Bird's-eye View Ablations
Framestack
Disclaimer
Disclaimer
Presented videos contain images that are out-of-sync: bird's-eye view input with respect to reference driver overlay (blue box) and saliency map that are both generated after an episode ends.
This bug is caused by the fact that only last frame from stacked bird's-eye view input is drawn, but the rest operates since frame 0, hence the delay (4 frames, with skip of 4 = time horizon of 16 frames, gives ~1.5s delay).
Presented videos contain images that are out-of-sync: bird's-eye view input with respect to reference driver overlay (blue box) and saliency map that are both generated after an episode ends.
This bug is caused by the fact that only last frame from stacked bird's-eye view input is drawn, but the rest operates since frame 0, hence the delay (4 frames, with skip of 4 = time horizon of 16 frames, gives ~1.5s delay).
NGSIM
NGSIM
Successful
Successful
success, quick 28.07.2020_16:13:01_26_ckpt=05200_scenario=NGSIM_LANE_CHANGE_US101_VALIDATION_steps=39_total-reward=1.9.aviLazy lane change I
Lazy lane change I
(similar to reference driver)
success, well 28.07.2020_16:13:01_22_ckpt=05200_scenario=NGSIM_LANE_CHANGE_US101_VALIDATION_steps=41_total-reward=1.9.aviLazy lane change II
Lazy lane change II
(out-of-sync)
Failed
Failed
failed, cut in 28.07.2020_16:13:01_11_ckpt=05200_scenario=NGSIM_LANE_CHANGE_US101_VALIDATION_steps=21_total-reward=-0.9.aviCut in, didn't start overtaking
Cut in, didn't start overtaking
(saliency map show that vehicle as white - important)
failed, hit in the back, watch saliency map 28.07.2020_16:13:01_6_ckpt=05200_scenario=NGSIM_LANE_CHANGE_I80_VALIDATION_steps=35_total-reward=-0.19999999999999996.aviHit in the back (see saliency maps)
Hit in the back (see saliency maps)
(see 0:03)
openDD
openDD
Successful
Successful
success, quick and smooth 28.07.2020_16:12:59_4_ckpt=05550_scenario=OPENDD_RDB2_DENSE_steps=94_total-reward=2.0.aviSmooth steering, almost constant speed
Smooth steering, almost constant speed
(well done)
success, unexpected braking 28.07.2020_16:12:59_6_ckpt=05550_scenario=OPENDD_RDB1_DENSE_steps=122_total-reward=2.0.aviHits the breaks to avoid rear-end collision
Hits the breaks to avoid rear-end collision
Failed
Failed
failed, human didn't give the right of way 28.07.2020_16:12:59_5_ckpt=05550_scenario=OPENDD_RDB4_DENSE_steps=70_total-reward=-0.5.aviHuman didn't yield (see saliency map)
Human didn't yield (see saliency map)
(common case when ego does not wait like reference driver does, then there's no time slot for him to just sneak through, the only thing left is to brake in this case)
failed, swerving, then stuck between two vehicles 28.07.2020_16:12:59_0_ckpt=05550_scenario=OPENDD_RDB4_DENSE_steps=147_total-reward=-0.19999999999999996.aviWeird swerving, then stuck between two cars
Weird swerving, then stuck between two cars
(the exact same reason as on the left example, but with the exception that here's no way to prevent this or escape post factum)