HetroD Challenge v1.0 Evaluation

Challenge Overview

A heterogeneous traffic simulation benchmark.

HetroD Challenge v1.0 focuses on generating realistic heterogeneous closed-loop traffic simulation in dense urban scenes.

The benchmark emphasizes mixed-agent interaction, vulnerable road-user safety, and type-balanced evaluation instead of vehicle-only performance.

Closed-loop rollout generation for vehicles, two-wheelers, and pedestrians.
Hidden test evaluation with official HetroD metrics.
Submission deadline: September 5, 2026 AoE.

Prize

Awards and certificates for the top three teams.

1st Place USD 500

Certificate included.

2nd Place USD 300

Certificate included.

3rd Place USD 200

Certificate included.

Public Package

Train and validation GT are public; test GT is hidden.

Train: 5087 scenarios with ScenarioNet inputs.
Validation: 955 scenarios with ScenarioNet inputs.
Test: 955 ScenarioNet-compatible inputs with future targets masked.

Submission

Submit one zipped folder of test rollouts.

Each submitted pickle must contain exactly the required agents from metadata.required_agent_ids and 80 future steps in global (x_m, y_m, z_m, yaw_rad) coordinates.

HetroD Challenge teaser showing heterogeneous traffic participants in an urban scene. — Heterogeneous urban traffic scenes combine vehicles, scooters, cyclists, and pedestrians in close-range interactions.

Challenge Timeline

Submit before the final deadline.

1

Develop

Train + validation

Use the public split and the GitHub evaluator for local validation.

2

Submit

September 5, 2026 AoE

Zip the test rollout folder and fill out the Google submission form.

3

Score

Hidden test evaluation

The organizers compute the final score with hidden test GT.

Files

Public data and evaluator layout.

The public package contains ScenarioNet inputs and GT pickles for train and validation; the test package contains inputs only.

Download the official dataset package from: https://levelxdata.com/hetrod-dataset/. The archive is named HetroD-Challenge-v1.0-public.tar.gz; its SHA-256 is d996b1843f5356cebe0a53449569c8574d31f62e0b1459ea9b3c931eeaca3c54.

HetroD-Challenge-v1.0-public/
  train/{gt,scenarionet}/
  valid/{gt,scenarionet}/
  test/input/
  manifests/
  split_summary.json

Evaluation Metrics

Type-balanced metrics for heterogeneous interaction.

The official score combines kinematic realism, safety, cross-type interaction, and a quality-gated coverage bonus.

For complete metric definitions, formulas, and evaluator details, see the official HetroD metrics documentation.

0.30 Kinematic

0.35 Safety

0.25 Cross-type

0.10 Coverage bonus

Base = 0.30 Kinematic + 0.35 Safety + 0.25 Cross-type Coverage Bonus = 0.10 * Coverage * Kinematic * Safety Overall = Base + Coverage Bonus

1. Kinematic

Realism by type.

Linear Speed
Linear Acceleration
Angular Speed
Angular Acceleration

Each metric is computed for vehicle, two-wheeler, and pedestrian, then macro-averaged.

2. Safety

Collision and valid region behavior.

Strict oriented-box collision with no geometric tolerance
GT pair/frame overlaps are not counted as new collisions
Type-aware valid region margin

Safety = 0.5 Collision + 0.5 Valid Region

3. Cross-type Interaction

Close-range heterogeneous behavior.

Cross-type distance proximity to GT
Cross-type time-to-proximity proximity to GT

Only unique vehicle-pedestrian, vehicle-two-wheeler, and pedestrian-two-wheeler pairs are used.

4. Coverage

Multi-rollout occupancy diversity.

Rasterized BEV occupancy
Type-wise average
Quality-gated bonus

Coverage rewards diverse valid rollouts without rewarding unsafe or unrealistic spread.

