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V5 Closed-Loop Simulation (Phase 1: Offline Replay)

각 프레임의 예측 action을 누적해 kinematic trajectory를 생성하고 expert trajectory와 비교. 성공 기준: FPE < 0.5m AND TLD ∈ [0.7, 1.5].

step2
50.0%
success rate
FPE: 0.70m   TLD: 0.93
exp11
0.0%
success rate
FPE: 1.45m   TLD: 1.03
step3
60.0%
success rate
FPE: 0.48m   TLD: 0.97
exp17
11.1%
success rate
FPE: 1.04m   TLD: 1.08
exp18
11.1%
success rate
FPE: 1.04m   TLD: 1.08
exp19
55.6%
success rate
FPE: 0.51m   TLD: 0.95
exp49
96.7%
success rate
FPE: 0.08m   TLD: 1.00
exp50
83.3%
success rate
FPE: 0.24m   TLD: 1.00
exp51
96.7%
success rate
FPE: 0.16m   TLD: 1.00
exp52
93.3%
success rate
FPE: 0.13m   TLD: 1.00
exp54_s2v2
96.6%
success rate
FPE: 0.10m   TLD: 1.01
exp55
96.7%
success rate
FPE: 0.12m   TLD: 1.02
exp54_s2v2_free
0.0%
success rate
FPE: 2.16m   TLD: 1.09
exp53
96.6%
success rate
FPE: 0.13m   TLD: 0.99
exp65_base
0.0%
success rate
FPE: 1.56m   TLD: 1.24
exp60_exp59
62.1%
success rate
FPE: 0.47m   TLD: 1.04
exp54_hsv
96.6%
success rate
FPE: 0.11m   TLD: 1.01
exp65b_base243
10.3%
success rate
FPE: 0.94m   TLD: 0.93
exp66_basepg2_aug
96.6%
success rate
FPE: 0.10m   TLD: 1.01
exp67_exp59_aug
96.6%
success rate
FPE: 0.11m   TLD: 1.00
chair_pg2_aug_cl
57.1%
success rate
FPE: 0.87m   TLD: 1.02
exp68_linear
69.0%
success rate
FPE: 0.38m   TLD: 1.00
exp69_fc
93.1%
success rate
FPE: 0.11m   TLD: 0.99
exp70_lstm
96.6%
success rate
FPE: 0.11m   TLD: 0.99
lstm_w4
96.6%
success rate
FPE: 0.12m   TLD: 0.99
lstm_w16
96.6%
success rate
FPE: 0.08m   TLD: 0.99
exp66_base150
96.6%
success rate
FPE: 0.10m   TLD: 1.01
balanced174_pg2
82.4%
success rate
FPE: 0.31m   TLD: 1.00
all243_pg2
93.8%
success rate
FPE: 0.25m   TLD: 1.01
sw1x
96.6%
success rate
FPE: 0.25m   TLD: 0.96
sw2x
89.7%
success rate
FPE: 0.26m   TLD: 0.96
sw5x
96.6%
success rate
FPE: 0.26m   TLD: 0.96
sw10x
89.7%
success rate
FPE: 0.26m   TLD: 0.98
baseline_v0_stop_aware
79.3%
success rate
FPE: 0.26m   TLD: 0.99
sw5x_stop_aware
96.6%
success rate
FPE: 0.26m   TLD: 0.96
N1
96.6%
success rate
FPE: 0.26m   TLD: 0.96
N3
41.4%
success rate
FPE: 0.61m   TLD: 0.87
N5
13.8%
success rate
FPE: 0.76m   TLD: 0.82
N10
0.0%
success rate
FPE: 1.30m   TLD: 0.43
exp71
