https://my-self-driving-g-wagon.drose.io/Notes on putting openpilot on a 2011 Mercedes-Benz G55, and every comma driving model tested on the truck as it is released.enhttps://my-self-driving-g-wagon.drose.io/log.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-11-06-3c0762243cFri, 06 Nov 2026 12:00:00 +0000No value changed.https://my-self-driving-g-wagon.drose.io/log.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-11-06-d1d220fe1dFri, 06 Nov 2026 12:00:00 +0000No value changed.https://my-self-driving-g-wagon.drose.io/log.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-11-06-1a0eeff706Fri, 06 Nov 2026 12:00:00 +0000New: a page per part (the engine ECU first), the truck's parts list and a W463 CAN signals table built from the DBC files. The build refuses drive, window and session ids, host names, file paths, private IP and Bluetooth addresses, the VIN prefix, money, the owner's name and the gateway's command frame IDs (`geval.boundary`). No value changed.https://my-self-driving-g-wagon.drose.io/log.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-11-06-1a7903a111Fri, 06 Nov 2026 12:00:00 +0000The tests are the three on the G55's own drives; comma's public segments move to a harness check on the Method page. The N16 x-ray on comma's public segments is taken down until it runs on the G55's own drives. Notes record the work behind the tests. No value changed.https://my-self-driving-g-wagon.drose.io/models/f22e06e5_56320.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-11-05-25e8578410Thu, 05 Nov 2026 12:00:00 +0000G55 closed loop: 14.1 cm (10.9 to 17.1); G55 recovery tests: 48.1 cm (39.1 to 59.6); G55 open loop: 0.181 m/s² (0.153 to 0.187)https://my-self-driving-g-wagon.drose.io/log.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-11-05-104763adb5Thu, 05 Nov 2026 12:00:00 +0000A new section, Inside the models, shows which of the 32 squares in the N16 nav model's view move its steering on 4 of comma's segments, and a check of that map. No value changed.https://my-self-driving-g-wagon.drose.io/notes/what-n16-vision-tokens-carry.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-11-04-ea39b6ecd0Wed, 04 Nov 2026 12:00:00 +0000A head on N16's frozen vision tokens found 2.7 % of vehicles at IoU 0.5, against 55.5 % for YOLO26s on the same frames. Added to the box, the tokens gave a speed error of 3.88 to 4.44 m/s against 2.31 m/s for the analytical tracker.https://my-self-driving-g-wagon.drose.io/notes/camera-position-moves-the-hold.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-11-04-4e9c8296f1Wed, 04 Nov 2026 12:00:00 +0000In simulation, moving N16's virtual camera sideways moves its held lane position by -0.97 m per metre of shift. A road-plane warp for a lens 0.239 m right of centre took back about half of the +0.191 m median shift in the hold and restored 0.394 of 1.0 m pushes against 0.197 uncorrected (base 0.509).https://my-self-driving-g-wagon.drose.io/notes/training-a-steering-correction.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-11-04-03fa351f1eWed, 04 Nov 2026 12:00:00 +0000On 44 held-out simulator windows, a TD3-trained correction on N16 recovered from 1.5 m pushes 0.76 of the time against 0.58 for its untrained starting point (+0.18 [+0.13, +0.33]). Against the driver's recorded line the gain was +0.07 at 1.5 m and +0.01 at 1.0 m.https://my-self-driving-g-wagon.drose.io/notes/camera-loop-frame-rate.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-11-03-9698391f78Tue, 03 Nov 2026 12:00:00 +0000On N16 drives the camera loop ran 17.7 to 18.8 Hz: a serial decoder skipped ticks while OpenBLAS worker threads used 1.75 cores. With one OpenBLAS thread per service, three drives held 19.91 to 19.92 Hz.https://my-self-driving-g-wagon.drose.io/notes/wrong-way-first-turns.