All of the following video demonstrations were done on the no crash benchmark (dense) on Town 2. We primarily compare the performance of the SAC finetuned agent to the DAgger based agent. Both these agents were trained on Town 1.<\/p>\n\n\n\n
Our initial RL expert agent was trained on eight dimensional features. Only one of these eight features describe the traffic light’s state. The feature specifies the distance to red light if it is near enough. If the light is yellow or green or too far, the feature is set to 1. Thus, we’d expect our final agent to not know anything about yellow lights. However, we see in video 1, at around 0:40<\/a>, that the car comes to a complete stop for a yellow light. <\/p>\n\n\n\n <\/p>\n\n\n\n
another intersection.<\/figcaption><\/figure>\n\n\n\n