Metadrive Report
▶
root:
{} 13 keys
report_name:
'rldriving_analysemetadrive'
output_dir:
null
save_tmp:
false
read_only:
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limit:
10000
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'HTML'
▶
miniray:
{} 8 keys
priority:
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job_name:
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queue_name:
'remote2'
submit_host:
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no_unique_id:
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codedir:
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num_threads:
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▶
hugging:
{} 10 keys
report_name:
'analyse_hugging_rl'
output_dir:
null
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false
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limit:
10000
format:
'HTML'
▶
miniray:
{} 8 keys
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1000
job_name:
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'remote2'
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▶
rollout:
{} 10 keys
type:
'MetaDriveRL'
nowindow:
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false
debug_render:
true
save_observation_keys:
['step_idx', 'debug_rendered']
output_dir:
null
rerun:
false
▶
env:
{} 14 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:
[]
▶
agent:
{} 15 keys
supercombo:
'b25c27a8-263b-4f3f-b1f8-72ac49b4f9c7/700'
restrict_outputs:
null
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act_on_lat:
true
act_on_long:
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min_hist_lat:
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min_hist_long:
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calibrate_speed:
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run_planners:
true
use_long_mpc:
true
use_allow_throttle:
false
use_prev_desired_curv:
true
model_trained_fps:
20
use_worldmodel_as_agent:
false
use_raw_plan:
false
▶
shadow_agent:
{} 0 keys
▶
traffic_lights:
{} 10 keys
report_name:
'analyse_traffic_lights'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_traffic_lights'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
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'data-ram.comma.internal'
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codedir:
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force_local:
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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:
{} 14 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:
[]
▶
agent:
{} 15 keys
supercombo:
'b25c27a8-263b-4f3f-b1f8-72ac49b4f9c7/700'
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:
20
use_worldmodel_as_agent:
false
use_raw_plan:
false
▶
shadow_agent:
{} 0 keys
▶
speed_convergence:
{} 10 keys
report_name:
'analyse_speed_convergence_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
format:
'HTML'
▶
miniray:
{} 8 keys
priority:
1000
job_name:
'analyse_speed_convergence_rl'
queue_name:
'remote2'
submit_host:
'redis.comma.internal'
result_host:
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no_unique_id:
false
codedir:
'caches/workstation-yassine_2025-01-25_18-29-03'
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:
{} 14 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:
[]
▶
agent:
{} 15 keys
supercombo:
'b25c27a8-263b-4f3f-b1f8-72ac49b4f9c7/700'
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:
20
use_worldmodel_as_agent:
false
use_raw_plan:
false
▶
shadow_agent:
{} 0 keys
▶
lane_change:
{} 10 keys
report_name:
'analyse_lane_change_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
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-yassine_2025-01-25_18-29-03'
force_local:
false
max_length:
null
assert_all_passed:
true
▶
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:
{} 14 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:
[]
▶
agent:
{} 15 keys
supercombo:
'default_supercombo'
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:
false
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan:
true
▶
shadow_agent:
{} 0 keys
▶
oscillation:
{} 10 keys
report_name:
'analyse_oscillation'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
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'
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false
codedir:
'caches/workstation-yassine_2025-01-25_18-29-03'
force_local:
false
max_length:
null
assert_all_passed:
true
▶
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:
