Model analysis report for

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root: {} 10 keys
- report_name: 'mlsimdriving_driving.analyse_driving_rl'
- route_list: '/home/batman/xx/routes/default_test_2k'
- output_dir: null
- save_tmp: false
- read_only: false
- limit: 10000
- use_virtual_webgl: false
- format: 'HTML'
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  miniray: {} 8 keys
  - priority: 10
  - job_name: 'mlsimdriving_driving.analyse_driving_rl'
  - queue_name: 'remote2'
  - submit_host: 'redis.comma.internal'
  - result_host: 'data-ram.comma.internal'
  - no_unique_id: false
  - codedir: 'caches/workstation-harald_2025-06-15_15-45-45'
  - force_local: false
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  rollout: {} 10 keys
  - type: 'RawVideoRL'
  - nowindow: false
  - debug: false
  - debug_render: false
  - save_observation_keys: []
  - output_dir: null
  - rerun: false
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    env: {} 20 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
    - env: 'xx.arena.envs.rawvideo_env.RawVideoEnv'
    - get_imgs: true
    - allow_resets: true
    - zero_desire: true
    - fps: 20
    - allow_lat: true
    - allow_long: false
    - min_hist: 40
    - compressor_model: null
    - compressor_mode: 'NONE'
    - quantized_compressor_latents: false
    - yolo_model: false
    - lpips_model: false
    - sharpness_metric: true
    - future_observation_range_seconds: null
    - with_gt: false
  - ▶
    agent: {} 12 keys
    - supercombo: 'f7db6a09-43c5-4db9-b856-7fe1a1c231eb/400'
    - restrict_outputs: null
    - exclude_outputs: ['imgs']
    - calibrate_speed: false
    - use_allow_throttle: false
    - use_prev_desired_curv: false
    - model_trained_fps: 5
    - use_worldmodel_as_agent: false
    - use_raw_plan_lat: true
    - use_raw_plan_long: true
    - desired_curv_smooth_seconds: false
    - desired_accel_smooth_seconds: false
  - ▶
    shadow_agent: {} 0 keys

Plan analysis

Plan overall error

Plan overall MAE: 0.374

Plan error when stationary

Plan velocity MAE when stationary: 0.087 meters/sec

Plan y error

Plan y MAE: 0.210 meters

Plan y error in turns (> 6°/s)

Plan y MAE in turns: 0.764 meters

Plan y MAE in turns (C2): 0.749 meters

Plan y MAE in turns (C3): 0.786 meters

Plan y error when path changing

Plan y MAE when path changing: 0.486 meters

Velocity prediction

Velocity MAE: 0.405 meters/sec

Plan x vel error

Plan x vel MAE: 0.405 meters/sec

Plan x vel mean err: 0.038 meters/sec

Pose x error

Pose x MAE: 0.451 meters/sec

Pose x mean err: 0.036 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: 0.425 meters

Road edges

Road edge overall MAE: 1.340 meters

Lead pred

Leads (t=0) MAE: 1.743

Leads (t=0) MedAE: 0.760

Lead prob

Lead prob overall MAE: 0.063

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	0.990891	0.271649	0.102756	0.0714779	0.0980196
10 < lead x < 20	41124	0.986529	0.472419	0.132278	0.364757	0.257745
20 < lead x < 40	96012	0.991355	0.83251	0.162764	0.623819	0.200717
40 < lead x < 80	112011	0.985359	1.81509	0.235601	1.00382	0.157798
80 < lead x	70548	0.851661	8.42279	0.434558	1.81062	0.139387

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	0.971814	1.06515	0.182425	0.610977	0.160013
2 < \|v_ego - v_lead\| < 5	69139	0.936649	2.31849	0.277989	1.60082	0.203001
5 < \|v_ego - v_lead\| < 10	16573	0.886261	4.27516	0.400595	3.07433	0.359577
10 < \|v_ego - v_lead\| < 15	3130	0.936741	4.21823	0.461358	2.62837	0.487645
15 < \|v_ego - v_lead\|	453	0.807947	10.6007	0.924828	3.91009	0.64384

Group	Gas prob	Brake prob	Steer prob
All segments	0.009	0.023	0.253
Easy straight	0.006	0.009	0.126
Low speed	0.016	0.035	0.364
No desire	0.007	0.014	0.192
No desire turns (max lat accel > 2.5 m/ss)	0.011	0.029	0.366