Hugging Face's logo

SIMFORGE-AI
/
Pilot-4B-v1.5

Robotics
Safetensors
qwen_drive
autonomous-driving
end-to-end-driving
motion-planning
closed-loop
simulation
qwen-drive
Model card Files
xet
 Community
Pilot-4B-v1.5 / examples /sf-slowing /input.json
michaelvu1207's picture
michaelvu1207
Pilot-4B v1.5: weights, driver, inference example, model card
042382e verified
Raw History Blame Contribute Delete
16 kB
{
"description": "One planning decision from a SimForge closed-loop run (Helios renderer, San Francisco map). Frames are the exact JPEGs the benchmarked model consumed; poses are in the rig frame at t0 (x forward, y left, z up).",
"t0_s": 5.5,
"frames": {
"camera_front_wide_120fov": [
{
"file": "frames/camera_front_wide_120fov/0040.jpg",
"t_s": -1.5
},
{
"file": "frames/camera_front_wide_120fov/0045.jpg",
"t_s": -1.0
},
{
"file": "frames/camera_front_wide_120fov/0050.jpg",
"t_s": -0.5
},
{
"file": "frames/camera_front_wide_120fov/0055.jpg",
"t_s": 0.0
}
],
"camera_cross_left_120fov": [
{
"file": "frames/camera_cross_left_120fov/0040.jpg",
"t_s": -1.5
},
{
"file": "frames/camera_cross_left_120fov/0045.jpg",
"t_s": -1.0
},
{
"file": "frames/camera_cross_left_120fov/0050.jpg",
"t_s": -0.5
},
{
"file": "frames/camera_cross_left_120fov/0055.jpg",
"t_s": 0.0
}
],
"camera_cross_right_120fov": [
{
"file": "frames/camera_cross_right_120fov/0040.jpg",
"t_s": -1.5
},
{
"file": "frames/camera_cross_right_120fov/0045.jpg",
"t_s": -1.0
},
{
"file": "frames/camera_cross_right_120fov/0050.jpg",
"t_s": -0.5
},
{
"file": "frames/camera_cross_right_120fov/0055.jpg",
"t_s": 0.0
}
]
},
"ego_history_t_s": [
-1.5,
-1.4,
-1.3,
-1.2,
-1.1,
-1.0,
-0.9,
-0.8,
-0.7,
-0.6,
-0.5,
-0.4,
-0.3,
-0.2,
-0.1,
0.0
],
"ego_history_xyz": [
[
-9.748754096316134,
0.08668708137329847,
0.0
],
[
-8.991450852431965,
0.08234942908745685,
0.0
],
[
-8.237051086303014,
0.0805095681531644,
0.0
],
[
-7.489826603203711,
0.07987155362599968,
0.0
],
[
-6.752557556638831,
0.07668646716203695,
0.0
],
[
-6.026368871185309,
0.06908023107025232,
0.0
],
[
-5.313650425308836,
0.056592421610983656,
0.0
],
[
-4.618673440105119,
0.039375462265478695,
0.0
],
[
-3.9452597041533837,
0.019877377889768302,
0.0
],
[
-3.300192802716709,
0.003770631378682429,
0.0
],
[
-2.685443030703156,
-0.0064874931917576345,
0.0
],
[
-2.0941734471050077,
-0.010759422636710689,
0.0
],
[
-1.5230908022164815,
-0.0098275043754123,
0.0
],
[
-0.9778487627613925,
-0.005765873078402116,
0.0
],
[
-0.46845242685267774,
-0.00208175864637844,
0.0
],
[
0.0,
0.0,
0.0
]
],
"ego_history_rot": [
[
[
0.9999743050426432,
0.0071686298888186985,
0.0
],
[
-0.0071686298888186985,
0.9999743050426432,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
0.9999789482737463,
0.006488683173961978,
0.0
],
[
-0.006488683173961978,
0.9999789482737463,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
0.9999894806114324,
0.004586792613318632,
0.0
],
[
-0.004586792613318632,
0.9999894806114324,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
0.9999957751153417,
0.002906845621463032,
0.0
],
[
-0.002906845621463032,
0.9999957751153417,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
0.999993499053527,