{} 14 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:
[]
▶
agent:
{} 15 keys
supercombo:
'default_supercombo'
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:
false
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan:
true
▶
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%)
37/72 (51.4%)
10/36 (27.8%)
20/20 (100.0%)
36/100 (36.0%)
analyse_hugging_rl ▶ Hugging Report
▶
root:
{} 10 keys
report_name:
'analyse_hugging_rl'
output_dir:
null
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false
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false
limit:
10000
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'HTML'
▶
miniray:
{} 8 keys
priority:
1000
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'analyse_hugging_rl'
queue_name:
'remote2'
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'redis.comma.internal'
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'data-ram.comma.internal'
no_unique_id:
false
codedir:
'caches/workstation-yassine_2025-01-25_18-29-03'
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:
{} 14 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:
[]
▶
agent:
{} 15 keys
supercombo:
'b25c27a8-263b-4f3f-b1f8-72ac49b4f9c7/700'
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:
20
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
5 10 15 20 25 30 −0.4 −0.2 0 0.2 0.4 5 10 15 20 25 30 5 10 15 20 25 30 5 10 15 20 25 30
offset -0.3 -0.2 -0.1 -0.05 0.0 0.05 0.1 0.2 0.3 time (s) time (s) time (s) time (s) distance from lane-center (m) scene=empty(opposite-way) | ego | empty(same-way) scene=empty(same-way) | ego | empty(same-way) scene=empty(same-way) | ego | shoulder scene=traffic(same-way) | ego | traffic(same-way) metric=lat_err 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 % = 15.81%, Overall mean recovery % = 84.19%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-4.05
13.5
86.5
22.55
1
-20
-2.74
13.5
86.5
22.55
2
-10
-1.63
16.5
83.5
22.55
3
-5
-0.82
16.25
83.75
22.55
4
5
0.84
17
83
22.55
5
10
1.62
16.25
83.75
22.55
6
20
3.31
16.5
83.5
22.55
7
30
5.2
17
83
22.55
Metadrive convergence to lane-center test at 2.5 m/s on straight_road
5 10 15 20 25 30 −0.4 −0.2 0 0.2 0.4 5 10 15 20 25 30 5 10 15 20 25 30 5 10 15 20 25 30
offset -0.3 -0.2 -0.1 -0.05 0.0 0.05 0.1 0.2 0.3 time (s) time (s) time (s) time (s) distance from lane-center (m) scene=empty(opposite-way) | ego | empty(same-way) scene=empty(same-way) | ego | empty(same-way) scene=empty(same-way) | ego | shoulder scene=traffic(same-way) | ego | traffic(same-way) metric=lat_err 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 % = 61.28%, Overall mean recovery % = 38.72%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-18.44
61.5
38.5
22.55
1
-20
-12.31
61.5
38.5
22.55
2
-10
-6.16
61.25
38.75
22.55
3
-5
-3.07
61.25
38.75
22.55
4
5
2.97
59.25
40.75
22.55
5
10
6.07
60.5
39.5
22.55
6
20
12.48
62.75
37.25
22.55
7
30
18.68
62.25
37.75
22.55
Metadrive convergence to lane-center test at 15.0 m/s on left_turn
5 10 15 20 25 30 −0.4 −0.2 0 0.2 0.4 5 10 15 20 25 30 5 10 15 20 25 30 5 10 15 20 25 30
offset -0.3 -0.2 -0.1 -0.05 0.0 0.05 0.1 0.2 0.3 time (s) time (s) time (s) time (s) distance from lane-center (m) scene=empty(opposite-way) | ego | empty(same-way) scene=empty(same-way) | ego | empty(same-way) scene=empty(same-way) | ego | shoulder scene=traffic(same-way) | ego | traffic(same-way) metric=lat_err 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 % = 8.53%, Overall mean recovery % = 91.47%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-2.66
8.75
91.25
22.55
1
-20
-1.7
8.5
91.5
22.55
2
-10
-0.85
8.75
91.25
22.55
3
-5
-0.42
8.75
91.25
22.55
4
5
0.41
8.5
91.5
22.55
5
10
0.81
8
92
22.55
6
20
1.65
8
92
22.55
7
30
2.66
9
91
22.55
Metadrive convergence to lane-center test at 2.5 m/s on left_turn
5 10 15 20 25 30 −0.4 −0.2 0 0.2 0.4 5 10 15 20 25 30 5 10 15 20 25 30 5 10 15 20 25 30
offset -0.3 -0.2 -0.1 -0.05 0.0 0.05 0.1 0.2 0.3 time (s) time (s) time (s) time (s) distance from lane-center (m) scene=empty(opposite-way) | ego | empty(same-way) scene=empty(same-way) | ego | empty(same-way) scene=empty(same-way) | ego | shoulder scene=traffic(same-way) | ego | traffic(same-way) metric=lat_err 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 % = 60.88%, Overall mean recovery % = 39.12%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-17.47
58.25
41.75
22.55
1
-20
-11.9
59.5
40.5
22.55
2
-10
-6.16
61.75
38.25
22.55
3
-5
-3.18
63.75
36.25
22.55
4
5
3.02
60.25
39.75
22.55
