{ "architecture": { "enable_bev_segmentation": true, "enable_reasoning": false, "enable_route_conditioning": true, "enable_route_reconstruction": true, "enable_world_model": false, "freeze_bevformer": true, "identifier": "bevformer_v2_t8_split_navigation_v5", "num_views": 6 }, "checkpoint": { "config_sha256": "e06fb3943e32bdab7c8b53f597ec216d5636591a73a7206045a465ffa49d1ea0", "contains": [ "config", "config_sha256", "epoch", "metrics", "model_state_dict", "model_state_sha256", "optimizer_state_dict", "scheduler_state_dict", "training_state" ], "epoch": 5, "format": "PyTorch training checkpoint", "metrics_sha256": null, "model_state_sha256": "30ad1af5ab1ddfa14699f95751358608f929fb8c006f8f7e1347008179c90d9e", "path": "models/nuplan-epoch-5/checkpoint.pt", "sha256": "ca8b43d7a777d6fd9195bb253d1452f3cd645f7aab3bd0e36b1f74ffb31df29b", "size_bytes": 334907944 }, "display_name": "nuPlan Epoch 5", "evaluations": { "external_overlay_replay_v1": { "test": { "dataset": "kitscenes-test", "dataset_version": "v1.0", "input_track": "camera_only_missing_map_route", "model_reexecuted": false, "report_path": "evaluations/overlay-replay-v1/kitscenes-test/nuplan-epoch-5/report.json", "report_sha256": "fc5b19beea416706461b535314a497d6a2b929d97668e8475638ae04a65221b7", "sample_count": 23690, "trajectory": { "ade_1s_m": 0.16017068059452302, "ade_1s_sample_count": 23690, "ade_2s_m": 0.3979342750750205, "ade_2s_sample_count": 23690, "ade_3s_m": 0.7923739682724033, "ade_3s_sample_count": 23690, "ade_5s_m": 2.1119916453019565, "ade_5s_sample_count": 23690, "ade_6p4s_m": null, "ade_6p4s_sample_count": 0, "fde_1s_m": 0.3134281782098752, "fde_1s_sample_count": 23690, "fde_2s_m": 0.9727075050905802, "fde_2s_sample_count": 23690, "fde_3s_m": 2.1621481640709304, "fde_3s_sample_count": 23690, "fde_5s_m": 6.175121158406895, "fde_5s_sample_count": 23690, "fde_6p4s_m": null, "fde_6p4s_sample_count": 0, "mean_abs_lateral_error_m": 1.0584339709055983, "mean_abs_longitudinal_error_m": 1.5495691251398722, "nonfinite_prediction_count": 0, "nonfinite_prediction_rate": 0.0, "total_timestep_count": 1516160, "valid_horizon_coverage": 0.78125, "valid_timestep_count": 1184500 } }, "val": { "dataset": "kitscenes-val", "dataset_version": "v3.5", "input_track": "camera_map_route", "model_reexecuted": false, "report_path": "evaluations/overlay-replay-v1/kitscenes-val/nuplan-epoch-5/report.json", "report_sha256": "e45996448f95f193acfc225c37ff169fab64bb24b5ea7717928a20c426e7303b", "sample_count": 11035, "trajectory": { "ade_1s_m": 0.19511089635939421, "ade_1s_sample_count": 11035, "ade_2s_m": 0.4722640826416731, "ade_2s_sample_count": 11035, "ade_3s_m": 0.9147207671270287, "ade_3s_sample_count": 11035, "ade_5s_m": 2.295116252818514, "ade_5s_sample_count": 11035, "ade_6p4s_m": null, "ade_6p4s_sample_count": 0, "fde_1s_m": 0.37794148166995123, "fde_1s_sample_count": 11035, "fde_2s_m": 1.1331487579302755, "fde_2s_sample_count": 11035, "fde_3s_m": 2.422637476977514, "fde_3s_sample_count": 11035, "fde_5s_m": 6.388465638260406, "fde_5s_sample_count": 11035, "fde_6p4s_m": null, "fde_6p4s_sample_count": 0, "mean_abs_lateral_error_m": 1.19114795667851, "mean_abs_longitudinal_error_m": 1.6633371994012054, "nonfinite_prediction_count": 0, "nonfinite_prediction_rate": 0.0, "total_timestep_count": 706240, "valid_horizon_coverage": 0.78125, "valid_timestep_count": 551750 } } }, "internal_validation": { "ade_6p4s_m": 1.2667837238223, "bev_dynamic_macro_average_precision": 0.006642125301720789, "bev_static_macro_average_precision": 0.14298718688799092, "bev_vehicle_average_precision": 0.017910500586346273, "bev_vulnerable_road_user_average_precision": 0.0011931349457863422, "fde_6p4s_m": 3.8982392455945956, "route_corridor_iou": 0.9980338574990057 } }, "license_notice": { "checkpoint": "Other; see the repository model card.", "pretrained_component": "Official BEVFormer V2 R50 T8 initialization; weight license recorded as NOASSERTION.", "source_code": "Apache-2.0", "training_data_notice": "The pretrained component was trained on nuScenes, whose terms may impose additional restrictions." }, "limitations": [ "KITScenes Val uses an oracle post-hoc route reconstructed from the logged future trajectory.", "KITScenes Val and Test are different scene populations and are not a causal map or route ablation.", "External overlay replay evaluates published controls and does not re-run the model.", "Confidence intervals and per-sample route counterfactuals are not included.", "These open-loop checkpoints are not validated for safety-critical deployment." ], "lineage": { "parent": "Official BEVFormer V2 R50 T8 initialization", "training_stage": "nuPlan trajectory and route training with frozen camera BEV" }, "mlflow_registry": { "external_overlay_test_run_id": "db91565f5e4741e48bf242e7b3e86a02", "external_overlay_val_run_id": "0f9d11bd016448ac94d5095b7225e270", "internal_validation_run_id": "3d419166635a44edacf8503fe94d4805", "model_version": "65", "registered_model_name": "auto-e2e-driving-policy" }, "model_id": "nuplan-epoch-5", "published_at": "2026-09-16T02:26:06+00:00", "repository": "AutowareFoundation/auto_e2e", "schema_version": "auto_e2e_checkpoint_metadata_v1" }