From 69661c27fa31d6a6a969b8404d9b18ad7c06876e Mon Sep 17 00:00:00 2001 From: Pragnay Mandavilli Date: Tue, 18 Nov 2025 19:44:15 -0500 Subject: [PATCH 01/13] Random number of agents with mocked goals --- pufferlib/config/ocean/drive.ini | 9 +- pufferlib/ocean/drive/binding.c | 102 ++++--- pufferlib/ocean/drive/drive.h | 484 ++++++++++++++++++++++++++----- pufferlib/ocean/drive/drive.py | 4 + pufferlib/ocean/drive/error.h | 2 + pufferlib/ocean/env_config.h | 43 ++- 6 files changed, 532 insertions(+), 112 deletions(-) diff --git a/pufferlib/config/ocean/drive.ini b/pufferlib/config/ocean/drive.ini index 13671d3a6..f7c80d02c 100644 --- a/pufferlib/config/ocean/drive.ini +++ b/pufferlib/config/ocean/drive.ini @@ -46,8 +46,13 @@ num_maps = 1000 init_steps = 0 ; Options: "control_vehicles", "control_agents", "control_tracks_to_predict", "control_sdc_only" control_mode = "control_vehicles" -; Options: "created_all_valid", "create_only_controlled" -init_mode = "create_all_valid" +; Options: "created_all_valid", "create_only_controlled", "random_agents_init" +init_mode = "random_agents_init" +; Only for random_agents_init init_mode +num_agents_per_world = 32 +vehicle_width = 2.0 +vehicle_length = 4.5 +vehicle_height = 1.8 [train] total_timesteps = 2_000_000_000 diff --git a/pufferlib/ocean/drive/binding.c b/pufferlib/ocean/drive/binding.c index 1061f33b7..4bb17fc98 100644 --- a/pufferlib/ocean/drive/binding.c +++ b/pufferlib/ocean/drive/binding.c @@ -70,10 +70,22 @@ static int my_put(Env* env, PyObject* args, PyObject* kwargs) { static PyObject* my_shared(PyObject* self, PyObject* args, PyObject* kwargs) { int num_agents = unpack(kwargs, "num_agents"); int num_maps = unpack(kwargs, "num_maps"); - int init_mode = unpack(kwargs, "init_mode"); int control_mode = unpack(kwargs, "control_mode"); int init_steps = unpack(kwargs, "init_steps"); int goal_behavior = unpack(kwargs, "goal_behavior"); + + // Get configs + char* ini_file = unpack_str(kwargs, "ini_file"); + env_init_config conf = {0}; + if(ini_parse(ini_file, handler, &conf) < 0) { + raise_error_with_message(ERROR_UNKNOWN, "Error while loading %s", ini_file); + } + Init_Mode init_mode = conf.init_mode; + int num_agents_per_world = -1; + if (init_mode == RANDOM_AGENTS_INIT) { + num_agents_per_world = conf.num_agents_per_world; + } + clock_gettime(CLOCK_REALTIME, &ts); srand(ts.tv_nsec); int total_agent_count = 0; @@ -86,21 +98,48 @@ static PyObject* my_shared(PyObject* self, PyObject* args, PyObject* kwargs) { while(total_agent_count < num_agents && env_count < max_envs){ char map_file[100]; int map_id = rand() % num_maps; - Drive* env = calloc(1, sizeof(Drive)); - env->init_mode = init_mode; - env->control_mode = control_mode; - env->init_steps = init_steps; - env->goal_behavior = goal_behavior; - sprintf(map_file, "resources/drive/binaries/map_%03d.bin", map_id); - env->entities = load_map_binary(map_file, env); - set_active_agents(env); + if (init_mode == RANDOM_AGENTS_INIT) { + // Store map_id + PyObject* map_id_obj = PyLong_FromLong(map_id); + PyList_SetItem(map_ids, env_count, map_id_obj); + // Store agent offset + PyObject* offset = PyLong_FromLong(total_agent_count); + PyList_SetItem(agent_offsets, env_count, offset); + total_agent_count += num_agents_per_world; + env_count++; + } + else { + Drive* env = calloc(1, sizeof(Drive)); + env->init_mode = init_mode; + env->control_mode = control_mode; + env->init_steps = init_steps; + env->goal_behavior = goal_behavior; + sprintf(map_file, "resources/drive/binaries/map_%03d.bin", map_id); + env->entities = load_map_binary(map_file, env); + set_active_agents(env); + + // Skip map if it doesn't contain any controllable agents + if(env->active_agent_count == 0) { + maps_checked++; - // Skip map if it doesn't contain any controllable agents - if(env->active_agent_count == 0) { - maps_checked++; + // Safeguard: if we've checked all available maps and found no active agents, raise an error + if(maps_checked >= num_maps) { + for(int j=0;jnum_entities;j++) { + free_entity(&env->entities[j]); + } + free(env->entities); + free(env->active_agent_indices); + free(env->static_agent_indices); + free(env->expert_static_agent_indices); + free(env); + Py_DECREF(agent_offsets); + Py_DECREF(map_ids); + char error_msg[256]; + sprintf(error_msg, "No controllable agents found in any of the %d available maps", num_maps); + PyErr_SetString(PyExc_ValueError, error_msg); + return NULL; + } - // Safeguard: if we've checked all available maps and found no active agents, raise an error - if(maps_checked >= num_maps) { for(int j=0;jnum_entities;j++) { free_entity(&env->entities[j]); } @@ -109,14 +148,17 @@ static PyObject* my_shared(PyObject* self, PyObject* args, PyObject* kwargs) { free(env->static_agent_indices); free(env->expert_static_agent_indices); free(env); - Py_DECREF(agent_offsets); - Py_DECREF(map_ids); - char error_msg[256]; - sprintf(error_msg, "No controllable agents found in any of the %d available maps", num_maps); - PyErr_SetString(PyExc_ValueError, error_msg); - return NULL; + continue; } + // Store map_id + PyObject* map_id_obj = PyLong_FromLong(map_id); + PyList_SetItem(map_ids, env_count, map_id_obj); + // Store agent offset + PyObject* offset = PyLong_FromLong(total_agent_count); + PyList_SetItem(agent_offsets, env_count, offset); + total_agent_count += env->active_agent_count; + env_count++; for(int j=0;jnum_entities;j++) { free_entity(&env->entities[j]); } @@ -125,25 +167,7 @@ static PyObject* my_shared(PyObject* self, PyObject* args, PyObject* kwargs) { free(env->static_agent_indices); free(env->expert_static_agent_indices); free(env); - continue; - } - - // Store map_id - PyObject* map_id_obj = PyLong_FromLong(map_id); - PyList_SetItem(map_ids, env_count, map_id_obj); - // Store agent offset - PyObject* offset = PyLong_FromLong(total_agent_count); - PyList_SetItem(agent_offsets, env_count, offset); - total_agent_count += env->active_agent_count; - env_count++; - for(int j=0;jnum_entities;j++) { - free_entity(&env->entities[j]); } - free(env->entities); - free(env->active_agent_indices); - free(env->static_agent_indices); - free(env->expert_static_agent_indices); - free(env); } //printf("Generated %d environments to cover %d agents (requested %d agents)\n", env_count, total_agent_count, num_agents); if(total_agent_count >= num_agents){ @@ -197,7 +221,7 @@ static int my_init(Env* env, PyObject* args, PyObject* kwargs) { int init_steps = unpack(kwargs, "init_steps"); char map_file[100]; sprintf(map_file, "resources/drive/binaries/map_%03d.bin", map_id); - env->num_agents = max_agents; + env->max_active_agents = max_agents; env->map_name = strdup(map_file); env->init_steps = init_steps; env->timestep = init_steps; diff --git a/pufferlib/ocean/drive/drive.h b/pufferlib/ocean/drive/drive.h index 27084cdcf..5996ecb46 100644 --- a/pufferlib/ocean/drive/drive.h +++ b/pufferlib/ocean/drive/drive.h @@ -11,6 +11,7 @@ #include "rlgl.h" #include #include "error.h" +#include "../env_config.h" // Entity Types #define NONE 0 @@ -62,9 +63,11 @@ #define LANE_ALIGNED_IDX 3 #define AVG_DISPLACEMENT_ERROR_IDX 4 -// Grid cell size +// Grid Map Related #define GRID_CELL_SIZE 5.0f #define MAX_ENTITIES_PER_CELL 30 // Depends on resolution of data Formula: 3 * (2 + GRID_CELL_SIZE*sqrt(2)/resolution) => For each entity type in gridmap, diagonal poly-lines -> sqrt(2), include diagonal ends -> 2 +#define GRID_MAP_CACHE_VISION_RANGE 21 // Vision range to cache neighbor offsets +#define COLLISION_VISION_RANGE 5 // Vision range for collision checking // Max road segment observation entities #define MAX_ROAD_SEGMENT_OBSERVATIONS 200 @@ -177,6 +180,7 @@ struct Entity { float heading_y; int current_lane_idx; int valid; + int initialized; int respawn_timestep; int respawn_count; int collided_before_goal; @@ -275,6 +279,7 @@ struct GridMap { int cell_size_y; int* cell_entities_count; // number of entities in each cell of the GridMap GridMapEntity** cells; // list of gridEntities in each cell of the GridMap + int* cell_roadlanes_count; // number of road lanes in each cell // Extras/Optimizations int vision_range; @@ -290,7 +295,7 @@ struct Drive { unsigned char* terminals; Log log; Log* logs; - int num_agents; + int max_active_agents; int active_agent_count; int* active_agent_indices; int action_type; @@ -305,6 +310,13 @@ struct Drive { int* static_agent_indices; int expert_static_agent_count; int* expert_static_agent_indices; + int num_lanes; + int num_road_edges; + int num_road_lines; + int static_car_count; + int* static_car_indices; + int expert_static_car_count; + int* expert_static_car_indices; int timestep; int init_steps; int dynamics_model; @@ -320,7 +332,7 @@ struct Drive { float dt; float reward_goal; float reward_goal_post_respawn; - float goal_radius; + float goal_radius; // Distance threshold to consider goal reached int max_controlled_agents; int logs_capacity; int goal_behavior; @@ -333,6 +345,7 @@ struct Drive { int* tracks_to_predict_indices; int init_mode; int control_mode; + env_init_config conf; }; void add_log(Drive* env) { @@ -435,6 +448,78 @@ void freeTopologyGraph(struct Graph* graph) { free(graph); } +// Checks for collisions at a specified spawn point +bool is_valid_spawn_point(Drive* env, int agent_idx, float start_x, float start_y, float start_z, float heading, float vehicle_width, float vehicle_length, float vehicle_height) { + // Create Mock Entity for collision checking + Entity mock_agent = { + .x = start_x, + .y = start_y, + .z = start_z, + .width = vehicle_width, + .length = vehicle_length, + .height = vehicle_height, + .heading = heading, + .heading_x = cosf(heading), + .heading_y = sinf(heading) + }; + + float half_length = mock_agent.length/2.0f; + float half_width = mock_agent.width/2.0f; + float cos_heading = cosf(mock_agent.heading); + float sin_heading = sinf(mock_agent.heading); + float agent_corners[4][2]; + for (int i = 0; i < 4; i++) { + agent_corners[i][0] = mock_agent.x + (offsets[i][0]*half_length*cos_heading - offsets[i][1]*half_width*sin_heading); + agent_corners[i][1] = mock_agent.y + (offsets[i][0]*half_length*sin_heading + offsets[i][1]*half_width*cos_heading); + } + int collided = 0; + + // Vehicle collision check + for (int i = 0; i < env->num_entities; i++) { + Entity* entity = &env->entities[i]; + if (entity->type != VEHICLE && entity-> type != PEDESTRIAN && entity->type != CYCLIST) continue; // Only check dynamic entities + if (entity->id == agent_idx) continue; // Skip self + + if (entity->type == VEHICLE) { + if (entity->initialized == 0) continue; // Skip uninitialized entities + if(check_aabb_collision(&mock_agent, entity)) { + collided = VEHICLE_COLLISION; + return false; // Collision detected with existing vehicle at spawn point + } + } + } + + // Offroad check + // int list_size = 0; + // GridMapEntity* entity_list = checkNeighbors(env, mock_agent.x, mock_agent.y, collision_offsets, &list_size, COLLISION_VISION_RANGE*COLLISION_VISION_RANGE); + // for (int i = 0; i < list_size ; i++) { + // if(entity_list[i].entity_idx == -1) continue; + // Entity* entity; + // entity = &env->entities[entity_list[i].entity_idx]; + + // // Check for offroad collision with road edges + // if(entity->type == ROAD_EDGE) { + // int geometry_idx = entity_list[i].geometry_idx; + // float start[2] = {entity->traj_x[geometry_idx], entity->traj_y[geometry_idx]}; + // float end[2] = {entity->traj_x[geometry_idx + 1], entity->traj_y[geometry_idx + 1]}; + // for (int k = 0; k < 4; k++) { // Check each edge of the bounding box + // int next = (k + 1) % 4; + // if (check_line_intersection(agent_corners[k], agent_corners[next], start, end)) { + // collided = OFFROAD; + // printf("Invalid Spawn: collision with road edge (Entity ID: %d)\n", entity->id); + // break; + // } + // } + // } + + // if (collided == OFFROAD) break; + // } + + // Cleanup + // free(entity_list); + return true; // No collisions detected +} + Entity* load_map_binary(const