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motional / nuplan-devkit

The devkit of the nuPlan dataset.
https://www.nuplan.org
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why define "valid" scenes as those that have at least 2 before and 2 after #296

Closed Fan-Yixuan closed 1 year ago

Fan-Yixuan commented 1 year ago

Why is that?

https://github.com/motional/nuplan-devkit/blob/0dfdcd3f3dcd7e201200db31e70c0fd19ae4c269/nuplan/database/nuplan_db/nuplan_scenario_queries.py#L872-L881

Thanks for the help!

patk-motional commented 1 year ago

Hi @Fan-Yixuan,

This is because, for both training and simulation, we need to being to sample into the past and future. If we take a sample at the start or end of the log there would be insufficient data to do so.