search

opendilab / InterFuser

[CoRL 2022] InterFuser: Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer
Apache License 2.0
531 stars 46 forks source link

Standalone code #37

Open techner3 opened 1 year ago

techner3 commented 1 year ago

Hi, First of all thanks for sharing the code for Interfuser.

Here while using Interfuser many other dependencies such as leaderboard and scenario runner involved. Is there any Interfuser code available as a standalone so that i can directly plug Interfuser into CARLA for my own custom scenario ? Or any way to do it ?

Thanks in advance !

deepcs233 commented 1 year ago

Hi! Our Interfuser doesn't depend on the specific version of leaderboard and scenario_runner. You can just modify the corresponding environment path of the evaluation bash.

techner3 commented 1 year ago

Thanks for your reply,

If i want the ego vehicle to go to a specific location in CARLA using Interfuser, how do i do it any idea ? And also is Interfuser CARLA version independent ?

deepcs233 commented 1 year ago

I think you could replace ROUTES(https://github.com/opendilab/InterFuser/blob/e0682c350892a243cf40bf448622743f4b26d0f3/leaderboard/scripts/run_evaluation.sh#LL18C8-L18C14) with your route file with a new start point and end point?

techner3 commented 1 year ago

Thanks for the response