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modeld: increase model smooth#37724

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fredyshox wants to merge 1 commit intomasterfrom
model-delay-vs-lp
Open

modeld: increase model smooth#37724
fredyshox wants to merge 1 commit intomasterfrom
model-delay-vs-lp

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@fredyshox fredyshox commented Mar 23, 2026 •
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model antilag:

  • timestampEof is 50ms behind on average - covered by adding DT_MDL

    openpilot/selfdrive/modeld/modeld.py

    Line 391 in 16dda06

    action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
  • the model preds are up to 100ms behind (2-frame/5fps vision features) vs livePose being behind by 20-40 ms - additional ~50 ms
  • liveDelay

    openpilot/selfdrive/modeld/modeld.py

    Line 346 in 16dda06

    lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS

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commaci-public commented Mar 23, 2026

ref for commit d21d126: https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/model_replay_model-delay-vs-lp/8494c69d3c710e81|000001d4--2648a9a404_model_tici_d21d126a8907d52fbd01463c453663da5bff5436.zst

Model Replay Differences
All Model Replay Plots

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github-actions bot commented Mar 23, 2026

Process replay diff report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

⚠️ 9 changed, 57 passed, 0 errors

Show changes 

HYUNDAI - regenAA0FC4ED71E|2025-04-08--22-57-50--0 [controlsd]

  carControl.actuators.torque (1278 diffs)
    frame 78: 0.15070782601833344 -> 0.06492757052183151
    frame 79: 0.14632757008075714 -> 0.0649462416768074
    frame 80: 0.14633290469646454 -> 0.07376018166542053
    frame 81: 0.14633803069591522 -> 0.08254526555538177
    frame 82: 0.146341010928154 -> 0.0913061574101448
    frame 83: 0.2290595918893814 -> 0.1686711311340332
    frame 84: 0.2315993756055832 -> 0.1692374050617218
    frame 85: 0.23158253729343414 -> 0.16929078102111816
    frame 86: 0.2315686196088791 -> 0.16933931410312653
    frame 87: 0.2084094136953354 -> 0.16774940490722656
    (... 1268 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (1096 diffs)
    frame 78: -0.04134151339530945 -> 0.029662540182471275
    frame 79: -0.041327591985464096 -> 0.026008661836385727
    frame 80: -0.04135383293032646 -> 0.018733007833361626
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    frame 87: -0.07497366517782211 -> -0.041394028812646866
    (... 1086 more)

  controlsState.lateralControlState.torqueState.error (1096 diffs)
    frame 78: -0.04592779651284218 -> 0.025076257064938545
    frame 79: -0.042288679629564285 -> 0.025047576054930687
    frame 80: -0.04231547936797142 -> 0.017771361395716667
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    frame 87: -0.08062556385993958 -> -0.047045931220054626
    (... 1086 more)

  controlsState.lateralControlState.torqueState.f (941 diffs)
    frame 104: -0.3889356255531311 -> -0.4059659242630005
    frame 105: -0.37746503949165344 -> -0.40352824330329895
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    frame 117: -0.29415854811668396 -> -0.3129114508628845
    (... 931 more)

  controlsState.lateralControlState.torqueState.output (1278 diffs)
    frame 78: 0.15070782601833344 -> 0.06492757052183151
    frame 79: 0.14632757008075714 -> 0.0649462416768074
    frame 80: 0.14633290469646454 -> 0.07376018166542053
    frame 81: 0.14633803069591522 -> 0.08254526555538177
    frame 82: 0.146341010928154 -> 0.0913061574101448
    frame 83: 0.2290595918893814 -> 0.1686711311340332
    frame 84: 0.2315993756055832 -> 0.1692374050617218
    frame 85: 0.23158253729343414 -> 0.16929078102111816
    frame 86: 0.2315686196088791 -> 0.16933931410312653
    frame 87: 0.2084094136953354 -> 0.16774940490722656
    (... 1268 more)

  controlsState.lateralControlState.torqueState.p (1448 diffs)
    frame 78: -0.16438323259353638 -> 0.08975210040807724
    frame 79: -0.15141461789608002 -> 0.08968284726142883
    frame 80: -0.15140420198440552 -> 0.06358568370342255
    frame 81: -0.15139402449131012 -> 0.037573207169771194
    frame 82: -0.1513880491256714 -> 0.011621814221143723
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    frame 86: -0.33988410234451294 -> -0.15555080771446228
    frame 87: -0.2890945374965668 -> -0.16868995130062103
    (... 1438 more)

