Question about exploration agent and predefined sets #3

Hi, thanks for sharing your work!

I have a question about the exploration agents used for collecting non-expert data. In the paper it says:

• steering angle and speed are randomly sampled from predefined sets
• another agent samples a control configuration and a behavior pattern from a predetermined set

Could you please clarify:

• How is this predefined set constructed?
• How often does the exploration agent switch its strategy?

Thanks a lot!