Buckets:

AsianPlayer
/

TriDrive

Files

xet

AsianPlayer/TriDrive / checkpoints /deployed /readout /fill_constants.json

AsianPlayer

17 days ago

download

raw

7.15 kB

{
 "feature_names": [
  "z0_gas",
  "z0_brake",
  "z0_steer_phase",
  "z0_resp",
  "z0_hands_on",
  "z0_head_turned",
  "P0_ttc",
  "P0_ttc_drop",
  "P0_cut_in",
  "P0_lead_braking",
  "P0_lane_excursion",
  "P0_badas",
  "margin_ttc_s",
  "margin_headway_s",
  "margin_dRel_m",
  "margin_vRel_mps",
  "margin_aLead_mps2",
  "margin_lat_margin_m",
  "margin_lane_width_m",
  "margin_badas",
  "margin_lead_valid",
  "margin_lane_valid",
  "margin_valid_ttc_s",
  "margin_valid_headway_s",
  "margin_valid_dRel_m",
  "margin_valid_vRel_mps",
  "margin_valid_aLead_mps2",
  "margin_valid_lat_margin_m",
  "margin_valid_lane_width_m",
  "margin_valid_badas",
  "margin_valid_lead_valid",
  "margin_valid_lane_valid",
  "z0_R_hard",
  "K0_head_cx",
  "K0_head_cy",
  "K0_Lwri_x",
  "K0_Lwri_y",
  "K0_Rwri_x",
  "K0_Rwri_y",
  "K0_head_turn",
  "K0_head_turn_dev",
  "K0_Lhand_rest_dist",
  "K0_Rhand_rest_dist",
  "K0_min_hand_rest_dist",
  "K0_valid",
  "vf_ok",
  "tok_all16",
  "V_valid",
  "mode",
  "vEgo",
  "dw_hands_off_share_1s",
  "dw_hands_off_share_3s",
  "dw_hands_off_share_8s",
  "dw_hands_off_dwell_s",
  "dw_head_away_share_1s",
  "dw_head_away_share_3s",
  "dw_head_away_share_8s",
  "dw_head_away_dwell_s",
  "dw_head_dev_max_3s",
  "dw_n_hand_leave_8s",
  "dw_hist_valid_share",
  "fc_lm_yaw",
  "fc_lm_yaw_dev",
  "fc_lm_pitch_dev",
  "fc_lm_roll_dev",
  "fc_ear_conf_asym",
  "fc_eye_open",
  "fc_blink_rate_4s",
  "fc_gaze_off",
  "fc_gaze_off_dwell_s",
  "fc_valid",
  "fc_gaze_off_share_3s",
  "fc_gaze_off_share_8s",
  "fc_yaw_dev_max_3s",
  "fc_eye_open_min_3s",
  "fc_blink_max_8s",
  "fc_hist_valid_share"
 ],
 "source": {
  "stats_npz": "/home/USER/cwm3/results/runs/I1_all_minus_road2drv_s0_final_ecan_kpf/stats.npz",
  "head_thresholds_json": "/home/USER/cwm2/results/targets_kin/build_stats_latest.json",
  "note": "TRAIN base rates of the joint run (train/batch.compute_stats resp0_base / p0_base; train/train_cwm3_joint.aux_stats r0_base); the read-out saw them float16-rounded because the joint prediction pack stores z0 / z0_P / z0_R in float16 (train_cwm3_joint.predict_split)"
 },
 "head_turn_on": 0.19412308931350708,
 "head_turn_off": 0.1025589182972908,
 "z0_chains": [
  "gas",
  "brake",
  "steer_phase",
  "resp",
  "hands_on",
  "head_turned"
 ],
 "z0_fill": [
  null,
  null,
  null,
  0.1612548828125,
  0.0,
  0.0
 ],
 "z0_fill_note": "gas / brake / steer_phase are always defined offline (null -> NaN if ever invalid live); resp -> float16(resp0_base); hands_on / head_turned -> 0.0 (torch.nan_to_num(S0_c), train/batch.py:254)",
 "resp0_base_f32": 0.16130271553993225,
 "resp0_base_f16": 0.1612548828125,
 "p_chains": [
  "ttc",
  "ttc_drop",
  "cut_in",
  "lead_braking",
  "lane_excursion",
  "badas"
 ],
 "p0_base_f32": [
  0.008974015712738037,
  0.011228220537304878,
  0.028371918946504593,
  0.008554243482649326,
  0.016059275716543198,
  0.043758660554885864
 ],
 "p0_base": [
  0.00897216796875,
  0.01123046875,
  0.0283660888671875,
  0.00855255126953125,
  0.01605224609375,
  0.04376220703125
 ],
 "r0_base_f32": 0.023332523182034492,
 "r0_base": 0.0233306884765625,
 "r0_note": "z0_R_hard = (R0 >= 2) where R0valid else float16(r0_base); NaN when V_valid == 0",
 "V_features_nan_when_V_valid_0": [
  "z0_gas",
  "z0_brake",
  "z0_steer_phase",
  "z0_resp",
  "z0_R_hard"
 ],
 "V_valid_offline": "constant 1.0 on every stored row of this run (V base V0_can4s_s0_stats2, can_hist 4s -> train_cwm3_joint.v_valid_np returns ones); live 0 = 4 s CAN history missing",