HYUNDAI2 - regenAFB9780D823|2025-04-08--23-00-34--0 [controlsd]

  carControl.actuators.torque (2912 diffs)
    frame 98: 0.02610655128955841 -> -0.017482884228229523
    frame 99: 0.02732795663177967 -> -0.016259048134088516
    frame 100: 0.027173839509487152 -> -0.016413165256381035
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    frame 105: 0.0471801720559597 -> 0.029645930975675583
    frame 106: 0.05157087370753288 -> 0.03396036475896835
    frame 107: 0.051413629204034805 -> 0.03389262408018112
    (... 2902 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (2410 diffs)
    frame 98: 0.0637693926692009 -> 0.11272137612104416
    frame 99: 0.0637434646487236 -> 0.11267967522144318
    frame 100: 0.0637434646487236 -> 0.11267967522144318
    frame 101: 0.06378304958343506 -> 0.11259369552135468
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    frame 105: 0.044098932296037674 -> 0.0637434646487236
    frame 106: 0.04406335577368736 -> 0.06378304958343506
    frame 107: 0.04409857839345932 -> 0.06375424563884735
    (... 2400 more)

  controlsState.lateralControlState.torqueState.error (2410 diffs)
    frame 98: -0.0494581013917923 -> -0.0005061196279712021
    frame 99: -0.0494435615837574 -> -0.0005073502543382347
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    frame 107: -0.06926154345273972 -> -0.049605872482061386
    (... 2400 more)

  controlsState.lateralControlState.torqueState.f (16 diffs)
    frame 1005: -0.049026843160390854 -> -0.03702931851148605
    frame 1006: -0.07469390332698822 -> -0.06090763583779335
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    frame 1052: -0.4301784336566925 -> -0.4192971885204315
    (... 6 more)

  controlsState.lateralControlState.torqueState.output (2912 diffs)
    frame 98: 0.02610655128955841 -> -0.017482884228229523
    frame 99: 0.02732795663177967 -> -0.016259048134088516
    frame 100: 0.027173839509487152 -> -0.016413165256381035
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    frame 102: 0.026891838759183884 -> -0.016597334295511246
    frame 103: 0.05153783783316612 -> 0.03403441235423088
    frame 104: 0.04735641926527023 -> 0.029822178184986115
    frame 105: 0.0471801720559597 -> 0.029645930975675583
    frame 106: 0.05157087370753288 -> 0.03396036475896835
    frame 107: 0.051413629204034805 -> 0.03389262408018112
    (... 2902 more)

  controlsState.lateralControlState.torqueState.p (3675 diffs)
    frame 98: -0.1368975192308426 -> -0.0014009135775268078
    frame 99: -0.13689479231834412 -> -0.0014047048753127456
    frame 100: -0.13689479231834412 -> -0.0014047048753127456
    frame 101: -0.1368989497423172 -> -0.0018130735261365771
    frame 102: -0.13689593970775604 -> -0.0017105527222156525
    frame 103: -0.19205565750598907 -> -0.1376880258321762
    frame 104: -0.17787382006645203 -> -0.12340923398733139
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    frame 106: -0.19200901687145233 -> -0.13730639219284058
    frame 107: -0.19202902913093567 -> -0.1375332921743393
    (... 3665 more)

TOYOTA - regen218A4DCFAA1|2025-04-08--22-57-51--0 [controlsd]

  carControl.actuators.torque (951 diffs)
    frame 4564: 0.2109355926513672 -> 0.14445248246192932
    frame 4565: 0.3158864974975586 -> 0.22007642686367035
    frame 4566: 0.31589123606681824 -> 0.2347489446401596
    frame 4567: 0.3158951699733734 -> 0.2267610877752304
    frame 4568: 0.363109827041626 -> 0.2764960527420044
    frame 4569: 0.3631093204021454 -> 0.325361967086792
    frame 4570: 0.363108366727829 -> 0.34034913778305054
    frame 4571: 0.36310875415802 -> 0.3403461277484894
    frame 4572: 0.36310717463493347 -> 0.340343713760376
    frame 4573: 0.38757428526878357 -> 0.3750670850276947
    (... 941 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (1058 diffs)
    frame 4564: 0.00853514764457941 -> 0.0593084916472435
    frame 4565: -0.018627099692821503 -> 0.0592980831861496
    frame 4566: -0.018621696159243584 -> 0.05928920954465866
    frame 4567: -0.018617166206240654 -> 0.05927227437496185
    frame 4568: -0.05980078876018524 -> 0.05855127424001694
    frame 4569: -0.059790804982185364 -> 0.00853514764457941
    frame 4570: -0.05977211147546768 -> -0.018627099692821503
    frame 4571: -0.059779778122901917 -> -0.018621696159243584
    frame 4572: -0.05974891036748886 -> -0.018617166206240654
    frame 4573: -0.08234798908233643 -> -0.05980078876018524
    (... 1048 more)

  controlsState.lateralControlState.torqueState.error (1058 diffs)
    frame 4564: -0.05000726133584976 -> 0.000766081502661109
    frame 4565: -0.07716374844312668 -> 0.0007614336791448295
    frame 4566: -0.07714901119470596 -> 0.0007618992240168154
    frame 4567: -0.07713665068149567 -> 0.0007527933339588344
    frame 4568: -0.11691136658191681 -> 0.0014406933914870024
    frame 4569: -0.1168961375951767 -> -0.048570189625024796
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    frame 4572: -0.11683223396539688 -> -0.07570049166679382
    frame 4573: -0.13738574087619781 -> -0.11483854055404663
    (... 1048 more)

