Bird's-eye View Ablations
No centerline
NGSIM
NGSIM
Successful
Successful
success, awaited for space, slowed down 28.07.2020_17:06:17_0_ckpt=05950_scenario=NGSIM_LANE_CHANGE_US101_VALIDATION_steps=35_total-reward=2.0.aviWaits for the right moment
Waits for the right moment
(usual case of slowing down at the end)
success, off ramp, solid line 28.07.2020_17:06:17_18_ckpt=05950_scenario=NGSIM_LANE_CHANGE_US101_VALIDATION_steps=29_total-reward=1.9.aviGoing off ramp, more than just one lane change :)
Going off ramp, more than just one lane change :)
(spawned in between two lanes, switched correctly to the right, then again to the right - uncertainty of being on a solid line - unusual map location)
Failed
Failed
wobbling 28.07.2020_17:06:17_24_ckpt=05950_scenario=NGSIM_LANE_CHANGE_I80_VALIDATION_steps=89_total-reward=-1.2.aviOnly wobbling
Only wobbling
(because of no centerline? probably yes, but there are plenty of smooth driving examples...)
wobbling1 28.07.2020_17:06:17_6_ckpt=05950_scenario=NGSIM_LANE_CHANGE_US101_VALIDATION_steps=40_total-reward=-0.19999999999999996.aviManeuver with wobbling
Maneuver with wobbling
(agent changed the lane, but because of wobbling tried to do it once again)
openDD
openDD
Successful
Successful
success, stopped at exit for a moment.aviReduced speed too much to keep distance
Reduced speed too much to keep distance
(almost stopped before exit)
success, entered in the very last moment 28.07.2020_15:12:48_5_ckpt=10800_scenario=OPENDD_RDB4_DENSE_steps=128_total-reward=2.0.aviRisky, but smooth entering
Risky, but smooth entering
(still had some spare time, but definitely not a good practice)
Failed
Failed
failed, collision with car on merge lane 28.07.2020_15:12:48_9_ckpt=10800_scenario=OPENDD_RDB2_DENSE_steps=79_total-reward=-0.09999999999999998.aviCollision with car on merge lane
Collision with car on merge lane
(also speeding up)
failed, didn't give the right of way 28.07.2020_15:12:48_8_ckpt=10800_scenario=OPENDD_RDB4_DENSE_steps=28_total-reward=-0.7.aviDefinitely should give the right of way
Definitely should give the right of way
(totally ignored that car, no significant acceleration)