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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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Code #41

Closed a1wj1 closed 1 year ago

a1wj1 commented 1 year ago

1688870451493

I haven't understood the code for generating the action yet. Could you please explain it? Thank you

penghao-wu commented 1 year ago

Hi, the code just calculates the mode of the Beta distribution specified by the alpha and beta values. And it then converts the value between [0,1] to [-1,1].