Frozen agent-selection policy: public validation uses the automatic v0.8 selector. Hidden test scoring retains every frozen automatic v0.8 target and pair, then adds eligible targets and pairs from blind human review. This fixed union is identical for every submission; exact hidden-test selections remain private with the test GT.

Submission

Submit one folder of scenario-level PKL files.

The final zip should contain exactly one rollout pickle for every scenario listed in manifests/test.txt.

your_team_submission.zip
  your_team_submission/
    <scenario_id_0>.pkl
    <scenario_id_1>.pkl
    ...

{
    "agent_id": ...,          # [num_agents]
    "simulated_states": ...,  # [32, num_agents, 80, 4]
}

scenario_id is the top-level input id.
agent_id must match metadata.required_agent_ids exactly.
simulated_states must contain exactly 32 rollouts and store future steps 11..90 as global (x_m, y_m, z_m, yaw_rad); positions use meters and yaw uses radians.

Run the official public preflight before uploading. It checks all 955 files, exact agent IDs, array shapes, floating-point dtype, and finite values without requiring hidden test GT.

python scripts/validate_submission.py your_team_submission.zip \
  --public-root /path/to/HetroD-Challenge-v1.0-public \
  --output submission_preflight.json

For local validation scoring, use the public validation GT:

python hetrod_eval.py /path/to/valid_rollouts \
  --gt-dir /path/to/HetroD-Challenge-v1.0-public/valid/gt \
  --output valid_metrics.json \
  --device cuda

Please fill out the Google submission form before September 5, 2026 AoE: https://forms.gle/L9mcG5TQMa3mkhr7A

Leaderboard

Hidden test evaluation results.

GT Reference (not ranked): verified on the same 946 scored test scenes and frozen selection using 32 copies of the ground-truth future. Kinematic and Cross-type are 1.0; Safety is 0.999778 (Collision 1.0, Valid Region 0.999557). Identical rollouts have Coverage 0, giving Overall 0.899922. This is a reference baseline, not a theoretical upper bound: diverse high-quality rollouts can earn a coverage bonus.

Updated September 7, 2026 · Evaluator hetrod-0.8.0. All seven submissions passed format checks for all 955 scenarios. Scores use 946 scenarios; nine scenes are excluded by the frozen quality-review manifest. Every submission uses the same frozen automatic + human-curated selection.

Click any Overall, Kinematic, Safety, Cross-type, or Coverage score to expand its breakdown. Within each group, expand submetrics for agent-type or pair-type details. Higher scores are better. For duplicate submissions, only the latest received version is scored.

Rank

Team / Method

Overall

Kinematic

Safety

Cross-type

Coverage

Reference

GT ReferenceRepeated GT · not ranked

0.899922

Overall

Contribution	Weighted score
Kinematic	0.300000
Safety	0.349922
Cross-type	0.250000
Coverage bonus	0.000000

Overall is the sum of these contributions, averaged equally across locations.

1.000000

Kinematic

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Linear speed 1.000000

Agent type	Score
Vehicle	1.000000
Two-wheeler	1.000000
Pedestrian	1.000000

Linear acceleration 1.000000

Agent type	Score
Vehicle	1.000000
Two-wheeler	1.000000
Pedestrian	1.000000

Angular speed 1.000000

Agent type	Score
Vehicle	1.000000
Two-wheeler	1.000000
Pedestrian	1.000000

Angular acceleration 1.000000

Agent type	Score
Vehicle	1.000000
Two-wheeler	1.000000
Pedestrian	1.000000

By location

Location ID	Score
loc0	1.000000
loc1	1.000000
loc2	1.000000
loc3	1.000000
loc4	1.000000
loc5	1.000000

0.999778

Safety

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Collision 1.000000

Agent type	Score
Vehicle	1.000000
Two-wheeler	1.000000
Pedestrian	1.000000

Valid region 0.999557

Agent type	Score
Vehicle	1.000000
Two-wheeler	1.000000
Pedestrian	0.998039

By location

Location ID	Score
loc0	1.000000
loc1	1.000000
loc2	0.999666
loc3	0.999645
loc4	0.999715
loc5	0.999645