5
10
6.16
61.5
38.5
22.55
6
20
12.24
61.25
38.75
22.55
7
30
18.2
60.75
39.25
22.55
Metadrive convergence to lane-center test at 15.0 m/s on right_turn
5 10 15 20 25 30 −0.4 −0.2 0 0.2 0.4 5 10 15 20 25 30 5 10 15 20 25 30 5 10 15 20 25 30
offset -0.3 -0.2 -0.1 -0.05 0.0 0.05 0.1 0.2 0.3 time (s) time (s) time (s) time (s) distance from lane-center (m) scene=empty(opposite-way) | ego | empty(same-way) scene=empty(same-way) | ego | empty(same-way) scene=empty(same-way) | ego | shoulder scene=traffic(same-way) | ego | traffic(same-way) metric=lat_err 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 % = 8.91%, Overall mean recovery % = 91.09%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-2.5
8.25
91.75
22.55
1
-20
-1.62
8
92
22.55
2
-10
-0.77
7.75
92.25
22.55
3
-5
-0.39
7.75
92.25
22.55
4
5
0.54
10.5
89.5
22.55
5
10
0.96
9.5
90.5
22.55
6
20
1.89
9.5
90.5
22.55
7
30
2.92
10
90
22.55
Metadrive convergence to lane-center test at 2.5 m/s on right_turn
5 10 15 20 25 30 −0.4 −0.2 0 0.2 0.4 5 10 15 20 25 30 5 10 15 20 25 30 5 10 15 20 25 30
offset -0.3 -0.2 -0.1 -0.05 0.0 0.05 0.1 0.2 0.3 time (s) time (s) time (s) time (s) distance from lane-center (m) scene=empty(opposite-way) | ego | empty(same-way) scene=empty(same-way) | ego | empty(same-way) scene=empty(same-way) | ego | shoulder scene=traffic(same-way) | ego | traffic(same-way) metric=lat_err 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 % = 57.72%, Overall mean recovery % = 42.28%
offset_cm
relative_hugging_cm
hugging/offset %
recovery %
sim_duration
0
-30
-16.9
56.5
43.5
22.55
1
-20
-11.31
56.75
43.25
22.55
2
-10
-5.58
56
44
22.55
3
-5
-2.9
58.25
41.75
22.55
4
5
2.77
55.5
44.5
22.55
5
10
5.72
57.25
42.75
22.55
6
20
11.98
60
40
22.55
7
30
18.44
61.5
38.5
22.55
analyse_traffic_lights ▶ Traffic Lights Report 🚦
▶
root:
{} 10 keys
report_name:
'analyse_traffic_lights'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
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-yassine_2025-01-25_18-29-03'
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:
{} 14 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:
[]
▶
agent:
{} 15 keys
supercombo:
'b25c27a8-263b-4f3f-b1f8-72ac49b4f9c7/700'
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:
20
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: 26 out of 36 (72.22%) Reasonable (max 3.0m off) success rate: 11 out of 36 (30.56%) Average distance from stopline: 3.7448872771696124 Average absolute distance from stopline: 3.7448872771696124
10 15 0 1 2 3 4 5 6
map_name curved_left_road curved_right_road straight_road first_speed stopped Noise model: Noise.TRAIN_ALL Stopping success rate: 11 out of 36 (30.56%) Reasonable (max 3.0m off) success rate: 6 out of 36 (16.67%) Average distance from stopline: 2.507270648492796 Average absolute distance from stopline: 2.507270648492796
10 15 0 1 2 3 4
map_name curved_left_road curved_right_road straight_road first_speed stopped 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
0.015927
2.79195
2.13562
True
False
True
curved_left_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
11.5506
142.204
91.2976
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.0322301
2.43068
1.7535
True
True
True
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
11.952
141.339
90.7236
False
False
False
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.0136614
2.15116
0.139348
True
True
True
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.00536658
3.42938
3.80448
True
False
True
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.0134021
6.99473
3.32065
True
False
True
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0.00486144
0.565116
1.14916
True
True
True
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.0120319
6.52183
4.12656
True
False
True
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.00415684
4.70739
3.27599
True
False
True
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.011727
12.4524
7.87656
True
False
True
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0.77942
31.8126
17.4688
False
False
False
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.0167418
3.75403
2.25109
True
False
True
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
5.56268
43.028
27.6013
False
False
False
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.078394
5.24981
3.296
False
False
False
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0.0696369
14.6266
43.815
False
False
False
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.0866109
