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MCZhi / DIPP

[TNNLS] Differentiable Integrated Prediction and Planning Framework for Urban Autonomous Driving
https://mczhi.github.io/DIPP/
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Potential bug in bicycle dynamics #21

Closed diehlornodeal closed 1 year ago

diehlornodeal commented 1 year ago

Hi,

First of all, thank you for sharing your code and the great work.

I have a question regarding the following line in the bicycle_model function: https://github.com/MCZhi/DIPP/blob/a47bb96a7fb11c31b15227c64e88019d0805fbad/model/planner.py#L57

Is it intentional that you detach v here, or is this a bug? If it is intended, could you please explain why you detach the velocity?

Best, Chris

MCZhi commented 1 year ago

Hi @diehlornodeal, thank you for your interest in the project and for reaching out with your question.

The use of detach() on the velocity v was intentional because the earlier version of Theseus was quite slow, and detaching the speed was found to help speed up the solver without compromising performance. However, now that the solver speed of Theseus has been substantially improved, detaching v may not be necessary anymore. I have accordingly removed the detach() operation.

diehlornodeal commented 1 year ago

Hi @MCZhi, thank you for the quick response. I close this issue.