1.000000

Cross-type

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Submetric	Score
Distance proximity to GT	1.000000
Time-to-proximity to GT	1.000000

Vehicle–pedestrian 1.000000

Submetric	Score
Distance proximity to GT	1.000000
Time-to-proximity to GT	1.000000

Vehicle–two-wheeler 1.000000

Submetric	Score
Distance proximity to GT	1.000000
Time-to-proximity to GT	1.000000

Pedestrian–two-wheeler 1.000000

Submetric	Score
Distance proximity to GT	1.000000
Time-to-proximity to GT	1.000000

By location

Location ID	Score
loc0	1.000000
loc1	1.000000
loc2	1.000000
loc3	1.000000
loc4	1.000000
loc5	1.000000

0.000000

Coverage

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Agent type	Score
Vehicle	0.000000
Two-wheeler	0.000000
Pedestrian	0.000000

Coverage is the raw diversity score. Its contribution to Overall is quality-gated.

By location

Location ID	Score
loc0	0.000000
loc1	0.000000
loc2	0.000000
loc3	0.000000
loc4	0.000000
loc5	0.000000

1

HetroD-C1Mix512-SafeTechnical report (PDF)

0.729299

Overall

Contribution	Weighted score
Kinematic	0.227570
Safety	0.299241
Cross-type	0.189019
Coverage bonus	0.013469

Overall is the sum of these contributions, averaged equally across locations.

0.758565

Kinematic

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Linear speed 0.720818

Agent type	Score
Vehicle	0.637761
Two-wheeler	0.619756
Pedestrian	0.904936

Linear acceleration 0.687767

Agent type	Score
Vehicle	0.637738
Two-wheeler	0.583008
Pedestrian	0.842556

Angular speed 0.693512

Agent type	Score
Vehicle	0.710366
Two-wheeler	0.722116
Pedestrian	0.648053

Angular acceleration 0.849693

Agent type	Score
Vehicle	0.896951
Two-wheeler	0.833849
Pedestrian	0.818280

By location

Location ID	Score
loc0	0.737156
loc1	0.777656
loc2	0.713613
loc3	0.777558
loc4	0.770229
loc5	0.775179

0.854976

Safety

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Collision 0.762685

Agent type	Score
Vehicle	0.779377
Two-wheeler	0.732657
Pedestrian	0.612417

Valid region 0.947266

Agent type	Score
Vehicle	0.981720
Two-wheeler	0.965210
Pedestrian	0.893973

By location

Location ID	Score
loc0	0.855637
loc1	0.871350
loc2	0.803746
loc3	0.823272
loc4	0.942600
loc5	0.833247

0.756076

Cross-type

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Submetric	Score
Distance proximity to GT	0.736843
Time-to-proximity to GT	0.735215

Vehicle–pedestrian 0.709868

Submetric	Score
Distance proximity to GT	0.714114
Time-to-proximity to GT	0.705622

Vehicle–two-wheeler 0.742133

Submetric	Score
Distance proximity to GT	0.742676
Time-to-proximity to GT	0.741590

Pedestrian–two-wheeler 0.756086

Submetric	Score
Distance proximity to GT	0.753739
Time-to-proximity to GT	0.758433

By location

Location ID	Score
loc0	0.781205
loc1	0.767482
loc2	0.723560
loc3	0.690271
loc4	0.795847
loc5	0.778091

0.208174

Coverage

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Agent type	Score
Vehicle	0.144115
Two-wheeler	0.306314
Pedestrian	0.185718

Coverage is the raw diversity score. Its contribution to Overall is quality-gated.

By location

Location ID	Score
loc0	0.244790
loc1	0.199431
loc2	0.226549
loc3	0.180699
loc4	0.201863
loc5	0.195712

2

Y1nnngTrajTokFusionTechnical report (PDF)

0.713597

Overall

Contribution	Weighted score
Kinematic	0.204720
Safety	0.305295
Cross-type	0.195801
Coverage bonus	0.007780

Overall is the sum of these contributions, averaged equally across locations.

