diff --git a/.gitignore b/.gitignore index a6084f713..9aabc7121 100644 --- a/.gitignore +++ b/.gitignore @@ -27,11 +27,15 @@ data/raw/* data/processed/validation/* data/processed/training/* data/processed/testing/* +data/processed/validation_interactive/* data/processed/pop_play/* data/processed/hand_designed/* -analyze/figures/* +figures/ +checkpoints/ +figures_data/ data/other/* wosac/ +data/processed/validation_random/* # Logging /wandb diff --git a/baselines/ppo/config/ppo_base_puffer.yaml b/baselines/ppo/config/ppo_base_puffer.yaml index 84cff17f2..8a83715cb 100644 --- a/baselines/ppo/config/ppo_base_puffer.yaml +++ b/baselines/ppo/config/ppo_base_puffer.yaml @@ -15,7 +15,7 @@ environment: # Overrides default environment configs (see pygpudrive/env/config. road_map_obs: true partner_obs: true norm_obs: true - add_reference_path: false + add_reference_pos_xy: false remove_non_vehicles: false # If false, all agents are included (vehicles, pedestrians, cyclists) lidar_obs: false # NOTE: Setting this to true currently turns of the other observation types reward_type: "weighted_combination" # Options: "weighted_combination", "reward_conditioned" @@ -42,11 +42,7 @@ environment: # Overrides default environment configs (see pygpudrive/env/config. obs_radius: 50.0 # Visibility radius of the agents action_space_steer_disc: 13 action_space_accel_disc: 7 - # Versatile Behavior Diffusion (VBD): This will slow down training - use_vbd: false init_steps: 0 - vbd_trajectory_weight: 0.1 # Importance of distance to the vbd trajectories in the reward function - vbd_in_obs: false wandb: entity: "" diff --git a/baselines/ppo/config/ppo_waypoint.yaml b/baselines/ppo/config/ppo_guided_autonomy.yaml similarity index 54% rename from baselines/ppo/config/ppo_waypoint.yaml rename to baselines/ppo/config/ppo_guided_autonomy.yaml index 24b95d655..ad1c4a543 100644 --- a/baselines/ppo/config/ppo_waypoint.yaml +++ b/baselines/ppo/config/ppo_guided_autonomy.yaml @@ -2,59 +2,66 @@ mode: "train" use_rnn: false eval_model_path: null baseline: false -data_dir: data/processed/wosac/validation_json_1 +data_dir: data/processed/wosac/validation_interactive/json continue_training: false model_cpt: null environment: # Overrides default environment configs (see pygpudrive/env/config.py) name: "gpudrive" - num_worlds: 100 # Number of parallel environments + num_worlds: 10 # Number of parallel environments k_unique_scenes: 1 # Number of unique scenes to sample from - max_controlled_agents: 64 # Maximum number of agents controlled by the model. Make sure this aligns with the variable kMaxAgentCount in src/consts.hpp + max_controlled_agents: 32 # Maximum number of agents controlled by the model. Make sure this aligns with the variable kMaxAgentCount in src/consts.hpp ego_state: true road_map_obs: true partner_obs: true norm_obs: true + add_previous_action: true + + # Guidance through expert suggestions + guidance: true # If true, the agent will be guided by expert suggestions + guidance_mode: "log_replay" # Options: "log_replay", "vbd_amortized", "vbd_online" + add_reference_pos_xy: true # If true, a reference path is added to the ego observation + add_reference_speed: true # If true, the reference speeds are added to the ego observation + add_reference_heading: true # If true, the reference heading are added to the ego observation + smoothen_trajectory: true # If true, the velocities and headings are smoothed + guidance_dropout_prob: 0.0 # Probability of out guidance points + + # Reward function + reward_type: "guided_autonomy" + collision_weight: -0.1 + off_road_weight: -0.1 + guidance_speed_weight: 0.005 + guidance_heading_weight: 0.005 + smoothness_weight: 0.0001 + + init_mode: wosac_train + dynamics_model: "classic" remove_non_vehicles: false collision_behavior: "ignore" goal_behavior: "ignore" - reward_type: "follow_waypoints" - waypoint_distance_scale: 0.01 - speed_distance_scale: 0.01 - jerk_smoothness_scale: 0.001 - - init_mode: all_non_trivial #womd_tracks_to_predict - dynamics_model: "classic" polyline_reduction_threshold: 0.1 # Rate at which to sample points from the polyline (0 is use all closest points, 1 maximum sparsity), needs to be balanced with kMaxAgentMapObservationsCount sampling_seed: 42 # If given, the set of scenes to sample from will be deterministic, if None, the set of scenes will be random obs_radius: 50.0 # Visibility radius of the agents - action_space_steer_disc: 15 - action_space_accel_disc: 11 + view_cone_half_angle: 3.14159 # -> 360° total view field + view_occlude_objects: false + action_space_steer_disc: 13 + action_space_accel_disc: 7 + action_space_head_tilt_disc: 1 + vehicle_steer_range: [-1.57, 1.57] # pi/2 = 1.57, pi/3 = 1.05 + vehicle_accel_range: [-4.0, 4.0] + head_tilt_action_range: [-0.7854, 0.7854] # radians (±45°) init_steps: 0 # Warmup steps goal_achieved_weight: 0.0 - collision_weight: -0.2 - off_road_weight: -0.2 - - # Versatile Behavior Diffusion (VBD) - use_vbd: false - init_steps: 0 - vbd_trajectory_weight: 0.1 # Importance of distance to the vbd trajectories in the reward function - vbd_in_obs: false - - # Planning guidance - add_reference_path: true # If true, a reference path is added to the ego observation - add_reference_speed: true # If true, the reference speed (scalar) is added to the ego observation - prob_reference_dropout: 0.0 # Value between 0 and 1, probability of a reference point to be zeroed out wandb: entity: "" project: "humanlike" - group: "debug" + group: "" mode: "online" # Options: online, offline, disabled tags: ["ppo", "ff"] train: - exp_id: waypoint_rs # Set dynamically in the script if needed + exp_id: guidance_logs # Set dynamically in the script if needed seed: 42 cpu_offload: false device: "cuda" # Dynamically set to cuda if available, else cpu @@ -64,56 +71,58 @@ train: # # # Data sampling # # # resample_scenes: false - resample_dataset_size: 500 # Number of unique scenes to sample from - resample_interval: 2_000_000 + resample_dataset_size: 10_000 # Number of unique scenes to sample from + resample_interval: 5_000_000 sample_with_replacement: true shuffle_dataset: true file_prefix: "" # # # PPO # # # torch_deterministic: false - total_timesteps: 2_000_000_000 - batch_size: 131072 + total_timesteps: 4_000_000_000 + batch_size: 65536 minibatch_size: 8192 learning_rate: 3e-4 anneal_lr: true - gamma: 0.99 + gamma: 1.0 gae_lambda: 0.95 update_epochs: 4 norm_adv: true clip_coef: 0.2 clip_vloss: false vf_clip_coef: 0.2 - ent_coef: 0.005 + ent_coef: 0.01 vf_coef: 0.5 max_grad_norm: 0.5 target_kl: null # # # Logging # # # - log_window: 500 + log_window: 100 track_realism_metrics: true # Log human-like metrics track_n_worlds: 3 # Number of worlds to track # # # Network # # # network: - embed_dim: 64 # Embedding of the input features + embed_dim: 256 # Embedding of the input features dropout: 0.01 class_name: "Agent" num_parameters: 0 # Total trainable parameters, to be filled at runtime # # # Checkpointing # # # - checkpoint_interval: 250 # Save policy every k iterations + checkpoint_interval: 200 # Save policy every k iterations checkpoint_path: "./runs" # # # Rendering # # # render: true # Determines whether to render the environment (note: will slow down training) render_3d: false # Render simulator state in 3d or 2d - render_interval: 200 # Render every k iterations + render_interval: 10 # Render every k iterations + render_every_t: 5 # Render every k timesteps render_k_scenarios: 1 # Number of scenarios to render + render_agent_idx: [0] # Agent observations to render render_format: "mp4" # Options: gif, mp4 - render_fps: 20 # Frames per second + render_fps: 5 # Frames per second zoom_radius: 100 - plot_waypoints: true + plot_guidance_pos_xy: true vec: backend: "native" # Only native is currently supported diff --git a/baselines/ppo/config/ppo_population.yaml b/baselines/ppo/config/ppo_population.yaml index 4ff05427c..2c3d29513 100644 --- a/baselines/ppo/config/ppo_population.yaml +++ b/baselines/ppo/config/ppo_population.yaml @@ -8,8 +8,8 @@ model_cpt: null environment: # Overrides default environment configs (see pygpudrive/env/config.py) name: "gpudrive" - num_worlds: 100 # Number of parallel environments - k_unique_scenes: 100 # Number of unique scenes to sample from + num_worlds: 10 # Number of parallel environments + k_unique_scenes: 10 # Number of unique scenes to sample from max_controlled_agents: 64 # Maximum number of agents controlled by the model. Make sure this aligns with the variable kMaxAgentCount in src/consts.hpp ego_state: true road_map_obs: true @@ -17,7 +17,7 @@ environment: # Overrides default environment configs (see pygpudrive/env/config. norm_obs: true remove_non_vehicles: false # If false, all agents are included (vehicles, pedestrians, cyclists) lidar_obs: false # NOTE: Setting this to true currently turns of the other observation types - reward_type: "reward_conditioned" # Options: "weighted_combination", "reward_conditioned", "follow_waypoints" + reward_type: "reward_conditioned" # Options: "weighted_combination", "reward_conditioned", "guided_autonomy" collision_weight: -0.75 off_road_weight: -0.75 goal_achieved_weight: 1.0 @@ -42,16 +42,11 @@ environment: # Overrides default environment configs (see pygpudrive/env/config. action_space_steer_disc: 13 action_space_accel_disc: 7 init_steps: 0 # Warmup steps - # Versatile Behavior Diffusion (VBD): This will slow down training - use_vbd: false - vbd_model_path: "gpudrive/integrations/vbd/weights/epoch=18.ckpt" - vbd_trajectory_weight: 0.1 # Importance of distance to the vbd trajectories in the reward function - vbd_in_obs: false wandb: entity: "" project: "kshotagents" - group: "separate_actor_critic" + group: "debug_mini" mode: "online" # Options: online, offline, disabled tags: ["ppo", "ff"] @@ -110,7 +105,7 @@ train: render_format: "mp4" # Options: gif, mp4 render_fps: 20 # Frames per second zoom_radius: 100 - plot_waypoints: true + plot_guidance_pos_xy: true vec: backend: "native" # Only native is currently supported diff --git a/baselines/ppo/ppo_waypoint.py b/baselines/ppo/ppo_guided_autonomy.py similarity index 70% rename from baselines/ppo/ppo_waypoint.py rename to baselines/ppo/ppo_guided_autonomy.py index 621055635..1ed73e57d 100644 --- a/baselines/ppo/ppo_waypoint.py +++ b/baselines/ppo/ppo_guided_autonomy.py @@ -45,6 +45,26 @@ def load_config(config_path): def make_agent(env, config): """Create a policy based on the environment.""" + + if config.continue_training: + print("Loading checkpoint...") + # Load checkpoint + saved_cpt = torch.load( + f=config.model_cpt, + weights_only=False, + ) + + # Create policy architecture from saved checkpoint + agent = Agent( + config=saved_cpt["config"], + embed_dim=saved_cpt["model_arch"]["embed_dim"], + action_dim=saved_cpt["action_dim"], + ) + + # Load the model parameters + agent.load_state_dict(saved_cpt["parameters"]) + return agent + return Agent( config=config.environment, embed_dim=config.train.network.embed_dim, @@ -106,35 +126,52 @@ def init_wandb(args, name, id=None, resume=True): def run( config_path: Annotated[ str, typer.Argument(help="The path to the default configuration file") - ] = "baselines/ppo/config/ppo_waypoint.yaml", + ] = "baselines/ppo/config/ppo_guided_autonomy.yaml", *, # fmt: off + # Dataset options + data_dir: Annotated[Optional[str], typer.Option(help="The path to the dataset")] = None, # Environment options num_worlds: Annotated[Optional[int], typer.Option(help="Number of parallel envs")] = None, max_controlled_agents: Annotated[Optional[int], typer.Option(help="Number of controlled agents")] = None, k_unique_scenes: Annotated[Optional[int], typer.Option(help="The number of unique scenes to sample")] = None, collision_weight: Annotated[Optional[float], typer.Option(help="The weight for collision penalty")] = None, off_road_weight: Annotated[Optional[float], typer.Option(help="The weight for off-road penalty")] = None, - goal_achieved_weight: Annotated[Optional[float], typer.Option(help="The weight for goal-achieved reward")] = None, - waypoint_distance_scale: Annotated[Optional[float], typer.Option(help="Scale for realism rewards")] = None, - speed_distance_scale: Annotated[Optional[float], typer.Option(help="Scale for realism rewards")] = None, - jerk_smoothness_scale: Annotated[Optional[float], typer.Option(help="Scale for realism rewards")] = None, + guidance_speed_weight: Annotated[Optional[float], typer.Option(help="Scale for realism rewards")] = None, + guidance_heading_weight: Annotated[Optional[float], typer.Option(help="Scale for realism rewards")] = None, + add_reference_pos_xy: Annotated[Optional[int], typer.Option(help="0 or 1")] = None, + add_reference_speed: Annotated[Optional[int], typer.Option(help="0 or 1")] = None, + add_reference_heading: Annotated[Optional[int], typer.Option(help="0 or 1")] = None, + add_previous_action: Annotated[Optional[int], typer.Option(help="0 or 1")] = None, + smoothen_trajectory: Annotated[Optional[int], typer.Option(help="0 or 1")] = None, + guidance_dropout_prob: Annotated[Optional[float], typer.Option(help="The dropout probability for the guidance")] = None, + + action_space_steer_disc: Annotated[Optional[int], typer.Option(help="Discretization for steer action")] = None, + action_space_accel_disc: Annotated[Optional[int], typer.Option(help="Discretization for acceleration action")] = None, + action_space_head_tilt_disc: Annotated[Optional[int], typer.Option(help="Discretization for head tilt action")] = None, + + vehicle_steer_range: Annotated[Optional[list[float]], typer.Option(help="The vehicle steer range, e.g. --vehicle-steer-range -1.57 --vehicle-steer-range 1.57")] = None, + vehicle_accel_range: Annotated[Optional[list[float]], typer.Option(help="The vehicle accel range, e.g. --vehicle-accel-range -4.0 --vehicle-accel-range 4.0")] = None, + head_tilt_action_range: Annotated[Optional[list[float]], typer.Option(help="The head tilt action range, e.g. --head-tilt-action-range -0.7854 --head-tilt-action-range 0.7854")] = None, + + view_cone_half_angle: Annotated[Optional[float], typer.Option(help="The half angle for the view cone")] = None, + remove_occluded_agents: Annotated[Optional[int], typer.Option(help="Whether to occlude objects in view; 0 or 1")] = None, + + smoothness_weight: Annotated[Optional[float], typer.Option(help="Scale for realism rewards")] = None, dist_to_goal_threshold: Annotated[Optional[float], typer.Option(help="The distance threshold for goal-achieved")] = None, randomize_rewards: Annotated[Optional[int], typer.Option(help="If reward_type == reward_conditioned, choose the condition_mode; 0 or 1")] = 0, sampling_seed: Annotated[Optional[int], typer.Option(help="The seed for sampling scenes")] = None, obs_radius: Annotated[Optional[float], typer.Option(help="The radius for the observation")] = None, collision_behavior: Annotated[Optional[str], typer.Option(help="The collision behavior; 'ignore' or 'remove'")] = None, remove_non_vehicles: Annotated[Optional[int], typer.Option(help="Remove non-vehicles from the scene; 0 or 1")] = None, - use_vbd: Annotated[Optional[bool], typer.Option(help="Use VBD model for trajectory predictions")] = False, vbd_model_path: Annotated[Optional[str], typer.Option(help="Path to VBD model checkpoint")] = None, - vbd_trajectory_weight: Annotated[Optional[float], typer.Option(help="Weight for VBD trajectory deviation penalty")] = 0.1, - vbd_in_obs: Annotated[Optional[bool], typer.Option(help="Include VBD predictions in the observation")] = False, init_steps: Annotated[Optional[int], typer.Option(help="Environment warmup steps")] = 0, - + # Train options seed: Annotated[Optional[int], typer.Option(help="The seed for training")] = None, learning_rate: Annotated[Optional[float], typer.Option(help="The learning rate for training")] = None, anneal_lr: Annotated[Optional[int], typer.Option(help="Whether to anneal the learning rate over time; 0 or 1")] = None, + cpu_offload: Annotated[Optional[int], typer.Option(help="Whether to offload the buffer to cpu")] = None, resample_scenes: Annotated[Optional[int], typer.Option(help="Whether to resample scenes during training; 0 or 1")] = None, resample_interval: Annotated[Optional[int], typer.Option(help="The interval for resampling scenes")] = None, resample_dataset_size: Annotated[Optional[int], typer.Option(help="The size of the dataset to sample from")] = None, @@ -157,6 +194,9 @@ def run( # Load default configs config = load_config(config_path) + if data_dir is not None: + config.data_dir = data_dir + if config.environment.reward_type == "reward_conditioned": if bool(randomize_rewards): config.environment.condition_mode = "random" @@ -174,22 +214,42 @@ def run( "k_unique_scenes": k_unique_scenes, "collision_weight": collision_weight, "off_road_weight": off_road_weight, - "goal_achieved_weight": goal_achieved_weight, - "waypoint_distance_scale": waypoint_distance_scale, - "jerk_smoothness_scale": jerk_smoothness_scale, - "speed_distance_scale": speed_distance_scale, + "smoothness_weight": smoothness_weight, + "guidance_speed_weight": guidance_speed_weight, + "guidance_heading_weight": guidance_heading_weight, "dist_to_goal_threshold": dist_to_goal_threshold, "sampling_seed": sampling_seed, "obs_radius": obs_radius, + "view_cone_half_angle": view_cone_half_angle, + "remove_occluded_agents": None if remove_occluded_agents is None else bool(remove_occluded_agents), "collision_behavior": collision_behavior, + "guidance_dropout_prob": guidance_dropout_prob, + "action_space_steer_disc": action_space_steer_disc, + "action_space_accel_disc": action_space_accel_disc, + "action_space_head_tilt_disc": action_space_head_tilt_disc, + "vehicle_steer_range": vehicle_steer_range, + "vehicle_accel_range": vehicle_accel_range, + "head_tilt_action_range": head_tilt_action_range, "remove_non_vehicles": None if remove_non_vehicles is None else bool(remove_non_vehicles), - "use_vbd": use_vbd, "vbd_model_path": vbd_model_path, - "vbd_trajectory_weight": vbd_trajectory_weight, - "vbd_in_obs": vbd_in_obs, "init_steps": init_steps, + "add_previous_action": None + if add_previous_action is None + else bool(add_previous_action), + "add_reference_pos_xy": None + if add_reference_pos_xy is None + else bool(add_reference_pos_xy), + "add_reference_speed": None + if add_reference_speed is None + else bool(add_reference_speed), + "add_reference_heading": None + if add_reference_heading is None + else bool(add_reference_heading), + "smoothen_trajectory": None + if smoothen_trajectory is None + else bool(smoothen_trajectory), } config.environment.update( {k: v for k, v in env_config.items() if v is not None} @@ -206,6 +266,7 @@ def run( "resample_dataset_size": resample_dataset_size, "total_timesteps": total_timesteps, "ent_coef": ent_coef, + "cpu_offload": None if cpu_offload is None else bool(cpu_offload), "update_epochs": update_epochs, "batch_size": batch_size, "minibatch_size": minibatch_size, diff --git a/baselines/ppo/ppo_pufferlib.py b/baselines/ppo/ppo_pufferlib.py index b92467459..142222d1e 100644 --- a/baselines/ppo/ppo_pufferlib.py +++ b/baselines/ppo/ppo_pufferlib.py @@ -172,9 +172,6 @@ def run( obs_radius: Annotated[Optional[float], typer.Option(help="The radius for the observation")] = None, collision_behavior: Annotated[Optional[str], typer.Option(help="The collision behavior; 'ignore' or 'remove'")] = None, remove_non_vehicles: Annotated[Optional[int], typer.Option(help="Remove non-vehicles from the scene; 0 or 1")] = None, - use_vbd: Annotated[Optional[bool], typer.Option(help="Use VBD model for trajectory predictions")] = False, - vbd_trajectory_weight: Annotated[Optional[float], typer.Option(help="Weight for VBD trajectory deviation penalty")] = 0.1, - vbd_in_obs: Annotated[Optional[bool], typer.Option(help="Include VBD predictions in the observation")] = False, init_steps: Annotated[Optional[int], typer.Option(help="Environment warmup steps")] = 0, # Train options seed: Annotated[Optional[int], typer.Option(help="The seed for training")] = None, @@ -227,9 +224,6 @@ def run( "remove_non_vehicles": None if remove_non_vehicles is None else bool(remove_non_vehicles), - "use_vbd": use_vbd, - "vbd_trajectory_weight": vbd_trajectory_weight, - "vbd_in_obs": vbd_in_obs, "init_steps": init_steps, } config.environment.update( diff --git a/checkpoints/model_waypoint_rs__S_1__04_23_19_37_26_618_003500.pt b/checkpoints/model_waypoint_rs__S_1__04_23_19_37_26_618_003500.pt deleted file mode 100644 index 138500377..000000000 Binary files a/checkpoints/model_waypoint_rs__S_1__04_23_19_37_26_618_003500.pt and /dev/null differ diff --git a/data/processed/tl/tfrecord-00000-of-00150_2a173b334be3d32c.json b/data/processed/tl/tfrecord-00000-of-00150_2a173b334be3d32c.json new file mode 100644 index 000000000..87cf9bd5e --- /dev/null +++ b/data/processed/tl/tfrecord-00000-of-00150_2a173b334be3d32c.json @@ -0,0 +1 @@ +{"name": "tfrecord-00000-of-00150_2a173b334be3d32c.json", "scenario_id": "2a173b334be3d32c", "objects": [{"position": [{"x": 10875.7451171875, "y": 3063.306640625, "z": 59.78183431717427}, {"x": 10877.17578125, "y": 3063.314453125, "z": 59.784291772986236}, {"x": 10878.6552734375, "y": 3063.333740234375, "z": 59.796888727287865}, {"x": 10880.14453125, "y": 3063.34716796875, "z": 59.79582762417744}, {"x": 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+def _filter_small_segments(segments, min_length=1e-6): + """Filter out segments that are too short.""" + valid_segments = [] + for segment in segments: + start, end = segment + length = np.linalg.norm(np.array(end) - np.array(start)) + if length >= min_length: + valid_segments.append(segment) + return valid_segments + + +def _generate_mesh(segments, height=2.0, width=0.2): + """Generate a mesh from line segments.""" + segments = np.array(segments, dtype=np.float64) + starts, ends = segments[:, 0, :], segments[:, 1, :] + directions = ends - starts + lengths = np.linalg.norm(directions, axis=1, keepdims=True) + unit_directions = directions / lengths + + # Create the base box mesh with the height along the z-axis + base_box = trimesh.creation.box(extents=[1.0, width, height]) + base_box.apply_translation([0.5, 0, 0]) # Align box's origin to its start + z_axis = np.array([0, 0, 1]) + angles = np.arctan2( + unit_directions[:, 1], unit_directions[:, 0] + ) # Rotation in the XY plane + + rectangles = [] + lengths = lengths.flatten() + + for i, (start, length, angle) in enumerate(zip(starts, lengths, angles)): + # Copy the base box and scale to match segment length + scaled_box = base_box.copy() + scaled_box.apply_scale([length, 1.0, 1.0]) + + # Apply rotation around the z-axis + rotation_matrix = trimesh.transformations.rotation_matrix( + angle, z_axis + ) + scaled_box.apply_transform(rotation_matrix) + + # Translate the box to the segment's starting point + scaled_box.apply_translation(start) + + rectangles.append(scaled_box) + + # Concatenate all boxes into a single mesh + mesh = trimesh.util.concatenate(rectangles) + return mesh + + +def _create_agent_box_mesh(position, heading, length, width, height): + """Create a box mesh for an agent at a given position and orientation. + + Args: + position (list): [x, y, z] position + heading (float): yaw angle in radians + length (float): length of the box + width (float): width of the box + height (float): height of the box + + Returns: + trimesh.Trimesh: Box mesh positioned and oriented correctly + """ + # Create box centered at origin + box = trimesh.creation.box(extents=[length, width, height]) + + # Rotate box to align with heading + z_axis = np.array([0, 0, 1]) + rotation_matrix = trimesh.transformations.rotation_matrix(heading, z_axis) + box.apply_transform(rotation_matrix) + + # Move box to position + box.apply_translation(position) + + return box + + +def calculate_trajectory_length(positions, valid_mask, start_idx, end_idx=90): + """ + Calculate the sum of valid trajectory segments from start_idx to end_idx. + + Args: + positions: List of position dictionaries with x, y, z coordinates + valid_mask: List of boolean values indicating valid timesteps + start_idx: Starting index for calculation + end_idx: Ending index for calculation + + Returns: + float: Sum of valid trajectory segments length + """ + # Limit end_idx to the maximum available index + end_idx = min(end_idx, len(positions) - 1) + + # Initialize total length + total_length = 0.0 + + # Iterate through positions from start_idx to end_idx + for i in range(start_idx, end_idx): + # Check if both current and next positions are valid + if valid_mask[i] and valid_mask[i + 1]: + # Calculate distance between consecutive valid positions + current_pos = np.array([positions[i]['x'], positions[i]['y'], positions[i]['z']]) + next_pos = np.array([positions[i + 1]['x'], positions[i + 1]['y'], positions[i + 1]['z']]) + + segment_length = np.linalg.norm(next_pos - current_pos) + total_length += segment_length + + return total_length + + +def process_scene(args): + """Process a single scene file to detect parked vehicles.""" + filepath, init_steps, threshold = args + try: + with open(filepath, 'r') as f: + scene = json.load(f) + + # Initialize counters for this scene + valid_vehicles = 0 + colliding_vehicles = 0 + parked_vehicles = 0 + moving_vehicles = 0 + + # Extract road data for collision checking + roads = scene['roads'] + edge_segments = [] + + # Collect road edge segments for collision checking + for road in roads: + if road["type"] == "road_edge": + edge_vertices = [[r["x"], r["y"], r["z"]] for r in road["geometry"]] + edge_segments.extend([ + [edge_vertices[i], edge_vertices[i + 1]] + for i in range(len(edge_vertices) - 1) + ]) + + # Generate road edge mesh + edge_segments = _filter_small_segments(edge_segments) + edge_mesh = _generate_mesh(edge_segments) + + # Create collision managers + road_collision_manager = trimesh.collision.CollisionManager() + road_collision_manager.add_object("road_edges", edge_mesh) + vehicle_collision_manager = trimesh.collision.CollisionManager() + + # First, collect all valid vehicles at init_steps + valid_vehicle_objects = [] + for obj in scene['objects']: + # Check if object is a vehicle and valid at init_steps + if (obj['type'] == 'vehicle' and + init_steps < len(obj['valid']) and + obj['valid'][init_steps]): + + valid_vehicles += 1 + valid_vehicle_objects.append(obj) + + # Create vehicle box at init_steps + position = [ + obj['position'][init_steps]['x'], + obj['position'][init_steps]['y'], + obj['position'][init_steps]['z'] + ] + heading = obj['heading'][init_steps] + vehicle_box = _create_agent_box_mesh( + position, + heading, + obj['length'], + obj['width'], + obj['height'] + ) + vehicle_collision_manager.add_object(str(obj['id']), vehicle_box) + + # Check for collisions with other vehicles + _, vehicle_collision_pairs = vehicle_collision_manager.in_collision_internal(return_names=True) + + # Check for collisions with road edges + _, road_collision_pairs = vehicle_collision_manager.in_collision_other( + road_collision_manager, return_names=True + ) + + # Combine all colliding vehicle IDs + colliding_vehicle_ids = set() + + # Add vehicles that collide with each other + for v1, v2 in vehicle_collision_pairs: + colliding_vehicle_ids.add(v1) + colliding_vehicle_ids.add(v2) + + # Add vehicles that collide with road edges + for v_id, _ in road_collision_pairs: + colliding_vehicle_ids.add(v_id) + + colliding_vehicles = len(colliding_vehicle_ids) + + # Process each colliding vehicle to determine if parked or moving + for obj in valid_vehicle_objects: + if str(obj['id']) in colliding_vehicle_ids: + # Calculate trajectory length from init_steps to 90 or last timestep + trajectory_length = calculate_trajectory_length( + obj['position'], + obj['valid'], + init_steps, + min(90, len(obj['valid']) - 1) + ) + + # Classify as parked or moving based on threshold + if trajectory_length < threshold: + parked_vehicles += 1 + else: + moving_vehicles += 1 + + return filepath, (valid_vehicles, colliding_vehicles, parked_vehicles, moving_vehicles) + + except Exception as e: + logging.error(f"Error processing {filepath}: {e}") + return filepath, None + + +def process_directory(args): + """Process all JSON files in directory.""" + input_dir = Path(args.input_dir) + num_workers = args.num_workers + init_steps = args.init_steps + threshold = args.threshold + + # Get all JSON files + json_files = list(input_dir.glob("*.json")) + if not json_files: + logging.error(f"No JSON files found in {input_dir}") + return + + logging.info(f"Found {len(json_files)} JSON files to process") + + # Calculate batch size based on available memory + mem_info = psutil.virtual_memory() + available_memory = mem_info.available / (1024**3) # Convert to GB + usable_memory = int(available_memory * 0.9) # Use 90% of available memory + batch_size = min(1000 * usable_memory, len(json_files)) + + # Initialize counters using numpy int64 to handle large numbers + total_processed = np.int64(0) + total_valid_vehicles = np.int64(0) + total_colliding_vehicles = np.int64(0) + total_parked_vehicles = np.int64(0) + total_moving_vehicles = np.int64(0) + + # Process files in batches + for i in range(0, len(json_files), int(batch_size)): + batch = json_files[i:i + int(batch_size)] + + # Process batch in parallel + with Pool(num_workers) as pool: + results = list(tqdm( + pool.imap(process_scene, [(str(f), init_steps, threshold) for f in batch]), + total=len(batch), + desc=f"Processing batch {i//int(batch_size) + 1}" + )) + + # Count results + for filepath, counts in results: + if counts is not None: + valid_vehicles, colliding_vehicles, parked_vehicles, moving_vehicles = counts + total_processed += 1 + total_valid_vehicles += valid_vehicles + total_colliding_vehicles += colliding_vehicles + total_parked_vehicles += parked_vehicles + total_moving_vehicles += moving_vehicles + + # Calculate percentages using float64 for precision + parked_percentage = (float(total_parked_vehicles) / float(total_colliding_vehicles) * 100) if total_colliding_vehicles > 0 else 0.0 + moving_percentage = (float(total_moving_vehicles) / float(total_colliding_vehicles) * 100) if total_colliding_vehicles > 0 else 0.0 + + logging.info(f"Processing complete!") + logging.info(f"Total files processed: {total_processed:,d}") + logging.info(f"Total vehicles valid at t={init_steps}: {total_valid_vehicles:,d}") + logging.info(f"Total vehicles in collision at t={init_steps}: {total_colliding_vehicles:,d}") + logging.info(f"Total parked vehicles: {total_parked_vehicles:,d} ({parked_percentage:.2f}%)") + logging.info(f"Total moving vehicles: {total_moving_vehicles:,d} ({moving_percentage:.2f}%)") + + # Save results to a JSON file for future reference + results = { + "total_files_processed": int(total_processed), + "total_valid_vehicles": int(total_valid_vehicles), + "total_colliding_vehicles": int(total_colliding_vehicles), + "total_parked_vehicles": int(total_parked_vehicles), + "total_moving_vehicles": int(total_moving_vehicles), + "parked_percentage": float(parked_percentage), + "moving_percentage": float(moving_percentage) + } + + with open('parked_vehicle_results.json', 'w') as f: + json.dump(results, f, indent=4) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser( + description="Analyze vehicle parking behavior in JSON files" + ) + parser.add_argument( + "input_dir", + help="Directory containing JSON files to process" + ) + parser.add_argument( + "--num_workers", + type=int, + default=cpu_count(), + help="Number of worker processes (default: number of CPU cores)" + ) + parser.add_argument( + "--init_steps", + type=int, + default=10, + help="Initial timestep to check for vehicle validity and collisions (default: 10)" + ) + parser.add_argument( + "--threshold", + type=float, + default=1.0, + help="Threshold for trajectory length to classify a vehicle as moving (default: 0.2)" + ) + + args = parser.parse_args() + process_directory(args) \ No newline at end of file diff --git a/data_utils/process_waymo_files.py b/data_utils/process_waymo_files.py index fa3bdc2d4..c8f55f91a 100644 --- a/data_utils/process_waymo_files.py +++ b/data_utils/process_waymo_files.py @@ -168,6 +168,7 @@ def _init_tl_object(mapstate: scenario_pb2.DynamicMapState) -> Dict[int, Any]: "x": lane_state.stop_point.x, "y": lane_state.stop_point.y, "z": lane_state.stop_point.z, + "lane_id": lane_state.lane, } return returned_dict @@ -327,20 +328,16 @@ def waymo_to_scenario( # Construct the traffic light states tl_dict = defaultdict( - lambda: {"state": [], "x": [], "y": [], "z": [], "time_index": []} + lambda: {"state": [], "x": [], "y": [], "z": [], "time_index": [], "lane_id": []} ) all_keys = ["state", "x", "y", "z"] - i = 0 - for dynamic_map_state in protobuf.dynamic_map_states: + for i, dynamic_map_state in enumerate(protobuf.dynamic_map_states): traffic_light_dict = _init_tl_object(dynamic_map_state) - # there is a traffic light but we don't want traffic light scenes so just return - if len(traffic_light_dict) > 0: - return - for id, value in traffic_light_dict.items(): + for lane_id, value in traffic_light_dict.items(): for key in all_keys: - tl_dict[id][key].append(value[key]) - tl_dict[id]["time_index"].append(i) - i += 1 + tl_dict[lane_id][key].append(value[key]) + tl_dict[lane_id]["time_index"].append(i) + tl_dict[lane_id]["lane_id"].append(lane_id) # Construct the map states roads = [] @@ -630,9 +627,11 @@ def process_data(args): datasets = ["validation"] elif args.dataset == "testing": datasets = ["testing"] + elif args.dataset == "validation_interactive": + datasets = ["validation_interactive"] else: raise ValueError( - "Invalid dataset name. Must be one of: 'all', 'train', 'validation', or 'testing'" + "Invalid dataset name. Must be one of: 'all', 'train', 'validation', 'testing', or 'validation_interactive'." ) for dataset in datasets: diff --git a/data_utils/wosac_dataset.py b/data_utils/wosac_dataset.py new file mode 100644 index 000000000..911c9254f --- /dev/null +++ b/data_utils/wosac_dataset.py @@ -0,0 +1,269 @@ +import os +# Force JAX to use CPU only +os.environ["JAX_PLATFORMS"] = "cpu" + +import tensorflow as tf +import glob +import argparse +import random +import json +import pickle # Added for loading pickle files +import multiprocessing +from tqdm import tqdm +from functools import partial +from waymo_open_dataset.protos import scenario_pb2 + +def extract_scene_from_tfrecord(tfrecord_path, scene_id, output_path): + """ + Extract a specific scene from a TFRecord file based on its ID. + + Args: + tfrecord_path (str): Path to the TFRecord file + scene_id (str): ID of the scene to extract + output_path (str): Path to save the extracted scene + + Returns: + bool: True if scene was found and extracted, False otherwise + """ + dataset = tf.data.TFRecordDataset(tfrecord_path, compression_type="") + found = False + + for tf_data in dataset: + tf_data_bytes = tf_data.numpy() + scenario = scenario_pb2.Scenario() + scenario.ParseFromString(bytes(tf_data_bytes)) + + # Check if this is the scene we're looking for + if scenario.scenario_id == scene_id: + with tf.io.TFRecordWriter(output_path) as file_writer: + file_writer.write(tf_data_bytes) + found = True + break + + return found + +def process_single_scene(json_file, dataset, data_dir, tfrecord_dir, json_save_dir, tfrecord_save_dir): + """ + Process a single scene file. + + Args: + json_file (str): Path to the JSON file + dataset (str): Name of the dataset + data_dir (str): Base directory containing JSON files + tfrecord_dir (str): Directory containing TFRecord files + json_save_dir (str): Directory to save processed JSON files + tfrecord_save_dir (str): Directory to save processed TFRecord files + + Returns: + tuple: (json_file, success, message) + """ + try: + # Extract prefix and suffix from filename + filename = os.path.basename(json_file) + name_parts = os.path.splitext(filename)[0].split('_', 1) # Split on the first underscore only + if len(name_parts) != 2: + return json_file, False, f"Invalid filename format: {filename}, expected _.json" + + prefix, suffix = name_parts + + # Find corresponding TFRecord file + tfrecord_path = os.path.join(tfrecord_dir, dataset, f"{dataset}.