Update README & Migrate assets

ucd-dare · Oct 24, 2024 · cd26bf7 · cd26bf7
1 parent 6cf863a
commit cd26bf7
Show file tree

Hide file tree

Showing 25 changed files with 12 additions and 11 deletions.
diff --git a/.assets/cardreamer_architecture.png b/.assets/cardreamer_architecture.png
diff --git a/.assets/lane_merge.gif b/.assets/lane_merge.gif
diff --git a/.assets/lane_merge_camera.gif b/.assets/lane_merge_camera.gif
diff --git a/.assets/left turn raw.gif b/.assets/left turn raw.gif
diff --git a/.assets/left_turn_hard.gif b/.assets/left_turn_hard.gif
diff --git a/.assets/left_turn_hard_camera.gif b/.assets/left_turn_hard_camera.gif
diff --git a/.assets/overtake.gif b/.assets/overtake.gif
diff --git a/.assets/overtake_camera.gif b/.assets/overtake_camera.gif
diff --git a/.assets/right_turn_hard.gif b/.assets/right_turn_hard.gif
diff --git a/.assets/right_turn_hard_camera.gif b/.assets/right_turn_hard_camera.gif
diff --git a/.assets/right_turn_hard_fov.gif b/.assets/right_turn_hard_fov.gif
diff --git a/.assets/right_turn_hard_no_wpt.gif b/.assets/right_turn_hard_no_wpt.gif
diff --git a/.assets/right_turn_hard_pre_bev.gif b/.assets/right_turn_hard_pre_bev.gif
diff --git a/.assets/right_turn_hard_pre_camera.gif b/.assets/right_turn_hard_pre_camera.gif
diff --git a/.assets/right_turn_hard_pre_lidar.gif b/.assets/right_turn_hard_pre_lidar.gif
diff --git a/.assets/right_turn_raw_fail.gif b/.assets/right_turn_raw_fail.gif
diff --git a/.assets/right_turn_simple_camera.gif b/.assets/right_turn_simple_camera.gif
diff --git a/.assets/roundabout.gif b/.assets/roundabout.gif
diff --git a/.assets/roundabout_camera.gif b/.assets/roundabout_camera.gif
diff --git a/.assets/sfov.gif b/.assets/sfov.gif
diff --git a/.assets/sfov_camera.gif b/.assets/sfov_camera.gif
diff --git a/.assets/visualization.png b/.assets/visualization.png
diff --git a/README.md b/README.md
@@ -103,12 +103,10 @@ The following table shows the overall performance metrics over different CarDrea
 | :-----------------------: |
 | ![Task Performance](https://ucd-dare.github.io/cardreamer.github.io/static/images/tables/task_performance.png) |
 
-
 ### Observability
 
 CarDreamer enables the customization of different levels of observability. The table below highlights performance metrics under different observability settings, including full observability, field-of-view (FOV), and recursive field-of-view (SFOV). These settings allow agents to operate with varying degrees of environmental awareness, impacting their ability to plan and execute maneuvers effectively.
 
-
 | Observability Performance Metrics |
 | :-------------------------------: |
 | ![Observability Performance](https://ucd-dare.github.io/cardreamer.github.io/static/images/tables/observability_performance.png) |
@@ -263,6 +261,7 @@ We stream observations, rewards, terminal conditions, and custom metrics to a we
 </table>
 
 ## :hammer: System
+
 ...
 
 To easily customize your own driving tasks, and observation spaces, etc., please refer to our [CarDreamer API Documents](https://car-dreamer.readthedocs.io/en/latest/).
@@ -279,8 +278,8 @@ If you find this repository useful, please cite this paper:
 ```
 @ARTICLE{10714437,
   author={Gao, Dechen and Cai, Shuangyu and Zhou, Hanchu and Wang, Hang and Soltani, Iman and Zhang, Junshan},
-  journal={IEEE Internet of Things Journal}, 
-  title={CarDreamer: Open-Source Learning Platform for World Model Based Autonomous Driving}, 
+  journal={IEEE Internet of Things Journal},
+  title={CarDreamer: Open-Source Learning Platform for World Model Based Autonomous Driving},
   year={2024},
   volume={},
   number={},
@@ -319,6 +318,7 @@ If you find this repository useful, please cite this paper:
 Special thanks to the community for your valuable contributions and support in making CarDreamer better for everyone!
 
 <!-- readme: contributors -start -->
+
 <table>
 	<tbody>
 		<tr>

diff --git a/car_dreamer/toolkit/observer/handlers/birdeye_handler.py b/car_dreamer/toolkit/observer/handlers/birdeye_handler.py
@@ -60,8 +60,8 @@ def get_observation(self, env_state: Dict) -> Tuple[Dict, Dict]:
             "messages_color": messages_color,
             "extend_waypoints": self._config.extend_wpt,
         }
-        if hasattr(self._config, 'error_rate'):
-            env_state['error_rate'] = self._config.error_rate
+        if hasattr(self._config, "error_rate"):
+            env_state["error_rate"] = self._config.error_rate
         self._birdeye_render.render(self.surface, entities, env_state)
         birdeye = self.surface
 

diff --git a/car_dreamer/toolkit/observer/handlers/renderer/birdeye_renderer.py b/car_dreamer/toolkit/observer/handlers/renderer/birdeye_renderer.py
@@ -172,16 +172,17 @@ def _render_background_waypoints(self, **env_state):
                 last = path[-1]
                 path.append((last[0], last[1] - 10.0))
             self._render_path(self._surface, vehicle_polygon, path, waypoint_color)
-    
+
     def _render_error_background_waypoints(self, **env_state):
         """Render the waypoints with error for background actors on the surface."""
-        color = env_state.get('background_waypoints_color')
-        extend_waypoints = env_state.get('extend_waypoints', False)
-        error_rate = env_state.get('error_rate')
+        color = env_state.get("background_waypoints_color")
+        extend_waypoints = env_state.get("extend_waypoints", False)
+        error_rate = env_state.get("error_rate")
         background_waypoints = self._world_manager.actor_actions
         background_waypoints = {
             id: [(action[1].transform.location.x, action[1].transform.location.y) for action in actions]
-            for id, actions in background_waypoints.items() if actions
+            for id, actions in background_waypoints.items()
+            if actions
         }
         vehicle_polygons = self._world_manager.actor_polygons