Pufferdrive main merges #16
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* Make sure we can overwrite goal_behavior from python side and other minor improvements. * Fix stop goal behavior bug. * Make goal radius configurable for WOSAC eval. * Reset to defaults + cleanup. * Minor * Minor * Incorprate feedback.
Accel is being cut in half for no reason
* Add control mode. * Fix error message.
Remove halved accel
* Fix incorrect obs dim in draw_agent_obs * Update drive.h --------- Co-authored-by: Daphne Cornelisse <cor.daphne@gmail.com>
…erge-Lab#104) * make joint action space, currently uses multidiscrete and should be replaced with discrete * Fix shape mismatch in logits. * Minor * Revert: Puffer doesn't like Discrete * Minor * Make action dim conditional on dynamics model. --------- Co-authored-by: Daphne Cornelisse <cor.daphne@gmail.com>
* Replace default learning rate and ent_coef. * Minor * Round.
* Quick integration of WOSAC eval during training, will clean up tomorrow. * Refactor eval code into separate util functions. * Refactor code to support more eval modes. * Add human replay evaluation mode. * Address comments. * Fix args and add to readme * Improve and simplify code. * Minor. * Reset to default ini settings.
* Add python test for ini file parsing - Check values from default.ini - Check values from drive.ini - Additional checks for comments capabilities * Add C test for ini file parsing - Add CMake project to configure, build and test - Test value parsing - Test comments format - Add comments for (un)expected results * FIX: Solve all memory errors in tests - Compile with asan * Remove unprinted messages * Add utest to the CI - Ini parsing tests - Update comments to clarify intent * Update tests/ini_parser/ini_tester.c - Change check conditions to if/else instead of ifs - Speed up parsing speed (exist as soon as match is found) Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update tests/ini_parser/ini_tester.c - Fix mismatch assignation Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * FIX: Move num_map to the high level of testing --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
…-Lab#138) * Adding Interaction features Notes: - Need to add safeguards to load each map only once - Might be slow if we increase num_agents per scenario, next step will be torch. I added some tests to see the distance and ttc computations are correct, and metrics_sanity_check looks okay. I'll keep making some plots to validate it. * Added the additive smoothing logic for Bernoulli estimate. Ref in original code: message BernoulliEstimate { // Additive smoothing to apply to the underlying 2-bins histogram, to avoid // infinite values for empty bins. optional float additive_smoothing_pseudocount = 4 [default = 0.001]; } * Little cleanup of estimators.py * Towards map-based realism metrics: First step: extract the map from the vecenv * Second step: Map features (signed distance to road edges) A bunch of little tests in test_map_metric_features.py to ensure this do what it is supposed to do. python -m pufferlib.ocean.benchmark.test_map_metrics Next steps should be straightforward. Will need to check at some point if doing this on numpy isnt too slow * Map-based features. This works, and passes all the tests, I would still want to make additionnal checks with the renderer because we never know. With this, we have the whole set of WOSAC metrics (except for traffic lights), and we might also have the same issue as the original WOSAC code: it is slow. Next step would be to transition from numpy to torch. * Added a visual sanity check, plot random trajectories and indicate when WOSAC sees an offorad or a collision python pufferlib/ocean/benchmark/visual_sanity_check.py * Update WOSAC control mode and ids. * Eval mask for tracks_to_predict agents * Replacing numpy by torch for the computation of interaction and map metrics. It makes the computation way faster, and all the tests pass. I didn't switch kinematics to torch because it was already fast, but I might make the change for consistency. * Precommit * Resolve small comments. * More descriptive error message when going OOM. --------- Co-authored-by: WaelDLZ <wawa@CRE1-W60060.vnet.valeo.com> Co-authored-by: Waël Doulazmi <wawa@10-20-1-143.dynapool.wireless.nyu.edu> Co-authored-by: Waël Doulazmi <wawa@Waels-MacBook-Air.local> Co-authored-by: Daphne Cornelisse <cor.daphne@gmail.com>
Co-authored-by: Pragnay Mandavilli <pm3881@gr052.hpc.nyu.edu>
* Add option for targeted experiments. * Rename for clarity. * Minor * Remove tag * Add to help message and make deepcopy of args to prevent state pollution.
…merge-Lab#146) * Little optimizations to use less memory in interaction_features.py They mostly consist in using in-place operations and deleting unused variables. Code passes the tests. Next steps: - clean the .cpu().numpy() in ttc computation - memory optimization for the map_features as well * Add future todo. --------- Co-authored-by: Waël Doulazmi <waeldoulazmi@gmail.com>
…rent dataset (Emerge-Lab#151) * Support train/test split with datasets. * Switch defaults. * Minor. * Typo. * More robust way of parsing the path.