char* filename, Drive* env) { FILE* file = fopen(filename, "rb"); @@ -456,59 +541,284 @@ Entity* load_map_binary(const char* filename, Drive* env) { env->tracks_to_predict_indices = NULL; } - fread(&env->num_objects, sizeof(int), 1, file); + fread(&env->num_objects, sizeof(int), 1, file); // Can be 0 for random_agents_init init_mode fread(&env->num_roads, sizeof(int), 1, file); - env->num_entities = env->num_objects + env->num_roads; - Entity* entities = (Entity*)malloc(env->num_entities * sizeof(Entity)); - for (int i = 0; i < env->num_entities; i++) { - // Read base entity data - fread(&entities[i].scenario_id, sizeof(int), 1, file); - fread(&entities[i].type, sizeof(int), 1, file); - fread(&entities[i].id, sizeof(int), 1, file); - fread(&entities[i].array_size, sizeof(int), 1, file); - // Allocate arrays based on type - int size = entities[i].array_size; - entities[i].traj_x = (float*)malloc(size * sizeof(float)); - entities[i].traj_y = (float*)malloc(size * sizeof(float)); - entities[i].traj_z = (float*)malloc(size * sizeof(float)); - if (entities[i].type == VEHICLE || entities[i].type == PEDESTRIAN || entities[i].type == CYCLIST) { // Object type - // Allocate arrays for object-specific data - entities[i].traj_vx = (float*)malloc(size * sizeof(float)); - entities[i].traj_vy = (float*)malloc(size * sizeof(float)); - entities[i].traj_vz = (float*)malloc(size * sizeof(float)); - entities[i].traj_heading = (float*)malloc(size * sizeof(float)); - entities[i].traj_valid = (int*)malloc(size * sizeof(int)); - } else { - // Roads don't use these arrays - entities[i].traj_vx = NULL; - entities[i].traj_vy = NULL; - entities[i].traj_vz = NULL; - entities[i].traj_heading = NULL; - entities[i].traj_valid = NULL; - } - // Read array data - fread(entities[i].traj_x, sizeof(float), size, file); - fread(entities[i].traj_y, sizeof(float), size, file); - fread(entities[i].traj_z, sizeof(float), size, file); - if (entities[i].type == VEHICLE || entities[i].type == PEDESTRIAN || entities[i].type == CYCLIST) { // Object type - fread(entities[i].traj_vx, sizeof(float), size, file); - fread(entities[i].traj_vy, sizeof(float), size, file); - fread(entities[i].traj_vz, sizeof(float), size, file); - fread(entities[i].traj_heading, sizeof(float), size, file); - fread(entities[i].traj_valid, sizeof(int), size, file); - } - // Read remaining scalar fields - fread(&entities[i].width, sizeof(float), 1, file); - fread(&entities[i].length, sizeof(float), 1, file); - fread(&entities[i].height, sizeof(float), 1, file); - fread(&entities[i].goal_position_x, sizeof(float), 1, file); - fread(&entities[i].goal_position_y, sizeof(float), 1, file); - fread(&entities[i].goal_position_z, sizeof(float), 1, file); - fread(&entities[i].mark_as_expert, sizeof(int), 1, file); - } - - fclose(file); - return entities; + int num_bin_entities = env->num_objects + env->num_roads; + if (env->conf.init_mode == RANDOM_AGENTS_INIT) { + Entity read_bin_entities[num_bin_entities]; + // Read all binaries into temporary array + for (int i = 0; i < num_bin_entities; i++) { + // Read base entity data + fread(&read_bin_entities[i].scenario_id, sizeof(int), 1, file); + fread(&read_bin_entities[i].type, sizeof(int), 1, file); + fread(&read_bin_entities[i].id, sizeof(int), 1, file); + fread(&read_bin_entities[i].array_size, sizeof(int), 1, file); + // Allocate arrays based on type + int size = read_bin_entities[i].array_size; + read_bin_entities[i].traj_x = (float*)malloc(size * sizeof(float)); + read_bin_entities[i].traj_y = (float*)malloc(size * sizeof(float)); + read_bin_entities[i].traj_z = (float*)malloc(size * sizeof(float)); + if (read_bin_entities[i].type == VEHICLE || read_bin_entities[i].type == PEDESTRIAN || read_bin_entities[i].type == CYCLIST) { // Object type + // Allocate arrays for object-specific data + read_bin_entities[i].traj_vx = (float*)malloc(size * sizeof(float)); + read_bin_entities[i].traj_vy = (float*)malloc(size * sizeof(float)); + read_bin_entities[i].traj_vz = (float*)malloc(size * sizeof(float)); + read_bin_entities[i].traj_heading = (float*)malloc(size * sizeof(float)); + read_bin_entities[i].traj_valid = (int*)malloc(size * sizeof(int)); + } else { + // Roads don't use these arrays + read_bin_entities[i].traj_vx = NULL; + read_bin_entities[i].traj_vy = NULL; + read_bin_entities[i].traj_vz = NULL; + read_bin_entities[i].traj_heading = NULL; + read_bin_entities[i].traj_valid = NULL; + } + // Read array data + fread(read_bin_entities[i].traj_x, sizeof(float), size, file); + fread(read_bin_entities[i].traj_y, sizeof(float), size, file); + fread(read_bin_entities[i].traj_z, sizeof(float), size, file); + if (read_bin_entities[i].type == VEHICLE || read_bin_entities[i].type == PEDESTRIAN || read_bin_entities[i].type == CYCLIST) { // Object type + fread(read_bin_entities[i].traj_vx, sizeof(float), size, file); + fread(read_bin_entities[i].traj_vy, sizeof(float), size, file); + fread(read_bin_entities[i].traj_vz, sizeof(float), size, file); + fread(read_bin_entities[i].traj_heading, sizeof(float), size, file); + fread(read_bin_entities[i].traj_valid, sizeof(int), size, file); + } + // Read remaining scalar fields + fread(&read_bin_entities[i].width, sizeof(float), 1, file); + fread(&read_bin_entities[i].length, sizeof(float), 1, file); + fread(&read_bin_entities[i].height, sizeof(float), 1, file); + fread(&read_bin_entities[i].goal_position_x, sizeof(float), 1, file); + fread(&read_bin_entities[i].goal_position_y, sizeof(float), 1, file); + fread(&read_bin_entities[i].goal_position_z, sizeof(float), 1, file); + fread(&read_bin_entities[i].mark_as_expert, sizeof(int), 1, file); + + read_bin_entities[i].initialized = 1; + } + + env->num_objects = env->conf.num_agents_per_world; + env->num_entities = env->num_objects + env->num_roads; + Entity* entities = (Entity*)malloc(env->num_entities * sizeof(Entity)); + + // Only initialize road entities + int env_entity_idx = 0; + for (int i = 0; i < num_bin_entities; i++) { + if (read_bin_entities[i].type == VEHICLE || read_bin_entities[i].type == PEDESTRIAN || read_bin_entities[i].type == CYCLIST) { + continue; + } else { + entities[env_entity_idx] = read_bin_entities[i]; + env_entity_idx++; + } + } + + while (env_entity_idx < env->num_entities) { + entities[env_entity_idx].type = VEHICLE; // Placeholder type for non-road entities + entities[env_entity_idx].id = env_entity_idx; + entities[env_entity_idx].initialized = 0; + entities[env_entity_idx].array_size = 0; + entities[env_entity_idx].traj_x = NULL; + entities[env_entity_idx].traj_y = NULL; + entities[env_entity_idx].traj_z = NULL; + entities[env_entity_idx].traj_vx = NULL; + entities[env_entity_idx].traj_vy = NULL; + entities[env_entity_idx].traj_vz = NULL; + entities[env_entity_idx].traj_heading = NULL; + entities[env_entity_idx].traj_valid = NULL; + env_entity_idx++; + } + + fclose(file); + return entities; + } else { + env->num_entities = num_bin_entities; + Entity* entities = (Entity*)malloc(env->num_entities * sizeof(Entity)); + for (int i = 0; i < env->num_entities; i++) { + // Read base entity data + fread(&entities[i].scenario_id, sizeof(int), 1, file); + fread(&entities[i].type, sizeof(int), 1, file); + fread(&entities[i].id, sizeof(int), 1, file); + fread(&entities[i].array_size, sizeof(int), 1, file); + // Allocate arrays based on type + int size = entities[i].array_size; + entities[i].traj_x = (float*)malloc(size * sizeof(float)); + entities[i].traj_y = (float*)malloc(size * sizeof(float)); + entities[i].traj_z = (float*)malloc(size * sizeof(float)); + if (entities[i].type == VEHICLE || entities[i].type == PEDESTRIAN || entities[i].type == CYCLIST) { // Object type + // Allocate arrays for object-specific data + entities[i].traj_vx = (float*)malloc(size * sizeof(float)); + entities[i].traj_vy = (float*)malloc(size * sizeof(float)); + entities[i].traj_vz = (float*)malloc(size * sizeof(float)); + entities[i].traj_heading = (float*)malloc(size * sizeof(float)); + entities[i].traj_valid = (int*)malloc(size * sizeof(int)); + } else { + // Roads don't use these arrays + entities[i].traj_vx = NULL; + entities[i].traj_vy = NULL; + entities[i].traj_vz = NULL; + entities[i].traj_heading = NULL; + entities[i].traj_valid = NULL; + } + // Read array data + fread(entities[i].traj_x, sizeof(float), size, file); + fread(entities[i].traj_y, sizeof(float), size, file); + fread(entities[i].traj_z, sizeof(float), size, file); + if (entities[i].type == VEHICLE || entities[i].type == PEDESTRIAN || entities[i].type == CYCLIST) { // Object type + fread(entities[i].traj_vx, sizeof(float), size, file); + fread(entities[i].traj_vy, sizeof(float), size, file); + fread(entities[i].traj_vz, sizeof(float), size, file); + fread(entities[i].traj_heading, sizeof(float), size, file); + fread(entities[i].traj_valid, sizeof(int), size, file); + } + // Read remaining scalar fields + fread(&entities[i].width, sizeof(float), 1, file); + fread(&entities[i].length, sizeof(float), 1, file); + fread(&entities[i].height, sizeof(float), 1, file); + fread(&entities[i].goal_position_x, sizeof(float), 1, file); + fread(&entities[i].goal_position_y, sizeof(float), 1, file); + fread(&entities[i].goal_position_z, sizeof(float), 1, file); + fread(&entities[i].mark_as_expert, sizeof(int), 1, file); + + entities[i].initialized = 1; + } + fclose(file); + return entities; + } +} + +void init_agents_random_start(Drive* env) { + Entity* entities = env->entities; + float goal_radius = env->goal_radius; + // int rel_neighbor_offsets_cnt = 0; + // int* rel_neighbor_offsets = get_relative_neighbor_offsets(env, goal_radius, &rel_neighbor_offsets_cnt); + + for (int agent_idx=0; agent_idxnum_entities; agent_idx++){ + if (entities[agent_idx].type != VEHICLE) { + continue; + } + + Entity agent = entities[agent_idx]; + if (agent.id == 239 || agent.id == 238) { + } + + // Random Initializing Agent + while(1){ + // Random Road lane of a random grid cell + int rand_grid_col = rand() % env->grid_map->grid_cols; + int rand_grid_row = rand() % env->grid_map->grid_rows; + int grid_map_idx = rand_grid_row * env->grid_map->grid_cols + rand_grid_col; + // If cell has no lanes, repeat + if (env->grid_map->cell_roadlanes_count[grid_map_idx] == 0){ + continue; + } + int cell_lane_count = env->grid_map->cell_roadlanes_count[grid_map_idx]; + int lane_idx = rand() % cell_lane_count; + // float heading = ((float)rand() / RAND_MAX) * 2.0f * PI; // Random heading + float heading = 0.0f; + + // Get start lane point info + float start_x = INVALID_POSITION, start_y = INVALID_POSITION, start_z = INVALID_POSITION, start_heading = INVALID_POSITION; + int cnt = 0; + for (int i = 0; i < env->grid_map->cell_entities_count[grid_map_idx]; i++) { + int entity_idx = env->grid_map->cells[grid_map_idx][i].entity_idx; + Entity entity = env->entities[entity_idx]; + if (entity.type != ROAD_LANE) { + continue; + } + // Current spawn point + if (cnt == lane_idx) { + int start_point_geometry_idx = env->grid_map->cells[grid_map_idx][i].geometry_idx; + if (start_point_geometry_idx + 1 < entity.array_size) { + float dx = entity.traj_x[start_point_geometry_idx + 1] - entity.traj_x[start_point_geometry_idx]; + float dy = entity.traj_y[start_point_geometry_idx + 1] - entity.traj_y[start_point_geometry_idx]; + heading = atan2f(dy, dx); + } + else if (start_point_geometry_idx - 1 >= 0) { + float dx = entity.traj_x[start_point_geometry_idx] - entity.traj_x[start_point_geometry_idx - 1]; + float dy = entity.traj_y[start_point_geometry_idx] - entity.traj_y[start_point_geometry_idx - 1]; + heading = atan2f(dy, dx); + } + else { + heading = 0.0f; // Design choice: default to 0 if no previous lane + } + + bool valid_spawn = is_valid_spawn_point( + env, + agent.id, + entity.traj_x[start_point_geometry_idx], + entity.traj_y[start_point_geometry_idx], + entity.traj_z[start_point_geometry_idx], + heading, + env->conf.vehicle_width, env->conf.vehicle_length, env->conf.vehicle_height + ); + if (valid_spawn) { + start_x = entity.traj_x[start_point_geometry_idx]; + start_y = entity.traj_y[start_point_geometry_idx]; + start_z = entity.traj_z[start_point_geometry_idx]; + start_heading = heading; + break; + } + + break; // Break anyways as current spawn pt is invalid + } + cnt++; + } + // Invalid start point, repeat + if (start_x == INVALID_POSITION || start_y == INVALID_POSITION || start_z == INVALID_POSITION) { + continue; + } + + // Get goal point info + float goal_x = -0.5, goal_y = -0.5, goal_z = -0.5; + // bool is_valid_goal = get_valid_goal( + // env, + // start_x, start_y, start_z, + // rand_grid_row, rand_grid_col, + // rel_neighbor_offsets, rel_neighbor_offsets_cnt, + // &goal_x, &goal_y, &goal_z + // ); + // If no surrounding cell with goal curriculum, repeat + // if (!is_valid_goal) { + // printf("No valid goals found around start point (%.2f, %.2f, %.2f)\n", start_x, start_y, start_z); + // continue; + // } + // Else break with given start and goal + agent.initialized = 1; + agent.array_size = 1; + agent.traj_x = (float*)calloc(agent.array_size, sizeof(float)); + agent.traj_y = (float*)calloc(agent.array_size, sizeof(float)); + agent.traj_z = (float*)calloc(agent.array_size, sizeof(float)); + agent.traj_vx = (float*)calloc(agent.array_size, sizeof(float)); + agent.traj_vy = (float*)calloc(agent.array_size, sizeof(float)); + agent.traj_vz = (float*)calloc(agent.array_size, sizeof(float)); + agent.traj_heading = (float*)calloc(agent.array_size, sizeof(float)); + agent.traj_valid = (int*)calloc(agent.array_size, sizeof(int)); + agent.traj_x[0] = start_x; + agent.traj_y[0] = start_y; + agent.traj_z[0] = start_z; + agent.x = start_x; + agent.y = start_y; + agent.z = start_z; + agent.traj_heading[0] = start_heading; + agent.heading = start_heading; + agent.heading_x = cosf(agent.heading); + agent.heading_y = sinf(agent.heading); + agent.traj_valid[0] = 1; + agent.height = env->conf.vehicle_height; + agent.width = env->conf.vehicle_width; + agent.length = env->conf.vehicle_length; + agent.goal_position_x = goal_x; + agent.goal_position_y = goal_y; + agent.goal_position_z = goal_z; + + agent.mark_as_expert = 0; + agent.goal_radius = goal_radius; + break; + } + entities[agent_idx] = agent; + + } + + // free(rel_neighbor_offsets); } void set_start_position(Drive* env){ @@ -670,7 +980,6 @@ void init_topology_graph(Drive* env){ } void init_grid_map(Drive* env){ - // Allocate memory for the grid map structure env->grid_map = (GridMap*)malloc(sizeof(GridMap)); // Find top left and bottom right points of the map @@ -715,6 +1024,7 @@ void init_grid_map(Drive* env){ int grid_cell_count = env->grid_map->grid_cols*env->grid_map->grid_rows; env->grid_map->cells = (GridMapEntity**)calloc(grid_cell_count, sizeof(GridMapEntity*)); env->grid_map->cell_entities_count = (int*)calloc(grid_cell_count, sizeof(int)); + env->grid_map->cell_roadlanes_count = (int*)calloc(grid_cell_count, sizeof(int)); // Calculate number of entities in each grid cell for(int i = 0; i < env->num_entities; i++){ @@ -723,6 +1033,10 @@ void init_grid_map(Drive* env){ float x_center = (env->entities[i].traj_x[j] + env->entities[i].traj_x[j+1]) / 2; float y_center = (env->entities[i].traj_y[j] + env->entities[i].traj_y[j+1]) / 2; int grid_index = getGridIndex(env, x_center, y_center); + if (grid_index == -1) { + printf("Warning: Not Supposed to happen, Point (%f, %f) out of grid bounds\n", x_center, y_center); + continue; // Out of bounds + } env->grid_map->cell_entities_count[grid_index]++; } } @@ -732,6 +1046,8 @@ void init_grid_map(Drive* env){ // Initialize grid cells for(int grid_index = 0; grid_index < grid_cell_count; grid_index++){ + if (env->grid_map->cell_entities_count[grid_index] > 100) + printf("Warning: High entity count in Grid Cell %d = %d\n", grid_index, env->grid_map->cell_entities_count[grid_index]); env->grid_map->cells[grid_index] = (GridMapEntity*)calloc(env->grid_map->cell_entities_count[grid_index], sizeof(GridMapEntity)); } for(int i = 0;ientities[i].traj_y[j] + env->entities[i].traj_y[j+1]) / 2; int grid_index = getGridIndex(env, x_center, y_center); add_entity_to_grid(env, grid_index, i, j, cell_entities_insert_index); + if (env->entities[i].type == ROAD_LANE) { + // Also add to road lane count + env->grid_map->cell_roadlanes_count[grid_index]++; + } } } } @@ -897,6 +1217,7 @@ void set_means(Drive* env) { env->world_mean_y = mean_y; for (int i = 0; i < env->num_entities; i++) { if (env->entities[i].type == VEHICLE || env->entities[i].type == PEDESTRIAN || env->entities[i].type == CYCLIST || env->entities[i].type >= 4) { + if (env->entities[i].initialized == 0) continue; for (int j = 0; j < env->entities[i].array_size; j++) { if(env->entities[i].traj_x[j] == INVALID_POSITION) continue; env->entities[i].traj_x[j] -= mean_x; @@ -1276,7 +1597,7 @@ void compute_agent_metrics(Drive* env, int agent_idx) { bool should_control_agent(Drive* env, int agent_idx){ // Check if we have room for more agents or are already at capacity - if (env->active_agent_count >= env->num_agents) { + if (env->active_agent_count >= env->max_active_agents) { return false; } @@ -1338,13 +1659,16 @@ void set_active_agents(Drive* env){ int static_agent_indices[MAX_AGENTS]; int expert_static_agent_indices[MAX_AGENTS]; - if(env->num_agents == 0){ - env->num_agents = MAX_AGENTS; + if(env->max_active_agents == 0){ + env->max_active_agents = MAX_AGENTS; } // Iterate through entities to find agents to create and/or control - for(int i = 0; i < env->num_objects && env->num_actors < MAX_AGENTS; i++){ - + for(int i = 0; i < env->num_entities && env->num_actors < env->max_active_agents; i++){ + // Skip non-agent entities + if (env->entities[i].type != VEHICLE && env->entities[i].type != PEDESTRIAN && env->entities[i].type != CYCLIST) { + continue; + } Entity* entity = &env->entities[i]; // Skip if not valid at initialization @@ -1379,7 +1703,7 @@ void set_active_agents(Drive* env){ static_agent_indices[env->static_agent_count] = i; env->static_agent_count++; env->entities[i].active_agent = 0; - if(env->entities[i].mark_as_expert == 1 || env->active_agent_count == env->num_agents) { + if(env->entities[i].mark_as_expert == 1 || env->active_agent_count == env->max_active_agents) { expert_static_agent_indices[env->expert_static_agent_count] = i; env->expert_static_agent_count++; env->entities[i].mark_as_expert = 1; @@ -1462,21 +1786,49 @@ void init_goal_positions(Drive* env){ } } +void seed_prng_once(void) { + static int seeded = 0; + if (seeded) return; + + const char* env_seed = getenv("PUFFER_SEED"); + if (env_seed && *env_seed) { + unsigned s = (unsigned)strtoul(env_seed, NULL, 10); + srand(s); + seeded = 1; + return; + } + + struct timespec ts; + clock_gettime(CLOCK_REALTIME, &ts); + unsigned seed = (unsigned)(ts.tv_nsec ^ (ts.tv_sec * 1000003u) ^ getpid() ^ (uintptr_t)&seeded); + srand(seed); + seeded = 1; +} + void init(Drive* env){ + seed_prng_once(); // seed rand() for this process env->human_agent_idx = 0; env->timestep = 0; + env_init_config conf = {0}; + if(ini_parse(env->ini_file, handler, &conf) < 0) { + printf("Error while loading %s", env->ini_file); + } + env->conf = conf; env->entities = load_map_binary(env->map_name, env); set_means(env); init_grid_map(env); + if (conf.init_mode == RANDOM_AGENTS_INIT) { + init_agents_random_start(env); + } if (env->goal_behavior==GOAL_GENERATE_NEW) init_topology_graph(env); - env->grid_map->vision_range = 21; + env->grid_map->vision_range = GRID_MAP_CACHE_VISION_RANGE; init_neighbor_offsets(env); cache_neighbor_offsets(env); env->logs_capacity = 0; - set_active_agents(env); + set_active_agents(env); // TODO env->logs_capacity = env->active_agent_count; - remove_bad_trajectories(env); - set_start_position(env); + remove_bad_trajectories(env); // TODO + set_start_position(env); // TODO(Can skip for dynamic agents) init_goal_positions(env); env->logs = (Log*)calloc(env->active_agent_count, sizeof(Log)); } diff --git a/pufferlib/ocean/drive/drive.py b/pufferlib/ocean/drive/drive.py index ad6dbd62e..b03ed7802 100644 --- a/pufferlib/ocean/drive/drive.py +++ b/pufferlib/ocean/drive/drive.py @@ -92,6 +92,8 @@ def __init__( self.init_mode = 0 elif self.init_mode_str == "create_only_controlled": self.init_mode = 1 + elif self.init_mode_str == "random_agents_init": + self.init_mode = 0 # All created agents are valid else: raise ValueError( f"init_mode must be one of 'create_all_valid' or 'create_only_controlled'. Got: {self.init_mode_str}" @@ -138,6 +140,7 @@ def __init__( init_steps=self.init_steps, max_controlled_agents=self.max_controlled_agents, goal_behavior=self.goal_behavior, + ini_file="pufferlib/config/ocean/drive.ini", ) self.num_agents = num_agents @@ -210,6 +213,7 @@ def step(self, actions): init_steps=self.init_steps, max_controlled_agents=self.max_controlled_agents, goal_behavior=self.goal_behavior, + ini_file="pufferlib/config/ocean/drive.ini", ) env_ids = [] seed = np.random.randint(0, 2**32 - 1) diff --git a/pufferlib/ocean/drive/error.h b/pufferlib/ocean/drive/error.h index b1eb78e7e..88bf1c477 100644 --- a/pufferlib/ocean/drive/error.h +++ b/pufferlib/ocean/drive/error.h @@ -15,6 +15,7 @@ typedef enum { ERROR_MEMORY_ALLOCATION, ERROR_FILE_NOT_FOUND, ERROR_INITIALIZATION_FAILED, + ERROR_INVALID_CONFIG, ERROR_UNKNOWN } ErrorType; @@ -27,6 +28,7 @@ const char* error_type_to_string(ErrorType type) { case ERROR_MEMORY_ALLOCATION: return "Memory Allocation Failed"; case ERROR_FILE_NOT_FOUND: return "File Not Found"; case ERROR_INITIALIZATION_FAILED: return "Initialization Failed"; + case ERROR_INVALID_CONFIG: return "Invalid Configuration"; default: return "Unknown Error"; } } diff --git a/pufferlib/ocean/env_config.h b/pufferlib/ocean/env_config.h index e8400c51c..ab30771bb 100644 --- a/pufferlib/ocean/env_config.h +++ b/pufferlib/ocean/env_config.h @@ -6,9 +6,16 @@ #include #include +typedef enum{ + UNKNOWN_INIT_MODE = -1, + DEFAULT_INIT_MODE = 0, + RANDOM_AGENTS_INIT = 1, + INIT_ALL_VALID = 2, + INIT_ONLY_CONTROLLABLE_AGENTS = 3, +} Init_Mode; + // Config struct for parsing INI files - contains all environment configuration -typedef struct -{ +typedef struct { int action_type; int dynamics_model; float reward_vehicle_collision; @@ -25,7 +32,11 @@ typedef struct int goal_behavior; int scenario_length; int init_steps; - int init_mode; + Init_Mode init_mode; + int num_agents_per_world; + float vehicle_width; + float vehicle_length; + float vehicle_height; int control_mode; } env_init_config; @@ -85,10 +96,32 @@ static int handler( env_config->scenario_length = atoi(value); } else if (MATCH("env", "init_steps")) { env_config->init_steps = atoi(value); - } else if (MATCH("env", "init_mode")) { - env_config->init_mode = atoi(value); } else if (MATCH("env", "control_mode")) { env_config->control_mode = atoi(value); + } else if (MATCH("env", "init_mode")) { + if (strcmp(value, "\"default\"") == 0 || strcmp(value, "default") == 0) { + env_config->init_mode = DEFAULT_INIT_MODE; // DEFAULT + } else if (strcmp(value, "\"random_agents_init\"") == 0 || strcmp(value, "random_agents_init") == 0) { + env_config->init_mode = RANDOM_AGENTS_INIT; // RANDOM_AGENTS_INIT + } else if (strcmp(value, "\"create_all_valid\"") == 0) { + env_config->init_mode = INIT_ALL_VALID; // CREATE_ALL_VALID + } else if (strcmp(value, "\"create_only_controlled\"") == 0) { + env_config->init_mode = INIT_ONLY_CONTROLLABLE_AGENTS; // INIT_ONLY_CONTROLLABLE_AGENTS + } else { + raise_error_with_message(ERROR_INVALID_CONFIG, "Unknown init_mode value: %s", value); + env_config->init_mode = UNKNOWN_INIT_MODE; // Default to UNKNOWN + } + } else if (MATCH("env", "num_agents_per_world")) { + env_config->num_agents_per_world = atoi(value); + if(env_config->num_agents_per_world <= 0 && env_config->init_mode == RANDOM_AGENTS_INIT) { + raise_error_with_message(ERROR_INVALID_CONFIG, "num_agents_per_world must be positive for random_agents_init init_mode"); + } + } else