100.0%
success rate
FPE: 0.00m   TLD: 1.00
exp72
100.0%
success rate
FPE: 0.00m   TLD: 1.00

Per Path Type

Path Typestep2 successstep2 FPEexp11 successexp11 FPEstep3 successstep3 FPEexp17 successexp17 FPEexp18 successexp18 FPEexp19 successexp19 FPEexp49 successexp49 FPEexp50 successexp50 FPEexp51 successexp51 FPEexp52 successexp52 FPEexp54_s2v2 successexp54_s2v2 FPEexp55 successexp55 FPEexp54_s2v2_free successexp54_s2v2_free FPEexp53 successexp53 FPEexp65_base successexp65_base FPEexp60_exp59 successexp60_exp59 FPEexp54_hsv successexp54_hsv FPEexp65b_base243 successexp65b_base243 FPEexp66_basepg2_aug successexp66_basepg2_aug FPEexp67_exp59_aug successexp67_exp59_aug FPEchair_pg2_aug_cl successchair_pg2_aug_cl FPEexp68_linear successexp68_linear FPEexp69_fc successexp69_fc FPEexp70_lstm successexp70_lstm FPElstm_w4 successlstm_w4 FPElstm_w16 successlstm_w16 FPEexp66_base150 successexp66_base150 FPEbalanced174_pg2 successbalanced174_pg2 FPEall243_pg2 successall243_pg2 FPEsw1x successsw1x FPEsw2x successsw2x FPEsw5x successsw5x FPEsw10x successsw10x FPEbaseline_v0_stop_aware successbaseline_v0_stop_aware FPEsw5x_stop_aware successsw5x_stop_aware FPEN1 successN1 FPEN3 successN3 FPEN5 successN5 FPEN10 successN10 FPEexp71 successexp71 FPEexp72 successexp72 FPE
center_straight0% (0/1)0.64m0% (0/1)1.72m100% (4/4)0.29m0% (0/1)1.61m0% (0/1)1.61m100% (1/1)0.33m100% (4/4)0.10m100% (4/4)0.25m100% (4/4)0.22m100% (4/4)0.13m100% (4/4)0.15m100% (4/4)0.18m——100% (4/4)0.09m0% (0/4)1.35m100% (4/4)0.00m100% (4/4)0.15m0% (0/4)1.20m100% (4/4)0.19m100% (4/4)0.27m100% (2/2)0.43m50% (2/4)0.43m100% (4/4)0.18m100% (4/4)0.08m100% (4/4)0.08m100% (4/4)0.12m100% (4/4)0.19m100% (5/5)0.18m100% (4/4)0.14m100% (4/4)0.29m50% (2/4)0.39m100% (4/4)0.33m75% (3/4)0.31m100% (4/4)0.15m100% (4/4)0.33m100% (4/4)0.33m0% (0/4)0.98m0% (0/4)1.14m0% (0/4)1.33m100% (1/1)0.00m100% (1/1)0.00m
center_left0% (0/1)1.63m0% (0/1)1.85m0% (0/3)0.74m0% (0/1)0.70m0% (0/1)0.70m100% (1/1)0.23m100% (3/3)0.08m67% (2/3)0.38m100% (3/3)0.11m100% (3/3)0.04m100% (3/3)0.08m100% (3/3)0.15m——100% (3/3)0.28m0% (0/3)1.35m67% (2/3)0.40m100% (3/3)0.08m0% (0/3)1.21m100% (3/3)0.15m100% (3/3)0.04m0% (0/2)1.09m33% (1/3)0.54m100% (3/3)0.08m100% (3/3)0.11m100% (3/3)0.09m100% (3/3)0.04m100% (3/3)0.15m67% (2/3)0.35m100% (3/3)0.35m100% (3/3)0.26m100% (3/3)0.33m100% (3/3)0.19m100% (3/3)0.24m100% (3/3)0.19m100% (3/3)0.19m100% (3/3)0.19m0% (0/3)0.84m0% (0/3)0.96m0% (0/3)1.37m100% (1/1)0.00m100% (1/1)0.00m