{prefix}") + + if not os.path.exists(tfrecord_path): + return json_file, False, f"TFRecord file not found: {tfrecord_path}" + + # Copy the JSON file to the output directory with new name + json_output_path = os.path.join(json_save_dir, f"{suffix}.json") + + # Copy the JSON file content + with open(json_file, 'r') as f_in: + json_data = json.load(f_in) + + with open(json_output_path, 'w') as f_out: + json.dump(json_data, f_out) + + # Extract the scene from the TFRecord file + tfrecord_output_path = os.path.join(tfrecord_save_dir, f"{suffix}.tfrecords") + found = extract_scene_from_tfrecord(tfrecord_path, suffix, tfrecord_output_path) + + if not found: + # Remove the JSON file if the TFRecord extraction failed + os.remove(json_output_path) + return json_file, False, f"Scene {suffix} not found in TFRecord file: {tfrecord_path}" + + return json_file, True, "Successfully processed" + + except Exception as e: + return json_file, False, f"Error processing {json_file}: {str(e)}" + +def find_json_by_suffix(data_path, suffix): + """ + Find a JSON file with a specific suffix in a directory. + + Args: + data_path (str): Directory path to search in + suffix (str): Suffix to look for + + Returns: + str or None: Path to the JSON file if found, None otherwise + """ + json_files = glob.glob(os.path.join(data_path, '*.json')) + + for json_file in json_files: + filename = os.path.basename(json_file) + name_parts = os.path.splitext(filename)[0].split('_', 1) + if len(name_parts) == 2 and name_parts[1] == suffix: + return json_file + + return None + +def process(dataset, num_scenes, data_dir, tfrecord_dir, save_dir, num_workers, scene_ids_pkl=None): + """ + Process a specific dataset, selecting random scenes and extracting their TFRecords. + + Args: + dataset (str): Name of the dataset to process + num_scenes (int): Number of scenes to randomly select + data_dir (str): Directory containing JSON files + tfrecord_dir (str): Directory containing TFRecord files + save_dir (str): Directory to save processed files + num_workers (int): Number of worker processes to use + scene_ids_pkl (str): Path to pickle file containing scene IDs + """ + # Set up paths + data_path = os.path.join(data_dir, dataset) + + # Create output directories + json_save_dir = os.path.join(save_dir, f"{dataset}", "json") + tfrecord_save_dir = os.path.join(save_dir, f"{dataset}", "tfrecord") + os.makedirs(json_save_dir, exist_ok=True) + os.makedirs(tfrecord_save_dir, exist_ok=True) + + selected_files = [] + + # If pickle file with scene IDs is provided, use those IDs instead of random selection + if scene_ids_pkl: + try: + with open(scene_ids_pkl, 'rb') as f: + scene_ids = pickle.load(f) + + print(f"Loaded {len(scene_ids)} scene IDs from {scene_ids_pkl}") + + # Find corresponding JSON files for each scene ID + found_files = [] + not_found_ids = [] + + for suffix in scene_ids: + json_file = find_json_by_suffix(data_path, suffix) + if json_file: + found_files.append(json_file) + else: + not_found_ids.append(suffix) + + selected_files = found_files + + print(f"Found {len(selected_files)} matching JSON files, {len(not_found_ids)} scene IDs not found") + if not_found_ids and len(not_found_ids) < 10: + print(f"IDs not found: {', '.join(not_found_ids)}") + elif not_found_ids: + print(f"First 5 IDs not found: {', '.join(not_found_ids[:5])}, and {len(not_found_ids) - 5} more") + + except Exception as e: + print(f"Error loading scene IDs from {scene_ids_pkl}: {str(e)}") + return + else: + # Use random selection as before + json_files = glob.glob(os.path.join(data_path, '*.json')) + n_files = len(json_files) + + if n_files == 0: + print(f"No JSON files found in {data_path}") + return + + print(f"Found {n_files} files in {dataset} dataset") + num_to_select = min(num_scenes, n_files) + selected_files = random.sample(json_files, num_to_select) + + if not selected_files: + print(f"No files to process for {dataset}") + return + + print(f"Processing {len(selected_files)} files from {dataset} using {num_workers} workers") + + # Create a partial function with fixed arguments + process_func = partial( + process_single_scene, + dataset=dataset, + data_dir=data_dir, + tfrecord_dir=tfrecord_dir, + json_save_dir=json_save_dir, + tfrecord_save_dir=tfrecord_save_dir + ) + + # Create a pool of workers and process the files + # Adjust number of workers to not exceed CPU count + num_workers = min(num_workers, multiprocessing.cpu_count(), len(selected_files)) + + # If only one worker, process sequentially (avoiding multiprocessing overhead) + if num_workers == 1: + results = [] + for json_file in tqdm(selected_files, desc=f"Processing {dataset}"): + results.append(process_func(json_file)) + else: + # Use multiprocessing for parallel processing + with multiprocessing.Pool(num_workers) as pool: + results = list(tqdm( + pool.imap(process_func, selected_files), + total=len(selected_files), + desc=f"Processing {dataset}" + )) + + # Count successes and failures + successes = sum(1 for _, success, _ in results if success) + failures = len(results) - successes + + print(f"Finished processing {dataset}: {successes} succeeded, {failures} failed") + + # Print some failures if there are any (limit to 5 to avoid flooding console) + if failures > 0: + print("Some failures occurred:") + failure_count = 0 + for _, success, message in results: + if not success: + print(f" - {message}") + failure_count += 1 + if failure_count >= 5 and failures > 5: + print(f" ... and {failures - 5} more failures") + break + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument('--data_dir', type=str, default='data/processed/') + parser.add_argument('--save_dir', type=str, default='data/processed/wosac/') + parser.add_argument('--tfrecord_dir', type=str, default='data/raw/') + parser.add_argument('--dataset', type=str, default='validation') + parser.add_argument('--num_scenes', type=int, default=1000) + parser.add_argument('--num_workers', type=int, default=multiprocessing.cpu_count()) + parser.add_argument('--scene_ids_pkl', type=str, default=None, help='Path to pickle file containing scene IDs to process') + args = parser.parse_args() + + os.makedirs(args.save_dir, exist_ok=True) + + print(f'Processing data from {args.data_dir} and Saving to {args.save_dir}') + + if args.scene_ids_pkl: + print(f'Using scene IDs from {args.scene_ids_pkl}') + else: + print(f'Selecting {args.num_scenes} random scenes per dataset with {args.num_workers} workers') + + if args.dataset == 'all' or args.dataset == 'training': + process('training', args.num_scenes, args.data_dir, args.tfrecord_dir, args.save_dir, args.num_workers, args.scene_ids_pkl) + + if args.dataset == 'all' or args.dataset == 'testing': + process('testing', args.num_scenes, args.data_dir, args.tfrecord_dir, args.save_dir, args.num_workers, args.scene_ids_pkl) + + if args.dataset == 'all' or args.dataset == 'validation': + process('validation', args.num_scenes, args.data_dir, args.tfrecord_dir, args.save_dir, args.num_workers, args.scene_ids_pkl) + + if args.dataset == 'all' or args.dataset == 'validation_interactive': + process('validation_interactive', args.num_scenes, args.data_dir, args.tfrecord_dir, args.save_dir, args.num_workers, args.scene_ids_pkl) \ No newline at end of file diff --git a/examples/eval/README.md b/examples/eval/README.md index 78c321e8e..e8558304f 100644 --- a/examples/eval/README.md +++ b/examples/eval/README.md @@ -2,12 +2,25 @@ ## Requirements -Prerequisite +Prerequisite to run the eval +``` +pip install --no-deps waymo-open-dataset-tf-2-12-0==1.6.6 +``` + +Requirement to process the data ``` -pip install --no-deps waymo-open-dataset-tf-2-12-0==1.6.4 pip install --no-deps git+https://github.com/waymo-research/waymax.git@main#egg=waymo-waymax ``` +You also need +``` +pip install tensorflow==2.13.0 +pip install scikit-learn +pip install tensorflow-probability==0.21.0 +pip install --upgrade typing-extensions +``` + + ## Dataset Extract TF example from raw waymo TF example dataset using ``` @@ -24,5 +37,5 @@ python examples/eval/extract_dataset.py --data_dir data/raw --save_dir data/proc ## Evaluation Run eval with ``` -python wosac_eval.py +python run_wosac_eval.py ``` diff --git a/examples/eval/__init__.py b/examples/eval/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/examples/eval/notebooks/00_playground.ipynb b/examples/eval/notebooks/00_playground.ipynb new file mode 100644 index 000000000..99fb030cb --- 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"python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/eval/notebooks/01_wosac_analysis.ipynb b/examples/eval/notebooks/01_wosac_analysis.ipynb new file mode 100644 index 000000000..a41539a10 --- /dev/null +++ b/examples/eval/notebooks/01_wosac_analysis.ipynb @@ -0,0 +1,6786 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 134, + "metadata": {}, + "outputs": [], + "source": [ + "import pandas as pd\n", + "import os\n", + "import glob\n", + "import numpy as np\n", + "import matplotlib.pyplot as plt\n", + "import importlib\n", + "import gpudrive\n", + "importlib.reload(gpudrive)\n", + "\n", + "import numpy as np\n", + "import os\n", + "import torch\n", + "from pathlib import Path\n", + "\n", + "# Set working directory to the base directory 'gpudrive_madrona'\n", + "working_dir = Path.cwd()\n", + "while working_dir.name != 'gpudrive':\n", + " working_dir = working_dir.parent\n", + " if working_dir == Path.home():\n", + " raise FileNotFoundError(\"Base directory 'gpudrive_madrona' not found\")\n", + "os.chdir(working_dir)\n", + "import torch\n", + "from PIL import Image\n", + "import seaborn as sns\n", + "import warnings\n", + "import matplotlib as mpl\n", + "import matplotlib.pyplot as plt\n", + "import datetime\n", + "\n", + "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", + "from gpudrive.env.config import EnvConfig, RenderConfig\n", + "from gpudrive.env.dataset import SceneDataLoader\n", + "from gpudrive.visualize.utils import img_from_fig\n", + "\n", + "sns.set(\"notebook\", font_scale=1.05, rc={\"figure.figsize\": (5, 5)})\n", + "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n", + "%config InlineBackend.figure_format = 'svg'\n", + "warnings.filterwarnings(\"ignore\")\n", + "plt.set_loglevel(\"WARNING\")\n", + "mpl.rcParams[\"lines.markersize\"] = 8\n", + "\n", + "plt.set_loglevel(\"WARNING\")\n", + "%matplotlib inline" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Helper functions" + ] + }, + { + "cell_type": "code", + "execution_count": 112, + "metadata": {}, + "outputs": [], + "source": [ + "def display_wosac_table(csv_file):\n", + " \n", + " df = pd.read_csv(csv_file)\n", + " df = df.set_index(\"AGENT POLICY\")\n", + " \n", + " def heatmap_best_bold(s):\n", + " higher_better_cols = [col for col in df.columns if '(↑)' in col]\n", + " lower_better_cols = [col for col in df.columns if '(↓)' in col]\n", + " \n", + " styles = pd.DataFrame('', index=df.index, columns=df.columns)\n", + " \n", + " # For higher-better columns (green)\n", + " for col in higher_better_cols:\n", + " max_val = df[col].max()\n", + " min_val = df[col].min()\n", + " range_val = max_val - min_val\n", + " \n", + " for idx in df.index:\n", + " val = df.loc[idx, col]\n", + " if range_val > 0:\n", + " norm_val = (val - min_val) / range_val\n", + " styles.loc[idx, col] = f'background-color: rgba(0, 255, 0, {norm_val * 0.5})'\n", + " if val == max_val:\n", + " styles.loc[idx, col] += '; font-weight: bold'\n", + " \n", + " # For lower-better columns (pastel red)\n", + " for col in lower_better_cols:\n", + " min_val = df[col].min()\n", + " max_val = df[col].max()\n", + " range_val = max_val - min_val\n", + " \n", + " for idx in df.index:\n", + " val = df.loc[idx, col]\n", + " if range_val > 0:\n", + " norm_val = 1 - ((val - min_val) / range_val)\n", + " # Using pastel red (255, 180, 180)\n", + " styles.loc[idx, col] = f'background-color: rgba(255, 180, 180, {norm_val * 0.5})'\n", + " if val == min_val:\n", + " styles.loc[idx, col] += '; font-weight: bold'\n", + " \n", + " return styles\n", + " \n", + " # Format the numbers without modifying the dataframe\n", + " styled_df = df.style.apply(heatmap_best_bold, axis=None).format(precision=3)\n", + " \n", + " return styled_df\n", + "\n", + "def create_radar_chart(data_dir='examples/eval/figures_data'):\n", + " csv_files = glob.glob(os.path.join(data_dir, \"*.csv\"))\n", + " \n", + " if not csv_files:\n", + " raise FileNotFoundError(f\"No CSV files found in {data_dir}\")\n", + " \n", + " most_recent_file = max(csv_files, key=os.path.getctime)\n", + " df = pd.read_csv(most_recent_file)\n", + " df = df.set_index(\"AGENT POLICY\")\n", + " \n", + " key_metrics = [\n", + " \"COMPOSITE METRIC (↑)\", \n", + " \"LINEAR SPEED (↑)\", \n", + " \"ANG. SPEED (↑)\",\n", + " \"COLLISION (↑)\",\n", + " \"TTC (↑)\", \n", + " \"OFFROAD (↑)\"\n", + " ]\n", + " \n", + " radar_df = df[key_metrics].copy()\n", + " for col in radar_df.columns:\n", + " if '(↑)' in col:\n", + " radar_df[col] = (radar_df[col] - radar_df[col].min()) / (radar_df[col].max() - radar_df[col].min())\n", + " else:\n", + " radar_df[col] = 1 - ((radar_df[col] - radar_df[col].min()) / (radar_df[col].max() - radar_df[col].min()))\n", + " \n", + " categories = [col.replace(' (↑)', '').replace(' (↓)', '') for col in key_metrics]\n", + " N = len(categories)\n", + " \n", + " fig = plt.figure(figsize=(6, 5))\n", + " ax = plt.subplot(111, polar=True)\n", + " \n", + " angles = [n / float(N) * 2 * np.pi for n in range(N)]\n", + " angles += angles[:1]\n", + " \n", + " top_policies = df.sort_values(\"COMPOSITE METRIC (↑)\", ascending=False).head(5).index\n", + " \n", + " colors = plt.cm.tab10(np.linspace(0, 1, len(top_policies)))\n", + " \n", + " for i, policy in enumerate(top_policies):\n", + " values = radar_df.loc[policy].values.flatten().tolist()\n", + " values += values[:1]\n", + " \n", + " ax.plot(angles, values, 'o-', linewidth=2, color=colors[i], label=policy)\n", + " ax.fill(angles, values, alpha=0.1, color=colors[i])\n", + " \n", + " plt.xticks(angles[:-1], categories, size=12)\n", + " \n", + " ax.set_rlabel_position(0)\n", + " plt.yticks([0.25, 0.5, 0.75], [\"0.25\", \"0.5\", \"0.75\"], color=\"grey\", size=10)\n", + " plt.ylim(0, 1)\n", + " \n", + " plt.legend(loc='upper right', bbox_to_anchor=(0.1, 0.1))\n", + " plt.title('Key Metrics Comparison (Normalized)', size=15, y=1.1)\n", + " \n", + " return fig\n", + "\n", + "\n", + "def df_to_clean_latex(df, caption=\"\", label=\"\", scaling=0.99, precision=3, oracle_row_name=\"LOGGED ORACLE\", short_version=False):\n", + " \"\"\"\n", + " Convert a DataFrame to a clean LaTeX table with alternating row colors and the best values bolded.\n", + " Can also create a shortened version with aggregated metrics.\n", + " \n", + " Parameters:\n", + " -----------\n", + " df : pandas.DataFrame\n", + " The DataFrame to convert\n", + " caption : str\n", + " Table caption\n", + " label : str\n", + " Table reference label\n", + " scaling : float\n", + " Scaling factor for table width (0-1)\n", + " precision : int\n", + " Number of decimal places for numerical values\n", + " oracle_row_name : str\n", + " Name of the oracle row to exclude from best value determination and place at bottom\n", + " short_version : bool\n", + " Whether to create a shortened version with aggregated metrics\n", + " \n", + " Returns:\n", + " --------\n", + " str : LaTeX code for the table\n", + " \"\"\"\n", + " # Make a copy to avoid modifying the original\n", + " df_copy = df.copy()\n", + " \n", + " # If short_version is True, create the aggregated metrics\n", + " if short_version:\n", + " # Create aggregated metrics\n", + " df_copy[\"Kinematic metrics (↑)\"] = (\n", + " df_copy[\"LINEAR SPEED (↑)\"] \n", + " + df_copy[\"LINEAR ACCEL. (↑)\"]\n", + " + df_copy[\"ANG. SPEED (↑)\"]\n", + " + df_copy[\"ANG. ACCEL. (↑)\"]\n", + " ) / 4\n", + "\n", + " df_copy[\"Interactive metrics (↑)\"] = (\n", + " df_copy[\"COLLISION (↑)\"] \n", + " + df_copy[\"TTC (↑)\"]\n", + " + df_copy[\"DIST. TO OBJ. (↑)\"]\n", + " ) / 3\n", + " \n", + " df_copy[\"Map-based metrics (↑)\"] = (\n", + " df_copy[\"DIST. TO ROAD EDGE (↑)\"] \n", + " + df_copy[\"OFFROAD (↑)\"]\n", + " ) / 2\n", + " \n", + " # Keep only the desired columns\n", + " columns = [\n", + " \"COMPOSITE METRIC (↑)\",\n", + " \"Kinematic metrics (↑)\",\n", + " \"Interactive metrics (↑)\",\n", + " \"Map-based metrics (↑)\",\n", + " ]\n", + " df_copy = df_copy[columns]\n", + " \n", + " # Identify columns by their improvement direction\n", + " higher_better_cols = [col for col in df_copy.columns if '(↑)' in col]\n", + " lower_better_cols = [col for col in df_copy.columns if '(↓)' in col]\n", + " neutral_cols = [col for col in df_copy.columns if '(↑)' not in col and '(↓)' not in col]\n", + " \n", + " # Get column headers without the arrows for LaTeX\n", + " clean_columns = [col.replace('(↑)', '$\\\\uparrow$').replace('(↓)', '$\\\\downarrow$') for col in df_copy.columns]\n", + " \n", + " # Move oracle row to the bottom if it exists\n", + " oracle_index = None\n", + " df_without_oracle = df_copy.copy()\n", + " \n", + " # Find oracle row with case-insensitive match\n", + " for idx in df_copy.index:\n", + " if oracle_row_name.lower() in str(idx).lower():\n", + " oracle_index = idx\n", + " oracle_row = df_copy.loc[idx].copy()\n", + " df_without_oracle = df_without_oracle.drop(idx)\n", + " break\n", + " \n", + " # Calculate best values for each column (excluding oracle row)\n", + " best_values = {}\n", + " for col in df_copy.columns:\n", + " try:\n", + " numeric_values = pd.to_numeric(df_without_oracle[col], errors='coerce')\n", + " \n", + " if col in higher_better_cols:\n", + " best_values[col] = numeric_values.max()\n", + " elif col in lower_better_cols:\n", + " best_values[col] = numeric_values.min()\n", + " else:\n", + " best_values[col] = None # No best value for neutral columns\n", + " except:\n", + " best_values[col] = None\n", + " \n", + " # Start building LaTeX table\n", + " latex_code = []\n", + " latex_code.append(\"\\\\begin{table}[htbp]\")\n", + " latex_code.append(\"\\\\centering\")\n", + " latex_code.append(f\"\\\\caption{{{caption}}}\")\n", + " latex_code.append(f\"\\\\label{{{label}}}\")\n", + " \n", + " # Add code for alternating row colors\n", + " latex_code.append(\"\\\\definecolor{lightgray}{gray}{0.95}\") # Define light gray color\n", + " latex_code.append(\"\\\\rowcolors{2}{white}{lightgray}\") # Start with white for first row after header\n", + " \n", + " latex_code.append(f\"\\\\resizebox{{{scaling}\\\\textwidth}}{{!}}{{\")\n", + " \n", + " # Table environment\n", + " latex_code.append(\"\\\\begin{tabular}{l\" + \"c\" * len(df_copy.columns) + \"}\")\n", + " latex_code.append(\"\\\\toprule\")\n", + " \n", + " # Header row\n", + " header = \"Method & \" + \" & \".join(clean_columns) + \" \\\\\\\\\"\n", + " latex_code.append(header)\n", + " latex_code.append(\"\\\\midrule\")\n", + " \n", + " # Process regular rows first (excluding oracle)\n", + " for i, idx in enumerate(df_without_oracle.index):\n", + " row = [idx] # Start with index\n", + " \n", + " for col in df_copy.columns:\n", + " val = df_without_oracle.loc[idx, col]\n", + " \n", + " # Format value\n", + " try:\n", + " val_numeric = float(val)\n", + " cell_text = f\"{val_numeric:.{precision}f}\"\n", + " except (ValueError, TypeError):\n", + " cell_text = str(val)\n", + " \n", + " # Check if this is the best value (needs to be numeric)\n", + " is_best = False\n", + " if best_values[col] is not None:\n", + " try:\n", + " val_numeric = float(val)\n", + " # Round both values to avoid floating point comparison issues\n", + " rounded_val = round(val_numeric, precision+2)\n", + " rounded_best = round(best_values[col], precision+2)\n", + " \n", + " if rounded_val == rounded_best:\n", + " is_best = True\n", + " except (ValueError, TypeError):\n", + " pass\n", + " \n", + " # Format the cell\n", + " if is_best:\n", + " cell = f\"\\\\textbf{{{cell_text}}}\"\n", + " else:\n", + " cell = cell_text\n", + " \n", + " row.append(cell)\n", + " \n", + " latex_code.append(\" & \".join(row) + \" \\\\\\\\\")\n", + " \n", + " # Add a midrule before oracle row if it exists\n", + " if oracle_index is not None:\n", + " latex_code.append(\"\\\\midrule\")\n", + " \n", + " # Process oracle row\n", + " row = [oracle_index]\n", + " \n", + " for col in df_copy.columns:\n", + " val = oracle_row[col]\n", + " \n", + " # Format value\n", + " try:\n", + " val_numeric = float(val)\n", + " cell_text = f\"{val_numeric:.{precision}f}\"\n", + " except (ValueError, TypeError):\n", + " cell_text = str(val)\n", + " \n", + " row.append(cell_text)\n", + " \n", + " latex_code.append(\" & \".join(row) + \" \\\\\\\\\")\n", + " \n", + " # Complete table\n", + " latex_code.append(\"\\\\bottomrule\")\n", + " latex_code.append(\"\\\\end{tabular}\")\n", + " latex_code.append(\"}\") # Close resizebox\n", + " latex_code.append(\"\\\\end{table}\")\n", + " \n", + " return \"\\n\".join(latex_code)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Settings" + ] + }, + { + "cell_type": "code", + "execution_count": 113, + "metadata": {}, + "outputs": [], + "source": [ + "FILE = \"examples/eval/figures_data/wosac/wosac_table_2025-05-13-15-39.csv\"" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Make tables" + ] + }, + { + "cell_type": "code", + "execution_count": 114, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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AGENT POLICYREPLAN RATE (Hz)LINEAR SPEED (↑)LINEAR ACCEL. (↑)ANG. SPEED (↑)ANG. ACCEL. (↑)DIST. TO OBJ. (↑)COLLISION (↑)TTC (↑)DIST. TO ROAD EDGE (↑)OFFROAD (↑)COMPOSITE METRIC (↑)ADE (↓)MINADE (↓)COLLISION RATE (↓)OFFROAD RATE (↓)
0Logged oracle-0.4760000.478000.5780000.694000.4760001.0000000.8830000.7150001.0000000.8190000.0000000.0000000.0280000.111000
1VBD0.1250.3590000.366000.4200000.522000.3680000.9340000.8150000.6510000.8790000.7200002.2570001.4740000.0360000.152000
2Guided self-play (ours)100.4904980.397340.3630430.492920.3013460.6574330.8186670.6681720.7678710.6388761.4300061.4300060.1363590.219048
3Random agent100.0020000.116000.0140000.034000.0000000.0000000.7350000.1480000.1910000.14400050.73900050.7060001.0000000.613000
\n", + "
" + ], + "text/plain": [ + " AGENT POLICY REPLAN RATE (Hz) LINEAR SPEED (↑) \\\n", + "0 Logged oracle - 0.476000 \n", + "1 VBD 0.125 0.359000 \n", + "2 Guided self-play (ours) 10 0.490498 \n", + "3 Random agent 10 0.002000 \n", + "\n", + " LINEAR ACCEL. (↑) ANG. SPEED (↑) ANG. ACCEL. (↑) DIST. TO OBJ. (↑) \\\n", + "0 0.47800 0.578000 0.69400 0.476000 \n", + "1 0.36600 0.420000 0.52200 0.368000 \n", + "2 0.39734 0.363043 0.49292 0.301346 \n", + "3 0.11600 0.014000 0.03400 0.000000 \n", + "\n", + " COLLISION (↑) TTC (↑) DIST. TO ROAD EDGE (↑) OFFROAD (↑) \\\n", + "0 1.000000 0.883000 0.715000 1.000000 \n", + "1 0.934000 0.815000 0.651000 0.879000 \n", + "2 0.657433 0.818667 0.668172 0.767871 \n", + "3 0.000000 0.735000 0.148000 0.191000 \n", + "\n", + " COMPOSITE METRIC (↑) ADE (↓) MINADE (↓) COLLISION RATE (↓) \\\n", + "0 0.819000 0.000000 0.000000 0.028000 \n", + "1 0.720000 2.257000 1.474000 0.036000 \n", + "2 0.638876 1.430006 1.430006 0.136359 \n", + "3 0.144000 50.739000 50.706000 1.000000 \n", + "\n", + " OFFROAD RATE (↓) \n", + "0 0.111000 \n", + "1 0.152000 \n", + "2 0.219048 \n", + "3 0.613000 " + ] + }, + "execution_count": 114, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "df_wosac_long = pd.read_csv(FILE)\n", + "\n", + "df_wosac_long.head()" + ] + }, + { + "cell_type": "code", + "execution_count": 120, + "metadata": {}, + "outputs": [], + "source": [ + "# radar_fig = create_radar_chart(data_dir='../figures_data')\n", + "# plt.show()" + ] + }, + { + "cell_type": "code", + "execution_count": 121, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + "
 REPLAN RATE (Hz)LINEAR SPEED (↑)LINEAR ACCEL. (↑)ANG. SPEED (↑)ANG. ACCEL. (↑)DIST. TO OBJ. (↑)COLLISION (↑)TTC (↑)DIST. TO ROAD EDGE (↑)OFFROAD (↑)COMPOSITE METRIC (↑)ADE (↓)MINADE (↓)COLLISION RATE (↓)OFFROAD RATE (↓)
AGENT POLICY               
Logged oracle-0.4760.4780.5780.6940.4761.0000.8830.7151.0000.8190.0000.0000.0280.111
VBD0.1250.3590.3660.4200.5220.3680.9340.8150.6510.8790.7202.2571.4740.0360.152
Guided self-play (ours)100.4900.3970.3630.4930.3010.6570.8190.6680.7680.6391.4301.4300.1360.219
Random agent100.0020.1160.0140.0340.0000.0000.7350.1480.1910.14450.73950.7061.0000.613
\n" + ], + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "table_formatted = display_wosac_table(csv_file=FILE)\n", + "display(table_formatted);\n" + ] + }, + { + "cell_type": "code", + "execution_count": 122, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "DETAILED TABLE:\n", + "\\begin{table}[htbp]\n", + "\\centering\n", + "\\caption{Per-component WOSAC metric results on 1,000 held-out test scenarios from the WOMD validation split.}\n", + "\\label{tab:wosac-detailed}\n", + "\\definecolor{lightgray}{gray}{0.95}\n", + "\\rowcolors{2}{white}{lightgray}\n", + "\\resizebox{0.99\\textwidth}{!}{\n", + "\\begin{tabular}{lccccccccccccccc}\n", + "\\toprule\n", + "Method & REPLAN RATE (Hz) & LINEAR SPEED $\\uparrow$ & LINEAR ACCEL. $\\uparrow$ & ANG. SPEED $\\uparrow$ & ANG. ACCEL. $\\uparrow$ & DIST. TO OBJ. $\\uparrow$ & COLLISION $\\uparrow$ & TTC $\\uparrow$ & DIST. TO ROAD EDGE $\\uparrow$ & OFFROAD $\\uparrow$ & COMPOSITE METRIC $\\uparrow$ & ADE $\\downarrow$ & MINADE $\\downarrow$ & COLLISION RATE $\\downarrow$ & OFFROAD RATE $\\downarrow$ \\\\\n", + "\\midrule\n", + "VBD & 0.125 & 0.359 & 0.366 & \\textbf{0.420} & \\textbf{0.522} & \\textbf{0.368} & \\textbf{0.934} & 0.815 & 0.651 & \\textbf{0.879} & \\textbf{0.720} & 2.257 & 1.474 & \\textbf{0.036} & \\textbf{0.152} \\\\\n", + "Guided self-play (ours) & 10.000 & \\textbf{0.490} & \\textbf{0.397} & 0.363 & 0.493 & 0.301 & 0.657 & \\textbf{0.819} & \\textbf{0.668} & 0.768 & 0.639 & \\textbf{1.430} & \\textbf{1.430} & 0.136 & 0.219 \\\\\n", + "Random agent & 10.000 & 0.002 & 0.116 & 0.014 & 0.034 & 0.000 & 0.000 & 0.735 & 0.148 & 0.191 & 0.144 & 50.739 & 50.706 & 1.000 & 0.613 \\\\\n", + "\\midrule\n", + "Logged oracle & - & 0.476 & 0.478 & 0.578 & 0.694 & 0.476 & 1.000 & 0.883 & 0.715 & 1.000 & 0.819 & 0.000 & 0.000 & 0.028 & 0.111 \\\\\n", + "\\bottomrule\n", + "\\end{tabular}\n", + "}\n", + "\\end{table}\n", + "\n", + "\n", + "SHORT TABLE:\n", + "\\begin{table}[htbp]\n", + "\\centering\n", + "\\caption{Per-category WOSAC metric results on 1,000 held-out test scenarios from the WOMD validation split.}\n", + "\\label{tab:wosac-short}\n", + "\\definecolor{lightgray}{gray}{0.95}\n", + "\\rowcolors{2}{white}{lightgray}\n", + "\\resizebox{0.99\\textwidth}{!}{\n", + "\\begin{tabular}{lcccc}\n", + "\\toprule\n", + "Method & Composite Metric $\\uparrow$ & Kinematic Metrics $\\uparrow$ & Interactive Metrics $\\uparrow$ & Map-Based Metrics $\\uparrow$ \\\\\n", + "\\midrule\n", + "VBD & \\textbf{0.720} & 0.417 & \\textbf{0.706} & \\textbf{0.765} \\\\\n", + "Guided self-play (ours) & 0.639 & \\textbf{0.436} & 0.592 & 0.718 \\\\\n", + "Random agent & 0.144 & 0.042 & 0.245 & 0.169 \\\\\n", + "\\midrule\n", + "Logged oracle & 0.819 & 0.556 & 0.786 & 0.857 \\\\\n", + "\\bottomrule\n", + "\\end{tabular}\n", + "}\n", + "\\end{table}\n" + ] + } + ], + "source": [ + "def display_wosac_tables(csv_file, detailed_caption=\"Detailed Performance Metrics\", \n", + " detailed_label=\"tab:detailed\", short_caption=\"Aggregated Performance Metrics\", \n", + " short_label=\"tab:short\", precision=3):\n", + " \"\"\"\n", + " Generate both detailed and short versions of the WOSAC metrics table.\n", + " \n", + " Parameters:\n", + " -----------\n", + " csv_file : str\n", + " Path to the CSV file with the metrics\n", + " detailed_caption : str\n", + " Caption for the detailed table\n", + " detailed_label : str\n", + " Label for the detailed table\n", + " short_caption : str\n", + " Caption for the short table\n", + " short_label : str\n", + " Label for the short table\n", + " precision : int\n", + " Number of decimal places for numerical values\n", + " \n", + " Returns:\n", + " --------\n", + " tuple : (detailed_latex_code, short_latex_code)\n", + " \"\"\"\n", + " \n", + " df = pd.read_csv(csv_file)\n", + " df = df.set_index(\"AGENT POLICY\")\n", + " \n", + " detailed_latex = df_to_clean_latex(\n", + " df, \n", + " caption=detailed_caption,\n", + " label=detailed_label,\n", + " precision=precision,\n", + " oracle_row_name=\"LOGGED ORACLE\",\n", + " short_version=False\n", + " )\n", + " \n", + " # Generate short table\n", + " # First, create the aggregated metrics\n", + " df_short = df.copy()\n", + " df_short[\"Kinematic metrics (↑)\"] = (\n", + " df_short[\"LINEAR SPEED (↑)\"] \n", + " + df_short[\"LINEAR ACCEL. (↑)\"]\n", + " + df_short[\"ANG. SPEED (↑)\"]\n", + " + df_short[\"ANG. ACCEL. (↑)\"]\n", + " ) / 4\n", + "\n", + " df_short[\"Interactive metrics (↑)\"] = (\n", + " df_short[\"COLLISION (↑)\"] \n", + " + df_short[\"TTC (↑)\"]\n", + " + df_short[\"DIST. TO OBJ. (↑)\"]\n", + " ) / 3\n", + " \n", + " df_short[\"Map-based metrics (↑)\"] = (\n", + " df_short[\"DIST. TO ROAD EDGE (↑)\"] \n", + " + df_short[\"OFFROAD (↑)\"]\n", + " ) / 2\n", + " \n", + " # Keep only the desired columns\n", + " columns = [\n", + " \"COMPOSITE METRIC (↑)\",\n", + " \"Kinematic metrics (↑)\",\n", + " \"Interactive metrics (↑)\",\n", + " \"Map-based metrics (↑)\",\n", + " ]\n", + " # Make lower case for column names\n", + " df_short = df_short[columns]\n", + " \n", + " new_columns = [col.split('(')[0].strip().title() + (' (↑)' if '(↑)' in col else '') for col in columns]\n", + " df_short.columns = new_columns\n", + " \n", + " # Generate the short table\n", + " short_latex = df_to_clean_latex(\n", + " df_short, \n", + " caption=short_caption,\n", + " label=short_label,\n", + " precision=precision,\n", + " oracle_row_name=\"LOGGED ORACLE\",\n", + " short_version=False # Already shortened the DataFrame\n", + " )\n", + " \n", + " return detailed_latex, short_latex\n", + "\n", + "# Generate both tables\n", + "detailed_table, short_table = display_wosac_tables(\n", + " csv_file=\"examples/eval/figures_data/wosac/wosac_table_2025-05-13-15-39.csv\",\n", + " detailed_caption=\"Per-component WOSAC metric results on 1,000 held-out test scenarios from the WOMD validation split.\",\n", + " detailed_label=\"tab:wosac-detailed\",\n", + " short_caption=\"Per-category WOSAC metric results on 1,000 held-out test scenarios from the WOMD validation split.\",\n", + " short_label=\"tab:wosac-short\"\n", + ")\n", + "\n", + "print(\"DETAILED TABLE:\")\n", + "print(detailed_table)\n", + "print(\"\\n\\nSHORT TABLE:\")\n", + "print(short_table)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### WOSAC distributions score distributions" + ] + }, + { + "cell_type": "code", + "execution_count": 123, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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scenario_idmetametricaverage_displacement_errorlinear_speed_likelihoodlinear_acceleration_likelihoodangular_speed_likelihoodangular_acceleration_likelihooddistance_to_nearest_object_likelihoodcollision_indication_likelihoodtime_to_collision_likelihooddistance_to_road_edge_likelihoodoffroad_indication_likelihoodmin_average_displacement_errortraffic_light_violation_likelihoodsimulated_collision_ratesimulated_offroad_rate
03f5c25d7205f8dff0.8135391.1986340.3288270.4326710.8656040.8532030.3675220.9990020.5544430.9575270.9990021.1986340.9990020.0000000.000000
183b48014b261a04b0.5948550.9727850.7840310.6857690.4263800.3475770.0966630.0998670.9888890.9888890.9990020.9727850.9990020.3333330.666667
2210b4bd10918f4070.8165010.9854200.3701360.3872730.3843360.6862800.2856520.9990020.9888890.9638810.9990020.9854200.9990020.0000000.000000
348f180b621e549ba0.5691162.6708190.4272280.3634330.2489690.7013630.2843690.9990020.8687350.4530820.1776062.6708190.9990020.0000000.250000
45eea5080e97ee2cf0.5479780.4942650.7263530.5968200.2103280.3348260.1972850.0630080.8366750.7142550.9990020.4942650.9990020.0000000.200000
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" + ], + "text/plain": [ + " scenario_id metametric average_displacement_error \\\n", + "0 3f5c25d7205f8dff 0.813539 1.198634 \n", + "1 83b48014b261a04b 0.594855 0.972785 \n", + "2 210b4bd10918f407 0.816501 0.985420 \n", + "3 48f180b621e549ba 0.569116 2.670819 \n", + "4 5eea5080e97ee2cf 0.547978 0.494265 \n", + "\n", + " linear_speed_likelihood linear_acceleration_likelihood \\\n", + "0 0.328827 0.432671 \n", + "1 0.784031 0.685769 \n", + "2 0.370136 0.387273 \n", + "3 0.427228 0.363433 \n", + "4 0.726353 0.596820 \n", + "\n", + " angular_speed_likelihood angular_acceleration_likelihood \\\n", + "0 0.865604 0.853203 \n", + "1 0.426380 0.347577 \n", + "2 0.384336 0.686280 \n", + "3 0.248969 0.701363 \n", + "4 0.210328 0.334826 \n", + "\n", + " distance_to_nearest_object_likelihood collision_indication_likelihood \\\n", + "0 0.367522 0.999002 \n", + "1 0.096663 0.099867 \n", + "2 0.285652 0.999002 \n", + "3 0.284369 0.999002 \n", + "4 0.197285 0.063008 \n", + "\n", + " time_to_collision_likelihood distance_to_road_edge_likelihood \\\n", + "0 0.554443 0.957527 \n", + "1 0.988889 0.988889 \n", + "2 0.988889 0.963881 \n", + "3 0.868735 0.453082 \n", + "4 0.836675 0.714255 \n", + "\n", + " offroad_indication_likelihood min_average_displacement_error \\\n", + "0 0.999002 1.198634 \n", + "1 0.999002 0.972785 \n", + "2 0.999002 0.985420 \n", + "3 0.177606 2.670819 \n", + "4 0.999002 0.494265 \n", + "\n", + " traffic_light_violation_likelihood simulated_collision_rate \\\n", + "0 0.999002 0.000000 \n", + "1 0.999002 0.333333 \n", + "2 0.999002 0.000000 \n", + "3 0.999002 0.000000 \n", + "4 0.999002 0.000000 \n", + "\n", + " simulated_offroad_rate \n", + "0 0.000000 \n", + "1 0.666667 \n", + "2 0.000000 \n", + "3 0.250000 \n", + "4 0.200000 " + ] + }, + "execution_count": 123, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "df_dist = pd.read_csv(\"examples/eval/figures_data/wosac/score_distribution_2025-05-13-15-39.csv\")\n", + 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "sns.regplot(data=df_dist, x='metametric', y='simulated_collision_rate')" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/examples/eval/notebooks/02_guidance_data_analyis.ipynb b/examples/eval/notebooks/02_guidance_data_analyis.ipynb new file mode 100644 index 000000000..d64b6a382 --- /dev/null +++ b/examples/eval/notebooks/02_guidance_data_analyis.ipynb @@ -0,0 +1,17626 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "id": "ae958675", + "metadata": {}, + "outputs": [], + "source": [ + "import importlib\n", + "import gpudrive\n", + "importlib.reload(gpudrive)\n", + "\n", + "import numpy as np\n", + "import os\n", + "import torch\n", + "from pathlib import Path\n", + "\n", + "# Set working directory to the base directory 'gpudrive_madrona'\n", + "working_dir = Path.cwd()\n", + "while working_dir.name != 'gpudrive':\n", + " working_dir = working_dir.parent\n", + " if working_dir == Path.home():\n", + " raise FileNotFoundError(\"Base directory 'gpudrive_madrona' not found\")\n", + "os.chdir(working_dir)\n", + "import torch\n", + "from PIL import Image\n", + "import seaborn as sns\n", + "import warnings\n", + "import matplotlib as mpl\n", + "import matplotlib.pyplot as plt\n", + "import datetime\n", + "\n", + "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", + "from gpudrive.env.config import EnvConfig, RenderConfig\n", + "from gpudrive.env.dataset import SceneDataLoader\n", + "from gpudrive.visualize.utils import img_from_fig\n", + "\n", + "sns.set(\"notebook\", font_scale=1.05, rc={\"figure.figsize\": (10, 5)})\n", + "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n", + "%config InlineBackend.figure_format = 'svg'\n", + "warnings.filterwarnings(\"ignore\")\n", + "plt.set_loglevel(\"WARNING\")\n", + "mpl.rcParams[\"lines.markersize\"] = 8\n", + "\n", + "plt.set_loglevel(\"WARNING\")\n", + "%matplotlib inline" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "id": "937797aa", + "metadata": {}, + "outputs": [], + "source": [ + "MS = 9\n", + " \n", + "def plot_agent_guidance_info(guidance_obs, center_agent_idx):\n", + " \n", + " agent_guidance = guidance_obs[center_agent_idx, :, :]\n", + " mask = agent_guidance[:, 0] != -1.0\n", + " \n", + " time_steps = np.arange(agent_guidance.shape[0])\n", + " \n", + " fig, axes = plt.subplots(1, 3, figsize=(9.5, 3))\n", + " \n", + " axes[0].scatter(agent_guidance[:, 0][mask], agent_guidance[:, 1][mask], marker='o', s=MS, color='g') \n", + " axes[0].set_xlabel(r'Suggested $x$')\n", + " axes[0].set_ylabel(r'Suggested $y$')\n", + " #axes[0].legend()\n", + " axes[0].grid(True, alpha=0.3)\n", + " \n", + " axes[1].scatter(time_steps[mask], agent_guidance[:, 2][mask], marker='o', color='b', s=MS)\n", + " axes[1].set_xlabel('Time')\n", + " axes[1].set_ylabel('Suggested speed')\n", + " axes[1].grid(True, alpha=0.3)\n", + " \n", + " axes[2].scatter(time_steps[mask], agent_guidance[:, 3][mask], marker='o', color='#bc6c25', s=MS)\n", + " axes[2].set_xlabel('Time')\n", + " axes[2].set_ylabel('Suggested heading (rad)')\n", + " axes[2].grid(True, alpha=0.3)\n", + " \n", + " #fig.suptitle(f\"Agent's {center_agent_idx} normalized guidance information\")\n", + " \n", + " plt.tight_layout()\n", + " plt.subplots_adjust(top=0.85, bottom=0.15)\n", + " \n", + " return fig" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "id": "db3838a5", + "metadata": {}, + "outputs": [], + "source": [ + "DATASET = \"data/processed/wosac/validation_json_100\"\n", + "FIGURES_DIR = \"examples/eval/figures\"\n", + "DATA_FOLDER = \"examples/eval/figures_data/\"" + ] + }, + { + "cell_type": "markdown", + "id": "2aaa50e1", + "metadata": {}, + "source": [ + "### Checking guidance data" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "id": "dce673ef", + "metadata": {}, + "outputs": [], + "source": [ + "# Load npy array from the file\n", + "FOLDER = \"examples/eval/figures_data/guidance/\"\n", + "\n", + "ref_log_replay = np.load(f\"{FOLDER}reference_log_replay.npy\")\n", + "ref_vbd_amortized = np.load(f\"{FOLDER}reference_vbd_amortized.npy\")\n", + "ref_vbd_online = np.load(f\"{FOLDER}reference_vbd_online.npy\")" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "id": "c216b641", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "((204, 91, 6), (204, 91, 6), (210, 91, 6))" + ] + }, + "execution_count": 5, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "# Should all be 91 \n", + "\n", + "# Controlled agent elements for 10 scenarios\n", + "ref_log_replay.shape, ref_vbd_amortized.shape, ref_vbd_online.shape" + ] + }, + { + "cell_type": "code", + "execution_count": 27, + "id": "a706660b", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", + " 2025-05-13T12:11:29.847343\n", + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib v3.9.0, https://matplotlib.org/\n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "fig, axs = plt.subplots(1, 3, figsize=(13, 3),)# sharex=True, sharey=True)\n", + "\n", + "axs[0].hist(ref_log_replay[:, :, :2].flatten(), color='b', alpha=0.5, bins=20, label=\"log_replay\")\n", + "axs[1].hist(ref_vbd_amortized[:, :, :2].flatten(), color='r', alpha=1.0, bins=20, label=\"vbd_amortized\")\n", + "axs[2].hist(ref_vbd_online[:, :, :2].flatten(), color='g', alpha=1.0, bins=20, label=\"vbd_online\")\n", + "\n", + "axs[0].set_xlabel(\"Demeaned position in global coord. frame\")\n", + "axs[0].set_ylabel(\"Count\")\n", + "\n", + "fig.legend()\n", + "sns.despine()" + ] + }, + { + "cell_type": "code", + "execution_count": 28, + "id": "a08ab3a2", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", + " 2025-05-13T12:11:29.995623\n", + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "for agent_idx in range(3):\n", + " \n", + " valid = ref_log_replay[agent_idx, :, -1].astype( bool)\n", + "\n", + " fig, axs = plt.subplots(1, 3, figsize=(12, 4))\n", + " axs[0].set_title(f\"Global position (x, y); agent {agent_idx}\")\n", + " axs[0].plot(ref_log_replay[agent_idx, :, 0][valid], ref_log_replay[agent_idx, :, 1][valid], color='b')\n", + " #axs[0].plot(ref_vbd_online[agent_idx, :, 0], ref_vbd_online[agent_idx, :, 1], color='g', alpha=0.5)\n", + " axs[0].plot(ref_vbd_amortized[agent_idx, :, 0], ref_vbd_amortized[agent_idx, :, 1], color='r')\n", + " axs[0].set_xlabel(\"x\")\n", + " axs[0].set_ylabel(\"y\")\n", + "\n", + " axs[1].set_title(f\"Global velocity (x, y); agent {agent_idx}\")\n", + " axs[1].plot(ref_log_replay[agent_idx, :, 2][valid], ref_log_replay[agent_idx, :, 3][valid], color='b')\n", + " axs[1].plot(ref_vbd_online[agent_idx, :, 2], ref_vbd_online[agent_idx, :, 3], color='g')\n", + " axs[1].plot(ref_vbd_amortized[agent_idx, :, 2], ref_vbd_amortized[agent_idx, :, 3], color='r')\n", + " axs[2].set_xlabel(r\"$v_x$\")\n", + " axs[2].set_ylabel(r\"$v_y$\")\n", + "\n", + " axs[2].set_title(f\"Global heading; agent {agent_idx}\")\n", + " axs[2].plot(ref_log_replay[agent_idx, :, 4][valid], color='b', label=\"log_replay\")\n", + " axs[2].plot(ref_vbd_online[agent_idx, :, 4], color='g', label=\"vbd_online\")\n", + " axs[2].plot(ref_vbd_amortized[agent_idx, :, 4], color='r', label=\"vbd_amortized\")\n", + " axs[2].set_ylabel(r\"$\\theta$\")\n", + "\n", + " plt.tight_layout()\n", + "\n", + " fig.legend(loc=\"center right\", facecolor=\"white\", bbox_to_anchor=(1.12, 0.5))\n", + " plt.show()" + ] + }, + { + "cell_type": "markdown", + "id": "abac4ce3", + "metadata": {}, + "source": [ + "### Dataset stats" + ] + }, + { + "cell_type": "code", + "execution_count": 31, + "id": "59043fd6", + "metadata": {}, + "outputs": [], + "source": [ + "valid_guidance_points = ref_log_replay[:, :, 5].sum(axis=-1)\n", + "valid_guidance_points.shape\n", + "\n", + "# Some trajectories, while valid, are just parked cars\n", + "# Detect these by checking for zero velocity trajectories\n", + "valid_and_non_zero = ((ref_log_replay[:, :, 2] != 0) & (ref_log_replay[:, :, 5] == 1)).sum(axis=1)" + ] + }, + { + "cell_type": "code", + "execution_count": 32, + "id": "4708aa7f", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", + " 2025-05-13T12:13:25.272889\n", + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib v3.9.0, https://matplotlib.org/\n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "fig, axs = plt.subplots(1, 2, figsize=(9, 3.5), sharey=True)\n", + "\n", + "fig.suptitle(f\"Distribution of guidance points per episode; A = {ref_log_replay.shape[0]} (50 scenarios)\")\n", + "\n", + "sns.histplot(valid_guidance_points, bins=10, stat='percent', ax=axs[0])\n", + "axs[0].grid(True, alpha=0.2)\n", + "axs[0].set_xlabel(\"Guidance points per episode.