0.682400

Kinematic

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Linear speed 0.678148

Agent type	Score
Vehicle	0.605392
Two-wheeler	0.533981
Pedestrian	0.895072

Linear acceleration 0.603895

Agent type	Score
Vehicle	0.566117
Two-wheeler	0.476649
Pedestrian	0.768917

Angular speed 0.603957

Agent type	Score
Vehicle	0.693290
Two-wheeler	0.594418
Pedestrian	0.524163

Angular acceleration 0.813419

Agent type	Score
Vehicle	0.907433
Two-wheeler	0.765177
Pedestrian	0.767646

By location

Location ID	Score
loc0	0.690182
loc1	0.685740
loc2	0.668912
loc3	0.740061
loc4	0.663723
loc5	0.645783

0.872273

Safety

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Collision 0.768479

Agent type	Score
Vehicle	0.763831
Two-wheeler	0.745157
Pedestrian	0.598220

Valid region 0.976067

Agent type	Score
Vehicle	0.990994
Two-wheeler	0.982554
Pedestrian	0.936606

By location

Location ID	Score
loc0	0.924884
loc1	0.883138
loc2	0.796638
loc3	0.833127
loc4	0.939200
loc5	0.856649

0.783205

Cross-type

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Submetric	Score
Distance proximity to GT	0.763122
Time-to-proximity to GT	0.760972

Vehicle–pedestrian 0.745140

Submetric	Score
Distance proximity to GT	0.752067
Time-to-proximity to GT	0.738213

Vehicle–two-wheeler 0.770724

Submetric	Score
Distance proximity to GT	0.773912
Time-to-proximity to GT	0.767535

Pedestrian–two-wheeler 0.770278

Submetric	Score
Distance proximity to GT	0.763388
Time-to-proximity to GT	0.777169

By location

Location ID	Score
loc0	0.781645
loc1	0.813513
loc2	0.744093
loc3	0.788375
loc4	0.815139
loc5	0.756468

0.131520

Coverage

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Agent type	Score
Vehicle	0.102799
Two-wheeler	0.193987
Pedestrian	0.121768

Coverage is the raw diversity score. Its contribution to Overall is quality-gated.

By location

Location ID	Score
loc0	0.118979
loc1	0.131638
loc2	0.165206
loc3	0.128707
loc4	0.120518
loc5	0.124069

3

LRPSHARPTechnical report (PDF)

0.701899

Overall

Contribution	Weighted score
Kinematic	0.195604
Safety	0.304043
Cross-type	0.197095
Coverage bonus	0.005157

Overall is the sum of these contributions, averaged equally across locations.

0.652013

Kinematic

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Linear speed 0.671392

Agent type	Score
Vehicle	0.575994
Two-wheeler	0.533173
Pedestrian	0.905009

Linear acceleration 0.641153

Agent type	Score
Vehicle	0.602643
Two-wheeler	0.583011
Pedestrian	0.737805

Angular speed 0.466956

Agent type	Score
Vehicle	0.693053
Two-wheeler	0.498487
Pedestrian	0.209329

Angular acceleration 0.651677

Agent type	Score
Vehicle	0.572380
Two-wheeler	0.741566
Pedestrian	0.641087

By location

Location ID	Score
loc0	0.730960
loc1	0.652209
loc2	0.549651
loc3	0.604364
loc4	0.714513
loc5	0.660384

0.868693

Safety

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Collision 0.765376

Agent type	Score
Vehicle	0.812523
Two-wheeler	0.768117
Pedestrian	0.561548

Valid region 0.972010

Agent type	Score
Vehicle	0.993182
Two-wheeler	0.980308
Pedestrian	0.936680

By location

Location ID	Score
loc0	0.919905
loc1	0.867698
loc2	0.818999
loc3	0.844149
loc4	0.917320
loc5	0.844087