 "margins": {
  "names": [
   "ttc_s",
   "headway_s",
   "dRel_m",
   "vRel_mps",
   "aLead_mps2",
   "lat_margin_m",
   "lane_width_m",
   "badas",
   "lead_valid",
   "lane_valid"
  ],
  "policy": "margin_<m> = M0 where M0valid else NaN; margin_valid_<m> = M0valid as 0/1",
  "none_sentinels_in_M0": {
   "ttc_s": 30.0,
   "headway_s": 20.0,
   "dRel_m": 200.0,
   "vRel_mps": 0.0,
   "aLead_mps2": 0.0,
   "lat_margin_m": 2.0,
   "lane_width_m": 0.0,
   "badas": 0.0
  },
  "source": "data/build_pressure_targets.py route_pressure Mg / Mgv (THR ttc_none / headway_none / drel_none / lat_none)"
 },
 "K0": {
  "channels": [
   "head_cx",
   "head_cy",
   "Lwri_x",
   "Lwri_y",
   "Rwri_x",
   "Rwri_y",
   "head_turn",
   "head_turn_dev",
   "Lhand_rest_dist",
   "Rhand_rest_dist",
   "min_hand_rest_dist"
  ],
  "policy": "K0_c as stored (NaN where the pack is NaN, ALL NaN when the row has no causal driver box); K0_valid = K0valid & row_ok",
  "source": "results/targets_kin_causal_routes_v2/kin_causal_{regime}_{split}.npz; train_warning_head._aux 182-189"
 },
 "vf_ok": "results/pack_v2/vf256_{regime}_{split}.npz row_ok (front-view PCA vector present)",
 "tok_all16": "results/banks/anchor_index_{regime}_{split}.npy: all 16 slots >= 0",
 "mode": {
  "manual": 0,
  "engaged": 1
 },
 "vEgo": "s12_wm/results/targets_{regime}_{split}.npz X[row, -1, 3] (m/s, carState.vEgo)",
 "dwell": {
  "names": [
   "dw_hands_off_share_1s",
   "dw_hands_off_share_3s",
   "dw_hands_off_share_8s",
   "dw_hands_off_dwell_s",
   "dw_head_away_share_1s",
   "dw_head_away_share_3s",
   "dw_head_away_share_8s",
   "dw_head_away_dwell_s",
   "dw_head_dev_max_3s",
   "dw_n_hand_leave_8s",
   "dw_hist_valid_share"
  ],
  "WHEEL_TH": 0.1,
  "GAP_RESET": 10,
  "DWELL_CAP": 8.0,
  "HZ": 10.0,
  "IDX_HEAD_DEV": 7,
  "IDX_MIN_DIST": 10,
  "history_len": 80,
  "windows_steps": {
   "1s": 10,
   "3s": 30,
   "8s": 80
  },
  "head_turn_on": 0.19412308931350708,
  "head_turn_off": 0.1025589182972908,
  "policy": "valid step = Kh8valid & row_ok & finite(min_hand_rest_dist) & finite(head_turn_dev); shares / dwell / max / count NaN when no valid step; hands_on = min_hand_rest_dist < WHEEL_TH; head-away = causal hysteresis on |head_turn_dev| re-run over the 80 steps; hist_valid_share = mean(Kh8valid & row_ok)",
  "source": "train/warning_features_ext.py dwell_features 131-156 / dwell_block 159-169; Kh8_c stored float16"
 },
 "face": {
  "channels": [
   "lm_yaw",
   "lm_yaw_dev",
   "lm_pitch_dev",
   "lm_roll_dev",
   "ear_conf_asym",
   "eye_open",
   "blink_rate_4s",
   "gaze_off",
   "gaze_off_dwell_s"
  ],
  "hist_names": [
   "fc_gaze_off_share_3s",
   "fc_gaze_off_share_8s",
   "fc_yaw_dev_max_3s",
   "fc_eye_open_min_3s",
   "fc_blink_max_8s",
   "fc_hist_valid_share"
  ],
  "history_len": 80,
  "policy": "fc_<c> = F0_c where F0valid & row_ok else NaN; fc_valid = that bit; gaze_off shares over valid finite steps (NaN when none); yaw_dev max / eye_open min over the last 30 steps, blink max over 80 (NaN when none); hist_valid_share = mean(Fh8valid & row_ok)",
  "source": "train/warning_features_ext.py face_block 177-206; results/targets_face_causal_routes_v2 (F0_c float32, Fh8_c float16)"
 },
 "hist_storage_dtype": "float16 for Kh8_c / Fh8_c; features77.build_features(quantize_hist_f16=True) reproduces the stored rounding",
 "P0_badas_threshold_offline": "badas_risk > max(0.85, route P95 of moving finite badas_risk; P95 only when > 200 samples) \u2014 NON-causal route statistic (data/build_pressure_targets.py THR badas_abs / badas_pct, route_quantile MIN_Q_SAMPLES); see deploy/readout/P0_BADAS_REPORT.md"
}

