Is there efficient implementation of collision loss?

woven-planet / l5kit

L5Kit - https://woven.toyota

https://woven-planet.github.io/l5kit

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Is there efficient implementation of collision loss? #387

Open shubaozhang opened 2 years ago

shubaozhang commented 2 years ago

I have tried to implement this collision loss. However, my implementation is quite time-consuming, as it calculates the losses scenario-by-scenario, agent-by-agent, and frame-by-frame. Is there an efficient implementation of this calculation?