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The dataset generation failed because of a cast error
Error code: DatasetGenerationCastError
Exception: DatasetGenerationCastError
Message: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 53 new columns ({'headway_lateral_clearance', 'progress_value', 'route_subset', 'future_avg_speed', 'control_rollout_value_1step', 'corridor_value', 'control_rollout_grad', 'feasible_mode', 'has_drivable_map', 'corridor_target_lateral', 'control_dt', 'corridor_available', 'future_displacement', 'corridor_center_value', 'headway_front_gap', 'traffic_light_state_counts', 'headway_actor_forward', 'future_window', 'progress_label_available', 'corridor_lookahead', 'step', 'control_rollout_value', 'control_rollout_min_z', 'headway_time_gap', 'control_rollout_z', 'vad_feature_status', 'num_actors', 'plan_values', 'has_green_light', 'vad_feature_file', 'u_nom', 'hj_min_value', 'solve_hj', 'route_segment', 'z0_value', 'file', 'headway_value', 'future_min_speed', 'z0_grad', 'control_rollout_grad_1step', 'has_front_image', 'headway_available', 'corridor_improvement', 'state_dim', 'has_red_or_yellow_light', 'headway_actor_id', 'ego_speed', 'timestamp', 'feasible_dilation', 'headway_actor_lateral_left', 'control_rollout_min_value', 'headway_required_gap', 'headway_actor_type'}) and 5 missing columns ({'grad_cos', 'epoch', 'band_mae', 'val_mae', 'frac_neg'}).
This happened while the json dataset builder was generating data using
hf://datasets/c-chua/navsim-hj-field/labels/dist1/2021.05.12.19.36.12_veh-35_00005_00204/manifest.json (at revision a5903ae5b3d5a7649bfd4b8b4a67326141b82e18), ['hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/checkpoints/field_clean_aug_history.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/checkpoints/field_clean_noaug_history.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_00005_00204/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_00215_00405/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_00416_00557/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_00568_01168/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_01179_01278/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_01400_01643/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_01744_01934/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_01945_02065/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_02079_02176/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.22.00.38_veh-35_00005_00118/manifest.json', 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'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.07.47.13_veh-50_00326_00708/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.07.47.13_veh-50_00736_00843/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.07.47.13_veh-50_00886_00952/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.07.47.13_veh-50_01020_01123/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.07.47.13_veh-50_01190_01452/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.07.47.13_veh-50_01513_02138/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.08.31.07_veh-50_00005_00242/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.08.31.07_veh-50_00282_00680/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.08.31.07_veh-50_00791_00954/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.08.31.07_veh-50_01001_01076/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.08.31.07_veh-50_01184_01318/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.08.31.07_veh-50_01365_01539/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.08.31.07_veh-50_01576_01734/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.08.31.07_veh-50_01750_01948/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.08.31.07_veh-50_01972_02057/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.08.31.07_veh-50_02146_02283/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.10.11.08.31.07_veh-50_02360_02684/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/manifest_labels.jsonl']
Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1848, in _prepare_split_single
writer.write_table(table)
~~~~~~~~~~~~~~~~~~^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 765, in write_table
self._write_table(pa_table, writer_batch_size=writer_batch_size)
~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 773, in _write_table
pa_table = table_cast(pa_table, self._schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2378, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2306, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
file: string
step: int64
timestamp: double
ego_speed: double
route_segment: int64
route_subset: string
hj_min_value: double
plan_values: list<item: double>
child 0, item: double
solve_hj: bool
state_dim: int64
has_drivable_map: bool
feasible_mode: string
feasible_dilation: int64
num_actors: int64
vad_feature_file: string
u_nom: list<item: double>
child 0, item: double
z0_value: double
z0_grad: list<item: double>
child 0, item: double
control_rollout_value: double
control_rollout_z: list<item: double>
child 0, item: double
control_rollout_grad: list<item: double>
child 0, item: double
control_rollout_value_1step: double
control_rollout_grad_1step: list<item: double>
child 0, item: double
control_rollout_min_value: double
control_rollout_min_z: list<item: double>
child 0, item: double
control_dt: double
vad_feature_status: string
has_front_image: bool
traffic_light_state_counts: struct<>
has_red_or_yellow_light: bool
has_green_light: bool
progress_label_available: bool
future_displacement: double
future_avg_speed: double
future_min_speed: double
future_window: double
progress_value: double
headway_available: bool
headway_value: double
headway_front_gap: double
headway_required_gap: double
headway_actor_id: int64
headway_actor_type: string
headway_actor_forward: double
headway_actor_lateral_left: double
headway_lateral_clearance: double
headway_time_gap: double
corridor_available: bool
corridor_value: double
corridor_center_value: double
corridor_improvement: double
corridor_target_lateral: double
corridor_lookahead: double
to
{'epoch': Value('int64'), 'val_mae': Value('float64'), 'band_mae': Value('float64'), 'grad_cos': Value('float64'), 'frac_neg': Value('float64')}
because column names don't match
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1694, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1850, in _prepare_split_single
raise DatasetGenerationCastError.from_cast_error(
...<4 lines>...
