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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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Expert data collection #37

Open a1wj1 opened 1 year ago

a1wj1 commented 1 year ago

I am curious about a question, why not use an official expert agent to collect data（auto_pilot.py）, but rather use a roach （roach_ap_agent.py）

penghao-wu commented 1 year ago
  1. We use the feature-level supervision from the roach expert which is a learned model. And we use its predicted control distribution parameters for control action prediction. You can refer to the Roach paper for more details.
  2. We find that the roach expert performs better than the official rule-based expert.