if(MATCH("env", "vehicle_width")) { + env_config->vehicle_width = atof(value); + } else if(MATCH("env", "vehicle_length")) { + env_config->vehicle_length = atof(value); + } else if(MATCH("env", "vehicle_height")) { + env_config->vehicle_height = atof(value); } #undef MATCH From 04a96cc75d57a15bda2ec301bb472d91ea2cc180 Mon Sep 17 00:00:00 2001 From: mpragnay Date: Tue, 25 Nov 2025 21:25:32 -0500 Subject: [PATCH 02/13] Warnings fixes --- pufferlib/ocean/drive/drive.h | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/pufferlib/ocean/drive/drive.h b/pufferlib/ocean/drive/drive.h index c8b7a553a..86610cb83 100644 --- a/pufferlib/ocean/drive/drive.h +++ b/pufferlib/ocean/drive/drive.h @@ -250,6 +250,8 @@ float relative_distance_2d(float x1, float y1, float x2, float y2){ // Forward declarations for utility helpers defined later float point_to_segment_distance_2d(float px, float py, float x1, float y1, float x2, float y2); int project_point_onto_lane(Entity* lane, float px, float py, float* out_x, float* out_y, int* out_seg_idx, float* out_t); +int check_aabb_collision(Entity* car1, Entity* car2); +void respawn_agent(Drive* env, int agent_idx); float clip(float value, float min, float max) { if (value < min) return min; @@ -257,8 +259,6 @@ float clip(float value, float min, float max) { return value; } -// temp forward declerations -void respawn_agent(Drive* env, int agent_idx); float closest_distance_to_lane(Entity* lane, float ax, float ay) { float min_distance = 1e9f; @@ -568,7 +568,6 @@ bool is_valid_spawn_point(Drive* env, int agent_idx, float start_x, float start_ agent_corners[i][0] = mock_agent.x + (offsets[i][0]*half_length*cos_heading - offsets[i][1]*half_width*sin_heading); agent_corners[i][1] = mock_agent.y + (offsets[i][0]*half_length*sin_heading + offsets[i][1]*half_width*cos_heading); } - int collided = 0; // Vehicle collision check for (int i = 0; i < env->num_entities; i++) { @@ -579,7 +578,6 @@ bool is_valid_spawn_point(Drive* env, int agent_idx, float start_x, float start_ if (entity->type == VEHICLE) { if (entity->initialized == 0) continue; // Skip uninitialized entities if(check_aabb_collision(&mock_agent, entity)) { - collided = VEHICLE_COLLISION; return false; // Collision detected with existing vehicle at spawn point } } @@ -2527,7 +2525,6 @@ void move_dynamics(Drive* env, int action_idx, int agent_idx){ } else { // discrete // Interpret action as a single integer: a = accel_idx * num_steer + steer_idx int* action_array = (int*)env->actions; - int num_accel = sizeof(ACCELERATION_VALUES) / sizeof(ACCELERATION_VALUES[0]); int num_steer = sizeof(STEERING_VALUES) / sizeof(STEERING_VALUES[0]); int action_val = action_array[action_idx]; int acceleration_index = action_val / num_steer; @@ -3630,7 +3627,6 @@ void draw_scene(Drive* env, Client* client, int mode, int obs_only, int lasers, // --- Draw the car --- - Vector3 carPos = { position.x, position.y, position.z }; Color car_color = GRAY; // default for static if (is_expert) car_color = GOLD; // expert replay if (is_active_agent) car_color = BLUE; // policy-controlled @@ -3808,7 +3804,6 @@ void draw_scene(Drive* env, Client* client, int mode, int obs_only, int lasers, // Draw track indices for the tracks to predict if (mode == 1 && env->control_mode == CONTROL_TRACKS_TO_PREDICT) { - float map_width = env->grid_map->bottom_right_x - env->grid_map->top_left_x; 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z1M?G76daL&Bvu5&3V&f!sUBE0oFNKRTbRjEFnPxcsBmNxJY5o@ncuXqs`L<(nbb+K z))A^d@I|Sg1#WGfr*vgACNSCbNVg}1`*pJ|t?6)kP7fb+M3C`%9r!OS92PME%9O@X z?ry;j76)>%V$TZ!GXSAn1K^(P8F536AE^#qL&Rk$>DIb%z5O~NtNw4~d@g|P}P)YD{ zW;AZKa>PkX2~PHf;PJ0AKx5+tkCL{bowR_saX%S@muIPcuMRRz_3W#r8uFPk6)o>3 zg7&+;!gn~fy~nPBWNbHqh&5kmHa`ul)Pv3ctBbrC{{;TgpQOG~y0Fjc2m1WUCOkgq z2Frd{DB}mC#r2a+{AfDxzfh2CQd2VNoJ=djo(o;h8RI~eFOGV1x1+p@G?(+qP{RP> zMO%Q}+Xz!k;l@`by%oLjeB+ Dt32pi literal 0 HcmV?d00001 From 3afa38bb3e8685218158f7684cd26650a81ab9a7 Mon Sep 17 00:00:00 2001 From: mpragnay Date: Tue, 25 Nov 2025 23:45:52 -0500 Subject: [PATCH 04/13] Working visualizer --- pufferlib/ocean/drive/drive.py | 6 +++--- pufferlib/ocean/drive/visualize.c | 19 ++++++++++++++----- 2 files changed, 17 insertions(+), 8 deletions(-) diff --git a/pufferlib/ocean/drive/drive.py b/pufferlib/ocean/drive/drive.py index 7957e77a3..1c28d74e0 100644 --- a/pufferlib/ocean/drive/drive.py +++ b/pufferlib/ocean/drive/drive.py @@ -668,7 +668,7 @@ def process_maps(source_dir, output_dir, prefix="map", limit=None, start_index=0 def process_carla_maps( - source_dir="data_utils/carla/carla", output_dir="resources/drive/carla_binaries", prefix="carla_map", limit=None + source_dir="data/", output_dir="resources/drive/carla_binaries", prefix="carla_map", limit=None ): """Process Carla JSON maps into binaries.""" process_maps(source_dir=source_dir, output_dir=output_dir, prefix=prefix, limit=limit) @@ -735,5 +735,5 @@ def test_performance(timeout=10, atn_cache=1024, num_agents=32): if __name__ == "__main__": - test_performance() - # process_all_maps() + # test_performance() + process_carla_maps() diff --git a/pufferlib/ocean/drive/visualize.c b/pufferlib/ocean/drive/visualize.c index 953eaed33..0bab122f4 100644 --- a/pufferlib/ocean/drive/visualize.c +++ b/pufferlib/ocean/drive/visualize.c @@ -335,7 +335,7 @@ int eval_gif(const char* map_name, const char* policy_name, int show_grid, int o RAISE_FILE_ERROR(policy_name); } fclose(policy_file); - + printf("Goal Sampling Distance: %.2f\n", conf.max_distance_to_goal); Drive env = { .dynamics_model = conf.dynamics_model, .reward_vehicle_collision = conf.reward_vehicle_collision, @@ -357,6 +357,7 @@ int eval_gif(const char* map_name, const char* policy_name, int show_grid, int o env.scenario_length = (scenario_length_override > 0) ? scenario_length_override : (conf.scenario_length > 0) ? conf.scenario_length : TRAJECTORY_LENGTH_DEFAULT; + env.ini_file = (char*)ini_file; allocate(&env); // Set which vehicle to focus on for obs mode @@ -375,7 +376,7 @@ int eval_gif(const char* map_name, const char* policy_name, int show_grid, int o float map_height = env.grid_map->top_left_y - env.grid_map->bottom_right_y; printf("Map size: %.1fx%.1f\n", map_width, map_height); - float scale = 6.0f; // Can be used to increase the video quality + float scale = 2.0f; // Can be used to increase the video quality // Calculate video width and height; round to nearest even number int img_width = (int)roundf(map_width * scale / 2.0f) * 2; @@ -488,12 +489,20 @@ int eval_gif(const char* map_name, const char* policy_name, int show_grid, int o // Clean up resources free(client); free_allocated(&env); + printf("Freeing drivenet and weights...\n"); free_drivenet(net); + printf("Freeing weights...\n"); free(weights); return 0; } int main(int argc, char* argv[]) { + const char* ini_file = "pufferlib/config/ocean/drive.ini"; + env_init_config conf = {0}; + if(ini_parse(ini_file, handler, &conf) < 0) { + raise_error_with_message(ERROR_UNKNOWN, "Error while loading %s", ini_file); + } + int show_grid = 0; int obs_only = 0; int lasers = 0; @@ -509,10 +518,10 @@ int main(int argc, char* argv[]) { int init_mode = 0; int control_mode = 0; int goal_behavior = 0; - int goal_sampling_mode = 0; - float max_distance_to_goal = 100.0f; + int goal_sampling_mode = conf.goal_sampling_mode; + float max_distance_to_goal = conf.max_distance_to_goal; - const char* view_mode = "both"; // "both", "topdown", "agent" + const char* view_mode = "topdown"; // "both", "topdown", "agent" const char* output_topdown = NULL; const char* output_agent = NULL; From 16f896f7e1a467a62e4925a31fbc98bdf7d23f46 Mon Sep 17 00:00:00 2001 From: mpragnay Date: Wed, 26 Nov 2025 18:10:14 -0500 Subject: [PATCH 05/13] Visualize rework, minor rework for randomized agents init mode --- pufferlib/config/ocean/drive.ini | 14 +- pufferlib/ocean/drive/binding.c | 13 +- pufferlib/ocean/drive/drive.h | 27 ++- pufferlib/ocean/drive/drive.py | 32 +++- pufferlib/ocean/drive/visualize.c | 155 +++++++++++++++--- pufferlib/ocean/env_config.h | 8 +- .../resources/drive/puffer_drive_weights.bin | Bin 2456688 -> 2457200 bytes pufferlib/utils.py | 33 +++- 8 files changed, 219 insertions(+), 63 deletions(-) diff --git a/pufferlib/config/ocean/drive.ini b/pufferlib/config/ocean/drive.ini index 4408fcb9d..427dded39 100644 --- a/pufferlib/config/ocean/drive.ini +++ b/pufferlib/config/ocean/drive.ini @@ -41,7 +41,7 @@ offroad_behavior = 0 ; Number of steps before reset scenario_length = 256 resample_frequency = 2560 -num_maps = 1 +num_maps = 4 ; binary_dir = resources/drive/binaries binary_dir = resources/drive/carla_binaries ; Determines which step of the trajectory to initialize the agents at upon reset @@ -51,7 +51,7 @@ control_mode = "control_vehicles" ; Options: "create_all_valid", "create_only_controlled", "random_agents_init" init_mode = "random_agents_init" ; Only for random_agents_init init_mode -num_agents_per_world = 32 +num_agents_per_world = 64 vehicle_width = 2.0 vehicle_length = 4.5 vehicle_height = 1.8 @@ -62,12 +62,12 @@ goal_curriculum_end_distance = 65.0 goal_curriculum_steps = 200 goal_curriculum_schedule = linear # linear, quadratic, sqrt -goal_curriculum_total_timesteps = auto +goal_curriculum_total_timesteps = auto # Set to None to step each resample instead of using total_timesteps max_distance_to_goal = 200.0 [train] -total_timesteps = 2_500_000_000 +total_timesteps = 2_500_000 ; learning_rate = 0.02 ; gamma = 0.985 anneal_lr = False @@ -92,10 +92,10 @@ vf_clip_coef = 0.1999999999999999 vf_coef = 2 vtrace_c_clip = 1 vtrace_rho_clip = 1 -checkpoint_interval = 100 +checkpoint_interval = 1 ; Rendering options render = True -render_interval = 100 +render_interval = 1 ; If True, show exactly what the agent sees in agent observation obs_only = True ; Show grid lines @@ -105,7 +105,7 @@ show_lasers = False ; Display human xy logs in the background show_human_logs = True ; Options: List[str to path], str to path (e.g., "resources/drive/binaries/map_001.bin"), None -render_map = none +render_map = "resources/drive/carla_binaries/map_000.bin" [eval] eval_interval = 1000 diff --git a/pufferlib/ocean/drive/binding.c b/pufferlib/ocean/drive/binding.c index 622a3cccc..6ee6e1590 100644 --- a/pufferlib/ocean/drive/binding.c +++ b/pufferlib/ocean/drive/binding.c @@ -75,6 +75,8 @@ static PyObject* my_shared(PyObject* self, PyObject* args, PyObject* kwargs) { float max_distance_to_goal = unpack(kwargs, "max_distance_to_goal"); int init_steps = unpack(kwargs, "init_steps"); int goal_behavior = unpack(kwargs, "goal_behavior"); + int init_mode = unpack(kwargs, "init_mode"); + int num_agents_per_world = unpack(kwargs, "num_agents_per_world"); // Get configs char* ini_file = unpack_str(kwargs, "ini_file"); @@ -82,11 +84,6 @@ static PyObject* my_shared(PyObject* self, PyObject* args, PyObject* kwargs) { if(ini_parse(ini_file, handler, &conf) < 0) { raise_error_with_message(ERROR_UNKNOWN, "Error while loading %s", ini_file); } - Init_Mode init_mode = conf.init_mode; - int num_agents_per_world = -1; - if (init_mode == RANDOM_AGENTS_INIT) { - num_agents_per_world = conf.num_agents_per_world; - } PyObject* map_files_list = PyDict_GetItemString(kwargs, "map_files"); Py_ssize_t map_files_len = 0; @@ -113,7 +110,7 @@ static PyObject* my_shared(PyObject* self, PyObject* args, PyObject* kwargs) { char map_file[100]; int map_id = rand() % map_count; int already_checked = visited_maps ? visited_maps[map_id] : 0; - if (init_mode == RANDOM_AGENTS_INIT) { + if (init_mode == INIT_RANDOM_AGENTS) { // Store map_id PyObject* map_id_obj = PyLong_FromLong(map_id); PyList_SetItem(map_ids, env_count, map_id_obj); @@ -249,6 +246,10 @@ static int my_init(Env* env, PyObject* args, PyObject* kwargs) { env->dt = conf.dt; env->init_mode = (int)unpack(kwargs, "init_mode"); env->control_mode = (int)unpack(kwargs, "control_mode"); + env->num_agents_per_world = (int)unpack(kwargs, "num_agents_per_world"); + env->vehicle_width = (float)unpack(kwargs, "vehicle_width"); + env->vehicle_length = (float)unpack(kwargs, "vehicle_length"); + env->vehicle_height = (float)unpack(kwargs, "vehicle_height"); env->goal_behavior = (int)unpack(kwargs, "goal_behavior"); env->goal_radius = (float)unpack(kwargs, "goal_radius"); env->goal_sampling_mode = (int)unpack(kwargs, "goal_sampling_mode"); diff --git a/pufferlib/ocean/drive/drive.h b/pufferlib/ocean/drive/drive.h index 86610cb83..c102eadec 100644 --- a/pufferlib/ocean/drive/drive.h +++ b/pufferlib/ocean/drive/drive.h @@ -34,6 +34,7 @@ // Initialization modes #define INIT_ALL_VALID 0 #define INIT_ONLY_CONTROLLABLE_AGENTS 1 +#define INIT_RANDOM_AGENTS 2 // Control modes #define CONTROL_VEHICLES 0 @@ -433,7 +434,10 @@ struct Drive { int* tracks_to_predict_indices; int init_mode; int control_mode; - env_init_config conf; + int num_agents_per_world; + float vehicle_width; + float vehicle_length; + float vehicle_height; int goal_sampling_mode; float max_distance_to_goal; }; @@ -638,7 +642,7 @@ Entity* load_map_binary(const char* filename, Drive* env) { fread(&env->num_objects, sizeof(int), 1, file); // Can be 0 for random_agents_init init_mode fread(&env->num_roads, sizeof(int), 1, file); int num_bin_entities = env->num_objects + env->num_roads; - if (env->conf.init_mode == RANDOM_AGENTS_INIT) { + if (env->init_mode == INIT_RANDOM_AGENTS) { Entity read_bin_entities[num_bin_entities]; // Read all binaries into temporary array for (int i = 0; i < num_bin_entities; i++) { @@ -690,7 +694,7 @@ Entity* load_map_binary(const char* filename, Drive* env) { read_bin_entities[i].initialized = 1; } - env->num_objects = env->conf.num_agents_per_world; + env->num_objects = env->num_agents_per_world; env->num_entities = env->num_objects + env->num_roads; Entity* entities = (Entity*)malloc(env->num_entities * sizeof(Entity)); @@ -842,7 +846,7 @@ void init_agents_random_start(Drive* env) { entity.traj_y[start_point_geometry_idx], entity.traj_z[start_point_geometry_idx], heading, - env->conf.vehicle_width, env->conf.vehicle_length, env->conf.vehicle_height + env->vehicle_width, env->vehicle_length, env->vehicle_height ); if (valid_spawn) { start_x = entity.traj_x[start_point_geometry_idx]; @@ -897,9 +901,9 @@ void init_agents_random_start(Drive* env) { agent.heading_x = cosf(agent.heading); agent.heading_y = sinf(agent.heading); agent.traj_valid[0] = 1; - agent.height = env->conf.vehicle_height; - agent.width = env->conf.vehicle_width; - agent.length = env->conf.vehicle_length; + agent.height = env->vehicle_height; + agent.width = env->vehicle_width; + agent.length = env->vehicle_length; agent.goal_position_x = goal_x; agent.goal_position_y = goal_y; agent.goal_position_z = goal_z; @@ -1942,7 +1946,7 @@ void set_active_agents(Drive* env){ // Determine if entity should be created bool should_create = false; - if (env->init_mode == INIT_ALL_VALID) { + if (env->init_mode == INIT_ALL_VALID || env->init_mode == INIT_RANDOM_AGENTS) { should_create = true; // All valid entities } else if (env->control_mode == CONTROL_VEHICLES) { should_create = (entity->type == VEHICLE); @@ -2405,15 +2409,10 @@ void init(Drive* env){ seed_prng_once(); // seed rand() for this process env->human_agent_idx = 0; env->timestep = 0; - env_init_config conf = {0}; - if(ini_parse(env->ini_file, handler, &conf) < 0) { - printf("Error while loading %s", env->ini_file); - } - env->conf = conf; env->entities = load_map_binary(env->map_name, env); set_means(env); init_grid_map(env); - if (conf.init_mode == RANDOM_AGENTS_INIT) { + if (env->init_mode == INIT_RANDOM_AGENTS) { init_agents_random_start(env); } init_topology_graph(env); diff --git a/pufferlib/ocean/drive/drive.py b/pufferlib/ocean/drive/drive.py index 1c28d74e0..959221cfb 100644 --- a/pufferlib/ocean/drive/drive.py +++ b/pufferlib/ocean/drive/drive.py @@ -38,9 +38,13 @@ def __init__( buf=None, seed=1, init_steps=0, - init_mode="create_all_valid", + init_mode="random_agents_init", control_mode="control_vehicles", - goal_sampling_mode="fixed_from_dataset", + num_agents_per_world=32, + vehicle_width = 2.0, + vehicle_length = 4.5, + vehicle_height = 1.8, + goal_sampling_mode="randomized_curriculum", max_distance_to_goal=100.0, goal_curriculum_start_distance=5.0, goal_curriculum_end_distance=None, @@ -113,6 +117,10 @@ def __init__( self.init_steps = init_steps self.init_mode_str = init_mode self.control_mode_str = control_mode + self.num_agents_per_world = -1 + self.vehicle_width = vehicle_width + self.vehicle_length = vehicle_length + self.vehicle_height = vehicle_height # TODO: Convert all these to enums if self.control_mode_str == "control_vehicles": @@ -132,7 +140,9 @@ def __init__( elif self.init_mode_str == "create_only_controlled": self.init_mode = 1 elif self.init_mode_str == "random_agents_init": - self.init_mode = 0 # All created agents are valid + self.init_mode = 2 + self.num_agents_per_world = num_agents_per_world + print(f"Using random_agents_init with {self.num_agents_per_world} agents per world.") else: raise ValueError( f"init_mode must be one of 'create_all_valid' or 'create_only_controlled'. Got: {self.init_mode_str}" @@ -204,6 +214,7 @@ def __init__( goal_behavior=self.goal_behavior, goal_sampling_mode=self.goal_sampling_mode, max_distance_to_goal=self.max_distance_to_goal, + num_agents_per_world=self.num_agents_per_world, map_files=self.map_files, ini_file="pufferlib/config/ocean/drive.ini", ) @@ -244,6 +255,10 @@ def __init__( init_steps=init_steps, init_mode=self.init_mode, control_mode=self.control_mode, + num_agents_per_world=self.num_agents_per_world, + vehicle_height = self.vehicle_height, + vehicle_length = self.vehicle_length, + vehicle_width = self.vehicle_width, goal_sampling_mode=self.goal_sampling_mode, max_distance_to_goal=self.max_distance_to_goal, map_files=self.map_files, @@ -270,6 +285,7 @@ def _rebuild_envs(self, seed=None): goal_behavior=self.goal_behavior, goal_sampling_mode=self.goal_sampling_mode, max_distance_to_goal=self.max_distance_to_goal, + num_agents_per_world=self.num_agents_per_world, map_files=self.map_files, ini_file="pufferlib/config/ocean/drive.ini", ) @@ -305,6 +321,10 @@ def _rebuild_envs(self, seed=None): init_steps=self.init_steps, init_mode=self.init_mode, control_mode=self.control_mode, + num_agents_per_world=self.num_agents_per_world, + vehicle_height = self.vehicle_height, + vehicle_length = self.vehicle_length, + vehicle_width = self.vehicle_width, goal_sampling_mode=self.goal_sampling_mode, max_distance_to_goal=self.max_distance_to_goal, map_files=self.map_files, @@ -668,7 +688,7 @@ def process_maps(source_dir, output_dir, prefix="map", limit=None, start_index=0 def process_carla_maps( - source_dir="data/", output_dir="resources/drive/carla_binaries", prefix="carla_map", limit=None + source_dir="data_utils/carla/carla", output_dir="resources/drive/carla_binaries", prefix="carla_map", limit=None ): """Process Carla JSON maps into binaries.""" process_maps(source_dir=source_dir, output_dir=output_dir, prefix=prefix, limit=limit) @@ -735,5 +755,5 @@ def test_performance(timeout=10, atn_cache=1024, num_agents=32): if __name__ == "__main__": - # test_performance() - process_carla_maps() + test_performance() + # process_carla_maps() diff --git a/pufferlib/ocean/drive/visualize.c b/pufferlib/ocean/drive/visualize.c index 0bab122f4..596beae2f 100644 --- a/pufferlib/ocean/drive/visualize.c +++ b/pufferlib/ocean/drive/visualize.c @@ -282,17 +282,21 @@ static int make_gif_from_frames(const char *pattern, int fps, } -int eval_gif(const char* map_name, const char* policy_name, int show_grid, int obs_only, int lasers, int log_trajectories, int frame_skip, float goal_radius, int init_steps, int max_controlled_agents, const char* view_mode, const char* output_topdown, const char* output_agent, int num_maps, int scenario_length_override, int init_mode, int control_mode, int goal_behavior, int goal_sampling_mode, float max_distance_to_goal) { +int eval_gif( + const char* map_name, const char* policy_name, const char* binary_dir, + int show_grid, int obs_only, int lasers, + int log_trajectories, int frame_skip, float goal_radius, + int init_steps, int max_controlled_agents, const char* view_mode, + const char* output_topdown, const char* output_agent, int num_maps, + int scenario_length_override, int init_mode, int control_mode, + int goal_behavior, int goal_sampling_mode, float max_distance_to_goal, + int dynamics_model, int reward_vehicle_collision, int reward_offroad_collision, + int reward_ade, int collision_behavior, int offroad_behavior, + float dt, float scenario_length, int num_agents_per_world, + float vehicle_length, float vehicle_width, float vehicle_height) { // Parse configuration from INI file - env_init_config conf = {0}; // Initialize to zero const char* ini_file = "pufferlib/config/ocean/drive.ini"; - if(ini_parse(ini_file, handler, &conf) < 0) { - fprintf(stderr, "Error: Could not load %s. Cannot determine environment configuration.\n", ini_file); - return -1; - } - - const char* binary_dir = conf.binary_dir[0] ? conf.binary_dir : "resources/drive/carla_binaries"; char map_buffer[256]; if (map_name == NULL) { @@ -335,29 +339,33 @@ int eval_gif(const char* map_name, const char* policy_name, int show_grid, int o RAISE_FILE_ERROR(policy_name); } fclose(policy_file); - printf("Goal Sampling Distance: %.2f\n", conf.max_distance_to_goal); Drive env = { - .dynamics_model = conf.dynamics_model, - .reward_vehicle_collision = conf.reward_vehicle_collision, - .reward_offroad_collision = conf.reward_offroad_collision, - .reward_ade = conf.reward_ade, + .dynamics_model = dynamics_model, + .reward_vehicle_collision = reward_vehicle_collision, + .reward_offroad_collision = reward_offroad_collision, + .reward_ade = reward_ade, .goal_radius = goal_radius, - .dt = conf.dt, + .dt = dt, .map_name = (char*)map_name, .init_steps = init_steps, .max_controlled_agents = max_controlled_agents, - .collision_behavior = conf.collision_behavior, - .offroad_behavior = conf.offroad_behavior, + .collision_behavior = collision_behavior, + .offroad_behavior = offroad_behavior, .goal_behavior = goal_behavior, .init_mode = init_mode, .control_mode = control_mode, .goal_sampling_mode = goal_sampling_mode, .max_distance_to_goal = max_distance_to_goal, + .num_agents_per_world = num_agents_per_world, + .vehicle_length = vehicle_length, + .vehicle_width = vehicle_width, + .vehicle_height = vehicle_height, }; env.scenario_length = (scenario_length_override > 0) ? scenario_length_override : - (conf.scenario_length > 0) ? conf.scenario_length : TRAJECTORY_LENGTH_DEFAULT; - env.ini_file = (char*)ini_file; + (scenario_length > 0) ? scenario_length : TRAJECTORY_LENGTH_DEFAULT; + // Ensure ini_file is heap-allocated for c_close() + env.ini_file = strdup(ini_file); allocate(&env); // Set which vehicle to focus on for obs mode @@ -489,9 +497,7 @@ int eval_gif(const char* map_name, const char* policy_name, int show_grid, int o // Clean up resources free(client); free_allocated(&env); - printf("Freeing drivenet and weights...\n"); free_drivenet(net); - printf("Freeing weights...