* Load the sprites inside eval-gif() * Color consistency. * pedestrians and cyclists 3d models * Minor. --------- Co-authored-by: Spencer Cheng <spenccheng@gmail.com>
* multiprocessing and progbar * cleanup
* Test * Edit. * Edit.
* Get rid of magic numbers in torch net. * Stop recording agent view once agent reaches first got goal. Respawning vids look confusing. * Add in missing models for headless rendering. * Fix bbox rotation bug in render function. * Remove magic numbers. Define constants once in drive.h and read from there.
…merge-Lab#165) * Get rid of magic numbers in torch net. * Stop recording agent view once agent reaches first got goal. Respawning vids look confusing. * Add in missing models for headless rendering. * Fix bbox rotation bug in render function. * Remove magic numbers. Define constants once in drive.h and read from there. * Remove all magic numbers in drivenet.h * Clean up more magic numbers. * Minor * Minor.
* Test the tests * Fix
* Modifying render to view full map * Removing vlue lines from maps * Add option to zoom in on the map. --------- Co-authored-by: Daphne Cornelisse <cor.daphne@gmail.com>
* Documentation first pass * incorporate previous docs * style updates and corrections
* Add clang format - Format C/C++/CUDA - Prevent formatting json - Prevent formatting pufferlib extensions * [FORMAT] Apply clang format - No code changes * Add clang format - Format C/C++/CUDA - Prevent formatting json - Prevent formatting pufferlib extensions * [FORMAT] Apply clang format * Keep matrix printing as it is * No code change * small default change. --------- Co-authored-by: Daphne Cornelisse <cor.daphne@gmail.com>
* initial commit * Ignore generated sanity binaries and compute ego speed along heading * Fix get_global_agent_state to include length/width outputs * Revert ego speed change in drive.h * Add sanity runner wiring and wandb name hook * Revert drive path changes; use map_dir from sanity * Set sanity runs to use generated map_dir and render map * Expand map path buffer in drive binding to avoid overflow * fix maps and add docs * update readme with documentation link * Simplify docs. * Apply precommit. --------- Co-authored-by: Daphne Cornelisse <cor.daphne@gmail.com>
* Softer theme and edits. * Improve structure. * Blog post v0 * Typo * Fixes
…#167) * Added early termination parameter based on respawn status of all agents in an episode * pre-commit fix * fix test * Apply precommit. * Reduce variance in aggregate metrics by logging only if we have data for at least num_agents. --------- Co-authored-by: Daphne Cornelisse <cor.daphne@gmail.com>
…road points (score maintained) (Emerge-Lab#177) * 220K -> 320K. * Reward bug fix. * Minor.
* Simplify data downloading. * Add links. * Update WOSAC eval section. * Minor. * Rephrase. * Fixes. * Naming edits. * Naming edits.
…orchpy Fix a harmless typo in torch.py
* Use num_maps for eval * readme.md didnt pass precommit ? * Add the use_all_maps arg in the call to resample * Update the wosac sanity checks to use all maps as well. Nicer prints in the eval * Add a comment in drive.ini * Update HumanReplay to follow the same logic * Remove num_agents from WOSAC eval as it is not needed anymore. Update the comments in drive.ini * Change a comment in drive.py * Update wosac.md * Evaluated the base policy on validation interactive dataset and updated wosac.md with its score. Also put back default behavior in drive.ini
* Add model binary file and make demo() work. * Add docs. * Add docs. --------- Co-authored-by: Daphne <daphn3cor@gmail.com>
* Added Z Coords, Polygonized Junction Area to handle point in polygon query * Added Snapped Polylines to better polygonizing * Fixed Extra Road Lines bug, better polygonization with debugging * Fixed initial heading angle for Trajectory sampling * Maps Before manual filtering * Carla Before Manual with z coordinates * NaN fixes * Minor * Carla Maps Cleaned 6/8 * Add pyxodr submodule at external/pyxodr * added external submodule support, fixed num_tries for valid init position of agents, added arg parsing, cleaned up code * Removed unstable process_roads_script, use carla_py123d * add avg_speed as arg * Remove old Carla Maps * Update README.md Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> * Remove old jsons and testing files * Remove redundant instructions from README * indentation changes * Minor editorial edits. --------- Co-authored-by: Daphne Cornelisse <cor.daphne@gmail.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Co-authored-by: Daphne <daphn3cor@gmail.com>
* collision fix * lowered to 250 for actual theoretical guarantee
* initial commit * remove function * restore weights, add trailing newline, fix ini * update to unify logic and refactor to function * fix reverse computation * precommit fix --------- Co-authored-by: Kevin <kj2676@nyu.edu>
* Documentation first pass * incorporate previous docs * style updates and corrections * initial commit * Format drive helpers
* Adding collision behavior back * Removing uneccesary snippets * Rebased * precommit fixes * Pre-Commit fixes --------- Co-authored-by: Daphne Cornelisse <cor.daphne@gmail.com>
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