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"synthetic", "dataset_label": "Synthetic scenarios", "source": "synthetic", "svg_path": "assets/synthetic_easy_following.svg", "tags": [ "low_interaction" ], "reasons": [ "included as a low-interaction baseline" ], "score": { "interaction": 0.65, "taxonomy": 0, "components": { "density": 0.5, "vru": 0, "taxonomy": 0, "proximity": 0, "ttc": 0, "vru_proximity": 0, "path_conflict": 0, "dynamics": 0, "baseline_failure": 0.15 } }, "metrics": { "agent_count": 2, "scoring_agent_count": 2, "excluded_track_count": 0, "low_quality_track_count": 0, "vulnerable_road_user_count": 0, "scoring_vulnerable_road_user_count": 0, "sdc_track_present": true, "prediction_target_count": 0, "object_of_interest_count": 0, "min_pairwise_distance_m": 30, "min_vru_distance_m": null, "min_path_distance_m": 16, "min_time_to_collision_s": null, "max_speed_mps": 7, "ego_max_speed_mps": 7, "max_deceleration_mps2": null, "prediction_target_source": "non_ego_tracks", "prediction_target_evaluated_count": 1, 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"scoring_agent_count": 1, "excluded_track_count": 0, "low_quality_track_count": 0, "vulnerable_road_user_count": 0, "scoring_vulnerable_road_user_count": 0, "sdc_track_present": true, "prediction_target_count": 0, "object_of_interest_count": 0, "min_pairwise_distance_m": null, "min_vru_distance_m": null, "min_path_distance_m": null, "min_time_to_collision_s": null, "max_speed_mps": 10, "ego_max_speed_mps": 10, "max_deceleration_mps2": null, "prediction_target_source": "all_tracks", "prediction_target_evaluated_count": 1, "baseline_ade_m": 0, "baseline_fde_m": 0, "baseline_max_fde_m": 0, "baseline_miss_rate": 0, "baseline_failure_score": 0.15, "lane_aware_ade_m": 0, "lane_aware_fde_m": 0, "lane_aware_miss_rate": 0, "baseline_fde_improvement_m": 0, "lane_aware_map_used_count": 0, "lane_aware_fallback_count": 1, "lane_aware_fallback_reasons": [ "no_lane_map_features (1)" ] }, "tracks": { "count": 1, "ego_track_id": "ego", "agent_types": [ "vehicle" ] } } ], "case_diagnostics": { "format": "scenariolens.dashboard.case_diagnostics.v1", "study": "Heading-aware lane selection", "report_path": "https://github.com/ethanvillalovoz/scenariolens/blob/v1.0.1/docs/reports/waymo_heading_aware_lane_selection_study.md", "debug_report_path": "https://github.com/ethanvillalovoz/scenariolens/blob/v1.0.1/docs/reports/waymo_heading_aware_debug_casebook.md", "scope_note": "Heading-aware lane selection is an ablation beside the default nearest-lane baseline; it does not change ScenarioLens scoring and does not claim production map matching.", "source_count": 4, "scenario_count": 100, "summary": { "evaluated_target_count": 418, "constant_velocity_fde_m": 25.564, "nearest_lane_fde_m": 31.067, "heading_lane_fde_m": 30.578, "heading_vs_nearest_fde_improvement_m": 0.489, "heading_vs_constant_velocity_fde_improvement_m": -5.014, "constant_velocity_miss_rate": 0.94, "nearest_lane_miss_rate": 0.938, "heading_lane_miss_rate": 0.938, "nearest_map_used_count": 137, "heading_map_used_count": 132, "nearest_fallback_count": 281, "heading_fallback_count": 286 }, "fallback_reasons": [ { "reason": "target_too_far_from_lane", "count": 210 }, { "reason": "non_vehicle_or_cyclist_target", "count": 41 }, { "reason": "low_or_invalid_anchor_speed", "count": 27 }, { "reason": "lane_heading_misaligned", "count": 5 }, { "reason": "no_lane_map_features", "count": 3 } ], "sources": [ { "source_name": "validation.tfrecord-00007-of-00150", "ready": true, "scenario_count": 25, "evaluated_target_count": 101, "constant_velocity_fde_m": 26.663, "nearest_lane_fde_m": 34.139, "heading_lane_fde_m": 34.116, "heading_vs_nearest_fde_improvement_m": 0.023, "heading_vs_constant_velocity_fde_improvement_m": -7.453, "constant_velocity_miss_rate": 0.96, "nearest_lane_miss_rate": 0.96, "heading_lane_miss_rate": 0.96, "nearest_map_used_count": 36, "heading_map_used_count": 36, "nearest_fallback_count": 