0.0036058079099922295,
0.0
],
[
-0.0036058079099922295,
0.999993499053527,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
0.9999774020216802,
0.0067227558315858,
0.0
],
[
-0.0067227558315858,
0.9999774020216802,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
0.9999340691599569,
0.011482914839476967,
0.0
],
[
-0.011482914839476967,
0.9999340691599569,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
0.9998532256985253,
0.01713263144568798,
0.0
],
[
-0.01713263144568798,
0.9998532256985253,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
0.9997614529236505,
0.021841182385377012,
0.0
],
[
-0.021841182385377012,
0.9997614529236505,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
0.9997385138209519,
0.022867093892193057,
0.0
],
[
-0.022867093892193057,
0.9997385138209519,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
0.9997909104116361,
0.02044836077224192,
0.0
],
[
-0.02044836077224192,
0.9997909104116361,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
0.9998757272402401,
0.015764836688050423,
0.0
],
[
-0.015764836688050423,
0.9998757272402401,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
0.999950266669847,
0.009973173361666442,
0.0
],
[
-0.009973173361666442,
0.999950266669847,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
0.9999893329424979,
0.004618874453582218,
0.0
],
[
-0.004618874453582218,
0.9999893329424979,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
0.9999990586323568,
0.0013721276909147713,
0.0
],
[
-0.0013721276909147713,
0.9999990586323568,
0.0
],
[
0.0,
0.0,
1.0
]
],
[
[
1.0,
-0.0,
0.0
],
[
0.0,
1.0,
0.0
],
[
0.0,
0.0,
1.0
]
]
],
"route_xyz": [
[
-0.0896,
1.0965,
0.0
],
[
0.1015,
1.1073,
0.0
],
[
0.3169,
1.1193,
0.0
],
[
0.5566,
1.1327,
0.0
],
[
0.8207,
1.1473,
0.0
],
[
1.1091,
1.1631,
0.0
],
[
1.4218,
1.1804,
0.0
],
[
1.7589,
1.1991,
0.0
],
[
2.1203,
1.219,
0.0
],
[
2.5061,
1.2401,
0.0
],
[
2.9162,
1.2621,
0.0
],
[
3.3507,
1.2846,
0.0
],
[
3.8095,
1.3074,
0.0
],
[
4.2928,
1.3302,
0.0
],
[
4.8005,
1.3522,
0.0
],
[
5.3326,
1.3731,
0.0
],
[
5.8891,
1.3923,
0.0
],
[
6.4701,
1.4098,
0.0
],
[
7.0754,
1.4253,
0.0
],
[
7.7052,
1.4391,
0.0
],
[
8.3594,
1.451,
0.0
],
[
9.038,
1.4609,
0.0
],
[
9.741,
1.4692,
0.0
],
[
10.4677,
1.4761,
0.0
],
[
11.2146,
1.4822,
0.0
],
[
11.9779,
1.4882,
0.0
],
[
12.7543,
1.4952,
0.0
],
[
13.5404,
1.5037,
0.0
],
[
14.3313,
1.5146,
0.0
],
[
15.122,
1.5283,
0.0
],
[
15.909,
1.5448,
0.0
],
[
16.6918,
1.5643,
0.0
],
[
17.4704,
1.5865,
0.0
],
[
18.2448,
1.6111,
0.0
],
[
19.015,
1.6378,
0.0
],
[
19.7811,
1.6659,
0.0
],
[
20.543,
1.6951,
0.0
],
[
21.3007,
1.7247,
0.0
],
[
22.0544,
1.7543,
0.0
],
[
22.804,
1.7837,
0.0
],
[
23.5495,
1.8128,
0.0
],
[
24.2908,
1.8416,
0.0
],
[
25.0281,
1.8702,
0.0
],
[
25.7613,
1.8988,
0.0
],
[
26.4903,
1.9275,
0.0
],
[
27.2153,
1.9563,
0.0
],
[
27.9361,
1.9855,
0.0
],
[
28.6528,
2.0149,
0.0
],
[
29.3654,
2.0444,
0.0
],
[
30.0739,
2.074,
0.0
],
[
30.7783,
2.1036,
0.0
],
[
31.4786,
2.1329,
0.0
],
[
32.1748,
2.1621,
0.0
],
[
32.867,
2.1909,
0.0
],
[
33.555,
2.2195,
0.0
],
[
34.239,
2.2477,
0.0
],
[
34.9188,
2.2757,
0.0
],
[
35.5946,
2.3035,
0.0
],
[
36.2663,
2.3311,
0.0
],
[
36.9339,
2.3586,
0.0
],
