Recreating table 3 in waymax paper

[eugenevinitsky]

We're interested in recreating the conditions from table 3 from the waymax paper. To do so, we're interested in how you initialize your DatasetConfig and your agents.IDMRoutePolicy. Right now we're using something like

config = DatasetConfig(
        path=cfg.dataset_path,
        max_num_rg_points=30_000,  # TODO how was this set for Table 3?
        data_format=DataFormat.TFRECORD,
        # setting to True results in error
        include_sdc_paths=False,
        num_paths=30,  # TODO how was this set for Table 3?
        num_points_per_path=30,  # TODO how was this set for Table 3?
        max_num_objects=32,  # TODO how was this set for Table 3?
    )

Is there anywhere we could find where these values should be set to?

Additionally we've had some issues with odd behavior of the IDM vehicles initialized like so.

idm_policy = agents.IDMRoutePolicy(
    is_controlled_func=(lambda state: (obj_idx != ego_idx)),
    additional_lookahead_distance=20,
)

We noticed that collision checking for IDM agents is heavily dependent on additional_lookahead_distance. Are there ways to mitigate behavior like for agent 3 in the following videos? In the first the additional lookahead is set to the default of 10, so doesn't collision check for the leading stopped vehicle 5, and in the second, look ahead is set to 20 so collision checking works, but then an odd teleportation behavior happens for agent 3. Is there anything we should be setting these values to to prevent this odd behavior?

waymax_video.mp4

waymax_video-extend.mp4

Thank you!

[hungdche]

Hi. Have you manage to find a way to resolve the issue? I'm also interested in how you change the behavior of the SDC to make a U-turn, could you tell me how it was done?