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Release v2026.5

Release v2026.5 Latest
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@jarcherNV jarcherNV released this 04 Jun 00:27
v2026.5
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Alpasim Release Notes - May 2026 Sync

BREAKING CHANGES

  • Renderer service key renamed from sensorsim to renderer
    Migration: Replace services.sensorsim, runtime.endpoints.sensorsim, and network.sensorsim with services.renderer, runtime.endpoints.renderer, and network.renderer. Replace physics/implemented_in_sensorsim.yaml with physics/implemented_in_renderer.yaml.

  • Docker Compose shutdown is now runtime-owned
    Migration: For one-shot Compose runs, use docker compose up --exit-code-from runtime-0. Without this, Compose may keep waiting on long-running backing services after the runtime exits.

  • Runtime scene discovery now uses SceneProvider config
    Migration: Remove direct --usdz-glob usage and configure scene_provider.kind plus scene_provider.usdz.data_dir.

  • Timing config cleanup
    Migration: Remove custom runtime.simulation_config.time_start_offset_us and camera first_frame_offset_us overrides. Frame outputs from alpasim_utils.asl_to_frames are now named by end-of-frame timestamp.

  • Wizard run mode rename
    Migration: Replace wizard.run_mode=BATCH with wizard.run_mode=ONESHOT.

  • External driver configs moved to driver_source
    Migration: Replace deploy=local_external_driver with deploy=local driver_source=external_static driver=manual.

NEW FEATURES

  • Built-in video model renderer support, replacing the separate video model plugin workflow
  • New video model configs and docs: deploy=external_video_model, deploy=managed_flashdreams, +chunking=<8frame|12frame|16frame>, and docs/VIDEO_MODEL.md
  • Public scene catalog updated to the 26.01 release, with legacy 25.05 CSVs kept for pinning older runs
  • Runtime daemon now exposes RuntimeService.get_runtime_info for scene, capacity, renderer, and service discovery
  • Runtime startup now logs service-connection progress for easier launch debugging
  • Closed-loop and RL workflows now support DriveResponse.terminate_session and single-rollout RolloutSpec.session_uuid
  • Added continuous eval scorers for min distance to obstacles and lane boundaries
  • Force-GT startup now blends from recorded GT trajectories into physics-derived trajectories
  • Added runtime.simulation_config.skip_driver_during_force_gt to avoid expensive driver queries during force-GT warmup
  • alpasim_utils.asl_to_frames can export video-model RGB and HD-map streams
  • The src/grpc package now builds generated protobuf artifacts during package builds

BUG FIXES

  • Fixed evaluation robustness issues around spawned workers, empty driver responses, and driver precondition errors
  • Fixed stale NuRec / Hugging Face dataset references in docs
  • Fixed GitHub Docker Compose CI to use runtime-owned shutdown and the renamed renderer service
  • Added validation and regression coverage for video-model configs, dynamic actors, daemon startup, scene loading, and rectification scaling

OTHER CHANGES

  • trajdata-alpasim is now pinned to a specific Git commit for consistent workspace resolution
  • Component versions were bumped across runtime, driver, controller, physics, eval, utils, and gRPC packages
  • GitHub sync and CI workflows were updated to preserve GitLab CI files during back-sync and support the corrected public sync flow
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Release v2026.4

Release v2026.4

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@jarcherNV jarcherNV released this 24 Apr 19:36
v2026.4
049f70f
This commit was created on GitHub.com and signed with GitHub’s verified signature.
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Learn about vigilant mode.

Alpasim Release Notes - April 2026 Sync

BREAKING CHANGES

  • SLURM: Use --gpus-per-node instead of --gpus
    Migration: Replace --gpus=N with --gpus-per-node=N in SLURM scripts and sbatch commands

  • Eval: batch_id parameter removed
    Migration: Remove batch_id parameter from eval function calls (accumulator, processing, scenario_evaluator, video generation)

NEW FEATURES

  • Evaluation threading: Eval now runs in separate thread, improving simulation throughput
  • GC pressure profiler: Added profiler and gc.freeze() to mitigate GIL stalls
  • Machine-readable metrics: Eval outputs metrics_results.parquet alongside text file
  • Allow eval during GT period: More flexible evaluation timing
  • Optional --cpu-bind=none: New wizard option for SLURM CPU affinity control

BUG FIXES

  • External contributor fixes (PRs #66, #67, #68):
    • Fixed offroad detection false positives during lane changes
    • Fixed metrics incorrectly triggered at first timestep
    • Fixed RequestStore memory leak
    • Added physics utils roundtrip tests
  • Fixed crash when n_concurrent_rollouts omitted for skipped services (now defaults to 0)
  • Duplicate config detection prevents silent shadowing

OTHER CHANGES

  • Type hints modernized: Optional[X] → X | None, removed from future import annotations
  • Dependency fix: torchmetrics>=1.8.2 override resolves driver conflicts
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