Some Question About TrafficBots

[LilyLove0810]

I run the entire project with epoch 30(MinADE 1.612), It seems that the scene-center modeling method must be used to achieve faster convergence. I used the agent-center modeling method and found that it was difficult to converge. At the same time, the entire training process was slower than open-loop training and consumed more memory. I have some question,the paper only talks about the effect of using it on motion prediction problems, but the purpose of the world model is the planing tasks. Has the trafficbots been tested on nuplan planning task? Looking forward for your reply, thank you.