{
  "protocol": {
    "history_s": 2,
    "history_step_s": 0.2,
    "horizon_s": 3,
    "forecast_step_s": 0.5,
    "origin_stride_s": 1,
    "input": "ground-truth actor XY histories, not perception output",
    "moving": "past 1 s displacement >= 0.5 m",
    "aggregation": "window-weighted; overlapping windows are correlated",
    "selection": "validation all-window ADE only; no test fitting",
    "splits": {
      "train": [
        "Town01_Opt",
        "Town02_Opt",
        "Town03_Opt"
      ],
      "validation": [
        "Town04_Opt"
      ],
      "test": [
        "Town05_Opt",
        "Town10HD_Opt"
      ]
    }
  },
  "data": {
    "Town01_Opt": {
      "sha256": "dddf225a78c201f0f3d7a97605088bd282fa5afb20cd54d03f4b17674fc5bf59",
      "windows": 45968,
      "actors": 164
    },
    "Town02_Opt": {
      "sha256": "6fb8fa174f6f45935601d0e7aff81f02b5487e0338f3bfb86e08419c39a5e400",
      "windows": 45180,
      "actors": 155
    },
    "Town03_Opt": {
      "sha256": "f34416240832bc329cb01eac1cc8cc528d8ac0c14e075ea21188c0a239de4628",
      "windows": 40710,
      "actors": 138
    },
    "Town04_Opt": {
      "sha256": "d129b2ff26c5ff48dbbbef52276644ac71d416245663f10198a0dec5f0667875",
      "windows": 40415,
      "actors": 137
    },
    "Town05_Opt": {
      "sha256": "c6fe6734442912409823ebb55e43b51b442f633b5f68577f86b71a1f18405b4f",
      "windows": 43811,
      "actors": 151
    },
    "Town10HD_Opt": {
      "sha256": "8224ef4980aaa978994a506d9dda6a61cb44aff7019235d864cc91ae16cc91ca",
      "windows": 48940,
      "actors": 174
    }
  },
  "validation_candidates": [
    {
      "alpha": 1.0,
      "windows": 40415,
      "ade_m": 0.1740229442317738,
      "fde_m": 0.358951101782574,
      "miss_rate_2m": 0.03399727823827787
    },
    {
      "alpha": 10.0,
      "windows": 40415,
      "ade_m": 0.17372442595795673,
      "fde_m": 0.35826800476176146,
      "miss_rate_2m": 0.03370035877768155
    },
    {
      "alpha": 100.0,
      "windows": 40415,
      "ade_m": 0.17386069613061225,
      "fde_m": 0.3581796652857404,
      "miss_rate_2m": 0.03332920945193616
    },
    {
      "alpha": 1000.0,
      "windows": 40415,
      "ade_m": 0.1762433961788967,
      "fde_m": 0.36143315929131214,
      "miss_rate_2m": 0.03362612891253248
    }
  ],
  "selected_alpha": 10.0,
  "results": {
    "Town04_Opt": {
      "cv": {
        "all": {
          "windows": 40415,
          "ade_m": 0.1285607006117873,
          "fde_m": 0.2597883806995537,
          "miss_rate_2m": 0.033675615489298524
        },
        "moving": {
          "windows": 10868,
          "ade_m": 0.4234338362903913,
          "fde_m": 0.8613707133826536,
          "miss_rate_2m": 0.1125322046374678
        },
        "vehicle": {
          "windows": 24190,
          "ade_m": 0.058861645140234946,
          "fde_m": 0.10988593697194285,
          "miss_rate_2m": 0.014179412980570483
        },
        "pedestrian": {
          "windows": 10915,
          "ade_m": 0.29313492524398055,
          "fde_m": 0.619559578815195,
          "miss_rate_2m": 0.08089784699954192
        },
        "two_wheeler": {
          "windows": 5310,
          "ade_m": 0.10778715823823924,
          "fde_m": 0.20314760599874074,
          "miss_rate_2m": 0.025423728813559324
        }
      },
      "ca": {
        "all": {
          "windows": 40415,
          "ade_m": 0.2630725158500839,
          "fde_m": 0.5834061619311047,
          "miss_rate_2m": 0.062056167264629467
        },
        "moving": {
          "windows": 10868,
          "ade_m": 0.8558660859948354,
          "fde_m": 1.9048532546669203,
          "miss_rate_2m": 0.19672432830327566
        },
        "vehicle": {
          "windows": 24190,
          "ade_m": 0.1444676283382157,
          "fde_m": 0.31505411355549534,
          "miss_rate_2m": 0.021992558908639933
        },
        "pedestrian": {
          "windows": 10915,
          "ade_m": 0.5289665939870805,
          "fde_m": 1.1913847211845574,
          "miss_rate_2m": 0.16069628950984882
        },
