huawei-noah / SMARTS

Scalable Multi-Agent RL Training School for Autonomous Driving
MIT License
955 stars 190 forks source link

Ensure waypoints are never empty #2009

Closed saulfield closed 1 year ago

saulfield commented 1 year ago

As mentioned in #2004, there is an edge case where waypoints can be empty when in a junction and all the potential paths have been filtered out. This PR ensures that we fall back to just returning waypoints for the nearest lane in this case.