Where is command_near derived from?

Thinklab-SJTU / Bench2Drive

[NeurIPS 2024 Datasets and Benchmarks Track] Closed-Loop E2E-AD Benchmark Enhanced by World Model RL Expert

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Where is command_near derived from? #9

Closed Fengtao22 closed 3 months ago

Fengtao22 commented 3 months ago

Hi, I tried to directly test VAD ckpt using the Bench2Drive platform but had the issue about the driving command index out of range. The cause was due to the number of commands used in the original VAD is 3 but here the number is 6.

Could you please kindly explain where the command_near is derived (gt command I believe?) and also what are the corresponding commands for the one-hot vector (dimension is 6)? Thanks in advance!!

jiaxiaosong1002 commented 3 months ago

@Fengtao22 Hi, you may not directly do that. Many hyper-parameters are specifically for CARLA, for example, high-level command and object detection classes.

Command_near is the nearest routing waypoint provided by CARLA and the actual meaning of one-hot vector: VOID = -1 LEFT = 1 RIGHT = 2 STRAIGHT = 3 LANEFOLLOW = 4 CHANGELANELEFT = 5 CHANGELANERIGHT = 6 if command < 0: command = 4 which is definied by CARLA official team as well.

Fengtao22 commented 3 months ago

Thanks for your quick reply!