        "two_wheeler": {
          "windows": 5310,
          "ade_m": 0.2568236205669907,
          "fde_m": 0.5561651216212282,
          "miss_rate_2m": 0.04180790960451977
        }
      },
      "ridge": {
        "all": {
          "windows": 40415,
          "ade_m": 0.17372442595795673,
          "fde_m": 0.35826800476176146,
          "miss_rate_2m": 0.03370035877768155
        },
        "moving": {
          "windows": 10868,
          "ade_m": 0.4903507249813487,
          "fde_m": 1.0174887435313122,
          "miss_rate_2m": 0.111152005888848
        },
        "vehicle": {
          "windows": 24190,
          "ade_m": 0.0915138353459435,
          "fde_m": 0.17824141893884085,
          "miss_rate_2m": 0.013848697809011988
        },
        "pedestrian": {
          "windows": 10915,
          "ade_m": 0.3687399230867193,
          "fde_m": 0.7922017753512802,
          "miss_rate_2m": 0.0798900595510765
        },
        "two_wheeler": {
          "windows": 5310,
          "ade_m": 0.14737415020356046,
          "fde_m": 0.2864141450766112,
          "miss_rate_2m": 0.02919020715630885
        }
      }
    },
    "Town05_Opt": {
      "cv": {
        "all": {
          "windows": 43811,
          "ade_m": 0.10116452588004636,
          "fde_m": 0.2091540861403254,
          "miss_rate_2m": 0.026317591472461255
        },
        "moving": {
          "windows": 13201,
          "ade_m": 0.2763357677566082,
          "fde_m": 0.5701653904325772,
          "miss_rate_2m": 0.06954018634951897
        },
        "vehicle": {
          "windows": 25665,
          "ade_m": 0.0423973245387165,
          "fde_m": 0.08080933295754476,
          "miss_rate_2m": 0.010247418663549581
        },
        "pedestrian": {
          "windows": 14311,
          "ade_m": 0.22259302791479477,
          "fde_m": 0.47577290255795457,
          "miss_rate_2m": 0.05946474739710712
        },
        "two_wheeler": {
          "windows": 3835,
          "ade_m": 0.041320179023709075,
          "fde_m": 0.07314005972138808,
          "miss_rate_2m": 0.010169491525423728
        }
      },
      "ca": {
        "all": {
          "windows": 43811,
          "ade_m": 0.18535200234381954,
          "fde_m": 0.4135336111084085,
          "miss_rate_2m": 0.04480609892492753
        },
        "moving": {
          "windows": 13201,
          "ade_m": 0.5114840980685461,
          "fde_m": 1.143899608622165,
          "miss_rate_2m": 0.12468752367244906
        },
        "vehicle": {
          "windows": 25665,
          "ade_m": 0.09326161396643562,
          "fde_m": 0.20465515447158894,
          "miss_rate_2m": 0.013715176310150009
        },
        "pedestrian": {
          "windows": 14311,
          "ade_m": 0.3644482115796188,
          "fde_m": 0.8219410009632051,
          "miss_rate_2m": 0.10858779959471734
        },
        "two_wheeler": {
          "windows": 3835,
          "ade_m": 0.13331913854513266,
          "fde_m": 0.2873660578807637,
          "miss_rate_2m": 0.014863102998696219
        }
      },
      "ridge": {
        "all": {
          "windows": 43811,
          "ade_m": 0.15022633093345103,
          "fde_m": 0.31941883183713893,
          "miss_rate_2m": 0.02524480153386136
        },
        "moving": {
          "windows": 13201,
          "ade_m": 0.3581596433017035,
          "fde_m": 0.7671949047762663,
          "miss_rate_2m": 0.0668131202181653
        },
        "vehicle": {
          "windows": 25665,
          "ade_m": 0.07434191634321848,
          "fde_m": 0.14884687367334604,
          "miss_rate_2m": 0.010130527956360803
        },
        "pedestrian": {
          "windows": 14311,
          "ade_m": 0.3052009031564604,
          "fde_m": 0.6700392452638507,
          "miss_rate_2m": 0.05639018936482426
        },
        "two_wheeler": {
          "windows": 3835,
          "ade_m": 0.07975237979259878,
          "fde_m": 0.15253501690208573,
          "miss_rate_2m": 0.010169491525423728
        }
      }
    },
    "Town10HD_Opt": {
      "cv": {
        "all": {