0.657248
0.0875447
True
True
True
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.00525591
1.01991
2.14412
True
True
True
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.0291309
3.74048
1.39835
True
False
True
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0.00543656
1.76685
2.5993
True
True
True
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.0185257
4.28659
2.87117
True
False
True
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.00434166
1.11577
0.854979
True
True
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.0193051
10.3747
6.6788
True
False
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0.00475278
4.64971
3.09767
True
False
True
straight_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.00666707
0.683582
0.225206
True
True
True
straight_road
1 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
12.0292
148.618
0.0252386
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
8.60305
11.065
0.106911
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
12.4393
153.156
0.0357165
False
False
False
straight_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.00844019
3.57213
1.97709
True
False
True
straight_road
2 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.00338598
0.456189
2.02329
True
True
True
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.0100171
2.51354
1.88273
True
True
True
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
12.6354
147.827
1.64763
False
False
False
straight_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
10
0.00647036
5.26898
0.129518
True
False
True
straight_road
3 lane[s] | crosswalks | no-npc
Noise.NONE
400
15
0.00432721
2.66848
0.135432
True
True
True
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
10
0.00802752
5.35435
0.0602989
True
False
True
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.NONE
400
15
0.00432493
3.4399
0.0379809
True
False
True
curved_left_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
10
0.684784
1.77066
1.59525
False
False
False
curved_left_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
15
2.98194
7.60137
4.76994
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
10
0.878975
1.2834
1.06606
False
False
False
curved_left_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
15
5.7362
4.13184
2.49228
False
False
False
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
10
0.686236
4.31999
1.14967
False
False
False
curved_left_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
15
0.043671
0.335962
1.55516
True
True
True
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
10
0.538478
4.98298
1.72123
False
False
False
curved_left_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
15
0.158562
2.66546
0.29037
True
True
True
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
10
0.718943
10.6402
6.35284
False
False
False
curved_left_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
15
0.0552062
2.25612
1.62375
True
True
True
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
10
0.686594
16.1803
10.0714
False
False
False
curved_left_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
15
0.234073
1.85243
0.805945
False
False
False
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
10
0.511484
3.47701
1.87897
False
False
False
curved_right_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
123
15
12.4985
39.1968
22.163
False
False
False
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
10
2.5425
0.393529
0.0287421
False
False
False
curved_right_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
122
15
12.5224
44.8026
25.6503
False
False
False
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
10
1.64804
7.37432
4.29439
False
False
False
curved_right_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
15
0
0.486633
1.37194
True
True
True
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
10
1.97124
5.26602
2.50464
False
False
False
curved_right_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
15
0.0781205
3.11665
0.868699
True
False
True
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
10
0.650323
14.8248
9.59971
False
False
False
curved_right_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
15
0.0198763
3.16767
1.01243
True
False
True
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
10
0.58809
17.0338
11.3195
False
False
False
curved_right_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
15
0.120458
3.32962
4.83566
True
False
True
straight_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
10
0.27027
1.94739
0.250602
