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This document lists major updates which change UX and require adaptation. Updates are sorted by date (most recent first).

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Version 2.3.26

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Output Directory Structure Changes

The wizard output directory structure has been reorganized for clarity:
Old Structure → New Structure
  • ./asl/ → ./rollouts/ - Contains rollout logs organized by scene and session
  • 0.asl → rollout.asl - Rollout ASL file
  • 0.rclog → rollout.rclog - Rollout RC log file
  • ./metrics/ → ./telemetry/ - Contains Prometheus telemetry data (not evaluation metrics)
  • Videos are now saved next to ASL files: rollouts/<scene_id>/<rollout_uuid>/<video>.mp4
  • Metrics parquet files are saved next to ASL files: rollouts/<scene_id>/<rollout_uuid>/metrics.parquet
  • aggregate/videos/all now uses symlinks instead of hard copies for space efficiency

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Migration Guide

If you have scripts that reference the old paths, update them to use the new structure:
# Old paths → New paths
asl/                                  → rollouts/
0.asl                                 → rollout.asl
0.rclog                               → rollout.rclog
metrics/                              → telemetry/
eval/videos/ or videos/               → rollouts/<scene_id>/<rollout_uuid>/<video>.mp4

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Evaluation Now Runs In-Runtime by Default

1

In-Runtime Evaluation

Evaluation metrics are now computed during simulation (in-runtime) by default, eliminating the need for separate eval containers.
2

Simplified Workflow

This change simplifies the default workflow and reduces resource usage for most use cases.
3

Unified Video Path

Videos are now saved next to ASL files in rollouts/<scene_id>/<rollout_uuid>/ (unified path for both modes).
Restoring Previous BehaviorThe previous behavior (running evaluation in separate containers after simulation) can be restored with:
+eval=eval_in_separate_job
Known LimitationImage-based metrics are not yet supported in the in-runtime workflow (e.g., is_camera_black).

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Version 1.26.26

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Controller Updates

Added a new controller implementation in the OSS controller which is faster than the previous one and allows the choice at runtime between the two implementations.
  • Default: New linear implementation
  • Alternative: Nonlinear implementation can be selected using the defines.mpc_implementation wizard configuration parameter

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Version 1.5.25

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AR1 Support

AR1 support has been added to AlpaSim. Users can now run AR1 as described in the tutorial.

Learn More

See the tutorial for AR1 usage instructions

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Version 12.17.25

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OSS Tutorial Definitions and Driver Abstraction

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Scene Storage Model Update

The tutorials have been updated to reflect the changed scene storage model.
Important ChangeManual downloads are no longer required, although users must provide the HF_TOKEN environment variable to support automatic downloads.

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Driver Abstraction

An abstraction has been made in the driver code to make it easier to add new driver types in the future.
New Location: data/driversAll driver code has been moved to this centralized location.

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Version 12.12.25

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Local USDZ Support Restored

Local directory support was recently dropped in one of the larger refactorings. This has been restored with a slightly different interface.

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Usage

For users to run AlpaSim with local USDZ files, use the scenes.local_usdz_dir configuration parameter: 
alpasim_wizard +deploy=local \
  wizard.log_dir=<output_dir> \
  scenes.local_usdz_dir=<abs or rel path to directory> \
  scenes.test_suite_id=local

alpasim_wizard +deploy=local \
  wizard.log_dir=<output_dir> \
  scenes.local_usdz_dir=<abs or rel path to directory> \
  scenes.scene_ids=[<your scene ids>]

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