motional
Sensor data in closed-loop simulation
I see that there is sensor data available to download but I am wondering what happens if we run closed-loop simulation. Does it generate simulated sensor data? I need the simulated point clouds while testing with closed-loop simulation.
Hello @ahmedius2 ,
The short answer is no.
All sensor data comes from log and NuPlan doesn't provide a way to do sensor simulation. If you want to conduct closed-loop simulation it has to be in the pnc fashion. Otherwise, you need to come up with your own way of doing sensor simulation, such as nerf, 3dgs, etc.
As you mentioned, if my model keeps providing predicted trajectories in closed-loop evaluation, but the model input is always the camera/lidar information from the log, what is the difference from an open-loop?