[
37.5974,
2.3859,
0.0
],
[
38.2568,
2.4132,
0.0
],
[
38.9121,
2.4403,
0.0
],
[
39.5633,
2.4672,
0.0
],
[
40.2105,
2.494,
0.0
],
[
40.8536,
2.5207,
0.0
],
[
41.4926,
2.5471,
0.0
],
[
42.1275,
2.5733,
0.0
],
[
42.7583,
2.5993,
0.0
],
[
43.385,
2.6251,
0.0
],
[
44.0077,
2.6507,
0.0
],
[
44.6263,
2.6761,
0.0
],
[
45.2408,
2.7013,
0.0
],
[
45.8512,
2.7263,
0.0
],
[
46.4576,
2.7512,
0.0
],
[
47.0599,
2.7759,
0.0
],
[
47.6581,
2.8004,
0.0
],
[
48.2522,
2.8247,
0.0
],
[
48.8423,
2.8489,
0.0
],
[
49.4283,
2.8729,
0.0
],
[
50.0102,
2.8967,
0.0
],
[
50.588,
2.9204,
0.0
],
[
51.1618,
2.9439,
0.0
],
[
51.7315,
2.9672,
0.0
],
[
52.2971,
2.9903,
0.0
],
[
52.8587,
3.0132,
0.0
],
[
53.4162,
3.036,
0.0
],
[
53.9696,
3.0586,
0.0
],
[
54.519,
3.081,
0.0
],
[
55.0643,
3.1033,
0.0
],
[
55.6056,
3.1253,
0.0
],
[
56.1428,
3.1473,
0.0
],
[
56.6759,
3.169,
0.0
],
[
57.2049,
3.1906,
0.0
],
[
57.7299,
3.212,
0.0
],
[
58.2509,
3.2333,
0.0
],
[
58.7678,
3.2544,
0.0
]
],
"seed": 50,
"cameras": {
"camera_front_wide_120fov": {
"model": "ftheta",
"width": 1920,
"height": 1080,
"principal_point": [
955.5762939453125,
750.2820434570312
],
"angle_to_pixeldist_poly": [
0.0,
943.9285278320312,
-3.325655937194824,
14.057404518127441,
-58.72725296020508,
26.824981689453125
],
"max_angle_rad": 1.3430308594096367,
"linear_cde": [
1.0,
0.0,
0.0
],
"position_flu_m": [
0.5486201047897339,
-0.06000761687755585,
1.5677570104599
],
"yaw_rad": 0.004667994179340371,
"pitch_rad": 0.008649366542623377
},
"camera_cross_left_120fov": {
"model": "ftheta",
"width": 1920,
"height": 1080,
"principal_point": [
959.609130859375,
745.4165649414062
],
"angle_to_pixeldist_poly": [
0.0,
939.0885009765625,
-0.463826447725296,
0.9137136340141296,
-28.807384490966797,
9.708581924438477
],
"max_angle_rad": 1.3493140447168162,
"linear_cde": [
1.0,
0.0,
0.0
],
"position_flu_m": [
1.1187547445297241,
0.9440615177154541,
0.9590049982070923
],
"yaw_rad": 1.1681237767722186,
"pitch_rad": -0.003093030949713773
},
"camera_cross_right_120fov": {
"model": "ftheta",
"width": 1920,
"height": 1080,
"principal_point": [
957.3162231445312,
744.092041015625
],
"angle_to_pixeldist_poly": [
0.0,
938.9716796875,
-0.51352858543396,
-3.7272329330444336,
-21.660886764526367,
5.99478006362915
],
"max_angle_rad": 1.3555972300239958,
"linear_cde": [
1.0,
0.0,
0.0
],
"position_flu_m": [
1.0718811750411987,
-0.9682837724685669,
0.9591196775436401
],
"yaw_rad": -1.1621362135973432,
"pitch_rad": -0.004082877508353998
}
},
"reference": {
"source": "trajectory served by the benchmarked image at this decision",
"decision": "d0055",
"nav_command": "straight",
"trajectory_xyz": [
[
0.36254478225115694,
0.005687092008952925,
0.0
],
[
0.7250871396818628,
0.005555719015253093,
0.0
],
[
1.0070516003748038,
0.00795019223593494,
0.0
],
[
1.3695667879202782,
0.01269172554085268,
0.0
],
[
1.6112350674722076,
0.017909023838228167,
0.0
],
[
1.8730532762399208,
0.02395616692303629,
0.0
],
[
2.05432530611663,
0.03025041741131754,
0.0
],
[
2.215464007676934,
0.03540507994989585,
0.0
],
[
2.336344963897443,
0.03800313238042945,
0.0
],
[
2.4169468658370397,
0.038236553581194745,
0.0
],
[
2.4773871849184372,