  controlsState.lateralControlState.torqueState.f (666 diffs)
    frame 4564: -0.29334375262260437 -> -0.2318003624677658
    frame 4565: -0.437312513589859 -> -0.3527947664260864
    frame 4566: -0.43730708956718445 -> -0.37627145648002625
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    frame 4626: -0.3646501898765564 -> -0.3913463056087494
    (... 656 more)

  controlsState.lateralControlState.torqueState.output (951 diffs)
    frame 4564: 0.2109355926513672 -> 0.14445248246192932
    frame 4565: 0.3158864974975586 -> 0.22007642686367035
    frame 4566: 0.31589123606681824 -> 0.2347489446401596
    frame 4567: 0.3158951699733734 -> 0.2267610877752304
    frame 4568: 0.363109827041626 -> 0.2764960527420044
    frame 4569: 0.3631093204021454 -> 0.325361967086792
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    frame 4571: 0.36310875415802 -> 0.3403461277484894
    frame 4572: 0.36310717463493347 -> 0.340343713760376
    frame 4573: 0.38757428526878357 -> 0.3750670850276947
    (... 941 more)

  controlsState.lateralControlState.torqueState.p (1009 diffs)
    frame 4564: -0.04407818615436554 -> 0.0006752515910193324
    frame 4565: -0.06803089380264282 -> 0.0006713128532283008
    frame 4566: -0.06804385036230087 -> 0.0006719795055687428
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    frame 4572: -0.10323688387870789 -> -0.06689149886369705
    frame 4573: -0.12147103995084763 -> -0.10153570026159286
    (... 999 more)

TOYOTA3 - regen1455E3B4BDF|2025-04-09--03-26-06--0 [controlsd]

  carControl.actuators.torque (4459 diffs)
    frame 125: 0.14900274574756622 -> 0.1005115658044815
    frame 126: 0.2849695384502411 -> 0.19571968913078308
    frame 127: 0.3366132378578186 -> 0.26775234937667847
    frame 128: 0.38821813464164734 -> 0.2964346408843994
    frame 129: 0.4398458003997803 -> 0.3251039683818817
    frame 130: 0.4822544753551483 -> 0.3674345016479492
    frame 131: 0.5336923003196716 -> 0.4190059304237366
    frame 132: 0.5519857406616211 -> 0.4521118998527527
    frame 133: 0.5473190546035767 -> 0.4702569544315338
    frame 134: 0.5534428358078003 -> 0.49660465121269226
    (... 4449 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (4381 diffs)
    frame 125: -0.4722242057323456 -> -0.4330391585826874
    frame 126: -0.5223474502563477 -> -0.4223267138004303
    frame 127: -0.5724074244499207 -> -0.42233040928840637
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    frame 133: -0.7903822660446167 -> -0.6224226355552673
    frame 134: -0.7963245511054993 -> -0.6724629998207092
    (... 4371 more)

  controlsState.lateralControlState.torqueState.error (4396 diffs)
    frame 125: -0.05437188595533371 -> -0.015186859294772148
    frame 126: -0.10443899780511856 -> -0.004418251104652882
    frame 127: -0.15447264909744263 -> -0.00439563300460577
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    frame 133: -0.3551977276802063 -> -0.18723806738853455
    frame 134: -0.36112266778945923 -> -0.2372610867023468
    (... 4386 more)

  controlsState.lateralControlState.torqueState.f (3713 diffs)
    frame 125: -0.21634012460708618 -> -0.1631593108177185
    frame 126: -0.41346582770347595 -> -0.3378544747829437
    frame 199: -0.9027850031852722 -> -0.8613817691802979
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    frame 206: -0.9870741963386536 -> -0.9545966386795044
    frame 207: -0.9778333902359009 -> -0.945110559463501
    (... 3703 more)

  controlsState.lateralControlState.torqueState.output (4459 diffs)
    frame 125: 0.14900274574756622 -> 0.1005115658044815
    frame 126: 0.2849695384502411 -> 0.19571968913078308
    frame 127: 0.3366132378578186 -> 0.26775234937667847
    frame 128: 0.38821813464164734 -> 0.2964346408843994
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    frame 132: 0.5519857406616211 -> 0.4521118998527527
    frame 133: 0.5473190546035767 -> 0.4702569544315338
    frame 134: 0.5534428358078003 -> 0.49660465121269226
    (... 4449 more)

  controlsState.lateralControlState.torqueState.p (4155 diffs)
    frame 125: -0.04349751025438309 -> -0.012149487622082233
    frame 126: -0.08355119824409485 -> -0.0035346008371561766
    frame 127: -0.12357811629772186 -> -0.003516506403684616
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    frame 133: -0.2841581702232361 -> -0.1497904509305954
    frame 134: -0.28889814019203186 -> -0.18980887532234192
    (... 4145 more)

