question about state format

[EcustBoy]

Hi~ author, I wanna ask if measurement state is well designed for the best metric?
For example, is command info (like "turn left") is a must? can I just use a target point (x,y) and ego speed V as ego measurement state input? because I think the target point position already contains the command info( 'turn' or 'go straight' ).

[penghao-wu]

Hi, we follow previous works to include both command info and target point as input. We do not have such ablations, but I agree that the vehicle mostly relies on the target point. You can try yourself to see whether removing the command affects the performance.