MARSAD / CONSOLIDATED CATALOG / #024

Slow recycling cart with an obstructed forward view

Awaiting your 3D scene approval

Counterfactual: A recycling collector slowly pushes a heavily loaded cart east through the ego corridor. The secured stack rises above the collector's eyes and obstructs the direct forward view. The collector eventually pauses without clearing the lane.

Original description: 前方有拾荒者推着满载回收物的小车，车上物品堆积过高，遮挡其视线，且行进缓慢。

47 sFull continuous rehearsal

5Critical actors and props

941Exported time steps checked

0New Image 2.5 outputs

Speed Follow actors

Loading the full animated scene…

Critical moments

What to verify

Exactly five critical actors persist: one collector, one operator-free cart, and three separately identified recycling bundles.
Sample the complete interval from -7 through 40 seconds at 20 Hz, including both endpoints; all tracks remain finite and non-looping.
Verify cart and collector footprints remain on the wheelchair road polygon, with wheel and standing-human support offsets equal to zero.
Verify hand-to-handle contact throughout pushing and resting, with no torso penetration into the cart.
Verify the three load layers touch their supports without overlap, remain attached, and obstruct the collector's direct forward eye-level view.
Maintain slow walking motion near 0.6 m/s, with smooth acceleration and deceleration at the two rests.
The cart footprint intersects the buffered ego corridor throughout; ego must remain at x=14 through time 40.
Require human approval of the full rehearsal, especially time 7, before image generation. Later Image 2.5 must edit original Image #1, using this rehearsal only for placement and posture.

Review notes

Inspected the loaded cart sequence. The stacked load blocks the pushing adult’s forward view; hands align with the cart handle and the cart follows the slow crossing path.

Check action, relative position, facing, posture and visibility. Approximate offsets are acceptable. Sampled visual checks do not prove every contact or continuous collision clearance.

Approval stops here. Please identify this scene as #024 when approving it or requesting revisions. Image 2.5 generation and training remain paused for this new catalog phase.

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.

-7 s · Collector rests behind the loaded cart while ego approaches · REVIEW_WORK_AREA

-4 s · Collector begins pushing east with both hands on the handle · REVIEW_WORK_AREA

0 s · Slow cart occupies the ego corridor; ego is stopped · REVIEW_WORK_AREA

7 s · Peak review: stacked recycling screens the collector's forward sightline · REVIEW_WORK_AREA

21 s · Collector continues slowly without lateral clearance · REVIEW_WORK_AREA

35 s · Collector stops to rest while retaining the handle · REVIEW_WORK_AREA

40 s · Cart and collector remain in the corridor; no ego release · REVIEW_WORK_AREA

7 s · Original calibrated forward camera at the critical event · CAM_F0

-7 s · Contact check: Lower cardboard recycling bundle · REVIEW_CONTACT

-7 s · Contact check: Middle paper recycling bundle · REVIEW_CONTACT

Original NAVSIM camera context

Original NAVSIM CAM_F0 — Original NAVSIM anchor · CAM_F0. This is the untouched camera context, not the synthetic scene.

Original NAVSIM CAM_R0 — Original NAVSIM anchor · CAM_R0. This is the untouched camera context, not the synthetic scene.

No additional background-vehicle holding corrections were needed. 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

Observed evidence is limited to the supplied NAVSIM geometry and Image #1's roadway, curbs, sidewalks, trees, and frontage. The collector, cart, load, and all actions are counterfactual proposals.
The selected work area uses the wheelchair road, approximately y=-4.5 to y=5.2 around x=25..50; adjacent mapped sidewalks are not used as an invented cart exit.
The load consists of lightweight secured recycling bundles. The proposal concerns blocked visibility and slow progress, not a cargo spill.
The built-in ego is not an additional cast actor. It starts at x=0, y=0 at time -7 with speed 5.6 m/s and brakes at 1.12 m/s squared to stop centered at x=14 at time -2. Its buffered corridor is |y|<=1.25.
Use shape-preserving, speed-bounded interpolation at 0.05-second intervals. Brief start and stop ramps are exceptions to the moving walking-speed minimum. All z values are support offsets over the supplied ground plane.
No image has been generated or human review completed; the review gate remains mandatory.

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 1. The portable GLB combines export clips without changing geometry or animation samples.

This review uses Higgsfield revision 1 and the exact exported scene snapshot.

Higgsfield workspace (latest revision) · Download animated GLB · GPT-6 scene plan · Visual review evidence · Motion checks · Approval status