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waymo-research / waymax

A JAX-based simulator for autonomous driving research.
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Traffic Light Sync Problems in WOMD and Waymax Simulation #60

Open vcharraut opened 4 months ago

vcharraut commented 4 months ago

There appears to be a synchronization issue with the traffic lights in WOMD and the simulation in Waymax.

Specifically, the traffic lights' states do not always match the agents' states, causing logged agents to cross red lights. Additionally, agents seem to decelerate at green lights, possibly due to a misinterpreted orange light in the real data.

I have written a script to detect these issues, and while it does produce some false positives, the problem occurs in approximately 10% of scenarios in WOMD v1.1 and v1.2.

https://github.com/user-attachments/assets/ec3297ce-6982-4d99-9e2e-8f1a27a20580

https://github.com/user-attachments/assets/29764f67-7635-4728-9f53-3597fc08f03b

https://github.com/user-attachments/assets/9d565797-fbac-4624-b818-6640202b32f1

https://github.com/user-attachments/assets/20fdc865-de9c-44c9-8651-cf58767ca88f

jlambert-waymo commented 2 months ago

Thank you @vcharraut, we are reviewing this issue and will have an update soon.