Add transmission error rate in intention sharing.

car_dreamer/configs/common.yaml

@@ -137,6 +137,20 @@ env:
           stop_signs,
         ]
 
+    birdeye_error_wpt:
+      handler: birdeye
+      key: birdeye_error_wpt
+      shape: [128, 128, 3]
+      obs_range: 32
+      ego_offset: 12
+      camera_fov: 150
+      observability: full
+      color_by_obs: False
+      waypoint_obs: visible
+      extend_wpt: False
+      error_rate: 0.2
+      entities: [roadmap, waypoints, error_background_waypoints, ego_vehicle, background_vehicles]
+
   display:
     enable: True
     render_keys: [camera, birdeye_wpt]

car_dreamer/configs/tasks.yaml

@@ -121,17 +121,17 @@ carla_right_turn_simple: &carla_right_turn_simple
     name: CarlaRightTurnEnv-v0
     action:
       discrete_steer: [-0.9, -0.3, 0.0, 0.3, 0.9]
-    observation.enabled: [camera, collision, birdeye_wpt]
+    observation.enabled: [camera, collision, birdeye_error_wpt]
     <<: *carla_wpt
     lane_start_point: [-33.8, -135.1, 0.1, 0.0]
     ego_path: [[-33.8, -135.1, 0.1], [-5.0, -110.3, 0.1]]
     use_road_waypoints: [True, False]
     flow_spawn_point: [-3.4, -151.2, 0.1, 90.0]
 
   dreamerv3:
-    encoder.cnn_keys: "birdeye_wpt"
-    decoder.cnn_keys: "birdeye_wpt"
-    run.log_keys_video: [camera, birdeye_wpt]
+    encoder.cnn_keys: "birdeye_error_wpt"
+    decoder.cnn_keys: "birdeye_error_wpt"
+    run.log_keys_video: [camera, birdeye_error_wpt]
 
   dreamerv2:
     encoder.cnn_keys: "birdeye_wpt"

car_dreamer/toolkit/observer/handlers/birdeye_handler.py

@@ -60,6 +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
         self._birdeye_render.render(self.surface, entities, env_state)
         birdeye = self.surface
 

car_dreamer/toolkit/observer/handlers/renderer/birdeye_renderer.py

@@ -3,8 +3,10 @@
 
 import carla
 import cv2
+import random
 import numpy as np
 
+
 from ....carla_manager import ActorPolygon, Command, WorldManager
 from ..utils import should_filter
 from .constants import BirdeyeEntity, Color
@@ -170,6 +172,33 @@ 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')
+        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
+        }
+        vehicle_polygons = self._world_manager.actor_polygons
+
+        for vehicle_id, path in background_waypoints.items():
+            if vehicle_id == self._ego.id or should_filter(self._ego.get_transform(), self._world_manager.actor_transforms[vehicle_id]):
+                continue
+            vehicle_polygon = vehicle_polygons.get(vehicle_id, None)
+            if vehicle_polygon is None:
+                continue
+            waypoint_color = color.get(vehicle_id, None)
+            if waypoint_color is None:
+                continue
+            if extend_waypoints:
+                last = path[-1]
+                path.append((last[0], last[1] - 10.0))
+            if random.random() > error_rate:
+                self._render_path(self._surface, vehicle_polygon, path, waypoint_color)
 
     def _render_messages(self, **env_state):
         """
@@ -356,4 +385,5 @@ def _render_path(
         BirdeyeEntity.TRAFFIC_LIGHTS: _render_traffic_lights,
         BirdeyeEntity.STOP_SIGNS: _render_stop_signs,
         BirdeyeEntity.MESSAGES: _render_messages,
+        BirdeyeEntity.ERROR_BACKGROUND_WAYPOINTS: _render_error_background_waypoints,
     }

car_dreamer/toolkit/observer/handlers/renderer/constants.py

@@ -83,3 +83,4 @@ class BirdeyeEntity(Enum):
     TRAFFIC_LIGHTS = "traffic_lights"
     STOP_SIGNS = "stop_signs"
     MESSAGES = "messages"
+    ERROR_BACKGROUND_WAYPOINTS = "error_background_waypoints"