RAM - regenBF81EA96E08|2025-04-08--23-06-54--0 [controlsd]

  carControl.actuators.torque (1409 diffs)
    frame 125: -0.1485612392425537 -> -0.10132777690887451
    frame 126: -0.22821760177612305 -> -0.1538221538066864
    frame 127: -0.28549396991729736 -> -0.18855662643909454
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    frame 131: -0.4261515438556671 -> -0.31391656398773193
    frame 132: -0.426218718290329 -> -0.34617817401885986
    frame 133: -0.42634132504463196 -> -0.3784351348876953
    frame 134: -0.42644593119621277 -> -0.41070854663848877
    (... 1399 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (1394 diffs)
    frame 125: 0.19595462083816528 -> 0.14321792125701904
    frame 126: 0.24603314697742462 -> 0.14573751389980316
    frame 127: 0.2961083650588989 -> 0.14577655494213104
    frame 128: 0.34618228673934937 -> 0.14583535492420197
    frame 129: 0.3963165879249573 -> 0.1458864063024521
    frame 130: 0.4201354682445526 -> 0.19595462083816528
    frame 131: 0.4202617108821869 -> 0.24603314697742462
    frame 132: 0.4203646779060364 -> 0.2961083650588989
    frame 133: 0.42055273056030273 -> 0.34618228673934937
    frame 134: 0.4207131862640381 -> 0.3963165879249573
    (... 1384 more)

  controlsState.lateralControlState.torqueState.error (1394 diffs)
    frame 125: 0.04843640327453613 -> -0.004300306085497141
    frame 126: 0.09846750646829605 -> -0.0018281330121681094
    frame 127: 0.1485065370798111 -> -0.001825273735448718
    frame 128: 0.19855089485645294 -> -0.001796026132069528
    frame 129: 0.24863925576210022 -> -0.001790914568118751
    frame 130: 0.27050477266311646 -> 0.04632391035556793
    frame 131: 0.27059492468833923 -> 0.09636638313531876
    frame 132: 0.27066850662231445 -> 0.146412193775177
    frame 133: 0.2708028554916382 -> 0.19643241167068481
    frame 134: 0.27091750502586365 -> 0.24652089178562164
    (... 1384 more)

  controlsState.lateralControlState.torqueState.f (664 diffs)
    frame 125: 0.23457686603069305 -> 0.20820851624011993
    frame 126: 0.3293974697589874 -> 0.3100079596042633
    frame 154: 0.40517958998680115 -> 0.43501928448677063
    frame 155: 0.32839933037757874 -> 0.3707050085067749
    frame 156: 0.3173696994781494 -> 0.3563149869441986
    frame 157: 0.322063684463501 -> 0.3610198199748993
    frame 158: 0.3264399468898773 -> 0.3654043674468994
    frame 160: 0.4448070228099823 -> 0.4238492548465729
    frame 161: 0.44564151763916016 -> 0.42459696531295776
    frame 162: 0.44644373655319214 -> 0.4253528416156769
    (... 654 more)

  controlsState.lateralControlState.torqueState.output (1409 diffs)
    frame 125: -0.1485612392425537 -> -0.10132777690887451
    frame 126: -0.22821760177612305 -> -0.1538221538066864
    frame 127: -0.28549396991729736 -> -0.18855662643909454
    frame 128: -0.3427638113498688 -> -0.2136126458644867
    frame 129: -0.4000638425350189 -> -0.23868341743946075
    frame 130: -0.4260692000389099 -> -0.28163495659828186
    frame 131: -0.4261515438556671 -> -0.31391656398773193
    frame 132: -0.426218718290329 -> -0.34617817401885986
    frame 133: -0.42634132504463196 -> -0.3784351348876953
    frame 134: -0.42644593119621277 -> -0.41070854663848877
    (... 1399 more)

  controlsState.lateralControlState.torqueState.p (1631 diffs)
    frame 125: 0.06247296929359436 -> -0.005546507891267538
    frame 126: 0.12696509063243866 -> -0.0023572149220854044
    frame 127: 0.1914425939321518 -> -0.002352994866669178
    frame 128: 0.25590837001800537 -> -0.0023148630280047655
    frame 129: 0.32037413120269775 -> -0.0023076110519468784
    frame 130: 0.348463773727417 -> 0.059674378484487534
    frame 131: 0.34850218892097473 -> 0.12411133199930191
    frame 132: 0.348533570766449 -> 0.18853159248828888
    frame 133: 0.3485907316207886 -> 0.2528574466705322
    frame 134: 0.34863948822021484 -> 0.31724387407302856
    (... 1621 more)

