Simulation

This section provides instructions for simulating scenarios in SLEDGE.

Simple Simulation

For the v0.1 release, you can simulate simple 64mx64m patches. You first need to train a diffusion model and run scenario caching, as described in docs/diffusion.md. Consequently, you can simulate the scenarios by running.

cd $SLEDGE_DEVKIT_ROOT/scripts/simulation/
bash simple_simulation.sh

By default, we simulate the PDM-Closed planner for 15 seconds. The experiment folder can be found in $SLEDGE_EXP_ROOT/exp. Further simulation modes and configurations will follow in future updates.

Visualization

The simulated scenarios can be visualized with SledgeBoard. Simply run:

python $SLEDGE_DEVKIT_ROOT/sledge/script/run_sledgeboard.py

Open the .nuboard file in the experiment folder, view simulations, and render videos of scenarios. Note that SledgeBoard is primarily of a skin of nuBoard, with small adaptations to view synthetic scenarios in SLEDGE.