Add remove and stop collision behaviors #78

Aditya-Gupta26 · 2025-10-08T16:34:38Z

This branch modifies post collision/offroad behaviors of agents where they now have the option of stoping/disappearing from the scene depending on the parameter set.

All changes are in "drive.h" file.

daphne-cornelisse · 2025-10-08T16:45:17Z

Thanks @Aditya-Gupta26. On a first look it looks good to me. Can you share with me wandb links to:

An agent that achieves perfect performance (score of 1.0) with remove collision behavior
An agent that achieves perfect performance (score of 1.0) with the stop collision behavior

You can use 10 maps, (num_maps=10), probably easiest to use the WOMD dataset for this

Will do an in-depth review tomorrow!

pufferlib/ocean/drive/drive.h

daphne-cornelisse · 2025-10-09T11:18:16Z

pufferlib/ocean/drive/drive.h

+            agent->stopped = 1;
+            agent->vx=agent->vy = 0.0f;
+        }
+        else if(env->post_collision_action==REMOVE_AGENT && !agent->removed){


What happens to agents that are still alive that collide with agents where stopped=1?

In the rendered GIFs, I could see that if a moving agent collides with an already collided agent, both of the agents stop, and freeze

pufferlib/ocean/drive/drive.h

daphne-cornelisse · 2025-10-12T10:01:50Z

How do you configure the collision_behavior in the environment on the Python side? This is missing.

Can you add an argument inside drive.ini, collision_behavior, and allow for options "remove", "stop", and "ignore". Ignore should be the default. Thank you

eugenevinitsky · 2025-10-14T19:20:37Z

pufferlib/ocean/drive/drive.h

+#define STOP_AGENT 1
+#define REMOVE_AGENT 2


What about the mode that is currently active where collisions are ignored and agents can go through each other?

During the execution, the use of STOP_AGENT and REMOVE_AGENT are in an if-else if-else block.
If neither of the two conditions (STOP,REMOVE) are satisfied, the code continues in the "else" block which is currently the same logic as before (default case - ignore and pass through)

eugenevinitsky · 2025-10-14T19:21:19Z

pufferlib/ocean/drive/drive.h

+    int stopped; // 0/1 -> freeze if set
+    int removed; //0/1 -> remove from sim if set


It seems like removed does not need to be an additional variable (though maybe it does), if a vehicle is removed it will only have this status for a single step

My idea was to use "removed" variable to control the move_dynamics function, which just returns in case the removed flag is set.

I will see if there's another way though !

eugenevinitsky · 2025-10-14T19:21:36Z

pufferlib/ocean/drive/drive.h

-
-    if(collided == VEHICLE_COLLISION && is_active_agent == 1 && respawned){
-        agent->collision_state = 0;
+    if(collided == VEHICLE_COLLISION){


I think we want this for non-vehicle collisions too?

By non-vehicle collision, do you mean offroad, or is there any other scenario as well ?

I think @eugenevinitsky is referring to collisions with other road users, such as cyclists and pedestrians. Since these are currently not created, it's probably easiest to take care of this in a separate PR

Hm, yeah makes sense !

eugenevinitsky · 2025-10-14T19:22:09Z

pufferlib/ocean/drive/drive.h

+        e->stopped = 0;
+        e->removed = 0;


think we need to send a done signal when either of these events happen

I will update this !

eugenevinitsky · 2025-10-14T19:22:33Z

pufferlib/ocean/drive/drive.h

+    env->post_collision_action = 1;
+    env->post_offroad_action = 1;
    env->dynamics_model = CLASSIC;


what's this for?

I added two parameters to allow for independent behavior for collision and offroad. Ex - We could also simulate the behavior when a collision "removes" agent from the scene and "freezes" if it goes offroad.
Setting both to 1 (as above) will set it to "remove" for both collision and offroad

Victorbares · 2025-10-15T13:22:24Z

On the remove behavior, don't we want on a collision to "respawn" the agent like if it have reach the goal (but with the reward of collision) ?

eugenevinitsky · 2025-10-15T13:35:40Z

In general I don't like the respawn behavior at all, it's challenging to re-insert an agent into a dynamic scene. I'd prefer to remove the respawn behavior entirely

daphne-cornelisse · 2025-10-16T18:36:51Z

In general I don't like the respawn behavior at all, it's challenging to re-insert an agent into a dynamic scene. I'd prefer to remove the respawn behavior entirely

We decided to keep the respawning for now and first merge #76. Respawning is a good fallback option.