0.788379

Cross-type

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Submetric	Score
Distance proximity to GT	0.782603
Time-to-proximity to GT	0.778535

Vehicle–pedestrian 0.762706

Submetric	Score
Distance proximity to GT	0.775496
Time-to-proximity to GT	0.749915

Vehicle–two-wheeler 0.786832

Submetric	Score
Distance proximity to GT	0.793109
Time-to-proximity to GT	0.780556

Pedestrian–two-wheeler 0.792168

Submetric	Score
Distance proximity to GT	0.779204
Time-to-proximity to GT	0.805133

By location

Location ID	Score
loc0	0.760121
loc1	0.801737
loc2	0.781092
loc3	0.735829
loc4	0.859694
loc5	0.791799

0.091772

Coverage

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Agent type	Score
Vehicle	0.074470
Two-wheeler	0.154210
Pedestrian	0.056388

Coverage is the raw diversity score. Its contribution to Overall is quality-gated.

By location

Location ID	Score
loc0	0.073472
loc1	0.097988
loc2	0.104235
loc3	0.094285
loc4	0.090417
loc5	0.090239

4

winzzzkinematicTechnical report (PDF)

0.696323

Overall

Contribution	Weighted score
Kinematic	0.209906
Safety	0.288163
Cross-type	0.188324
Coverage bonus	0.009930

Overall is the sum of these contributions, averaged equally across locations.

0.699688

Kinematic

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Linear speed 0.640487

Agent type	Score
Vehicle	0.523636
Two-wheeler	0.509090
Pedestrian	0.888735

Linear acceleration 0.721972

Agent type	Score
Vehicle	0.669585
Two-wheeler	0.637184
Pedestrian	0.859146

Angular speed 0.524925

Agent type	Score
Vehicle	0.493301
Two-wheeler	0.581238
Pedestrian	0.500237

Angular acceleration 0.787280

Agent type	Score
Vehicle	0.891076
Two-wheeler	0.762096
Pedestrian	0.708667

By location

Location ID	Score
loc0	0.817325
loc1	0.668959
loc2	0.630020
loc3	0.651538
loc4	0.743791
loc5	0.686495

0.823324

Safety

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Collision 0.744340

Agent type	Score
Vehicle	0.701579
Two-wheeler	0.653846
Pedestrian	0.707285

Valid region 0.902308

Agent type	Score
Vehicle	0.931478
Two-wheeler	0.898006
Pedestrian	0.866684

By location

Location ID	Score
loc0	0.894615
loc1	0.808136
loc2	0.755445
loc3	0.773598
loc4	0.889505
loc5	0.818645

0.753295

Cross-type

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Submetric	Score
Distance proximity to GT	0.732814
Time-to-proximity to GT	0.757683

Vehicle–pedestrian 0.733090

Submetric	Score
Distance proximity to GT	0.735286
Time-to-proximity to GT	0.730893

Vehicle–two-wheeler 0.742047

Submetric	Score
Distance proximity to GT	0.728452
Time-to-proximity to GT	0.755642

Pedestrian–two-wheeler 0.760610

Submetric	Score
Distance proximity to GT	0.734704
Time-to-proximity to GT	0.786515

By location

Location ID	Score
loc0	0.760295
loc1	0.742283
loc2	0.748680
loc3	0.662079
loc4	0.826291
loc5	0.780139

0.172921

Coverage

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Agent type	Score
Vehicle	0.133900
Two-wheeler	0.262529
Pedestrian	0.126880

Coverage is the raw diversity score. Its contribution to Overall is quality-gated.

By location

Location ID	Score
loc0	0.160827
loc1	0.191666
loc2	0.182933
loc3	0.176082
loc4	0.155922
loc5	0.170099

5

yancyHeteroTLATechnical report (PDF)

0.634236

Overall

Contribution	Weighted score
Kinematic	0.196854
Safety	0.245185
Cross-type	0.182623
Coverage bonus	0.009574

Overall is the sum of these contributions, averaged equally across locations.