)
datasets.exceptions.DatasetGenerationCastError: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 53 new columns ({'headway_lateral_clearance', 'progress_value', 'route_subset', 'future_avg_speed', 'control_rollout_value_1step', 'corridor_value', 'control_rollout_grad', 'feasible_mode', 'has_drivable_map', 'corridor_target_lateral', 'control_dt', 'corridor_available', 'future_displacement', 'corridor_center_value', 'headway_front_gap', 'traffic_light_state_counts', 'headway_actor_forward', 'future_window', 'progress_label_available', 'corridor_lookahead', 'step', 'control_rollout_value', 'control_rollout_min_z', 'headway_time_gap', 'control_rollout_z', 'vad_feature_status', 'num_actors', 'plan_values', 'has_green_light', 'vad_feature_file', 'u_nom', 'hj_min_value', 'solve_hj', 'route_segment', 'z0_value', 'file', 'headway_value', 'future_min_speed', 'z0_grad', 'control_rollout_grad_1step', 'has_front_image', 'headway_available', 'corridor_improvement', 'state_dim', 'has_red_or_yellow_light', 'headway_actor_id', 'ego_speed', 'timestamp', 'feasible_dilation', 'headway_actor_lateral_left', 'control_rollout_min_value', 'headway_required_gap', 'headway_actor_type'}) and 5 missing columns ({'grad_cos', 'epoch', 'band_mae', 'val_mae', 'frac_neg'}).
This happened while the json dataset builder was generating data using
hf://datasets/c-chua/navsim-hj-field/labels/dist1/2021.05.12.19.36.12_veh-35_00005_00204/manifest.json (at revision a5903ae5b3d5a7649bfd4b8b4a67326141b82e18), ['hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/checkpoints/field_clean_aug_history.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/checkpoints/field_clean_noaug_history.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_00005_00204/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_00215_00405/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_00416_00557/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_00568_01168/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_01179_01278/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_01400_01643/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_01744_01934/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_01945_02065/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.19.36.12_veh-35_02079_02176/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.22.00.38_veh-35_00005_00118/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.22.00.38_veh-35_00129_00204/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.22.00.38_veh-35_00215_00995/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.22.00.38_veh-35_01008_01518/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.22.28.35_veh-35_00025_00115/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.22.28.35_veh-35_00126_00339/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.22.28.35_veh-35_00350_00568/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.22.28.35_veh-35_00620_01164/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.22.28.35_veh-35_01175_02127/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.22.28.35_veh-35_02138_02481/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.23.36.44_veh-35_00063_00141/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.23.36.44_veh-35_00152_00504/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.23.36.44_veh-35_00515_00701/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.23.36.44_veh-35_00712_00774/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.23.36.44_veh-35_00785_01041/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.23.36.44_veh-35_01133_01535/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.23.36.44_veh-35_01585_01724/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.23.36.44_veh-35_01735_01957/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.05.12.23.36.44_veh-35_02035_02387/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.06.07.11.59.52_veh-35_02283_02464/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.06.07.12.42.11_veh-38_01777_02078/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.06.07.12.42.11_veh-38_02445_02843/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.06.07.12.42.11_veh-38_03254_03455/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.06.07.12.54.00_veh-35_01843_02314/manifest.json', 'hf://datasets/c-chua/navsim-hj-field@a5903ae5b3d5a7649bfd4b8b4a67326141b82e18/labels/dist1/2021.06.07.13.53.57_veh-35_01772_02032/manifest.json', 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Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