Making a note here to bring this up again during our next sync meeting @vcharraut @eugenevinitsky @Victorbares

daphne-cornelisse · 2025-10-16T18:39:10Z

pufferlib/config/ocean/drive.ini

 goal_radius = 2.0 # Meters around goal to be considered "reached"
 resample_frequency = 910
 num_maps = 1
+collision_behaviour = 1 # 0 - Ignore, 1 - Stop, 2 - Remove


I think the current default is ignore? Ensure the default option is what is currently in main. Running this with the default params should give exactly the same results as what we have in main

daphne-cornelisse · 2025-10-16T18:39:29Z

pufferlib/config/ocean/drive.ini

 scale = auto
+
+
+[sweep.env.offroad_behaviour]


Can be removed

daphne-cornelisse · 2025-10-16T18:40:11Z

pufferlib/config/ocean/drive.ini

 resample_frequency = 910
 num_maps = 1
+collision_behaviour = 1 # 0 - Ignore, 1 - Stop, 2 - Remove
+offroad_behaviour = 1


Missing comment

daphne-cornelisse · 2025-10-16T18:40:46Z

pufferlib/ocean/drive/drive.h

    if (respawned_collided_with_car) {
-        agent->collision_state = 0;
-        agent->metrics_array[COLLISION_IDX] = 0.0f;
+            agent->collision_state = 0;


Apply linting

Aditya-Gupta26 added 6 commits October 4, 2025 22:10

Adding Stopping/Removal upon collision/offroad

36a1870

Removed bugs

315667a

Fixed Bugs

354b585

removed an extra script created for testing

4aa3bde

Precommit changes

5ead214

Precommit changes

27ec394

Aditya-Gupta26 assigned eugenevinitsky and daphne-cornelisse Oct 8, 2025

Aditya-Gupta26 requested review from daphne-cornelisse and eugenevinitsky October 8, 2025 16:35

Aditya-Gupta26 unassigned eugenevinitsky and daphne-cornelisse Oct 8, 2025

daphne-cornelisse changed the title ~~Agupta/add post collision cond~~ Add remove and stop collision behaviors Oct 9, 2025

daphne-cornelisse added the enhancement New feature or request label Oct 9, 2025

daphne-cornelisse reviewed Oct 9, 2025

View reviewed changes

eugenevinitsky reviewed Oct 14, 2025

View reviewed changes

Aditya-Gupta26 added 3 commits October 16, 2025 09:42

Add .ini support

6c134d0

Added .ini support

be5adae

Added .ini support

da751d6

daphne-cornelisse requested changes Oct 16, 2025

View reviewed changes

Updated default conditions

ebb5db8

Aditya-Gupta26 added 3 commits October 16, 2025 21:10

Updates

2732fee

Updates

60fc351

updates

e3ea3a2

		int stopped; // 0/1 -> freeze if set
		int removed; //0/1 -> remove from sim if set

		#define STOP_AGENT 1
		#define REMOVE_AGENT 2

Add remove and stop collision behaviors #78

Are you sure you want to change the base?

Add remove and stop collision behaviors #78

Conversation

Aditya-Gupta26 commented Oct 8, 2025

Uh oh!

daphne-cornelisse commented Oct 8, 2025

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

daphne-cornelisse commented Oct 12, 2025

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

daphne-cornelisse Oct 16, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Victorbares commented Oct 15, 2025

Uh oh!

eugenevinitsky commented Oct 15, 2025

Uh oh!

daphne-cornelisse commented Oct 16, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

5 participants

daphne-cornelisse Oct 16, 2025 •

edited

Loading

daphne-cornelisse commented Oct 16, 2025 •

edited

Loading