Xet Storage Details

Size:: 7.15 kB
Xet hash:: bc46b1a1839ddd4e695a7dc600b8db0c848998e52a80f2ddb8d20e058b2d78c5

Xet efficiently stores files, intelligently splitting them into unique chunks and accelerating uploads and downloads. More info.

	{
	"feature_names": [
	"z0_gas",
	"z0_brake",
	"z0_steer_phase",
	"z0_resp",
	"z0_hands_on",
	"z0_head_turned",
	"P0_ttc",
	"P0_ttc_drop",
	"P0_cut_in",
	"P0_lead_braking",
	"P0_lane_excursion",
	"P0_badas",
	"margin_ttc_s",
	"margin_headway_s",
	"margin_dRel_m",
	"margin_vRel_mps",
	"margin_aLead_mps2",
	"margin_lat_margin_m",
	"margin_lane_width_m",
	"margin_badas",
	"margin_lead_valid",
	"margin_lane_valid",
	"margin_valid_ttc_s",
	"margin_valid_headway_s",
	"margin_valid_dRel_m",
	"margin_valid_vRel_mps",
	"margin_valid_aLead_mps2",
	"margin_valid_lat_margin_m",
	"margin_valid_lane_width_m",
	"margin_valid_badas",
	"margin_valid_lead_valid",
	"margin_valid_lane_valid",
	"z0_R_hard",
	"K0_head_cx",
	"K0_head_cy",
	"K0_Lwri_x",
	"K0_Lwri_y",
	"K0_Rwri_x",
	"K0_Rwri_y",
	"K0_head_turn",
	"K0_head_turn_dev",
	"K0_Lhand_rest_dist",
	"K0_Rhand_rest_dist",
	"K0_min_hand_rest_dist",
	"K0_valid",
	"vf_ok",
	"tok_all16",
	"V_valid",
	"mode",
	"vEgo",
	"dw_hands_off_share_1s",
	"dw_hands_off_share_3s",
	"dw_hands_off_share_8s",
	"dw_hands_off_dwell_s",
	"dw_head_away_share_1s",
	"dw_head_away_share_3s",
	"dw_head_away_share_8s",
	"dw_head_away_dwell_s",
	"dw_head_dev_max_3s",
	"dw_n_hand_leave_8s",
	"dw_hist_valid_share",
	"fc_lm_yaw",
	"fc_lm_yaw_dev",
	"fc_lm_pitch_dev",
	"fc_lm_roll_dev",
	"fc_ear_conf_asym",
	"fc_eye_open",
	"fc_blink_rate_4s",
	"fc_gaze_off",
	"fc_gaze_off_dwell_s",
	"fc_valid",
	"fc_gaze_off_share_3s",
	"fc_gaze_off_share_8s",
	"fc_yaw_dev_max_3s",
	"fc_eye_open_min_3s",
	"fc_blink_max_8s",
	"fc_hist_valid_share"
	],
	"source": {
	"stats_npz": "/home/USER/cwm3/results/runs/I1_all_minus_road2drv_s0_final_ecan_kpf/stats.npz",
	"head_thresholds_json": "/home/USER/cwm2/results/targets_kin/build_stats_latest.json",
	"note": "TRAIN base rates of the joint run (train/batch.compute_stats resp0_base / p0_base; train/train_cwm3_joint.aux_stats r0_base); the read-out saw them float16-rounded because the joint prediction pack stores z0 / z0_P / z0_R in float16 (train_cwm3_joint.predict_split)"
	},
	"head_turn_on": 0.19412308931350708,
	"head_turn_off": 0.1025589182972908,
	"z0_chains": [
	"gas",
