Clarifications on Tree Observation

I need some guidance from you regarding the observation part.

I’m trying to understand how the observation is constructed from the “ flatland.observation.get(handle) ”, but I have difficulties understanding it from the comments. I’m not sure if I can find more details/examples somewhere else.

Some update is needed to the comments, due to the changes from 5 features to 8 features.

Moreover, I think a little bit clarification in the terminology would be really helpful for the readers and the challenge participants

For Example #2:distance to a target of another agent is detected between the previous node and the current one .” à is the calculated value the distance to another agent’s target? What does exactly the previous node mean?

Is the Current node where the agent is located, or it is the node that we are getting the features for?

Thank you for your feedback. I will try to clarify to comments on the observation builder to make it more understandable.

The distance is calculated from the current agents position. Thus, it tells the agent how far away the observed target of the other agent is from the current location of the observing agent.

The current node is the one being constructed in the tree observation. It is the next branching point along the agents path. I will update the comment soon and also implement an example on how to use it.

Also I will make the baselines Repo publicly available so you can see how to use the observation in a training setup.