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Design/training loss objectives#186
riita10069 wants to merge 47 commits into
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design/training-loss-objectives

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@riita10069 riita10069 commented Aug 8, 2026

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riita10069 added 30 commits August 9, 2026 01:01
@riita10069
docs(design): define staged BEV auxiliary training to fix the researc…
63ebe86 
…h contract

Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(navigation): define shared BEV geometry to align dataset targets
572dc97 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(navigation): extend artifact metadata to preserve route validity
f230ad5 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(navigation): export shared geometry APIs for dataset adapters
6da50a1 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(model): add BEV and route heads to retain auxiliary supervision
e391ff0 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(loss): add masked BEV segmentation loss for nuPlan supervision
9bef084 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(loss): add route reconstruction loss to preserve route intent
8f3c2e8 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(loss): add masked XY imitation loss to simplify trajectory training
17ce5ae 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(loss): export reactive multitask losses for stage training
4e39360 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(map): add convolutional raster encoder for full BEV geometry
e525972 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(map): register semantic raster encoder for reactive stages
878719b 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(fusion): expose navigation contribution for route diagnostics
2f677b8 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(planner): restore GRU planner for the reactive-only baseline
2ba38b2 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(planner): register GRU planner for reactive model construction
67d776c 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(model): connect auxiliary heads to the reactive feature path
3ddedbf 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(model): expose reactive auxiliary outputs without enabling WM re…
583a0ef 
…asoning

Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(training): add nuPlan policy to separate training and benchmark …
7c1c935 
…data

Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(training): define stage-specific multitask objectives for nuPlan…
44c6b97 
… and L2D

Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(training): add staged training and retention evaluation with lin…
d4832bd 
…eage checks

Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(l2d): build map and route targets from offline OSM waypoints
bb4e831 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(l2d): build deterministic OSM graph snapshots for offline training
8e6c3a5 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(l2d): expose waypoint metadata needed for route targets
de4b05d 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(l2d): export offline navigation target builders
031279d 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(nuplan): generate trajectory BEV map and route supervision targets
ef08e92 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(nuplan): pack camera calibration and reactive targets into shards
8408b9a 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(nuplan): export raw scenario packing APIs for data preparation
3861f7f 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(data): load reactive trajectory BEV and route members from shards
e99c63a 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(data): bump shard contracts to prevent stale geometry cache reuse
2b84948 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(data): serialize common reactive training artifacts deterministi…
65b395f 
…cally

Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(data): attach optional reactive targets during parallel packing
544a0a4 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
riita10069 added 17 commits August 9, 2026 01:01
@riita10069
build(data): install nuPlan and OSM preparation dependencies in prep …
72f530f 
…image

Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(pipeline): precompute immutable semantic occupancy dashboard art…
b8201e0 
…ifacts

Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(pipeline): orchestrate nuPlan L2D training and KITScenes evaluat…
323ff07 
…ion stages

Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(console): model semantic occupancy artifact descriptors in the API
c43edd7 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(console): validate and stream immutable occupancy artifacts from S3
54d32fc 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(console): serve semantic occupancy overlays for selected models
4c9d7dd 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(console): register semantic occupancy overlay endpoint
af0c4a6 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(console): parse quantized semantic occupancy artifacts in the br…
2bec5ec 
…owser

Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(console): fetch semantic occupancy artifacts through the console…
e62ed5b 
… API

Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(console): render occupancy prediction teacher and error views
1aa82cb 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
feat(console): integrate occupancy diagnostics into episode playback
66cbec8 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
test(console): cover occupancy binary rendering and view switching
753e0b7 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
test(data): verify nuPlan L2D targets and staged shard contracts
72d645f 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
test(training): verify losses gradients stage transitions and retenti…
afd6659 
…on reports

Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
test(pipeline): update cache contract expectations for reactive shards
a8bb3d6 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
fix(eval): disable cuDNN RNN for route gradients in eval mode
6a7db76 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069
test(training): place BEV loss buffers on the GPU under test
bf45226 
Signed-off-by: riita10069 <ryota10069.tech5.jizi@gmail.com>
@riita10069 riita10069 mentioned this pull request Aug 8, 2026
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@intisar1020 intisar1020 mentioned this pull request Aug 12, 2026
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