\n"); free(weights); return 0; } @@ -503,23 +509,42 @@ int main(int argc, char* argv[]) { raise_error_with_message(ERROR_UNKNOWN, "Error while loading %s", ini_file); } + // Default parameters from config int show_grid = 0; int obs_only = 0; int lasers = 0; int log_trajectories = 1; int frame_skip = 1; - float goal_radius = 2.0f; - int init_steps = 0; + float goal_radius = conf.goal_radius; + int init_steps = conf.init_steps; const char* map_name = NULL; const char* policy_name = "resources/drive/puffer_drive_weights.bin"; + const char* binary_dir = conf.binary_dir[0] ? conf.binary_dir : "resources/drive/carla_binaries"; int max_controlled_agents = -1; int num_maps = 1; - int scenario_length_cli = -1; + int scenario_length_cli = conf.scenario_length; int init_mode = 0; - int control_mode = 0; + if (conf.init_mode == ALL_VALID_INIT || conf.init_mode == RANDOM_AGENTS_INIT) { + init_mode = 0; + } else if (conf.init_mode == CONTROLLABLE_AGENTS_INIT) { + init_mode = 1; + } + int control_mode = conf.control_mode; int goal_behavior = 0; int goal_sampling_mode = conf.goal_sampling_mode; float max_distance_to_goal = conf.max_distance_to_goal; + int dynamics_model = conf.dynamics_model; + int reward_vehicle_collision = conf.reward_vehicle_collision; + int reward_offroad_collision = conf.reward_offroad_collision; + int reward_ade = conf.reward_ade; + int collision_behavior = conf.collision_behavior; + int offroad_behavior = conf.offroad_behavior; + float dt = conf.dt; + float scenario_length = conf.scenario_length; + int num_agents_per_world = conf.num_agents_per_world; + float vehicle_length = conf.vehicle_length; + float vehicle_width = conf.vehicle_width; + float vehicle_height = conf.vehicle_height; const char* view_mode = "topdown"; // "both", "topdown", "agent" const char* output_topdown = NULL; @@ -568,6 +593,14 @@ int main(int argc, char* argv[]) { fprintf(stderr, "Error: --policy-name option requires a policy file path\n"); return 1; } + } else if (strcmp(argv[i], "--binary-dir") == 0) { + if (i + 1 < argc) { + binary_dir = argv[i + 1]; + i++; + } else { + fprintf(stderr, "Error: --binary-dir option requires a directory path\n"); + return 1; + } } else if (strcmp(argv[i], "--view") == 0) { if (i + 1 < argc) { view_mode = argv[i + 1]; @@ -640,9 +673,81 @@ int main(int argc, char* argv[]) { goal_behavior = atoi(argv[i + 1]); i++; } + } else if (strcmp(argv[i], "--dynamics-model") == 0) { + if (i + 1 < argc) { + dynamics_model = atoi(argv[i + 1]); + i++; + } + } else if (strcmp(argv[i], "--reward-vehicle-collision") == 0) { + if (i + 1 < argc) { + reward_vehicle_collision = atoi(argv[i + 1]); + i++; + } + } else if (strcmp(argv[i], "--reward-offroad-collision") == 0) { + if (i + 1 < argc) { + reward_offroad_collision = atoi(argv[i + 1]); + i++; + } + } else if (strcmp(argv[i], "--reward-ade") == 0) { + if (i + 1 < argc) { + reward_ade = atoi(argv[i + 1]); + i++; + } + } else if (strcmp(argv[i], "--collision-behavior") == 0) { + if (i + 1 < argc) { + collision_behavior = atoi(argv[i + 1]); + i++; + } + } else if (strcmp(argv[i], "--offroad-behavior") == 0) { + if (i + 1 < argc) { + offroad_behavior = atoi(argv[i + 1]); + i++; + } + } else if (strcmp(argv[i], "--dt") == 0) { + if (i + 1 < argc) { + dt = atof(argv[i + 1]); + i++; + } + } else if (strcmp(argv[i], "--scenario-length") == 0) { + if (i + 1 < argc) { + scenario_length = atof(argv[i + 1]); + i++; + } + } else if (strcmp(argv[i], "--num-agents-per-world") == 0) { + if (i + 1 < argc) { + num_agents_per_world = atoi(argv[i + 1]); + i++; + } + } else if (strcmp(argv[i], "vehicle_length") == 0) { + if (i + 1 < argc) { + vehicle_length = atof(argv[i + 1]); + i++; + } + } else if (strcmp(argv[i], "vehicle_width") == 0) { + if (i + 1 < argc) { + vehicle_width = atof(argv[i + 1]); + i++; + } + } else if (strcmp(argv[i], "vehicle_height") == 0) { + if (i + 1 < argc) { + vehicle_height = atof(argv[i + 1]); + i++; + } } } - eval_gif(map_name, policy_name, show_grid, obs_only, lasers, log_trajectories, frame_skip, goal_radius, init_steps, max_controlled_agents, view_mode, output_topdown, output_agent, num_maps, scenario_length_cli, init_mode, control_mode, goal_behavior, goal_sampling_mode, max_distance_to_goal); + eval_gif( + map_name, policy_name, binary_dir, + show_grid, obs_only, lasers, + log_trajectories, frame_skip, goal_radius, + init_steps, max_controlled_agents, view_mode, + output_topdown, output_agent, num_maps, + scenario_length_cli, init_mode, control_mode, + goal_behavior, goal_sampling_mode, max_distance_to_goal, + dynamics_model, reward_vehicle_collision, reward_offroad_collision, + reward_ade, collision_behavior, offroad_behavior, + dt, scenario_length, num_agents_per_world, + vehicle_length, vehicle_width, vehicle_height + ); return 0; } diff --git a/pufferlib/ocean/env_config.h b/pufferlib/ocean/env_config.h index 3b8dc24ef..6c4b27e1b 100644 --- a/pufferlib/ocean/env_config.h +++ b/pufferlib/ocean/env_config.h @@ -10,8 +10,8 @@ typedef enum{ UNKNOWN_INIT_MODE = -1, DEFAULT_INIT_MODE = 0, RANDOM_AGENTS_INIT = 1, - INIT_ALL_VALID = 2, - INIT_ONLY_CONTROLLABLE_AGENTS = 3, + ALL_VALID_INIT = 2, + CONTROLLABLE_AGENTS_INIT = 3, } Init_Mode; // Config struct for parsing INI files - contains all environment configuration @@ -107,9 +107,9 @@ static int handler( } else if (strcmp(value, "\"random_agents_init\"") == 0 || strcmp(value, "random_agents_init") == 0) { env_config->init_mode = RANDOM_AGENTS_INIT; // RANDOM_AGENTS_INIT } else if (strcmp(value, "\"create_all_valid\"") == 0) { - env_config->init_mode = INIT_ALL_VALID; // CREATE_ALL_VALID + env_config->init_mode = ALL_VALID_INIT; // CREATE_ALL_VALID } else if (strcmp(value, "\"create_only_controlled\"") == 0) { - env_config->init_mode = INIT_ONLY_CONTROLLABLE_AGENTS; // INIT_ONLY_CONTROLLABLE_AGENTS + env_config->init_mode = CONTROLLABLE_AGENTS_INIT; // CONTROLLABLE_AGENTS_INIT } else { raise_error_with_message(ERROR_INVALID_CONFIG, "Unknown init_mode value: %s", value); env_config->init_mode = UNKNOWN_INIT_MODE; // Default to UNKNOWN diff --git a/pufferlib/resources/drive/puffer_drive_weights.bin b/pufferlib/resources/drive/puffer_drive_weights.bin index 4a5b30e74bcdc545a3c114409a2252af4ac31504..61197fb7b66c04110d26fc1ab2a9caba8112610d 100644 GIT binary patch literal 2457200 zcmWJsd00+e5O0;5PRh>RXu8-(G!8&Xzwg@+uA&{LY5+Y7dF=q33jw zaxIn@zrr5La4@S&XMa|%Cn8re*l4~2_`2VeF8XCoZ>(>sYiwRkWgcZihk7arkW(V> zW;I&Z%4{K7_nzV4E2qo9=Az4p_ zS&1{@Y{Y>Pw4QJz`&*uaq1Jb}@bD-zZ{iT1ovlHf-`{|Wnnt*}-jf(Uk@iPHq;W_6sK63L(&c zlw0X z23l=DStVH^xLPxpRP{$7o!@{{jx@oc9Cg-qgDIlbUKE|S4Ca4x1W(Q<9IqFlcb@B0 zy6_)seL)Og4HV&$Ut5@VKQsF1oFE9iv>^5)k2t+n#qjw}62^ZrV=w)QgM|SDoFfAI zMA2gzxmjHX_c~V6TW0$7#~l%{bR32C*4Frt%b{~z_27l^9(Iy))5gPGc}kbE)wk0zf`tiRQNi!~eX 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model: {str(env_cfg.dynamics_model)}') + base_cmd.extend(["--dynamics-model", str(env_cfg.dynamics_model)]) + if getattr(env_cfg, "reward_vehicle_collision", None) is not None: + base_cmd.extend(["--reward-vehicle-collision", str(env_cfg.reward_vehicle_collision)]) + if getattr(env_cfg, "reward_offroad_collision", None) is not None: + base_cmd.extend(["--reward-offroad-collision", str(env_cfg.reward_offroad_collision)]) + if getattr(env_cfg, "reward_ade", None) is not None: + base_cmd.extend(["--reward-ade", str(env_cfg.reward_ade)]) + if getattr(env_cfg, "collision_behavior", None) is not None: + base_cmd.extend(["--collision-behavior", str(env_cfg.collision_behavior)]) + if getattr(env_cfg, "offroad_behavior", None) is not None: + base_cmd.extend(["--offroad-behavior", str(env_cfg.offroad_behavior)]) + if getattr(env_cfg, "dt", None) is not None: + base_cmd.extend(["--dt", str(env_cfg.dt)]) + if getattr(env_cfg, "scenario_length", None) is not None: + base_cmd.extend(["--scenario-length", str(env_cfg.scenario_length)]) + if getattr(env_cfg, "num_agents_per_world", None) is not None: + base_cmd.extend(["--num-agents-per-world", str(env_cfg.num_agents_per_world)]) + if getattr(env_cfg, "vehicle_length", None) is not None: + base_cmd.extend(["--vehicle_length", str(env_cfg.vehicle_length)]) + if getattr(env_cfg, "vehicle_width", None) is not None: + base_cmd.extend(["--vehicle_width", str(env_cfg.vehicle_width)]) + if getattr(env_cfg, "vehicle_height", None) is not None: + base_cmd.extend(["--vehicle_height", str(env_cfg.vehicle_height)]) # Policy-controlled agents (prefer num_policy_controlled_agents, fallback to max_controlled_agents) n_policy = getattr(env_cfg, "num_policy_controlled_agents", getattr(env_cfg, "max_controlled_agents", -1)) @@ -271,10 +297,15 @@ def render_videos(config, vecenv, logger, epoch, global_step, bin_path, max_dist if map_path is not None and os.path.exists(map_path): cmd.extend(["--map-name", str(map_path)]) + # Optional: explicitly pass binary_dir to the C visualize runner + binary_dir = getattr(env_cfg, "binary_dir", None) + if binary_dir is not None: + cmd.extend(["--binary-dir", str(binary_dir)]) + # Output paths (overwrite each iteration; then moved/renamed) cmd.extend(["--output-topdown", "resources/drive/output_topdown.mp4"]) cmd.extend(["--output-agent", "resources/drive/output_agent.mp4"]) - + print(f"Running cmd: {' '.join(cmd)}") result = subprocess.run(cmd, cwd=os.getcwd(), capture_output=True, text=True, timeout=120, env=env_vars) vids_exist = os.path.exists("resources/drive/output_topdown.mp4") and os.path.exists( From 3c12974880a032ee14774aab276ac1dd245310d8 Mon Sep 17 00:00:00 2001 From: mpragnay Date: Wed, 26 Nov 2025 18:39:01 -0500 Subject: [PATCH 06/13] arg passing fixes, test_perf correctness fix --- pufferlib/ocean/drive/drive.py | 6 ------ pufferlib/utils.py | 11 ++++++++--- 2 files changed, 8 insertions(+), 9 deletions(-) diff --git a/pufferlib/ocean/drive/drive.py b/pufferlib/ocean/drive/drive.py index 959221cfb..06a57636c 100644 --- a/pufferlib/ocean/drive/drive.py +++ b/pufferlib/ocean/drive/drive.py @@ -728,12 +728,6 @@ def test_performance(timeout=10, atn_cache=1024, num_agents=32): env = Drive( num_agents=num_agents, num_maps=1, - control_mode="control_vehicles", - init_mode="create_all_valid", - init_steps=0, - scenario_length=91, - goal_sampling_mode="randomized_curriculum", # "fixed_from_dataset", - max_distance_to_goal=1.0, ) env.reset() diff --git a/pufferlib/utils.py b/pufferlib/utils.py index bf058f1d4..59d81470e 100644 --- a/pufferlib/utils.py +++ b/pufferlib/utils.py @@ -232,10 +232,15 @@ def render_videos(config, vecenv, logger, epoch, global_step, bin_path, max_dist base_cmd.extend(["--goal-sampling-mode", str(env_cfg.goal_sampling_mode)]) if getattr(env_cfg, "goal_behavior", None) is not None: base_cmd.extend(["--goal-behavior", str(env_cfg.goal_behavior)]) - # Additional args mirrored from C argv parsing if getattr(env_cfg, "dynamics_model", None) is not None: - print(f'Dynamics model: {str(env_cfg.dynamics_model)}') - base_cmd.extend(["--dynamics-model", str(env_cfg.dynamics_model)]) + dynamics_value = env_cfg.dynamics_model + if isinstance(dynamics_value, str): + if dynamics_value.lower() == "classic": + dynamics_value = 0 + elif dynamics_value.lower() == "jerk": + dynamics_value = 1 + print(f'Dynamics model: {dynamics_value}') + base_cmd.extend(["--dynamics-model", str(dynamics_value)]) if getattr(env_cfg, "reward_vehicle_collision", None) is not None: base_cmd.extend(["--reward-vehicle-collision", str(env_cfg.reward_vehicle_collision)]) if getattr(env_cfg, "reward_offroad_collision", None) is not None: From 4659261c1225fd667a7850f7bc54e05ef796f82d Mon Sep 17 00:00:00 2001 From: mpragnay Date: Wed, 26 Nov 2025 19:46:47 -0500 Subject: [PATCH 07/13] Added Carla map bins --- .../drive/carla_binaries/carla_map_001.bin | Bin 0 -> 17916 bytes 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zj>PlgIP2$WHwANPU&Uf|YgzY#I(A=tXA&5ph1rjF@l`tmqBN=98pB8Cl2 zgiL%t$nyZy(WGu0Njs_hb3Qre`Y;VQLF1M7I3Cs!c6~cz!xJkUOO=7M$?L^@g0hlG#CnVSS>-y+UAP8Wju9wX zy&RJde}gT`h3Ii;E*8EH!pdm>53F)^v^A%V+d->GiB2UIW>)wBg5Enm*N5((9obcbtu!7w?BBnNu*Y&>tuNH64yVGsWi>bFg9M0-P!j!}&wu z==JRyaK0SpCr9lw5G*yrgd@i@1ZBB8NVAuneYubjI0?P6){|hfzE68l=hySNrJW=q(-O`DkKk-7ChK zVVp-_zsCl4-7V3l)C_e;+oH`YJ(!+u3BO=51}L$fg}16@d!iLAq~;~#e6i;0Y^uHF zW3*};a2A@j?JIVpNCT@6=-_=neN^-@#t-pkX!yzkrM{MUEY5$jxhex^P;+M52!