mark_as_static support for erroneous objects

Emerge-Lab / gpudrive

GPU-acceleration of Nocturne via Madrona

https://arxiv.org/abs/2408.01584

MIT License

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mark_as_static support for erroneous objects #276

Closed nadarenator closed 3 weeks ago

nadarenator commented 1 month ago

Some expert trajectories involve collision with a road_edge. This PR adds support to set those agents as static during json generation. Summary of changes:

trajectory segment collision checking
visualizer notebook for object trajectories and road_edges
mark_as_static > mark_as_expert (cpp changes)
parallelization of dataset reconstruction script (250 scenes/min approx.)

eugenevinitsky commented 1 month ago

Is this ready for review?

nadarenator commented 1 month ago

Not yet, json generation with collision checking in 3d takes a lot longer than without. I need to plot the distribution of scenes against the proportion of agents being marked as static, to determine if such an overhead is even worth it.