False
False
False
straight_road
1 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
15
0.00822262
0.0903809
0.374837
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
10
3.48975
2.53701
0.167038
False
False
False
straight_road
1 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
15
3.47358
0.538318
0.329514
False
False
False
straight_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
10
0.512212
7.8876
1.97013
False
False
False
straight_road
2 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
15
0
2.8331
2.10588
True
True
True
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
10
0.731139
4.72889
1.93415
False
False
False
straight_road
2 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
15
0.117157
1.09434
2.02105
True
True
True
straight_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
10
0.403144
7.62935
0.143508
False
False
False
straight_road
3 lane[s] | crosswalks | no-npc
Noise.TRAIN_ALL
400
15
0.0450031
3.6587
0.261816
True
False
True
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
10
0.618069
8.12412
0.104201
False
False
False
straight_road
3 lane[s] | no-crosswalks | no-npc
Noise.TRAIN_ALL
400
15
0.0657098
4.63572
0.141624
True
False
True
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:
{} 10 keys
report_name:
'analyse_speed_convergence_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
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-yassine_2025-01-25_18-29-03'
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:
{} 14 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:
[]
▶
agent:
{} 15 keys
supercombo:
'b25c27a8-263b-4f3f-b1f8-72ac49b4f9c7/700'
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:
20
use_worldmodel_as_agent:
false
use_raw_plan:
false
▶
shadow_agent:
{} 0 keys
straight_road (Number of lanes: 1) Convergence rate: 3/9 (33.33%)
200 400 600 800 1000 1200 0 10 20 30 40 0 10 20 30 40
initial_speed 0.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0 40.0 frames speed speed scene=empty (opposite-way) | ego | shoulder metric=sim_speed metric=model_speed 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
5
0
5.48
❌
10
10
0
9.81
✅
15
14.89
0.01
14.83
✅
20
17.03
0.07
16.85
✅
25
18.46
0.39
18.11
❌
30
18.25
0.55
17.89
❌
35
19.51
0.62
19.11
❌
40
23.57
1.31
22.74
❌
straight_road (Number of lanes: 3) Convergence rate: 7/27 (25.93%)
200 400 600 800 1000 1200 0 10 20 30 40 200 400 600 800 1000 1200 200 400 600 800 1000 1200 0 10 20 30 40
initial_speed 0.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0 40.0 frames frames frames speed speed scene=empty (opposite-way) | ego | empty (same-way) | empty (same-way) | shoulder scene=empty (opposite-way) | empty (same-way) | ego | empty (same-way) | shoulder scene=empty (opposite-way) | empty (same-way) | empty (same-way) | ego | shoulder metric=sim_speed metric=model_speed 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
5
0
5.63
❌
10
10
0
9.81
❌
15
14.94
0
15
✅
20
16.98
0
16.91
✅
25
17.71
0.51
17.39
❌
30
17.17
0.85
16.65
❌
35
17.2
0.89
16.67
❌
40
26.15
1.53
25.22
❌
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
5
0
5.25
❌
10
9.1
0.02
8.64
❌
15
15
0
14.87
✅
20
18
0.07
17.57
✅
25
17.68
0.54
17.18
❌
30
17.17
0.44
16.59
❌
35
18.83
0.2
18.27
✅
40
23.49
1.01
22.78
❌
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
5
0
5.57
❌
10
8.5
0.3
7.92
❌
15
15
0
14.93
✅
20
16.76
0.01
16.43
✅
25
17.3
0.31
16.76
❌
30
16.99
0.45
16.46
❌
35
17.43
0.52
16.87
❌
40
22.79
1.03
22.01
❌
analyse_lane_change_rl ▶ Lane Change Report
▶
root:
{} 10 keys
report_name:
'analyse_lane_change_rl'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
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-yassine_2025-01-25_18-29-03'
force_local:
false
max_length:
null
assert_all_passed:
true
▶
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:
{} 14 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:
[]
▶
agent:
{} 15 keys
supercombo:
'default_supercombo'
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:
false
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan:
true
▶
shadow_agent:
{} 0 keys
Map: straight_road, Speed: 15.0
0 5 10 15 20 25 30 2 0 −2 −4 −6 −8 −10 0 5 10 15 20 25 30
offset -1.0 -0.5 0.0 0.5 1.0 time (s) time (s) distance from right most lane-center (m) scene=left lane change scene=right lane change 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
-0.09
30
6
✅
-0.5
-0.09
30
6
✅
0
-0.09
30
6
✅
0.5
-0.09
30
6
✅
1
-0.08
30
6
✅
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
0.25
30
6.1
✅
-0.5