SUBARU - regen7366F13F6A1|2025-04-08--23-07-07--0 [controlsd]

  carControl.actuators.torque (4301 diffs)
    frame 75: -0.008043806068599224 -> 0.06180493161082268
    frame 76: -0.06185571104288101 -> -0.02186369150876999
    frame 77: -0.10257836431264877 -> -0.042583778500556946
    frame 78: -0.1475890874862671 -> -0.0675777941942215
    frame 79: -0.19045111536979675 -> -0.09042585641145706
    frame 80: -0.22213195264339447 -> -0.12205230444669724
    frame 81: -0.2671317458152771 -> -0.16701743006706238
    frame 82: -0.2879786193370819 -> -0.19861169159412384
    frame 83: -0.2815483510494232 -> -0.21218973398208618
    frame 84: -0.29482531547546387 -> -0.2395748347043991
    (... 4291 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (4439 diffs)
    frame 75: -0.33641108870506287 -> -0.38627633452415466
    frame 76: -0.28650856018066406 -> -0.38626134395599365
    frame 77: -0.2364862710237503 -> -0.3862454295158386
    frame 78: -0.1864667683839798 -> -0.38626769185066223
    frame 79: -0.13645094633102417 -> -0.38628682494163513
    frame 80: -0.08643925189971924 -> -0.33641108870506287
    frame 81: -0.03645008057355881 -> -0.28650856018066406
    frame 82: -0.013296255841851234 -> -0.2364862710237503
    frame 83: -0.013297541067004204 -> -0.1864667683839798
    frame 84: 0.0014479839010164142 -> -0.13645094633102417
    (... 4429 more)

  controlsState.lateralControlState.torqueState.error (4441 diffs)
    frame 75: 0.02139650285243988 -> -0.028468739241361618
    frame 76: 0.07136082649230957 -> -0.02839192934334278
    frame 77: 0.11063957214355469 -> -0.03911958262324333
    frame 78: 0.16064201295375824 -> -0.03915892913937569
    frame 79: 0.20527732372283936 -> -0.04455854743719101
    frame 80: 0.23279479146003723 -> -0.017177030444145203
    frame 81: 0.2828078269958496 -> 0.03274931758642197
    frame 82: 0.30598267912864685 -> 0.08279267698526382
    frame 83: 0.28990861773490906 -> 0.11673938482999802
    frame 84: 0.30466917157173157 -> 0.16677023470401764
    (... 4431 more)

  controlsState.lateralControlState.torqueState.f (3617 diffs)
    frame 75: -0.0010616844519972801 -> -0.10079216957092285
    frame 125: 0.2705577611923218 -> 0.3018322288990021
    frame 126: 0.25971686840057373 -> 0.30183708667755127
    frame 127: 0.23881939053535461 -> 0.2949809730052948
    frame 128: 0.22937293350696564 -> 0.28558623790740967
    frame 129: 0.23648208379745483 -> 0.2176087349653244
    frame 130: 0.2295105904340744 -> 0.21061596274375916
    frame 131: 0.18713536858558655 -> 0.1681968718767166
    frame 132: 0.17777346074581146 -> 0.15877890586853027
    frame 133: 0.1689285784959793 -> 0.1499311774969101
    (... 3607 more)

  controlsState.lateralControlState.torqueState.output (4301 diffs)
    frame 75: -0.008043806068599224 -> 0.06180493161082268
    frame 76: -0.06185571104288101 -> -0.02186369150876999
    frame 77: -0.10257836431264877 -> -0.042583778500556946
    frame 78: -0.1475890874862671 -> -0.0675777941942215
    frame 79: -0.19045111536979675 -> -0.09042585641145706
    frame 80: -0.22213195264339447 -> -0.12205230444669724
    frame 81: -0.2671317458152771 -> -0.16701743006706238
    frame 82: -0.2879786193370819 -> -0.19861169159412384
    frame 83: -0.2815483510494232 -> -0.21218973398208618
    frame 84: -0.29482531547546387 -> -0.2395748347043991
    (... 4291 more)

  controlsState.lateralControlState.torqueState.p (4142 diffs)
    frame 75: 0.017117202281951904 -> -0.022774990648031235
    frame 76: 0.057088661938905716 -> -0.022713543847203255
    frame 77: 0.08851166069507599 -> -0.031295664608478546
    frame 78: 0.12851360440254211 -> -0.03132714331150055
    frame 79: 0.164221853017807 -> -0.03564683720469475
    frame 80: 0.18623583018779755 -> -0.013741624541580677
    frame 81: 0.22624626755714417 -> 0.026199454441666603
    frame 82: 0.24478614330291748 -> 0.06623414158821106
    frame 83: 0.23192688822746277 -> 0.09339150786399841
    frame 84: 0.24373534321784973 -> 0.13341619074344635
    (... 4132 more)

