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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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Adding New Fields to the Dataset #20

Closed vaydingul closed 2 years ago

vaydingul commented 2 years ago

Hi,

As far as I understand, it is enough to change the observation configs to add new fields to the dataset. It is doable, for example, when I change the observation manager of an individual sensor (i.e., ObsManager class of GNSS -- adding the sensor noise value to the observation dictionary for the sake of example --). However, when I run the default data collection code (i.e., data_collect_bc.sh), it does not add the navigation.waypoint_plan and birdview.chauffeurnet observation dictionaries to the dataset, which exists in the agent/cilrs/obs_configs=central_rgb_wide. Probably, I am missing the point here; that is, there are also other things that need to be set. At least, I would like to reach to navigation.waypoint_plan observation dictionary during the data acquisition. So, how can I add the observation dictionaries of other ObsManager modules to the dataset? I really appreciate it if you can help.

Best.

zhejz commented 2 years ago

The obs_configs does not affect the data collection. To change what data is saved you can refer to here. Just make sure what you want to save is a subset of what is observed as specified by the obs_configs.

vaydingul commented 2 years ago

Oh, great! Thank you for the answer @zhejz . It certainly solved my problem.