Shea occlusion manager (!1) · Merge requests · Eli Henry Dykhne / nuplan-devkit

Shea Anthony Cardozo requested to merge shea-occlusion-manager into dev Nov 27, 2023

This PR compromises the version 1 of the occlusion manager, focusing on masking the SimulationHistoryBuffer input to the ego planner based on some rule.

It also contains a number of misc changes to support visualizing occlusions. I think checking out test_notebook.ipynb is the best way of intuiting how to run things. Let me know if there are any questions.

Shea occlusion manager

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