Log sim (counterfactual)

If the safety driver had not taken over, what would the stack have done — and would it have been safe?

Input: Recorded trajectory up to the disengagement, reactive policy parameters
Output: Counterfactual trajectory, TTC, outcome, policy A/B, outcome matrix
Demos: 3 · all run in the browser

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Recorded (human takeover)
Counterfactual stack
Lead vehicle
Pedestrian / disengagement line

Built with Counterfactual replay

Recorded ego (amber) is replayed to the disengagement line, then a reactive stack (cyan) continues against a braking lead and a crossing pedestrian; TTC and collision are checked.

Three.js r184WebGL scene, instancing, controls
Applied Intuition triageReference triage workflow
CARLA ScenarioRunnerReference for closed-loop scenarios