GM - regen1271097D038|2025-04-09--03-26-00--0 [controlsd]

  carControl.actuators.torque (3474 diffs)
    frame 74: 0.52772057056427 -> 0.2311306595802307
    frame 75: 0.594356119632721 -> 0.27632808685302734
    frame 76: 0.5933877825737 -> 0.27728602290153503
    frame 77: 0.5890100598335266 -> 0.27145832777023315
    frame 78: 0.6268610954284668 -> 0.28515294194221497
    frame 79: 0.6287930011749268 -> 0.5877047777175903
    frame 83: 0.5649559497833252 -> 0.5996053814888
    frame 84: 0.5874214768409729 -> 0.6040429472923279
    frame 85: 0.5767818093299866 -> 0.59376460313797
    frame 86: 0.5728705525398254 -> 0.590523898601532
    (... 3464 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (3411 diffs)
    frame 74: -0.23639942705631256 -> -0.1911303550004959
    frame 75: -0.24473878741264343 -> -0.19035017490386963
    frame 76: -0.24257372319698334 -> -0.18884387612342834
    frame 77: -0.24072545766830444 -> -0.18756769597530365
    frame 78: -0.24800708889961243 -> -0.18728654086589813
    frame 79: -0.2466801553964615 -> -0.23639942705631256
    frame 89: -0.22566819190979004 -> -0.24274221062660217
    frame 90: -0.2246437668800354 -> -0.24172012507915497
    frame 91: -0.2218177169561386 -> -0.23947656154632568
    frame 92: -0.21936744451522827 -> -0.2375621199607849
    (... 3401 more)

  controlsState.lateralControlState.torqueState.error (3502 diffs)
    frame 74: -0.05004553869366646 -> -0.004776467569172382
    frame 75: -0.059073880314826965 -> -0.004685274790972471
    frame 76: -0.05851870775222778 -> -0.004788858816027641
    frame 77: -0.05804521590471268 -> -0.004887464456260204
    frame 78: -0.06648214161396027 -> -0.005761587060987949
    frame 79: -0.06619379669427872 -> -0.05591307953000069
    frame 89: -0.035796478390693665 -> -0.0528704896569252
    frame 90: -0.03561833128333092 -> -0.05269468575716019
    frame 91: -0.036515917629003525 -> -0.054174765944480896
    frame 92: -0.036076243966817856 -> -0.054270919412374496
    (... 3492 more)

  controlsState.lateralControlState.torqueState.f (1975 diffs)
    frame 74: -0.28390488028526306 -> -0.2442944347858429
    frame 75: -0.3531224727630615 -> -0.30553245544433594
    frame 76: -0.352548748254776 -> -0.30553513765335083
    frame 77: -0.34284278750419617 -> -0.2963297665119171
    frame 78: -0.35927826166152954 -> -0.3061477839946747
    frame 89: -0.2903798222541809 -> -0.305319607257843
    frame 90: -0.2788415253162384 -> -0.2937833368778229
    frame 91: -0.2740341126918793 -> -0.2894856035709381
    frame 92: -0.26731425523757935 -> -0.2832345962524414
    frame 93: -0.2649243474006653 -> -0.28127220273017883
    (... 1965 more)

  controlsState.lateralControlState.torqueState.output (3474 diffs)
    frame 74: 0.52772057056427 -> 0.2311306595802307
    frame 75: 0.594356119632721 -> 0.27632808685302734
    frame 76: 0.5933877825737 -> 0.27728602290153503
    frame 77: 0.5890100598335266 -> 0.27145832777023315
    frame 78: 0.6268610954284668 -> 0.28515294194221497
    frame 79: 0.6287930011749268 -> 0.5877047777175903
    frame 83: 0.5649559497833252 -> 0.5996053814888
    frame 84: 0.5874214768409729 -> 0.6040429472923279
    frame 85: 0.5767818093299866 -> 0.59376460313797
    frame 86: 0.5728705525398254 -> 0.590523898601532
    (... 3464 more)

  controlsState.lateralControlState.torqueState.p (4450 diffs)
    frame 74: -0.49412888288497925 -> -0.047160860151052475
    frame 75: -0.5847908854484558 -> -0.04638100415468216
    frame 76: -0.5828232765197754 -> -0.04769514501094818
    frame 77: -0.5811074376106262 -> -0.04892982169985771
    frame 78: -0.6684688329696655 -> -0.057931967079639435
    frame 79: -0.6679536700248718 -> -0.5642121434211731
    frame 83: -0.5402162075042725 -> -0.6215006113052368
    frame 84: -0.5813968777656555 -> -0.6219805479049683
    frame 85: -0.557823657989502 -> -0.5980449318885803
    frame 86: -0.5555845499038696 -> -0.5969784259796143
    (... 4440 more)

