Is reinforcement learning supported?

[xiaoyucheri]

Thanks for creating this great project! I saw OpenCDA has some rule-based algorithms as planning module. So does it also support reinforcement learning behavior planning? Thanks!

[DerrickXuNu]

Yes, OpenCDA supports RL development. Pass the RL states to the behavior agent through function update_information(), execute the action in run_step() and collect the rewards in plan_debuger() or EvaluationManager(). If you are using deep RL, you can put your model in MLManager and add it as an attribute in your behavior agent class. Check https://opencda-documentation.readthedocs.io/en/latest/md_files/customization.html to see more details.

[xiaoyucheri]

That works, thanks!