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OpenDriveLab / TCP

[NeurIPS 2022] Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline.
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Question on the frame rate used for data collection and control #15

Closed Haichao-Zhang closed 1 year ago

Haichao-Zhang commented 1 year ago

In the paper, it is mentioned that "data samples are stored at 2Hz" (appendix A) and "future steps at 2Hz are predicted for both the trajectory branch and the control branch" (appendix B). However, from the code, it seems that the control frequency is 20Hz: https://github.com/OpenPerceptionX/TCP/blob/876cca2042009601e510ffe2b043c43b09ccbf35/leaderboard/leaderboard/leaderboard_evaluator.py#L90

Does this mean that we deploy the trained model with a higher frame rate? Or did I miss something?

Thanks!

penghao-wu commented 1 year ago

Yes. When we deploy the model to interact with the environment, the model runs at 20Hz (the control is updated at 20Hz).

Haichao-Zhang commented 1 year ago

Thanks for the confirmation!