\")\n", + "mean_value = valid_guidance_points.mean()\n", + "axs[0].axvline(x=mean_value, color='purple', linestyle='--')\n", + "axs[0].text(mean_value-3, axs[0].get_ylim()[1]*0.95, r'$\\mu$', color='purple', \n", + " fontsize=14, ha='center', va='center')\n", + "\n", + "sns.histplot(valid_and_non_zero, bins=10, stat='percent', ax=axs[1])\n", + "axs[1].grid(True, alpha=0.2)\n", + "axs[1].set_xlabel(r\"$\\bf{Nonzero}$ guidance points per episode.\")\n", + "mean_value_nonzero = valid_and_non_zero.mean()\n", + "axs[1].axvline(x=mean_value_nonzero, color='purple', linestyle='--')\n", + "axs[1].text(mean_value_nonzero-3, axs[1].get_ylim()[1]*0.95, r'$\\mu$', color='purple', fontsize=14, ha='center', va='center')\n", + "\n", + "plt.tight_layout()\n", + "sns.despine()\n", + "plt.savefig(f\"{FIGURES_DIR}/guidance_points_distribution.pdf\", dpi=300, bbox_inches=\"tight\")" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "2cd9d59d", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "markdown", + "id": "09f01b81", + "metadata": {}, + "source": [] + }, + { + "cell_type": "markdown", + "id": "c0ea8a40", + "metadata": {}, + "source": [ + "### Make guidance figs" + ] + }, + { + "cell_type": "code", + "execution_count": 13, + "id": "ee3b198a", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "['data/processed/wosac/validation_json_100/5d710aa0c524f747.json']\n" + ] + } + ], + "source": [ + "GUIDANCE_MODE = \"log_replay\"\n", + "GUIDANCE_DROPOUT = 0.99\n", + "GUIDANCE_DROPOUT_MODE = \"avg\"\n", + "\n", + "env_config = EnvConfig(\n", + " reward_type=\"guided_autonomy\",\n", + " guidance=True,\n", + " guidance_mode=GUIDANCE_MODE,\n", + " add_reference_heading=True,\n", + " add_reference_speed=True,\n", + " add_reference_pos_xy=True,\n", + " init_mode=\"wosac_train\",\n", + " smoothen_trajectory=False,\n", + " dynamics_model=\"delta_local\",\n", + " guidance_dropout_prob=GUIDANCE_DROPOUT,\n", + " guidance_dropout_mode=GUIDANCE_DROPOUT_MODE,\n", + " init_steps=0,\n", + ")\n", + "render_config = RenderConfig()\n", + "\n", + "train_loader = SceneDataLoader(\n", + " root=DATASET,\n", + " batch_size=1,\n", + " dataset_size=100,\n", + " sample_with_replacement=False,\n", + " shuffle=True,\n", + " file_prefix=\"\",\n", + " \n", + ")\n", + "\n", + "env = GPUDriveTorchEnv(\n", + " config=env_config,\n", + " data_loader=train_loader,\n", + " max_cont_agents=32, \n", + " device=\"cpu\",\n", + ")\n", + "\n", + "print(env.data_batch)\n", + "\n", + "obs = env.reset(env.cont_agent_mask)\n", + "expert_actions, _, _, _ = env.get_expert_actions()\n", + "\n", + "# for time_step in range(env.init_steps, 20):\n", + "# print(f\"Step: {env.step_in_world[0, 0, 0].item()}\")\n", + "\n", + "# # Step the environment\n", + "# expert_actions, _, _, _ = env.get_expert_actions()\n", + "# env.step_dynamics(expert_actions[:, :, time_step, :])\n", + "\n", + "# obs = env.get_obs(env.cont_agent_mask)\n", + "# rew = env.get_rewards()\n", + " \n", + "\n", + "# # Save for analysis\n", + "# reference_traj = torch.cat([\n", + "# env.reference_trajectory.pos_xy,\n", + "# env.reference_trajectory.vel_xy,\n", + "# env.reference_trajectory.yaw,\n", + "# env.reference_trajectory.valids,\n", + "# ], dim=-1)\n", + "# reference_traj_np = reference_traj[env.cont_agent_mask].numpy()\n", + "\n", + "# np.save(f\"reference_{GUIDANCE_MODE}.npy\", reference_traj_np)" + ] + }, + { + "cell_type": "code", + "execution_count": 14, 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" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "CENTER_AGENT_IDX = 0\n", + "\n", + "fig = env.vis.plot_agent_observation(\n", + " env_idx=0,\n", + " agent_idx=CENTER_AGENT_IDX,\n", + " figsize=(10, 10),\n", + " trajectory=env.reference_path[CENTER_AGENT_IDX, :, :],\n", + " # step_reward=env.guidance_reward[\n", + " # 0, 1\n", + " # ].item(),\n", + " # route_progress=env.route_progress[1],\n", + ")\n", + "\n", + "plt.savefig(\n", + " os.path.join(FIGURES_DIR, f\"agent_observation_{CENTER_AGENT_IDX}_{GUIDANCE_MODE}_dropout_{GUIDANCE_DROPOUT}_{GUIDANCE_DROPOUT_MODE}.pdf\"),\n", + " dpi=300,\n", + " bbox_inches=\"tight\",\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 1, + "id": "b4020148", + "metadata": {}, + "outputs": [ + { + "ename": "NameError", + "evalue": "name 'plot_agent_guidance_info' is not defined", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mNameError\u001b[0m Traceback (most recent call last)", + "Cell \u001b[0;32mIn[1], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m fig \u001b[38;5;241m=\u001b[39m \u001b[43mplot_agent_guidance_info\u001b[49m(env\u001b[38;5;241m.\u001b[39mguidance_obs, center_agent_idx\u001b[38;5;241m=\u001b[39m\u001b[38;5;241m1\u001b[39m);\n\u001b[1;32m 3\u001b[0m plt\u001b[38;5;241m.\u001b[39msavefig(\n\u001b[1;32m 4\u001b[0m os\u001b[38;5;241m.\u001b[39mpath\u001b[38;5;241m.\u001b[39mjoin(FIGURES_DIR, \u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124magent_guidance_info_\u001b[39m\u001b[38;5;132;01m{\u001b[39;00mCENTER_AGENT_IDX\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m_\u001b[39m\u001b[38;5;132;01m{\u001b[39;00mGUIDANCE_MODE\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m.pdf\u001b[39m\u001b[38;5;124m\"\u001b[39m),\n\u001b[1;32m 5\u001b[0m dpi\u001b[38;5;241m=\u001b[39m\u001b[38;5;241m300\u001b[39m,\n\u001b[1;32m 6\u001b[0m bbox_inches\u001b[38;5;241m=\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mtight\u001b[39m\u001b[38;5;124m\"\u001b[39m,\n\u001b[1;32m 7\u001b[0m )\n", + "\u001b[0;31mNameError\u001b[0m: name 'plot_agent_guidance_info' is not defined" + ] + } + ], + "source": [ + "fig = plot_agent_guidance_info(env.guidance_obs, center_agent_idx=1);\n", + "\n", + "plt.savefig(\n", + " os.path.join(FIGURES_DIR, f\"agent_guidance_info_{CENTER_AGENT_IDX}_{GUIDANCE_MODE}.pdf\"),\n", + " dpi=300,\n", + " bbox_inches=\"tight\",\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "82ac8a30", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/eval/notebooks/03_qualitative_samples.ipynb b/examples/eval/notebooks/03_qualitative_samples.ipynb new file mode 100644 index 000000000..d2489dd5a --- /dev/null +++ b/examples/eval/notebooks/03_qualitative_samples.ipynb @@ -0,0 +1,11515 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "id": "104c55cd", + "metadata": {}, + "source": [ + "### Qualitative analysis\n", + "\n", + "- What kind of trajectories does VBD generate?\n", + "- Can an RL agent correct for unrealistic trajectories?\n" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "id": "992178d9", + "metadata": {}, + "outputs": [], + "source": [ + "import importlib\n", + "import gpudrive\n", + "importlib.reload(gpudrive)\n", + "\n", + "import numpy as np\n", + "import os\n", + "import torch\n", + "import mediapy\n", + "import dataclasses\n", + "from pathlib import Path\n", + "from tqdm import tqdm\n", + "# Set working directory to the base directory 'gpudrive_madrona'\n", + "working_dir = Path.cwd()\n", + "while working_dir.name != 'gpudrive':\n", + " working_dir = working_dir.parent\n", + " if working_dir == Path.home():\n", + " raise FileNotFoundError(\"Base directory 'gpudrive_madrona' not found\")\n", + "os.chdir(working_dir)\n", + "import torch\n", + "from PIL import Image\n", + "import seaborn as sns\n", + "import warnings\n", + "import matplotlib as mpl\n", + "import matplotlib.pyplot as plt\n", + "import datetime\n", + "import madrona_gpudrive\n", + "\n", + "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", + "from gpudrive.env.config import EnvConfig, RenderConfig\n", + "from gpudrive.env.dataset import SceneDataLoader\n", + "from gpudrive.datatypes.observation import GlobalEgoState\n", + "from gpudrive.datatypes.info import Info\n", + "\n", + "from gpudrive.visualize.utils import img_from_fig\n", + "from gpudrive.utils.checkpoint import load_agent\n", + "\n", + "sns.set(\"notebook\", font_scale=1.05, rc={\"figure.figsize\": (10, 5)})\n", + "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n", + "%config InlineBackend.figure_format = 'svg'\n", + "warnings.filterwarnings(\"ignore\")\n", + "plt.set_loglevel(\"WARNING\")\n", + "mpl.rcParams[\"lines.markersize\"] = 8\n", + "\n", + "plt.set_loglevel(\"WARNING\")\n", + "%matplotlib inline" + ] + }, + { + "cell_type": "markdown", + "id": "60eb9f03", + "metadata": {}, + "source": [ + "### Helper functions" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "03617bca", + "metadata": {}, + "outputs": [], + "source": [ + "def rollout(\n", + " env: GPUDriveTorchEnv,\n", + " sim_agent: torch.nn.Module,\n", + " init_steps: int,\n", + " num_envs: int,\n", + " max_agents: int,\n", + " device: str,\n", + " render_simulator_states: bool = False,\n", + " render_agent_pov: bool = False,\n", + " render_every_n_steps: int = 5,\n", + " save_videos: bool = True,\n", + " video_dir: str = \"videos\",\n", + " video_format: str = \"gif\",\n", + "):\n", + " \"\"\"Rollout agent in the environment and return the scenario rollouts.\"\"\"\n", + "\n", + " if save_videos:\n", + " os.makedirs(video_dir, exist_ok=True)\n", + "\n", + " # Storage\n", + " env_ids = list(range(num_envs))\n", + " simulator_state_frames = {env_id: [] for env_id in range(num_envs)}\n", + " agent_observation_frames = {env_id: [] for env_id in range(num_envs)}\n", + "\n", + " _ = env.reset()\n", + "\n", + " # Zero out actions for parked vehicles\n", + " info = Info.from_tensor(\n", + " env.sim.info_tensor(),\n", + " backend=env.backend,\n", + " device=env.device,\n", + " )\n", + " control_mask_all = env.cont_agent_mask.clone()\n", + " zero_action_mask = (info.off_road == 1) | (\n", + " info.collided_with_vehicle == 1\n", + " ) & (info.type == int(madrona_gpudrive.EntityType.Vehicle))\n", + " control_mask = control_mask_all & ~zero_action_mask\n", + "\n", + " next_obs = env.reset(control_mask)\n", + "\n", + " # Get scenario ids\n", + " scenario_ids_dict = env.get_scenario_ids()\n", + " scenario_ids = list(scenario_ids_dict.values())\n", + "\n", + " pos_x_list = []\n", + " pos_y_list = []\n", + " heading_list = []\n", + " done_list = [env.get_dones()]\n", + "\n", + " for time_step in range(env.episode_len - init_steps):\n", + "\n", + " # Predict actions\n", + " action, _, _, _ = sim_agent(next_obs)\n", + "\n", + " action_template = torch.zeros(\n", + " (num_envs, max_agents), dtype=torch.int64, device=device\n", + " )\n", + " action_template[control_mask] = action.to(device)\n", + "\n", + " # Step\n", + " env.step_dynamics(action_template)\n", + "\n", + " # Render\n", + " if render_simulator_states and time_step % render_every_n_steps == 0:\n", + " sim_states = env.vis.plot_simulator_state(\n", + " env_indices=env_ids,\n", + " zoom_radius=100,\n", + " time_steps=[time_step] * len(env_ids),\n", + " plot_guidance_pos_xy=True,\n", + " )\n", + " for idx in range(num_envs):\n", + " simulator_state_frames[idx].append(\n", + " img_from_fig(sim_states[idx])\n", + " )\n", + "\n", + " if render_agent_pov and time_step % render_every_n_steps == 0:\n", + " agent_obs = env.vis.plot_agent_observation(\n", + " env_idx=0,\n", + " agent_idx=0,\n", + " figsize=(10, 10),\n", + " trajectory=env.reference_path[0, :, :].to(\"cpu\"),\n", + " )\n", + " agent_observation_frames[idx].append(img_from_fig(agent_obs))\n", + "\n", + " # Get next observation\n", + " next_obs = env.get_obs(control_mask)\n", + " done = env.get_dones()\n", + " \n", + " states = GlobalEgoState.from_tensor(\n", + " env.sim.absolute_self_observation_tensor(),\n", + " backend=env.backend,\n", + " device=env.device,\n", + " )\n", + " \n", + " pos_xy = states.pos_xy\n", + " heading = states.rotation_angle\n", + " vel_xy = states.vel_xy\n", + " \n", + " pos_x_list.append(pos_xy[:, 0])\n", + " pos_y_list.append(pos_xy[:, 1])\n", + " heading_list.append(heading)\n", + " done_list.append(done)\n", + " _ = done_list.pop()\n", + "\n", + " if save_videos:\n", + " for idx in range(num_envs):\n", + " scenario_id = scenario_ids_dict[idx]\n", + " if (\n", + " render_simulator_states\n", + " and len(simulator_state_frames[idx]) > 0\n", + " ):\n", + " mediapy.write_video(\n", + " f\"{video_dir}/sim_state_env_{idx}_{scenario_id}.{video_format}\",\n", + " np.array(simulator_state_frames[idx]),\n", + " fps=8,\n", + " codec=video_format,\n", + " )\n", + "\n", + " if render_agent_pov and len(agent_observation_frames[0]) > 0:\n", + " scenario_id = scenario_ids_dict[0]\n", + " mediapy.write_video(\n", + " f\"{video_dir}/agent_0_{scenario_id}.{video_format}\",\n", + " np.array(agent_observation_frames[0]),\n", + " fps=8,\n", + " codec=video_format,\n", + " )\n", + "\n", + " # Generate Scenario\n", + " pos_x_stack = torch.stack(pos_x_list, dim=-1).cpu().numpy()\n", + " pos_y_stack = torch.stack(pos_y_list, dim=-1).cpu().numpy()\n", + " heading_stack = torch.stack(heading_list, dim=-1).cpu().numpy()\n", + " done_stack = torch.stack(done_list, dim=-1).cpu().numpy()\n", + " control_mask = control_mask.cpu().numpy()\n", + " \n", + " return pos_x_stack, pos_y_stack, heading_stack, done_stack, control_mask" + ] + }, + { + "cell_type": "markdown", + "id": "b8f13883", + "metadata": {}, + "source": [ + "### Settings" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "id": "885c023a", + "metadata": {}, + "outputs": [], + "source": [ + "DATA_FOLDER = \"data/processed/wosac/validation_json_3\"\n", + "FIGURES_FOLDER = \"examples/eval/figures\"" + ] + }, + { + "cell_type": "markdown", + "id": "bd75f099", + "metadata": {}, + "source": [ + "### Make environment" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "id": "d5b19c53", + "metadata": {}, + "outputs": [], + "source": [ + "# Settings\n", + "MAX_AGENTS = 64\n", + "NUM_ENVS = 3\n", + "DEVICE = \"cpu\" \n", + "NUM_ROLLOUTS = 1\n", + "INIT_STEPS = 0\n", + "DATASET_SIZE = 100\n", + "RENDER = False\n", + "\n", + "# Create data loader\n", + "val_loader = SceneDataLoader(\n", + " root=DATA_FOLDER,\n", + " batch_size=NUM_ENVS,\n", + " dataset_size=DATASET_SIZE,\n", + " sample_with_replacement=False,\n", + " shuffle=False,\n", + " file_prefix=\"\",\n", + ")\n", + "\n", + "# Load agent\n", + "agent = load_agent(\n", + " path_to_cpt=\"checkpoints/model_guidance_log_replay__S_3__05_02_18_49_49_637_000500.pt\",\n", + ").to(DEVICE)\n", + "\n", + "# Override default environment settings to match those the agent was trained with\n", + "default_config = EnvConfig()\n", + "config_dict = {\n", + " field.name: getattr(agent.config, field.name)\n", + " for field in dataclasses.fields(EnvConfig)\n", + " if hasattr(agent.config, field.name)\n", + " and getattr(agent.config, field.name)\n", + " != getattr(default_config, field.name)\n", + "}\n", + "\n", + "env_config = dataclasses.replace(default_config, **config_dict)\n", + "\n", + "# Make environment\n", + "env = GPUDriveTorchEnv(\n", + " config=env_config,\n", + " data_loader=val_loader,\n", + " max_cont_agents=MAX_AGENTS,\n", + " device=DEVICE,\n", + ")" + ] + }, + { + "cell_type": "markdown", + "id": "44ccb33f", + "metadata": {}, + "source": [ + "### Rollouts" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [], + "source": [ + "(\n", + " pos_x_stack, \n", + " pos_y_stack, \n", + " heading_stack, \n", + " done_stack, \n", + " control_mask\n", + ") = rollout(\n", + " env=env,\n", + " sim_agent=agent,\n", + " init_steps=INIT_STEPS,\n", + " num_envs=NUM_ENVS,\n", + " max_agents=MAX_AGENTS,\n", + " device=DEVICE,\n", + " render_simulator_states=RENDER,\n", + " render_agent_pov=RENDER,\n", + " save_videos=RENDER,\n", + ")" + ] + }, + { + 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" + ] + }, + "execution_count": 13, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "env.vis.figsize = (8, 8)\n", + "\n", + "# Plot simulator state with the stacked trajectories\n", + "_ = env.reset()\n", + "img = env.vis.plot_simulator_state(\n", + " env_indices=[1], \n", + " #agent_positions=trajs['agent_positions'], # Pass stacked trajectories directly\n", + " zoom_radius=70,\n", + " multiple_rollouts=True,\n", + " line_alpha=0.1, \n", + " line_width=1.0, \n", + " #weights=trajs['collision_weights'], \n", + " #colorbar=True, \n", + " plot_guidance_pos_xy=True,\n", + ")[0]\n", + "\n", + "img" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "9503a695", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "e5af51cf", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/eval/notebooks/04_guidance_density.ipynb b/examples/eval/notebooks/04_guidance_density.ipynb new file mode 100644 index 000000000..c5a3cdfc6 --- /dev/null +++ b/examples/eval/notebooks/04_guidance_density.ipynb @@ -0,0 +1,9627 @@ +{ + "cells": [ + { + "cell_type": "code", +<<<<<<< HEAD + "execution_count": 57, +======= + "execution_count": 2, +>>>>>>> dev + "id": "a8c62c27", + "metadata": {}, + "outputs": [], + "source": [ + "import pandas as pd\n", + "import os\n", + "import glob\n", + "import numpy as np\n", + "import matplotlib.pyplot as plt\n", + "import importlib\n", + "import gpudrive\n", + "importlib.reload(gpudrive)\n", + "\n", + "import numpy as np\n", + "import os\n", + "import torch\n", + "from pathlib import Path\n", + "\n", + "# Set working directory to the base directory 'gpudrive_madrona'\n", + "working_dir = Path.cwd()\n", + "while working_dir.name != 'gpudrive':\n", + " working_dir = working_dir.parent\n", + " if working_dir == Path.home():\n", + " raise FileNotFoundError(\"Base directory 'gpudrive_madrona' not found\")\n", + "os.chdir(working_dir)\n", + "import torch\n", + "from PIL import Image\n", + "import seaborn as sns\n", + "import warnings\n", + "import matplotlib as mpl\n", + "import matplotlib.pyplot as plt\n", + "import datetime\n", + "\n", + "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", + "from gpudrive.env.config import EnvConfig, RenderConfig\n", + "from gpudrive.env.dataset import SceneDataLoader\n", + "from gpudrive.visualize.utils import img_from_fig\n", + "\n", + "sns.set(\"notebook\", font_scale=1.05, rc={\"figure.figsize\": (5, 5)})\n", + "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n", + "%config InlineBackend.figure_format = 'svg'\n", + "warnings.filterwarnings(\"ignore\")\n", + "plt.set_loglevel(\"WARNING\")\n", + "mpl.rcParams[\"lines.markersize\"] = 8\n", + "\n", + "plt.set_loglevel(\"WARNING\")\n", + "%matplotlib inline" + ] + }, + { + "cell_type": "code", +<<<<<<< HEAD + "execution_count": 60, +======= + "execution_count": 12, +>>>>>>> dev + "id": "459ad191", + "metadata": {}, + "outputs": [], + "source": [ + "FILES = [\n", +<<<<<<< HEAD + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.00_2025-05-14-21.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.01_2025-05-14-21.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.25_2025-05-14-21.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.50_2025-05-14-21.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.75_2025-05-14-21.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_1.00_2025-05-14-20.csv\", \n", + "]\n", + "densities = [0.0, 0.01, 0.25, 0.5, 0.75, 1.0]\n", +======= + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.01_2025-05-14-15.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.20_2025-05-14-15.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.50_2025-05-14-15.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_0.80_2025-05-14-15.csv\",\n", + " \"examples/eval/figures_data/wosac/score_dist_log_replay_density_1.00_2025-05-14-15.csv\", \n", + "]\n", + "densities = [0.01, 0.2, 0.5, 0.8, 1.0]\n", +>>>>>>> dev + "\n", + "# Load dataframes from files and merge into a single dataframe\n", + "dfs = []\n", + "for idx, file in enumerate(FILES):\n", + " df = pd.read_csv(file)\n", + " df[\"guidance_density\"] = densities[idx]\n", + " dfs.append(df)\n", +<<<<<<< HEAD + "df = pd.concat(dfs, ignore_index=True)\n", + "\n", + "ORDER = [1.0, 0.75, 0.5, 0.25, 0.01, 0.0]" +======= + "df = pd.concat(dfs, ignore_index=True)" +>>>>>>> dev + ] + }, + { + "cell_type": "code", +<<<<<<< HEAD + "execution_count": 61, +======= + "execution_count": 13, +>>>>>>> dev + "id": "9cdae638", + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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scenario_idmetametricaverage_displacement_errorlinear_speed_likelihoodlinear_acceleration_likelihoodangular_speed_likelihoodangular_acceleration_likelihooddistance_to_nearest_object_likelihoodcollision_indication_likelihoodtime_to_collision_likelihooddistance_to_road_edge_likelihoodoffroad_indication_likelihoodmin_average_displacement_errortraffic_light_violation_likelihoodsimulated_collision_ratesimulated_offroad_rateguidance_density
018aa438fe00f01ca0.7839602.3950370.3142010.3746560.5452790.5268710.1293610.9990020.9548060.7608460.9990022.3950370.9990020.00.0000.0
113d80264125ba0b40.7512251.9119070.4151800.3710000.3683490.4494210.3724910.9990020.4012110.8841150.9990021.9119070.9990020.00.1250.0
2159a8e178d2ed73a0.8675041.4721780.4275340.6377510.7966290.6492860.8048710.9990020.7231080.7939090.9990021.4721780.9990020.00.0000.0
3194921d60eb9f3ca0.7658691.5699210.5425380.6555020.2567040.3373130.1184100.9990020.9888890.3217090.9990021.5699210.9990020.00.0000.0
418aa438fe00f01ca0.7775472.5077690.2705210.3338340.5225200.4613510.1170170.9990020.9888890.7618730.9990022.5077690.9990020.00.0000.0576d4027d09828d40.4815543.0653350.3133620.3227880.2950490.2714370.2693050.0315750.4855350.7668740.9990023.0653350.9990020.5000000.0000000.01
12d0dd05d08b638970.8171400.8072260.8264940.6526990.2762260.3106190.3974790.9990020.9888890.5149960.9990020.8072260.9990020.0000000.5000000.01
23af805166fa9ab440.7921701.2212770.5590100.2569830.1746970.1401810.4240510.9990020.9555520.9643070.9990021.2212770.9990020.0000000.5000000.01
358c46ba6a925e1600.3947771.1362220.4695190.3297800.2874130.3921520.4300140.3723340.5818190.8384870.1387711.1362220.9990020.1428570.2857140.01
4576d4027d09828d40.7211672.6742770.3144090.3134060.1912640.2494660.3990800.9990020.3837570.8000940.9990022.6742770.9990020.0000000.0000000.01
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" + ], + "text/plain": [ + " scenario_id metametric average_displacement_error \\\n", +<<<<<<< HEAD + "0 18aa438fe00f01ca 0.783960 2.395037 \n", + "1 13d80264125ba0b4 0.751225 1.911907 \n", + "2 159a8e178d2ed73a 0.867504 1.472178 \n", + "3 194921d60eb9f3ca 0.765869 1.569921 \n", + "4 18aa438fe00f01ca 0.777547 2.507769 \n", + "\n", + " linear_speed_likelihood linear_acceleration_likelihood \\\n", + "0 0.314201 0.374656 \n", + "1 0.415180 0.371000 \n", + "2 0.427534 0.637751 \n", + "3 0.542538 0.655502 \n", + "4 0.270521 0.333834 \n", + "\n", + " angular_speed_likelihood angular_acceleration_likelihood \\\n", + "0 0.545279 0.526871 \n", + "1 0.368349 0.449421 \n", + "2 0.796629 0.649286 \n", + "3 0.256704 0.337313 \n", + "4 0.522520 0.461351 \n", + "\n", + " distance_to_nearest_object_likelihood collision_indication_likelihood \\\n", + "0 0.129361 0.999002 \n", + "1 0.372491 0.999002 \n", + "2 0.804871 0.999002 \n", + "3 0.118410 0.999002 \n", + "4 0.117017 0.999002 \n", + "\n", + " time_to_collision_likelihood distance_to_road_edge_likelihood \\\n", + "0 0.954806 0.760846 \n", + "1 0.401211 0.884115 \n", + "2 0.723108 0.793909 \n", + "3 0.988889 0.321709 \n", + "4 0.988889 0.761873 \n", + "\n", + " offroad_indication_likelihood min_average_displacement_error \\\n", + "0 0.999002 2.395037 \n", + "1 0.999002 1.911907 \n", + "2 0.999002 1.472178 \n", + "3 0.999002 1.569921 \n", + "4 0.999002 2.507769 \n", + "\n", + " traffic_light_violation_likelihood simulated_collision_rate \\\n", + "0 0.999002 0.0 \n", + "1 0.999002 0.0 \n", + "2 0.999002 0.0 \n", + "3 0.999002 0.0 \n", + "4 0.999002 0.0 \n", + "\n", + " simulated_offroad_rate guidance_density \n", + "0 0.000 0.0 \n", + "1 0.125 0.0 \n", + "2 0.000 0.0 \n", + "3 0.000 0.0 \n", + "4 0.000 0.0 " + ] + }, + "execution_count": 61, +======= + "0 576d4027d09828d4 0.481554 3.065335 \n", + "1 2d0dd05d08b63897 0.817140 0.807226 \n", + "2 3af805166fa9ab44 0.792170 1.221277 \n", + "3 58c46ba6a925e160 0.394777 1.136222 \n", + "4 576d4027d09828d4 0.721167 2.674277 \n", + "\n", + " linear_speed_likelihood linear_acceleration_likelihood \\\n", + "0 0.313362 0.322788 \n", + "1 0.826494 0.652699 \n", + "2 0.559010 0.256983 \n", + "3 0.469519 0.329780 \n", + "4 0.314409 0.313406 \n", + "\n", + " angular_speed_likelihood angular_acceleration_likelihood \\\n", + "0 0.295049 0.271437 \n", + "1 0.276226 0.310619 \n", + "2 0.174697 0.140181 \n", + "3 0.287413 0.392152 \n", + "4 0.191264 0.249466 \n", + "\n", + " distance_to_nearest_object_likelihood collision_indication_likelihood \\\n", + "0 0.269305 0.031575 \n", + "1 0.397479 0.999002 \n", + "2 0.424051 0.999002 \n", + "3 0.430014 0.372334 \n", + "4 0.399080 0.999002 \n", + "\n", + " time_to_collision_likelihood distance_to_road_edge_likelihood \\\n", + "0 0.485535 0.766874 \n", + "1 0.988889 0.514996 \n", + "2 0.955552 0.964307 \n", + "3 0.581819 0.838487 \n", + "4 0.383757 0.800094 \n", + "\n", + " offroad_indication_likelihood min_average_displacement_error \\\n", + "0 0.999002 3.065335 \n", + "1 0.999002 0.807226 \n", + "2 0.999002 1.221277 \n", + "3 0.138771 1.136222 \n", + "4 0.999002 2.674277 \n", + "\n", + " traffic_light_violation_likelihood simulated_collision_rate \\\n", + "0 0.999002 0.500000 \n", + "1 0.999002 0.000000 \n", + "2 0.999002 0.000000 \n", + "3 0.999002 0.142857 \n", + "4 0.999002 0.000000 \n", + "\n", + " simulated_offroad_rate guidance_density \n", + "0 0.000000 0.01 \n", + "1 0.500000 0.01 \n", + "2 0.500000 0.01 \n", + "3 0.285714 0.01 \n", + "4 0.000000 0.01 " + ] + }, + "execution_count": 13, +>>>>>>> dev + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "df.head()" + ] + }, + { + "cell_type": "code", +<<<<<<< HEAD + "execution_count": 69, +======= + "execution_count": 52, +>>>>>>> dev + "id": "ba2b2530", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " 2025-05-14T22:16:21.320193\n", +======= + " 2025-05-14T17:27:14.234935\n", +>>>>>>> dev + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib v3.9.0, https://matplotlib.org/\n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " >>>>>> dev + "L 0 6 \n", + "\" style=\"stroke: #262626; stroke-width: 1.25\"/>\n", + " \n", + " \n", +<<<<<<< HEAD + " \n", +======= + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", +======= + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " >>>>>> dev + "L -6 0 \n", + "\" style=\"stroke: #262626; stroke-width: 1.25\"/>\n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", +======= + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", +<<<<<<< HEAD + " \n", +======= + " \n", +>>>>>>> dev + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +======= + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", +======= + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + "\n" + ], + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "fig, axs = plt.subplots(1, 1, figsize=(10, 5))\n", + "\n", + "sns.barplot(\n", + " data=df,\n", + " x=\"guidance_density\",\n", + " y=\"metametric\",\n", +<<<<<<< HEAD + " order=ORDER,\n", +======= + " order=[1.0, 0.8, 0.5, 0.01],\n", +>>>>>>> dev + " errorbar=\"sd\",\n", + ")\n", + "axs.bar_label(axs.containers[0], fontsize=10)\n", + "sns.despine()" + ] + }, + { + "cell_type": "code", +<<<<<<< HEAD + "execution_count": 70, +======= + "execution_count": null, +>>>>>>> dev + "id": "458c0799", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", +<<<<<<< HEAD + "\n", +======= + "\n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " 2025-05-14T22:16:24.169365\n", +======= + " 2025-05-14T17:27:15.688787\n", +>>>>>>> dev + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib v3.9.0, https://matplotlib.org/\n", + " \n", + " 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "pal = sns.color_palette(\"light:b_r\", as_cmap=False)\n", + "#pal = sns.light_palette(\"seagreen\", reverse=True, as_cmap=False)\n", + "\n", + "fig, axs = plt.subplots(1, 1, figsize=(10, 5))\n", + "\n", + "sns.boxplot(\n", + " data=df,\n", + " x=\"guidance_density\",\n", + " y=\"metametric\",\n", + " order=[1.0, 0.8, 0.5, 0.2, 0.01],\n", + " palette=pal,\n", + ")\n", + "\n", + "sns.swarmplot(\n", + " data=df,\n", + " x=\"guidance_density\",\n", + " y=\"metametric\",\n", + " order=[1.0, 0.8, 0.5, 0.2, 0.01],\n", + " size=5, color=\".3\", alpha=0.7,\n", + ")\n", + "sns.despine()\n", + "axs.grid(True, axis='y', alpha=0.5)\n", + "fig.savefig(\n", + " \"examples/eval/figures_data/wosac/log_replay_guidance_density.pdf\",\n", + " dpi=300,\n", + " bbox_inches=\"tight\",\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 54, + "id": "fc2c6573", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", + " 2025-05-14T17:27:15.806500\n", + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib v3.9.0, https://matplotlib.org/\n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", +======= + " \n", + " \n", +>>>>>>> dev + " \n", + " \n", + "\n" + ], + "text/plain": [ +<<<<<<< HEAD + "
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" +>>>>>>> dev + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ +<<<<<<< HEAD + "pal = sns.color_palette(\"light:b_r\", as_cmap=False)\n", + "#pal = sns.light_palette(\"seagreen\", reverse=True, as_cmap=False)\n", + "\n", + "fig, axs = plt.subplots(1, 1, figsize=(10, 5))\n", + "\n", + "sns.boxplot(\n", + " data=df,\n", + " x=\"guidance_density\",\n", + " y=\"metametric\",\n", + " order=ORDER,\n", + " palette=pal,\n", + ")\n", + "\n", + "sns.stripplot(\n", + " data=df,\n", + " x=\"guidance_density\",\n", + " y=\"metametric\",\n", + " order=ORDER,\n", + " size=5, color=\".3\", alpha=0.7,\n", + ")\n", + "sns.despine()\n", + "axs.grid(True, axis='y', alpha=0.5)\n", + "fig.savefig(\n", + " \"examples/eval/figures_data/wosac/log_replay_guidance_density.pdf\",\n", + " dpi=300,\n", + " bbox_inches=\"tight\",\n", + ")" +======= + "g = sns.catplot(\n", + " data=df, x=\"guidance_density\", y=\"metametric\", capsize=.2, palette=pal, errorbar=\"sd\",\n", + " kind=\"point\", height=4, aspect=1.7, order=[1.0, 0.8, 0.5, 0.2, 0.01],\n", + ")\n", + "g.despine(left=True)\n", + "g.ax.grid(True, axis='y', alpha=0.3)" +>>>>>>> dev + ] + }, + { + "cell_type": "code", +<<<<<<< HEAD + "execution_count": 68, +======= + "execution_count": 22, +>>>>>>> dev + "id": "e439cbc6", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " 2025-05-14T22:14:36.912047\n", +======= + " 2025-05-14T17:14:45.000413\n", +>>>>>>> dev + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib v3.9.0, https://matplotlib.org/\n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", +<<<<<<< HEAD + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " >>>>>> dev + "L 0 6 \n", + "\" style=\"stroke: #262626; stroke-width: 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "fig, axs = plt.subplots(1, 1, figsize=(10, 5))\n", + "\n", + "sns.violinplot(\n", + " data=df,\n", + " x=\"guidance_density\",\n", + " y=\"metametric\",\n", +<<<<<<< HEAD + " order=ORDER,\n", +======= + " order=[1.0, 0.8, 0.5, 0.2, 0.01],\n", +>>>>>>> dev + ")\n", + "\n", + "sns.despine()\n", + "axs.grid(True, alpha=0.5)\n", + "# fig.savefig(\n", + "# \"examples/eval/figures_data/wosac/log_replay_guidance_density.pdf\",\n", + "# dpi=300,\n", + "# bbox_inches=\"tight\",\n", + "# )" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "13eb0fe2", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "0faa1e7c", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/eval/notebooks/obtain_guidance_data.py b/examples/eval/notebooks/obtain_guidance_data.py new file mode 100644 index 000000000..dcbd405e7 --- /dev/null +++ b/examples/eval/notebooks/obtain_guidance_data.py @@ -0,0 +1,67 @@ +import importlib +import gpudrive + +importlib.reload(gpudrive) +from gpudrive.env.env_torch import GPUDriveTorchEnv +from gpudrive.env.config import EnvConfig, RenderConfig +from gpudrive.env.dataset import SceneDataLoader +import torch +import numpy as np +from gpudrive.datatypes.observation import LocalEgoState + +if __name__ == "__main__": + + GUIDANCE_MODE = "log_replay" + DATASET = "data/processed/wosac/validation_interactive/json" # Ensure VBD trajectory structures are in here + SAVE_PATH = "examples/eval/figures_data/guidance/" + + env_config = EnvConfig( + dynamics_model="classic", + reward_type="guided_autonomy", + guidance=True, + guidance_mode=GUIDANCE_MODE, + add_reference_heading=True, + add_reference_speed=True, + add_reference_pos_xy=True, + init_mode="wosac_eval", + smoothen_trajectory=False, + ) + render_config = RenderConfig() + + train_loader = SceneDataLoader( + root=DATASET, + batch_size=1, + dataset_size=100, + sample_with_replacement=False, + shuffle=False, + file_prefix="", + ) + + env = GPUDriveTorchEnv( + config=env_config, + data_loader=train_loader, + max_cont_agents=32, + device="cpu", + ) + + obs = env.reset(env.cont_agent_mask) + + # Save for analysis + reference_traj = torch.cat( + [ + env.reference_trajectory.pos_xy, + env.reference_trajectory.vel_xy, + env.reference_trajectory.yaw, + env.reference_trajectory.valids, + env.agent_types, + ], + dim=-1, + ) + reference_traj_np = ( + reference_traj[env.cont_agent_mask].detach().cpu().numpy() + ) + + np.save( + f"{SAVE_PATH}reference_{GUIDANCE_MODE}.npy", reference_traj_np + ) + print(f"Saved reference trajectory for {GUIDANCE_MODE} mode.") diff --git a/examples/eval/notebooks/variability_in_dataset.ipynb b/examples/eval/notebooks/variability_in_dataset.ipynb new file mode 100644 index 000000000..7e301058f --- /dev/null +++ b/examples/eval/notebooks/variability_in_dataset.ipynb @@ -0,0 +1,1716 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 14, + "id": "0fa8c70e", + "metadata": {}, + "outputs": [], + "source": [ + "import importlib\n", + "import gpudrive\n", + "importlib.reload(gpudrive)\n", + "\n", + "import numpy as np\n", + "import os\n", + "import torch\n", + "from pathlib import Path\n", + "\n", + "# Set working directory to the base directory 'gpudrive_madrona'\n", + "working_dir = Path.cwd()\n", + "while working_dir.name != 'gpudrive':\n", + " working_dir = working_dir.parent\n", + " if working_dir == Path.home():\n", + " raise FileNotFoundError(\"Base directory 'gpudrive_madrona' not found\")\n", + "os.chdir(working_dir)\n", + "import torch\n", + "from PIL import Image\n", + "import seaborn as sns\n", + "import warnings\n", + "import matplotlib as mpl\n", + "import matplotlib.pyplot as plt\n", + "import datetime\n", + "\n", + "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", + "from gpudrive.env.config import EnvConfig, RenderConfig\n", + "from gpudrive.env.dataset import SceneDataLoader\n", + "from gpudrive.visualize.utils import img_from_fig\n", + "\n", + "sns.set(\"notebook\", font_scale=1.05, rc={\"figure.figsize\": (10, 5)})\n", + "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n", + "%config InlineBackend.figure_format = 'svg'\n", + "warnings.filterwarnings(\"ignore\")\n", + "plt.set_loglevel(\"WARNING\")\n", + "mpl.rcParams[\"lines.markersize\"] = 8\n", + "\n", + "plt.set_loglevel(\"WARNING\")\n", + "%matplotlib inline" + ] + }, + { + "cell_type": "code", + "execution_count": 15, + "id": "7d2f76fa", + "metadata": {}, + "outputs": [], + "source": [ + "DATASET = \"data/processed/wosac/validation_json_100\"\n", + "FIGURES_DIR = \"examples/eval/figures\"\n", + "DATA_FOLDER = \"examples/eval/figures_data/\"" + ] + }, + { + "cell_type": "code", + "execution_count": 16, + "id": "6933650b", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(5435, 91, 6)" + ] + }, + "execution_count": 16, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "ref_log_replay = np.load(f\"{DATA_FOLDER}reference_log_replay_smooth.npy\")\n", + "\n", + "ref_log_replay.shape" + ] + }, + { + "cell_type": "code", + "execution_count": 17, + "id": "7301cdce", + "metadata": {}, + "outputs": [], + "source": [ + "valid_guidance_points = ref_log_replay[:, :, 5].sum(axis=-1)\n", + "valid_guidance_points.shape\n", + "\n", + "# Some trajectories, while valid, are just parked cars\n", + "# Detect these by checking for zero velocity trajectories\n", + "valid_and_non_zero = ((ref_log_replay[:, :, 2] != 0) & (ref_log_replay[:, :, 5] == 1)).sum(axis=1)" + ] + }, + { + "cell_type": "code", + "execution_count": 40, + "id": "1f401802", + "metadata": {}, + "outputs": [ + { + "data": { + "image/svg+xml": [ + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", + " \n", + " 2025-05-08T10:12:01.098569\n", + " image/svg+xml\n", + " \n", + " \n", + " Matplotlib v3.9.0, https://matplotlib.org/\n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "fig, axs = plt.subplots(1, 2, figsize=(9, 3.5), sharey=True)\n", + "\n", + "#fig.suptitle(f\"Distribution of guidance points per agent; A = {ref_log_replay.shape[0]}\")\n", + "\n", + "sns.histplot(valid_guidance_points, bins=10, stat='percent', ax=axs[0])\n", + "axs[0].grid(True, alpha=0.2)\n", + "axs[0].set_xlabel(\"Guidance points per agent\")\n", + "mean_value = valid_guidance_points.mean()\n", + "axs[0].axvline(x=mean_value, color='purple', linestyle='--')\n", + "axs[0].text(mean_value-3, axs[0].get_ylim()[1]*0.95, r'$\\mu$', color='purple', \n", + " fontsize=14, ha='center', va='center')\n", + "\n", + "sns.histplot(valid_and_non_zero, bins=10, stat='percent', ax=axs[1])\n", + "axs[1].grid(True, alpha=0.2)\n", + "axs[1].set_xlabel(r\"Guidance points per agent (nonzero excluded)\")\n", + "mean_value_nonzero = valid_and_non_zero.mean()\n", + "axs[1].axvline(x=mean_value_nonzero, color='purple', linestyle='--')\n", + "axs[1].text(mean_value_nonzero-3, axs[1].get_ylim()[1]*0.95, r'$\\mu$', color='purple', fontsize=14, ha='center', va='center')\n", + "\n", + "plt.tight_layout()\n", + "sns.despine()\n", + "plt.savefig(f\"{FIGURES_DIR}/guidance_points_distribution.pdf\", dpi=300, bbox_inches=\"tight\")" + ] + }, + { + "cell_type": "code", + "execution_count": 31, + "id": "cf5219a6", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(5435, 91, 6)" + ] + }, + "execution_count": 31, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "ref_log_replay.shape" + ] + }, + { + "cell_type": "code", + "execution_count": 33, + "id": "f3cbb779", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(5435, 91, 2)" + ] + }, + "execution_count": 33, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "# Modalities\n", + "ref_log_replay[:, :, :2].shape" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "eecede8a", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(389141, 2)" + ] + }, + "execution_count": 34, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "ref_log_replay[:, :, :2].shape" + ] + }, + { + "cell_type": "code", + "execution_count": 24, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(5435, 91)" + ] + }, + "execution_count": 24, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "is_valid = ref_log_replay[:, :, 5] == 1\n", + "\n", + "is_valid.shape" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "83686132", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "gpudrive", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/eval/notebooks/wosac_results.ipynb b/examples/eval/notebooks/wosac_results.ipynb deleted file mode 100644 index e76e80422..000000000 --- a/examples/eval/notebooks/wosac_results.ipynb +++ /dev/null @@ -1,312 +0,0 @@ -{ - "cells": [ - { - "cell_type": "code", - "execution_count": 15, - "metadata": {}, - "outputs": [], - "source": [ - "import pandas as pd\n", - "import os\n", - "import glob\n", - "import numpy as np\n", - "import matplotlib.pyplot as plt" - ] - }, - { - "cell_type": "code", - "execution_count": 28, - "metadata": {}, - "outputs": [], - "source": [ - "def display_wosac_table(data_dir):\n", - " csv_files = glob.glob(os.path.join(data_dir, \"*.csv\"))\n", - " \n", - " if not csv_files:\n", - " raise FileNotFoundError(f\"No CSV files found in {data_dir}\")\n", - " \n", - " most_recent_file = max(csv_files, key=os.path.getctime)\n", - " print(f\"Using file: {most_recent_file}\")\n", - " \n", - " df = pd.read_csv(most_recent_file)\n", - " df = df.set_index(\"AGENT POLICY\")\n", - " \n", - " def highlight_best(df):\n", - " styles = pd.DataFrame('', index=df.index, columns=df.columns)\n", - " \n", - " higher_better_cols = [col for col in df.columns if '(↑)' in col]\n", - " lower_better_cols = [col for col in df.columns if '(↓)' in col]\n", - " \n", - " for col in higher_better_cols:\n", - " max_val = df[col].max()\n", - " max_indices = df[col] == max_val\n", - " styles.loc[max_indices, col] = 'background-color: #a8f0a8'\n", - " \n", - " for col in lower_better_cols:\n", - " min_val = df[col].min()\n", - " min_indices = df[col] == min_val\n", - " styles.loc[min_indices, col] = 'background-color: #a8f0a8'\n", - " \n", - " return styles\n", - " \n", - " styled_df = df.style.apply(highlight_best, axis=None).format(precision=3)\n", - " \n", - " return styled_df\n", - "\n", - "def create_radar_chart(data_dir='examples/eval/figures_data'):\n", - " csv_files = glob.glob(os.path.join(data_dir, \"*.csv\"))\n", - " \n", - " if not csv_files:\n", - " raise FileNotFoundError(f\"No CSV files found in {data_dir}\")\n", - " \n", - " most_recent_file = max(csv_files, key=os.path.getctime)\n", - " df = pd.read_csv(most_recent_file)\n", - " df = df.set_index(\"AGENT POLICY\")\n", - " \n", - " key_metrics = [\n", - " \"COMPOSITE METRIC (↑)\", \n", - " \"LINEAR SPEED (↑)\", \n", - " \"ANG. SPEED (↑)\",\n", - " \"COLLISION (↑)\",\n", - " \"TTC (↑)\", \n", - " \"OFFROAD (↑)\"\n", - " ]\n", - " \n", - " radar_df = df[key_metrics].copy()\n", - " for col in radar_df.columns:\n", - " if '(↑)' in col:\n", - " radar_df[col] = (radar_df[col] - radar_df[col].min()) / (radar_df[col].max() - radar_df[col].min())\n", - " else:\n", - " radar_df[col] = 1 - ((radar_df[col] - radar_df[col].min()) / (radar_df[col].max() - radar_df[col].min()))\n", - " \n", - " categories = [col.replace(' (↑)', '').replace(' (↓)', '') for col in key_metrics]\n", - " N = len(categories)\n", - " \n", - " fig = plt.figure(figsize=(6, 5))\n", - " ax = plt.subplot(111, polar=True)\n", - " \n", - " angles = [n / float(N) * 2 * np.pi for n in range(N)]\n", - " angles += angles[:1]\n", - " \n", - " top_policies = df.sort_values(\"COMPOSITE METRIC (↑)\", ascending=False).head(5).index\n", - " \n", - " colors = plt.cm.tab10(np.linspace(0, 1, len(top_policies)))\n", - " \n", - " for i, policy in enumerate(top_policies):\n", - " values = radar_df.loc[policy].values.flatten().tolist()\n", - " values += values[:1]\n", - " \n", - " ax.plot(angles, values, 'o-', linewidth=2, color=colors[i], label=policy)\n", - " ax.fill(angles, values, alpha=0.1, color=colors[i])\n", - " \n", - " plt.xticks(angles[:-1], categories, size=12)\n", - " \n", - " ax.set_rlabel_position(0)\n", - " plt.yticks([0.25, 0.5, 0.75], [\"0.25\", \"0.5\", \"0.75\"], color=\"grey\", size=10)\n", - " plt.ylim(0, 1)\n", - " \n", - " plt.legend(loc='upper right', bbox_to_anchor=(0.1, 0.1))\n", - " plt.title('Key Metrics Comparison (Normalized)', size=15, y=1.1)\n", - " \n", - " return fig" - ] - }, - { - "cell_type": "code", - "execution_count": 29, - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Using file: ../figures_data/wosac_table_2025-04-24 09.csv\n" - ] - }, - { - "data": { - "text/html": [ - "\n", - "
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 REPLAN RATE (Hz)LINEAR SPEED (↑)LINEAR ACCEL. (↑)ANG. SPEED (↑)ANG. ACCEL. (↑)DIST. TO OBJ. (↑)COLLISION (↑)TTC (↑)DIST. TO ROAD EDGE (↑)OFFROAD (↑)COMPOSITE METRIC (↑)ADE (↓)MINADE (↓)COLLISION RATE (↓)OFFROAD RATE (↓)
AGENT POLICY               
Logged oracle-0.4760.4780.5780.6940.4761.0000.8830.7151.0000.8190.0000.0000.0280.111
Guided self-play (ours)100.5890.3660.6290.4460.3760.9990.9890.5310.9990.7910.8730.8730.0000.000
VBD0.1250.3590.3660.4200.5220.3680.9340.8150.6510.8790.7202.2571.4740.0360.152
Random agent100.0020.1160.0140.0340.0000.0000.7350.1480.1910.14450.73950.7061.0000.613
\n" - ], - "text/plain": [ - "" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "table = display_wosac_table(data_dir=\"../figures_data\")\n", - "display(table);" - ] - }, - { - "cell_type": "code", - "execution_count": 30, - "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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", - "text/plain": [ - "
" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "radar_fig = create_radar_chart(data_dir='../figures_data')\n", - "plt.show()\n" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [] - } - ], - "metadata": { - "kernelspec": { - "display_name": "gpudrive", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.11.9" - } - }, - "nbformat": 4, - "nbformat_minor": 2 -} diff --git a/examples/eval/rollout_test.py b/examples/eval/rollout_test.py new file mode 100644 index 000000000..6a38c64b1 --- /dev/null +++ b/examples/eval/rollout_test.py @@ -0,0 +1,170 @@ +import numpy as np +import mediapy as media +import wandb +import torch + +from gpudrive.env.env_torch import GPUDriveTorchEnv +from gpudrive.env.config import EnvConfig +from gpudrive.env.dataset import SceneDataLoader +from gpudrive.visualize.utils import img_from_fig +from gpudrive.utils.checkpoint import load_agent + +def test_rollout(focus_agents=[0, 1], render=False, agent=None): + run = wandb.init(project="humanlike_tests", group="rollout_tests") + + env_config = EnvConfig( + guidance=True, + guidance_mode="vbd_amortized", # Options: "log_replay", "vbd_amortized" + add_reference_pos_xy=True, + add_reference_speed=True, + add_reference_heading=True, + add_previous_action=True, + reward_type="guided_autonomy", + init_mode="wosac_train", + dynamics_model="classic", # "state", #"classic", + smoothen_trajectory=True, + smoothness_weight=0.0, + collision_weight=-0.02, + off_road_weight=-0.0, + guidance_heading_weight=0.005, + guidance_speed_weight=0.0005, + guidance_dropout_prob=0.99, + guidance_dropout_mode="avg", # Options: "max", "avg" + ) + + # Create data loader + train_loader = SceneDataLoader( + root="data/processed/wosac/validation_json_1", + batch_size=1, + dataset_size=100, + sample_with_replacement=False, + shuffle=False, + file_prefix="", + ) + + # Make env + env = GPUDriveTorchEnv( + config=env_config, + data_loader=train_loader, + max_cont_agents=32, # Number of agents to control + device="cuda", + ) + + control_mask = env.cont_agent_mask + + # Rollout + next_obs = env.reset(mask=control_mask) + + sim_frames = [] + agent_obs_frames = {i: [] for i in focus_agents} + cum_reward = np.zeros((env.num_worlds, env.max_cont_agents)) + + expert_actions, _, _, _ = env.get_expert_actions() + + for time_step in range(env.init_steps, env.episode_len): + print(f"Step: {env.step_in_world[0, 0, 0].item()}") + + # Step + if agent is not None: # Rollout with pre-trained agent + control_mask = env.cont_agent_mask + action, _, _, _ = agent(next_obs) + action_template = torch.zeros( + (1, 32), dtype=torch.int64, device='cuda' + ) + action_template[control_mask] = action.to('cuda') + + env.step_dynamics(action_template) + + else: + env.step_dynamics(expert_actions[:, :, time_step, :]) + + next_obs = env.get_obs(control_mask) + reward = env.get_rewards() + done = env.get_dones() + info = env.get_infos() + + # for agent_idx in focus_agents: + # cum_reward[agent_idx] += reward[0, agent_idx].item() + + cum_reward += reward.cpu().numpy() + + if render: + if time_step % 5 == 0 or time_step > env.episode_len - 3: + sim_states, agent_obs = env.render( + focus_agent_idx=focus_agents + ) + sim_frames.append(img_from_fig(sim_states[0])) + for i in focus_agents: + agent_obs_frames[i].append(img_from_fig(agent_obs[i])) + + # Log reward magnitudes + for agent_idx in focus_agents: + agent_key = f"agent_{agent_idx}" + wandb.log( + { + f"{agent_key}/R_combined": reward[0, agent_idx].item(), + f"{agent_key}/R_jerk": env.smoothness_penalty[ + 0, agent_idx + ].item(), + f"{agent_key}/R_collision": env.base_rewards[ + 0, agent_idx + ].item(), + f"{agent_key}/R_speed_heading": env.speed_heading_reward[ + 0, agent_idx + ].item(), + f"{agent_key}/R_route": env.route_reward[ + 0, agent_idx + ].item(), + f"{agent_key}/R_cumulative": cum_reward[ + 0, agent_idx + ].item(), + }, + step=env.step_in_world[0, 0, 0].item(), + ) + + avg_cum_reward = cum_reward[env.cont_agent_mask.cpu().numpy()].mean() + + print( + f"Avg cumulative rewards N = {env.cont_agent_mask.sum()}: {avg_cum_reward}" + ) + if render: + for agent_idx in focus_agents: + agent_key = f"agent_{agent_idx}" + agent_obs_arr = np.array(agent_obs_frames[agent_idx]) + wandb.log( + { + f"{agent_key}/render": wandb.Video( + np.moveaxis(agent_obs_arr, -1, 1), + fps=5, + format="mp4", + ) + } + ) + + sim_frames_arr = np.array(sim_frames) + wandb.log( + { + "sim/render": wandb.Video( + np.moveaxis(sim_frames_arr, -1, 1), + fps=5, + format="mp4", + ) + } + ) + + env.close() + run.finish() + + +if __name__ == "__main__": + + + # load policy + CPT_PATH = ( + "checkpoints/model_guidance_logs__S_1__05_12_18_44_58_857_000100.pt" + ) + #agent = load_agent(path_to_cpt=CPT_PATH).to("cuda") + agent = None + + + test_rollout(focus_agents=[0, 1, 2, 3, 4], render=True, agent=agent) diff --git a/examples/eval/run_wosac_eval.py b/examples/eval/run_wosac_eval.py index c08fa9e36..3a94e8cfa 100644 --- a/examples/eval/run_wosac_eval.py +++ b/examples/eval/run_wosac_eval.py @@ -3,23 +3,43 @@ import os import sys import mediapy +import logging +import numpy as np +from time import perf_counter from tqdm import tqdm +from pathlib import Path +from box import Box +import yaml from gpudrive.env.config import EnvConfig from gpudrive.env.env_torch import GPUDriveTorchEnv from gpudrive.env.dataset import SceneDataLoader from gpudrive.datatypes.observation import GlobalEgoState +from gpudrive.datatypes.metadata import Metadata +from gpudrive.datatypes.info import Info from gpudrive.utils.checkpoint import load_agent +from gpudrive.visualize.utils import img_from_fig +import madrona_gpudrive # WOSAC sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) from waymo_open_dataset.protos import sim_agents_submission_pb2 -# from eval.wosac_eval import WOSACMetrics from eval.wosac_eval_origin import WOSACMetrics +# Configure logging +logging.basicConfig(level=logging.INFO) +logger = logging.getLogger("WOSAC evaluation") +# Suppress excessive logging +logging.getLogger("tensorflow").setLevel(logging.ERROR) + def get_state(env): """Obtain raw agent states.""" + avg_z_pos = Metadata.from_tensor( + metadata_tensor=env.sim.metadata_tensor(), + backend=env.backend, + device=env.device, + ).avg_z ego_state = GlobalEgoState.from_tensor( env.sim.absolute_self_observation_tensor(), backend=env.backend, @@ -31,25 +51,59 @@ def get_state(env): return ( ego_state.pos_x + mean_x, ego_state.pos_y + mean_y, - ego_state.pos_z, + avg_z_pos, # ego_state.pos_z ego_state.rotation_angle, ego_state.id, ) def rollout( - env, - sim_agent, - init_steps, - num_envs, - max_agents, - device, + env: GPUDriveTorchEnv, + sim_agent: torch.nn.Module, + init_steps: int, + num_envs: int, + max_agents: int, + device: str, + render_simulator_states: bool = False, + render_agent_pov: bool = False, + render_every_n_steps: int = 5, + save_videos: bool = True, + video_dir: str = "videos", + video_format: str = "gif", + guidance_mode: str = "vbd_online", ): """Rollout agent in the environment and return the scenario rollouts.""" + # Storage + env_ids = list(range(num_envs)) + simulator_state_frames = {env_id: [] for env_id in range(num_envs)} + agent_observation_frames = {env_id: [] for env_id in range(num_envs)} + + start_env_rollout = perf_counter() + + # Zero out actions for parked vehicles + info = Info.from_tensor( + env.sim.info_tensor(), + backend=env.backend, + device=env.device, + ) + + zero_action_mask = (info.off_road == 1) | ( + info.collided_with_vehicle == 1 + ) & (info.type == int(madrona_gpudrive.EntityType.Vehicle)) + control_mask = env.cont_agent_mask.clone() - next_obs = env.reset() + next_obs = env.reset(mask=control_mask) - scenario_ids = list(env.get_scenario_ids().values()) + # Guidance logging + num_guidance_points = env.valid_guidance_points + guidance_densities = num_guidance_points / env.reference_traj_len + print( + f"Avg guidance points per agent: {num_guidance_points.cpu().numpy().mean():.2f} which is {guidance_densities.mean().item()*100:.2f} % of the trajectory length (mode = {env.config.guidance_dropout_mode}) \n" + ) + + # Get scenario ids + scenario_ids_dict = env.get_scenario_ids() + scenario_ids = list(scenario_ids_dict.values()) pos_x_list = [] pos_y_list = [] @@ -57,24 +111,59 @@ def rollout( heading_list = [] done_list = [env.get_dones()] - control_mask = env.cont_agent_mask - + # Get initial states pos_x, pos_y, pos_z, heading, _ = get_state(env) for time_step in range(env.episode_len - init_steps): # Predict actions - action, _, _, _ = sim_agent(next_obs[control_mask]) + action, _, _, _ = sim_agent(next_obs) action_template = torch.zeros( (num_envs, max_agents), dtype=torch.int64, device=device ) action_template[control_mask] = action.to(device) + # Find the integer key for the "do nothing" action (zero steering, zero acceleration) + # Check using env.action_key_to_values[DO_NOTHING_ACTION_INT] + DO_NOTHING_ACTION_INT = [ + key + for key, value in env.action_key_to_values.items() + if abs(value[0]) == 0.0 + and abs(value[1]) == 0.0 + and abs(value[2]) == 0.0 + ][0] + action_template[zero_action_mask] = DO_NOTHING_ACTION_INT + # Step env.step_dynamics(action_template) - next_obs = env.get_obs() + # Render + if render_simulator_states and time_step % render_every_n_steps == 0: + sim_states = env.vis.plot_simulator_state( + env_indices=env_ids, + zoom_radius=100, + time_steps=[time_step] * len(env_ids), + plot_guidance_pos_xy=True, + ) + for idx in range(num_envs): + simulator_state_frames[idx].append( + img_from_fig(sim_states[idx]) + ) + + if render_agent_pov and time_step % render_every_n_steps == 0: + agent_obs = env.vis.plot_agent_observation( + env_idx=0, + agent_idx=0, + figsize=(10, 10), + trajectory=env.reference_path[0, :, :].to("cpu"), + ) + agent_observation_frames[idx].append(img_from_fig(agent_obs)) + + # Get next observation + next_obs = env.get_obs(control_mask) + # NOTE(dc): Make sure to decouple the obs from the reward function + reward = env.get_rewards() done = env.get_dones() pos_x, pos_y, pos_z, heading, id = get_state(env) @@ -86,6 +175,29 @@ def rollout( done_list.append(done) _ = done_list.pop() + if save_videos: + for idx in range(num_envs): + scenario_id = scenario_ids_dict[idx] + if ( + render_simulator_states + and len(simulator_state_frames[idx]) > 0 + ): + mediapy.write_video( + f"{video_dir}/{guidance_mode}_sim_state_env_{idx}_{scenario_id}.{video_format}", + np.array(simulator_state_frames[idx]), + fps=8, + codec=video_format, + ) + + if render_agent_pov and len(agent_observation_frames[0]) > 0: + scenario_id = scenario_ids_dict[0] + mediapy.write_video( + f"{video_dir}/{guidance_mode}_agent_0_{scenario_id}.{video_format}", + np.array(agent_observation_frames[0]), + fps=8, + codec=video_format, + ) + # Generate Scenario pos_x_stack = torch.stack(pos_x_list, dim=-1).cpu().numpy() pos_y_stack = torch.stack(pos_y_list, dim=-1).cpu().numpy() @@ -95,12 +207,19 @@ def rollout( id = id.cpu().numpy() control_mask = control_mask.cpu().numpy() - scenario_rollouts = [] - scenario_rollout_masks = [] + logging.info( + f"Policy rollout took: {perf_counter() - start_env_rollout:.2f} s (Render = {render_simulator_states}; {len(env.data_batch)} scenarios)." + ) + + start_ground_truth_ext = perf_counter() + + # scenario_rollouts = [] + joint_scenes = {} + # scenario_rollout_masks = [] for i, scenario_id in enumerate(scenario_ids): # control_mask_i = id[i] != 0 control_mask_i = control_mask[i] - scenario_rollout_masks.append(done_stack[i, control_mask_i] == 0) + # scenario_rollout_masks.append(done_stack[i, control_mask_i] == 0) pos_x_i = pos_x_stack[i, control_mask_i] pos_y_i = pos_y_stack[i, control_mask_i] pos_z_i = pos_z_stack[i, control_mask_i] @@ -118,118 +237,175 @@ def rollout( object_id=int(obj_i_a), ) ) - joint_scene = sim_agents_submission_pb2.JointScene( + # joint_scene = sim_agents_submission_pb2.JointScene( + # simulated_trajectories=simulated_trajectories + # ) + + joint_scenes[scenario_id] = sim_agents_submission_pb2.JointScene( simulated_trajectories=simulated_trajectories ) - scenario_rollouts.append( - sim_agents_submission_pb2.ScenarioRollouts( - joint_scenes=[joint_scene], - scenario_id=scenario_id, - ) - ) + # scenario_rollouts.append( + # sim_agents_submission_pb2.ScenarioRollouts( + # joint_scenes=[joint_scene], + # scenario_id=scenario_id, + # ) + # ) + + logging.info( + f"Ground truth extraction took: {perf_counter() - start_ground_truth_ext:.2f} s ({len(env.data_batch)} scenarios)." + ) - return scenario_ids, scenario_rollouts, scenario_rollout_masks + return joint_scenes + + # return scenario_ids, scenario_rollouts, scenario_rollout_masks + + +def load_config(config_path): + """Load the configuration file.""" + with open(config_path, "r") as f: + config = Box(yaml.safe_load(f)) + return config if __name__ == "__main__": # Settings - MAX_AGENTS = 64 - NUM_ENVS = 1 - DEVICE = "cpu" - NUM_BATCHES = 1 - NUM_ROLLOUTS = 10 + MAX_AGENTS = ( + madrona_gpudrive.kMaxAgentCount + ) # TODO: Set to 128 for real eval + NUM_ENVS = 200 + DEVICE = "cuda" # where to run the env rollouts + NUM_ROLLOUTS_PER_BATCH = 1 + NUM_DATA_BATCHES = 1 INIT_STEPS = 10 - DATASET_SIZE = 100 + DATASET_SIZE = 1000 + RENDER = False + LOG_DIR = "examples/eval/figures_data/wosac/" + GUIDANCE_MODE = ( + "vbd_online" # Options: "vbd_amortized", "vbd_online", "log_replay" + ) + GUIDANCE_DROPOUT_MODE = "avg" # Options: "max", "avg", "remove_all" + GUIDANCE_DROPOUT_PROB = 0.99 + SMOOTHEN_TRAJECTORY = True + + DATA_JSON = "data/processed/wosac/validation_interactive/json" + DATA_TFRECORD = "data/processed/wosac/validation_interactive/tfrecord" - DATA_JSON = "data/processed/wosac/validation_json_1" - DATA_TFRECORD = "data/processed/wosac/validation_tfrecord_1" + CPT_PATH = "checkpoints/model_guidance_logs__R_10000__05_14_16_54_46_975_002200.pt" # Create data loader val_loader = SceneDataLoader( root=DATA_JSON, batch_size=NUM_ENVS, dataset_size=DATASET_SIZE, - sample_with_replacement=True, + sample_with_replacement=False, + shuffle=True, file_prefix="", + seed=10, ) # Load agent - agent = load_agent( - path_to_cpt="checkpoints/model_waypoint_rs__S_1__04_23_19_37_26_618_003500.pt", - ) + agent = load_agent(path_to_cpt=CPT_PATH).to(DEVICE) + + # config = load_config("baselines/ppo/config/ppo_guided_autonomy.yaml") + # config = config.environment - # Obtain config directly from the agent checkpoint config = agent.config - # Configs - env_config = dataclasses.replace( - EnvConfig(), + # Override default environment settings to match those the agent was trained with + # TODO(dc): Clean this up + env_config = EnvConfig( ego_state=config.ego_state, road_map_obs=config.road_map_obs, partner_obs=config.partner_obs, reward_type=config.reward_type, + guidance_speed_weight=config.guidance_speed_weight, + guidance_heading_weight=config.guidance_heading_weight, + smoothness_weight=config.smoothness_weight, norm_obs=config.norm_obs, + add_previous_action=config.add_previous_action, + guidance=config.guidance, + add_reference_pos_xy=config.add_reference_pos_xy, + add_reference_speed=config.add_reference_speed, + add_reference_heading=config.add_reference_heading, dynamics_model=config.dynamics_model, collision_behavior=config.collision_behavior, + goal_behavior=config.goal_behavior, polyline_reduction_threshold=config.polyline_reduction_threshold, - obs_radius=config.obs_radius, - steer_actions=torch.round( - torch.linspace( - -torch.pi / 3, torch.pi / 3, config.action_space_steer_disc - ), - decimals=3, - ), - accel_actions=torch.round( - torch.linspace(-4.0, 4.0, config.action_space_accel_disc), - decimals=3, - ), remove_non_vehicles=config.remove_non_vehicles, - init_mode="womd_tracks_to_predict", + lidar_obs=False, + obs_radius=config.obs_radius, + action_space_steer_disc=config.action_space_steer_disc, + action_space_accel_disc=config.action_space_accel_disc, + init_mode="wosac_eval", init_steps=INIT_STEPS, - goal_behavior="stop", - add_reference_path=config.add_reference_path, - add_reference_speed=config.add_reference_speed, + guidance_mode=GUIDANCE_MODE, + guidance_dropout_prob=GUIDANCE_DROPOUT_PROB, + guidance_dropout_mode=GUIDANCE_DROPOUT_MODE, + smoothen_trajectory=SMOOTHEN_TRAJECTORY, ) + # Make environment env = GPUDriveTorchEnv( config=env_config, data_loader=val_loader, max_cont_agents=MAX_AGENTS, device=DEVICE, ) - wosac_metrics = WOSACMetrics() - for _ in tqdm(range(NUM_BATCHES)): - for _ in range(NUM_ROLLOUTS): - # try: - scenario_ids, scenario_rollouts, scenario_rollout_masks = rollout( + wosac_metrics = WOSACMetrics( + save_table_with_baselines=True, + log_dir=LOG_DIR, + guidance_mode=GUIDANCE_MODE, + guidance_density=1.0 - GUIDANCE_DROPOUT_PROB, + ) + + for _ in tqdm(range(NUM_DATA_BATCHES)): + joint_scene_list = [] + for _ in range(NUM_ROLLOUTS_PER_BATCH): + joint_scene = rollout( env=env, sim_agent=agent, init_steps=INIT_STEPS, num_envs=NUM_ENVS, max_agents=MAX_AGENTS, device=DEVICE, + render_simulator_states=RENDER, + render_agent_pov=RENDER, + save_videos=RENDER, + guidance_mode=GUIDANCE_MODE, ) - # except Exception as e: - # print(f"Error during rollout: {e}") - # continue - - tf_record_paths = [ - os.path.join(DATA_TFRECORD, f"{scenario_id}.tfrecords") - for scenario_id in scenario_ids - ] - wosac_metrics.update( - tf_record_paths, - scenario_rollouts, - # scenario_rollout_masks=scenario_rollout_masks + joint_scene_list.append(joint_scene) + + # Construct scenario rollouts + scenario_ids = joint_scene_list[0].keys() + scenario_rollouts = [] + for scenario_id in scenario_ids: + scenario_rollouts.append( + sim_agents_submission_pb2.ScenarioRollouts( + joint_scenes=[ + joint_scene[scenario_id] + for joint_scene in joint_scene_list + ], + scenario_id=scenario_id, + ) ) - try: - env.swap_data_batch() - except Exception as e: - break + tf_record_paths = [ + os.path.join(DATA_TFRECORD, f"{scenario_id}.tfrecords") + for scenario_id in scenario_ids + ] + + wosac_metrics.update( + tf_record_paths, + scenario_rollouts, + ) + + # Swap batch of scenarios + env.swap_data_batch() + + # Aggregate results results = wosac_metrics.compute() for key, value in results.items(): diff --git a/examples/eval/wosac_eval_origin.py b/examples/eval/wosac_eval_origin.py index 943b4e8da..88398f467 100644 --- a/examples/eval/wosac_eval_origin.py +++ b/examples/eval/wosac_eval_origin.py @@ -1,15 +1,16 @@ import itertools import multiprocessing as mp import os +import datetime +import pandas as pd +import numpy as np from pathlib import Path -from typing import Dict, List +from typing import Dict, List, Optional import tensorflow as tf import waymo_open_dataset.wdl_limited.sim_agents_metrics.metrics as wosac_metrics from waymo_open_dataset.utils.sim_agents import submission_specs -# import eval.wosac_metrics.metrics as wosac_metrics - from google.protobuf import text_format from torch import Tensor, tensor from torchmetrics import Metric @@ -18,6 +19,7 @@ sim_agents_metrics_pb2, sim_agents_submission_pb2, ) +import csv class WOSACMetrics(Metric): @@ -25,17 +27,39 @@ class WOSACMetrics(Metric): validation metrics based on ground truth trajectory, using waymo_open_dataset api """ - def __init__(self, challenge_type = None, prefix: str = "", ego_only: bool = False) -> None: + def __init__( + self, + challenge_type=None, + prefix: str = "", + ego_only: bool = False, + baselines_df: Optional[pd.DataFrame] = None, + save_table_with_baselines: bool = True, + log_dir: Optional[str] = None, + guidance_mode: Optional[str] = "", + guidance_density: Optional[float] = 1.0, + ) -> None: super().__init__() self.is_mp_init = False self.prefix = prefix self.ego_only = ego_only + self.save_table_with_baselines = save_table_with_baselines + if challenge_type is None: self.challenge_type = submission_specs.ChallengeType.SIM_AGENTS else: self.challenge_type = challenge_type self.wosac_config = load_metrics_config(self.challenge_type) + self.guidance_mode = guidance_mode + self.guidance_density = guidance_density + + # Initialize baseline df if not provided + if baselines_df is None: + self.baselines_df = self._create_baselines_df() + else: + self.baselines_df = baselines_df + + self.timestamp = datetime.datetime.now().strftime("%Y-%m-%d-%H") self.field_names = [ "metametric", @@ -56,15 +80,132 @@ def __init__(self, challenge_type = None, prefix: str = "", ego_only: bool = Fal ] for k in self.field_names: self.add_state(k, default=tensor(0.0), dist_reduce_fx="sum") - self.add_state("scenario_counter", default=tensor(0.0), dist_reduce_fx="sum") + self.add_state( + "scenario_counter", default=tensor(0.0), dist_reduce_fx="sum" + ) tf.config.set_visible_devices([], "GPU") + if log_dir is not None: + # Get data and time for the current run as filename + log_dir = Path(log_dir) + self.log_file_path = ( + log_dir + / f"score_dist_{self.guidance_mode}_density_{self.guidance_density:.2f}_{self.timestamp}.csv" + ) + self.log_aggregate_table_path = ( + log_dir + / f"wosac_agg_{self.guidance_mode}_density_{self.guidance_density:.2f}_{self.timestamp}.csv" + ) + log_dir.mkdir(parents=True, exist_ok=True) + self.log_file = csv.writer(open(self.log_file_path, "w")) + # Add header to the log file + all_rows = self.field_names.copy() + all_rows.insert(0, "scenario_id") + self.log_file.writerow(all_rows) + + else: + self.log_file = None + + def _create_baselines_df(self) -> pd.DataFrame: + """Create a DataFrame with baseline metrics based on the provided table.""" + columns = [ + "AGENT POLICY", + "REPLAN RATE (Hz)", + "LINEAR SPEED (↑)", + "LINEAR ACCEL. (↑)", + "ANG. SPEED (↑)", + "ANG. ACCEL. (↑)", + "DIST. TO OBJ. (↑)", + "COLLISION (↑)", + "TTC (↑)", + "DIST. TO ROAD EDGE (↑)", + "OFFROAD (↑)", + "COMPOSITE METRIC (↑)", + "ADE (↓)", + "MINADE (↓)", + "COLLISION RATE (↓)", + "OFFROAD RATE (↓)", + ] + + data = [ + # Logged Oracle values + [ + "Logged oracle", + "-", + 0.476, + 0.478, + 0.578, + 0.694, + 0.476, + 1.000, + 0.883, + 0.715, + 1.000, + 0.819, + 0.000, + 0.000, + 0.028, + 0.111, + ], + # Versatile Behavior Diffusion + [ + "VBD", + 0.125, + 0.359, + 0.366, + 0.420, + 0.522, + 0.368, + 0.934, + 0.815, + 0.651, + 0.879, + 0.720, + 2.257, + 1.474, + 0.036, + 0.152, + ], + ] + + # Other rows from the table can be added as needed + data.extend( + [ + [ + "Random agent", + 10, + 0.002, + 0.116, + 0.014, + 0.034, + 0.000, + 0.000, + 0.735, + 0.148, + 0.191, + 0.144, + 50.739, + 50.706, + 1.000, + 0.613, + ], + ] + ) + + return pd.DataFrame(data, columns=columns) + @staticmethod def _compute_scenario_metrics( - config, scenario_file, scenario_rollout, ego_only, scenario_rollouts_mask=None + config, + scenario_file, + scenario_rollout, + ego_only, + scenario_rollouts_mask=None, ) -> sim_agents_metrics_pb2.SimAgentMetrics: scenario = scenario_pb2.Scenario() - for data in tf.data.TFRecordDataset([scenario_file], compression_type=""): + for data in tf.data.TFRecordDataset( + [scenario_file], compression_type="" + ): scenario.ParseFromString(bytes(data.numpy())) break if ego_only: @@ -74,32 +215,64 @@ def _compute_scenario_metrics( scenario.tracks[i].states[t].valid = False while len(scenario.tracks_to_predict) > 1: scenario.tracks_to_predict.pop() - scenario.tracks_to_predict[0].track_index = scenario.sdc_track_index + scenario.tracks_to_predict[ + 0 + ].track_index = scenario.sdc_track_index return wosac_metrics.compute_scenario_metrics_for_bundle( - config, scenario, scenario_rollout,# scenario_rollouts_mask=scenario_rollouts_mask + config, + scenario, + scenario_rollout, # scenario_rollouts_mask=scenario_rollouts_mask ) def update( self, scenario_files: List[str], scenario_rollouts: List[sim_agents_submission_pb2.ScenarioRollouts], - scenario_rollout_masks = None, + scenario_rollout_masks=None, ) -> None: if scenario_rollout_masks is None: scenario_rollout_masks = [None] * len(scenario_rollouts) pool_scenario_metrics = [] - for _scenario, _scenario_rollout, _scenario_mask in zip(scenario_files, scenario_rollouts, scenario_rollout_masks): + for _scenario, _scenario_rollout, _scenario_mask in zip( + scenario_files, scenario_rollouts, scenario_rollout_masks + ): try: - pool_scenario_metrics.append( - self._compute_scenario_metrics( - self.wosac_config, _scenario, _scenario_rollout, self.ego_only, - # scenario_rollouts_mask=_scenario_mask - ) + scenario_result = self._compute_scenario_metrics( + self.wosac_config, + _scenario, + _scenario_rollout, + self.ego_only, + # scenario_rollouts_mask=_scenario_mask ) + pool_scenario_metrics.append(scenario_result) + + if self.log_file is not None: + # Log the scenario metrics to the file + result_to_log = [ + _scenario_rollout.scenario_id, + scenario_result.metametric, + scenario_result.average_displacement_error, + scenario_result.linear_speed_likelihood, + scenario_result.linear_acceleration_likelihood, + scenario_result.angular_speed_likelihood, + scenario_result.angular_acceleration_likelihood, + scenario_result.distance_to_nearest_object_likelihood, + scenario_result.collision_indication_likelihood, + scenario_result.time_to_collision_likelihood, + scenario_result.distance_to_road_edge_likelihood, + scenario_result.offroad_indication_likelihood, + scenario_result.min_average_displacement_error, + scenario_result.traffic_light_violation_likelihood, + scenario_result.simulated_collision_rate, + scenario_result.simulated_offroad_rate, + ] + self.log_file.writerow(result_to_log) except Exception as e: - print(f"Error processing scenario {_scenario_rollout.scenario_id}") + print( + f"Error processing scenario {_scenario_rollout.scenario_id}" + ) print(e) for scenario_metrics in pool_scenario_metrics: @@ -108,11 +281,15 @@ def update( self.average_displacement_error += ( scenario_metrics.average_displacement_error ) - self.linear_speed_likelihood += scenario_metrics.linear_speed_likelihood + self.linear_speed_likelihood += ( + scenario_metrics.linear_speed_likelihood + ) self.linear_acceleration_likelihood += ( scenario_metrics.linear_acceleration_likelihood ) - self.angular_speed_likelihood += scenario_metrics.angular_speed_likelihood + self.angular_speed_likelihood += ( + scenario_metrics.angular_speed_likelihood + ) self.angular_acceleration_likelihood += ( scenario_metrics.angular_acceleration_likelihood ) @@ -137,8 +314,12 @@ def update( self.traffic_light_violation_likelihood += ( scenario_metrics.traffic_light_violation_likelihood ) - self.simulated_collision_rate += scenario_metrics.simulated_collision_rate - self.simulated_offroad_rate += scenario_metrics.simulated_offroad_rate + self.simulated_collision_rate += ( + scenario_metrics.simulated_collision_rate + ) + self.simulated_offroad_rate += ( + scenario_metrics.simulated_offroad_rate + ) def compute(self) -> Dict[str, Tensor]: metrics_dict = {} @@ -163,22 +344,77 @@ def compute(self) -> Dict[str, Tensor]: for k in self.field_names: out_dict[f"{self.prefix}/wosac_likelihood/{k}"] = metrics_dict[k] + if self.save_table_with_baselines: + self._add_current_method_to_baselines(metrics_dict, final_metrics) + + self.baselines_df.to_csv( + self.log_aggregate_table_path, index=False + ) + print(f"Saved df to {self.log_aggregate_table_path}") + return out_dict + def _add_current_method_to_baselines(self, metrics_dict, final_metrics): + """Add the current method's metrics to the baselines dataframe.""" + new_row = { + "AGENT POLICY": "Guided self-play (ours)", + "REPLAN RATE (Hz)": 10, + "LINEAR SPEED (↑)": metrics_dict["linear_speed_likelihood"].item(), + "LINEAR ACCEL. (↑)": metrics_dict[ + "linear_acceleration_likelihood" + ].item(), + "ANG. SPEED (↑)": metrics_dict["angular_speed_likelihood"].item(), + "ANG. ACCEL. (↑)": metrics_dict[ + "angular_acceleration_likelihood" + ].item(), + "DIST. TO OBJ. (↑)": metrics_dict[ + "distance_to_nearest_object_likelihood" + ].item(), + "COLLISION (↑)": metrics_dict[ + "collision_indication_likelihood" + ].item(), + "TTC (↑)": metrics_dict["time_to_collision_likelihood"].item(), + "DIST. TO ROAD EDGE (↑)": metrics_dict[ + "distance_to_road_edge_likelihood" + ].item(), + "OFFROAD (↑)": metrics_dict[ + "offroad_indication_likelihood" + ].item(), + "COMPOSITE METRIC (↑)": final_metrics.realism_meta_metric, + "ADE (↓)": metrics_dict["average_displacement_error"].item(), + "MINADE (↓)": metrics_dict[ + "min_average_displacement_error" + ].item(), + "COLLISION RATE (↓)": metrics_dict[ + "simulated_collision_rate" + ].item(), + "OFFROAD RATE (↓)": metrics_dict["simulated_offroad_rate"].item(), + } + + self.baselines_df = pd.concat( + [self.baselines_df, pd.DataFrame([new_row])], ignore_index=True + ) + + # Optional: Sort the dataframe by a performance metric, such as COMPOSITE METRIC + self.baselines_df = self.baselines_df.sort_values( + by="COMPOSITE METRIC (↑)", ascending=False + ) + def load_metrics_config( challenge_type: submission_specs.ChallengeType, ) -> sim_agents_metrics_pb2.SimAgentMetricsConfig: """Loads the `SimAgentMetricsConfig` used for the challenge.""" import waymo_open_dataset + pyglib_resource = waymo_open_dataset.__path__[0] if challenge_type == submission_specs.ChallengeType.SIM_AGENTS: - config_path = f'{pyglib_resource}/wdl_limited/sim_agents_metrics/challenge_2025_sim_agents_config.textproto' # pylint: disable=line-too-long + config_path = f"{pyglib_resource}/wdl_limited/sim_agents_metrics/challenge_2025_sim_agents_config.textproto" # pylint: disable=line-too-long elif challenge_type == submission_specs.ChallengeType.SCENARIO_GEN: - config_path = f'{pyglib_resource}/wdl_limited/sim_agents_metrics/challenge_2025_scenario_gen_config.textproto' # pylint: disable=line-too-long + config_path = f"{pyglib_resource}/wdl_limited/sim_agents_metrics/challenge_2025_scenario_gen_config.textproto" # pylint: disable=line-too-long else: - raise ValueError(f'Unsupported {challenge_type=}') - with open(config_path, 'r') as f: + raise ValueError(f"Unsupported {challenge_type=}") + with open(config_path, "r") as f: config = sim_agents_metrics_pb2.SimAgentMetricsConfig() text_format.Parse(f.read(), config) - return config \ No newline at end of file + return config diff --git a/examples/experimental/config/reliable_agents_params.yaml b/examples/experimental/config/reliable_agents_params.yaml index 004e8e504..afb7404f5 100644 --- a/examples/experimental/config/reliable_agents_params.yaml +++ b/examples/experimental/config/reliable_agents_params.yaml @@ -19,4 +19,3 @@ obs_radius: 50.0 # Visibility radius of the agents action_space_steer_disc: 13 action_space_accel_disc: 7 init_mode: all_non_trivial -vbd_in_obs: false # If true, the VBD is included in the observation diff --git a/examples/experimental/notebooks/debug.ipynb b/examples/experimental/notebooks/debug.ipynb index 2be729d0a..e9baa772d 100644 --- a/examples/experimental/notebooks/debug.ipynb +++ b/examples/experimental/notebooks/debug.