65, "heading_fallback_count": 65 }, { "source_name": "validation.tfrecord-00008-of-00150", "ready": true, "scenario_count": 25, "evaluated_target_count": 94, "constant_velocity_fde_m": 25.238, "nearest_lane_fde_m": 30.666, "heading_lane_fde_m": 29.82, "heading_vs_nearest_fde_improvement_m": 0.846, "heading_vs_constant_velocity_fde_improvement_m": -4.582, "constant_velocity_miss_rate": 0.947, "nearest_lane_miss_rate": 0.947, "heading_lane_miss_rate": 0.947, "nearest_map_used_count": 29, "heading_map_used_count": 27, "nearest_fallback_count": 65, "heading_fallback_count": 67 }, { "source_name": "validation.tfrecord-00009-of-00150", "ready": true, "scenario_count": 25, "evaluated_target_count": 107, "constant_velocity_fde_m": 21.204, "nearest_lane_fde_m": 25.07, "heading_lane_fde_m": 24.719, "heading_vs_nearest_fde_improvement_m": 0.351, "heading_vs_constant_velocity_fde_improvement_m": -3.515, "constant_velocity_miss_rate": 0.944, "nearest_lane_miss_rate": 0.935, "heading_lane_miss_rate": 0.935, "nearest_map_used_count": 32, "heading_map_used_count": 31, "nearest_fallback_count": 75, "heading_fallback_count": 76 }, { "source_name": "validation.tfrecord-00010-of-00150", "ready": true, "scenario_count": 25, "evaluated_target_count": 116, "constant_velocity_fde_m": 28.893, "nearest_lane_fde_m": 34.247, "heading_lane_fde_m": 33.515, "heading_vs_nearest_fde_improvement_m": 0.732, "heading_vs_constant_velocity_fde_improvement_m": -4.622, "constant_velocity_miss_rate": 0.914, "nearest_lane_miss_rate": 0.914, "heading_lane_miss_rate": 0.914, "nearest_map_used_count": 40, "heading_map_used_count": 38, "nearest_fallback_count": 76, "heading_fallback_count": 78 } ], "groups": [ { "group_id": "improvements", "label": "Largest improvements", "description": "Heading-aware lane selection reduced final displacement error versus nearest-lane selection.", "cases": [ { "scenario_id": "d30e6448f14e4c75", "source_name": "validation.tfrecord-00010-of-00150", "source_index": 4, "scenario_index": 2, "evaluated_target_count": 8, "constant_velocity_fde_m": 27.509, "nearest_lane_fde_m": 48.599, "heading_lane_fde_m": 36.443, "heading_vs_nearest_fde_improvement_m": 12.156, "heading_vs_constant_velocity_fde_improvement_m": -8.934, "nearest_map_used_count": 5, "heading_map_used_count": 3, "nearest_fallback_count": 3, "heading_fallback_count": 5, "top_heading_fallback_reason": "target_too_far_from_lane (3)" }, { "scenario_id": "7912ee9523cb6fd", "source_name": "validation.tfrecord-00008-of-00150", "source_index": 2, "scenario_index": 13, "evaluated_target_count": 4, "constant_velocity_fde_m": 26.353, "nearest_lane_fde_m": 41.547, "heading_lane_fde_m": 33.623, "heading_vs_nearest_fde_improvement_m": 7.924, "heading_vs_constant_velocity_fde_improvement_m": -7.27, "nearest_map_used_count": 3, "heading_map_used_count": 2, "nearest_fallback_count": 1, "heading_fallback_count": 2, "top_heading_fallback_reason": "lane_heading_misaligned (1)" }, { "scenario_id": "46c1c1fbe5ef29d1", "source_name": "validation.tfrecord-00007-of-00150", "source_index": 1, "scenario_index": 7, "evaluated_target_count": 6, "constant_velocity_fde_m": 20.759, "nearest_lane_fde_m": 41.729, "heading_lane_fde_m": 36.241, "heading_vs_nearest_fde_improvement_m": 5.488, "heading_vs_constant_velocity_fde_improvement_m": -15.482, "nearest_map_used_count": 3, "heading_map_used_count": 3, "nearest_fallback_count": 3, "heading_fallback_count": 3, "top_heading_fallback_reason": "target_too_far_from_lane (2)" }, { "scenario_id": "e3f6a29b59e42c1", "source_name": "validation.tfrecord-00008-of-00150", "source_index": 2, "scenario_index": 3, "evaluated_target_count": 5, "constant_velocity_fde_m": 50.124, "nearest_lane_fde_m": 53.824, "heading_lane_fde_m": 48.816, "heading_vs_nearest_fde_improvement_m": 5.008, "heading_vs_constant_velocity_fde_improvement_m": 1.308, "nearest_map_used_count": 4, "heading_map_used_count": 4, "nearest_fallback_count": 1, "heading_fallback_count": 