Can different action policies assign to different vehicles?

[ZheruiHuang]

Is there a way to assign different action policies to different vehicles in a scenario? For example, can the ego car use the PPOExpertPolicy while other cars use replay/IDM? Can you provide a simple example?

[QuanyiLi]

Yes, of course. This step usually happens in the Manager where vehicles are spawned and policies are created and associated with vehicles. And each step the manager will query the policy to give an action to the vehicle. Thus, it is feasible to have arbitrary policy/vehicle mappings. An example is at here: https://metadrive-simulator.readthedocs.io/en/latest/system_design.html#example

Jus try adding more vehicles and assign different policies to them