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Bugfix: Lateral Corridor Exit - #215
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mwatson-nvidia merged 1 commit intoOct 20, 2026
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Brings in NVlabs#215 (Bugfix: Lateral Corridor Exit) and NVlabs#217 (Enable report uploading). NVlabs#215 matters for our completed runs. left_corridor_laterally is a binary pass/fail criterion and accounted for 64% of failures in the curated_val run, so scenes where the recording ends with the ego stopped may have been misclassified: the old _end_direction() used only the final two GT coordinates, which are duplicates or jitter for a stopped vehicle, making longitudinal overshoot read as lateral departure. Only a scorer changed, so completed runs can be rescored from their ASLs with alpasim-reeval; no re-simulation needed. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
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Upstream NVlabs#215 (1b024f0) landed after our run. left_corridor_laterally is a binary pass/fail criterion, and the old direction calculation used the last two ground-truth coordinates, which are duplicates or jitter when the recording ends with the ego stopped -- scoring longitudinal overshoot as a lateral corridor exit. Rescored from the existing ASLs with alpasim-reeval (scorer-only change, no re-simulation): 250 -> 257 scenes passed, 122 -> 115 corridor failures, mean scene score 0.5455 -> 0.5614. Seven scenes were false positives. The earlier finding holds: corridor exit alone still accounts for 26% of scenes and 60% of failures. The Drive-IRT ranking deliberately stays on pre-fix scores. The bundled reference summaries predate NVlabs#215 and cannot be rescored (we have their results-summary.json, not their ASLs), so mixing post-fix ours with pre-fix theirs would credit us with false positives removed on one side only. Also records agreement with OPTED (arXiv:2609.20756), which evaluates Alpamayo 1.5 on the same 441 scenes: every closed-loop metric lands within or at their error bars. alpamayo15_curated_val_table.tex is a LaTeX table in their Table I format, with ADE and latency left blank since we measured neither comparably. fix_run_logs.sh repairs a shared-log problem: launch_train.sh appended two runs to one train_run.log, so per-scene counts scraped from it mixed the aborted sample400 run with mix200. It splits the log per run and patches the launcher to log into each run directory. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
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As described in #198 , the direction calculation used to determine whether a vehicle exited the corridor laterally was not robust to cases where the vehicle stopped at the end of the trajectory. This change addresses that gap by ensuring at least 1 meter exists between trajectory points when computing this direction vector.