0.25
30
6
✅
0
0.25
30
6.1
✅
0.5
0.25
30
6
✅
1
0.26
30
6.05
✅
Map: straight_road, Speed: 25.0
0 5 10 15 20 25 30 2 0 −2 −4 −6 −8 −10 0 5 10 15 20 25 30
offset -1.0 -0.5 0.0 0.5 1.0 time (s) time (s) distance from right most lane-center (m) scene=left lane change scene=right lane change 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
0.1
30
6
✅
-0.5
0.1
30
6
✅
0
0.1
30
6
✅
0.5
0.1
30
6
✅
1
0.1
30
6
✅
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
0.16
30
6.15
✅
-0.5
0.16
30
6
✅
0
0.16
30
6
✅
0.5
0.16
30
6
✅
1
0.16
30
6
✅
analyse_oscillation ▶ Oscilllation Report
▶
root:
{} 10 keys
report_name:
'analyse_oscillation'
output_dir:
null
save_tmp:
false
read_only:
false
limit:
10000
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-yassine_2025-01-25_18-29-03'
force_local:
false
max_length:
null
assert_all_passed:
true
▶
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:
{} 14 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:
[]
▶
agent:
{} 15 keys
supercombo:
'default_supercombo'
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:
false
model_trained_fps:
5
use_worldmodel_as_agent:
false
use_raw_plan:
true
▶
shadow_agent:
{} 0 keys
Metadrive lane-center oscillation test at 15.0 m/s on straight_road
10 15 20 25 30 35 40 45 50 −2 −1.5 −1 −0.5 0 0.5 1 1.5 2
noise lag=0.004, antilag=0.079 lag=0.038, antilag=0.058 lag=0.049, antilag=0.101 lag=0.05, antilag=0.095 lag=0.054, antilag=0.053 lag=0.057, antilag=0.111 lag=0.081, antilag=0.182 lag=0.098, antilag=0.158 lag=0.1, antilag=0.145 lag=0.102, antilag=0.129 lag=0.104, antilag=0.182 lag=0.105, antilag=0.062 lag=0.12, antilag=0.131 lag=0.121, antilag=0.126 lag=0.139, antilag=0.113 lag=0.162, antilag=0.138 lag=0.177, antilag=0.121 lag=0.179, antilag=0.217 lag=0.18, antilag=0.123 lag=0.187, antilag=0.119 lag=0.195, antilag=0.122 lag=0.224, antilag=0.236 lag=0.247, antilag=0.263 lag=0.25, antilag=0.314 lag=0.256, antilag=0.261 lag=0.266, antilag=0.316 lag=0.27, antilag=0.336 lag=0.276, antilag=0.16 lag=0.29, antilag=0.23 lag=0.305, antilag=0.181 lag=0.311, antilag=0.224 lag=0.323, antilag=0.438 lag=0.33, antilag=0.18 lag=0.332, antilag=0.281 lag=0.342, antilag=0.244 lag=0.344, antilag=0.174 lag=0.356, antilag=0.196 lag=0.361, antilag=0.223 lag=0.364, antilag=0.322 lag=0.386, antilag=0.408 lag=0.392, antilag=0.277 lag=0.406, antilag=0.294 lag=0.434, antilag=0.254 lag=0.436, antilag=0.518 lag=0.438, antilag=0.292 lag=0.442, antilag=0.487 lag=0.453, antilag=0.315 lag=0.462, antilag=0.277 lag=0.473, antilag=0.484 lag=0.484, antilag=0.246 time (s) distance from lane-center (m)
0 0.5 1 1.5 2 2.5 3 0 0.2 0.4 0.6 0.8 1
noise lag=0.004, antilag=0.079 lag=0.038, antilag=0.058 lag=0.049, antilag=0.101 lag=0.05, antilag=0.095 lag=0.054, antilag=0.053 lag=0.057, antilag=0.111 lag=0.081, antilag=0.182 lag=0.098, antilag=0.158 lag=0.1, antilag=0.145 lag=0.102, antilag=0.129 lag=0.104, antilag=0.182 lag=0.105, antilag=0.062 lag=0.12, antilag=0.131 lag=0.121, antilag=0.126 lag=0.139, antilag=0.113 lag=0.162, antilag=0.138 lag=0.177, antilag=0.121 lag=0.179, antilag=0.217 lag=0.18, antilag=0.123 lag=0.187, antilag=0.119 lag=0.195, antilag=0.122 lag=0.224, antilag=0.236 lag=0.247, antilag=0.263 lag=0.25, antilag=0.314 lag=0.256, antilag=0.261 lag=0.266, antilag=0.316 lag=0.27, antilag=0.336 lag=0.276, antilag=0.16 lag=0.29, antilag=0.23 lag=0.305, antilag=0.181 lag=0.311, antilag=0.224 lag=0.323, antilag=0.438 lag=0.33, antilag=0.18 lag=0.332, antilag=0.281 lag=0.342, antilag=0.244 lag=0.344, antilag=0.174 lag=0.356, antilag=0.196 lag=0.361, antilag=0.223 lag=0.364, antilag=0.322 lag=0.386, antilag=0.408 lag=0.392, antilag=0.277 lag=0.406, antilag=0.294 lag=0.434, antilag=0.254 lag=0.436, antilag=0.518 lag=0.438, antilag=0.292 lag=0.442, antilag=0.487 lag=0.453, antilag=0.315 lag=0.462, antilag=0.277 lag=0.473, antilag=0.484 lag=0.484, antilag=0.246 frequency (Hz) amplitude (m) TEST FAILED ❌
Standard deviation of lateral position: 0.171 m
Oscillation frequency: mean = 0.152 Hz , min = 0.116 Hz , max = 0.256 Hz
Oscillation amplitude: mean = 0.061 m , min = 0.023 m , max = 0.130 m
Oscillation significance: 0.899 ; just finished cases: 0.899
Number of finished cases: 50/50 ; passed cases: 34/50
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
(0.0, 0.05] (0.05, 0.1] (0.1, 0.15] (0.15, 0.2] (0.2, 0.25] 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 (0.0, 0.05] (0.05, 0.1] (0.1, 0.15] (0.15, 0.2] (0.2, 0.25] 0 0.2 0.4 0.6 0.8 1
