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dotchen / WorldOnRails

(ICCV 2021, Oral) RL and distillation in CARLA using a factorized world model
https://dotchen.github.io/world_on_rails/
MIT License
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Extending agent for Town03 #39

Closed panpan-77 closed 2 years ago

panpan-77 commented 2 years ago

Hello,

About NoCrash routes. I am trying to run the agent (pre-trained RAILS) in the Town03. I modified part of the code to enable the program to load the Town03. But I found that when I reset the starting point and the ending point (a straight line), the agent can't go straight. Sometimes it always drives to the rightmost Lane in two lanes,even if the start and end points are in the left lane. When the vehicle is driving in the rightmost lane, it cannot overtake if there is a stationary vehicle ahead. Is there something wrong? I would appreciate it if you could give me some advice.

Look forward to your reply.

dotchen commented 2 years ago

Hi,

If you want to run on Town03 you should use the leaderboard pre-trained weights and routes. By design NoCrash is only on Town01 and Town02.

panpan-77 commented 2 years ago

Hi,

If you want to run on Town03 you should use the leaderboard pre-trained weights and routes. By design NoCrash is only on Town01 and Town02.

Thank you for your reply. I have two more questions.

  1. About use the nocrash pre-trained weights.When the ego vehicle runs smoothly in Town01,the speed of the vehicle is always kept at 5m/s. Could the maximum speed of the vehicle be modified?If it is increased to 16m/s, will the performance of the agent be affected? (Do I need to change a certain weight to retrain the agent ? It seems impossible to simply modify the code to improve the maximum speed of the vehicle without affecting the performance of the pre-trained agent)

  2. If I use the nocrash pre trained weights to run on Town01, will the vehicle overtake under normal circumstances? (I placed an obstacle, but the ego vehicle just stopped.Or a slow NPC vehicle ahead, it just followed the NPC vehicle slowly)

Thank you again for your patience.

panpan-77 commented 2 years ago

@dotchen Hello,I'm sorry to bother you again, but could you tell me your opinion on the above issue of speed? Thank you very much again

dotchen commented 2 years ago

Sorry for the late reply. To increase the maximum speed you might also need to tune the granularity of the speed bins since each bin will represent a larger range of velocities (unless by max speed you meant the max speed cap for the test time controller)