Visual Input (4xRGB)
NGSIM
NGSIM
Successful (agent's input consists of 4 RGB images, the bird's-eye view is rendered only as a reference)
Successful (agent's input consists of 4 RGB images, the bird's-eye view is rendered only as a reference)
success at low speed like ref 28.07.2020_17:25:32_16_ckpt=03800_scenario=NGSIM_LANE_CHANGE_I80_VALIDATION_steps=67_total-reward=1.9.aviExtra careful, traffic at low speed
Extra careful, traffic at low speed
(almost identical to what reference driver did)
success but almost hit 28.07.2020_17:25:32_10_ckpt=03800_scenario=NGSIM_LANE_CHANGE_US101_VALIDATION_steps=26_total-reward=1.9.aviDangerously close to the left vehicle
Dangerously close to the left vehicle
(managed to do quickly correct its trajectory in the very last moment)
Failed
Failed
failed didn't took a chance like ref did 28.07.2020_17:25:32_22_ckpt=03800_scenario=NGSIM_LANE_CHANGE_I80_VALIDATION_steps=70_total-reward=-1.2999999999999998.aviDidn't took a chance to fit in like reference driver
Didn't took a chance to fit in like reference driver
(but agent also failed to use that huge gap at the end)
failed because couldnt drive faster, decided to act instantly 28.07.2020_17:25:32_11_ckpt=03800_scenario=NGSIM_LANE_CHANGE_US101_VALIDATION_steps=20_total-reward=-0.8.aviImpatient, decided to act instead of speeding up
Impatient, decided to act instead of speeding up
(Seemingly it would take too long because of driving at ~60 km/h, reward pressure)
openDD (AUT-3292)
openDD (AUT-3292)
Successful
Successful
success, avoided collision at exit 28.07.2020_17:25:30_9_ckpt=02850_scenario=OPENDD_RDB2_DENSE_steps=88_total-reward=2.0.aviAvoided collision at high speed
Avoided collision at high speed
(also a common example of speeding up just before exiting can be observed)
success, better reflex than reference driver 28.07.2020_17:25:30_7_ckpt=02850_scenario=OPENDD_RDB4_DENSE_steps=82_total-reward=2.0.aviProper entering, no unnecessary waiting
Proper entering, no unnecessary waiting
(better reflex than reference driver)
Failed
Failed
failed, seems to not even brake 28.07.2020_17:25:30_5_ckpt=02850_scenario=OPENDD_RDB1_DENSE_steps=65_total-reward=-0.30000000000000004.aviPowerful strike in the back, no avoidance reaction
Powerful strike in the back, no avoidance reaction
(weird behavior of human driver, edge case)
failed, enforcement of priority 28.07.2020_17:25:30_8_ckpt=02850_scenario=OPENDD_RDB4_DENSE_steps=27_total-reward=-0.8.aviEnforcement of priority while entering
Enforcement of priority while entering
(could end up well, but acceleration was not strong enough)