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Multiple scene tokens sharing the same MTGS road block config were each trying to resolve their own asset folder (named after their unique token), which only exists for the first token (road_block_name). Fix via two complementary layers: 1. Runtime resolver in main.py (no cache regen required): at server startup, read all MTGS config YAMLs from the configs/ directory and build a token → road_block_name mapping. This is injected as asset_folder_resolver into TrajdataDataSource so any token resolves to its shared asset folder regardless of cache state. 2. Cache pipeline fix in scene_loader.py + nuplan_utils.py: propagate road_block_name as asset_folder through central_tokens_config → scene record → data_access_info so newly built caches also carry the correct mapping. Also add nuplan_private → private to DATASET_NAME_MAPPING in the MTGS server. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
yaml.load() always returns a dict, so the isinstance/getattr branch is redundant. Use cfg.get() directly, per code review suggestion. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
# Conflicts: # plugins/mtgs/server/main.py
Fix MTGS scene mapping and stale actor rendering
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Fix static rigid actor rendering
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## Summary - Add standalone SimScale NAVSIM/MTGS E2E submissions for: - Latent TransFuser - DiffusionDrive - GTRS-Dense - Add container build, asset preparation, local launcher, probe, and benchmark scripts. - Add checkpoint hash validation, pinned runtime dependencies, and hardened read-only container settings. - Add unit tests covering preprocessing, trajectory generation, model structure, checkpoint loading, driver service behavior, batching, and container files. - Add `NAVSIM_MODEL_ADAPTATION.md` documenting the NAVSIM-to-AlpaSim inference contract and model adaptation workflow. Existing starter-kit and VAVAM examples are preserved. This branch is based directly on the current upstream `e2e_challenge` branch and is independent from the MTGS fixes in #160. ## Validation - `git diff --check` passed. - The branch contains only the two NAVSIM submission commits on top of the current upstream base. - Full model/container tests were not run because they require downloaded checkpoints, Docker images, and the corresponding runtime environment. --------- Co-authored-by: Michael Watson <mwatson@nvidia.com>
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Summary
Root cause
Multiple NuPlan scene tokens can share one MTGS road-block asset folder, but the renderer previously fell back to the unique scene token when cache metadata was missing. Separately, actors outside their valid replay interval could reuse stale render state, producing visible ghosting.
Impact
The affected NuPlan scene now resolves the correct background asset and no longer shows stale actor trails during rollout.
Validation
This is a draft so the target repository can run its own local GPU smoke test before review.
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