Policy Classes

We define a lot of policies that can be plugged in to control arbitrary vehicles.

They are:

• IDMPolicy(BasePolicy): A heuristic rule-based policy.

• ManualControllableIDMPolicy(IDMPolicy): If human is not taking over, then use IDM policy.

• WaymoIDMPolicy(IDMPolicy): A better rule-based policy for the traffic car in Waymo environment. (including the ego car)

• ReplayEgoCarPolicy(BasePolicy): Make the ego car replay the logged trajectory.

Change the env_config[“agent_policy”] to IDMPolicy|WaymoIDMPolicy|ReplayEgoCarPolicy to let the ego car follow different policies.