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-31-7ce10d0725Sat, 31 Oct 2026 12:00:00 +0000In 258 of 258 pushes where a full comma model first steered with the push, its residual-off copy did too. The residual removes 61-88% of these turns but sits at its 1.0 m/s² bound on the rest.https://github.com/cipher982/g55-public/commit/7f1f94fhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-31-f1774e65afSat, 31 Oct 2026 12:00:00 +0000The G55 score, the tiers on the page, the findings and the trend charts are gone, and the build refuses any list of models in another order and any combined score. Each results file now records its benchmark revision: protocol geval-1 and, for the G55 closed loop and recovery tests, the simulator (g55-2026-10-31 since the rerun below). In that rerun the comparison with the preceding release was missing for Mountain Dew and made against MD v3 instead of N16 for 6b5b705f, in the G55 closed-loop and recovery tables; both are corrected, and no value changed.https://github.com/cipher982/g55-public/commit/aebff69https://my-self-driving-g-wagon.drose.io/log.html#2026-10-31-30e086183eSat, 31 Oct 2026 12:00:00 +0000Each window now starts from the truck's state in its CAN recording of the 2 s before it instead of a steady start; one window of 98 has no valid CAN there and starts steady. Windows and tests are unchanged. Medians at 2 s are now 8.3 to 12.0 cm (they were 12.0 to 15.3 cm), and 8 of 8 models are closer to the path than lebowski with the paired interval below zero (it was 5 of 8). On the G55 score the resamples no longer separate any model: one tier of 9 (it was 7 models, then Cinque v3 and lebowski).https://github.com/cipher982/g55-public/commit/dc0d9behttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-31-6cfd2dce9dSat, 31 Oct 2026 12:00:00 +0000Whole drives are resampled 2000 times, and a model sits in a higher tier only when it beat every model in the lower tiers in at least 95% of the resamples; inside a tier, models are listed newest first. On the G55 score the 9 closed-loop models form two tiers: 7 models, then Cinque v3 and lebowski. The site build now fails if a page prints a place, a medal or a tier the resamples do not support.https://my-self-driving-g-wagon.drose.io/notes/n16-knows-where-it-is.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-30-edc93ebf3aFri, 30 Oct 2026 12:00:00 +0000A linear probe reads the truck's lateral offset from N16's vision tokens at R² 0.84-0.93 and from its base summary at 0.87-0.98 on held-out sessions. The wrong-way first turn comes from the base's readout of yaw rate, not from missing information.https://my-self-driving-g-wagon.drose.io/log.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-30-a06a4de6dcFri, 30 Oct 2026 12:00:00 +0000Added an interactive per-camera-setup breakdown matrix across all 5 G55 camera hardware setups (`by_group`).https://my-self-driving-g-wagon.drose.io/notes/world-model-follows-steering.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-29-d7950d036dThu, 29 Oct 2026 12:00:00 +0000By day comma's world model as shipped already puts the road at a commanded offset (road gain 1.05 at 3 s). Fine-tuning made it overshoot (1.24), reward training did not pass its gate, and no version holds the road at night.https://my-self-driving-g-wagon.drose.io/notes/learned-truck-model.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-29-3307bc6aceThu, 29 Oct 2026 12:00:00 +0000On 12 held-out drives a recurrent network learned from the truck's CAN data has a sideways error of 0.29 m after 4 s of free running, against 7.34 m for the hand-built model and 0.66 m for the same equations refit. It fails a stopping check, so the simulator's default stays hand-built.https://my-self-driving-g-wagon.drose.io/models/f22b8b34_16384.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-29-3dc695102dThu, 29 Oct 2026 12:00:00 +0000G55 closed loop: 14.9 cm (11.4 to 17.8); G55 recovery tests: 48.3 cm (39.2 to 59.5); G55 open loop: 0.177 m/s² (0.147 to 0.187)https://my-self-driving-g-wagon.drose.io/log.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-28-3f157d340bWed, 28 Oct 2026 12:00:00 +0000With 10 or more drives the closed-loop ranking now uses intervals. Drives whose recorded camera calibration was carried over from another drive are left out. The 8 current models rescored.https://my-self-driving-g-wagon.drose.io/log.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-28-0652316e7dWed, 28 Oct 2026 12:00:00 +0000Both cameras feed the model; on the V13 setup the part of comma's narrow view the 8 mm lens misses comes from the wide camera. Drives whose recorded camera calibration was carried over from another drive are left out. All 17 models rescored.https://my-self-driving-g-wagon.drose.io/log.