Deactivate safty controller

[we1cao]

Is there anyway to deactivate the safty controller directly? Can you also provide the ckpt of the model without safty controller of your ablation study?

[deepcs233]

Hi, To deactivate the safty controller, maybe you can overwrite the brake control of original output with False. Without the safety controller, the agent can only utilize the predicted paths of the model output. It may only follow the route and can't react to anything including traffic light, stop sign, and other vehicles. So we don't have the ckpt that trained without the safty controller.