epoch int64 | val_mae float64 | band_mae float64 | grad_cos float64 | frac_neg float64 |
|---|---|---|---|---|
1 | 0.200043 | 0.274859 | 0.61359 | 0.254094 |
2 | 0.174603 | 0.239578 | 0.683448 | 0.214796 |
3 | 0.174758 | 0.269552 | 0.706019 | 0.20295 |
4 | 0.166314 | 0.230737 | 0.689917 | 0.214234 |
5 | 0.14795 | 0.206553 | 0.743822 | 0.178228 |
6 | 0.158792 | 0.231058 | 0.779024 | 0.15132 |
7 | 0.152771 | 0.204229 | 0.792969 | 0.150092 |
8 | 0.144979 | 0.191237 | 0.80883 | 0.142998 |
9 | 0.146468 | 0.202602 | 0.850461 | 0.144854 |
10 | 0.136046 | 0.196996 | 0.869431 | 0.141503 |
11 | 0.130438 | 0.182445 | 0.877963 | 0.137025 |
12 | 0.136861 | 0.201318 | 0.893085 | 0.120885 |
13 | 0.131763 | 0.189996 | 0.887058 | 0.128241 |
14 | 0.118118 | 0.172855 | 0.896633 | 0.120872 |
15 | 0.118675 | 0.173192 | 0.900537 | 0.117832 |
16 | 0.11977 | 0.174978 | 0.906005 | 0.118718 |
17 | 0.110982 | 0.166552 | 0.907615 | 0.112739 |
18 | 0.110247 | 0.162132 | 0.907721 | 0.108616 |
19 | 0.108901 | 0.165216 | 0.91434 | 0.106995 |
20 | 0.104903 | 0.159299 | 0.915378 | 0.10622 |
21 | 0.106737 | 0.160131 | 0.918354 | 0.105458 |
22 | 0.104176 | 0.158234 | 0.919606 | 0.102495 |
23 | 0.103059 | 0.15585 | 0.919861 | 0.10335 |
24 | 0.101756 | 0.154297 | 0.918924 | 0.105227 |
1 | 0.182991 | 0.245122 | 0.464171 | 0.312831 |
2 | 0.160789 | 0.244882 | 0.660598 | 0.223929 |
3 | 0.154467 | 0.231802 | 0.704395 | 0.197447 |
4 | 0.150698 | 0.221217 | 0.729313 | 0.196666 |
5 | 0.127436 | 0.18068 | 0.749036 | 0.195753 |
6 | 0.141341 | 0.191201 | 0.838979 | 0.161493 |
7 | 0.129875 | 0.184009 | 0.878891 | 0.139107 |
8 | 0.12292 | 0.173916 | 0.886626 | 0.145607 |
9 | 0.131096 | 0.195042 | 0.901927 | 0.132054 |
10 | 0.128959 | 0.185397 | 0.934363 | 0.127896 |
11 | 0.119109 | 0.167354 | 0.963129 | 0.107017 |
12 | 0.138612 | 0.201434 | 0.973713 | 0.087597 |
13 | 0.111363 | 0.15627 | 0.979239 | 0.077887 |
14 | 0.109296 | 0.152614 | 0.981257 | 0.074366 |
15 | 0.110404 | 0.161519 | 0.982929 | 0.069131 |
16 | 0.107035 | 0.145084 | 0.984689 | 0.064513 |
17 | 0.100804 | 0.143117 | 0.985658 | 0.060953 |
18 | 0.09797 | 0.140492 | 0.986068 | 0.057146 |
19 | 0.093923 | 0.136778 | 0.987303 | 0.054711 |
20 | 0.091665 | 0.132156 | 0.9878 | 0.052818 |
21 | 0.090219 | 0.131707 | 0.988285 | 0.051894 |
22 | 0.089518 | 0.128224 | 0.988582 | 0.051238 |
23 | 0.088155 | 0.127466 | 0.988753 | 0.05046 |
24 | 0.087632 | 0.126385 | 0.988901 | 0.05042 |
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End of preview.
NavSim HJ Reachability Value Field
Training labels and trained checkpoints for a Hamilton–Jacobi (HJ) reachability value-field network used as a safety filter for end-to-end planners on NavSim v2 (navtrain / navhard_two_stage).
Contents
checkpoints/field_clean_noaug_gradcos0.9889.pt— value-field net trained on the clean (drop-followers) labels, no noise augmentation. Val grad-cosine 0.9889, MAE 0.088 (epoch 24).checkpoints/field_clean_aug_gradcos0.9199.pt— same labels, with noise augmentation. Val grad-cosine 0.9199, MAE 0.103 (epoch 23).checkpoints/*_history.json— per-epoch training curves for both runs.labels/dist1/— 32,434.npzHJ label grids generated from navtrain scenes (~40 GB): time-varying BRT, grid 96×72×17 (x ∈ [−16, 48] m, y ∈ [−24, 24] m, 17 headings), 9 time slices (0…4 s @ 0.5 s), v_max 16 m/s, recorded actor futures with followers dropped (--drop-followers --follower-min-speed -0.5), obstacle margin 0, disturbance sample (0.5, 0.3).labels/manifest_labels.jsonl— manifest from the build machine (absolute paths; regenerate for your filesystem).
Checkpoint format
torch.load(path) gives the model state plus grid metadata. Input is the
9-slice theta-collapsed SDF stack of a scene; the network outputs the value
field V (use autograd for ∇V). Route-holdout validation (94/1180 routes).
Provenance & license
Labels are derived from the OpenScene / nuPlan (navtrain) recordings via the NavSim devkit, and are released under CC BY-NC 4.0 in line with the upstream non-commercial terms. The checkpoints were trained only on these labels.
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