Lag/Antilag difference Lag/Antilag difference Oscillation Significance Dominant Amplitude (m) Oscillation Significance Dominant Amplitude (m)
key
initial_speed
duration
lag
antilag
lat_position_mean
lat_position_stddev
dominant_frequency
dominant_amplitude
oscillation_significance
passed
80
15
50
0.004
0.079
-0.034
0.108
0.14
0.051
0.713
✅
60
15
50
0.038
0.058
-0.146
0.111
0.14
0.055
0.764
✅
28
15
50
0.049
0.101
-0.065
0.163
0.14
0.067
0.929
✅
30
15
50
0.05
0.095
-0.111
0.19
0.116
0.075
0.867
✅
10
15
50
0.054
0.053
-0.031
0.222
0.14
0.066
0.924
✅
4
15
50
0.057
0.111
-0.005
0.21
0.163
0.047
0.765
✅
70
15
50
0.081
0.182
0.034
0.161
0.116
0.036
0.424
✅
66
15
50
0.098
0.158
0.101
0.293
0.116
0.047
0.551
✅
82
15
50
0.1
0.145
-0.094
0.16
0.14
0.082
1.147
❌
94
15
50
0.102
0.129
-0.056
0.149
0.186
0.084
1.567
❌
18
15
50
0.104
0.182
0.006
0.194
0.163
0.046
0.756
✅
8
15
50
0.105
0.062
-0.057
0.223
0.163
0.054
0.887
✅
68
15
50
0.12
0.131
-0.083
0.106
0.163
0.023
0.367
✅
26
15
50
0.121
0.126
0.082
0.292
0.14
0.049
0.687
✅
90
15
50
0.139
0.113
0.013
0.178
0.233
0.045
1.046
❌
38
15
50
0.162
0.138
-0.078
0.106
0.116
0.047
0.543
✅
22
15
50
0.177
0.121
0.021
0.228
0.116
0.062
0.718
✅
78
15
50
0.179
0.217
-0.169
0.147
0.186
0.062
1.147
❌
44
15
50
0.18
0.123
-0.1
0.204
0.116
0.056
0.649
✅
86
15
50
0.187
0.119
-0.061
0.136
0.209
0.061
1.274
❌
56
15
50
0.195
0.122
-0.065
0.101
0.163
0.035
0.572
✅
98
15
50
0.224
0.236
-0.038
0.142
0.186
0.058
1.072
❌
58
15
50
0.247
0.263
-0.121
0.322
0.116
0.079
0.922
✅
96
15
50
0.25
0.314
-0.087
0.194
0.116
0.054
0.63
✅
54
15
50
0.256
0.261
0.213
0.261
0.116
0.096
1.118
❌
46
15
50
0.266
0.316
-0.11
0.159
0.14
0.064
0.895
✅
64
15
50
0.27
0.336
-0.075
0.168
0.116
0.039
0.451
✅
36
15
50
0.276
0.16
-0.015
0.164
0.14
0.052
0.732
✅
50
15
50
0.29
0.23
0.02
0.196
0.14
0.073
1.012
❌
92
15
50
0.305
0.181
-0.028
0.17
0.14
0.067
0.93
✅
14
15
50
0.311
0.224
0.015
0.217
0.116
0.067
0.783
✅
74
15
50
0.323
0.438
0.016
0.16
0.186
0.046
0.85
✅
32
15
50
0.33
0.18
-0.032
0.178
0.116
0.13
1.513
❌
88
15
50
0.332
0.281
0.048
0.177
0.116
0.079
0.915
✅
76
15
50
0.342
0.244
-0.013
0.238
0.116
0.064
0.745
✅
12
15
50
0.344
0.174
-0.039
0.103
0.163
0.056
0.91
✅
62
15
50
0.356
0.196
-0.142
0.069
0.233
0.031
0.71
✅
72
15
50
0.361
0.223
-0.149
0.137
0.256
0.054
1.383
❌
2
15
50
0.364
0.322
-0.058
0.199
0.116
0.099
1.15
❌
48
15
50
0.386
0.408
-0.067
0.155
0.116
0.077
0.895
✅
0
15
50
0.392
0.277
-0.194
0.179
0.116
0.048
0.56
✅
24
15
50
0.406
0.294
0.059
0.152
0.209
0.077
1.608
❌
34
15
50
0.434
0.254
0.016
0.116
0.186
0.06
1.114
❌
16
15
50
0.436
0.518
0.042
0.131
0.14
0.041
0.578
✅
40
15
50
0.438
0.292
-0.108
0.143
0.14
0.036
0.506
✅
6
15
50
0.442
0.487
-0.06
0.117
0.163
0.052
0.852
✅
20
15
50
0.453
0.315
0.039
0.258
0.163
0.084
1.366
❌
42
15
50
0.462
0.277
-0.097
0.149
0.14
0.075
1.045
❌
52
15
50
0.473
0.484
-0.044
0.066
0.256
0.033
0.833
✅
84
15
50
0.484
0.246
0.154
0.164
0.163
0.096
1.568
❌
Metadrive lane-center oscillation test at 30.0 m/s on straight_road
10 15 20 25 30 35 40 45 50 −2 −1.5 −1 −0.5 0 0.5 1 1.5 2
noise lag=0.004, antilag=0.079 lag=0.038, antilag=0.058 lag=0.049, antilag=0.101 lag=0.05, antilag=0.095 lag=0.054, antilag=0.053 lag=0.057, antilag=0.111 lag=0.081, antilag=0.182 lag=0.098, antilag=0.158 lag=0.1, antilag=0.145 lag=0.102, antilag=0.129 lag=0.104, antilag=0.182 lag=0.105, antilag=0.062 lag=0.12, antilag=0.131 lag=0.121, antilag=0.126 lag=0.139, antilag=0.113 lag=0.162, antilag=0.138 lag=0.177, antilag=0.121 lag=0.179, antilag=0.217 lag=0.18, antilag=0.123 lag=0.187, antilag=0.119 lag=0.195, antilag=0.122 lag=0.224, antilag=0.236 lag=0.247, antilag=0.263 lag=0.25, antilag=0.314 lag=0.256, antilag=0.261 lag=0.266, antilag=0.316 lag=0.27, antilag=0.336 lag=0.276, antilag=0.16 lag=0.29, antilag=0.23 lag=0.305, antilag=0.181 lag=0.311, antilag=0.224 lag=0.323, antilag=0.438 lag=0.33, antilag=0.18 lag=0.332, antilag=0.281 lag=0.342, antilag=0.244 lag=0.344, antilag=0.174 lag=0.356, antilag=0.196 lag=0.361, antilag=0.223 lag=0.364, antilag=0.322 lag=0.386, antilag=0.408 lag=0.392, antilag=0.277 lag=0.406, antilag=0.294 lag=0.434, antilag=0.254 lag=0.436, antilag=0.518 lag=0.438, antilag=0.292 lag=0.442, antilag=0.487 lag=0.453, antilag=0.315 lag=0.462, antilag=0.277 lag=0.473, antilag=0.484 lag=0.484, antilag=0.246 time (s) distance from lane-center (m)
0 0.5 1 1.5 2 2.5 3 0 0.2 0.4 0.6 0.8 1
