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The table below highlights performance metrics under different observability settings, including full observability, field-of-view (FOV), and recursive field-of-view (SFOV). These settings allow agents to operate with varying degrees of environmental awareness, impacting their ability to plan and execute maneuvers effectively. - | Observability Performance Metrics | | :-------------------------------: | | ![Observability Performance](https://ucd-dare.github.io/cardreamer.github.io/static/images/tables/observability_performance.png) | @@ -263,6 +261,7 @@ We stream observations, rewards, terminal conditions, and custom metrics to a we ## :hammer: System + ... To easily customize your own driving tasks, and observation spaces, etc., please refer to our [CarDreamer API Documents](https://car-dreamer.readthedocs.io/en/latest/). @@ -279,8 +278,8 @@ If you find this repository useful, please cite this paper: ``` @ARTICLE{10714437, author={Gao, Dechen and Cai, Shuangyu and Zhou, Hanchu and Wang, Hang and Soltani, Iman and Zhang, Junshan}, - journal={IEEE Internet of Things Journal}, - title={CarDreamer: Open-Source Learning Platform for World Model Based Autonomous Driving}, + journal={IEEE Internet of Things Journal}, + title={CarDreamer: Open-Source Learning Platform for World Model Based Autonomous Driving}, year={2024}, volume={}, number={}, @@ -319,6 +318,7 @@ If you find this repository useful, please cite this paper: Special thanks to the community for your valuable contributions and support in making CarDreamer better for everyone! + diff --git a/car_dreamer/toolkit/observer/handlers/birdeye_handler.py b/car_dreamer/toolkit/observer/handlers/birdeye_handler.py index a4e69eb..0c7fc6c 100644 --- a/car_dreamer/toolkit/observer/handlers/birdeye_handler.py +++ b/car_dreamer/toolkit/observer/handlers/birdeye_handler.py @@ -60,8 +60,8 @@ def get_observation(self, env_state: Dict) -> Tuple[Dict, Dict]: "messages_color": messages_color, "extend_waypoints": self._config.extend_wpt, } - if hasattr(self._config, 'error_rate'): - env_state['error_rate'] = self._config.error_rate + if hasattr(self._config, "error_rate"): + env_state["error_rate"] = self._config.error_rate self._birdeye_render.render(self.surface, entities, env_state) birdeye = self.surface diff --git a/car_dreamer/toolkit/observer/handlers/renderer/birdeye_renderer.py b/car_dreamer/toolkit/observer/handlers/renderer/birdeye_renderer.py index a1b28e5..cb9537d 100644 --- a/car_dreamer/toolkit/observer/handlers/renderer/birdeye_renderer.py +++ b/car_dreamer/toolkit/observer/handlers/renderer/birdeye_renderer.py @@ -172,16 +172,17 @@ def _render_background_waypoints(self, **env_state): last = path[-1] path.append((last[0], last[1] - 10.0)) self._render_path(self._surface, vehicle_polygon, path, waypoint_color) - + def _render_error_background_waypoints(self, **env_state): """Render the waypoints with error for background actors on the surface.""" - color = env_state.get('background_waypoints_color') - extend_waypoints = env_state.get('extend_waypoints', False) - error_rate = env_state.get('error_rate') + color = env_state.get("background_waypoints_color") + extend_waypoints = env_state.get("extend_waypoints", False) + error_rate = env_state.get("error_rate") background_waypoints = self._world_manager.actor_actions background_waypoints = { id: [(action[1].transform.location.x, action[1].transform.location.y) for action in actions] - for id, actions in background_waypoints.items() if actions + for id, actions in background_waypoints.items() + if actions } vehicle_polygons = self._world_manager.actor_polygons