center_right100% (1/1)0.35m0% (0/1)1.14m67% (2/3)0.52m100% (1/1)0.46m100% (1/1)0.46m100% (1/1)0.49m100% (3/3)0.04m67% (2/3)0.42m100% (3/3)0.08m100% (3/3)0.08m100% (3/3)0.15m100% (3/3)0.04m——100% (3/3)0.11m0% (0/3)1.92m33% (1/3)0.55m100% (3/3)0.08m0% (0/3)1.38m100% (3/3)0.08m100% (3/3)0.04m67% (2/3)1.02m67% (2/3)0.46m100% (3/3)0.04m100% (3/3)0.11m100% (3/3)0.00m100% (3/3)0.00m100% (3/3)0.08m100% (3/3)0.11m100% (3/3)0.08m100% (3/3)0.16m100% (3/3)0.16m100% (3/3)0.26m100% (3/3)0.26m100% (3/3)0.19m100% (3/3)0.26m100% (3/3)0.26m67% (2/3)0.37m0% (0/3)0.65m0% (0/3)1.21m100% (1/1)0.00m100% (1/1)0.00m
left_straight——0% (0/1)1.19m100% (4/4)0.21m0% (0/1)0.82m0% (0/1)0.82m100% (1/1)0.46m100% (4/4)0.00m100% (4/4)0.00m100% (4/4)0.00m100% (4/4)0.05m100% (3/3)0.04m100% (4/4)0.06m——100% (3/3)0.00m0% (0/3)1.89m100% (3/3)0.16m100% (3/3)0.00m0% (0/3)1.19m100% (3/3)0.00m100% (3/3)0.00m——100% (3/3)0.32m100% (3/3)0.00m100% (3/3)0.00m100% (3/3)0.00m100% (3/3)0.00m100% (3/3)0.00m100% (3/3)0.23m100% (4/4)0.12m100% (3/3)0.13m100% (3/3)0.13m100% (3/3)0.15m100% (3/3)0.12m100% (3/3)0.04m100% (3/3)0.15m100% (3/3)0.15m100% (3/3)0.28m33% (1/3)0.53m0% (0/3)1.27m————
left_left0% (0/1)1.24m0% (0/1)1.80m33% (1/3)0.53m0% (0/1)1.22m0% (0/1)1.22m0% (0/1)0.85m100% (3/3)0.11m100% (3/3)0.19m100% (3/3)0.04m100% (3/3)0.16m100% (3/3)0.15m100% (3/3)0.00m——100% (3/3)0.08m0% (0/3)0.88m67% (2/3)0.38m100% (3/3)0.16m0% (0/3)0.83m100% (3/3)0.15m100% (3/3)0.08m——100% (3/3)0.31m100% (3/3)0.00m100% (3/3)0.08m100% (3/3)0.11m100% (3/3)0.13m100% (3/3)0.15m100% (3/3)0.27m100% (5/5)0.05m100% (3/3)0.34m100% (3/3)0.28m100% (3/3)0.33m100% (3/3)0.32m100% (3/3)0.20m100% (3/3)0.33m100% (3/3)0.33m0% (0/3)0.59m0% (0/3)0.69m0% (0/3)1.43m100% (1/1)0.00m100% (1/1)0.00m