noise lag=0.004, antilag=0.079 lag=0.038, antilag=0.058 lag=0.049, antilag=0.101 lag=0.05, antilag=0.095 lag=0.054, antilag=0.053 lag=0.057, antilag=0.111 lag=0.081, antilag=0.182 lag=0.098, antilag=0.158 lag=0.1, antilag=0.145 lag=0.102, antilag=0.129 lag=0.104, antilag=0.182 lag=0.105, antilag=0.062 lag=0.12, antilag=0.131 lag=0.121, antilag=0.126 lag=0.139, antilag=0.113 lag=0.162, antilag=0.138 lag=0.177, antilag=0.121 lag=0.179, antilag=0.217 lag=0.18, antilag=0.123 lag=0.187, antilag=0.119 lag=0.195, antilag=0.122 lag=0.224, antilag=0.236 lag=0.247, antilag=0.263 lag=0.25, antilag=0.314 lag=0.256, antilag=0.261 lag=0.266, antilag=0.316 lag=0.27, antilag=0.336 lag=0.276, antilag=0.16 lag=0.29, antilag=0.23 lag=0.305, antilag=0.181 lag=0.311, antilag=0.224 lag=0.323, antilag=0.438 lag=0.33, antilag=0.18 lag=0.332, antilag=0.281 lag=0.342, antilag=0.244 lag=0.344, antilag=0.174 lag=0.356, antilag=0.196 lag=0.361, antilag=0.223 lag=0.364, antilag=0.322 lag=0.386, antilag=0.408 lag=0.392, antilag=0.277 lag=0.406, antilag=0.294 lag=0.434, antilag=0.254 lag=0.436, antilag=0.518 lag=0.438, antilag=0.292 lag=0.442, antilag=0.487 lag=0.453, antilag=0.315 lag=0.462, antilag=0.277 lag=0.473, antilag=0.484 lag=0.484, antilag=0.246 frequency (Hz) amplitude (m) TEST FAILED ❌
Standard deviation of lateral position: 0.264 m
Oscillation frequency: mean = 0.157 Hz , min = 0.116 Hz , max = 0.279 Hz
Oscillation amplitude: mean = 0.119 m , min = 0.034 m , max = 0.205 m
Oscillation significance: 1.822 ; just finished cases: 1.822
Number of finished cases: 50/50 ; passed cases: 2/50
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
(0.0, 0.05] (0.05, 0.1] (0.1, 0.15] (0.15, 0.2] (0.2, 0.25] 0 0.5 1 1.5 2 2.5 (0.0, 0.05] (0.05, 0.1] (0.1, 0.15] (0.15, 0.2] (0.2, 0.25] 0 0.2 0.4 0.6 0.8 1
Lag/Antilag difference Lag/Antilag difference Oscillation Significance Dominant Amplitude (m) Oscillation Significance Dominant Amplitude (m)
key
initial_speed
duration
lag
antilag
lat_position_mean
lat_position_stddev
dominant_frequency
dominant_amplitude
oscillation_significance
passed
81
30
50
0.004
0.079
0.1
0.185
0.14
0.085
1.192
❌
61
30
50
0.038
0.058
-0.026
0.206
0.14
0.1
1.401
❌
29
30
50
0.049
0.101
0.091
0.235
0.14
0.139
1.946
❌
31
30
50
0.05
0.095
-0.042
0.272
0.116
0.145
1.691
❌
11
30
50
0.054
0.053
0.092
0.292
0.14
0.127
1.772
❌
5
30
50
0.057
0.111
0.161
0.308
0.163
0.095
1.549
❌
71
30
50
0.081
0.182
0.176
0.244
0.14
0.076
1.064
❌
67
30
50
0.098
0.158
0.194
0.388
0.209
0.118
2.474
❌
83
30
50
0.1
0.145
0.072
0.254
0.14
0.153
2.135
❌
95
30
50
0.102
0.129
0.063
0.247
0.186
0.158
2.941
❌
19
30
50
0.104
0.182
0.145
0.285
0.14
0.079
1.105
❌
9
30
50
0.105
0.062
0.031
0.337
0.163
0.116
1.887
❌
69
30
50
0.12
0.131
0.059
0.162
0.256
0.034
0.866
✅
27
30
50
0.121
0.126
0.236
0.36
0.116
0.087
1.015
❌
91
30
50
0.139
0.113
0.124
0.25
0.233
0.073
1.707
❌
39
30
50
0.162
0.138
0.069
0.192
0.14
0.092
1.286
❌
23
30
50
0.177
0.121
0.15
0.303
0.116
0.102
1.187
❌
79
30
50
0.179
0.217
-0.102
0.218
0.186
0.118
2.195
❌
45
30
50
0.18
0.123
-0.017
0.341
0.116
0.119
1.38
❌
87
30
50
0.187
0.119
0.056
0.225
0.209
0.137
2.858
❌
57
30
50
0.195
0.122
0.07
0.151
0.279
0.083
2.315
❌
99
30
50
0.224
0.236
0.07
0.257
0.186
0.126
2.341
❌
59
30
50
0.247
0.263
-0.05
0.466
0.116
0.131
1.527
❌
97
30
50
0.25
0.314
0.066
0.262
0.186
0.12
2.229
❌
55
30
50
0.256
0.261
0.386
0.304
0.116
0.189
2.2
❌
47
30
50
0.266
0.316
0.055
0.25
0.14
0.105
1.469
❌
65
30
50
0.27
0.336
0.109
0.27
0.116
0.094
1.092
❌
37
30
50
0.276
0.16
0.077
0.292
0.14
0.11
1.529
❌
51
30
50
0.29
0.23
0.148
0.294
0.14
0.135
1.881
❌
93
30
50
0.305
0.181
0.083
0.33
0.14
0.155
2.16
❌
15
30
50
0.311
0.224
0.149
0.327
0.14
0.132
1.844
❌
75
30
50
0.323
0.438
0.245
0.249
0.14
0.098
1.367
❌
33
30
50
0.33
0.18
0.086
0.286
0.116
0.205
2.38
❌
89
30
50
0.332
0.281
0.128
0.305
0.14
0.156
2.173
❌
77
30
50
0.342
0.244
0.104
0.351
0.116
0.119
1.385
❌
13
30
50
0.344
0.174
0.044
0.202
0.163
0.121
1.976
❌
63
30
50
0.356
0.196
-0.033
0.153
0.233
0.073
1.703
❌
73
30
50
0.361
0.223
-0.094
0.278
0.14
0.139
1.946
❌
3
30
50
0.364
0.322
0.066
0.297
0.116
0.17
1.979
❌
49
30
50
0.386
0.408
0.173
0.258
0.116
0.157
1.83
❌
1
30
50
0.392
0.277
-0.08
0.293
0.14
0.108
1.506
❌
25
30
50
0.406
0.294
0.188
0.219
0.209
0.156
3.267
❌
35
30
50
0.434
0.254
0.128
0.219
0.209
0.137
2.869
❌
17
30
50
0.436
0.518
0.259
0.212
0.14
0.078
1.085
❌
41
30
50
0.438
0.292
0.045
0.224
0.116
0.057
0.666
✅
7
30
50
0.442
0.487
0.174
0.204
0.163
0.105
1.716
❌
21
30
50
0.453
0.315
0.215
0.306
0.163
0.158
2.567
❌
43
30
50
0.462
0.277
0.012
0.253
0.14
0.132
1.838
❌
53
30
50
0.473
0.484
0.196
0.119
0.256
0.075
1.912
❌
85
30
50
0.484
0.246
0.246
0.289
0.163
0.166
2.699
❌