#V% vw__mdw7eHve#(-0<{7Zsxk|z7=tbdza<6cE_jKXjuIeJrscuS7bC&-ND>=Q- literal 0 HcmV?d00001 From aaa32a98266a46f5b2e95f37680916dfa2650c1c Mon Sep 17 00:00:00 2001 From: mpragnay Date: Wed, 26 Nov 2025 19:53:37 -0500 Subject: [PATCH 08/13] Mem leaks fixed, viz change default mode, increase render timeout cuz hpc sucks --- pufferlib/ocean/drive/drive.h | 3 ++- pufferlib/ocean/drive/visualize.c | 38 +++++++++++++++---------------- pufferlib/utils.py | 4 ++-- 3 files changed, 23 insertions(+), 22 deletions(-) diff --git a/pufferlib/ocean/drive/drive.h b/pufferlib/ocean/drive/drive.h index c102eadec..760284893 100644 --- a/pufferlib/ocean/drive/drive.h +++ b/pufferlib/ocean/drive/drive.h @@ -98,7 +98,7 @@ #define LANE_ALIGN_DISTANCE_THRESHOLD 20.0f #define LANE_HEADING_PENALTY_THRESHOLD_RAD (M_PI) #define LANE_HEADING_PENALTY 0.0f -#define LANE_ALIGNED_HEADING_THRESHOLD_RAD (M_PI / 3.0f) +#define LANE_ALIGNED_HEADING_THRESHOLD_RAD (M_PI / 3.0f) #define OFFROAD_GOAL_RESPAWN_DISTANCE 10.0f //GOAL BEHAVIOUR @@ -2447,6 +2447,7 @@ void c_close(Drive* env){ } free(env->grid_map->cells); free(env->grid_map->cell_entities_count); + free(env->grid_map->cell_roadlanes_count); free(env->neighbor_offsets); for(int i = 0; i < grid_cell_count; i++){ diff --git a/pufferlib/ocean/drive/visualize.c b/pufferlib/ocean/drive/visualize.c index 596beae2f..405f3ee0a 100644 --- a/pufferlib/ocean/drive/visualize.c +++ b/pufferlib/ocean/drive/visualize.c @@ -283,16 +283,16 @@ static int make_gif_from_frames(const char *pattern, int fps, int eval_gif( - const char* map_name, const char* policy_name, const char* binary_dir, - int show_grid, int obs_only, int lasers, - int log_trajectories, int frame_skip, float goal_radius, - int init_steps, int max_controlled_agents, const char* view_mode, - const char* output_topdown, const char* output_agent, int num_maps, - int scenario_length_override, int init_mode, int control_mode, - int goal_behavior, int goal_sampling_mode, float max_distance_to_goal, - int dynamics_model, int reward_vehicle_collision, int reward_offroad_collision, - int reward_ade, int collision_behavior, int offroad_behavior, - float dt, float scenario_length, int num_agents_per_world, + const char* map_name, const char* policy_name, const char* binary_dir, + int show_grid, int obs_only, int lasers, + int log_trajectories, int frame_skip, float goal_radius, + int init_steps, int max_controlled_agents, const char* view_mode, + const char* output_topdown, const char* output_agent, int num_maps, + int scenario_length_override, int init_mode, int control_mode, + int goal_behavior, int goal_sampling_mode, float max_distance_to_goal, + int dynamics_model, int reward_vehicle_collision, int reward_offroad_collision, + int reward_ade, int collision_behavior, int offroad_behavior, + float dt, float scenario_length, int num_agents_per_world, float vehicle_length, float vehicle_width, float vehicle_height) { // Parse configuration from INI file @@ -546,7 +546,7 @@ int main(int argc, char* argv[]) { float vehicle_width = conf.vehicle_width; float vehicle_height = conf.vehicle_height; - const char* view_mode = "topdown"; // "both", "topdown", "agent" + const char* view_mode = "both"; // "both", "topdown", "agent" const char* output_topdown = NULL; const char* output_agent = NULL; @@ -737,16 +737,16 @@ int main(int argc, char* argv[]) { } eval_gif( - map_name, policy_name, binary_dir, - show_grid, obs_only, lasers, - log_trajectories, frame_skip, goal_radius, - init_steps, max_controlled_agents, view_mode, - output_topdown, output_agent, num_maps, - scenario_length_cli, init_mode, control_mode, + map_name, policy_name, binary_dir, + show_grid, obs_only, lasers, + log_trajectories, frame_skip, goal_radius, + init_steps, max_controlled_agents, view_mode, + output_topdown, output_agent, num_maps, + scenario_length_cli, init_mode, control_mode, goal_behavior, goal_sampling_mode, max_distance_to_goal, dynamics_model, reward_vehicle_collision, reward_offroad_collision, - reward_ade, collision_behavior, offroad_behavior, - dt, scenario_length, num_agents_per_world, + reward_ade, collision_behavior, offroad_behavior, + dt, scenario_length, num_agents_per_world, vehicle_length, vehicle_width, vehicle_height ); return 0; diff --git a/pufferlib/utils.py b/pufferlib/utils.py index 59d81470e..c54881014 100644 --- a/pufferlib/utils.py +++ b/pufferlib/utils.py @@ -239,7 +239,7 @@ def render_videos(config, vecenv, logger, epoch, global_step, bin_path, max_dist dynamics_value = 0 elif dynamics_value.lower() == "jerk": dynamics_value = 1 - print(f'Dynamics model: {dynamics_value}') + print(f"Dynamics model: {dynamics_value}") base_cmd.extend(["--dynamics-model", str(dynamics_value)]) if getattr(env_cfg, "reward_vehicle_collision", None) is not None: base_cmd.extend(["--reward-vehicle-collision", str(env_cfg.reward_vehicle_collision)]) @@ -311,7 +311,7 @@ def render_videos(config, vecenv, logger, epoch, global_step, bin_path, max_dist cmd.extend(["--output-topdown", "resources/drive/output_topdown.mp4"]) cmd.extend(["--output-agent", "resources/drive/output_agent.mp4"]) print(f"Running cmd: {' '.join(cmd)}") - result = subprocess.run(cmd, cwd=os.getcwd(), capture_output=True, text=True, timeout=120, env=env_vars) + result = subprocess.run(cmd, cwd=os.getcwd(), capture_output=True, text=True, timeout=1200, env=env_vars) vids_exist = os.path.exists("resources/drive/output_topdown.mp4") and os.path.exists( "resources/drive/output_agent.mp4" From 5de1eded398b0c5224dc80bad97fd038ecfc695c Mon Sep 17 00:00:00 2001 From: mpragnay Date: Wed, 26 Nov 2025 23:52:07 -0500 Subject: [PATCH 09/13] Partially working viz --- pufferlib/ocean/drive/visualize.c | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/pufferlib/ocean/drive/visualize.c b/pufferlib/ocean/drive/visualize.c index 405f3ee0a..94c67a007 100644 --- a/pufferlib/ocean/drive/visualize.c +++ b/pufferlib/ocean/drive/visualize.c @@ -162,10 +162,16 @@ void renderTopDownView(Drive* env, Client* client, int map_height, int obs, int // Top-down orthographic camera Camera3D camera = {0}; + float pad = 5.0f; + float left = env->grid_map->top_left_x - pad; + float right = env->grid_map->bottom_right_x + pad; + float bottom = env->grid_map->bottom_right_y - pad; + float top = env->grid_map->top_left_y + pad; + camera.position = (Vector3){ 0.0f, 0.0f, 500.0f }; // above the scene camera.target = (Vector3){ 0.0f, 0.0f, 0.0f }; // look at origin camera.up = (Vector3){ 0.0f, -1.0f, 0.0f }; - camera.fovy = map_height; + camera.fovy = map_height * 4.0f; camera.projection = CAMERA_ORTHOGRAPHIC; client->width = img_width; @@ -176,6 +182,13 @@ void renderTopDownView(Drive* env, Client* client, int map_height, int obs, int BeginMode3D(camera); rlEnableDepthTest(); + // Override raylib's projection with exact bounds you want + rlMatrixMode(RL_PROJECTION); + rlLoadIdentity(); + rlOrtho(left, right*5.0f, bottom, top*5.0f, -1000.0f, 1000.0f); + rlMatrixMode(RL_MODELVIEW); + rlLoadIdentity(); + // Draw human replay trajectories if enabled if(log_trajectories){ for(int i=0; iactive_agent_count; i++){ @@ -384,7 +397,7 @@ int eval_gif( float map_height = env.grid_map->top_left_y - env.grid_map->bottom_right_y; printf("Map size: %.1fx%.1f\n", map_width, map_height); - float scale = 2.0f; // Can be used to increase the video quality + float scale = 6.0f; // Can be used to increase the video quality // Calculate video width and height; round to nearest even number int img_width = (int)roundf(map_width * scale / 2.0f) * 2; From cf5ed6bb22800b2e320708035a2bb71dfbd60116 Mon Sep 17 00:00:00 2001 From: mpragnay Date: Sun, 30 Nov 2025 19:35:05 -0500 Subject: [PATCH 10/13] Valid Carla Maps --- .../carla/carla_valid_files/Town01.json | 74524 ++++++++++++++ .../carla/carla_valid_files/Town02.json | 33612 +++++++ .../carla/carla_valid_files/Town07.json | 82400 ++++++++++++++++ .../carla/carla_valid_files/Town10HD.json | 59984 +++++++++++ 4 files changed, 250520 insertions(+) create mode 100644 data_utils/carla/carla_valid_files/Town01.json create mode 100644 data_utils/carla/carla_valid_files/Town02.json create mode 100644 data_utils/carla/carla_valid_files/Town07.json create mode 100644 data_utils/carla/carla_valid_files/Town10HD.json diff --git a/data_utils/carla/carla_valid_files/Town01.json b/data_utils/carla/carla_valid_files/Town01.json new file mode 100644 index 000000000..88d249737 --- /dev/null +++ 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.../drive/carla_binaries/carla_map_000.bin | Bin 119924 -> 25332 bytes .../drive/carla_binaries/carla_map_002.bin | Bin 142304 -> 0 bytes .../drive/carla_binaries/carla_map_003.bin | Bin 43380 -> 0 bytes .../resources/drive/puffer_drive_weights.bin | Bin 2457200 -> 0 bytes 9 files changed, 36 insertions(+), 142427 deletions(-) delete mode 100644 data_utils/carla/carla_valid_files/Town07.json delete mode 100644 data_utils/carla/carla_valid_files/Town10HD.json delete mode 100644 pufferlib/resources/drive/carla_binaries/carla_map_002.bin delete mode 100644 pufferlib/resources/drive/carla_binaries/carla_map_003.bin delete mode 100644 pufferlib/resources/drive/puffer_drive_weights.bin diff --git a/data_utils/carla/carla_valid_files/Town07.json b/data_utils/carla/carla_valid_files/Town07.json deleted file mode 100644 index 436f8966a..000000000 --- a/data_utils/carla/carla_valid_files/Town07.json +++ /dev/null @@ -1,82400 +0,0 @@ -{ - "name": "Town07", - "scenario_id": 701262707, - "objects": 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0.0 - }, - { - "x": -40.06127422050694, - "y": 1.7091685748031638, - "z": 0.0 - } - ] - } - ], - "tl_states": {}, - "metadata": { - "sdc_track_index": 0, - "tracks_to_predict": [], - "objects_of_interest": [] - } -} diff --git a/pufferlib/config/ocean/drive.ini b/pufferlib/config/ocean/drive.ini index 427dded39..12306694c 100644 --- a/pufferlib/config/ocean/drive.ini +++ b/pufferlib/config/ocean/drive.ini @@ -5,8 +5,8 @@ policy_name = Drive rnn_name = Recurrent [vec] -num_workers = 8 -num_envs = 8 +num_workers = 16 +num_envs = 16 batch_size = 2 ; backend = Serial @@ -19,7 +19,7 @@ input_size = 256 hidden_size = 256 [env] -num_agents = 256 +num_agents = 1024 ; Options: discrete, continuous action_type = discrete ; Options: classic, jerk @@ -41,7 +41,7 @@ offroad_behavior = 0 ; Number of steps before reset scenario_length = 256 resample_frequency = 2560 -num_maps = 4 +num_maps = 2 ; binary_dir = resources/drive/binaries binary_dir = resources/drive/carla_binaries ; Determines which step of the trajectory to initialize the agents at upon reset @@ -51,15 +51,15 @@ control_mode = "control_vehicles" ; Options: "create_all_valid", "create_only_controlled", "random_agents_init" init_mode = "random_agents_init" ; Only for random_agents_init init_mode -num_agents_per_world = 64 +num_agents_per_world = 32 vehicle_width = 2.0 vehicle_length = 4.5 vehicle_height = 1.8 ; Options: "fixed_from_dataset", "random_within_radius", "randomized_curriculum" goal_sampling_mode = "randomized_curriculum" -goal_curriculum_start_distance = 3.5 -goal_curriculum_end_distance = 65.0 -goal_curriculum_steps = 200 +goal_curriculum_start_distance = 5.0 +goal_curriculum_end_distance = 50.0 +goal_curriculum_steps = 50 goal_curriculum_schedule = linear # linear, quadratic, sqrt goal_curriculum_total_timesteps = auto @@ -67,7 +67,7 @@ goal_curriculum_total_timesteps = auto max_distance_to_goal = 200.0 [train] -total_timesteps = 2_500_000 +total_timesteps = 2_000_000_000 ; learning_rate = 0.02 ; gamma = 0.985 anneal_lr = False @@ -75,7 +75,7 @@ anneal_lr = False batch_size = 524288 minibatch_size = 32768 max_minibatch_size = 32768 -bptt_horizon = 256 +bptt_horizon = 32 adam_beta1 = 0.9 adam_beta2 = 0.999 adam_eps = 1e-8 @@ -92,10 +92,10 @@ vf_clip_coef = 0.1999999999999999 vf_coef = 2 vtrace_c_clip = 1 vtrace_rho_clip = 1 -checkpoint_interval = 1 +checkpoint_interval = 100 ; Rendering options render = True -render_interval = 1 +render_interval = 100 ; If True, show exactly what the agent sees in agent observation obs_only = True ; Show grid lines @@ -105,7 +105,7 @@ show_lasers = False ; Display human xy logs in the background show_human_logs = True ; Options: List[str to path], str to path (e.g., "resources/drive/binaries/map_001.bin"), None -render_map = "resources/drive/carla_binaries/map_000.bin" +render_map = ["resources/drive/carla_binaries/map_000.bin", "resources/drive/carla_binaries/map_001.bin"] [eval] eval_interval = 1000 diff --git a/pufferlib/ocean/drive/drive.py