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waymo-research / waymax

A JAX-based simulator for autonomous driving research.
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State vector format/specifications #8

Open hzyjerry opened 10 months ago

hzyjerry commented 10 months ago

Hi, thanks for this amazing effort.

I was wondering if there is any detailed specification of how the state vector is constructed, i.e. how are lane/road/agent/object information processed into the environment state and how to parse them?

The goal is to implement the more advanced trajectory/agent prediction models in Waymax (i.e. VectorNet, Wayformer), and currently there seems to be no instructions on how to do it.

Would be really great if you can provide some starters.

justinjfu commented 10 months ago

Hi @hzyjerry,

We don't have a dedicated documentation for the state yet - this is a good suggestion and we'll work on that internally.

In the meantime, the state vector is mostly unprocessed from the TF example specs on the Waymo Open Motion dataset page (https://waymo.com/open/data/motion/tfexample). The main processing that is done is concatenate the past/current/future fields into one contiguous array.

The datatypes documentation page should also give a description of what fields are available and what they mean: https://waymo-research.github.io/waymax/docs/autoapi/waymax/datatypes/index.html#module-waymax.datatypes.