MAZDA - regenACF84CCF482|2024-08-30--03-21-55--0 [controlsd]

  carControl.actuators.torque (396 diffs)
    frame 104: 0.3574327826499939 -> 0.29470911622047424
    frame 105: 0.5626302361488342 -> 0.41760939359664917
    frame 106: 0.6394748091697693 -> 0.5337074398994446
    frame 107: 0.7062562704086304 -> 0.5532684326171875
    frame 108: 0.7288190126419067 -> 0.5375235676765442
    frame 109: 0.7955805063247681 -> 0.6041785478591919
    frame 110: 0.8623901605606079 -> 0.6707923412322998
    frame 111: 0.9291301965713501 -> 0.737403392791748
    frame 112: 1.0 -> 0.8134496808052063
    frame 113: 1.0 -> 0.8802212476730347
    (... 386 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (1613 diffs)
    frame 104: -0.5120298266410828 -> -0.474019318819046
    frame 105: -0.5620318055152893 -> -0.47412344813346863
    frame 106: -0.6120654344558716 -> -0.47413384914398193
    frame 107: -0.6623252630233765 -> -0.46195629239082336
    frame 108: -0.712594211101532 -> -0.46197259426116943
    frame 109: -0.762854278087616 -> -0.5120298266410828
    frame 110: -0.8131891489028931 -> -0.5620318055152893
    frame 111: -0.8634470105171204 -> -0.6120654344558716
    frame 112: -0.9136309623718262 -> -0.6623252630233765
    frame 113: -0.9638793468475342 -> -0.712594211101532
    (... 1603 more)

  controlsState.lateralControlState.torqueState.error (1619 diffs)
    frame 104: -0.05001680552959442 -> -0.012006326578557491
    frame 105: -0.10001754015684128 -> -0.012109169736504555
    frame 106: -0.1500316560268402 -> -0.012100047431886196
    frame 107: -0.20015296339988708 -> 0.0002160048024961725
    frame 108: -0.22895270586013794 -> 0.021668922156095505
    frame 109: -0.2790881395339966 -> -0.02826368808746338
    frame 110: -0.32927313446998596 -> -0.0781158059835434
    frame 111: -0.37942269444465637 -> -0.1280411332845688
    frame 112: -0.4417112469673157 -> -0.19040551781654358
    frame 113: -0.49186909198760986 -> -0.24058394134044647
    (... 1609 more)

  controlsState.lateralControlState.torqueState.f (129 diffs)
    frame 104: -0.561838686466217 -> -0.502581775188446
    frame 105: -0.8558146357536316 -> -0.7187687754631042
    frame 417: -1.0687384605407715 -> -1.1814788579940796
    frame 418: -0.98163902759552 -> -1.1490814685821533
    frame 419: -0.8482612371444702 -> -1.0992188453674316
    frame 420: -0.6950365900993347 -> -1.0492701530456543
    frame 421: -0.5812336802482605 -> -0.9693456888198853
    frame 422: -0.4462815225124359 -> -0.8358952403068542
    frame 423: -0.31610456109046936 -> -0.7065033912658691
    frame 424: -0.24170078337192535 -> -0.5937345623970032
    (... 119 more)

  controlsState.lateralControlState.torqueState.output (396 diffs)
    frame 104: 0.3574327826499939 -> 0.29470911622047424
    frame 105: 0.5626302361488342 -> 0.41760939359664917
    frame 106: 0.6394748091697693 -> 0.5337074398994446
    frame 107: 0.7062562704086304 -> 0.5532684326171875
    frame 108: 0.7288190126419067 -> 0.5375235676765442
    frame 109: 0.7955805063247681 -> 0.6041785478591919
    frame 110: 0.8623901605606079 -> 0.6707923412322998
    frame 111: 0.9291301965713501 -> 0.737403392791748
    frame 112: 1.0 -> 0.8134496808052063
    frame 113: 1.0 -> 0.8802212476730347
    (... 386 more)

  controlsState.lateralControlState.torqueState.p (1619 diffs)
    frame 104: -0.06722812354564667 -> -0.016137832775712013
    frame 105: -0.1344342827796936 -> -0.01627602055668831
    frame 106: -0.20165027678012848 -> -0.01626308634877205
    frame 107: -0.2689370810985565 -> 0.0002902365231420845
    frame 108: -0.30754777789115906 -> 0.02910744771361351
    frame 109: -0.3747991919517517 -> -0.037956494837999344
    frame 110: -0.44206053018569946 -> -0.1048731654882431
    frame 111: -0.5092763304710388 -> -0.171861931681633
    frame 112: -0.5927950739860535 -> -0.2555322051048279
    frame 113: -0.659984827041626 -> -0.3228130042552948
    (... 1609 more)

  controlsState.lateralControlState.torqueState.saturated (27 diffs)

  frames 420-433
  master:   ‾‾‾‾‾\________
  PR:       ‾‾‾‾‾‾‾‾‾\____
            fall: PR lags by 4 frames (40ms)

  frames 604-616
  master:   _____/‾‾‾‾‾‾‾
  PR:       ________/‾‾‾‾
            rise: PR lags by 3 frames (30ms)