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 1, + "execution_count": 5, "metadata": {}, "outputs": [], "source": [ @@ -19,7 +19,74 @@ "import torch\n", "from PIL import Image\n", "\n", - "from matplotlib import pyplot as plt" + "from matplotlib import pyplot as plt\n", + "import seaborn as sns\n", + "sns.set_style(\"ticks\", rc={\"figure.facecolor\": \"none\", \"axes.facecolor\": \"none\"})\n", + "%config InlineBackend.figure_format = 'svg'\n", + "\n", + "plt.set_loglevel(\"WARNING\")\n", + "%matplotlib inline" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [], + "source": [ + "import matplotlib.pyplot as plt\n", + "import numpy as np\n", + "import torch\n", + "\n", + "def plot_agent_guidance_info(guidance_obs, center_agent_idx):\n", + " \n", + " agent_guidance = guidance_obs[center_agent_idx, :, :]\n", + " \n", + " time_steps = np.arange(agent_guidance.shape[0])\n", + " \n", + " fig, axes = plt.subplots(1, 3, figsize=(10, 3), sharex=True, sharey=True)\n", + " \n", + " # Find where the one-hot encoding is 1 (next timestep indicator)\n", + " next_timestep_idx = np.where(agent_guidance[:, 3] == 1)[0][0]\n", + " \n", + " axes[0].plot(time_steps, agent_guidance[:, 0], label='x-position')\n", + " axes[0].plot(time_steps, agent_guidance[:, 1], label='y-position')\n", + " \n", + " axes[0].scatter(time_steps[next_timestep_idx], agent_guidance[next_timestep_idx, 0], color='purple', marker='^', s=100, zorder=5, label='_nolegend_')\n", + " axes[0].scatter(time_steps[next_timestep_idx], agent_guidance[next_timestep_idx, 1], color='purple', marker='^', s=100, zorder=5, label='_nolegend_')\n", + " \n", + " axes[0].set_xlabel('Time')\n", + " axes[0].set_ylabel('Suggested position (x,y)')\n", + " axes[0].legend()\n", + " axes[0].grid(True, alpha=0.3)\n", + " \n", + " axes[1].plot(time_steps, agent_guidance[:, 2])\n", + " \n", + "\n", + " axes[1].scatter(time_steps[next_timestep_idx], agent_guidance[next_timestep_idx, 2], color='purple', marker='^', s=100, zorder=5)\n", + " \n", + " axes[1].set_xlabel('Time')\n", + " axes[1].set_ylabel('Suggested speed')\n", + " axes[1].grid(True, alpha=0.3)\n", + " \n", + " axes[2].plot(time_steps, agent_guidance[:, 4])\n", + " axes[2].scatter(time_steps[next_timestep_idx], agent_guidance[next_timestep_idx, 4], color='purple', marker='^', s=100, zorder=5)\n", + " \n", + " axes[2].set_xlabel('Time')\n", + " axes[2].set_ylabel('Suggested heading (rad)')\n", + " axes[2].set_title('Heading')\n", + " axes[2].grid(True, alpha=0.3)\n", + " \n", + " fig.suptitle(f\"Agent's {center_agent_idx} normalized guidance information\")\n", + " \n", + " # Add a unified legend for the purple triangle\n", + " triangle_patch = plt.Line2D([0], [0], marker='^', color='w', markerfacecolor='purple')\n", + " fig.legend([triangle_patch], ['Next timestep indicator'], loc='lower center', bbox_to_anchor=(0.53, -0.15), facecolor='white')\n", + " \n", + " plt.tight_layout()\n", + " plt.subplots_adjust(top=0.85, bottom=0.15)\n", + " \n", + " return fig" ] }, { @@ -31,25 +98,40 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 8, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "['/home/emerge/gpudrive/data/processed/wosac/debug/1ce3b38fe5cd2597.json']\n" + ] + } + ], "source": [ "env_config = EnvConfig(\n", " dynamics_model=\"classic\",\n", - " reward_type=\"follow_waypoints\",\n", - " add_reference_path=True,\n", + " reward_type=\"guided_autonomy\",\n", + " guidance=True,\n", + " add_reference_heading=True,\n", + " add_reference_speed=True,\n", + " add_reference_pos_xy=True,\n", + " init_mode=\"wosac_train\"\n", ")\n", "render_config = RenderConfig()\n", "\n", "train_loader = SceneDataLoader(\n", - " root=\"data/processed/examples\",\n", - " batch_size=2,\n", + " root=\"/home/emerge/gpudrive/data/processed/wosac/debug\",\n", + " batch_size=1,\n", " dataset_size=100,\n", - " sample_with_replacement=True,\n", + " sample_with_replacement=False,\n", " shuffle=False,\n", + " file_prefix=\"\",\n", ")\n", "\n", + "print(train_loader.dataset)\n", + "\n", "env = GPUDriveTorchEnv(\n", " config=env_config,\n", " data_loader=train_loader,\n", @@ -60,58 +142,25992 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 9, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "Controllable agents: tensor([ 0, 1, 2, 4, 12])\n", - "Controlling agent 2 in env 0.\n" + "Controllable agents: tensor([ 0, 1, 2, 3, 4, 5, 6, 7, 8, 10, 13, 14, 15, 17, 18, 19, 20, 21,\n", + " 22, 23, 24, 25, 26, 27, 29, 30, 32, 34, 35, 36, 37, 38, 39, 40, 42, 43,\n", + " 44, 47, 48, 49, 50])\n", + "Controlling agent 12 in env 0.\n" ] } ], "source": [ - "env_i = 0\n", - "agent_j = 2\n", + "env_idx = 0\n", + "center_agent_idx = 12\n", "\n", "control_mask = env.cont_agent_mask\n", "\n", - "print(f'Controllable agents: {torch.where(env.cont_agent_mask[env_i, :])[0]}')\n", - "\n", - "print(f'Controlling agent {agent_j} in env {env_i}.')" + "print(f'Controllable agents: {torch.where(env.cont_agent_mask[env_idx, :])[0]}')\n", + "print(f'Controlling agent {center_agent_idx} in env {env_idx}.')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ - "### Verify indexing" + "### Step env" ] }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 10, "metadata": {}, "outputs": [], "source": [ - "obs = env.reset(control_mask)" + "obs = env.reset(control_mask)\n", + "\n", + "expert_actions, _, _, _ = env.get_expert_actions()\n", + "\n", + "# for t in range(1):\n", + "# env.step_dynamics(expert_actions[:, :, t, :])\n", + "# obs = env.get_obs(control_mask)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Show agent guidance information \n" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Show corresponding full agent views" ] }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 7, "metadata": {}, - "outputs": [], + "outputs": [ + { + "data": { + 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" + ] + }, + "execution_count": 9, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "sim_states = env.vis.plot_simulator_state(\n", + " env_indices=env_idx,\n", + " zoom_radius=100,\n", + " plot_guidance_pos_xy=True,\n", + " center_agent_indices=[center_agent_idx],\n", + ")\n", + "#Image.fromarray(img_from_fig(sim_states[0]))\n", + "sim_states[0]" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Verify indexing" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [], + "source": [ + "obs = env.reset(control_mask)" ] }, { @@ -181,116 +26197,6 @@ "Image.fromarray(img_from_fig(agent_obs_masked))" ] }, - { - "cell_type": "code", - "execution_count": 17, - "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "tensor([[-2.8176e+00, 1.6540e-06, 0.0000e+00],\n", - " [-2.2567e+00, -5.4991e-02, 0.0000e+00],\n", - " [-1.6712e+00, -1.1899e-01, 0.0000e+00],\n", - " [-1.1435e+00, -2.1718e-01, 0.0000e+00],\n", - 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" [ -0.0000, -0.0000],\n", - " [ -0.0000, -0.0000],\n", - " [ -0.0000, -0.0000]])" - ] - }, - "execution_count": 34, - "metadata": {}, - "output_type": "execute_result" - } - ], - "source": [ - "# Set print options to suppress scientific notation\n", - "torch.set_printoptions(sci_mode=False)\n", - "\n", - "traj_masked" - ] - }, { "cell_type": "code", "execution_count": 83, diff --git a/gpudrive/datatypes/info.py b/gpudrive/datatypes/info.py index 3556294df..c0cca1a84 100644 --- a/gpudrive/datatypes/info.py +++ b/gpudrive/datatypes/info.py @@ -12,7 +12,9 @@ def __init__(self, info_tensor: torch.Tensor): """Initializes the ego state with an observation tensor.""" self.off_road = info_tensor[:, :, 0] self.collided = info_tensor[:, :, 1:3].sum(axis=2) + self.collided_with_vehicle = info_tensor[:, :, 1] self.goal_achieved = info_tensor[:, :, 3] + self.type = info_tensor[:, :, 4] @classmethod def from_tensor( diff --git a/gpudrive/datatypes/metadata.py b/gpudrive/datatypes/metadata.py index b0e6809e8..5b6b4a094 100644 --- a/gpudrive/datatypes/metadata.py +++ b/gpudrive/datatypes/metadata.py @@ -9,11 +9,11 @@ class Metadata: `MetaData` in src/types.hpp Attributes (all masks are 0/1 int of shape (NumWorlds, NumAgents)): - id: Unique ID of the agent (non-negative int). - isSdc: Whether agent is self-driving car (1/0, -1 padding). - isOfInterest: IDs of agents interested (1/0, -1 padding). - isModeled: Whether agent's trajectory needs to be predicted for WOSAC (1/0, -1 padding). + is_sdc: Whether agent is self-driving car (1/0, -1 padding). + objects_of_interest: IDs of agents interested (1/0, -1 padding). + tracks_to_predict: Whether agent's trajectory needs to be predicted for WOSAC (1/0, -1 padding). difficulty: Difficulty of the agent's trajectory to be predicted (0/1/2 if isModeled, 0 if !isModeled, -1 padding). + avg_z: Average z-coordinate (elevation) from the first 10 positions of the agent. """ def __init__(self, metadata_tensor: torch.Tensor): @@ -22,7 +22,8 @@ def __init__(self, metadata_tensor: torch.Tensor): self.objects_of_interest = metadata_tensor[:, :, 1] self.tracks_to_predict = metadata_tensor[:, :, 2] self.difficulty = metadata_tensor[:, :, 3] - + self.avg_z = metadata_tensor[:, :, 4] + @classmethod def from_tensor( cls, metadata_tensor: madrona_gpudrive.madrona.Tensor, @@ -38,4 +39,4 @@ def from_tensor( @property def shape(self) -> tuple[int, ...]: """Shape (num_worlds, num_agents) of each metadata mask.""" - return self.is_sdc.shape \ No newline at end of file + return self.is_sdc.shape diff --git a/gpudrive/datatypes/observation.py b/gpudrive/datatypes/observation.py index 8f4208307..b545b3a4e 100644 --- a/gpudrive/datatypes/observation.py +++ b/gpudrive/datatypes/observation.py @@ -40,6 +40,7 @@ def __init__(self, self_obs_tensor: torch.Tensor, mask=None): self.is_collided = self_obs_tensor[:, 6] self.is_goal_reached = self_obs_tensor[:, 7] self.id = self_obs_tensor[:, 8] + self.steer_angle = self_obs_tensor[:, 9] else: self.speed = self_obs_tensor[:, :, 0] self.vehicle_length = self_obs_tensor[:, :, 1] * AGENT_SCALE @@ -50,6 +51,7 @@ def __init__(self, self_obs_tensor: torch.Tensor, mask=None): self.is_collided = self_obs_tensor[:, :, 6] self.is_goal_reached = self_obs_tensor[:, :, 7] self.id = self_obs_tensor[:, :, 8] + self.steer_angle = self_obs_tensor[:, :, 9] @classmethod def from_tensor( @@ -87,6 +89,7 @@ def normalize(self): min_val=constants.MIN_REL_GOAL_COORD, max_val=constants.MAX_REL_GOAL_COORD, ) + self.steer_angle /= torch.pi / 3 @property def shape(self) -> tuple[int, ...]: @@ -290,7 +293,7 @@ def shape(self) -> tuple[int, ...]: @dataclass class LidarObs: """Dataclass representing the scenario view through LiDAR sensors. - - Shape: (num_worlds, num_agents, 3, num_lidar_points, 4). + - Shape: (num_worlds, num_agents, 3, num_lidar_samples, 4). - Axis 2 represents the agent samples, road edge samples, and road line samples. - Axis 3 represents the lidar points per type, which can be configured in src/consts.hpp as `numLidarSamples`. - Axis 4 represents the depth, type and x, y, values of the lidar points. @@ -316,9 +319,14 @@ def from_tensor( elif backend == "jax": raise NotImplementedError("JAX backend not implemented yet.") + @property + def num_lidar_samples(self) -> int: + """Number of lidar samples per type.""" + return self.all_lidar_samples.shape[3] + @property def shape(self) -> tuple[int, ...]: - """Shape: (num_worlds, num_agents, 3, num_lidar_points, 4).""" + """Shape: (num_worlds, num_agents, 3, num_lidar_samples, 4).""" return self.all_lidar_samples.shape @@ -358,3 +366,144 @@ def one_hot_encode_bev_map(self): self.bev_segmentation_map.long(), num_classes=constants.NUM_MADRONA_ENTITY_TYPES, # From size of Madrona EntityType ) + + +@dataclass +class TrafficLightObs: + """ + A dataclass that represents traffic light information in the scenario. + + This data struct contains the time series of traffic light information. + It contains the state (unknown: 0, stop: 1, caution: 2, go: 3), position, and lane_ids. + + Initialized from tl_states_tensor (from Manager.trafficLightTensor()). + For details, see `TrafficLightState` in src/types.hpp. + Shape: (num_worlds, max_traffic_lights, num_timesteps * features). + + Attributes: + state: The state of each traffic light (0=unknown, 1=stop, 2=caution, 3=go) + pos_x: X-coordinate of the traffic light + pos_y: Y-coordinate of the traffic light + pos_z: Z-coordinate of the traffic light + time_index: Time index of the traffic light state + lane_id: Lane ID associated with the traffic light + valid_mask: Boolean mask indicating valid traffic lights + """ + + state: torch.Tensor + pos_x: torch.Tensor + pos_y: torch.Tensor + pos_z: torch.Tensor + time_index: torch.Tensor + lane_id: torch.Tensor + valid_mask: torch.Tensor + + def __init__( + self, + tl_states_tensor: torch.Tensor, + + ): + """Initializes the traffic light observation from a tensor.""" + traj_length = constants.LOG_TRAJECTORY_LENGTH + + # Calculate indices based on C++ struct layout: + # laneId (1) + state[traj_length] + x[traj_length] + y[traj_length] + z[traj_length] + timeIndex[traj_length] + numStates (1) + + lane_id_end_idx = 1 + state_end_idx = lane_id_end_idx + traj_length + pos_x_end_idx = state_end_idx + traj_length + pos_y_end_idx = pos_x_end_idx + traj_length + pos_z_end_idx = pos_y_end_idx + traj_length + time_index_end_idx = pos_z_end_idx + traj_length + + # Extract fields according to C++ struct layout + # See `TrafficLightState` in src/types.hpp for details + self.lane_id = tl_states_tensor[:, :, 0] # Single lane ID value + self.state = tl_states_tensor[ + :, :, lane_id_end_idx:state_end_idx + ] # state[traj_length] + self.pos_x = tl_states_tensor[ + :, :, state_end_idx:pos_x_end_idx + ].float() # x[traj_length] + self.pos_y = tl_states_tensor[ + :, :, pos_x_end_idx:pos_y_end_idx + ].float() # y[traj_length] + self.pos_z = tl_states_tensor[ + :, :, pos_y_end_idx:pos_z_end_idx + ].float() # z[traj_length] + self.time_index = tl_states_tensor[ + :, :, pos_z_end_idx:time_index_end_idx + ] # timeIndex[traj_length] + self.num_states = tl_states_tensor[ + :, :, time_index_end_idx + ] # Single numStates value + + # Create a valid mask based on numStates + # Traffic lights are valid if they have numStates > 0 + self.valid_mask = self.num_states > 0 + + @classmethod + def from_tensor( + cls, + tl_states_tensor: madrona_gpudrive.madrona.Tensor, + backend="torch", + device="cuda", + ): + """Creates a TrafficLightObs from a tensor. + + Args: + tl_states_tensor: The traffic light state tensor from the simulation + backend: Which backend to use ("torch" or "jax") + device: The device to place tensors on + + Returns: + A TrafficLightObs instance + """ + if backend == "torch": + tensor = tl_states_tensor.to_torch().clone().to(device) + obj = cls(tensor) + return obj + elif backend == "jax": + raise NotImplementedError("JAX backend not implemented yet.") + + def normalize(self): + """Normalizes the traffic light observation coordinates.""" + + # Normalize position coordinates + self.pos_x = normalize_min_max( + tensor=self.pos_x, + min_val=constants.MIN_REL_COORD, + max_val=constants.MAX_REL_COORD, + ) + self.pos_y = normalize_min_max( + tensor=self.pos_y, + min_val=constants.MIN_REL_COORD, + max_val=constants.MAX_REL_COORD, + ) + self.pos_z = normalize_min_max( + tensor=self.pos_z, + min_val=constants.MIN_Z_COORD, + max_val=constants.MAX_Z_COORD, + ) + def one_hot_encode_states(self): + """One-hot encodes the traffic light states. + + Converts the state values to one-hot encoded vectors with 4 classes: + 0: Unknown + 1: Stop + 2: Caution + 3: Go + """ + # Make sure values are in range 0-3 + state_clamped = torch.clamp(self.state, 0, 3) + # One-hot encode + self.state_onehot = torch.nn.functional.one_hot( + state_clamped, num_classes=4 + ) * self.valid_mask.unsqueeze(-1) + + return self.state_onehot + + @property + def shape(self) -> tuple[int, ...]: + """Shape: (num_worlds, max_traffic_lights, num_timesteps).""" + return self.state.shape diff --git a/gpudrive/datatypes/trajectory.py b/gpudrive/datatypes/trajectory.py index 92541571b..c13a3c220 100644 --- a/gpudrive/datatypes/trajectory.py +++ b/gpudrive/datatypes/trajectory.py @@ -5,6 +5,13 @@ TRAJ_LEN = 91 # Length of the logged trajectory +def wrap_yaws(agent_headings: torch.Tensor) -> torch.Tensor: + """ + Wrap an array of angles to the range [-pi, pi] + """ + return ((agent_headings + torch.pi) % (2 * torch.pi)) - torch.pi + + def to_local_frame( global_pos_xy: torch.Tensor, ego_pos: torch.Tensor, @@ -112,13 +119,18 @@ def comp_reference_speed(self): """Returns the average speed of the trajectory.""" return torch.sqrt( self.vel_xy[:, :, :, 0] ** 2 + self.vel_xy[:, :, :, 1] ** 2 - ) + ).unsqueeze(-1) + + @property + def length(self): + """Returns the length of the trajectory.""" + return self.pos_xy.shape[2] @dataclass -class VBDTrajectory: +class VBDTrajectoryOnline: """A class to represent the VBD predicted trajectories. - Initialized from `vbd_trajectory_tensor` (src/bindings.cpp). + Initialized from VBD predictions. Shape: (num_worlds, max_agents, traj_len, 5) Attributes: @@ -126,15 +138,96 @@ class VBDTrajectory: position (x, y), heading (yaw), and velocity (vx, vy) for each timestep. """ - def __init__(self, vbd_traj_tensor: torch.Tensor): + def __init__( + self, vbd_traj_tensor: torch.Tensor, mean_pos_xy: torch.Tensor + ): """Initializes the VBD trajectory with a tensor.""" - self.pos_x = vbd_traj_tensor[:, :, :, 0] - self.pos_y = vbd_traj_tensor[:, :, :, 1] - self.pos_xy = torch.stack([self.pos_x, self.pos_y], dim=3) - self.yaw = vbd_traj_tensor[:, :, :, 2] - self.vel_x = vbd_traj_tensor[:, :, :, 3] - self.vel_y = vbd_traj_tensor[:, :, :, 4] + self.pos_x = vbd_traj_tensor[:, :, :, 0].unsqueeze(-1) + self.pos_y = vbd_traj_tensor[:, :, :, 1].unsqueeze(-1) + self.pos_xy = vbd_traj_tensor[:, :, :, :2] + self.yaw = wrap_yaws(vbd_traj_tensor[:, :, :, 2].unsqueeze(-1)) + self.vel_x = vbd_traj_tensor[:, :, :, 3].unsqueeze(-1) + self.vel_y = vbd_traj_tensor[:, :, :, 4].unsqueeze(-1) + self.vel_xy = vbd_traj_tensor[:, :, :, 3:5] + self.ref_speed = self.comp_reference_speed() + # Assumption: All timesteps are valid (correct) + self.valids = vbd_traj_tensor[:, :, :, 5].unsqueeze(-1).to( + torch.int32 + ) + + self.mean_pos_xy = mean_pos_xy + self.mean_x = mean_pos_xy[:, 0] + self.mean_y = mean_pos_xy[:, 1] + @classmethod + def from_tensor( + cls, + vbd_predictions, + mean_pos_xy, + backend="torch", + device="cuda", + ): + """Creates a VBDTrajectory from a tensor.""" + if backend == "torch": + return cls( + vbd_predictions.clone().to(device), + mean_pos_xy.clone().to(device), + ) + elif backend == "jax": + raise NotImplementedError("JAX backend not implemented yet.") + + def comp_reference_speed(self): + """Returns the average speed of the trajectory.""" + return torch.sqrt(self.vel_x**2 + self.vel_y**2) + + @property + def length(self): + """Returns the length of the trajectory.""" + return self.pos_xy.shape[2] + + def demean_positions(self): + """ + In GPUDrive, we center everything at zero. By default, the VBD + predictions are not centered at zero, so we demean the predicted trajectory. + """ + # Reshape for broadcasting + mean_x_reshaped = self.mean_x.view(-1, 1, 1) + mean_y_reshaped = self.mean_y.view(-1, 1, 1) + + # Apply to x and y coordinates + self.pos_xy[..., 10:, 0] -= mean_x_reshaped + self.pos_xy[..., 10:, 1] -= mean_y_reshaped + + self.pos_x = self.pos_xy[..., 0].unsqueeze(-1) + self.pos_y = self.pos_xy[..., 1].unsqueeze(-1) + + +@dataclass +class VBDTrajectory: + """A class to represent the VBD predicted trajectories. + Initialized from `vbd_trajectory_tensor` (src/bindings.cpp). + Shape: (num_worlds, max_agents, traj_len, 6) + where traj_len is 91 + + Attributes: + trajectories: Tensor of shape (num_worlds, max_agents, traj_len, 6) containing + position (x, y), heading (yaw), velocity (vx, vy) and valid flag for each timestep. + """ + + def __init__(self, vbd_traj_tensor: torch.Tensor): + """Initializes the VBD trajectory with a tensor.""" + self.pos_x = vbd_traj_tensor[:, :, :, 0].unsqueeze(-1) + self.pos_y = vbd_traj_tensor[:, :, :, 1].unsqueeze(-1) + self.pos_xy = vbd_traj_tensor[:, :, :, :2] + self.yaw = wrap_yaws(vbd_traj_tensor[:, :, :, 2].unsqueeze(-1)) + self.vel_x = vbd_traj_tensor[:, :, :, 3].unsqueeze(-1) + self.vel_y = vbd_traj_tensor[:, :, :, 4].unsqueeze(-1) + self.vel_xy = vbd_traj_tensor[:, :, :, 3:5] + self.ref_speed = self.comp_reference_speed() + self.valids = vbd_traj_tensor[:, :, :, 5].unsqueeze(-1).to( + torch.int32 + ) + @classmethod def from_tensor( cls, @@ -148,12 +241,11 @@ def from_tensor( elif backend == "jax": raise NotImplementedError("JAX backend not implemented yet.") - # def restore_mean(self, mean_x, mean_y): - # """Reapplies the mean to revert back to the original coordinates.""" - # # Reshape for broadcasting - # mean_x_reshaped = mean_x.view(-1, 1, 1) - # mean_y_reshaped = mean_y.view(-1, 1, 1) + def comp_reference_speed(self): + """Returns the average speed of the trajectory.""" + return torch.sqrt(self.vel_x**2 + self.vel_y**2) - # # Apply to x and y coordinates - # self.trajectories[..., 0] += mean_x_reshaped - # self.trajectories[..., 1] += mean_y_reshaped + @property + def length(self): + """Returns the length of the trajectory.""" + return self.pos_xy.shape[2] diff --git a/gpudrive/env/README.md b/gpudrive/env/README.md index 2febd2ade..1cb783489 100755 --- a/gpudrive/env/README.md +++ b/gpudrive/env/README.md @@ -59,10 +59,30 @@ For instance, with `dynamics_model: str = "classic"`, the default action space i ```Python # Action space (joint discrete) -head_tilt_actions: torch.Tensor = torch.Tensor([0]) -steer_actions: torch.Tensor = torch.round(torch.linspace(-1.0, 1.0, 13), decimals=3) -accel_actions: torch.Tensor = torch.round(torch.linspace(-3, 3, 7), decimals=3) +action_space_steer_disc: int = 13 +action_space_accel_disc: int = 7 +action_space_head_tilt_disc: int = 1 + +# Type-aware action space settings +use_type_aware_actions: bool = True # Toggles type-aware action mapping: if False, use vehicle ranges for all agents + +# Vehicle action ranges +vehicle_accel_range: Tuple[float, float] = (-4.0, 4.0) # m/s² +vehicle_steer_range: Tuple[float, float] = (-1.57, 1.57) # radians + +# Cyclist action ranges +cyclist_accel_range: Tuple[float, float] = (-2.5, 2.5) # m/s² +cyclist_steer_range: Tuple[float, float] = (-2.09, 2.09) # radians (±120°) + +# Pedestrian action ranges +pedestrian_accel_range: Tuple[float, float] = (-1.5, 1.5) # m/s² +pedestrian_steer_range: Tuple[float, float] = (-3.14, 3.14) # radians (±180°) + +# Head tilt action range +head_tilt_action_range: Tuple[float, float] = (-0.7854, 0.7854) # radians (±45°) ``` +The head tilt action is relevant when the view cone is not 360° (see below). + ### Continuous @@ -89,6 +109,19 @@ lidar_obs: bool = True # Use LiDAR data --- +### Restriced Observation Space + +By default, _every_ road segment and agent within a radius of 50m of the ego is observable and added to partner_obs and road_map_obs, respectively. + +The observation can be restriced in various ways: +- **smaller observation radius**: By default the radius is set to 50m. This can be changed using the `obs_radius` option. + +- **smaller view cone**: Instead of observing 360° around the vehicle, the view can be restricted to a cone using the `view_cone_half_angle` config parameter. By default the _half_ angle is set to $\pi = 180°$, i.e. a full 360° view. Using the head tilt action, the heading of the view angle can be changed (within the given range) without changing the heading of the vehicle (the direction of driving). Relevant parameters: `view_cone_half_angle`, `action_space_head_tilt_disc`, `head_tilt_action_range` + + +- **remove agents that are occluded**: Agents that are not technically not visible because they are hidden behind other agents are not added to partner_obs if `remove_occluded_agents = True`. This is determined by casting rays: If one ray hits the vehicle without occlusion, the agent is considered visible. By default, the 8 corners as well as the midpoints of each edge of the bounding box are checked. The number of sampled points on the edge of the bounding box can be set in `consts.hpp` + + ### Data Structures For detailed structures, refer to: diff --git a/gpudrive/env/base_env.py b/gpudrive/env/base_env.py index 7c5f6e273..755883674 100755 --- a/gpudrive/env/base_env.py +++ b/gpudrive/env/base_env.py @@ -62,7 +62,7 @@ def _set_reward_params(self): if ( self.config.reward_type == "sparse_on_goal_achieved" or self.config.reward_type == "weighted_combination" - or self.config.reward_type == "follow_waypoints" + or self.config.reward_type == "guided_autonomy" or self.config.reward_type == "reward_conditioned" ): reward_params.rewardType = ( @@ -86,6 +86,8 @@ def _set_road_reduction_params(self, params): object: Updated parameters object with road reduction settings. """ params.observationRadius = self.config.obs_radius + params.viewConeHalfAngle = self.config.view_cone_half_angle + params.removeOccludedAgents = self.config.remove_occluded_agents if self.config.road_obs_algorithm == "k_nearest_roadpoints": params.roadObservationAlgorithm = ( madrona_gpudrive.FindRoadObservationsWith.KNearestEntitiesWithRadiusFiltering @@ -117,11 +119,16 @@ def _setup_environment_parameters(self): ) params.rewardParams = self._set_reward_params() params.maxNumControlledAgents = self.max_cont_agents - if self.config.init_mode == "womd_tracks_to_predict": + if self.config.init_mode == "wosac_eval": # Bypasses all gpudrive initialization rules and directly reads from the tracks_to_predict # flag in the WOMD dataset metadata params.readFromTracksToPredict = True params.isStaticAgentControlled = True + params.controlExperts = True + elif self.config.init_mode == "wosac_train": + params.readFromTracksToPredict = True + params.isStaticAgentControlled = True + params.controlExperts = False elif self.config.init_mode == "all_objects": params.isStaticAgentControlled = True params.initOnlyValidAgentsAtFirstStep = False @@ -160,7 +167,15 @@ def _setup_environment_parameters(self): params = self._set_collision_behavior(params) params = self._set_road_reduction_params(params) params = self._set_goal_behavior(params) - self.init_steps = getattr(self.config, "init_steps", 0) + + if self.config.guidance and self.config.guidance_mode == "vbd_online": + self.init_steps = max(self.config.init_steps, 10) + print( + f"\n[Note] Guidance mode '{self.config.guidance_mode}' requires at least 10 initialization steps to provide sufficient scene context for the diffusion model. Automatically setting simulator time to t = {self.init_steps}. \n" + ) + else: + self.init_steps = getattr(self.config, "init_steps", 0) + params.initSteps = self.init_steps return params diff --git a/gpudrive/env/config.py b/gpudrive/env/config.py index 186aca52c..c5cabec58 100755 --- a/gpudrive/env/config.py +++ b/gpudrive/env/config.py @@ -30,6 +30,20 @@ class EnvConfig: partner_obs: bool = True # Include partner vehicle info in observations bev_obs: bool = False # Include rasterized Bird's Eye View observations centered on ego vehicle norm_obs: bool = True # Normalize observations + add_previous_action: bool = True # Previous action time agent has taken + + # Guidance settings; these are used to direct the agent's behavior and + # will be included in the observations if set to True + guidance: bool = True + guidance_mode: str = "log_replay" # Options: "log_replay", "vbd_amortized", "vbd_online", "goals_only" + # Ways to guide the agent + add_reference_pos_xy: bool = True # (x, y) position time series + add_reference_speed: bool = True # speed time series + add_reference_heading: bool = True # heading time series + smoothen_trajectory: bool = True # Filters out the trajectory + guidance_pos_xy_radius: float = 1.0 # Tightness of the positions guidance + guidance_dropout_prob: float = 0.0 # Probability of dropping the points + guidance_dropout_mode: str = "max" # Options: "max", "avg", "remove_all" # Maximum number of controlled agents in the scene max_controlled_agents: int = madrona_gpudrive.kMaxAgentCount @@ -43,6 +57,8 @@ class EnvConfig: # Road observation algorithm settings road_obs_algorithm: str = "linear" # Algorithm for road observations obs_radius: float = 50.0 # Radius for road observations + view_cone_half_angle: float = torch.pi # Half-angle for view cone setting + remove_occluded_agents: bool = False # True: Vehicles are removed from observations if they are occluded by other vehicles polyline_reduction_threshold: float = ( 0.1 # Threshold for polyline reduction ) @@ -53,14 +69,28 @@ class EnvConfig: ) # Action space settings (if discretized) + # Type-aware action space settings + use_type_aware_actions: bool = True # Toggles type-aware action mapping: if False, use vehicle ranges for all agents + + # Vehicle action ranges + vehicle_accel_range: Tuple[float, float] = (-4.0, 4.0) # m/s² + vehicle_steer_range: Tuple[float, float] = (-1.57, 1.57) # radians + + # Cyclist action ranges + cyclist_accel_range: Tuple[float, float] = (-2.5, 2.5) # m/s² + cyclist_steer_range: Tuple[float, float] = (-2.09, 2.09) # radians (±120°) + + # Pedestrian action ranges + pedestrian_accel_range: Tuple[float, float] = (-1.5, 1.5) # m/s² + pedestrian_steer_range: Tuple[float, float] = (-3.14, 3.14) # radians (±180°) + + # Head tilt action range + head_tilt_action_range: Tuple[float, float] = (-0.7854, 0.7854) # radians (±45°) + # Classic or Invertible Bicycle dynamics model - steer_actions: torch.Tensor = torch.round( - torch.linspace(-torch.pi / 3, torch.pi / 3, 13), decimals=3 - ) - accel_actions: torch.Tensor = torch.round( - torch.linspace(-4.0, 4.0, 7), decimals=3 - ) - head_tilt_actions: torch.Tensor = torch.Tensor([0]) + action_space_steer_disc: int = 13 + action_space_accel_disc: int = 7 + action_space_head_tilt_disc: int = 1 # Delta Local dynamics model dx: torch.Tensor = torch.round(torch.linspace(-2.0, 2.0, 20), decimals=3) @@ -94,33 +124,24 @@ class EnvConfig: # Goal behavior settings goal_behavior: str = "ignore" # Options: "stop", "ignore", "remove" - # Reference points settings - add_reference_speed: bool = ( - False # Include reference speed in observations - ) - add_reference_path: bool = False - prob_reference_dropout: float = ( - 0.0 # Probability of dropping reference points - ) - min_reference_points: int = 1 # Minimum number of reference points - # Reward settings - reward_type: str = "sparse_on_goal_achieved" - # Alternatively, "weighted_combination", "follow_waypoints", "distance_to_vdb_trajs", "reward_conditioned" + reward_type: str = "guided_autonomy" + # Alternatively, "weighted_combination", "guided_autonomy", "reward_conditioned" - # If reward_type is "follow_waypoints", the following parameters are used - waypoint_sample_interval: int = 1 # Interval for sampling waypoints - waypoint_distance_scale: float = ( - 0.01 # Importance of distance to waypoints + # If reward_type is "guided_autonomy", the following parameters are used + guidance_speed_weight: float = ( + 0.005 # Importance of matching suggested speeds + ) + guidance_heading_weight: float = ( + 0.005 # Importance of matching suggested headings ) - speed_distance_scale: float = 0.0 - jerk_smoothness_scale: float = 0.0 + smoothness_weight: float = 0.0 # If reward_type is "reward_conditioned", the following parameters are used # Weights for the reward components - collision_weight: float = 0.0 + collision_weight: float = -0.1 goal_achieved_weight: float = 1.0 - off_road_weight: float = 0.0 + off_road_weight: float = -0.1 condition_mode: str = "random" # Options: "random", "fixed", "preset" # If condition_mode is "fixed", set the agent weights here @@ -159,12 +180,10 @@ class EnvConfig: agent_size_scale: float = madrona_gpudrive.vehicleScale # Initialization mode - init_mode: str = "all_non_trivial" # Options: all_non_trivial, all_objects, all_valid, womd_tracks_to_predict + init_mode: str = "all_non_trivial" # Options: all_non_trivial, all_objects, all_valid, wosac_eval, wosac_train - # VBD model settings - use_vbd: bool = False - vbd_trajectory_weight: float = 0.01 - vbd_in_obs: bool = False + # Versatile Behavior Diffusion (VBD) + vbd_model_path: str = "gpudrive/integrations/vbd/weights/epoch=18.ckpt" class SelectionDiscipline(Enum): diff --git a/gpudrive/env/constants.py b/gpudrive/env/constants.py index f457cf223..bf5937da4 100644 --- a/gpudrive/env/constants.py +++ b/gpudrive/env/constants.py @@ -1,4 +1,5 @@ import numpy as np +import madrona_gpudrive """Predefined constants for the environment.""" @@ -18,7 +19,7 @@ # Road graph constants MIN_RG_COORD = -1000 MAX_RG_COORD = 1000 -MAX_ROAD_LINE_SEGMENT_LEN = 100 +MAX_ROAD_LINE_SEGMENT_LEN = 200 MAX_ROAD_SCALE = 100 # Feature shape constants @@ -26,8 +27,10 @@ PARTNER_FEAT_DIM = 6 ROAD_GRAPH_FEAT_DIM = 13 +ROAD_GRAPH_TOP_K = madrona_gpudrive.kMaxAgentMapObservationsCount + # Dataset constants -LOG_TRAJECTORY_LEN = 91 +LOG_TRAJECTORY_LENGTH = 91 # BEV observation constants BEV_RASTERIZATION_RESOLUTION = 200 diff --git a/gpudrive/env/env_puffer.py b/gpudrive/env/env_puffer.py index 630b26b19..7c24021b8 100644 --- a/gpudrive/env/env_puffer.py +++ b/gpudrive/env/env_puffer.py @@ -168,19 +168,31 @@ def __init__( dynamics_model="classic", action_space_steer_disc=13, action_space_accel_disc=7, + action_space_head_tilt_disc=1, + use_type_aware_actions=True, + vehicle_accel_range=(-4.0, 4.0), + vehicle_steer_range=(-1.57, 1.57), + cyclist_accel_range=(-2.5, 2.5), + cyclist_steer_range=(-2.09, 2.09), + pedestrian_accel_range=(-1.5, 1.5), + pedestrian_steer_range=(-3.14, 3.14), + head_tilt_action_range=(-0.7854, 0.7854), ego_state=True, road_map_obs=True, partner_obs=True, norm_obs=True, lidar_obs=False, bev_obs=False, - add_reference_path=False, - add_reference_speed=False, - prob_reference_dropout=0.0, + add_previous_action=False, + guidance=True, + add_reference_pos_xy=True, + add_reference_speed=True, + add_reference_heading=False, + smoothen_trajectory=False, reward_type="weighted_combination", - waypoint_distance_scale=0.05, - speed_distance_scale=0.0, - jerk_smoothness_scale=0.0, + guidance_speed_weight=0.0, + guidance_heading_weight=0.0, + smoothness_weight=0.0, condition_mode="random", collision_behavior="ignore", goal_behavior="remove", @@ -190,21 +202,24 @@ def __init__( goal_achieved_weight=1, dist_to_goal_threshold=2.0, polyline_reduction_threshold=0.1, + guidance_dropout_prob=0.0, remove_non_vehicles=False, obs_radius=50.0, - use_vbd=False, - vbd_trajectory_weight=0.1, + view_cone_half_angle=3.14159, + remove_occluded_agents=False, track_realism_metrics=False, track_n_worlds=2, render=False, render_3d=True, render_interval=50, + render_every_t=5, render_k_scenarios=3, + render_agent_idx=[0, 6], render_agent_obs=False, render_format="mp4", render_fps=15, zoom_radius=50, - plot_waypoints=False, + plot_guidance_pos_xy=False, buf=None, **kwargs, ): @@ -231,21 +246,26 @@ def __init__( self.init_mode = init_mode self.reward_type = reward_type + # Expert guidance + self.guidance = guidance + self.add_reference_pos_xy = add_reference_pos_xy + self.add_reference_speed = add_reference_speed + self.add_reference_heading = add_reference_heading + self.guidance_dropout_prob = guidance_dropout_prob + self.render = render self.render_interval = render_interval + self.render_every_t = render_every_t self.render_k_scenarios = render_k_scenarios + self.render_agent_idx = render_agent_idx self.render_agent_obs = render_agent_obs self.render_format = render_format self.render_fps = render_fps self.zoom_radius = zoom_radius - self.plot_waypoints = plot_waypoints + self.plot_guidance_pos_xy = plot_guidance_pos_xy self.track_realism_metrics = track_realism_metrics self.track_n_worlds = track_n_worlds - # VBD - self.vbd_trajectory_weight = vbd_trajectory_weight - self.use_vbd = use_vbd - # Total number of agents across envs, including padding self.total_agents = self.max_cont_agents_per_env * self.num_worlds @@ -259,15 +279,19 @@ def __init__( road_map_obs=road_map_obs, partner_obs=partner_obs, reward_type=reward_type, - waypoint_distance_scale=waypoint_distance_scale, - speed_distance_scale=speed_distance_scale, - jerk_smoothness_scale=jerk_smoothness_scale, + guidance_speed_weight=guidance_speed_weight, + guidance_heading_weight=guidance_heading_weight, + smoothness_weight=smoothness_weight, condition_mode=condition_mode, norm_obs=norm_obs, bev_obs=bev_obs, - add_reference_path=add_reference_path, + add_previous_action=add_previous_action, + guidance=guidance, + guidance_dropout_prob=guidance_dropout_prob, + add_reference_pos_xy=add_reference_pos_xy, add_reference_speed=add_reference_speed, - prob_reference_dropout=prob_reference_dropout, + add_reference_heading=add_reference_heading, + smoothen_trajectory=smoothen_trajectory, dynamics_model=dynamics_model, collision_behavior=collision_behavior, goal_behavior=goal_behavior, @@ -278,19 +302,21 @@ def __init__( lidar_obs=lidar_obs, disable_classic_obs=True if lidar_obs else False, obs_radius=obs_radius, - steer_actions=torch.round( - torch.linspace( - -torch.pi / 3, torch.pi / 3, action_space_steer_disc - ), - decimals=3, - ), - accel_actions=torch.round( - torch.linspace(-4.0, 4.0, action_space_accel_disc), decimals=3 - ), - use_vbd=use_vbd, - vbd_trajectory_weight=vbd_trajectory_weight, + action_space_steer_disc=action_space_steer_disc, + action_space_accel_disc=action_space_accel_disc, + action_space_head_tilt_disc=action_space_head_tilt_disc, + use_type_aware_actions=use_type_aware_actions, + vehicle_accel_range=vehicle_accel_range, + vehicle_steer_range=vehicle_steer_range, + cyclist_accel_range=cyclist_accel_range, + cyclist_steer_range=cyclist_steer_range, + pedestrian_accel_range=pedestrian_accel_range, + pedestrian_steer_range=pedestrian_steer_range, + head_tilt_action_range=head_tilt_action_range, + view_cone_half_angle=view_cone_half_angle, + remove_occluded_agents=remove_occluded_agents, + **{k: v for k, v in kwargs.items() if hasattr(EnvConfig, k)} ) - render_config = RenderConfig( render_3d=render_3d, ) @@ -318,7 +344,7 @@ def __init__( super().