Skip to content

distance weighted score implementation #106

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

distance weighted score implementation #106

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions pufferlib/ocean/drive/binding.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -207,6 +207,8 @@ static int my_log(PyObject* dict, Log* log) {
assign_to_dict(dict, "completion_rate", log->completion_rate);
assign_to_dict(dict, "lane_alignment_rate", log->lane_alignment_rate);
assign_to_dict(dict, "score", log->score);
assign_to_dict(dict, "distance_weighted_score", log->distance_weighted_score);
assign_to_dict(dict, "total_goal_distance", log->total_goal_distance);
// assign_to_dict(dict, "active_agent_count", log->active_agent_count);
// assign_to_dict(dict, "expert_static_car_count", log->expert_static_car_count);
// assign_to_dict(dict, "static_car_count", log->static_car_count);
Expand Down
6 changes: 6 additions & 0 deletions pufferlib/ocean/drive/drive.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -107,6 +107,8 @@ struct Log {
float episode_return;
float episode_length;
float score;
float distance_weighted_score;
float total_goal_distance;
float offroad_rate;
float collision_rate;
float num_goals_reached;
Expand Down Expand Up @@ -375,8 +377,12 @@ void add_log(Drive* env) {
env->log.avg_collisions_per_agent += avg_collisions_per_agent;
int num_goals_reached = env->logs[i].num_goals_reached;
env->log.num_goals_reached += num_goals_reached;
float goal_distance = ego_goal_distance_t0(e);
env->log.total_goal_distance += goal_distance;
if(e->reached_goal_this_episode && !e->collided_before_goal){
env->log.score += 1.0f;
float goal_distance = ego_goal_distance_t0(e);
Copy link

@daphne-cornelisse daphne-cornelisse Oct 30, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Interesting, do you know where this function is defined? I can't find it in the repo

Copy link
Collaborator Author

@riccardosavorgnan riccardosavorgnan Nov 3, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

line 311 of drive.h

env->log.distance_weighted_score += 1.0f * goal_distance;
Copy link

@daphne-cornelisse daphne-cornelisse Oct 30, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I would be curious to see the distribution of distances to the goal, do you mind adding that? (can be done with wandb.Histogram)

}
if(!offroad && !collided && !e->reached_goal_this_episode){
env->log.dnf_rate += 1.0f;
Expand Down