	"brake",
	"steer_phase",
	"resp",
	"hands_on",
	"head_turned"
	],
	"z0_fill": [
	null,
	null,
	null,
	0.1612548828125,
	0.0,
	0.0
	],
	"z0_fill_note": "gas / brake / steer_phase are always defined offline (null -> NaN if ever invalid live); resp -> float16(resp0_base); hands_on / head_turned -> 0.0 (torch.nan_to_num(S0_c), train/batch.py:254)",
	"resp0_base_f32": 0.16130271553993225,
	"resp0_base_f16": 0.1612548828125,
	"p_chains": [
	"ttc",
	"ttc_drop",
	"cut_in",
	"lead_braking",
	"lane_excursion",
	"badas"
	],
	"p0_base_f32": [
	0.008974015712738037,
	0.011228220537304878,
	0.028371918946504593,
	0.008554243482649326,
	0.016059275716543198,
	0.043758660554885864
	],
	"p0_base": [
	0.00897216796875,
	0.01123046875,
	0.0283660888671875,
	0.00855255126953125,
	0.01605224609375,
	0.04376220703125
	],
	"r0_base_f32": 0.023332523182034492,
	"r0_base": 0.0233306884765625,
	"r0_note": "z0_R_hard = (R0 >= 2) where R0valid else float16(r0_base); NaN when V_valid == 0",
	"V_features_nan_when_V_valid_0": [
	"z0_gas",
	"z0_brake",
	"z0_steer_phase",
	"z0_resp",
	"z0_R_hard"
	],
	"V_valid_offline": "constant 1.0 on every stored row of this run (V base V0_can4s_s0_stats2, can_hist 4s -> train_cwm3_joint.v_valid_np returns ones); live 0 = 4 s CAN history missing",
	"margins": {
	"names": [
	"ttc_s",
	"headway_s",
	"dRel_m",
	"vRel_mps",
	"aLead_mps2",
	"lat_margin_m",
	"lane_width_m",
	"badas",
	"lead_valid",
	"lane_valid"
	],
	"policy": "margin_<m> = M0 where M0valid else NaN; margin_valid_<m> = M0valid as 0/1",
	"none_sentinels_in_M0": {
	"ttc_s": 30.0,
	"headway_s": 20.0,
	"dRel_m": 200.0,
	"vRel_mps": 0.0,
	"aLead_mps2": 0.0,
	"lat_margin_m": 2.0,
	"lane_width_m": 0.0,
	"badas": 0.0
	},
	"source": "data/build_pressure_targets.py route_pressure Mg / Mgv (THR ttc_none / headway_none / drel_none / lat_none)"
	},
	"K0": {
	"channels": [
	"head_cx",
	"head_cy",
	"Lwri_x",
	"Lwri_y",
	"Rwri_x",
	"Rwri_y",
	"head_turn",
	"head_turn_dev",
	"Lhand_rest_dist",
	"Rhand_rest_dist",
	"min_hand_rest_dist"
	],
	"policy": "K0_c as stored (NaN where the pack is NaN, ALL NaN when the row has no causal driver box); K0_valid = K0valid & row_ok",
	"source": "results/targets_kin_causal_routes_v2/kin_causal_{regime}_{split}.npz; train_warning_head._aux 182-189"
	},
	"vf_ok": "results/pack_v2/vf256_{regime}_{split}.npz row_ok (front-view PCA vector present)",
