MetaDrive

Quick Start

  • Installing MetaDrive
    • Install MetaDrive
    • Pull assets
    • Verify installation
    • Install MetaDrive with headless rendering
    • Install MetaDrive with advanced offscreen rendering
    • Known Issues
  • Getting Start with MetaDrive
    • Tryout MetaDrive with one line
    • Using MetaDrive in Your Code
  • Before reading the Doc

RL Training with MetaDrive

  • Environments
    • Generalization Environment
      • Randomization
      • Traffic
      • Map
    • VaryingDynamics Environment
      • Wheel Friction Example
      • Termination
    • Safety Environments
      • Accident Probability
      • Termination and Cost
    • Multi-agent Environments
      • Number of Agents
      • Respawn
      • MARL Termination
    • Real-world Environment
      • Specifying Dataset
      • Reactive Traffic
    • Customization
    • GymWrapper
  • Configuration
    • Config system
      • Overwriting
      • Sanity Check
      • Basic Config Sharing
      • Programming with Configs
    • Basic Configs
    • Environment Configs
  • Observation
    • LidarStateObservation
    • ImageStateObservation
      • Using semantic camera as observation
    • TopDownObservation
    • Customization-MultiSensor
    • Customization-MultiView
    • FAQ
      • Can I use LidarState observation but also render the images at the same time?
  • Action and Policy
    • Action
    • Policy
      • EnvInputPolicy
      • LaneChangePolicy
      • ExtraEnvInputPolicy
      • ManualControlPolicy
      • IDMPolicy
      • PPOExpertPolicy
      • ReplayPolicy
      • TrajectoryIDMPolicy
    • Customization
  • Reward, Cost, Termination, and Step Information
    • Reward Function
      • MetaDriveEnv
      • ScenarioEnv
    • Cost Function
    • Termination and Truncation
    • Step Information
    • Customization
  • Training
    • stable-baselines3
    • ray/rllib
  • Demonstration on MultigoalIntersection

Concepts and Customization

  • Build New Env
    • Project Structure
    • Start point-BaseEnv
    • MapManager
    • AgentManager
      • Action Space
      • Observation Space
    • Other Managers
    • Development tips
  • Simulation
    • System Design
    • Manager
      • Step
      • Reset
      • Priority
    • Object
      • Spawn Object
      • Access Object
      • Clear Object
      • Object APIs in Engine
    • Policy
      • APIs
      • Example
    • Config
  • Sensors
    • Add New Sensor
    • Graphics-based Sensors
      • Using semantic camera as observation
      • Retrieve semantic images
      • Demo on RGB camera
  • Top-down Renderer
    • Lifetime
    • Configs
    • Region Size in Screen
    • Map Region Size
    • Semantic Top-down View
  • 3D Renderer
  • Map
    • PGMap
    • ScenarioMap
  • Vehicle
  • Navigation
  • Scenario Description
    • What is the ScenarioNet dataset?
    • How to read a ScenarioNet dataset?
      • Read the dataset summary
      • What is the summary dict of a scenario?
      • What is the other two returns from read_dataset_summary?
    • What is the Scenario Description? ⭐
      • Read a scenario description in .pkl with MetaDrive utils
      • Useful utility functions from ScenarioDescription
    • How to filter Scenarios?
  • Record and Replay
  • Multi-sensor Rendering
    • Utilities
    • Customized Observation Class
    • Setup ScenarioEnv
    • Rollout

Debugging

  • Debugging mode
    • Debug physics
    • Debug Panda3D
    • Show coordinates
  • Draw 3D Lines and Point
    • Lines
    • Points
  • Log messages
    • Global logger
    • Log level
    • Log once

Ecosystem

  • ScenarioNet
  • ROS2
    • Installation
    • Usage
    • Known Issues
  • DI-drive
  • SUMO (WIP)
  • OpenDrive (WIP)
MetaDrive
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