Tests
Three tests on the G55's own drives, the same for every release. Each page lays out every release with its 95% interval. The harness is also checked on comma's public segments: Method, harness check.
G55 closed loop
Each model drives the G55 simulation inside comma's worldmodel-4B, which renders the next camera frame from the model's own steering, for 7.2 s from the start of a recorded window. Distance is to the driver's recorded path.
G55 recovery tests
The G55 closed loop with a disturbance at the start of the window, or on the windows where the car ahead braked.
G55 open loop
Each model runs on the G55's recorded camera frames. Its lateral request is compared with the truck's measured lateral acceleration; the action rate is how fast the request changes.