Bird's-eye View Ablations
Front area only
NGSIM
NGSIM
Successful
Successful
success, second attempt 28.07.2020_17:06:16_11_ckpt=07850_scenario=NGSIM_LANE_CHANGE_I80_VALIDATION_steps=37_total-reward=1.9.aviHad to retreat and go again
Had to retreat and go again
(the agent as usual: tries to execute maneuver immediately)
success, speedy 28.07.2020_17:06:16_14_ckpt=07850_scenario=NGSIM_LANE_CHANGE_US101_VALIDATION_steps=21_total-reward=1.9.aviHigh speed
High speed
(human would do this more smooth)
Failed
Failed
failed, cut in 28.07.2020_17:06:16_6_ckpt=07850_scenario=NGSIM_LANE_CHANGE_US101_VALIDATION_steps=17_total-reward=-0.30000000000000004.aviCut-in, car showed up on the right lane
Cut-in, car showed up on the right lane
(not enough time to retreat, should've speed up before)
failed, cut in 28.07.2020_17:06:16_11_ckpt=07850_scenario=NGSIM_LANE_CHANGE_US101_VALIDATION_steps=8_total-reward=-0.6.aviAnother cut-in
Another cut-in
openDD
openDD
Successful
Successful
success, smooth & safely 28.07.2020_15:12:53_9_ckpt=10100_scenario=OPENDD_RDB1_DENSE_steps=127_total-reward=2.0.aviSmooth steering, safe acceleration
Smooth steering, safe acceleration
(speed-up at exit as usual)
success, yields to human driver 28.07.2020_15:12:53_5_ckpt=10100_scenario=OPENDD_RDB4_DENSE_steps=130_total-reward=2.0.aviYields to human entering the roundabout
Yields to human entering the roundabout
(reasonable decision for this edge case)
Failed
Failed
failed, didnt care about other car 28.07.2020_15:12:53_8_ckpt=10100_scenario=OPENDD_RDB4_DENSE_steps=29_total-reward=-0.7.aviIgnoring a car (enforcement of priority)
Ignoring a car (enforcement of priority)
(very common case, too weak acceleration)
failed, unusal situation 28.07.2020_15:12:53_9_ckpt=10100_scenario=OPENDD_RDB2_DENSE_steps=80_total-reward=-0.1.aviHitting a car on merge
Hitting a car on merge
(unusual situation, specific for this map)