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-28-9c6b7d3c9fWed, 28 Oct 2026 12:00:00 +0000Colours now mean what a model is: shipped or on master (blue), Hugging Face upload only (orange), lebowski (green), earlier models (grey). Charts over time follow, with the region better than lebowski shaded.https://my-self-driving-g-wagon.drose.io/log.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-28-f490e0ec61Wed, 28 Oct 2026 12:00:00 +0000It was a two-screen chart ordered by windows closer than lebowski. Ranks and intervals still wait for 10 drives. Findings, model summaries and the bars on each model's row use the G55 results; comma's segments stay in the harness check. The G55 clip at the top of the page is removed. Scoring runs in the log are grouped per day.https://my-self-driving-g-wagon.drose.io/log.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-27-a158b635d4Tue, 27 Oct 2026 12:00:00 +0000Open loop on the G55 and on comma's segments; closed loop not yet. Their float16 feature normalisation runs in float32 here (in float16 it overflowed on some frames under ONNX Runtime). New over-time panel: G55 open-loop lateral error.https://my-self-driving-g-wagon.drose.io/log.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-27-2fc551d7ecTue, 27 Oct 2026 12:00:00 +0000comma's public drives move to a harness check near the bottom; the world-model player moves to the method page.https://my-self-driving-g-wagon.drose.io/log.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-27-481099d70bTue, 27 Oct 2026 12:00:00 +0000https://my-self-driving-g-wagon.drose.io/log.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-27-690acf98aaTue, 27 Oct 2026 12:00:00 +0000https://github.com/cipher982/g55-public/commit/fe1a5edhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-27-8c0568e1c6Tue, 27 Oct 2026 12:00:00 +0000https://github.com/cipher982/g55-public/commit/8cebf52https://my-self-driving-g-wagon.drose.io/log.html#2026-10-27-307a4adaeaTue, 27 Oct 2026 12:00:00 +0000No better direction is marked for it or for lateral action rate.https://github.com/cipher982/g55-public/commit/8cebf52https://my-self-driving-g-wagon.drose.io/log.html#2026-10-27-b28eb4ff1bTue, 27 Oct 2026 12:00:00 +0000https://github.com/cipher982/g55-public/commit/1b06feehttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-27-66ba6d1fb8Tue, 27 Oct 2026 12:00:00 +0000https://github.com/cipher982/g55-public/commit/102710fhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-27-288efccd86Tue, 27 Oct 2026 12:00:00 +0000Lead values at the 0 and 1.5 s search limits are left out.https://github.com/cipher982/g55-public/commit/7856299https://my-self-driving-g-wagon.drose.io/log.html#2026-10-27-d441dc2a0fTue, 27 Oct 2026 12:00:00 +0000https://github.com/cipher982/g55-public/commit/a98409fhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-27-b87360fdceTue, 27 Oct 2026 12:00:00 +0000https://github.com/cipher982/g55-public/commit/f0ec83fhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-27-fbbc7aca44Tue, 27 Oct 2026 12:00:00 +0000https://github.com/cipher982/g55-public/commit/3a0056fhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-27-229ee02a22Tue, 27 Oct 2026 12:00:00 +0000https://my-self-driving-g-wagon.drose.io/models/1365126a_12864.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-24-a5c664a1f7Sat, 24 Oct 2026 12:00:00 +0000https://my-self-driving-g-wagon.drose.io/models/8d736683_12864.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-23-f456068501Fri, 23 Oct 2026 12:00:00 +0000https://my-self-driving-g-wagon.drose.io/models/6b5b705f_12800.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-17-edfdd06954Sat, 17 Oct 2026 12:00:00 +0000G55 closed loop: 13.9 cm (10.8 to 17.2); G55 recovery tests: 50.0 cm (40.7 to 61.5); G55 open loop: 0.161 m/s² (0.135 to 0.171)https://my-self-driving-g-wagon.drose.io/models/96244b1f_12800.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-15-a3d1fae806Thu, 15 Oct 2026 12:00:00 +0000G55 closed loop: 13.6 cm (10.0 to 17.9); G55 recovery tests: 48.4 cm (38.5 to 61.4); G55 open loop: 0.171 m/s² (0.144 to 0.183)https://my-self-driving-g-wagon.drose.io/models/1365126a_12864.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-14-e3b5df43e0Wed, 14 Oct 2026 12:00:00 +0000G55 closed loop: 13.7 cm (10.9 to 16.6); G55 recovery tests: 51.7 cm (42.5 to 62.9); G55 open loop: 0.156 m/s² (0.126 to 0.168)https://my-self-driving-g-wagon.drose.io/models/8d736683_12864.