	"tok_all16": "results/banks/anchor_index_{regime}_{split}.npy: all 16 slots >= 0",
	"mode": {
	"manual": 0,
	"engaged": 1
	},
	"vEgo": "s12_wm/results/targets_{regime}_{split}.npz X[row, -1, 3] (m/s, carState.vEgo)",
	"dwell": {
	"names": [
	"dw_hands_off_share_1s",
	"dw_hands_off_share_3s",
	"dw_hands_off_share_8s",
	"dw_hands_off_dwell_s",
	"dw_head_away_share_1s",
	"dw_head_away_share_3s",
	"dw_head_away_share_8s",
	"dw_head_away_dwell_s",
	"dw_head_dev_max_3s",
	"dw_n_hand_leave_8s",
	"dw_hist_valid_share"
	],
	"WHEEL_TH": 0.1,
	"GAP_RESET": 10,
	"DWELL_CAP": 8.0,
	"HZ": 10.0,
	"IDX_HEAD_DEV": 7,
	"IDX_MIN_DIST": 10,
	"history_len": 80,
	"windows_steps": {
	"1s": 10,
	"3s": 30,
	"8s": 80
	},
	"head_turn_on": 0.19412308931350708,
	"head_turn_off": 0.1025589182972908,
	"policy": "valid step = Kh8valid & row_ok & finite(min_hand_rest_dist) & finite(head_turn_dev); shares / dwell / max / count NaN when no valid step; hands_on = min_hand_rest_dist < WHEEL_TH; head-away = causal hysteresis on \|head_turn_dev\| re-run over the 80 steps; hist_valid_share = mean(Kh8valid & row_ok)",
	"source": "train/warning_features_ext.py dwell_features 131-156 / dwell_block 159-169; Kh8_c stored float16"
	},
	"face": {
	"channels": [
	"lm_yaw",
	"lm_yaw_dev",
	"lm_pitch_dev",
	"lm_roll_dev",
	"ear_conf_asym",
	"eye_open",
	"blink_rate_4s",
	"gaze_off",
	"gaze_off_dwell_s"
	],
	"hist_names": [
	"fc_gaze_off_share_3s",
	"fc_gaze_off_share_8s",
	"fc_yaw_dev_max_3s",
	"fc_eye_open_min_3s",
	"fc_blink_max_8s",
	"fc_hist_valid_share"
	],
	"history_len": 80,
	"policy": "fc_<c> = F0_c where F0valid & row_ok else NaN; fc_valid = that bit; gaze_off shares over valid finite steps (NaN when none); yaw_dev max / eye_open min over the last 30 steps, blink max over 80 (NaN when none); hist_valid_share = mean(Fh8valid & row_ok)",
	"source": "train/warning_features_ext.py face_block 177-206; results/targets_face_causal_routes_v2 (F0_c float32, Fh8_c float16)"
	},
	"hist_storage_dtype": "float16 for Kh8_c / Fh8_c; features77.build_features(quantize_hist_f16=True) reproduces the stored rounding",
	"P0_badas_threshold_offline": "badas_risk > max(0.85, route P95 of moving finite badas_risk; P95 only when > 200 samples) \u2014 NON-causal route statistic (data/build_pressure_targets.py THR badas_abs / badas_pct, route_quantile MIN_Q_SAMPLES); see deploy/readout/P0_BADAS_REPORT.md"
	}