MARSAD / CONSOLIDATED CATALOG / #001
Children retrieving a stray football · 3 children
Scene #001 approved · updated rehearsalYour approval is recorded for the reviewed revision 9. This updated rehearsal is revision 12. Approval record
3 children play football on the north sidewalk. A misdirected kick sends the one ball into the roadway. One child runs in only to retrieve it; the others stay off the road. All children and the ball are clear by 8 s. They continue passing and moving off the road while ego resumes normal driving. The unaffected lead vehicle keeps going.
Scene description: 儿童在道路外踢球；球滚入道路，儿童短暂进入取回后立即离开，并继续在道路外踢球。
Select a condition to review its full rehearsal. The ball is retrieved from the road; football play stays off the road.
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Critical moments
What to verify
- Exactly 3 children and one persistent football throughout the 47 seconds.
- Children start playing off the road; the stray ball rolls into the road and the only road interaction is retrieval.
- Every kick happens off the roadway. Children who enter turn back immediately after the one-second pickup.
- All children and the ball have mapped sidewalk clearance from 8 seconds through the end.
- After returning, repeated football passes and child movement continue through the ending; no frozen post-clearance cast.
- Ego front bumper stops 1.1 m before the approximate line, remains outside the intersection, and resumes after two seconds of clearance.
- Unaffected lead car moves at 1.8 m/s throughout; related vehicles avoid all authored actors and context vehicles.
- Final meta-action is NORMAL and ego has passed the children.
Review notes
Inspected all 21 event, native front, stop-line and ball-contact views from revision 12, plus native Higgsfield front and ending artifacts. Exactly 3 children and one persistent football. Football play starts off-road; the roadway contains only the brief retrieval and immediate return. All children and the ball are fully on the mapped sidewalk from 8 seconds. Reviewed the crouch, lift, grip, set-down, resumed kick and return pass. Children continue passing and repositioning through 40 seconds; the ball travels 35.98 m after return and is still rolling at 1.4 m/s at the final frame. Off-road playmates have staggered turns and remain moving at the ending. Ego stops 1.1 m before the approximate line, confirms two seconds of clearance, and ends in NORMAL 3 m/s driving past the children. The unaffected lead car continues at 1.8 m/s. All 941 exported samples pass root, heading, sidewalk, ending motion and relevant vehicle footprint checks. Optimized ball attachment angle continuity, synchronized the stray kick at -3 s, and staggered the end-of-scene game. The approach line remains a documented approximation.
Check action, relative position, facing, posture and visibility. Approximate offsets are acceptable. Sampled visual checks do not prove every contact or continuous collision clearance.
Rendered inspection views
Event, approach and final views rendered from the exact committed Higgsfield Blender source. These are procedural 3D previews, not generated training photographs.
Original NAVSIM camera context
No additional background-vehicle holding corrections were needed. The unaffected lead vehicle and downstream lane traffic continue forward throughout this rehearsal. Original photos remain unchanged. Before later inpainting, any overlap with original-photo traffic must be resolved. Background positions in this 3D rehearsal are not an exact replay of the photographs.
After scene approval
The working pipeline will edit each original NAVSIM camera photograph with Image 2.5. Its same-time Higgsfield view will provide position and posture, annotated with facing direction and current speed. Temporal image requests will cover the full event with a 1 Hz base plus critical moments.
Assumptions and source provenance
- The photograph supports the street, sidewalks, trees and building context, not the proposed football activity. All cast positions and actions are newly authored counterfactuals.
- The variant uses 3 children, one ball and the mapped north sidewalk as a modest off-road playing area; no dedicated football pitch is inferred.
- Coordinates, brief retrieval paths and post-return passes are newly authored. The narrow sidewalk supports short passes along the street rather than full-sized field play.
- Support offsets are above the mapped surface; the one carried ball follows the retriever only during pickup and return.
- The white approach stop line is a clearly documented approximation based on the mapped intersection and crosswalk; original photographs are unchanged.
- Only the lead car and its downstream lane companion receive newly authored background motion; source detection paths remain preserved in the template.
- Ego uses the approved approach and stop, waits two seconds after clearance, then accelerates at 1 m/s² to an urban normal speed of 3 m/s.
- User approval of the prior revision 9 is retained in the scene approval record; these changed rehearsals have their own pinned review evidence.
Fresh GPT-6 motion plans use semantic descriptions from the pinned consolidated catalog and NAVSIM environments. No upstream nuPlan vectors, trajectories or images are used. The four source environments are reused; 82 scenario descriptions do not mean 82 independent locations.
Higgsfield revision 12. The portable GLB combines export clips without changing geometry or animation samples.
This review uses Higgsfield revision 12 and the exact exported scene snapshot.
Higgsfield workspace (latest revision) · Download animated GLB · GPT-6 scene plan · Visual review evidence · Motion checks · Approval status