Support for Waymo Open Motion Dataset in TBSIM and Concerns about Non-Ego-Centric Historical Input Trajectories in NuScenes

[jxmmy7777]

I would like to inquire about the compatibility of TBSIM, specifically the trajdata module, with other datasets such as the Waymo Open Motion Dataset. If TBSIM supports the Waymo dataset, I would appreciate any information regarding specific modifications or considerations I should be aware of during integration.

Additionally, while working with the NuScenes dataset in TBSIM, I have noticed that some historical input trajectories during training are not ego-centric when the speed are slow. I would like to understand whether this discrepancy is intentional or a result of noisy data within the NuScenes dataset.

Your assistance in addressing these concerns are greatly appreciated. Thank you.

[chenyx09]

Hi Sorry for the late reply. TBSIM relies on Trajdata to access datasets. Once WOMD is incorporated in Trajdata, TBSIM can utilize that.

About the nuscenes input trajectory, do you mean that the coordinates are not (0,0)? I personally have not encountered that.