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zhejz / carla-roach

Roach: End-to-End Urban Driving by Imitating a Reinforcement Learning Coach. ICCV 2021.
https://zhejz.github.io/roach
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Question: TaskVehicle class #1

Closed Kait0 closed 3 years ago

Kait0 commented 3 years ago

Hi,

I have a question about the class Task Vehicle in carla_gym\core\task_actor\common\task_vehicle.py

The init takes 4 arguments vehicle, target_transforms, spawn_transforms, endless. I have a question about target_transforms and spawn_transforms. What is the data structure that the waypoints are expected to be in? Are the target_transforms supposed to be the route waypoints from the route.xml files? Are the spawn_transforms meant to be the initial vehicle transform? What coordinate system are they expected to be using, the same one as the .xml files?

zhejz commented 3 years ago

The TaskVehicle class is instantiate here. target_transforms come from the task_config, which is defined by the loaded gym env, either loaded from xml files or randomly sampled. spawn_transforms are randomly sampled, c.f. here Both the target and the spawn transforms are in the CALAR global coordinate.

Kait0 commented 3 years ago

Thank you.