Not able to train STAGE_1 about 2020_carla_challenge HOT 5 CLOSED

can you link me to some of your wandb runs from training? i want to see some of the visualizations of the model's predictions

from 2020_carla_challenge.

Thanks for quick response!

Stage_1 training with original data provided from your side:
URL link 1

Stage_1 training with data collected from CARLA 0.0.10.1:
URL link 2

from 2020_carla_challenge.

Hi @bradyz,

You gave me a good hint to check those visualizations during the training, and it looks like the target point is wrong, take a look at the positions of white dot (this is my train_image from wandb):

Also, I noted that the gps sensor data values from CARLA 0.9.10.1 are different from those from previous versions, so for the same map and the same route (route_08.xml) within both CARLA versions I got:

# CARLA 0.9.9
gps = [48.99706601, 8.0028032]
...
mean = np.array([49.0, 8.0])
scale = np.array([111324.60662786, 73032.1570362])
gps_after_normalization_and_scaling = (gps - mean) * scale
...
gps_after_normalization_and_scaling = [-326.62542881, 204.72399902]

# CARLA 0.9.10.1
gps = [-0.0029339, 0.00183903]
...
mean = np.array([49.0, 8.0])
scale = np.array([111324.60662786, 73032.1570362])
gps_after_normalization_and_scaling = (gps - mean) * scale
...
gps_after_normalization_and_scaling = [-5455232.34057393, -584122.94774424]

It looks like new gps data are already normalized (but not quite as expected), so after I remove mean subtraction I have:

# CARLA 0.9.10.1
gps = [-0.0029339, 0.00183903]
scale = np.array([111324.60662786, 73032.1570362])
gps_after_scaling = gps * scale
# and I got:
gps_after_scaling =[-326.61526339, 134.30832775]

And btw, how did you get these exact values for mean and scale?

self.mean = np.array([49.0, 8.0])
self.scale = np.array([111324.60662786, 73032.1570362])

from 2020_carla_challenge.

Hi @bradyz ,

The problem was that the gnss values from CARLA 0.9.10.1 are already normalized using OpenDrive geo-reference values (49.0, 8.0), so there is no need to do it again on your side. As a result, the scale factor should be:
scale = np.array([111324.60662786, 111324.60662786]).

You can close this one.

from 2020_carla_challenge.

sorry for the slow response! thanks for figuring this one out - I'll need to make sure this bit isn't as hacky

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