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-10-e1015a5c2bSat, 10 Oct 2026 12:00:00 +0000G55 closed loop: 13.2 cm (10.2 to 15.8); G55 recovery tests: 49.2 cm (39.9 to 60.5); G55 open loop: 0.164 m/s² (0.134 to 0.175)https://my-self-driving-g-wagon.drose.io/models/870a4823_12864.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-10-08-49beac8c94Thu, 08 Oct 2026 12:00:00 +0000G55 closed loop: 13.3 cm (10.7 to 15.4); G55 recovery tests: 51.8 cm (42.3 to 63.4); G55 open loop: 0.157 m/s² (0.129 to 0.169)https://my-self-driving-g-wagon.drose.io/models/1a421175_12864.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-09-18-0d20c652d5Fri, 18 Sep 2026 12:00:00 +0000https://my-self-driving-g-wagon.drose.io/models/f78ed37d_12864.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-09-18-c7da8109efFri, 18 Sep 2026 12:00:00 +0000G55 closed loop: 15.0 cm (12.4 to 17.2); G55 recovery tests: 51.0 cm (41.4 to 62.7); G55 open loop: 0.167 m/s² (0.143 to 0.178)https://my-self-driving-g-wagon.drose.io/models/f78ed37d_12864.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-09-18-057f499bb7Fri, 18 Sep 2026 12:00:00 +0000G55 closed loop: 15.0 cm (12.4 to 17.2); G55 recovery tests: 51.0 cm (41.4 to 62.7); G55 open loop: 0.167 m/s² (0.143 to 0.178)https://my-self-driving-g-wagon.drose.io/models/1a421175_12864.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-09-11-749d6353d6Fri, 11 Sep 2026 12:00:00 +0000G55 closed loop: 13.3 cm (10.7 to 15.6); G55 recovery tests: 50.1 cm (40.4 to 62.2); G55 open loop: 0.161 m/s² (0.140 to 0.170)https://my-self-driving-g-wagon.drose.io/models/lebowski_877m.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-07-01-795854eb48Wed, 01 Jul 2026 12:00:00 +0000G55 closed loop: 17.0 cm (13.7 to 20.3); G55 recovery tests: 45.3 cm (38.8 to 53.7); G55 open loop: 0.173 m/s² (0.138 to 0.184)https://my-self-driving-g-wagon.drose.io/models/wmi.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2026-01-19-0a877bb21cMon, 19 Jan 2026 12:00:00 +0000G55 closed loop: not run; G55 recovery tests: not run; G55 open loop: 0.231 m/s² (0.198 to 0.259)https://my-self-driving-g-wagon.drose.io/models/dark_souls_2.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2025-12-12-be3accbbbaFri, 12 Dec 2025 12:00:00 +0000G55 closed loop: not run; G55 recovery tests: not run; G55 open loop: 0.172 m/s² (0.145 to 0.189)https://my-self-driving-g-wagon.drose.io/models/the_cool_peoples.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2025-10-20-7bda0a97f5Mon, 20 Oct 2025 12:00:00 +0000G55 closed loop: not run; G55 recovery tests: not run; G55 open loop: 0.168 m/s² (0.144 to 0.181)https://my-self-driving-g-wagon.drose.io/models/north_nevada.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2025-10-09-e36eaec15fThu, 09 Oct 2025 12:00:00 +0000G55 closed loop: not run; G55 recovery tests: not run; G55 open loop: 0.165 m/s² (0.140 to 0.172)https://my-self-driving-g-wagon.drose.io/models/steam_powered.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2025-08-17-2528dc94aeSun, 17 Aug 2025 12:00:00 +0000G55 closed loop: not run; G55 recovery tests: not run; G55 open loop: 0.161 m/s² (0.136 to 0.169)https://my-self-driving-g-wagon.drose.io/models/filet_o_fish.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2025-03-07-778e324c23Fri, 07 Mar 2025 12:00:00 +0000G55 closed loop: not run; G55 recovery tests: not run; G55 open loop: 0.198 m/s² (0.162 to 0.207)https://my-self-driving-g-wagon.drose.io/models/north_dakota.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2024-04-29-8e21dfe7a8Mon, 29 Apr 2024 12:00:00 +0000G55 closed loop: not run; G55 recovery tests: not run; G55 open loop: 0.214 m/s² (0.168 to 0.226)https://my-self-driving-g-wagon.drose.io/models/certified_herbalist.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2024-02-19-503dde0c0fMon, 19 Feb 2024 12:00:00 +0000G55 closed loop: not run; G55 recovery tests: not run; G55 open loop: 0.216 m/s² (0.171 to 0.229)https://my-self-driving-g-wagon.drose.io/models/farmville.htmlhttps://my-self-driving-g-wagon.drose.io/log.html#2023-11-07-5c605e1e9aTue, 07 Nov 2023 12:00:00 +0000G55 closed loop: not run; G55 recovery tests: not run; G55 open loop: 0.213 m/s² (0.178 to 0.222)