          "windows": 48940,
          "ade_m": 0.14739579682287912,
          "fde_m": 0.3019115746147206,
          "miss_rate_2m": 0.03330608908868002
        },
        "moving": {
          "windows": 15237,
          "ade_m": 0.33916596368118823,
          "fde_m": 0.7000477720348326,
          "miss_rate_2m": 0.06543282798451139
        },
        "vehicle": {
          "windows": 25075,
          "ade_m": 0.03546897380477883,
          "fde_m": 0.06754935235986413,
          "miss_rate_2m": 0.00893320039880359
        },
        "pedestrian": {
          "windows": 19440,
          "ade_m": 0.30114699455371574,
          "fde_m": 0.6307367152698834,
          "miss_rate_2m": 0.06517489711934156
        },
        "two_wheeler": {
          "windows": 4425,
          "ade_m": 0.10618490491133138,
          "fde_m": 0.18536287149701752,
          "miss_rate_2m": 0.03141242937853107
        }
      },
      "ca": {
        "all": {
          "windows": 48940,
          "ade_m": 0.26446484188465147,
          "fde_m": 0.586136419669974,
          "miss_rate_2m": 0.07045361667347773
        },
        "moving": {
          "windows": 15237,
          "ade_m": 0.6022907267613262,
          "fde_m": 1.3489780177327801,
          "miss_rate_2m": 0.1594145829231476
        },
        "vehicle": {
          "windows": 25075,
          "ade_m": 0.08663248113152774,
          "fde_m": 0.18920471932914382,
          "miss_rate_2m": 0.014476570289132603
        },
        "pedestrian": {
          "windows": 19440,
          "ade_m": 0.4667604454051508,
          "fde_m": 1.0441454715084293,
          "miss_rate_2m": 0.13991769547325103
        },
        "two_wheeler": {
          "windows": 4425,
          "ade_m": 0.3834523929459101,
          "fde_m": 0.8232813729596338,
          "miss_rate_2m": 0.08248587570621468
        }
      },
      "ridge": {
        "all": {
          "windows": 48940,
          "ade_m": 0.1816801138870694,
          "fde_m": 0.3778877768894494,
          "miss_rate_2m": 0.030813240702901513
        },
        "moving": {
          "windows": 15237,
          "ade_m": 0.37869815533324686,
          "fde_m": 0.7956830752542798,
          "miss_rate_2m": 0.05978867231082234
        },
        "vehicle": {
          "windows": 25075,
          "ade_m": 0.06826647103924668,
          "fde_m": 0.13619091470153957,
          "miss_rate_2m": 0.008654037886340978
        },
        "pedestrian": {
          "windows": 19440,
          "ade_m": 0.333922875980887,
          "fde_m": 0.7116112325380332,
          "miss_rate_2m": 0.05838477366255144
        },
        "two_wheeler": {
          "windows": 4425,
          "ade_m": 0.15552142446454786,
          "fde_m": 0.2813826563365389,
          "miss_rate_2m": 0.03525423728813559
        }
      }
    },
    "test_pooled": {
      "cv": {
        "all": {
          "windows": 92751,
          "ade_m": 0.1255584235193412,
          "fde_m": 0.2580975097792825,
          "miss_rate_2m": 0.03000506733081045
        },
        "moving": {
          "windows": 28438,
          "ade_m": 0.31000000909927744,
          "fde_m": 0.6397560032912017,
          "miss_rate_2m": 0.06733947534988396
        }
      },
      "ca": {
        "all": {
          "windows": 92751,
          "ade_m": 0.22709583655723306,
          "fde_m": 0.5046073618065468,
          "miss_rate_2m": 0.058338993649664155
        },
        "moving": {
          "windows": 28438,
          "ade_m": 0.5601380329933611,
          "fde_m": 1.2537800404253316,
          "miss_rate_2m": 0.1432941838385259
        }
      },
      "ridge": {
        "all": {
          "windows": 92751,
          "ade_m": 0.16682289741521497,
          "fde_m": 0.3502699296243334,
          "miss_rate_2m": 0.028182984550031806
        },
        "moving": {
          "windows": 28438,
          "ade_m": 0.3691641199816609,
          "fde_m": 0.7824587859765437,
          "miss_rate_2m": 0.0630494408889514
        }
      }
    }
  },
  "environment": {
    "python": "3.12.13",
    "numpy": "1.26.4"
  }
}