0.656179

Kinematic

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Linear speed 0.656023

Agent type	Score
Vehicle	0.564271
Two-wheeler	0.535495
Pedestrian	0.868305

Linear acceleration 0.529845

Agent type	Score
Vehicle	0.373018
Two-wheeler	0.412242
Pedestrian	0.804276

Angular speed 0.481066

Agent type	Score
Vehicle	0.507915
Two-wheeler	0.500142
Pedestrian	0.435141

Angular acceleration 0.776374

Agent type	Score
Vehicle	0.876822
Two-wheeler	0.748975
Pedestrian	0.703326

By location

Location ID	Score
loc0	0.721386
loc1	0.672058
loc2	0.556034
loc3	0.641053
loc4	0.691878
loc5	0.654667

0.700528

Safety

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Collision 0.523131

Agent type	Score
Vehicle	0.433551
Two-wheeler	0.452861
Pedestrian	0.509437

Valid region 0.877925

Agent type	Score
Vehicle	0.903632
Two-wheeler	0.879895
Pedestrian	0.860044

By location

Location ID	Score
loc0	0.800147
loc1	0.631937
loc2	0.634100
loc3	0.672508
loc4	0.782609
loc5	0.681867

0.730493

Cross-type

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Submetric	Score
Distance proximity to GT	0.717056
Time-to-proximity to GT	0.716107

Vehicle–pedestrian 0.696937

Submetric	Score
Distance proximity to GT	0.707154
Time-to-proximity to GT	0.686719

Vehicle–two-wheeler 0.720779

Submetric	Score
Distance proximity to GT	0.724152
Time-to-proximity to GT	0.717406

Pedestrian–two-wheeler 0.732029

Submetric	Score
Distance proximity to GT	0.719860
Time-to-proximity to GT	0.744198

By location

Location ID	Score
loc0	0.755560
loc1	0.726228
loc2	0.709527
loc3	0.673978
loc4	0.780138
loc5	0.737525

0.207971

Coverage

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Agent type	Score
Vehicle	0.143556
Two-wheeler	0.324759
Pedestrian	0.140958

Coverage is the raw diversity score. Its contribution to Overall is quality-gated.

By location

Location ID	Score
loc0	0.192387
loc1	0.223761
loc2	0.200678
loc3	0.223167
loc4	0.203382
loc5	0.204451

6

LITIVSRTGTechnical report (PDF)

0.539011

Overall

Contribution	Weighted score
Kinematic	0.087403
Safety	0.259581
Cross-type	0.189278
Coverage bonus	0.002750

Overall is the sum of these contributions, averaged equally across locations.

0.291342

Kinematic

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Linear speed 0.441173

Agent type	Score
Vehicle	0.215565
Two-wheeler	0.206732
Pedestrian	0.901223

Linear acceleration 0.310153

Agent type	Score
Vehicle	0.226738
Two-wheeler	0.163689
Pedestrian	0.540032

Angular speed 0.069324

Agent type	Score
Vehicle	0.128899
Two-wheeler	0.050853
Pedestrian	0.028221

Angular acceleration 0.306804

Agent type	Score
Vehicle	0.601303
Two-wheeler	0.121064
Pedestrian	0.198045

By location

Location ID	Score
loc0	0.388398
loc1	0.216948
loc2	0.319238
loc3	0.287738
loc4	0.304885
loc5	0.230846

0.741659

Safety

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Collision 0.571469

Agent type	Score
Vehicle	0.488560
Two-wheeler	0.490068
Pedestrian	0.527152

Valid region 0.911849

Agent type	Score
Vehicle	0.937965
Two-wheeler	0.922849
Pedestrian	0.878473

By location

Location ID	Score
loc0	0.838947
loc1	0.685470
loc2	0.662917
loc3	0.719667
loc4	0.821761
loc5	0.721193