left_right100% (1/1)0.30m0% (0/1)1.18m67% (2/3)0.50m0% (0/1)0.98m0% (0/1)0.98m0% (0/1)0.63m100% (3/3)0.12m100% (3/3)0.08m100% (3/3)0.47m100% (3/3)0.20m100% (3/3)0.04m100% (3/3)0.04m——100% (3/3)0.24m0% (0/3)2.15m0% (0/3)1.31m100% (3/3)0.11m0% (0/3)0.74m100% (3/3)0.08m100% (3/3)0.11m——67% (2/3)0.33m100% (3/3)0.15m100% (3/3)0.20m100% (3/3)0.24m100% (3/3)0.05m100% (3/3)0.08m100% (3/3)0.08m100% (5/5)0.11m100% (3/3)0.25m100% (3/3)0.22m100% (3/3)0.19m100% (3/3)0.21m67% (2/3)0.38m100% (3/3)0.19m100% (3/3)0.19m33% (1/3)0.56m33% (1/3)0.76m0% (0/3)1.48m100% (1/1)0.00m100% (1/1)0.00m
right_straight100% (1/1)0.23m0% (0/1)1.26m100% (4/4)0.25m0% (0/1)1.12m0% (0/1)1.12m100% (1/1)0.23m100% (4/4)0.00m100% (4/4)0.00m100% (4/4)0.00m100% (4/4)0.00m100% (4/4)0.00m100% (4/4)0.09m——100% (4/4)0.00m0% (0/4)1.42m75% (3/4)0.36m100% (4/4)0.03m0% (0/4)0.71m100% (4/4)0.00m100% (4/4)0.00m——100% (4/4)0.11m100% (4/4)0.00m100% (4/4)0.00m100% (4/4)0.06m100% (4/4)0.00m100% (4/4)0.00m100% (4/4)0.15m100% (7/7)0.13m100% (4/4)0.18m100% (4/4)0.22m100% (4/4)0.25m100% (4/4)0.21m100% (4/4)0.09m100% (4/4)0.25m100% (4/4)0.25m100% (4/4)0.45m25% (1/4)0.55m0% (0/4)1.30m100% (1/1)0.00m100% (1/1)0.00m
right_left100% (1/1)0.49m0% (0/1)1.91m0% (0/3)0.85m0% (0/1)1.17m0% (0/1)1.17m0% (0/1)0.73m100% (3/3)0.00m100% (3/3)0.32m100% (3/3)0.23m100% (3/3)0.11m100% (3/3)0.00m100% (3/3)0.12m——100% (3/3)0.04m0% (0/3)1.03m100% (3/3)0.31m100% (3/3)0.00m0% (0/3)0.81m100% (3/3)0.00m100% (3/3)0.09m——100% (3/3)0.26m100% (3/3)0.08m100% (3/3)0.11m100% (3/3)0.19m100% (3/3)0.08m100% (3/3)0.00m100% (3/3)0.00m100% (7/7)0.08m100% (3/3)0.11m100% (3/3)0.08m100% (3/3)0.08m100% (3/3)0.11m0% (0/3)0.69m100% (3/3)0.08m100% (3/3)0.08m67% (2/3)0.52m33% (1/3)0.54m0% (0/3)1.04m100% (1/1)0.00m100% (1/1)0.00m
right_right0% (0/1)0.71m0% (0/1)1.03m0% (0/3)0.79m0% (0/1)1.31m0% (0/1)1.31m0% (0/1)0.60m67% (2/3)0.32m0% (0/3)0.69m67% (2/3)0.39m33% (1/3)0.42m67% (2/3)0.32m67% (2/3)0.42m——67% (2/3)0.39m0% (0/3)2.13m0% (0/3)0.92m67% (2/3)0.39m100% (3/3)0.38m67% (2/3)0.27m67% (2/3)0.36m——0% (0/3)0.70m33% (1/3)0.47m67% (2/3)0.35m67% (2/3)0.36m67% (2/3)0.32m67% (2/3)0.27m67% (2/3)0.27m100% (6/6)0.19m67% (2/3)0.51m67% (2/3)0.52m67% (2/3)0.54m33% (1/3)0.61m33% (1/3)0.47m67% (2/3)0.54m67% (2/3)0.54m0% (0/3)0.88m0% (0/3)0.95m0% (0/3)1.31m100% (1/1)0.00m100% (1/1)0.00m
설정
Phase 1: offline replay — 원본 H5 이미지로 예측, 예측 action을 kinematic model에 적분.
속도 매핑: lx/ly=1.15 m/s, az=±0.25 rad/s (데이터 실측). dt=0.1s.
성공 기준: FPE < 0.5m AND TLD ∈ [0.7, 1.5].