b/pufferlib/ocean/drive/drive.py index 06a57636c..d5efde260 100644 --- a/pufferlib/ocean/drive/drive.py +++ b/pufferlib/ocean/drive/drive.py @@ -41,9 +41,9 @@ def __init__( init_mode="random_agents_init", control_mode="control_vehicles", num_agents_per_world=32, - vehicle_width = 2.0, - vehicle_length = 4.5, - vehicle_height = 1.8, + vehicle_width=2.0, + vehicle_length=4.5, + vehicle_height=1.8, goal_sampling_mode="randomized_curriculum", max_distance_to_goal=100.0, goal_curriculum_start_distance=5.0, @@ -105,7 +105,7 @@ def __init__( if goal_behavior == 1: # preview next goal + 1 - ego_features += 2 + ego_features += 2 self.ego_features = ego_features partner_features = 7 @@ -154,7 +154,9 @@ def __init__( self.goal_sampling_mode = 1 elif goal_sampling_mode == "randomized_curriculum": self.goal_sampling_mode = 2 - end_distance = goal_curriculum_end_distance if goal_curriculum_end_distance is not None else max_distance_to_goal + end_distance = ( + goal_curriculum_end_distance if goal_curriculum_end_distance is not None else max_distance_to_goal + ) self.goal_curriculum = GoalCurriculum( start_distance=goal_curriculum_start_distance, end_distance=end_distance, @@ -256,9 +258,9 @@ def __init__( init_mode=self.init_mode, control_mode=self.control_mode, num_agents_per_world=self.num_agents_per_world, - vehicle_height = self.vehicle_height, - vehicle_length = self.vehicle_length, - vehicle_width = self.vehicle_width, + vehicle_height=self.vehicle_height, + vehicle_length=self.vehicle_length, + vehicle_width=self.vehicle_width, goal_sampling_mode=self.goal_sampling_mode, max_distance_to_goal=self.max_distance_to_goal, map_files=self.map_files, @@ -322,9 +324,9 @@ def _rebuild_envs(self, seed=None): init_mode=self.init_mode, control_mode=self.control_mode, num_agents_per_world=self.num_agents_per_world, - vehicle_height = self.vehicle_height, - vehicle_length = self.vehicle_length, - vehicle_width = self.vehicle_width, + vehicle_height=self.vehicle_height, + vehicle_length=self.vehicle_length, + vehicle_width=self.vehicle_width, goal_sampling_mode=self.goal_sampling_mode, max_distance_to_goal=self.max_distance_to_goal, map_files=self.map_files, @@ -688,7 +690,10 @@ def process_maps(source_dir, output_dir, prefix="map", limit=None, start_index=0 def process_carla_maps( - source_dir="data_utils/carla/carla", output_dir="resources/drive/carla_binaries", prefix="carla_map", limit=None + source_dir="data_utils/carla/carla_valid_files", + output_dir="resources/drive/carla_binaries", + prefix="carla_map", + limit=None, ): """Process Carla JSON maps into binaries.""" process_maps(source_dir=source_dir, output_dir=output_dir, prefix=prefix, limit=limit) @@ -749,5 +754,5 @@ def test_performance(timeout=10, atn_cache=1024, num_agents=32): if __name__ == "__main__": - test_performance() - # process_carla_maps() + # test_performance() + process_carla_maps() diff --git a/pufferlib/ocean/drive/visualize.c b/pufferlib/ocean/drive/visualize.c index 94c67a007..d12242352 100644 --- a/pufferlib/ocean/drive/visualize.c +++ b/pufferlib/ocean/drive/visualize.c @@ -162,16 +162,11 @@ void renderTopDownView(Drive* env, Client* client, int map_height, int obs, int // Top-down orthographic camera Camera3D camera = {0}; - float pad = 5.0f; - float left = env->grid_map->top_left_x - pad; - float right = env->grid_map->bottom_right_x + pad; - float bottom = env->grid_map->bottom_right_y - pad; - float top = env->grid_map->top_left_y + pad; - - camera.position = (Vector3){ 0.0f, 0.0f, 500.0f }; // above the scene - camera.target = (Vector3){ 0.0f, 0.0f, 0.0f }; // look at origin + + camera.position = (Vector3){ env->grid_map->top_left_x, env->grid_map->bottom_right_y, 500.0f }; // above the scene + camera.target = (Vector3){ env->grid_map->top_left_x, env->grid_map->bottom_right_y, 0.0f }; // look at origin camera.up = (Vector3){ 0.0f, -1.0f, 0.0f }; - camera.fovy = map_height * 4.0f; + camera.fovy = map_height * 2.0f; camera.projection = 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zyea1lGMa5{+l>TBjnRQV$57}`_#LgavartRysh5rNig@V?^z4SPVuZl9g92ug3T*b zpn+0#n!kPsk3~Py z4Fy&4AlVTK3nGfxwcLTTE^ZMp;@2FZz$XUX?Yf!DJzG#4NF)m}X)?UlI+Vx7P=P`V3*J znjBe>984?}S(9Ou=v0}&LOi5s?D1?gc(MfT3d6$ZEUvwWonvVyURR!1(GLIS_Xh5p*Wn95Ov*C~**y?K2(4GiT z>zs!d>Nc>kiZ`%ta4Co}ygPhR2%KE|MQEJUjY-i9=}h=aQmK5&w7ROXjHY$`m6Qa@X8a4--pIG>)spbXbk+rp3H z4)L-@AFA{S)V@uQo+heuc4-HCxlBY@;RR8TV&KSIZ&JD)2XYzCa4a>5u13UwzKJ)4 zPfKT+K70@E%KNitUS*0or4N`(?+zB4CL<&%e#7EjHk7&L8_S4a0H;D^S&8ynTrn_) zSw`5CQ_V_x@4$)q??IURGF*KBVhAPHIl^(T7+a5MU6%Y?O=F~^SEI&SO~G-x74LA~ zffnQpvCW38=I?*_KFSwtvoo z)@k$U->M0;wQ4>VSqL=GYC4T-vZC9nrJ_Qr3|!qZnbx0DB_-D^vFlC@ZLEu^*{lnN+u^RGvRMIIXOA>q*Rv5yK$Uui|H6aQqUha9DfWMVAb@!Q From ff55c96a74c8fa7b0ffd38f03c494e7b4c8b9ee9 Mon Sep 17 00:00:00 2001 From: mpragnay Date: Tue, 2 Dec 2025 20:51:28 -0500 Subject: [PATCH 12/13] Grid Map Addition Correctness --- pufferlib/ocean/drive/drive.h | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/pufferlib/ocean/drive/drive.h b/pufferlib/ocean/drive/drive.h index 760284893..63421449c 100644 --- a/pufferlib/ocean/drive/drive.h +++ b/pufferlib/ocean/drive/drive.h @@ -1241,8 +1241,10 @@ void init_grid_map(Drive* env){ for(int i = 0; i < env->num_entities; i++){ if(env->entities[i].type > 3 && env->entities[i].type < 7){ for(int j = 0; j < env->entities[i].array_size - 1; j++){ - float x_center = (env->entities[i].traj_x[j] + env->entities[i].traj_x[j+1]) / 2; - float y_center = (env->entities[i].traj_y[j] + env->entities[i].traj_y[j+1]) / 2; + // float x_center = (env->entities[i].traj_x[j] + env->entities[i].traj_x[j+1]) / 2; + // float y_center = (env->entities[i].traj_y[j] + env->entities[i].traj_y[j+1]) / 2; + float x_center = env->entities[i].traj_x[j]; + float y_center = env->entities[i].traj_y[j]; int grid_index = getGridIndex(env, x_center, y_center); if (grid_index == -1) { printf("Warning: Not Supposed to happen, Point (%f, %f) out of grid bounds\n", x_center, y_center); @@ -1272,8 +1274,10 @@ void init_grid_map(Drive* env){ for(int i = 0; i < env->num_entities; i++){ if(env->entities[i].type > 3 && env->entities[i].type < 7){ // NOTE: Only Road Edges, Lines, and Lanes in grid map for(int j = 0; j < env->entities[i].array_size - 1; j++){ - float x_center = (env->entities[i].traj_x[j] + env->entities[i].traj_x[j+1]) / 2; - float y_center = (env->entities[i].traj_y[j] + env->entities[i].traj_y[j+1]) / 2; + // float x_center = (env->entities[i].traj_x[j] + env->entities[i].traj_x[j+1]) / 2; + // float y_center = (env->entities[i].traj_y[j] + env->entities[i].traj_y[j+1]) / 2; + float x_center = env->entities[i].traj_x[j]; + float y_center = env->entities[i].traj_y[j]; int grid_index = getGridIndex(env, x_center, y_center); add_entity_to_grid(env, grid_index, i, j, cell_entities_insert_index); if (env->entities[i].type == ROAD_LANE) { From 7e5c8833f4edcda36ce52f98fa62f27b2d6d6929 Mon Sep 17 00:00:00 2001 From: mpragnay Date: Tue, 2 Dec 2025 21:13:30 -0500 Subject: [PATCH 13/13] Some code cleanup --- pufferlib/ocean/drive/drive.h | 57 +----------------- .../resources/drive/puffer_drive_weights.bin | Bin 0 -> 2457200 bytes 2 files changed, 1 insertion(+), 56 deletions(-) create mode 100644 pufferlib/resources/drive/puffer_drive_weights.bin diff --git a/pufferlib/ocean/drive/drive.h b/pufferlib/ocean/drive/drive.h index 63421449c..d0e0c8181 100644 --- a/pufferlib/ocean/drive/drive.h +++ b/pufferlib/ocean/drive/drive.h @@ -586,36 +586,7 @@ bool is_valid_spawn_point(Drive* env, int agent_idx, float start_x, float start_ } } } - - // Offroad check - // int list_size = 0; - // GridMapEntity* entity_list = checkNeighbors(env, mock_agent.x, mock_agent.y, collision_offsets, &list_size, COLLISION_VISION_RANGE*COLLISION_VISION_RANGE); - // for (int i = 0; i < list_size ; i++) { - // if(entity_list[i].entity_idx == -1) continue; - // Entity* entity; - // entity = &env->entities[entity_list[i].entity_idx]; - - // // Check for offroad collision with road edges - // if(entity->type == ROAD_EDGE) { - // int geometry_idx = entity_list[i].geometry_idx; - // float start[2] = {entity->traj_x[geometry_idx], entity->traj_y[geometry_idx]}; - // float end[2] = {entity->traj_x[geometry_idx + 1], entity->traj_y[geometry_idx + 1]}; - // for (int k = 0; k < 4; k++) { // Check each edge of the bounding box - // int next = (k + 1) % 4; - // if (check_line_intersection(agent_corners[k], agent_corners[next], start, end)) { - // collided = OFFROAD; - // printf("Invalid Spawn: collision with road edge (Entity ID: %d)\n", entity->id); - // break; - // } - // } - // } - - // if (collided == OFFROAD) break; - // } - - // Cleanup - // free(entity_list); - return true; // No collisions detected + return true; } @@ -786,8 +757,6 @@ Entity* load_map_binary(const char* filename, Drive* env) { void init_agents_random_start(Drive* env) { Entity* entities = env->entities; float goal_radius = env->goal_radius; - // int rel_neighbor_offsets_cnt = 0; - // int* rel_neighbor_offsets = get_relative_neighbor_offsets(env, goal_radius, &rel_neighbor_offsets_cnt); for (int agent_idx=0; agent_idxnum_entities; agent_idx++){ if (entities[agent_idx].type != VEHICLE) { @@ -865,21 +834,6 @@ void init_agents_random_start(Drive* env) { continue; } - // Get goal point info - float goal_x = -0.5, goal_y = -0.5, goal_z = -0.5; - // bool is_valid_goal = get_valid_goal( - // env, - // start_x, start_y, start_z, - // rand_grid_row, rand_grid_col, - // rel_neighbor_offsets, rel_neighbor_offsets_cnt, - // &goal_x, &goal_y, &goal_z - // ); - // If no surrounding cell with goal curriculum, repeat - // if (!is_valid_goal) { - // printf("No valid goals found around start point (%.2f, %.2f, %.2f)\n", start_x, start_y, start_z); - // continue; - // } - // Else break with given start and goal agent.initialized = 1; agent.array_size = 1; agent.traj_x = (float*)calloc(agent.array_size, sizeof(float)); @@ -904,9 +858,6 @@ void init_agents_random_start(Drive* env) { agent.height = env->vehicle_height; agent.width = env->vehicle_width; agent.length = env->vehicle_length; - agent.goal_position_x = goal_x; - agent.goal_position_y = goal_y; - agent.goal_position_z = goal_z; agent.mark_as_expert = 0; agent.goal_radius = goal_radius; @@ -915,8 +866,6 @@ void init_agents_random_start(Drive* env) { entities[agent_idx] = agent; } - - // free(rel_neighbor_offsets); } void set_start_position(Drive* env){ @@ -1241,8 +1190,6 @@ void init_grid_map(Drive* env){ for(int i = 0; i < env->num_entities; i++){ if(env->entities[i].type > 3 && env->entities[i].type < 7){ for(int j = 0; j < env->entities[i].array_size - 1; j++){ - // float x_center = (env->entities[i].traj_x[j] + env->entities[i].traj_x[j+1]) / 2; - // float y_center = (env->entities[i].traj_y[j] + env->entities[i].traj_y[j+1]) / 2; float x_center = env->entities[i].traj_x[j]; float y_center = env->entities[i].traj_y[j]; int grid_index = getGridIndex(env, x_center, y_center); @@ -1274,8 +1221,6 @@ void init_grid_map(Drive* env){ for(int i = 0; i < env->num_entities; i++){ if(env->entities[i].type > 3 && env->entities[i].type < 7){ // NOTE: Only Road Edges, Lines, and Lanes in grid map for(int j = 0; j < env->entities[i].array_size - 1; j++){ - // float x_center = (env->entities[i].traj_x[j] + env->entities[i].traj_x[j+1]) / 2; - // float y_center = (env->entities[i].traj_y[j] + env->entities[i].traj_y[j+1]) / 2; float x_center = env->entities[i].traj_x[j]; float y_center = env->entities[i].traj_y[j]; int grid_index = getGridIndex(env, x_center, y_center); diff --git a/pufferlib/resources/drive/puffer_drive_weights.bin b/pufferlib/resources/drive/puffer_drive_weights.bin new file mode 100644 index 0000000000000000000000000000000000000000..1038750b8e1e96461287a4c42fe33099f572630d GIT binary patch literal 2457200 zcmWJscRZF|7^Z~mJ&Gh52`LiZ=RPDMii}WEA(b{s3z-o`Sy7R_LK%JHeeRP~8Y(K3 zsHh}OrBG4d`{%RH_&w)$uIpUabuZIXCOwgf7{z}9>4qm@zi17ZE{p@gF$L185J#%N 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