0.757112

Cross-type

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Submetric	Score
Distance proximity to GT	0.741094
Time-to-proximity to GT	0.752596

Vehicle–pedestrian 0.735582

Submetric	Score
Distance proximity to GT	0.733154
Time-to-proximity to GT	0.738010

Vehicle–two-wheeler 0.743903

Submetric	Score
Distance proximity to GT	0.743320
Time-to-proximity to GT	0.744485

Pedestrian–two-wheeler 0.761050

Submetric	Score
Distance proximity to GT	0.746807
Time-to-proximity to GT	0.775293

By location

Location ID	Score
loc0	0.763398
loc1	0.755391
loc2	0.749018
loc3	0.668002
loc4	0.814427
loc5	0.792434

0.123915

Coverage

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Agent type	Score
Vehicle	0.086781
Two-wheeler	0.183201
Pedestrian	0.101737

Coverage is the raw diversity score. Its contribution to Overall is quality-gated.

By location

Location ID	Score
loc0	0.141194
loc1	0.126950
loc2	0.134251
loc3	0.107735
loc4	0.125439
loc5	0.107922

7

mxrHEAT_RaScTechnical report (PDF)

0.517443

Overall

Contribution	Weighted score
Kinematic	0.175592
Safety	0.196027
Cross-type	0.126377
Coverage bonus	0.019448

Overall is the sum of these contributions, averaged equally across locations.

0.585307

Kinematic

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Linear speed 0.477569

Agent type	Score
Vehicle	0.303233
Two-wheeler	0.335162
Pedestrian	0.794312

Linear acceleration 0.452713

Agent type	Score
Vehicle	0.448396
Two-wheeler	0.465842
Pedestrian	0.443902

Angular speed 0.503354

Agent type	Score
Vehicle	0.522353
Two-wheeler	0.566785
Pedestrian	0.420926

Angular acceleration 0.736423

Agent type	Score
Vehicle	0.697455
Two-wheeler	0.767654
Pedestrian	0.744160

By location

Location ID	Score
loc0	0.619870
loc1	0.644190
loc2	0.490715
loc3	0.553583
loc4	0.599412
loc5	0.604070

0.560076

Safety

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Collision 0.395708

Agent type	Score
Vehicle	0.226715
Two-wheeler	0.315830
Pedestrian	0.529470

Valid region 0.724443

Agent type	Score
Vehicle	0.830868
Two-wheeler	0.818112
Pedestrian	0.534786

By location

Location ID	Score
loc0	0.590831
loc1	0.551830
loc2	0.499362
loc3	0.568683
loc4	0.596859
loc5	0.552890

0.505507

Cross-type

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Submetric	Score
Distance proximity to GT	0.420998
Time-to-proximity to GT	0.542241

Vehicle–pedestrian 0.453405

Submetric	Score
Distance proximity to GT	0.398292
Time-to-proximity to GT	0.508517

Vehicle–two-wheeler 0.511325

Submetric	Score
Distance proximity to GT	0.450877
Time-to-proximity to GT	0.571773

Pedestrian–two-wheeler 0.480129

Submetric	Score
Distance proximity to GT	0.413826
Time-to-proximity to GT	0.546433

By location

Location ID	Score
loc0	0.585390
loc1	0.505885
loc2	0.469218
loc3	0.443963
loc4	0.507410
loc5	0.521174

0.590663

Coverage

Pooled diagnostic details below; official group scores use equal-weight location averaging. These details need not average to the group score.

Agent type	Score
Vehicle	0.396093
Two-wheeler	0.683042
Pedestrian	0.686098

Coverage is the raw diversity score. Its contribution to Overall is quality-gated.

By location

Location ID	Score
loc0	0.617273
loc1	0.565162
loc2	0.597231
loc3	0.552557
loc4	0.625742
loc5	0.586011