Sensor data in closed-loop simulation

[ahmedius2]

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.

[JingyuQian]

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.

[rOtking]

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?

[wljungbergh]

If you want to create your sensor-realistic closed-loop simulator, have a look at NeuRAD and the soon-to-be-released NeuroNCAP