1, "top_heading_fallback_reason": "target_too_far_from_lane (1)" }, { "scenario_id": "e5d86b1e27302416", "source_name": "validation.tfrecord-00009-of-00150", "source_index": 3, "scenario_index": 18, "evaluated_target_count": 7, "constant_velocity_fde_m": 23.166, "nearest_lane_fde_m": 41.63, "heading_lane_fde_m": 38.503, "heading_vs_nearest_fde_improvement_m": 3.127, "heading_vs_constant_velocity_fde_improvement_m": -15.337, "nearest_map_used_count": 5, "heading_map_used_count": 4, "nearest_fallback_count": 2, "heading_fallback_count": 3, "top_heading_fallback_reason": "lane_heading_misaligned (1)" }, { "scenario_id": "685a1cbb71a2c433", "source_name": "validation.tfrecord-00008-of-00150", "source_index": 2, "scenario_index": 15, "evaluated_target_count": 4, "constant_velocity_fde_m": 9.077, "nearest_lane_fde_m": 22.363, "heading_lane_fde_m": 19.491, "heading_vs_nearest_fde_improvement_m": 2.872, "heading_vs_constant_velocity_fde_improvement_m": -10.414, "nearest_map_used_count": 2, "heading_map_used_count": 2, "nearest_fallback_count": 2, "heading_fallback_count": 2, "top_heading_fallback_reason": "non_vehicle_or_cyclist_target (2)" } ] }, { "group_id": "regressions", "label": "Largest regressions", "description": "Heading-aware lane selection increased final displacement error versus nearest-lane selection.", "cases": [ { "scenario_id": "706fecd25045c8d", "source_name": "validation.tfrecord-00007-of-00150", "source_index": 1, "scenario_index": 6, "evaluated_target_count": 7, "constant_velocity_fde_m": 32.547, "nearest_lane_fde_m": 31.232, "heading_lane_fde_m": 35.605, "heading_vs_nearest_fde_improvement_m": -4.373, "heading_vs_constant_velocity_fde_improvement_m": -3.058, "nearest_map_used_count": 4, "heading_map_used_count": 4, "nearest_fallback_count": 3, "heading_fallback_count": 3, "top_heading_fallback_reason": "target_too_far_from_lane (2)" }, { "scenario_id": "63eca292d17e9a3a", "source_name": "validation.tfrecord-00010-of-00150", "source_index": 4, "scenario_index": 17, "evaluated_target_count": 4, "constant_velocity_fde_m": 48.569, "nearest_lane_fde_m": 47.85, "heading_lane_fde_m": 50.847, "heading_vs_nearest_fde_improvement_m": -2.997, "heading_vs_constant_velocity_fde_improvement_m": -2.278, "nearest_map_used_count": 2, "heading_map_used_count": 2, "nearest_fallback_count": 2, "heading_fallback_count": 2, "top_heading_fallback_reason": "low_or_invalid_anchor_speed (2)" }, { "scenario_id": "fe4a6425278fbd5b", "source_name": "validation.tfrecord-00010-of-00150", "source_index": 4, "scenario_index": 9, "evaluated_target_count": 8, "constant_velocity_fde_m": 39.665, "nearest_lane_fde_m": 46.65, "heading_lane_fde_m": 46.754, "heading_vs_nearest_fde_improvement_m": -0.104, "heading_vs_constant_velocity_fde_improvement_m": -7.089, "nearest_map_used_count": 4, "heading_map_used_count": 4, "nearest_fallback_count": 4, "heading_fallback_count": 4, "top_heading_fallback_reason": "target_too_far_from_lane (4)" }, { "scenario_id": "48b920063c9f98cc", "source_name": "validation.tfrecord-00009-of-00150", "source_index": 3, "scenario_index": 11, "evaluated_target_count": 4, "constant_velocity_fde_m": 17.285, "nearest_lane_fde_m": 27.985, "heading_lane_fde_m": 28.02, "heading_vs_nearest_fde_improvement_m": -0.035, "heading_vs_constant_velocity_fde_improvement_m": -10.735, "nearest_map_used_count": 3, "heading_map_used_count": 3, "nearest_fallback_count": 1, "heading_fallback_count": 1, "top_heading_fallback_reason": "non_vehicle_or_cyclist_target (1)" }, { "scenario_id": "77c44d1768793143", "source_name": "validation.tfrecord-00007-of-00150", "source_index": 1, "scenario_index": 12, "evaluated_target_count": 8, "constant_velocity_fde_m": 11.285, "nearest_lane_fde_m": 45.671, "heading_lane_fde_m": 45.671, "heading_vs_nearest_fde_improvement_m": 0, "heading_vs_constant_velocity_fde_improvement_m": -34.386, "nearest_map_used_count": 6, "heading_map_used_count": 6, "nearest_fallback_count": 2, "heading_fallback_count": 2, "top_heading_fallback_reason": "low_or_invalid_anchor_speed (1)" }, { "scenario_id": "ddaf259a043c2688", "source_name": "validation.tfrecord-00010-of-00150", "source_index": 4, "scenario_index": 25, "evaluated_target_count": 8, "constant_velocity_fde_m": 31.814, "nearest_lane_fde_m": 35.867, "heading_lane_fde_m": 35.867, "heading_vs_nearest_fde_improvement_m": 0, "heading_vs_constant_velocity_fde_improvement_m": -4.053, "nearest_map_used_count": 6, "heading_map_used_count": 6, "nearest_fallback_count": 2, "heading_fallback_count": 2, "top_heading_fallback_reason": "non_vehicle_or_cyclist_target (2)" } ] }, { "group_id": "fallbacks", "label": "Fallback-heavy cases", "description": "The lane selector fell back often enough to expose map coverage, distance threshold, or target-type limits.", "cases": [ { "scenario_id": "2f035a284480e981", "source_name": "validation.tfrecord-00010-of-00150", "source_index": 4, "scenario_index": 23, "evaluated_target_count": 8, "constant_velocity_fde_m": 31.995, "nearest_lane_fde_m": 31.995, "heading_lane_fde_m": 31.995, "heading_vs_nearest_fde_improvement_m": 0, "heading_vs_constant_velocity_fde_improvement_m": 0, "nearest_map_used_count": 0, "heading_map_used_count": 0, "nearest_fallback_count": 8, "heading_fallback_count": 8, "top_heading_fallback_reason": "target_too_far_from_lane (8)" }, { "scenario_id": "6bdc7f92afefff73", "source_name": "validation.tfrecord-00009-of-00150", "source_index": 3, "scenario_index": 23, "evaluated_target_count": 8, "constant_velocity_fde_m": 14.348, "nearest_lane_fde_m": 14.348, "heading_lane_fde_m": 14.348, "heading_vs_nearest_fde_improvement_m": 0, "heading_vs_constant_velocity_fde_improvement_m": 0, "nearest_map_used_count": 0, "heading_map_used_count": 0, "nearest_fallback_count": 8, "heading_fallback_count": 8, "top_heading_fallback_reason": "target_too_far_from_lane (8)" }, { "scenario_id": "937eb2fa17da45c0", "source_name": "validation.tfrecord-00009-of-00150", "source_index": 3, "scenario_index": 22, "evaluated_target_count": 8, "constant_velocity_fde_m": 18.817, "nearest_lane_fde_m": 18.817, "heading_lane_fde_m": 18.817, "heading_vs_nearest_fde_improvement_m": 0, "heading_vs_constant_velocity_fde_improvement_m": 0, "nearest_map_used_count": 0, "heading_map_used_count": 0, "nearest_fallback_count": 8, "heading_fallback_count": 8, "top_heading_fallback_reason": "target_too_far_from_lane (8)" }, { "scenario_id": "ed1dc559821784f8", "source_name": "validation.tfrecord-00008-of-00150", "source_index": 2, "scenario_index": 8, "evaluated_target_count": 8, "constant_velocity_fde_m": 20.197, "nearest_lane_fde_m": 20.197, "heading_lane_fde_m": 20.197, "heading_vs_nearest_fde_improvement_m": 0, "heading_vs_constant_velocity_fde_improvement_m": 0, "nearest_map_used_count": 0, "heading_map_used_count": 0, "nearest_fallback_count": 8, "heading_fallback_count": 8, "top_heading_fallback_reason": "target_too_far_from_lane (7)" }, { "scenario_id": "4cc3cc262460ff87", "source_name": "validation.tfrecord-00008-of-00150", "source_index": 2, "scenario_index": 19, "evaluated_target_count": 8, "constant_velocity_fde_m": 23.248, "nearest_lane_fde_m": 22.874, "heading_lane_fde_m": 22.874, "heading_vs_nearest_fde_improvement_m": 0, "heading_vs_constant_velocity_fde_improvement_m": 0.374, "nearest_map_used_count": 1, "heading_map_used_count": 1, "nearest_fallback_count": 7, "heading_fallback_count": 7, "top_heading_fallback_reason": "target_too_far_from_lane (5)" }, { "scenario_id": "5c49e681a66c720", "source_name": "validation.tfrecord-00010-of-00150", "source_index": 4, "scenario_index": 1, "evaluated_target_count": 8, "constant_velocity_fde_m": 22.976, "nearest_lane_fde_m": 25.149, "heading_lane_fde_m": 25.149, "heading_vs_nearest_fde_improvement_m": 0, "heading_vs_constant_velocity_fde_improvement_m": -2.173, "nearest_map_used_count": 1, "heading_map_used_count": 1, "nearest_fallback_count": 7, "heading_fallback_count": 7, "top_heading_fallback_reason": "target_too_far_from_lane (3)" } ] } ] } }