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OpenDriveLab / TCP

[NeurIPS 2022] Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline.
Apache License 2.0
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question about state format #36

Open EcustBoy opened 1 year ago

EcustBoy commented 1 year ago

Hi~ author, I wanna ask if measurement state is well designed for the best metric? For example, is command info (like "turn left") is a must? can I just use a target point (x,y) and ego speed V as ego measurement state input? because I think the target point position already contains the command info( 'turn' or 'go straight' ).

penghao-wu commented 1 year ago

Hi, we follow previous works to include both command info and target point as input. We do not have such ablations, but I agree that the vehicle mostly relies on the target point. You can try yourself to see whether removing the command affects the performance.