langauge2drive.RealSim/runtime/eval.json

{
  "aggregation_modifiers": {
    "max_dist_to_gt_trajectory": 4.0
  },
  "allow_aggregation_with_failed_rollouts": false,
  "enabled": true,
  "num_processes": 1,
  "parse_unstructured_debug_info": true,
  "scene_score": {
    "enabled": true,
    "min_gt_distance_for_full_score_m": 5.0,
    "progress_saturation_threshold": 0.8
  },
  "scorers": {
    "image": {
      "camera_logical_id": "camera_front_wide_120fov"
    },
    "min_ade": {
      "incl_z": false,
      "target": "GT",
      "time_deltas": [
        0.5,
        1.0,
        2.5,
        5.0
      ]
    },
    "open_loop_collision": {
      "horizon_s": 3.0
    },
    "plan_deviation": {
      "avg_decay_rate": 0.1,
      "incl_z": false,
      "min_timesteps": 5
    }
  },
  "vec_map": {
    "incl_road_edges": true,
    "incl_traffic_signs": true,
    "incl_wait_lines": true,
    "max_num_lanes": 20,
    "num_pts_per_lane": 20
  },
  "vehicle": {
    "vehicle_corner_roundness": 0.5,
    "vehicle_shrink_factor": 0.02
  },
  "video": {
    "camera_id_to_render": "camera_front_wide_120fov",
    "combined_video_speed_factor": 0.33,
    "generate_combined_video": false,
    "map_video": {
      "ego_loc": "BOTTOM_CENTER",
      "map_elements_to_plot": [
        "ROAD_LANE_CENTER",
        "ROAD_LANE_LEFT_EDGE",
        "ROAD_LANE_RIGHT_EDGE",
        "ROAD_EDGE",
        "STOP_LINE",
        "GT_LINESTRING",
        "EGO_GT_GHOST_POLYGON",
        "DRIVER_RESPONSES",
        "ROUTE",
        "AGENTS",
        "AGENT_IDS",
        "TRAFFIC_PREDICTIONS"
      ],
      "map_radius_m": 20,
      "rotate_map_to_ego": true
    },
    "metrics_table_entries": [
      "offroad_or_collision_at_fault",
      "collision_any",
      "collision_at_fault",
      "collision_front",
      "collision_lateral",
      "collision_rear",
      "offroad",
      "dist_to_gt_trajectory",
      "dist_to_gt_location",
      "progress",
      "progress_rel_to_total",
      "progress_rel",
      "safety_monitor_triggered"
    ],
    "overlay_plans_on_camera": true,
    "reasoning_text_refresh_interval_s": 1.0,
    "render_every_nth_frame": 1,
    "render_video": false,
    "video_layouts": [
      "DEFAULT"
    ]
  }
}