Release Notes — Version 26.01#

January 2026#

Core Improvements

  • Static Rigids Layer: Added static_rigids layer to include static cuboids in scene reconstruction.

  • Background Gaussian Loss: Modified loss function to only penalize gaussians with dynamic labels in background during track gaussian loss computation.

  • Camera Visibility Check: Added optional camera visibility check during dynamic tracks classification to filter tracks based on camera field of view.

  • Track Classification Refinement: Improved track classification code with renamed config options, validation assertions, and code cleanup.

  • NRE-Tools Reorganization: Refactored project structure by moving nre-tools applications (asset_harvester, aux_gen, avmask_annotator) from internal/scripts/ to new top-level apps/ directory.

Bug Fixes

  • Forward Rendering Issue: Fixed missing key exception when accessing layer_labels_to_use config key that doesn’t exist in previous milestone configs, now using config.get() for safe access.

  • Configuration Upgrade Function Version: Fixed incorrect version number on the upgrade function for background extra state configuration.

  • Asset Harvesting Training: Updated base config for AH training and fixed hard type checking issues for layer data.

  • Track ID Flickering: Fixed flickering issues by using original cuboid track IDs in get_layer_data for SHGaussianModel, RigidGaussianModel, DeformableGaussianModel, and DeformableRigidAssetModel.

  • CUDA Illegal Memory Access: Fixed intermittent CUDA illegal memory access errors during rendering operations.

  • CUDA Synchronization: Reverted removal of CUDA sync in render_cam and render_lidar to prevent race conditions and ensure rendering stability.

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