rollout: {} 10 keys
    • type: 'CarlaRL'
    • nowindow: false
    • debug: false
    • debug_render: true
    • save_observation_keys: ['step_idx', 'debug_rendered', 'raw_narrow_rgb_img']
    • output_dir: null
    • rerun: false
    • ▶
      env: {} 35 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_2025_07'
        • 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/workstation-harald_2026-01-07_09-23-07/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: null
      • end: null
      • env: 'xx.arena.envs.carla_env.CarlaSimEnv'
      • get_imgs: true
      • allow_resets: true
      • 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'
      • scenario_name: 'default'
      • ▶
        scenario: {} 7 keys
        • name: ''
        • description: ''
        • length: 200
        • ▶
          ego_spawn: {} 3 keys
          • position: [-24.8, -68.25]
          • heading: -3.1388001267866024
          • velocity: false
        • ▶
          lead_spawn: {} 3 keys
          • position: [-24.8, -68.25]
          • heading: -3.1388001267866024
          • velocity: 10.0
        • ▶
          scene: {} 6 keys
          • sim_map: 'intersection'
          • lane_idx: false
          • lane_num: 2
          • lane_width: 3.5
          • spawn_lead_car: false
          • traffic_light_plan: [{'color': 'RED', 'start': 0, 'end': 57}, {'color': 'GREEN', 'start': 58, 'end': None}]
        • gt_cache_dir: null
      • port_idx: false
      • render_off_screen: true
      • is_done_on_lead_crash: false
      • future_target_velocity: null
      • ▶
        desire: {} 0 keys
      • launch_carla_server: true
      • lataccel_noise_scale: false
      • seed: false
    • ▶
      agent: {} 8 keys
      • supercombo: 'f1d30a23-4122-400a-80a6-557502284c36/200'
      • 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
    • ▶
      shadow_agent: {} 0 keys

---

T-intersection | crosswalk

---

Initial scene

Without lead car	with lead car

End scene

Top down without lead

---

Desired acceleration at red → green light (no lead car)

RED LIGHT AVG desired_accel -0.003 (m/s²)

GREEN LIGHT AVG desired_accel 0.016 (m/s²)

-0.001 (m/s²)	0.026 (m/s²)	0.027 (m/s²)

---

straight intersection | crosswalk

---

Initial scene

Without lead car	with lead car

End scene

Top down without lead

---

Desired acceleration at red → green light (no lead car)

RED LIGHT AVG desired_accel 0.004 (m/s²)

GREEN LIGHT AVG desired_accel 1.019 (m/s²)

0.011 (m/s²)	0.096 (m/s²)	0.100 (m/s²)

---

analyse_stop_red

▶

Stop At Red Traffic Light Report 🚦

• ▶
  root: {} 12 keys
  • report_name: 'analyse_stop_red'
  • route_list: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/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'
  • ▶
    miniray: {} 8 keys
    • priority: 10
    • job_name: 'analyse_stop_red'
    • queue_name: 'remote2'
    • submit_host: 'redis.comma.internal'
    • result_host: 'data-ram.comma.internal'
    • unique_id: null
    • codedir: '/code.nfs/branches/caches/workstation-harald_2026-01-07_09-23-07/xx'
    • use_local_codedir: false
  • num_retries: 5
  • ▶
    rollout: {} 10 keys
    • type: 'CarlaRL'
    • nowindow: false
    • debug: false
    • debug_render: true
    • save_observation_keys: ['step_idx', 'debug_rendered', 'raw_narrow_rgb_img']
    • output_dir: null
    • rerun: false
    • ▶
      env: {} 35 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_2025_07'
        • 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/workstation-harald_2026-01-07_09-23-07/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: null
      • end: null
      • env: 'xx.arena.envs.carla_env.CarlaSimEnv'
      • get_imgs: true
      • allow_resets: true
      • 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'
      • scenario_name: 'default'
      • ▶
        scenario: {} 7 keys
        • name: ''
        • description: ''
        • length: 600
        • ▶
          ego_spawn: {} 3 keys
          • position: [60.0, -67.922]
          • heading: -3.1388001267866024
          • velocity: 10.0
        • ▶
          lead_spawn: {} 3 keys
          • position: [-24.8, -68.254]
          • heading: -3.1388001267866024
          • velocity: false
        • ▶
          scene: {} 6 keys
          • sim_map: 'intersection'
          • lane_idx: false
          • lane_num: 2
          • lane_width: 3.5
          • spawn_lead_car: false
          • traffic_light_plan: []
        • gt_cache_dir: null
      • port_idx: false
      • render_off_screen: true
      • is_done_on_lead_crash: false
      • future_target_velocity: null
      • ▶
        desire: {} 0 keys
      • launch_carla_server: true
      • lataccel_noise_scale: false
      • seed: false
    • ▶
      agent: {} 8 keys
      • supercombo: 'f1d30a23-4122-400a-80a6-557502284c36/200'
      • 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
    • ▶
      shadow_agent: {} 0 keys

---

long straight | crosswalk

---

Initial scene

Without lead car	with lead car

End scene

Top down without lead

---

long straight | no crosswalk

---

Initial scene

Without lead car	with lead car

End scene

Top down without lead

---

short straight | crosswalk

---

Initial scene

Without lead car	with lead car

End scene

Top down without lead

---