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huawei-noah / SMARTS

Scalable Multi-Agent RL Training School for Autonomous Driving

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[Help Request] How to get events of neighborhood_vehicle as it in ego vehicle observation

astral705 opened this issue · comments

commented

High Level Description

I need to compute the rewards for neighboring vehicles, therefore I require events such as "reached_goal" or "collided" as present in the observation of the ego vehicle. However, I'm unable to directly extract these events from the observation of neighboring vehicle states.

Version

SMARTS v2.0.1

Operating System

ubuntu 20.04

Problems

No response

commented

Hi @astral705,

  1. It is not reasonable to have detailed knowledge of neighbourhood vehicles' trajectory in real life, hence detailed neighbourhood vehicle information is not provided in the observation of an ego agent.
  2. If an ego agent collides with a non-ego vehicle, the collision event should be recorded and available in the ego agent's observation agent_obs["events"]["collisions"].
  3. The concept of "goal" does not exist for non-ego vehicles, hence "reached_goal" is undefined for non-ego neighbourhood vehicles.