  frames 871-883
  master:   ‾‾‾‾‾\_______
  PR:       ‾‾‾‾‾‾‾‾\____
            fall: PR lags by 3 frames (30ms)

  frames 1292-1304
  master:   _____/‾‾‾‾‾‾‾
  PR:       ________/‾‾‾‾
            rise: PR lags by 3 frames (30ms)

  frames 1576-1587
  master:   ‾‾‾‾‾\______
  PR:       ‾‾‾‾‾‾‾\____
            fall: PR lags by 2 frames (20ms)

  frames 2056-2068
  master:   _____/‾‾‾‾‾‾‾
  PR:       ________/‾‾‾‾
            rise: PR lags by 3 frames (30ms)

  frames 2151-2163
  master:   ‾‾‾‾‾\_______
  PR:       ‾‾‾‾‾‾‾‾\____
            fall: PR lags by 3 frames (30ms)

  frames 4380-4392
  master:   ‾‾‾‾‾\_______
  PR:       ‾‾‾‾‾‾‾‾\____
            fall: PR lags by 3 frames (30ms)

  frames 4878-4890
  master:   _____/‾‾‾‾‾‾‾
  PR:       ________/‾‾‾‾
            rise: PR lags by 3 frames (30ms)

RIVIAN - regen5FCAC896BBE|2025-04-08--23-13-35--0 [controlsd]

  carControl.actuators.torque (3278 diffs)
    frame 100: -0.21647021174430847 -> -0.2507166564464569
    frame 101: -0.1371704787015915 -> -0.18307681381702423
    frame 102: -0.13395413756370544 -> -0.1685304492712021
    frame 103: -0.13393309712409973 -> -0.16850201785564423
    frame 104: -0.15150012075901031 -> -0.19154897332191467
    frame 105: -0.1679617017507553 -> -0.18773679435253143
    frame 107: -0.1586373746395111 -> -0.14835511147975922
    frame 108: -0.16067460179328918 -> -0.1482768952846527
    frame 109: -0.1722339540719986 -> -0.16149333119392395
    frame 110: -0.19852910935878754 -> -0.1877051442861557
    (... 3268 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (3862 diffs)
    frame 100: 0.701859176158905 -> 0.7522560954093933
    frame 101: 0.6517928242683411 -> 0.7521644830703735
    frame 102: 0.6470905542373657 -> 0.7520815134048462
    frame 103: 0.6470474600791931 -> 0.7520073652267456
    frame 104: 0.6726766228675842 -> 0.7519417405128479
    frame 105: 0.672774076461792 -> 0.701859176158905
    frame 106: 0.6724791526794434 -> 0.6517928242683411
    frame 107: 0.6722096800804138 -> 0.6470905542373657
    frame 108: 0.6718292236328125 -> 0.6470474600791931
    frame 109: 0.6885170340538025 -> 0.6726766228675842
    (... 3852 more)

  controlsState.lateralControlState.torqueState.error (4170 diffs)
    frame 100: -0.03510323539376259 -> 0.015293712727725506
    frame 101: -0.10609918087720871 -> -0.0057274955324828625
    frame 102: -0.11075932532548904 -> -0.005768356379121542
    frame 103: -0.1107674092054367 -> -0.005807529669255018
    frame 104: -0.08521692454814911 -> -0.005951807834208012
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    (... 4160 more)

  controlsState.lateralControlState.torqueState.f (2572 diffs)
    frame 100: 0.6385061740875244 -> 0.6878951787948608
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    frame 113: 0.6049562096595764 -> 0.5875494480133057
    (... 2562 more)

  controlsState.lateralControlState.torqueState.i (3159 diffs)
    frame 2299: -0.08738581091165543 -> -0.09749767184257507
    frame 2300: -0.08738581091165543 -> -0.09782249480485916
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    frame 2311: -0.08926770836114883 -> -0.09959997981786728
    (... 3149 more)

  controlsState.lateralControlState.torqueState.output (3278 diffs)
    frame 100: -0.21647021174430847 -> -0.2507166564464569
    frame 101: -0.1371704787015915 -> -0.18307681381702423
    frame 102: -0.13395413756370544 -> -0.1685304492712021
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    frame 109: -0.1722339540719986 -> -0.16149333119392395
    frame 110: -0.19852910935878754 -> -0.1877051442861557
    (... 3268 more)

  controlsState.lateralControlState.torqueState.p (4149 diffs)
    frame 100: -0.03233692795038223 -> 0.014088492840528488
    frame 101: -0.09774947166442871 -> -0.005276757758110762
    frame 102: -0.10205297917127609 -> -0.005314929410815239
    frame 103: -0.10206883400678635 -> -0.005351463798433542
    frame 104: -0.07851030677556992 -> -0.0054833972826600075
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    frame 108: -0.08569195866584778 -> -0.10855894535779953
    frame 109: -0.08943278342485428 -> -0.10405851900577545
    (... 4139 more)

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@fredyshox @commaci-public