Describe the bug
In certain scenarios, reactive agents spawn at incorrect initial positions. During testing on the Test14-hard split, I observed this issue in multiple low-score scenarios—reactive agents initialized at wrong positions compared to their expected placements in non-reactive closed-loop simulations.
This often causes the ego vehicle to immediately collide with vehicles that should be in other lanes, resulting in a score of 0.
After checking a small sample of low-score scenarios, I identified two concrete examples:
4fde9018255c5f966f2ce5e5530b5e3c
Setup
normal tutorial setup
Steps To Reproduce
Run closed_loop_reactive_agents simulation with scenario 4fde9018255c5f96.
GIFs
- closed_loop_reactive_agents simulation (
4fde9018255c5f96)
- closed_loop_nonreactive_agents simulation (
4fde9018255c5f96)
Describe the bug
In certain scenarios, reactive agents spawn at incorrect initial positions. During testing on the Test14-hard split, I observed this issue in multiple low-score scenarios—reactive agents initialized at wrong positions compared to their expected placements in non-reactive closed-loop simulations.
This often causes the ego vehicle to immediately collide with vehicles that should be in other lanes, resulting in a score of 0.
After checking a small sample of low-score scenarios, I identified two concrete examples:
4fde9018255c5f966f2ce5e5530b5e3cSetup
normal tutorial setup
Steps To Reproduce
Run
closed_loop_reactive_agentssimulation with scenario4fde9018255c5f96.GIFs
4fde9018255c5f96)4fde9018255c5f96)