fix action bug

metadriverse · May 24, 2023 · d37e299 · d37e299
1 parent b05d701
commit d37e299
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/metadrive/envs/real_data_envs/nuscenes_env.py b/metadrive/envs/real_data_envs/nuscenes_env.py
@@ -73,7 +73,7 @@
         reset_used_time += time.time() - start_reset
         reset_num += 1
         for t in range(10000):
-            o, r, d, info = env.step([0, 0])
+            o, r, d, info = env.step([1, 0.88])
             s += 1
             if env.config["use_render"]:
                 env.render(text={"seed": env.current_seed,

diff --git a/metadrive/obs/state_obs.py b/metadrive/obs/state_obs.py
@@ -101,8 +101,8 @@ def vehicle_state(self, vehicle):
                 clip((vehicle.steering / vehicle.MAX_STEERING + 1) / 2, 0.0, 1.0),
 
                 # The normalized actions at last steps
-                clip((vehicle.last_current_action[0][0] + 1) / 2, 0.0, 1.0),
-                clip((vehicle.last_current_action[0][1] + 1) / 2, 0.0, 1.0)
+                clip((vehicle.last_current_action[1][0] + 1) / 2, 0.0, 1.0),
+                clip((vehicle.last_current_action[1][1] + 1) / 2, 0.0, 1.0)
             ]
 
         # Current angular acceleration (yaw rate)

diff --git a/metadrive/tests/test_policy/test_expert_performance.py b/metadrive/tests/test_policy/test_expert_performance.py
@@ -122,6 +122,9 @@ def test_expert_in_intersection(render=False):
 
 
 if __name__ == '__main__':
+    """
+    LQY: I fixed a action bug in StateObservation, which may harm expert performance!
+    """
     # test_expert_in_intersection(True)
     test_expert_without_traffic(True)
     # test_expert_with_traffic(use_render=True)