0.038726427062846784,
0.0
],
[
2.5378261042130656,
0.03806710080364973,
0.0
],
[
2.557975721366933,
0.037934669441282355,
0.0
],
[
2.5781219559700306,
0.03922864021510934,
0.0
],
[
2.638549373307188,
0.0392721841483528,
0.0
],
[
2.678832819825317,
0.03854868139549568,
0.0
],
[
2.7191153482189607,
0.040370419497529154,
0.0
],
[
2.719112488598621,
0.0405635260029073,
0.0
],
[
2.759394034397312,
0.04065829132066022,
0.0
],
[
2.7996724968405378,
0.041470720136362,
0.0
],
[
2.7996645671001,
0.040405208048943236,
0.0
],
[
2.839937549941025,
0.03942066171882481,
0.0
],
[
2.8802187662553003,
0.0378786636902633,
0.0
],
[
2.9406429296822623,
0.03950471539729663,
0.0
],
[
3.0010602114841607,
0.037827563451702,
0.0
],
[
3.1017629618978733,
0.03674285613225744,
0.0
],
[
3.2024582171742706,
0.035958682261166004,
0.0
],
[
3.3434536626641256,
0.03645094412191807,
0.0
],
[
3.504591112450168,
0.0358690284959345,
0.0
],
[
3.7664347215398735,
0.03393192083460046,
0.0
],
[
4.00814979338444,
0.0346564090733367,
0.0
],
[
4.390844875548135,
0.03237822023793217,
0.0
],
[
4.713133040104006,
0.038566838419507136,
0.0
],
[
5.075680863985573,
0.043647781954496964,
0.0
],
[
5.397928081164423,
0.05365281058685601,
0.0
],
[
5.800731398892501,
0.05443902740576738,
0.0
],
[
6.243766256622773,
0.06303752210227906,
0.0
],
[
6.646492819764667,
0.07665441698019657,
0.0
],
[
7.0491755500224915,
0.09426644341300372,
0.0
],
[
7.693435716280266,
0.12017065792674102,
0.0
],
[
8.377993543839924,
0.14253879759301785,
0.0
],
[
8.8611717858895,
0.16217495937775897,
0.0
],
[
9.505409917285764,
0.18980077912414894,
0.0
],
[
10.149600608204786,
0.2207570918496327,
0.0
],
[
10.793962397030574,
0.2432027010308357,
0.0
],
[
11.438131461824081,
0.28046182073685766,
0.0
],
[
12.16300352194356,
0.3240664449486897,
0.0
],
[
13.048997843927577,
0.3890327542719058,
0.0
],
[
13.85479813925383,
0.4325628257921145,
0.0
],
[
14.821623765839917,
0.47167407100130215,
0.0
]
],
"headings": [
0.002348184585571289,
0.003785848617553711,
0.006229877471923828,
0.0092010498046875,
0.011261701583862305,
0.012555599212646484,
0.012555599212646484,
0.012363910675048828,
0.01049494743347168,
0.007859230041503906,
0.00637364387512207,
0.004624605178833008,
0.0032346248626708984,
0.0020368099212646484,
0.000766754150390625,
-0.0005061626434326172,
-0.0010843276977539062,
-0.002252340316772461,
-0.0027077198028564453,
-0.003713846206665039,
-0.004959821701049805,
-0.0056307315826416016,
-0.006421566009521484,
-0.006613254547119141,
-0.0072362422943115234,
-0.007715463638305664,
-0.008769750595092773,
-0.008434295654296875,
-0.008050918579101562,
-0.007811307907104492,
-0.006277799606323242,
-0.0057506561279296875,
-0.00153350830078125,
0.0019288063049316406,
0.005367279052734375,
0.008242607116699219,
0.01332235336303711,
0.01792287826538086,
0.022906780242919922,
0.029903411865234375,
0.03527069091796875,
0.03929615020751953,
0.04408836364746094,
0.049072265625,
0.051372528076171875,
0.055973052978515625,
0.05865669250488281,
0.06134033203125,
0.05980682373046875,
0.05942344665527344
],
"selection": {
"k": 10,
"pick": 0,
"brake": 0.0,
"n_det": 10
},
"frame": "ego@t0 footprint-centre FLU"
}
}