__init__() # Reset the environment and get the initial observations - self.observations = self.env.reset(self.controlled_agent_mask) + self.observations = self.env.reset(mask=self.controlled_agent_mask) self.masks = torch.ones(self.num_agents, dtype=bool) self.actions = torch.zeros( @@ -332,9 +358,8 @@ def __init__( self.was_rendered_in_rollout = { env_idx: True for env_idx in range(render_k_scenarios) } - self.agent_was_rendered_in_rollout = False self.frames = {env_idx: [] for env_idx in range(render_k_scenarios)} - self.agent_frames = [] + self.agent_frames = {agent_idx: [] for agent_idx in render_agent_idx} self.global_step = 0 self.iters = 0 @@ -433,10 +458,10 @@ def step(self, action): reward_controlled = reward[self.controlled_agent_mask] # Store human-like and internal rewards separately - if self.reward_type == "follow_waypoints": + if self.reward_type == "guided_autonomy": self.human_like_rewards[ self.live_agent_mask - ] += self.env.distance_penalty[self.live_agent_mask] + ] += self.env.guidance_reward[self.live_agent_mask] self.internal_rewards[ self.live_agent_mask ] += self.env.base_rewards[self.live_agent_mask] @@ -506,8 +531,6 @@ def step(self, action): for render_env_idx in range(self.render_k_scenarios): self.log_video_to_wandb(render_env_idx, done_worlds) - self.log_agent_obs_to_wandb() - # Log episode statistics controlled_mask = self.controlled_agent_mask[ done_worlds, : @@ -562,7 +585,7 @@ def step(self, action): self.info_lst.append( { "metrics/mean_episode_reward_per_agent": agent_episode_returns.mean().item(), - "metrics/mean_imitation_distance": human_like_values.mean().item(), + "metrics/mean_guidance_reward": human_like_values.mean().item(), "metrics/mean_internal_reward": internal_reward_values.mean().item(), "metrics/perc_goal_achieved": goal_achieved_rate.item(), "metrics/perc_off_road": off_road_rate.item(), @@ -643,21 +666,31 @@ def render_env(self): ) time_steps = list(self.episode_lengths[envs_to_render, 0]) - if len(envs_to_render) > 0: + render_at_time = bool( + self.env.step_in_world[0, 0] % self.render_every_t == 0 + ) + + if len(envs_to_render) > 0 and render_at_time: sim_state_figures = self.env.vis.plot_simulator_state( env_indices=envs_to_render, time_steps=time_steps, zoom_radius=self.zoom_radius, - plot_waypoints=self.plot_waypoints, + plot_guidance_pos_xy=self.plot_guidance_pos_xy, ) - agent_obs = self.env.vis.plot_agent_observation( - env_idx=0, - agent_idx=0, - figsize=(10, 10), - trajectory=self.env.reference_path[0, :, :].to("cpu"), - ) - self.agent_frames.append(img_from_fig(agent_obs)) + for agent_idx in self.render_agent_idx: + agent_obs = self.env.vis.plot_agent_observation( + env_idx=0, + agent_idx=0, + figsize=(10, 10), + trajectory=self.env.reference_path[agent_idx, :, :].to( + "cpu" + ), + step_reward=self.env.guidance_reward[0, agent_idx].item(), + route_progress=self.env.route_progress[agent_idx].item(), + previous_actions=self.env.previous_action_value_tensor, + ) + self.agent_frames[agent_idx].append(img_from_fig(agent_obs)) for idx, render_env_idx in enumerate(envs_to_render): self.frames[render_env_idx].append( @@ -678,36 +711,20 @@ def resample_scenario_batch(self): self.reset() # Reset storage # Get info from new worlds - self.observations = self.env.reset(self.controlled_agent_mask) + self.observations = self.env.reset(mask=self.controlled_agent_mask) self.log_data_coverage() - def clear_render_storage(self): + def clear_render_storage(self, env_list_to_clear=None): """Clear rendering storage.""" - for env_idx in range(self.render_k_scenarios): + for env_idx in env_list_to_clear: self.frames[env_idx] = [] - self.agent_frames = [] self.rendering_in_progress[env_idx] = False self.was_rendered_in_rollout[env_idx] = False - self.agent_was_rendered_in_rollout = False - def log_agent_obs_to_wandb(self): - """Log agent observation to wandb.""" - - frames_array = np.array(self.agent_frames) - if frames_array.shape[0] > 10: - self.wandb_obj.log( - { - f"vis/agent_obs/env_0": wandb.Video( - np.moveaxis(frames_array, -1, 1), - fps=self.render_fps, - format=self.render_format, - caption=f"global step: {self.global_step:,}", - ) - } - ) - self.agent_frames = [] - self.agent_was_rendered_in_rollout = True + if env_list_to_clear is not None: + for agent_idx in self.render_agent_idx: + self.agent_frames[agent_idx] = [] def log_video_to_wandb(self, render_env_idx, done_worlds): """Log arrays as videos to wandb.""" @@ -726,8 +743,23 @@ def log_video_to_wandb(self, render_env_idx, done_worlds): ) } ) + for agent_idx in self.render_agent_idx: + agent_frames_array = np.array(self.agent_frames[agent_idx]) + self.wandb_obj.log( + { + f"vis/agent_obs/env_0_agent_{agent_idx}": wandb.Video( + np.moveaxis(agent_frames_array, -1, 1), + fps=self.render_fps, + format=self.render_format, + caption=f"global step: {self.global_step:,}", + ) + } + ) + # Reset rendering storage self.frames[render_env_idx] = [] + for agent_idx in self.render_agent_idx: + self.agent_frames[agent_idx] = [] self.rendering_in_progress[render_env_idx] = False self.was_rendered_in_rollout[render_env_idx] = True @@ -745,6 +777,10 @@ def log_data_coverage(self): # Update the cumulative set (coverage) self.cumulative_unique_files.update(new_idx) + guidance_density = ( + self.env.valid_guidance_points / self.env.reference_traj_len + ) + if self.wandb_obj is not None: self.wandb_obj.log( { @@ -758,6 +794,10 @@ def log_data_coverage(self): / len(set(self.file_to_index)) ) * 100, + "data/guidance_density_mean": guidance_density.mean().item(), + "data/guidance_density_dist": wandb.Histogram( + guidance_density.cpu().numpy() + ), }, step=self.global_step, ) @@ -773,119 +813,131 @@ def compute_realism_metrics(self, done_worlds): control_mask = ( self.controlled_agent_mask[done_worlds].detach().cpu().numpy() ) - # [batch, time, 1] - valid_mask = ( - self.env.log_trajectory.valids[done_worlds] - .detach() - .cpu() - .numpy()[control_mask] - .squeeze(-1) - ).astype(bool) - - # Take human logs (ground-truth) - # Shape: [worlds, max_cont_agents, time, 2] -> [batch, time, 2] - ref_pos_xy_np = ( - self.env.log_trajectory.pos_xy[done_worlds] - .detach() - .cpu() - .numpy()[control_mask] - ) - # Shape: [worlds, max_cont_agents, time, 1] -> [batch, time, 1] - ref_headings_np = ( - self.env.log_trajectory.yaw[done_worlds] - .detach() - .cpu() - .numpy()[control_mask] - .squeeze(-1) - ) - agent_headings_np = ( - self.headings[done_worlds].detach().cpu().numpy()[control_mask] - ) - agent_pos_xyz_np = ( - self.pos_xyz[done_worlds].detach().cpu().numpy()[control_mask] - ) + if control_mask.sum() > 0: + # [batch, time, 1] + valid_mask = ( + self.env.reference_trajectory.valids[done_worlds] + .detach() + .cpu() + .numpy()[control_mask] + .squeeze(-1) + ).astype(bool) + + # Take human logs (ground-truth) + # Shape: [worlds, max_cont_agents, time, 2] -> [batch, time, 2] + ref_pos_xy_np = ( + self.env.reference_trajectory.pos_xy[done_worlds] + .detach() + .cpu() + .numpy()[control_mask] + ) + # Shape: [worlds, max_cont_agents, time, 1] -> [batch, time, 1] + ref_headings_np = ( + self.env.reference_trajectory.yaw[done_worlds] + .detach() + .cpu() + .numpy()[control_mask] + .squeeze(-1) + ) - # Extract x, y components (z is not informative) - agent_x_np = agent_pos_xyz_np[..., 0] - agent_y_np = agent_pos_xyz_np[..., 1] + agent_headings_np = ( + self.headings[done_worlds].detach().cpu().numpy()[control_mask] + ) + agent_pos_xyz_np = ( + self.pos_xyz[done_worlds].detach().cpu().numpy()[control_mask] + ) - ref_x_np = ref_pos_xy_np[..., 0] - ref_y_np = ref_pos_xy_np[..., 1] + # Extract x, y components (z is not informative) + agent_x_np = agent_pos_xyz_np[..., 0] + agent_y_np = agent_pos_xyz_np[..., 1] - # Step duration in seconds - seconds_per_step = 0.1 # Assuming 10Hz sampling rate + ref_x_np = ref_pos_xy_np[..., 0] + ref_y_np = ref_pos_xy_np[..., 1] - # Compute the metrics for agent trajectories - ( - agent_linear_speed, - agent_linear_accel, - agent_angular_speed, - agent_angular_accel, - ) = compute_kinematic_features_np( - agent_x_np, agent_y_np, agent_headings_np, seconds_per_step - ) + # Step duration in seconds + seconds_per_step = 0.1 # Assuming 10Hz sampling rate - # Compute the metrics for reference trajectories - ( - ref_linear_speed, - ref_linear_accel, - ref_angular_speed, - ref_angular_accel, - ) = compute_kinematic_features_np( - ref_x_np, ref_y_np, ref_headings_np, seconds_per_step - ) + # Compute the metrics for agent trajectories + ( + agent_linear_speed, + agent_linear_accel, + agent_angular_speed, + agent_angular_accel, + ) = compute_kinematic_features_np( + agent_x_np, agent_y_np, agent_headings_np, seconds_per_step + ) - # Check which time steps are valid - speed_valid, accel_valid = compute_kinematic_validity_np(valid_mask) + # Compute the metrics for reference trajectories + ( + ref_linear_speed, + ref_linear_accel, + ref_angular_speed, + ref_angular_accel, + ) = compute_kinematic_features_np( + ref_x_np, ref_y_np, ref_headings_np, seconds_per_step + ) - # Calculate absolute diffs between agent and reference trajectories - linear_speed_error = np.abs(agent_linear_speed - ref_linear_speed) - linear_accel_error = np.abs(agent_linear_accel - ref_linear_accel) - angular_speed_error = np.abs(agent_angular_speed - ref_angular_speed) - angular_accel_error = np.abs(agent_angular_accel - ref_angular_accel) + # Check which time steps are valid + speed_valid, accel_valid = compute_kinematic_validity_np( + valid_mask + ) - # Calculate displacement error - displacement_error = compute_displacement_error_np( - agent_x_np, agent_y_np, ref_x_np, ref_y_np - ) + # Calculate absolute diffs between agent and reference trajectories + linear_speed_error = np.abs(agent_linear_speed - ref_linear_speed) + linear_accel_error = np.abs(agent_linear_accel - ref_linear_accel) + angular_speed_error = np.abs( + agent_angular_speed - ref_angular_speed + ) + angular_accel_error = np.abs( + agent_angular_accel - ref_angular_accel + ) - # Apply validity masks - masked_speed_error = np.ma.array(linear_speed_error, mask=~speed_valid) - masked_accel_error = np.ma.array(linear_accel_error, mask=~accel_valid) - masked_angular_speed_error = np.ma.array( - angular_speed_error, mask=~speed_valid - ) - masked_angular_accel_error = np.ma.array( - angular_accel_error, mask=~accel_valid - ) + # Calculate displacement error + displacement_error = compute_displacement_error_np( + agent_x_np, agent_y_np, ref_x_np, ref_y_np + ) - # Compute MAEs - mean_linear_speed_error = masked_speed_error.mean() - mean_linear_accel_error = masked_accel_error.mean() - mean_angular_speed_error = masked_angular_speed_error.mean() - mean_angular_accel_error = masked_angular_accel_error.mean() - - self.info_lst.append( - { - "realism/kinematic_linear_speed_mae": mean_linear_speed_error, - "realism/kinematic_linear_accel_mae": mean_linear_accel_error, - "realism/kinematic_angular_speed_mae": mean_angular_speed_error, - "realism/kinematic_angular_accel_mae": mean_angular_accel_error, - "realism/mean_displacement_error": displacement_error[ - valid_mask - ].mean(), - # "realism/kinematic_ref_linear_speed_dist": wandb.Histogram( - # ref_linear_speed[speed_valid] - # ), - # "realism/kinematic_ref_linear_accel_dist": wandb.Histogram( - # ref_linear_accel[accel_valid] - # ), - # "realism/kinematic_agent_linear_speed_dist": wandb.Histogram( - # agent_linear_speed[speed_valid] - # ), - # "realism/kinematic_agent_linear_accel_dist": wandb.Histogram( - # agent_linear_speed[accel_valid] - # ), - }, - ) + # Apply validity masks + masked_speed_error = np.ma.array( + linear_speed_error, mask=~speed_valid + ) + masked_accel_error = np.ma.array( + linear_accel_error, mask=~accel_valid + ) + masked_angular_speed_error = np.ma.array( + angular_speed_error, mask=~speed_valid + ) + masked_angular_accel_error = np.ma.array( + angular_accel_error, mask=~accel_valid + ) + + # Compute MAEs + mean_linear_speed_error = masked_speed_error.mean() + mean_linear_accel_error = masked_accel_error.mean() + mean_angular_speed_error = masked_angular_speed_error.mean() + mean_angular_accel_error = masked_angular_accel_error.mean() + + self.info_lst.append( + { + "realism/kinematic_linear_speed_mae": mean_linear_speed_error, + "realism/kinematic_linear_accel_mae": mean_linear_accel_error, + "realism/kinematic_angular_speed_mae": mean_angular_speed_error, + "realism/kinematic_angular_accel_mae": mean_angular_accel_error, + "realism/mean_displacement_error": displacement_error[ + valid_mask + ].mean(), + "realism/kinematic_ref_linear_speed_dist": wandb.Histogram( + ref_linear_speed[speed_valid] + ), + "realism/kinematic_ref_linear_accel_dist": wandb.Histogram( + ref_linear_accel[accel_valid] + ), + "realism/kinematic_agent_linear_speed_dist": wandb.Histogram( + agent_linear_speed[speed_valid] + ), + "realism/kinematic_agent_linear_accel_dist": wandb.Histogram( + agent_linear_speed[accel_valid] + ), + }, + ) diff --git a/gpudrive/env/env_torch.py b/gpudrive/env/env_torch.py index 5db6d0d68..7c884c4ea 100755 --- a/gpudrive/env/env_torch.py +++ b/gpudrive/env/env_torch.py @@ -12,8 +12,9 @@ from gpudrive.env.base_env import GPUDriveGymEnv from gpudrive.datatypes.trajectory import ( LogTrajectory, - to_local_frame, VBDTrajectory, + VBDTrajectoryOnline, + to_local_frame, ) from gpudrive.datatypes.roadgraph import ( LocalRoadGraphPoints, @@ -28,14 +29,21 @@ ) from gpudrive.datatypes.metadata import Metadata from gpudrive.datatypes.info import Info - from gpudrive.visualize.core import MatplotlibVisualizer from gpudrive.visualize.utils import img_from_fig from gpudrive.env.dataset import SceneDataLoader -from gpudrive.utils.geometry import normalize_min_max from gpudrive.integrations.vbd.data.utils import process_scenario_data +from gpudrive.utils.preprocess import smooth_scenario +import madrona_gpudrive + + +# Agent types +VEHICLE_AGENT = int(madrona_gpudrive.EntityType.Vehicle) +CYCLIST_AGENT = int(madrona_gpudrive.EntityType.Cyclist) +PEDESTRIAN_AGENT = int(madrona_gpudrive.EntityType.Pedestrian) + class GPUDriveTorchEnv(GPUDriveGymEnv): """Torch Gym Environment that interfaces with the GPU Drive simulator.""" @@ -60,10 +68,6 @@ def __init__( self.backend = backend self.max_num_agents_in_scene = self.config.max_num_agents_in_scene - self.world_time_steps = torch.zeros( - self.num_worlds, dtype=torch.short, device=self.device - ) - # Initialize reward weights tensor to None initially self.reward_weights_tensor = None @@ -76,6 +80,12 @@ def __init__( # Get the initial data batch (set of traffic scenarios) self.data_batch = next(self.data_iterator) + assert self.num_worlds == len( + self.data_batch + ), f"Number of scenarios in data_batch ({len(self.data_batch)}) \ + should equal number of worlds ({self.num_worlds}). \ + \n Please check your data loader configuration." + # Initialize simulator self.sim = self._initialize_simulator(params, self.data_batch) @@ -86,24 +96,16 @@ def __init__( self.cont_agent_mask.sum().item() ) - self.log_trajectory = LogTrajectory.from_tensor( - self.sim.expert_trajectory_tensor(), - self.num_worlds, - self.max_agent_count, - backend=self.backend, - device=self.device, - ) self.episode_len = self.config.episode_len - self.reference_path_length = self.log_trajectory.pos_xy.shape[2] self.step_in_world = ( self.episode_len - self.sim.steps_remaining_tensor().to_torch() ) - # Now initialize reward weights tensor if using reward_conditioned reward type - if ( - hasattr(self.config, "reward_type") - and self.config.reward_type == "reward_conditioned" - ): + self.setup_guidance() + + self.guidance_dropout_mask = self.create_guidance_dropout_mask() + + if self.config.reward_type == "reward_conditioned": # Use default condition_mode from config or fall back to "random" condition_mode = getattr(self.config, "condition_mode", "random") self.agent_type = getattr(self.config, "agent_type", None) @@ -115,9 +117,6 @@ def __init__( (self.num_worlds, self.max_cont_agents, 3), device=self.device ) - # Initialize VBD model if used - self._initialize_vbd() - # Setup action and observation spaces self.observation_space = Box( low=-1.0, @@ -132,6 +131,8 @@ def __init__( dtype=np.float32, ) + # Action space setup + self._cache_agent_types() self._setup_action_space(action_type) self.single_action_space = self.action_space self.num_agents = self.cont_agent_mask.sum().item() @@ -140,34 +141,176 @@ def __init__( self.vis = MatplotlibVisualizer( sim_object=self.sim, controlled_agent_mask=self.cont_agent_mask, + reference_trajectory=self.reference_trajectory, goal_radius=self.config.dist_to_goal_threshold, - backend=self.backend, num_worlds=self.num_worlds, render_config=self.render_config, env_config=self.config, ) - def _initialize_vbd(self): + def setup_guidance(self): + """Configure the reference trajectory based on the guidance mode. + + Returns: + reference_trajectory: The reference trajectory to guide the agent's + behavior. Shape: [num_worlds, max_agent_count, traj_len, feature_dim], where + features are assumed to be in the following order: [x, y, yaw, vx, vy] """ - Initialize the Versatile Behavior Diffusion (VBD) model and related - components. Link: https://arxiv.org/abs/2404.02524. - When using amortized VBD, we don't need to run the model at runtime. + self.guidance_mode = self.config.guidance_mode - Args: - config: Configuration object containing VBD settings. + if self.guidance_mode == "vbd_amortized": + # Use pre-generated VBD model predictions as guidance + trajectory_tensor = self.sim.vbd_trajectory_tensor() + self.reference_trajectory = VBDTrajectory.from_tensor( + trajectory_tensor, self.backend, self.device + ) + elif self.guidance_mode == "vbd_online": + # Load pre-trained Versatile Behavior Diffusion (VBD) model + self.vbd_model = self._load_vbd_model( + model_path=self.config.vbd_model_path + ) + + self.init_steps = max(self.init_steps, 10) + print( + f"\n[Note] Guidance mode '{self.guidance_mode}' requires at least {self.init_steps} initialization steps to provide sufficient scene context for the diffusion model. Automatically setting simulator time to t = {self.init_steps}. \n" + ) + + # Construct scene context dict for the VBD model + scene_context = self.construct_context(init_steps=self.init_steps) + + print("Generating VBD predictions...\n") + + # Query the model online for the reference trajectory + predicted = self.vbd_model.sample_denoiser(scene_context) + + # Pad first 10 steps with logs + trajectory_tensor = self.sim.expert_trajectory_tensor() + log_trajectory = LogTrajectory.from_tensor( + trajectory_tensor, + self.num_worlds, + self.max_agent_count, + self.backend, + self.device, + ) + + reference_trajectory = torch.zeros( + self.num_worlds, + self.max_agent_count, + madrona_gpudrive.kTrajectoryLength, + 6, + ).to(self.device) + reference_trajectory[ + :, :, : self.init_steps + 1, :2 + ] = log_trajectory.pos_xy[:, :, : self.init_steps + 1] + reference_trajectory[ + :, :, : self.init_steps + 1, 2 + ] = log_trajectory.yaw[:, :, : self.init_steps + 1, 0] + reference_trajectory[ + :, :, : self.init_steps + 1, 3:5 + ] = log_trajectory.vel_xy[:, :, : self.init_steps + 1] + reference_trajectory[ + :, :, : self.init_steps + 1, 5 + ] = log_trajectory.valids[:, :, : self.init_steps + 1, 0] + + vbd_predictions = ( + predicted["denoised_trajs"].to(self.device).detach() + ) + + # Get the world means + world_means = ( + self.sim.world_means_tensor().to_torch()[:, :2].to(self.device) + ) + + # Add vbd predictions to the reference trajectory + for i in range(self.num_worlds): + # Get controlled agent indices for this world + valid_mask = scene_context["agents_id"][i] >= 0 + valid_world_indices = scene_context["agents_id"][i][valid_mask] + + reference_trajectory[ + i, valid_world_indices, self.init_steps + 1 :, :2 + ] = vbd_predictions[ + i, valid_world_indices, :, :2 + ] - world_means[ + i + ].view( + 1, 1, 2 + ) + reference_trajectory[ + i, valid_world_indices, self.init_steps + 1 :, 2:5 + ] = vbd_predictions[i, valid_world_indices, :, 2:5] + reference_trajectory[ + i, valid_world_indices, self.init_steps + 1 :, 5 + ] = 1 + + # Wrap predictions into a VBDTrajectoryOnline object + self.reference_trajectory = VBDTrajectoryOnline.from_tensor( + vbd_predictions=reference_trajectory, + mean_pos_xy=self.sim.world_means_tensor().to_torch()[:, :2], + backend=self.backend, + device=self.device, + ) + + else: # Default option is "log_replay" + trajectory_tensor = self.sim.expert_trajectory_tensor() + self.reference_trajectory = LogTrajectory.from_tensor( + trajectory_tensor, + self.num_worlds, + self.max_agent_count, + self.backend, + self.device, + ) + + # Length of the guidance trajectory + self.reference_traj_len = self.reference_trajectory.length + + # Smooth the trajectory if specified + if self.config.smoothen_trajectory: + self.reference_trajectory = smooth_scenario( + self.reference_trajectory + ) + + # Initialize the reference trajectory positions that are already in reach + self.guidance_points_hit, _ = self.guidance_points_within_reach() + + def _load_vbd_model(self, model_path): """ - self.use_vbd = self.config.use_vbd - self.vbd_trajectory_weight = self.config.vbd_trajectory_weight - if self.use_vbd: - self._load_vbd_trajectories() - else: - self.vbd_trajectories = None + Load the Versatile Behavior Diffusion (VBD) weights from checkpoint. + """ + from gpudrive.integrations.vbd.sim_agent.sim_actor import VBDTest - def _generate_sample_batch(self, init_steps=10): - """Generate a sample batch for the VBD model.""" - means_xy = ( - self.sim.world_means_tensor().to_torch()[:, :2].to(self.device) + model = VBDTest.load_from_checkpoint( + model_path, torch.device(self.device) ) + model.reset_agent_length(self.max_cont_agents) + model.guidance_iter = 5 + _ = model.eval() + return model + + def construct_context(self, init_steps=10): + """ + Construct a dictionary containing information from the first 10 steps (1s) of the scene. + + This context data is used for the pre-trained VBD model, which infers + the most likely trajectory for the next 80 steps based on this context. + + Args: + init_steps (int): Number of steps to use for context. Default is 10. + + Returns: + dict: Dictionary containing context information with the following keys: + - 'agents_history': Past agent positions and states + - 'agents_interested': Agents marked for trajectory prediction + - 'agents_type': Type classification of each agent + - 'agents_future': Ground truth future states (if available) + - 'traffic_light_points': Location and state of traffic signals + - 'polylines': Road network geometry representation + - 'polylines_valid': Validity flags for polyline segments + - 'relations': Interaction relationships between agents + - 'agents_id': Unique identifiers for each agent + - 'anchors': Reference points + """ + means_xy = self.sim.world_means_tensor().to_torch()[:, :2].to("cpu") # Get the logged trajectory and restore the mean log_trajectory = LogTrajectory.from_tensor( @@ -175,7 +318,7 @@ def _generate_sample_batch(self, init_steps=10): self.num_worlds, self.max_agent_count, backend=self.backend, - device=self.device, + device="cpu", ) log_trajectory.restore_mean( mean_x=means_xy[:, 0], mean_y=means_xy[:, 1] @@ -185,7 +328,7 @@ def _generate_sample_batch(self, init_steps=10): global_road_graph = GlobalRoadGraphPoints.from_tensor( roadgraph_tensor=self.sim.map_observation_tensor(), backend=self.backend, - device=self.device, + device="cpu", ) global_road_graph.restore_mean( mean_x=means_xy[:, 0], mean_y=means_xy[:, 1] @@ -196,7 +339,7 @@ def _generate_sample_batch(self, init_steps=10): global_agent_obs = GlobalEgoState.from_tensor( abs_self_obs_tensor=self.sim.absolute_self_observation_tensor(), backend=self.backend, - device=self.device, + device="cpu", ) global_agent_obs.restore_mean( mean_x=means_xy[:, 0], mean_y=means_xy[:, 1] @@ -204,20 +347,27 @@ def _generate_sample_batch(self, init_steps=10): metadata = Metadata.from_tensor( metadata_tensor=self.sim.metadata_tensor(), backend=self.backend, - device=self.device, + device="cpu", ) - sample_batch = process_scenario_data( + context_dict = process_scenario_data( max_controlled_agents=self.max_cont_agents, - controlled_agent_mask=self.cont_agent_mask, + controlled_agent_mask=self.cont_agent_mask.cpu(), global_agent_obs=global_agent_obs, global_road_graph=global_road_graph, log_trajectory=log_trajectory, episode_len=self.episode_len, init_steps=init_steps, - raw_agent_types=self.sim.info_tensor().to_torch()[:, :, 4], + raw_agent_types=self.sim.info_tensor().to_torch().cpu()[:, :, 4], metadata=metadata, ) - return sample_batch + + if self.device != "cpu": + # Move tensors to the specified device + for key in context_dict: + if isinstance(context_dict[key], torch.Tensor): + context_dict[key] = context_dict[key].to(self.device) + + return context_dict def _set_reward_weights(self, condition_mode="random", agent_type=None): """Set agent reward weights for all or specific environments. @@ -380,11 +530,15 @@ def reset( mask: Optional mask indicating which agents to return observations for env_idx_list: Optional list of environment indices to reset condition_mode: Determines how reward weights are sampled: - - "random": Random sampling within bounds (default for training) - - "fixed": Use predefined agent_type weights (for testing) - - "preset": Use a specific preset from agent_type parameter + - "random": Random sampling within bounds (default for training) + - "fixed": Use predefined agent_type weights (for testing) + - "preset": Use a specific preset from agent_type parameter agent_type: Specifies which preset weights to use or custom weights + + Returns: + obs: The initial observations. """ + # Reset the simulator state if env_idx_list is not None: self.sim.reset(env_idx_list) else: @@ -409,8 +563,6 @@ def reset( condition_mode=mode, agent_type=use_agent_type ) - self.world_time_steps.fill_(self.init_steps) - # Reset smoothness tracking for reset environments if env_idx_list is not None: reset_mask = torch.zeros( @@ -420,20 +572,24 @@ def reset( # Zero out only the reset environments self.previous_action_value_tensor[reset_mask] = 0.0 + # Reset the guidance points hit tensor for the reset environments + # TODO(dc): Fix for asynchronous resets + self.guidance_points_hit, _ = self.guidance_points_within_reach() + else: self.previous_action_value_tensor.zero_() + self.guidance_points_hit, _ = self.guidance_points_within_reach() + + # Dropout mask for guidance points + # Assumption: all worlds are reset at the same time + if self.config.guidance_dropout_prob > 0: + self.guidance_dropout_mask = self.create_guidance_dropout_mask() return self.get_obs(mask) - def get_dones(self, world_time_steps=None): + def get_dones(self): """ Returns tensor indicating which agents have terminated. - - Args: - world_time_steps: Optional tensor [num_worlds] with current timestep per world. - - Returns: - torch.Tensor: Boolean tensor [num_worlds, num_agents] where True indicates done. """ terminal = ( self.sim.done_tensor() @@ -442,28 +598,12 @@ def get_dones(self, world_time_steps=None): .squeeze(dim=2) .to(torch.float) ) - - if ( - world_time_steps is not None - and self.config.reward_type == "follow_waypoints" - and self.config.waypoint_distance_scale > 0.0 - ): - # Find last valid timestep for each agent, this is the ground-truth episode length - agent_episode_length = 90 - torch.argmax( - self.log_trajectory.valids.squeeze(-1).flip(2), dim=2 - ) - - expanded_time_steps = world_time_steps.unsqueeze(1).expand_as( - agent_episode_length - ) - return terminal.bool() & ( - expanded_time_steps >= agent_episode_length - ) - - else: - return terminal.bool() + return terminal.bool() def get_infos(self): + """ + Returns the info tensor for the current step. + """ return Info.from_tensor( self.sim.info_tensor(), backend=self.backend, @@ -472,9 +612,9 @@ def get_infos(self): def get_rewards( self, - collision_weight=-0.5, - goal_achieved_weight=0.0, - off_road_weight=-0.5, + collision_weight=-0.01, + goal_achieved_weight=1.0, + off_road_weight=-0.01, ): """Obtain the rewards for the current step.""" @@ -482,8 +622,8 @@ def get_rewards( info_tensor = self.sim.info_tensor().to_torch().clone() off_road = info_tensor[:, :, 0].to(torch.float) - # True if the vehicle is in collision with another road object - # (i.e. a cyclist or pedestrian) + # True if the agent is in collision with another road object + # (i.e. a cyclist, pedestrian or vehicle) collided = info_tensor[:, :, 1:3].to(torch.float).sum(axis=2) goal_achieved = info_tensor[:, :, 3].to(torch.float) @@ -527,137 +667,360 @@ def get_rewards( return weighted_rewards - elif self.config.reward_type == "distance_to_vdb_trajs": - # Reward based on distance to VBD predicted trajectories - # (i.e. the deviation from the predicted trajectory) - weighted_rewards = ( - collision_weight * collided - + goal_achieved_weight * goal_achieved - + off_road_weight * off_road - ) + elif self.config.reward_type == "guided_autonomy": - agent_states = GlobalEgoState.from_tensor( - self.sim.absolute_self_observation_tensor(), - self.backend, - self.device, + step_in_world = self.step_in_world[:, 0, :].squeeze(-1) + + actual_agent_speed = ( + self.sim.self_observation_tensor().to_torch()[:, :, 0].clone() ) - agent_pos = torch.stack( - [agent_states.pos_x, agent_states.pos_y], dim=-1 + # 1. Get base rewards defined by user + self.base_rewards = ( + collision_weight * collided + off_road_weight * off_road ) - # Extract VBD positions at current time steps for each world - vbd_pos = [] - for i in range(self.num_worlds): - current_time = ( - self.world_time_steps[i].item() - self.init_steps - ) - # Make sure we don't exceed trajectory length - current_time = min( - current_time, self.vbd_trajectories.shape[2] - 1 + is_valid = self.reference_trajectory.valids.squeeze(-1) + + # 2. Route guidance (where to go) + # a) Get the reference trajectory positions + ( + points_within_reach, + distance_to_points, + ) = self.guidance_points_within_reach() + + if step_in_world[0].item() == 1: + # This is the first step, and we reward the agent for + # reaching the initial guidance points + new_hits = self.guidance_points_hit & is_valid + else: + # Find waypoints within reach that haven't been hit yet and are valid + potential_new_hits = ( + points_within_reach + & (~self.guidance_points_hit) + & is_valid + ).to(self.device) + + # Create a mask to handle cases where there are no potential hits + has_potential_hits = torch.any( + potential_new_hits, dim=2, keepdim=True ) - vbd_pos.append(self.vbd_trajectories[i, :, current_time, :2]) - vbd_pos_tensor = torch.stack(vbd_pos) - # Compute euclidean distance between agent and logs - dist_to_vbd = torch.norm(vbd_pos_tensor - agent_pos, dim=-1) + # Replace distances for non-potential hits with a large value + masked_distances = torch.where( + potential_new_hits.bool(), + distance_to_points, + torch.ones_like(distance_to_points) * 1e10, + ).to(self.device) - # Add reward based on inverse distance to logs - weighted_rewards += self.vbd_trajectory_weight * torch.exp( - -dist_to_vbd - ) + # Find indices of closest waypoints for each agent + closest_indices = torch.argmin(masked_distances, dim=2) - return weighted_rewards + # Create a one-hot tensor marking only the closest waypoint for each agent + ( + batch_size, + num_agents, + num_waypoints, + ) = potential_new_hits.shape + batch_indices = ( + torch.arange(batch_size) + .view(-1, 1) + .repeat(1, num_agents) + .flatten() + .to(self.device) + ) + agent_indices = ( + torch.arange(num_agents).repeat(batch_size).to(self.device) + ) - elif self.config.reward_type == "follow_waypoints": - # Reward based on minimizing distance to time-aligned waypoints plus penalty for collision/off-road - self.base_rewards = ( - goal_achieved_weight * goal_achieved - + collision_weight * collided - + off_road_weight * off_road - ) + # Initialize new_hits tensor with zeros + new_hits = torch.zeros_like(potential_new_hits) - # Extract waypoints (ground truth) at time t - step_in_world = self.step_in_world[:, 0, :].squeeze(-1) - batch_indices = torch.arange(step_in_world.shape[0]) - gt_agent_pos = self.log_trajectory.pos_xy[ - batch_indices, :, step_in_world, : - ] + # Only set closest hits where there are potential hits + valid_agents = has_potential_hits.view(-1) - gt_agent_speed = self.log_trajectory.ref_speed[ - batch_indices, :, step_in_world - ] - valid_mask = ( - self.log_trajectory.valids[batch_indices, :, step_in_world] - .squeeze(-1) - .bool() + # Efficiently set the closest point for each valid agent + if torch.any(valid_agents): + valid_batch_indices = batch_indices[valid_agents] + valid_agent_indices = agent_indices[valid_agents] + valid_closest_indices = closest_indices.view(-1)[ + valid_agents + ] + + new_hits[ + valid_batch_indices, + valid_agent_indices, + valid_closest_indices, + ] = True + + # Update the guidance points hit tensor + self.guidance_points_hit = self.guidance_points_hit | new_hits + + # Count the number of new waypoints hit in this step + guidance_points_hit_count = new_hits.sum(dim=-1).float() + + # Reward agent for successfully reaching guidance points along the route + # Scale reward by 1/num_valid_points to ensure maximum attainable reward is 1.0 + # We do this for a consistent reward magnitude regardless of route length or density + self.route_reward = torch.clamp( + guidance_points_hit_count + / (self.reference_trajectory.valids.sum(axis=[2, 3]) + 1e-5), + min=0, + max=0.1, ) - # Get actual agent positions - agent_state = GlobalEgoState.from_tensor( - self.sim.absolute_self_observation_tensor(), - self.backend, - self.device, + # We want agents that are parked to stay parked, and generally + # we want agents to don't go beyond their reference trajectory. + # To do this, add a penalty proportional to the agent position to + # the end position of the trajectory at the end of the episode + total_valid = self.reference_trajectory.valids.clone().sum( + axis=[2, 3] + ) + valid_hits_so_far = self.guidance_points_hit.clone().sum(dim=[-1]) + + # Handle the case where there are zero valid points + # If total_valid is 0, we consider the route 100% complete (progress = 1.0) + route_progress = torch.where( + total_valid > 0, + valid_hits_so_far / (total_valid + 1e-5), # Normal case + torch.ones_like( + valid_hits_so_far + ), # When agent has no valid points ) - actual_agent_speed = self.sim.self_observation_tensor().to_torch()[ - :, :, 0 - ] + completed_route_mask = (route_progress >= 0.99).float() - actual_agent_pos = torch.stack( - [agent_state.pos_x, agent_state.pos_y], dim=-1 - ) + # b). Jerk penalty for completed routes + if torch.any(completed_route_mask > 0): + # Apply a penalty for jerk because we want agents to keep going straight + # when they have already passed the end of the route + # if they turn, the jerk penalty should cancel out the position bonus + if hasattr(self, "action_diff"): + acceleration_jerk = self.action_diff[:, :, 0] ** 2 + steering_jerk = self.action_diff[:, :, 1] ** 2 - speed_error = (gt_agent_speed - actual_agent_speed) ** 2 + acceleration_penalty = 1.0 - torch.exp(-acceleration_jerk) + steering_penalty = 1.0 - torch.exp(-steering_jerk) - # Compute euclidean distance between agent and waypoints - dist_to_waypoints = torch.norm( - gt_agent_pos - actual_agent_pos, dim=-1 - ) + jerk_penalty = -0.001 * ( + acceleration_penalty + steering_penalty + ) + + end_of_route_jerk = jerk_penalty * completed_route_mask + + self.route_reward += end_of_route_jerk + + self.guidance_reward = self.route_reward.clone() + + # 3. Speed and heading targets + if step_in_world[0] < self.reference_traj_len: + batch_idx = torch.arange(step_in_world.shape[0]) + + suggested_speed = self.reference_trajectory.ref_speed[ + batch_idx, :, step_in_world + ].squeeze(-1) + + suggested_heading = self.reference_trajectory.yaw[ + batch_idx, :, step_in_world + ].squeeze(-1) + + valid_points = ( + self.reference_trajectory.valids[ + batch_idx, :, step_in_world + ] + .squeeze(-1) + .bool() + ) + + actual_agent_heading = self.agent_states.rotation_angle + + # Compute distances + guidance_speed_error = ( + suggested_speed - actual_agent_speed + ) ** 2 + guidance_heading_error = ( + suggested_heading - actual_agent_heading + ) ** 2 + + guidance_speed_penalty = 1.0 - torch.exp( + -guidance_speed_error + 1e-8 + ) + guidance_heading_penalty = 1.0 - torch.exp( + -guidance_heading_error + 1e-8 + ) + + speed_heading_reward = ( + -self.config.guidance_speed_weight * guidance_speed_penalty + - self.config.guidance_heading_weight + * guidance_heading_penalty + ) + + speed_heading_reward[~valid_points] = 0.0 + + self.speed_heading_reward = speed_heading_reward.clone() + + self.guidance_reward += self.speed_heading_reward - # Penalty for jerky movements + # 4. Penalty for action jerk if hasattr(self, "action_diff"): acceleration_jerk = ( self.action_diff[:, :, 0] ** 2 ) # First action component is acceleration steering_jerk = ( self.action_diff[:, :, 1] ** 2 - ) # Second action component is steering + ) # Second action component is steering angle - self.smoothness_penalty = -( - self.config.jerk_smoothness_scale * acceleration_jerk - + self.config.jerk_smoothness_scale * steering_jerk + # Small jerks: penalty is close to x (approximately linear) + # Large jerks: penalty approaches 1.0 (saturates) + acceleration_penalty = 1.0 - torch.exp(-acceleration_jerk) + steering_penalty = 1.0 - torch.exp(-steering_jerk) + + self.smoothness_penalty = -self.config.smoothness_weight * ( + acceleration_penalty + steering_penalty ) else: self.smoothness_penalty = torch.zeros_like(self.base_rewards) - self.distance_penalty = ( - -self.config.waypoint_distance_scale - * torch.log(dist_to_waypoints + 1.0) - - self.config.speed_distance_scale - * torch.log(speed_error + 1.0) + self.guidance_reward += self.smoothness_penalty + + # Combine + rewards = self.base_rewards + self.guidance_reward + + return rewards + + def create_guidance_dropout_mask(self): + """ + Create guidance dropout mask based on the specified dropout mode. + + Args: + mask: Optional pre-existing mask to modify + dropout_mode: Either "max" (default) or "avg" + - "max": dropout_prob represents the maximum dropout probability + - "avg": dropout_prob represents the average dropout probability + + Returns: + A boolean mask where True indicates keeping the point, False indicates dropping it + """ + dropout_prob = self.config.guidance_dropout_prob + num_controlled = self.cont_agent_mask.sum().item() + self.dropout_mode = self.config.guidance_dropout_mode + + if self.dropout_mode == "remove_all": + # If the mode is "remove_all", we want to drop all points + # so the agents receive no guidance + return torch.zeros( + (num_controlled, self.reference_traj_len), + device=self.device, + dtype=torch.bool, + ) + else: + # 1 if we want to keep the point, 0 if we want to drop it + guidance_dropout_mask = torch.ones( + (num_controlled, self.reference_traj_len), + device=self.device, + dtype=torch.bool, + ) + + is_valid = ( + self.reference_trajectory.valids[self.cont_agent_mask] + .squeeze(-1) + .bool() ) - # Zero-out distance penalty for invalid time steps, that is, - # The reference positions have not been observed at every time step - # if not observed, we set the distance penalty to 0 - self.distance_penalty[~valid_mask] = 0.0 + if dropout_prob > 0.0: + + if self.dropout_mode == "max": + # Generate random dropout rates for each agent between 0 and dropout_prob + agent_dropout_probs = ( + torch.rand(num_controlled, device=self.device) + * dropout_prob + ) + elif self.dropout_mode == "avg": + # Use the same dropout probability for all agents (equal to dropout_prob) + agent_dropout_probs = torch.full( + (num_controlled,), dropout_prob, device=self.device + ) + else: + raise ValueError( + f"Unsupported dropout mode: {self.config.dropout_mode}" + ) - self.distance_penalty += self.smoothness_penalty + for agent_idx in range(num_controlled): + agent_valid_mask = is_valid[agent_idx] + agent_valid_indices = torch.where(agent_valid_mask)[0] + + # Get agent-specific dropout probability + agent_dropout_prob = agent_dropout_probs[agent_idx] + + if ( + len(agent_valid_indices) > 2 + ): # Only apply dropout if we have more than 2 points + if self.dropout_mode == "max": + # Keep first and last points, apply dropout to middle points + middle_indices = agent_valid_indices[1:-1] + + # Generate random dropout mask for middle points + dropout = ( + torch.rand( + len(middle_indices), device=self.device + ) + < agent_dropout_prob + ) + + # Apply dropout to middle points (set to False for points to drop) + guidance_dropout_mask[ + agent_idx, middle_indices + ] = ~dropout + + elif self.dropout_mode == "avg": + # Calculate how many points to drop to achieve the desired average dropout rate + middle_indices = agent_valid_indices[ + :-1 + ] # All valid points except the last one + num_middle = len(middle_indices) + + # Number of points to drop to achieve the desired average + num_to_drop = int( + np.ceil( + (agent_dropout_prob.item() * num_middle) + ) + ) + + if num_to_drop > 0 and num_middle > 0: + # Randomly select points to drop + drop_indices = middle_indices[ + torch.randperm(num_middle)[:num_to_drop] + ] + guidance_dropout_mask[ + agent_idx, drop_indices + ] = False + + return guidance_dropout_mask - # Apply waypoint mask only if sampling interval is greater than 1 - if self.config.waypoint_sample_interval > 1: - waypoint_mask = ( - (step_in_world % self.config.waypoint_sample_interval == 0) - .float() - .unsqueeze(1) - ) - self.distance_penalty = self.distance_penalty * waypoint_mask + else: + return guidance_dropout_mask + + def guidance_points_within_reach(self): + # Get actual agent positions + self.agent_states = GlobalEgoState.from_tensor( + self.sim.absolute_self_observation_tensor(), + self.backend, + self.device, + ) - # Combine base rewards with distance penalty - rewards = self.base_rewards + self.distance_penalty + # Calculate Euclidean distance to all reference positions + # Output shape: [worlds, agents, reference_traj_len] + distances = torch.norm( + self.agent_states.pos_xy.unsqueeze(2) + - self.reference_trajectory.pos_xy, + dim=-1, + ) - return rewards + points_within_reach = ( + distances < self.config.dist_to_goal_threshold + ) & self.reference_trajectory.valids.bool().squeeze(-1) + + return points_within_reach, distances def step_dynamics(self, actions): if actions is not None: @@ -669,57 +1032,87 @@ def step_dynamics(self, actions): self.episode_len - self.sim.steps_remaining_tensor().to_torch() ) - not_done_worlds = ~self.get_dones().any( - dim=1 - ) # Check if any agent in world is done - self.world_time_steps[not_done_worlds] += 1 - def _apply_actions(self, actions): """Apply the actions to the simulator.""" - if ( self.config.dynamics_model == "classic" or self.config.dynamics_model == "bicycle" or self.config.dynamics_model == "delta_local" ): - if actions.dim() == 2: # (num_worlds, max_agent_count) - # Map action indices to action values if indices are provided + if actions.dim() == 2: actions = ( torch.nan_to_num(actions, nan=0).long().to(self.device) ) - self.action_value_tensor = self.action_keys_tensor[actions] + + # Choose mapping based on config + if ( + self.config.use_type_aware_actions + and self.config.dynamics_model == "classic" + ): + self.action_value_tensor = self._map_type_aware_actions( + actions + ) + else: + self.action_value_tensor = self.action_keys_tensor[actions] elif actions.dim() == 3: if actions.shape[2] == 1: actions = actions.squeeze(dim=2).to(self.device) - self.action_value_tensor = self.action_keys_tensor[actions] - else: # Assuming we are given the actual action values + if ( + self.config.use_type_aware_actions + and self.config.dynamics_model == "classic" + ): + self.action_value_tensor = ( + self._map_type_aware_actions(actions) + ) + else: + self.action_value_tensor = self.action_keys_tensor[ + actions + ] + else: self.action_value_tensor = actions.to(self.device) else: raise ValueError(f"Invalid action shape: {actions.shape}") - else: self.action_value_tensor = actions.to(self.device) if not hasattr(self, "previous_action_value_tensor"): - # Initialize with current actions on first call self.previous_action_value_tensor = ( self.action_value_tensor.clone() ) - if self.config.dynamics_model == "state" and self.previous_action_value_tensor.shape != self.action_value_tensor.shape: + if ( + self.config.dynamics_model == "state" + and self.previous_action_value_tensor.shape + != self.action_value_tensor.shape + ): self.previous_action_value_tensor = ( self.action_value_tensor.clone() ) - # Calculate action differences (jerk) self.action_diff = ( self.action_value_tensor - self.previous_action_value_tensor ) self.previous_action_value_tensor = self.action_value_tensor.clone() - self._copy_actions_to_simulator(self.action_value_tensor) + def _map_type_aware_actions(self, action_indices): + """Map action indices to type-specific action values.""" + action_values = self.action_keys_tensor[ + action_indices + ] # Start with default (vehicle ranges) + + # Override with type-specific actions + for agent_type in [CYCLIST_AGENT, PEDESTRIAN_AGENT]: + type_mask = self.agent_types == agent_type + if torch.any(type_mask): + type_action_tensor = self.type_action_tensors[agent_type] + action_values[type_mask] = type_action_tensor[ + action_indices[type_mask] + ] + + return action_values + def _copy_actions_to_simulator(self, actions): """Copy the provided actions to the simulator.""" if ( @@ -754,25 +1147,52 @@ def _set_discrete_action_space(self) -> None: self.config.dynamics_model == "classic" or self.config.dynamics_model == "bicycle" ): - self.steer_actions = self.config.steer_actions.to(self.device) - self.accel_actions = self.config.accel_actions.to(self.device) - self.head_actions = self.config.head_tilt_actions.to(self.device) + + # Use vehicle ranges for the base action space + self.steer_actions = torch.round( + torch.linspace( + self.config.vehicle_steer_range[0], + self.config.vehicle_steer_range[1], + self.config.action_space_steer_disc, + ), + decimals=3, + ).to(self.device) + self.accel_actions = torch.round( + torch.linspace( + self.config.vehicle_accel_range[0], + self.config.vehicle_accel_range[1], + self.config.action_space_accel_disc, + ), + decimals=3, + ).to(self.device) + self.head_actions = torch.round( + torch.linspace( + self.config.head_tilt_action_range[0], + self.config.head_tilt_action_range[1], + self.config.action_space_head_tilt_disc, + ), + decimals=3, + ).to(self.device) products = product( self.accel_actions, self.steer_actions, self.head_actions ) + + # If type-aware actions are enabled, setup the type-specific mappings + if self.config.use_type_aware_actions: + self._setup_type_aware_mappings() + elif self.config.dynamics_model == "state": self.x = self.config.x.to(self.device) self.y = self.config.y.to(self.device) self.yaw = self.config.yaw.to(self.device) self.vx = self.config.vx.to(self.device) self.vy = self.config.vy.to(self.device) - else: raise ValueError( f"Invalid dynamics model: {self.config.dynamics_model}" ) - # Create a mapping from action indices to action values + # Create standard action mapping (same for both cases) self.action_key_to_values = {} self.values_to_action_key = {} if products is not None: @@ -797,92 +1217,92 @@ def _set_discrete_action_space(self) -> None: ] ).to(self.device) - return Discrete(n=int(len(self.action_key_to_values))) + self.action_space = Discrete(n=int(len(self.action_key_to_values))) + return self.action_space else: - return Discrete(n=1) + self.action_space = Discrete(n=1) + return self.action_space + + def _setup_type_aware_mappings(self): + """Setup type-specific action mappings.""" + steer_disc = self.config.action_space_steer_disc + accel_disc = self.config.action_space_accel_disc + + # Create type-specific action ranges + type_ranges = { + VEHICLE_AGENT: ( + self.config.vehicle_accel_range, + self.config.vehicle_steer_range, + ), # Vehicle + CYCLIST_AGENT: ( + self.config.cyclist_accel_range, + self.config.cyclist_steer_range, + ), # Cyclist + PEDESTRIAN_AGENT: ( + self.config.pedestrian_accel_range, + self.config.pedestrian_steer_range, + ), # Pedestrian + } - def _set_continuous_action_space(self) -> None: - """Configure the continuous action space.""" - if self.config.dynamics_model == "delta_local": - self.dx = self.config.dx.to(self.device) - self.dy = self.config.dy.to(self.device) - self.dyaw = self.config.dyaw.to(self.device) - action_1 = self.dx.clone().cpu().numpy() - action_2 = self.dy.clone().cpu().numpy() - action_3 = self.dyaw.clone().cpu().numpy() - elif self.config.dynamics_model == "classic": - self.steer_actions = self.config.steer_actions.to(self.device) - self.accel_actions = self.config.accel_actions.to(self.device) - self.head_actions = torch.tensor([0], device=self.device) - action_1 = self.steer_actions.clone().cpu().numpy() - action_2 = self.accel_actions.clone().cpu().numpy() - action_3 = self.head_actions.clone().cpu().numpy() - else: - raise ValueError( - f"Continuous action space is currently not supported for dynamics_model: {self.config.dynamics_model}." - ) + self.type_action_tensors = {} - action_space = Tuple( - ( - Box(action_1.min(), action_1.max(), shape=(1,)), - Box(action_2.min(), action_2.max(), shape=(1,)), - Box(action_3.min(), action_3.max(), shape=(1,)), + for agent_type, (accel_range, steer_range) in type_ranges.items(): + # Create discrete actions for this agent type + accel_values = torch.linspace( + accel_range[0], accel_range[1], accel_disc, device=self.device + ) + steer_values = torch.linspace( + steer_range[0], steer_range[1], steer_disc, device=self.device ) - ) - return action_space - def _get_ego_state(self, mask=None) -> torch.Tensor: - """Get the ego state.""" + # Create action tensor for this type + type_products = list( + product(accel_values, steer_values, self.head_actions) + ) + self.type_action_tensors[agent_type] = torch.tensor( + [ + [accel.item(), steer.item(), head.item()] + for accel, steer, head in type_products + ], + device=self.device, + ) - if not self.config.ego_state: - return torch.Tensor().to(self.device) - ego_state = LocalEgoState.from_tensor( - self_obs_tensor=self.sim.self_observation_tensor(), - backend=self.backend, - device=self.device, - mask=mask, - ) + def _get_guidance(self, mask=None) -> torch.Tensor: + """Receive (expert) suggestions from pre-trained model or logs.""" - if self.config.norm_obs: - ego_state.normalize() + if not self.config.guidance: + return torch.zeros(0, device=self.device) - base_fields = [ - ego_state.speed.unsqueeze(-1), - ego_state.vehicle_length.unsqueeze(-1), - ego_state.vehicle_width.unsqueeze(-1), - ego_state.is_collided.unsqueeze(-1), - ] + guidance = [] + guidance_orig = [] if mask is None: - base_fields.append( - self.previous_action_value_tensor[:, :, :2] - / constants.MAX_ACTION_VALUE, # Previous accel, steering - ) + valid_timesteps_mask = self.reference_trajectory.valids.bool() if self.config.add_reference_speed: - - avg_ref_speed = ( - self.log_trajectory.ref_speed.clone().mean(axis=-1) + reference_speed = ( + self.reference_trajectory.ref_speed.clone() / constants.MAX_SPEED ) + reference_speed[~valid_timesteps_mask] = constants.INVALID_ID + guidance.append(reference_speed) - base_fields.append(avg_ref_speed.unsqueeze(-1)) - - if self.config.add_reference_path: - - state = ( - self.sim.absolute_self_observation_tensor() - .to_torch() - .clone().to(self.device) + states = None + if ( + self.config.add_reference_pos_xy + or self.config.add_reference_heading + ): + states = GlobalEgoState.from_tensor( + self.sim.absolute_self_observation_tensor(), + self.backend, + self.device, ) - global_ego_pos_xy = state[:, :, :2] - global_ego_yaw = state[:, :, 7] - glob_reference_xy = self.log_trajectory.pos_xy - agent_indices = torch.arange(self.max_cont_agents) + + if self.config.add_reference_pos_xy: + glob_reference_xy = self.reference_trajectory.pos_xy local_reference_xy = torch.empty_like(glob_reference_xy) - valid_timesteps_mask = self.log_trajectory.valids.bool() # Transform reference path to be relative to current # agent positions and heading @@ -894,8 +1314,10 @@ def _get_ego_state(self, mask=None) -> torch.Tensor: global_pos_xy=glob_reference_xy[ world_idx, agent_idx, :, : ], - ego_pos=global_ego_pos_xy[world_idx, agent_idx], - ego_yaw=global_ego_yaw[world_idx, agent_idx], + ego_pos=states.pos_xy[world_idx, agent_idx], + ego_yaw=states.rotation_angle[ + world_idx, agent_idx + ], device=self.device, ) @@ -909,125 +1331,83 @@ def _get_ego_state(self, mask=None) -> torch.Tensor: ~valid_timesteps_mask.expand_as(local_reference_xy) ] = constants.INVALID_ID - # Provide agent with index to pay attention to through one-hot encoding - next_step_in_world = torch.clamp( - self.step_in_world[:, 0, :].squeeze(-1) + 1, - min=0, - max=self.episode_len, - ) - time_one_hot = torch.zeros( - ( - self.num_worlds, - self.max_agent_count, - self.reference_path_length, - 1, - ), - device=self.device, - ) - time_one_hot[:, :, next_step_in_world, :] = 1.0 - # Make unnormalized reference path available for plotting - self.reference_path = torch.cat( - (local_ref_xy_orig, time_one_hot), dim=-1 - ) + self.reference_path = local_ref_xy_orig - reference_path = torch.cat( - (local_reference_xy, time_one_hot), dim=-1 - ) + guidance.append(local_reference_xy) - # Flatten the dimensions for stacking - base_fields.append(reference_path.flatten(start_dim=2)) - - # batch_size = local_reference_xy.shape[0] - # num_points = local_reference_xy.shape[1] - # time_steps = local_reference_xy.shape[2] - - # Create dropout mask for the time dimension - # Shape: [batch_size, num_points, time_steps, 1] - # point_dropout_mask = torch.bernoulli( - # torch.ones( - # batch_size, - # num_points, - # time_steps, - # 1, - # device=local_reference_xy.device, - # ) - # * (1 - self.config.prob_reference_dropout) - # ).bool() - - # Apply dropout mask - # self.local_reference_xy = ( - # local_reference_xy * point_dropout_mask - # ) + if self.config.add_reference_heading: + reference_headings = self.reference_trajectory.yaw.clone() - if self.config.reward_type == "reward_conditioned": + # Transform headings to local coordinate frame + for world_idx in range(self.num_worlds): + for agent_idx in range(self.max_cont_agents): + # Subtract current agent heading to get relative heading + reference_headings[ + world_idx, agent_idx + ] -= states.rotation_angle[world_idx, agent_idx] - # Create expanded weights for all environments - # Expand from [max_agents, 3] to [num_worlds, max_agents] - collision_weights = self.reward_weights_tensor[:, 0].expand( - self.num_worlds, -1 - ) - goal_weights = self.reward_weights_tensor[:, 1].expand( - self.num_worlds, -1 - ) - off_road_weights = self.reward_weights_tensor[:, 2].expand( - self.num_worlds, -1 + # Normalize + reference_headings = ( + reference_headings / constants.MAX_ORIENTATION_RAD ) - full_fields = base_fields + [ - collision_weights, - goal_weights, - off_road_weights, - ] - return torch.stack(full_fields).permute(1, 2, 0) - else: - return torch.cat(base_fields, dim=-1) + # Set invalid timesteps to -1 + reference_headings[ + ~valid_timesteps_mask + ] = constants.INVALID_ID + guidance.append(reference_headings) + + return torch.cat(guidance, dim=-1).flatten(start_dim=2) + else: + valid_timesteps_mask = self.reference_trajectory.valids.bool()[ + mask + ] - base_fields.append( - self.previous_action_value_tensor[mask][:, :2] - / constants.MAX_ACTION_VALUE, # Previous accel, steering - ) + states = None + if ( + self.config.add_reference_pos_xy + or self.config.add_reference_heading + ): + states = GlobalEgoState.from_tensor( + self.sim.absolute_self_observation_tensor(), + self.backend, + self.device, + ) if self.config.add_reference_speed: - avg_ref_speed = ( - self.log_trajectory.ref_speed[mask].clone().mean(axis=-1) - / constants.MAX_SPEED - ) - base_fields.append(avg_ref_speed.unsqueeze(-1)) + reference_speed = self.reference_trajectory.ref_speed[ + mask + ].clone() + reference_speed[~valid_timesteps_mask] = constants.INVALID_ID - if self.config.add_reference_path: + reference_speed_normalized = ( + reference_speed / constants.MAX_SPEED + ) + guidance_orig.append(reference_speed) + guidance.append(reference_speed_normalized) - # State information - state = ( - self.sim.absolute_self_observation_tensor() - .to_torch() - .clone()[mask] - ).to(self.device) - global_ego_pos_xy = state[:, :2] # Shape: [batch, 2] - global_ego_yaw = state[:, 7] # Shape: [batch] - global_reference_xy = self.log_trajectory.pos_xy.clone()[mask] - valid_timesteps_mask = self.log_trajectory.valids.bool()[mask] - batch_size = global_reference_xy.shape[0] - batch_indices = torch.arange(batch_size) + if self.config.add_reference_pos_xy: + global_reference_xy = self.reference_trajectory.pos_xy.clone()[ + mask + ] # Translate all points to a local coordinate frame - translated = global_reference_xy - global_ego_pos_xy.unsqueeze( - 1 - ) - - # Create rotation matrices for all agents at once - cos_yaw = torch.cos(global_ego_yaw) - sin_yaw = torch.sin(global_ego_yaw) + translated = global_reference_xy - states.pos_xy[ + mask + ].unsqueeze(1) # Create batch of rotation matrices: [batch, 2, 2] + cos_yaw = torch.cos(states.rotation_angle[mask]) + sin_yaw = torch.sin(states.rotation_angle[mask]) rotation_matrices = torch.stack( [ torch.stack([cos_yaw, sin_yaw], dim=1), torch.stack([-sin_yaw, cos_yaw], dim=1), ], dim=1, - ) # Shape: [batch, 2, 2] + ) # Apply rotation to all points local_reference_xy = torch.bmm( @@ -1044,33 +1424,157 @@ def _get_ego_state(self, mask=None) -> torch.Tensor: ~valid_timesteps_mask.expand_as(local_reference_xy) ] = constants.INVALID_ID - # Provide agent with index to pay attention to through one-hot encoding - next_step_in_world = torch.clamp( - self.step_in_world[mask] + 1, min=0, max=self.episode_len - ) - time_one_hot = torch.zeros( - (batch_size, self.reference_path_length, 1), - device=self.device, - ) - time_one_hot[batch_indices, next_step_in_world] = 1.0 + reference_path = local_reference_xy + + self.reference_path = local_reference_xy_orig + + guidance.append(reference_path) + guidance_orig.append(local_reference_xy_orig) - # Stack - reference_path = torch.cat( - (local_reference_xy, time_one_hot), dim=2 + if self.config.add_reference_heading: + reference_headings = self.reference_trajectory.yaw[ + mask + ].clone() + + # Translate headings to local coordinate frame by subtracting current global agent headings + reference_headings = ( + reference_headings + - states.rotation_angle[mask].view(-1, 1, 1) ) - self.reference_path = torch.cat( - (local_reference_xy_orig, time_one_hot), dim=2 + # Normalize by 2pi to ensure values are in [-1, 1] + reference_headings_normalized = ( + reference_headings / constants.MAX_ORIENTATION_RAD ) - # Stack - base_fields.append(reference_path.flatten(start_dim=1)) + # Set invalid timesteps to -1 + reference_headings[ + ~valid_timesteps_mask + ] = constants.INVALID_ID + guidance.append(reference_headings_normalized) + guidance_orig.append(reference_headings) + + self.guidance_obs = torch.cat(guidance_orig, dim=-1) + + # Apply dropout mask if specified + # Note: currently only supported for masked observations + if self.config.guidance_dropout_prob > 0 and hasattr( + self, "guidance_dropout_mask" + ): + self.guidance_obs[ + ~self.guidance_dropout_mask + ] = constants.INVALID_ID + self.reference_path[ + ~self.guidance_dropout_mask + ] = constants.INVALID_ID + + self.valid_guidance_points = torch.sum( + self.guidance_obs[:, :, 0] != constants.INVALID_ID, axis=1 + ) + + guidance = torch.cat(guidance, dim=-1) + + return guidance.flatten(start_dim=1) + + def _get_ego_state(self, mask=None) -> torch.Tensor: + """Get the ego state.""" + + if not self.config.ego_state: + return torch.Tensor().to(self.device) + + ego_state = LocalEgoState.from_tensor( + self_obs_tensor=self.sim.self_observation_tensor(), + backend=self.backend, + device=self.device, + mask=mask, + ) + + if self.config.norm_obs: + ego_state.normalize() + + base_fields = [ + ego_state.speed.unsqueeze(-1), + ego_state.vehicle_length.unsqueeze(-1), + ego_state.vehicle_width.unsqueeze(-1), + ego_state.steer_angle.unsqueeze(-1), + ] + + if mask is None: + + # TODO(dc): Make this one exactly the same as for the masked case + # New: Give agent sense of progress / history + # 1. Overall trajectory progress (percentage of valid points hit) + total_valid = self.reference_trajectory.valids.clone().sum( + axis=[2, 3] + ) + valid_hits_so_far = self.guidance_points_hit.clone().sum(dim=[-1]) + + # If total_valid is 0, we consider the route 100% complete (progress = 1.0) + self.route_progress = torch.where( + total_valid > 0, + valid_hits_so_far / (total_valid + 1e-5), # Normal case + torch.ones_like( + valid_hits_so_far + ), # When agent has no valid points + ) + + # 2. How much time do I have left to complete the route + normalized_time = self.step_in_world.clone() / self.episode_len + + base_fields.append(self.route_progress.unsqueeze(-1)) + base_fields.append(normalized_time) + + if self.config.add_previous_action: + normalized_prev_actions = ( + self.previous_action_value_tensor[:, :, :2] + / constants.MAX_ACTION_VALUE + ) + base_fields.append(normalized_prev_actions) if self.config.reward_type == "reward_conditioned": - # For masked agents, we need to extract agent indices from the mask - world_indices, agent_indices = torch.where(mask) + full_fields = base_fields + [ + self.reward_weights_tensor.expand(self.num_worlds, -1) + ] + return torch.stack(full_fields).permute(1, 2, 0) + else: + return torch.cat(base_fields, dim=-1) + else: + + # New: Give agent sense of progress + # 1. Overall trajectory progress + # Only increment route progress for visible points hit (those that + # are not dropped out) + total_valid = self.guidance_dropout_mask.sum(axis=1) + valid_hits_so_far = self.guidance_points_hit.clone()[mask] + visible_hits_so_far = ( + valid_hits_so_far * self.guidance_dropout_mask + ).sum(dim=-1) + + # Handle the case where there are zero valid points + # If total_valid is 0, we consider the route 100% complete (progress = 1.0) + self.route_progress = torch.where( + total_valid >= 1, + visible_hits_so_far / (total_valid + 1e-5), # Normal case + torch.ones_like( + visible_hits_so_far + ), # When agent has no valid points + ) + + # 2. How much time do I have left + normalized_time = self.step_in_world[mask] / self.episode_len - # Get the reward weights for these specific agents + base_fields.append(self.route_progress.unsqueeze(-1)) + base_fields.append(normalized_time) + + if self.config.add_previous_action: + normalized_prev_actions = ( + self.previous_action_value_tensor[:, :, :2][mask] + / constants.MAX_ACTION_VALUE + ) + base_fields.append(normalized_prev_actions) + + if self.config.reward_type == "reward_conditioned": + _, agent_indices = torch.where(mask) weights_for_masked_agents = self.reward_weights_tensor.to( self.device )[agent_indices] @@ -1209,261 +1713,27 @@ def _get_bev_obs(self, mask=None): else: return bev.bev_segmentation_map.flatten(start_dim=2) - def _get_vbd_obs(self, mask=None): - """ - Get ego-centric VBD trajectory observations for controlled agents. - - Args: - mask: Optional mask to filter agents - - Returns: - Tensor of ego-centric VBD trajectories - """ - if not self.use_vbd or self.vbd_trajectories is None: - return torch.Tensor().to(self.device) - - # Get current agent positions and orientations - agent_state = GlobalEgoState.from_tensor( - abs_self_obs_tensor=self.sim.absolute_self_observation_tensor(), - backend=self.backend, - device=self.device, - ) - - # Initialize output tensor - traj_feature_dim = ( - self.vbd_trajectories.shape[2] * self.vbd_trajectories.shape[3] - ) - - if mask is not None: - # Count valid agents for output tensor size - valid_count = mask.sum().item() - ego_vbd_trajectories = torch.zeros( - (valid_count, traj_feature_dim), device=self.device - ) - - # Track which output index we're filling - out_idx = 0 - - # Process each world - for w in range(self.num_worlds): - # Get valid agent indices for this world - world_mask = mask[w] - agent_indices = torch.where(world_mask)[0] - - if len(agent_indices) == 0: - continue - - # Extract ego positions and yaws for these agents - ego_pos_x = agent_state.pos_x[w, agent_indices] - ego_pos_y = agent_state.pos_y[w, agent_indices] - ego_yaw = agent_state.rotation_angle[w, agent_indices] - - # Process each agent in this world - for i, agent_idx in enumerate(agent_indices): - # Get global trajectory for this agent - global_traj = self.vbd_trajectories[w, agent_idx] - - # Create 2D rotation matrix for this agent - cos_yaw = torch.cos(ego_yaw[i]) - sin_yaw = torch.sin(ego_yaw[i]) - rotation_matrix = torch.tensor( - [[cos_yaw, sin_yaw], [-sin_yaw, cos_yaw]], - device=self.device, - ) - - # Transform positions using matrix multiplication - pos_xy = global_traj[:, :2] - ego_pos = torch.tensor( - [ego_pos_x[i], ego_pos_y[i]], device=self.device - ).reshape(1, 2) - translated_pos = ( - pos_xy - ego_pos - ) # Broadcasting to subtract from all timesteps - rotated_pos = torch.matmul( - translated_pos, rotation_matrix.T - ) - - # Transform velocities (only rotation, no translation) - vel_xy = global_traj[:, 3:5] - rotated_vel = torch.matmul(vel_xy, rotation_matrix.T) - - # Create transformed trajectory - transformed_traj = torch.zeros_like(global_traj) - transformed_traj[:, :2] = rotated_pos - transformed_traj[:, 2] = ( - global_traj[:, 2] - ego_yaw[i] - ) # Adjust heading - transformed_traj[:, 3:5] = rotated_vel - - # Flatten and add to output - ego_vbd_trajectories[out_idx] = transformed_traj.reshape( - -1 - ) - out_idx += 1 - - if self.config.norm_obs: - ego_vbd_trajectories = self._normalize_vbd_obs( - ego_vbd_trajectories, self.vbd_trajectories.shape[2] - ) - - return ego_vbd_trajectories - - else: - # Without mask, process all agents in all worlds - ego_vbd_trajectories = torch.zeros( - (self.num_worlds, self.max_agent_count, traj_feature_dim), - device=self.device, - ) - - # Process each world - for w in range(self.num_worlds): - # Get controlled agent indices for this world - valid_mask = self.cont_agent_mask[w] - world_agent_indices = torch.where(valid_mask)[0] - - if len(world_agent_indices) == 0: - continue - - # Extract ego positions and yaws - ego_pos_x = agent_state.pos_x[w] - ego_pos_y = agent_state.pos_y[w] - ego_yaw = agent_state.rotation_angle[w] - - # Process each agent in this world - for agent_idx in world_agent_indices: - # Get global trajectory - global_traj = self.vbd_trajectories[w, agent_idx] - - # Create 2D rotation matrix for this agent - cos_yaw = torch.cos(ego_yaw[agent_idx]) - sin_yaw = torch.sin(ego_yaw[agent_idx]) - rotation_matrix = torch.tensor( - [[cos_yaw, sin_yaw], [-sin_yaw, cos_yaw]], - device=self.device, - ) - - # Transform positions - pos_xy = global_traj[:, :2] - ego_pos = torch.tensor( - [ego_pos_x[agent_idx], ego_pos_y[agent_idx]], - device=self.device, - ).reshape(1, 2) - translated_pos = pos_xy - ego_pos - rotated_pos = torch.matmul( - translated_pos, rotation_matrix.T - ) - - # Transform velocities - vel_xy = global_traj[:, 3:5] - rotated_vel = torch.matmul(vel_xy, rotation_matrix.T) - - # Create transformed trajectory - transformed_traj = torch.zeros_like(global_traj) - transformed_traj[:, :2] = rotated_pos - transformed_traj[:, 2] = ( - global_traj[:, 2] - ego_yaw[agent_idx] - ) - transformed_traj[:, 3:5] = rotated_vel - - # Flatten and add to output - ego_vbd_trajectories[ - w, agent_idx - ] = transformed_traj.reshape(-1) - - if self.config.norm_obs: - ego_vbd_trajectories = self._normalize_vbd_obs( - ego_vbd_trajectories, self.vbd_trajectories.shape[2] - ) - - return ego_vbd_trajectories - - def _normalize_vbd_obs(self, trajectories_flat, traj_len): - """ - Normalize flattened VBD trajectory values to be between -1 and 1, with clipping. - - Args: - trajectories_flat: Flattened tensor containing trajectory data - traj_len: Number of trajectory steps - - Returns: - Normalized flattened trajectories tensor - """ - # Get original shape for proper reshaping - original_shape = trajectories_flat.shape - - # Calculate feature dimension - feature_dim = 5 # x, y, yaw, vel_x, vel_y - - # Reshape to separate the features - if len(original_shape) == 2: # (num_agents, flattened_features) - traj_features = trajectories_flat.reshape( - -1, traj_len, feature_dim - ) - else: # (num_worlds, max_agents, flattened_features) - traj_features = trajectories_flat.reshape( - original_shape[0], original_shape[1], traj_len, feature_dim - ) - - # Normalize each feature - # x, y positions - traj_features[..., 0] = normalize_min_max( - tensor=traj_features[..., 0], - min_val=constants.MIN_REL_GOAL_COORD, - max_val=constants.MAX_REL_GOAL_COORD, - ) - traj_features[..., 1] = normalize_min_max( - tensor=traj_features[..., 1], - min_val=constants.MIN_REL_GOAL_COORD, - max_val=constants.MAX_REL_GOAL_COORD, - ) - - # Normalize yaw angle - traj_features[..., 2] = ( - traj_features[..., 2] / constants.MAX_ORIENTATION_RAD - ) - - # Normalize velocities - traj_features[..., 3] = traj_features[..., 3] / constants.MAX_SPEED - traj_features[..., 4] = traj_features[..., 4] / constants.MAX_SPEED - - # Clip all values to the [-1, 1] range - traj_features = torch.clamp(traj_features, min=-1.0, max=1.0) - - # Reshape back to original format - return traj_features.reshape(original_shape) - def get_obs(self, mask=None): - """Get observation: Combine different types of environment information into a single tensor. + """ + Get observation: Combine different types of environment information + into a single tensor. Returns: torch.Tensor: (num_worlds, max_agent_count, num_features) """ - # Base observations ego_states = self._get_ego_state(mask) partner_observations = self._get_partner_obs(mask) road_map_observations = self._get_road_map_obs(mask) + guidance_obs = self._get_guidance(mask) - if self.use_vbd and self.config.vbd_in_obs: - # Add ego-centric VBD trajectories - vbd_observations = self._get_vbd_obs(mask) - - obs = torch.cat( - ( - ego_states, - partner_observations, - road_map_observations, - vbd_observations, - ), - dim=-1, - ) - else: - obs = torch.cat( - ( - ego_states, - partner_observations, - road_map_observations, - ), - dim=-1, - ) + obs = torch.cat( + ( + ego_states, + partner_observations, + road_map_observations, + guidance_obs, + ), + dim=-1, + ) return obs @@ -1473,27 +1743,6 @@ def get_controlled_agents_mask(self): self.sim.controlled_state_tensor().to_torch().clone() == 1 ).squeeze(axis=2) - def advance_sim_with_log_playback(self, init_steps=0): - """Advances the simulator by stepping the objects with the logged human trajectories. - - Args: - init_steps (int): Number of warmup steps. - """ - if init_steps >= self.config.episode_len: - raise ValueError( - "The length of the expert trajectory is 91," - f"so init_steps = {init_steps} should be < than 91." - ) - - self.init_frames = [] - - self.log_playback_traj, _, _, _ = self.get_expert_actions() - - for time_step in range(init_steps): - self.step_dynamics( - actions=self.log_playback_traj[:, :, time_step, :] - ) - def remove_agents_by_id( self, perc_to_rmv_per_scene, remove_controlled_agents=True ): @@ -1546,7 +1795,10 @@ def remove_agents_by_id( ) # Reset static scenario data for the visualizer - self.vis.initialize_static_scenario_data(self.cont_agent_mask) + self.vis.initialize_static_scenario_data( + controlled_agent_mask=self.cont_agent_mask, + reference_trajectory=self.reference_trajectory, + ) def swap_data_batch(self, data_batch=None): """ @@ -1576,35 +1828,18 @@ def swap_data_batch(self, data_batch=None): self.cont_agent_mask.sum().item() ) - # Load VBD trajectories for the new batch if VBD is enabled - if self.use_vbd: - self._load_vbd_trajectories() + # Receive guidance trajectories from the new batch of scenarios + self.setup_guidance() # Reset static scenario data for the visualizer - self.vis.initialize_static_scenario_data(self.cont_agent_mask) - - # Obtain new log trajectory - self.log_trajectory = LogTrajectory.from_tensor( - self.sim.expert_trajectory_tensor(), - self.num_worlds, - self.max_agent_count, - backend=self.backend, - device=self.device + self.vis.initialize_static_scenario_data( + controlled_agent_mask=self.cont_agent_mask, + reference_trajectory=self.reference_trajectory, ) - def _load_vbd_trajectories(self): - """Load VBD trajectories directly from the simulator.""" - if not self.use_vbd: - return + self.guidance_dropout_mask = self.create_guidance_dropout_mask() - # Get VBD trajectories from the simulator - vbd_traj = VBDTrajectory.from_tensor( - self.sim.vbd_trajectory_tensor(), - backend=self.backend, - device=self.device, - ) - - self.vbd_trajectories = vbd_traj + self._cache_agent_types() def get_expert_actions(self): """Get expert actions for the full trajectories across worlds. @@ -1621,7 +1856,7 @@ def get_expert_actions(self): self.num_worlds, self.max_agent_count, backend=self.backend, - device=self.device + device=self.device, ) if self.config.dynamics_model == "delta_local": @@ -1672,6 +1907,101 @@ def get_expert_actions(self): log_trajectory.yaw, ) + def _cache_agent_types(self): + """Cache agent types from info tensor.""" + info_tensor = self.sim.info_tensor().to_torch() + self.agent_types = info_tensor[ + :, :, 4 + ].long() # Shape: [num_worlds, max_agents] + + def _setup_type_aware_actions(self): + """Setup type-aware action mappings using predefined physical ranges.""" + # Create action tensors for each agent type using same discrete counts + self.type_action_tensors = {} + + steer_disc = self.config.action_space_steer_disc + accel_disc = self.config.action_space_accel_disc + + # Vehicle actions (type 0) + vehicle_accel = torch.linspace( + self.config.vehicle_accel_range[0], + self.config.vehicle_accel_range[1], + accel_disc, + device=self.device, + ) + vehicle_steer = torch.linspace( + self.config.vehicle_steer_range[0], + self.config.vehicle_steer_range[1], + steer_disc, + device=self.device, + ) + + # Cyclist actions (type 1) + cyclist_accel = torch.linspace( + self.config.cyclist_accel_range[0], + self.config.cyclist_accel_range[1], + accel_disc, + device=self.device, + ) + cyclist_steer = torch.linspace( + self.config.cyclist_steer_range[0], + self.config.cyclist_steer_range[1], + steer_disc, + device=self.device, + ) + + # Pedestrian actions (type 2) + pedestrian_accel = torch.linspace( + self.config.pedestrian_accel_range[0], + self.config.pedestrian_accel_range[1], + accel_disc, + device=self.device, + ) + pedestrian_steer = torch.linspace( + self.config.pedestrian_steer_range[0], + self.config.pedestrian_steer_range[1], + steer_disc, + device=self.device, + ) + + # Vehicle action tensor + vehicle_products = list( + product(vehicle_accel, vehicle_steer, self.head_actions) + ) + self.type_action_tensors[0] = torch.tensor( + [ + [accel.item(), steer.item(), head.item()] + for accel, steer, head in vehicle_products + ], + device=self.device, + ) + + # Cyclist action tensor + cyclist_products = list( + product(cyclist_accel, cyclist_steer, self.head_actions) + ) + self.type_action_tensors[1] = torch.tensor( + [ + [accel.item(), steer.item(), head.item()] + for accel, steer, head in cyclist_products + ], + device=self.device, + ) + + # Pedestrian action tensor + pedestrian_products = list( + product(pedestrian_accel, pedestrian_steer, self.head_actions) + ) + self.type_action_tensors[2] = torch.tensor( + [ + [accel.item(), steer.item(), head.item()] + for accel, steer, head in pedestrian_products + ], + device=self.device, + ) + + self._cache_agent_types() + def get_env_filenames(self): """Obtain the tfrecord filename for each world, mapping world indices to map names.""" @@ -1700,133 +2030,115 @@ def get_scenario_ids(self): return scenario_ids + def render(self, focus_env_idx=0, focus_agent_idx=[0, 1]): + """Quick rendering function for debugging.""" + + sim_states = self.vis.plot_simulator_state( + env_indices=[focus_env_idx], + zoom_radius=70, + time_steps=[self.step_in_world[0, 0, 0].item()], + plot_guidance_pos_xy=True, + ) + + agent_views = [] + for agent_idx in focus_agent_idx: + agent_obs = self.vis.plot_agent_observation( + env_idx=focus_env_idx, + agent_idx=agent_idx, + figsize=(10, 10), + trajectory=self.reference_path[agent_idx, :, :], + step_reward=self.guidance_reward[ + focus_env_idx, agent_idx + ].item(), + route_progress=self.route_progress[agent_idx], + previous_actions=self.previous_action_value_tensor # for head angle + ) + agent_views.append(agent_obs) + + return sim_states, agent_views + if __name__ == "__main__": + FOCUS_AGENTS = [0] #[0, 1, 2, 3, 4] + env_config = EnvConfig( - dynamics_model="delta_local", - reward_type="follow_waypoints", - add_reference_path=True, - init_mode="womd_tracks_to_predict", - init_steps=10, + guidance=True, + guidance_mode="log_replay", # Options: "log_replay", "vbd_amortized" + add_reference_pos_xy=True, + add_reference_speed=False, + add_reference_heading=False, + reward_type="guided_autonomy", + init_mode="wosac_train", + dynamics_model="classic", # "state", #"classic", + smoothen_trajectory=False, + add_previous_action=True, + guidance_dropout_prob=0.9, # 0.95, ) render_config = RenderConfig() # Create data loader train_loader = SceneDataLoader( - root="data/processed/examples", + root="data/processed/tl", batch_size=1, - dataset_size=1, + dataset_size=100, sample_with_replacement=False, shuffle=False, - file_prefix="" + file_prefix="", ) # Make env env = GPUDriveTorchEnv( config=env_config, data_loader=train_loader, - max_cont_agents=64, # Number of agents to control + max_cont_agents=32, # Number of agents to control device="cpu", ) control_mask = env.cont_agent_mask + print(f"Number of controlled agents: {control_mask.sum()}") - # Rollout - obs = env.reset(mask=control_mask) + # # Rollout + # obs = env.reset(mask=control_mask) sim_frames = [] - agent_obs_frames = [] - - expert_actions, _, _, _ = env.get_expert_actions() + agent_obs_frames = {i: [] for i in FOCUS_AGENTS} - env_idx = 0 - - highlight_agent = torch.where(control_mask[env_idx, :])[0][0].item() + # expert_actions, _, _, _ = env.get_expert_actions() - agent_positions = [] - init_state = GlobalEgoState.from_tensor( - env.sim.absolute_self_observation_tensor(), - device=env.device, - ) - means_xy = ( - env.sim.world_means_tensor().to_torch()[:, :2].to(env.device) - ) - init_state.restore_mean( - mean_x=means_xy[:, 0], mean_y=means_xy[:, 1] - ) - agent_positions.append(init_state.pos_xy[env_idx, highlight_agent]) - - print(f"Highlighted agent: {highlight_agent}") - print(f"Position: {agent_positions[-1]}") - - for t in range(env.init_steps, env.episode_len): - print(f"Step: {t+1}") + for time_step in range(env.init_steps, env.episode_len): + print(f"Step: {env.step_in_world[0, 0, 0].item()}") # Step the environment - expert_actions, _, _, _ = env.get_expert_actions() - env.step_dynamics(expert_actions[:, :, t, :]) - - current_state = GlobalEgoState.from_tensor( - env.sim.absolute_self_observation_tensor(), - device=env.device, - ) - current_state.restore_mean( - mean_x=means_xy[:, 0], mean_y=means_xy[:, 1] - ) - agent_positions.append(current_state.pos_xy[env_idx, highlight_agent]) - - # Make video - sim_states = env.vis.plot_simulator_state( - env_indices=[env_idx], - zoom_radius=70, - time_steps=[t], - center_agent_indices=[highlight_agent], - plot_waypoints=True, - ) - - agent_obs = env.vis.plot_agent_observation( - env_idx=env_idx, - agent_idx=highlight_agent, - figsize=(10, 10), - trajectory=env.reference_path[highlight_agent, :, :].to( - env.device - ), - ) - - sim_frames.append(img_from_fig(sim_states[0])) - agent_obs_frames.append(img_from_fig(agent_obs)) - - world_time_steps = ( - torch.Tensor([t]).repeat((1, env.num_worlds)).long().to(env.device) - ) + # env.step_dynamics(expert_actions[:, :, time_step, :]) + env.step_dynamics(torch.zeros_like(control_mask)) obs = env.get_obs(control_mask) reward = env.get_rewards() + if time_step % 20 == 0 or time_step > env.episode_len - 3: + sim_states, agent_obs = env.render(focus_agent_idx=FOCUS_AGENTS) + sim_frames.append(img_from_fig(sim_states[0])) + for i in FOCUS_AGENTS: + agent_obs_frames[i].append(img_from_fig(agent_obs[i])) - print(f"A_t: {expert_actions[env_idx, highlight_agent, t, :]}") - print(f"R_t+1: {reward[env_idx, highlight_agent]}") - print(f"Position: {agent_positions[-1]}") - - done = env.get_dones() - info = env.get_infos() - - print(done[env.cont_agent_mask]) + print(f"R_t+1: {reward[0, 0]}") - # if done.all().bool(): - # # Check resetting behavior - # _ = env.reset(control_mask) - # env.step_dynamics(expert_actions[:, :, 0, :]) + # done = env.get_dones() + # info = env.get_infos() env.close() media.write_video( - "sim_video.gif", np.array(sim_frames), fps=10, codec="gif" - ) - media.write_video( - f"obs_video_env_{env_idx}_agent_{highlight_agent}.gif", - np.array(agent_obs_frames), - fps=10, - codec="gif", + "sim_video.gif", np.array(sim_frames), fps=5, codec="gif" ) + for focus_agent_idx in FOCUS_AGENTS: + agent_obs_frames[focus_agent_idx] = np.array( + agent_obs_frames[focus_agent_idx] + ) + media.write_video( + f"obs_video_env_{0}_agent_{focus_agent_idx}.gif", + np.array(agent_obs_frames[focus_agent_idx]), + fps=5, + codec="gif", + ) diff --git a/gpudrive/integrations/puffer/ppo.py b/gpudrive/integrations/puffer/ppo.py index 3bf2ab1f9..beb8936aa 100644 --- a/gpudrive/integrations/puffer/ppo.py +++ b/gpudrive/integrations/puffer/ppo.py @@ -40,8 +40,6 @@ def create(config, vecenv, policy, optimizer=None, wandb=None): utilization = Utilization() msg = f"Model Size: {abbreviate(count_params(policy))} parameters" - if vecenv.use_vbd: - msg += f" | Using VBD" print_dashboard( config.env, utilization, 0, 0, profile, losses, {}, msg, clear=True ) @@ -117,7 +115,11 @@ def evaluate(data): data.vecenv.resample_scenario_batch() data.resample_buffer = 0 - data.vecenv.clear_render_storage() + # Check if there are unfinished rendered episodes + render_envs_to_reset = [ + key for key, lst in data.vecenv.frames.items() if len(lst) == 0 + ] + data.vecenv.clear_render_storage(env_list_to_clear=render_envs_to_reset) config, profile, experience = data.config, data.profile, data.experience @@ -555,12 +557,14 @@ def __init__( obs_dtype = pufferlib.pytorch.numpy_to_torch_dtype_dict[obs_dtype] pin = device == "cuda" and cpu_offload + # TODO(ev) remove + pin = False self.obs = torch.zeros( batch_size, *obs_shape, dtype=obs_dtype, pin_memory=pin, - device=device if not pin else "cpu", + device=device if not cpu_offload else "cpu", ) self.actions = torch.zeros( batch_size, *atn_shape, dtype=int, pin_memory=pin @@ -672,6 +676,12 @@ def flatten_batch(self, advantages_np): self.b_values = self.b_values[b_flat] self.b_returns = self.b_advantages + self.b_values + if self.b_obs.max() > 1.0 or self.b_obs.min() < -1.0: + print( + f"Warning: The batch of observations contains features outside the range [-1, 1]." + f"Please check your observation normalization; min {self.b_obs.min()}, max {self.b_obs.max()}" + ) + class Utilization(Thread): def __init__(self, delay=1, maxlen=20): @@ -744,11 +754,9 @@ def save_checkpoint(data, save_checkpoint_to_wandb=True): return model_path - def count_params(policy): return sum(p.numel() for p in policy.parameters() if p.requires_grad) - def seed_everything(seed, torch_deterministic): random.seed(seed) np.random.seed(seed) diff --git a/gpudrive/integrations/vbd/data/amortize.py b/gpudrive/integrations/vbd/data/amortize.py index 194926203..645b1f5ce 100644 --- a/gpudrive/integrations/vbd/data/amortize.py +++ b/gpudrive/integrations/vbd/data/amortize.py @@ -5,9 +5,9 @@ It uses a sliding window approach to generate trajectories in chunks. Usage: - python amortize.py - --model_path /path/to/vbd/model - --input_dir /path/to/input/json/files + python amortize.py + --model_path /path/to/vbd/model + --input_dir /path/to/input/json/files --output_dir /path/to/output/json/files --batch_size 8 --window_size 10 @@ -27,6 +27,8 @@ from gpudrive.datatypes.trajectory import LogTrajectory from gpudrive.datatypes.observation import GlobalEgoState from gpudrive.integrations.vbd.sim_agent.sim_actor import VBDTest +import madrona_gpudrive + def load_vbd_model(model_path, device="cpu", max_cont_agents=64): """Load the VBD model from a checkpoint""" @@ -36,113 +38,191 @@ def load_vbd_model(model_path, device="cpu", max_cont_agents=64): _ = model.eval() return model + def main(): parser = argparse.ArgumentParser(description="VBD Amortization Script") - parser.add_argument("--model_path", help="Path to the VBD model checkpoint", default="gpudrive/integrations/vbd/weights/epoch=18.ckpt") - parser.add_argument("--input_dir", help="Directory containing input JSON files", default="data/processed/examples") - parser.add_argument("--output_dir", help="Directory for output JSON files", default="data/processed/vbd") - parser.add_argument("--batch_size", type=int, default=1, help="Batch size for processing") - parser.add_argument("--window_size", type=int, default=10, help="Size of sliding window") - parser.add_argument("--total_steps", type=int, default=91, help="Total number of steps to generate") - parser.add_argument("--num_scenes", type=int, default=4, help="Number of scenes to process") + parser.add_argument( + "--model_path", + help="Path to the VBD model checkpoint", + default="gpudrive/integrations/vbd/weights/epoch=18.ckpt", + ) + parser.add_argument( + "--input_dir", + help="Directory containing input JSON files", + default="data/processed/wosac/validation/json", + ) + parser.add_argument( + "--output_dir", + help="Directory for output JSON files", + default="data/processed/validation/json", + ) + parser.add_argument( + "--batch_size", type=int, default=10, help="Batch size for processing" + ) + parser.add_argument( + "--window_size", type=int, default=10, help="Size of sliding window" + ) + parser.add_argument( + "--total_steps", + type=int, + default=91, + help="Total number of steps to generate", + ) + parser.add_argument( + "--num_scenes", + type=int, + default=100, + help="Number of scenes to process", + ) args = parser.parse_args() - + # Always use CPU device - device = "cpu" - MAX_CONTROLLED_AGENTS = 64 + device = "cuda" + MAX_CONTROLLED_AGENTS = 32 print(f"Loading VBD model on {device}...") vbd_model = load_vbd_model(args.model_path, device, MAX_CONTROLLED_AGENTS) - + # Find all JSON files in the input directory json_files = list(Path(args.input_dir).glob("**/*.json")) - + print(f"Found {len(json_files)} JSON files to process") - - #Init GPUDrive env - INIT_STEPS = 11 + + # Init GPUDrive env + INIT_STEPS = 10 env_config = EnvConfig( - init_steps=INIT_STEPS, # Warmup period - dynamics_model="state", # Use state-based dynamics model - dist_to_goal_threshold=1e-5, # Trick to make sure the agents don't disappear when they reach the goal - init_mode = 'womd_tracks_to_predict', + init_steps=INIT_STEPS, # Warmup period + dynamics_model="state", # Use state-based dynamics model + dist_to_goal_threshold=1e-5, # Trick to make sure the agents don't disappear when they reach the goal + init_mode="wosac_eval", max_controlled_agents=MAX_CONTROLLED_AGENTS, - goal_behavior='ignore' + goal_behavior="ignore", ) - + # Make env gpudrive_env = GPUDriveTorchEnv( config=env_config, - data_loader = SceneDataLoader( + data_loader=SceneDataLoader( root=args.input_dir, batch_size=args.batch_size, dataset_size=args.num_scenes, + file_prefix="", ), - render_config=RenderConfig(render_3d=True), - max_cont_agents=MAX_CONTROLLED_AGENTS, # Maximum number of agents to control per scene + render_config=RenderConfig(), + max_cont_agents=MAX_CONTROLLED_AGENTS, # Maximum number of agents to control per scene device=device, ) - # Final VBD trajectories to write - output_trajectories = torch.zeros(gpudrive_env.num_worlds, gpudrive_env.max_agent_count, env_config.episode_len, 5) - # Save init steps from logs - log_trajectory = LogTrajectory.from_tensor( - gpudrive_env.sim.expert_trajectory_tensor(), - num_worlds=gpudrive_env.num_worlds, - max_agents=gpudrive_env.max_agent_count, - device=device - ) - - output_trajectories[:, :, :INIT_STEPS, :2] = log_trajectory.pos_xy[:, :, :INIT_STEPS] - output_trajectories[:, :, :INIT_STEPS, 2] = log_trajectory.yaw[:, :, :INIT_STEPS, 0] - output_trajectories[:, :, :INIT_STEPS, 3:] = log_trajectory.vel_xy[:, :, :INIT_STEPS] + for _ in range(int(args.num_scenes / args.batch_size)): + # Final VBD trajectories to write + output_trajectories = torch.zeros( + gpudrive_env.num_worlds, + gpudrive_env.max_agent_count, + madrona_gpudrive.kTrajectoryLength, + 6, + ) - # Action tensor to step through simulation - predicted_actions = torch.zeros((gpudrive_env.num_worlds, gpudrive_env.max_agent_count, gpudrive_env.episode_len - INIT_STEPS, 10)) + # Save init steps from logs + log_trajectory = LogTrajectory.from_tensor( + gpudrive_env.sim.expert_trajectory_tensor(), + num_worlds=gpudrive_env.num_worlds, + max_agents=gpudrive_env.max_agent_count, + device="cpu", + ) - # World means for VBD outputs - world_means = gpudrive_env.sim.world_means_tensor().to_torch()[:, :2].to(device) + output_trajectories[:, :, : INIT_STEPS + 1, :2] = log_trajectory.pos_xy[ + :, :, : INIT_STEPS + 1 + ] + output_trajectories[:, :, : INIT_STEPS + 1, 2] = log_trajectory.yaw[ + :, :, : INIT_STEPS + 1, 0 + ] + output_trajectories[:, :, : INIT_STEPS + 1, 3:5] = log_trajectory.vel_xy[ + :, :, : INIT_STEPS + 1 + ] + output_trajectories[:, :, : INIT_STEPS + 1, 5] = log_trajectory.valids[ + :, :, : INIT_STEPS + 1, 0 + ] + + # Action tensor to step through simulation + predicted_actions = torch.zeros( + ( + gpudrive_env.num_worlds, + gpudrive_env.max_agent_count, + gpudrive_env.episode_len - INIT_STEPS, + 10, + ) + ) + + # World means for VBD outputs + world_means = ( + gpudrive_env.sim.world_means_tensor().to_torch()[:, :2].to("cpu") + ) - for _ in range(int(args.num_scenes / args.batch_size)): # Generate VBD input - gpudrive_sample_batch = gpudrive_env._generate_sample_batch() + scene_context = gpudrive_env.construct_context( + init_steps=gpudrive_env.init_steps + ) # Controlled agent mask - world_agent_indices = gpudrive_sample_batch['agents_id'] + world_agent_indices = scene_context["agents_id"].to("cpu") # Generate VBD output - predictions = vbd_model.sample_denoiser(gpudrive_sample_batch) - vbd_output = predictions["denoised_trajs"].to(device).detach() + predictions = vbd_model.sample_denoiser(scene_context) + vbd_output = predictions["denoised_trajs"].to("cpu").detach() for i in range(gpudrive_env.num_worlds): # Get controlled agent indices for this world - valid_mask = world_agent_indices[i] >= 0 # Boolean mask of valid indices - valid_world_indices = world_agent_indices[i][valid_mask] # Filtered tensor - + valid_mask = ( + world_agent_indices[i] >= 0 + ) # Boolean mask of valid indices + valid_world_indices = world_agent_indices[i][ + valid_mask + ] # Filtered tensor + # Populate predicted actions - predicted_actions[i, valid_world_indices, :, :2] = vbd_output[i, valid_world_indices, :, :2] - world_means[i].view(1, 1, 2) - predicted_actions[i, valid_world_indices, :, 3] = vbd_output[i, valid_world_indices, :, 2] - predicted_actions[i, valid_world_indices, :, 4:6] = vbd_output[i, valid_world_indices, :, 3:] + predicted_actions[i, valid_world_indices, :, :2] = vbd_output[ + i, valid_world_indices, :, :2 + ] - world_means[i].view(1, 1, 2) + predicted_actions[i, valid_world_indices, :, 3] = vbd_output[ + i, valid_world_indices, :, 2 + ] + predicted_actions[i, valid_world_indices, :, 4:6] = vbd_output[ + i, valid_world_indices, :, 3:5 + ] # Populate output trajectories - output_trajectories[i, valid_world_indices, INIT_STEPS:, :2] = vbd_output[i, valid_world_indices, :, :2] - world_means[i].view(1, 1, 2) - output_trajectories[i, valid_world_indices, INIT_STEPS:, 2:] = vbd_output[i, valid_world_indices, :, 2:] + output_trajectories[ + i, valid_world_indices, INIT_STEPS + 1 :, :2 + ] = vbd_output[i, valid_world_indices, :, :2] - world_means[ + i + ].view( + 1, 1, 2 + ) + output_trajectories[ + i, valid_world_indices, INIT_STEPS + 1 :, 2:5 + ] = vbd_output[i, valid_world_indices, :, 2:] + output_trajectories[ + i, valid_world_indices, INIT_STEPS + 1 :, 5 + ] = 1.0 # Save to each file's json index_to_id = GlobalEgoState.from_tensor( - gpudrive_env.sim.absolute_self_observation_tensor(), - device=device + gpudrive_env.sim.absolute_self_observation_tensor(), device="cpu" ).id - - filenames = gpudrive_env.get_env_filenames() - + + filenames = gpudrive_env.get_scenario_ids() + for i in range(gpudrive_env.num_worlds): - filename = filenames[i] - with open(os.path.join(args.input_dir, filename), "r") as f: + filename = f"{filenames[i]}.json" + with open(f"{args.input_dir}/{filename}", "r") as f: data = json.load(f) - - valid_mask = world_agent_indices[i] >= 0 # Boolean mask of valid indices - valid_world_indices = world_agent_indices[i][valid_mask] # Filtered tensor - + + valid_mask = ( + world_agent_indices[i] >= 0 + ) # Boolean mask of valid indices + valid_world_indices = world_agent_indices[i][ + valid_mask + ] # Filtered tensor + # Find object with correct id for j in valid_world_indices: id = index_to_id[i, j] @@ -150,7 +230,9 @@ def main(): for obj in data["objects"]: if obj["id"] == id: # Add VBD output to JSON - obj["vbd_trajectory"] = output_trajectories[i, j].cpu().numpy().tolist() + obj["vbd_trajectory"] = ( + output_trajectories[i, j].cpu().numpy().tolist() + ) break # Write to output directory @@ -158,15 +240,20 @@ def main(): os.makedirs(os.path.dirname(output_file), exist_ok=True) with open(output_file, "w") as f: json.dump(data, f, indent=4) - + # Load next batch of scenes try: gpudrive_env.swap_data_batch() except Exception as e: print(f"Reached end of dataset: {e}") break - + print("VBD amortization complete!") + if __name__ == "__main__": - main() \ No newline at end of file + main() + + """ + python gpudrive/integrations/vbd/data/amortize.py --input_dir data/processed/wosac/validation_json_100 --output_dir data/processed/wosac/validation_json_100 --batch_size 8 --window_size 10 --total_steps 91 + """ diff --git a/gpudrive/integrations/vbd/data/utils.py b/gpudrive/integrations/vbd/data/utils.py index 913713954..de37bb1bd 100644 --- a/gpudrive/integrations/vbd/data/utils.py +++ b/gpudrive/integrations/vbd/data/utils.py @@ -34,11 +34,11 @@ def filter_topk_roadgraph_points(global_road_graph, reference_points, topk): raise NotImplementedError("Not enough points in roadgraph.") elif topk < global_road_graph.num_points: - roadgraph_xy = np.asarray(global_road_graph.xy[0]) + roadgraph_xy = np.asarray(global_road_graph.xy[0].cpu()) distances = np.linalg.norm( reference_points[..., None, :] - roadgraph_xy, axis=-1 ) - valid_distances = np.where(global_road_graph.id > 0, distances, float("inf")) + valid_distances = np.where(global_road_graph.id.cpu() > 0, distances, float("inf")) top_idx = np.argpartition(valid_distances, topk, axis=-1)[..., :topk] # Gather the topk points by slicing along the indices @@ -206,9 +206,9 @@ def process_agents_vectorized(num_worlds, max_cont_agents, init_steps, global_ag global_agent_obs.vehicle_width[w, a].repeat(init_steps + 1), global_agent_obs.vehicle_height[w, a].repeat(init_steps + 1), ], - ).numpy() + ).cpu().numpy() - mask = log_trajectory.valids[w, a, :init_steps+1].numpy() + mask = log_trajectory.valids[w, a, :init_steps+1].cpu().numpy() agents_history[w, i] *= mask agents_future[w, i] = torch.column_stack( @@ -219,9 +219,9 @@ def process_agents_vectorized(num_worlds, max_cont_agents, init_steps, global_ag log_trajectory.vel_xy[w, a, init_steps:, 0], log_trajectory.vel_xy[w, a, init_steps:, 1], ], - ).numpy() + ).cpu().numpy() - mask = log_trajectory.valids[w, a, init_steps:].numpy() + mask = log_trajectory.valids[w, a, init_steps:].cpu().numpy() agents_future[w, i] *= mask # Map agent types for all worlds at once (this is vectorized) @@ -261,11 +261,11 @@ def process_world_roadgraph(global_road_graph, world_idx, agents_history, agents sorted_map_ids.append(map_ids[j][i]) # Extract roadgraph properties - roadgraph_points_x = np.asarray(global_road_graph.x[world_idx]) - roadgraph_points_y = np.asarray(global_road_graph.y[world_idx]) - roadgraph_points_heading = np.asarray(global_road_graph.orientation[world_idx]) - roadgraph_points_types = np.asarray(global_road_graph.vbd_type[world_idx]) - road_graph_points_ids = np.asarray(global_road_graph.id[world_idx]) + roadgraph_points_x = np.asarray(global_road_graph.x[world_idx].cpu()) + roadgraph_points_y = np.asarray(global_road_graph.y[world_idx].cpu()) + roadgraph_points_heading = np.asarray(global_road_graph.orientation[world_idx].cpu()) + roadgraph_points_types = np.asarray(global_road_graph.vbd_type[world_idx].cpu()) + road_graph_points_ids = np.asarray(global_road_graph.id[world_idx].cpu()) # Build polylines polylines = [] diff --git a/gpudrive/integrations/vbd/notebooks/03_vbd_output_comparison.ipynb b/gpudrive/integrations/vbd/notebooks/03_vbd_output_comparison.ipynb index aabac353f..750851d8f 100644 --- a/gpudrive/integrations/vbd/notebooks/03_vbd_output_comparison.ipynb +++ b/gpudrive/integrations/vbd/notebooks/03_vbd_output_comparison.ipynb @@ -12,48 +12,18 @@ "execution_count": 1, "metadata": {}, "outputs": [ - { - "ename": "RuntimeError", - "evalue": "module compiled against ABI version 0x1000009 but this version of numpy is 0x2000000", - "output_type": "error", - "traceback": [ - "\u001b[31m---------------------------------------------------------------------------\u001b[39m", - "\u001b[31mRuntimeError\u001b[39m Traceback (most recent call last)", - "\u001b[31mRuntimeError\u001b[39m: module compiled against ABI version 0x1000009 but this version of numpy is 0x2000000" - ] - }, - { - "ename": "RuntimeError", - "evalue": "module compiled against ABI version 0x1000009 but this version of numpy is 0x2000000", - "output_type": "error", - "traceback": [ - "\u001b[31m---------------------------------------------------------------------------\u001b[39m", - "\u001b[31mRuntimeError\u001b[39m Traceback (most recent call last)", - "\u001b[31mRuntimeError\u001b[39m: module compiled against ABI version 0x1000009 but this version of numpy is 0x2000000" - ] - }, { "name": "stderr", "output_type": "stream", "text": [ - "2025-04-15 14:47:51.138446: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:467] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered\n", + "2025-04-30 14:32:10.285208: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:467] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered\n", "WARNING: All log messages before absl::InitializeLog() is called are written to STDERR\n", - "E0000 00:00:1744742871.227262 10057 cuda_dnn.cc:8579] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered\n", - "E0000 00:00:1744742871.257112 10057 cuda_blas.cc:1407] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered\n", - "W0000 00:00:1744742871.450339 10057 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", - "W0000 00:00:1744742871.450399 10057 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", - "W0000 00:00:1744742871.450403 10057 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", - "W0000 00:00:1744742871.450406 10057 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n" - ] - }, - { - "ename": "RuntimeError", - "evalue": "module compiled against ABI version 0x1000009 but this version of numpy is 0x2000000", - "output_type": "error", - "traceback": [ - "\u001b[31m---------------------------------------------------------------------------\u001b[39m", - "\u001b[31mRuntimeError\u001b[39m Traceback (most recent call last)", - "\u001b[31mRuntimeError\u001b[39m: module compiled against ABI version 0x1000009 but this version of numpy is 0x2000000" + "E0000 00:00:1746037930.293583 687951 cuda_dnn.cc:8579] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered\n", + "E0000 00:00:1746037930.295801 687951 cuda_blas.cc:1407] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered\n", + "W0000 00:00:1746037930.302638 687951 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", + "W0000 00:00:1746037930.302648 687951 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", + "W0000 00:00:1746037930.302649 687951 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", + "W0000 00:00:1746037930.302650 687951 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n" ] } ], @@ -423,7 +393,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.11.8" + "version": "3.11.9" } }, "nbformat": 4, diff --git a/gpudrive/integrations/vbd/notebooks/04_step_vbd.ipynb b/gpudrive/integrations/vbd/notebooks/04_step_vbd.ipynb index 19bf4c99f..8ba504e98 100644 --- a/gpudrive/integrations/vbd/notebooks/04_step_vbd.ipynb +++ b/gpudrive/integrations/vbd/notebooks/04_step_vbd.ipynb @@ -52,15 +52,26 @@ "from gpudrive.env.dataset import SceneDataLoader\n", "from gpudrive.env.env_torch import GPUDriveTorchEnv\n", "from gpudrive.datatypes.trajectory import VBDTrajectory\n", - "from gpudrive.visualize.utils import img_from_fig" + "from gpudrive.visualize.utils import img_from_fig\n", + "import madrona_gpudrive" ] }, { "cell_type": "code", - "execution_count": 2, + "execution_count": null, "id": "02325a7d", "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "Smoothing guidance data: 100%|\u001b[34m██████████\u001b[0m| 1/1 [00:00<00:00, 158.12it/s]\n", + "Smoothing guidance data: 100%|\u001b[34m██████████\u001b[0m| 1/1 [00:00<00:00, 164.90it/s]\n", + "Smoothing guidance data: 100%|\u001b[34m██████████\u001b[0m| 1/1 [00:00<00:00, 61.80it/s]\n" + ] + } + ], "source": [ "#Init GPUDrive env\n", "device = \"cpu\"\n", @@ -68,18 +79,20 @@ "env_config = EnvConfig(\n", " dynamics_model=\"state\", # Use state-based dynamics model\n", " dist_to_goal_threshold=1e-5, # Trick to make sure the agents don't disappear when they reach the goal\n", - " init_mode = 'all_non_trivial',\n", + " init_mode = 'wosac_eval',\n", " max_controlled_agents=32,\n", - " goal_behavior='ignore'\n", + " goal_behavior='ignore',\n", + " guidance_mode='vbd_amortized'\n", ")\n", " \n", "# Make env\n", "gpudrive_env = GPUDriveTorchEnv(\n", " config=env_config,\n", " data_loader = SceneDataLoader(\n", - " root=\"data/processed/vbd\",\n", + " root=\"data/processed/wosac/validation/json\",\n", " batch_size=1,\n", - " dataset_size=4,\n", + " dataset_size=1,\n", + " file_prefix=\"\"\n", " ),\n", " render_config=RenderConfig(),\n", " max_cont_agents=32, # Maximum number of agents to control per scene\n", @@ -95,25 +108,25 @@ "outputs": [], "source": [ "# Action tensor to step through simulation\n", - "predicted_actions = torch.zeros((gpudrive_env.num_worlds, gpudrive_env.max_agent_count, gpudrive_env.episode_len, 10))\n", + "predicted_actions = torch.zeros((gpudrive_env.num_worlds, gpudrive_env.max_agent_count, madrona_gpudrive.kTrajectoryLength, 10))\n", "\n", "vbd_trajectories = VBDTrajectory.from_tensor(\n", " gpudrive_env.sim.vbd_trajectory_tensor(),\n", " device=device,\n", ")\n", "\n", - "predicted_actions[:, :, :, 0] = vbd_trajectories.pos_x\n", - "predicted_actions[:, :, :, 1] = vbd_trajectories.pos_y\n", - "predicted_actions[:, :, :, 3] = vbd_trajectories.yaw\n", - "predicted_actions[:, :, :, 4] = vbd_trajectories.vel_x\n", - "predicted_actions[:, :, :, 5] = vbd_trajectories.vel_y\n", + "predicted_actions[:, :, :, 0] = vbd_trajectories.pos_x.squeeze(-1)\n", + "predicted_actions[:, :, :, 1] = vbd_trajectories.pos_y.squeeze(-1)\n", + "predicted_actions[:, :, :, 3] = vbd_trajectories.yaw.squeeze(-1)\n", + "predicted_actions[:, :, :, 4] = vbd_trajectories.vel_x.squeeze(-1)\n", + "predicted_actions[:, :, :, 5] = vbd_trajectories.vel_y.squeeze(-1)\n", "\n", "sim_state_frames = []\n", "fig = gpudrive_env.vis.plot_simulator_state(\n", " time_steps=[0],\n", " env_indices=[0],\n", - " zoom_radius=70,\n", - " plot_vbd_trajectory=True,\n", + " zoom_radius=120,\n", + " plot_guidance_pos_xy=True,\n", ")[0]\n", "# Save initial state\n", "sim_state_frames.append(img_from_fig(fig))\n", @@ -126,8 +139,8 @@ " fig = gpudrive_env.vis.plot_simulator_state(\n", " time_steps=[t],\n", " env_indices=[0],\n", - " zoom_radius=80,\n", - " plot_vbd_trajectory=True,\n", + " zoom_radius=120,\n", + " plot_guidance_pos_xy=True,\n", " )[0]\n", " sim_state_frames.append(img_from_fig(fig))" ] @@ -141,14 +154,11 @@ { "data": { "text/plain": [ - "(tensor([ True, True, True, True, False, False, False, False, False, False,\n", - " False, False, True, False, False, False, False, False, False, False,\n", + "(tensor([ True, True, True, False, True, True, True, True, True, True,\n", + " True, True, True, True, True, False, False, False, False, False,\n", " False, False, False, False, False, False, False, False, False, False,\n", - " False, False, False, False, False, False, False, False, False, False,\n", - " False, False, False, False, False, False, False, False, False, False,\n", - " False, False, False, False, False, False, False, False, False, False,\n", - " False, False, False, False]),\n", - " 5)" + " False, False]),\n", + " 14)" ] }, "execution_count": 4, @@ -170,465 +180,55 @@ { "data": { "text/plain": [ - 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" [ 8.3756e+03, -8.1131e+03],\n", - " [ 8.3757e+03, -8.1131e+03],\n", - " [ 8.3758e+03, -8.1131e+03],\n", - " [ 8.3758e+03, -8.1131e+03],\n", - " [ 8.3759e+03, -8.1131e+03],\n", - " [ 8.3759e+03, -8.1131e+03],\n", - " [ 8.3760e+03, -8.1131e+03],\n", - " [ 8.3760e+03, -8.1131e+03],\n", - " [ 8.3761e+03, -8.1131e+03],\n", - " [ 8.3761e+03, -8.1131e+03],\n", - " [ 8.3761e+03, -8.1131e+03],\n", - " [ 8.3761e+03, -8.1131e+03],\n", - " [ 8.3761e+03, -8.1131e+03],\n", - " [ 8.3761e+03, -8.1131e+03],\n", - " [ 8.3761e+03, -8.1131e+03],\n", - " [ 8.3761e+03, -8.1131e+03],\n", - " [ 8.3761e+03, -8.1131e+03],\n", - " [ 8.3761e+03, -8.1131e+03],\n", - " [ 8.3761e+03, -8.1131e+03],\n", - " [ 8.3762e+03, -8.1131e+03],\n", - " [ 8.3762e+03, -8.1131e+03],\n", - " [ 8.3762e+03, -8.1131e+03],\n", - " [ 8.3762e+03, -8.1131e+03],\n", - " [ 8.3763e+03, -8.1131e+03],\n", - " [ 8.3763e+03, -8.1131e+03],\n", - " [ 8.3763e+03, -8.1131e+03],\n", - " [ 8.3763e+03, -8.1131e+03],\n", - " [ 8.3763e+03, -8.1131e+03]]])" + " [[ 4.9863, 42.4492],\n", + " [ 5.0293, 42.4150],\n", + " [ 4.9941, 42.2925],\n", + " ...,\n", + " [ 5.0830, 41.1494],\n", + " [ 5.0830, 41.1494],\n", + " [ 5.0830, 41.1494]]])" ] }, "execution_count": 5, @@ -643,12 +243,12 @@ }, { "cell_type": "code", - "execution_count": 6, + "execution_count": null, "id": "19a5bca6", "metadata": {}, "outputs": [], "source": [ - "mediapy.write_video('gpudrive/integrations/vbd/viz/train.gif', sim_state_frames, fps=20, codec=\"gif\")" + "mediapy.write_video('gpudrive/integrations/vbd/viz/eval.gif', sim_state_frames, fps=20, codec=\"gif\")" ] } ], diff --git a/gpudrive/integrations/vbd/viz/train.gif b/gpudrive/integrations/vbd/viz/train.gif deleted file mode 100644 index 7422d8dc6..000000000 Binary files a/gpudrive/integrations/vbd/viz/train.gif and /dev/null differ diff --git a/gpudrive/networks/agents.py b/gpudrive/networks/agents.py index 23f5ba88d..9f3e53736 100644 --- a/gpudrive/networks/agents.py +++ b/gpudrive/networks/agents.py @@ -40,33 +40,43 @@ def __init__( self.action_dim = action_dim self.top_k = top_k - # Indices for unpacking the observation modalities - self.ego_state_idx = ( - 9 - if self.config["reward_type"] == "reward_conditioned" - else constants.EGO_FEAT_DIM - ) - if self.config[ - "add_reference_path" - ]: # Every agent receives a reference path - # NOTE: Hardcoded to 91 for now - self.ego_state_idx += 91 * 3 + # Indices for unpacking the different observation modalities + self.ego_state_idx = constants.EGO_FEAT_DIM + if self.config["reward_type"] == "reward_conditioned": + self.ego_state_idx += 3 + if self.config["add_previous_action"]: + self.ego_state_idx += 2 - if self.config["add_reference_speed"]: - self.ego_state_idx += 1 self.max_controlled_agents = madrona_gpudrive.kMaxAgentCount self.max_observable_agents = self.max_controlled_agents - 1 self.partner_obs_idx = self.ego_state_idx + ( constants.PARTNER_FEAT_DIM * self.max_observable_agents ) + self.road_map_idx = self.partner_obs_idx + ( + constants.ROAD_GRAPH_TOP_K * constants.ROAD_GRAPH_FEAT_DIM + ) + + if self.config["guidance"]: + self.guidance_feature_dim = 0 + # One-hot encoding signalling the next time step + if self.config["add_reference_pos_xy"]: + self.guidance_feature_dim += ( + constants.LOG_TRAJECTORY_LENGTH * 2 + ) + if self.config["add_reference_speed"]: + # Assumption: Guidance traj is of length 91 + self.guidance_feature_dim += constants.LOG_TRAJECTORY_LENGTH + if self.config["add_reference_heading"]: + self.guidance_feature_dim += constants.LOG_TRAJECTORY_LENGTH + self.guidance_idx = self.road_map_idx + self.guidance_feature_dim # Shared embedding networks for both actor and critic self.ego_embed = nn.Sequential( - layer_init(nn.Linear(self.ego_state_idx, embed_dim)), - nn.LayerNorm(embed_dim), + layer_init(nn.Linear(self.ego_state_idx, 64)), + nn.LayerNorm(64), self.act_func, nn.Dropout(self.dropout), - layer_init(nn.Linear(embed_dim, embed_dim)), + layer_init(nn.Linear(64, 64)), ) self.partner_embed = nn.Sequential( @@ -85,22 +95,85 @@ def __init__( layer_init(nn.Linear(embed_dim, embed_dim)), ) + self.guidance_embed = nn.Sequential( + layer_init(nn.Linear(self.guidance_feature_dim, embed_dim)), + nn.LayerNorm(embed_dim), + self.act_func, + nn.Dropout(self.dropout), + layer_init(nn.Linear(embed_dim, embed_dim)), + ) + # Critic network self.critic = nn.Sequential( - layer_init(nn.Linear((2 * top_k + 1) * embed_dim, 32)), - nn.LayerNorm(32), + layer_init(nn.Linear(((2 * top_k + 1) * embed_dim) + 64, 256)), + nn.LayerNorm(256), + self.act_func, + layer_init(nn.Linear(256, 64)), + nn.LayerNorm(64), self.act_func, - layer_init(nn.Linear(32, 1), std=1.0), + layer_init(nn.Linear(64, 1), std=1.0), ) # Actor network self.actor = nn.Sequential( - layer_init(nn.Linear((2 * top_k + 1) * embed_dim, 64)), + layer_init(nn.Linear(((2 * top_k + 1) * embed_dim) + 64, 256)), + nn.LayerNorm(256), + self.act_func, + layer_init(nn.Linear(256, 64)), nn.LayerNorm(64), self.act_func, layer_init(nn.Linear(64, action_dim), std=0.01), ) + @classmethod + def load_from_local_checkpoint( + cls, checkpoint_path, map_location="cpu", **kwargs + ): + """ + Loads an Agent model from a local .pt checkpoint file. + This is designed to work with checkpoints created by `baselines/ppo/ppo_guided_autonomy.py`. + + Args: + checkpoint_path (str): Path to the .pt file. + map_location (str or torch.device): Specifies how to remap storage locations. + Defaults to 'cpu'. + **kwargs: Additional arguments for the Agent constructor + (e.g., act_func, dropout, top_k). + These will override the default values in the constructor if provided. + """ + # Load the checkpoint file + # Setting weights_only=False can be a security risk. Only use with trusted checkpoints. + saved_cpt = torch.load( + checkpoint_path, map_location=map_location, weights_only=False + ) + + # Extract parameters for model instantiation from the checkpoint + config = saved_cpt["config"] + embed_dim = saved_cpt["model_arch"]["embed_dim"] + action_dim = saved_cpt["action_dim"] + + # Instantiate the model + model = cls( + config=config, + embed_dim=embed_dim, + action_dim=action_dim, + **kwargs, + ) + + # Load the state dict from the checkpoint file + if "parameters" in saved_cpt: + model.load_state_dict(saved_cpt["parameters"]) + elif "model_state_dict" in saved_cpt: + model.load_state_dict(saved_cpt["model_state_dict"]) + elif "state_dict" in saved_cpt: + model.load_state_dict(saved_cpt["state_dict"]) + else: + # Assume the checkpoint file directly contains the model's state_dict + model.load_state_dict(saved_cpt) + + model.eval() # Set the model to evaluation mode + return model + def forward(self, x, action=None): """Forward pass through the network. Args: @@ -109,12 +182,13 @@ def forward(self, x, action=None): If None, a new actions are sampled. """ # Unpack into modalities - ego_state, partner_obs, road_graph = self.unpack_obs(x) + ego_state, partner_obs, road_graph, guidance = self.unpack_obs(x) # Use shared embedding networks for both actor and critic ego_embed = self.ego_embed(ego_state) partner_embed = self.partner_embed(partner_obs) road_embed = self.road_map_embed(road_graph) + guidance_embed = self.guidance_embed(guidance) # Take top k features from partner and road embeddings partner_max_pool = torch.topk(partner_embed, k=self.top_k, dim=1)[ @@ -127,7 +201,10 @@ def forward(self, x, action=None): ) # Concatenate the embeddings - z = torch.cat([ego_embed, partner_max_pool, road_max_pool], dim=-1) + z = torch.cat( + [ego_embed, partner_max_pool, road_max_pool, guidance_embed], + dim=-1, + ) # Pass to the actor and critic networks logits = self.actor(z) @@ -151,7 +228,8 @@ def unpack_obs(self, obs_flat): ego_state = obs_flat[:, : self.ego_state_idx] partner_obs = obs_flat[:, self.ego_state_idx : self.partner_obs_idx] - roadgraph_obs = obs_flat[:, self.partner_obs_idx :] + roadgraph_obs = obs_flat[:, self.partner_obs_idx : self.road_map_idx] + guidance = obs_flat[:, self.road_map_idx :] road_objects = partner_obs.view( -1, self.max_observable_agents, constants.PARTNER_FEAT_DIM @@ -160,7 +238,7 @@ def unpack_obs(self, obs_flat): -1, TOP_K_ROAD_POINTS, constants.ROAD_GRAPH_FEAT_DIM ) - return ego_state, road_objects, road_graph + return ego_state, road_objects, road_graph, guidance class SeparateActorCriticAgent(nn.Module): @@ -191,7 +269,7 @@ def __init__( else constants.EGO_FEAT_DIM ) if self.config[ - "add_reference_path" + "add_reference_pos_xy" ]: # Every agent receives a reference path self.ego_state_idx += 91 * 2 @@ -258,7 +336,7 @@ def __init__( self.act_func, layer_init( nn.Linear(32, 1), std=1.0 - ), # Fixed the dimension (was 32) + ), ) # Actor network diff --git a/gpudrive/networks/late_fusion.py b/gpudrive/networks/late_fusion.py index ccda595d8..207e5a22c 100644 --- a/gpudrive/networks/late_fusion.py +++ b/gpudrive/networks/late_fusion.py @@ -95,7 +95,6 @@ def __init__( self.num_modes = 3 # Ego, partner, road graph self.dropout = dropout self.act_func = nn.Tanh() if act_func == "tanh" else nn.GELU() - self.vbd_in_obs = False # Ego state base fields self.ego_state_idx = constants.EGO_FEAT_DIM @@ -107,10 +106,9 @@ def __init__( # Agents know their "type", consisting of three weights # that determine the reward (collision, goal, off-road) self.ego_state_idx += 3 - if "add_reference_path" in self.config: + if "add_reference_pos_xy" in self.config: self.ego_state_idx += 2 * 91 - self.vbd_in_obs = self.config.vbd_in_obs self.partner_obs_idx = self.ego_state_idx + ( constants.PARTNER_FEAT_DIM * self.max_observable_agents ) @@ -148,17 +146,6 @@ def __init__( pufferlib.pytorch.layer_init(nn.Linear(input_dim, input_dim)), ) - if self.vbd_in_obs: - self.vbd_embed = nn.Sequential( - pufferlib.pytorch.layer_init( - nn.Linear(self.vbd_size, input_dim) - ), - nn.LayerNorm(input_dim), - self.act_func, - nn.Dropout(self.dropout), - pufferlib.pytorch.layer_init(nn.Linear(input_dim, input_dim)), - ) - self.shared_embed = nn.Sequential( nn.Linear(self.input_dim * self.num_modes, self.hidden_dim), nn.Dropout(self.dropout), diff --git a/gpudrive/utils/generate_sbatch.py b/gpudrive/utils/generate_sbatch.py index d4c61e975..c15714fc2 100644 --- a/gpudrive/utils/generate_sbatch.py +++ b/gpudrive/utils/generate_sbatch.py @@ -5,7 +5,7 @@ import numpy as np import os import re -from typing import Dict +from typing import Dict, List, Optional from dotenv import load_dotenv # Load environment variables from .env file @@ -21,6 +21,8 @@ # Set to python file to run RUN_FILE = "baselines/ppo/ppo_pufferlib.py" +SUPPORTED_GPU_TYPES = ["rtx8000", "v100", "a100"] + # Default SLURM fields DEFAULT_SLURM_FIELDS = { "num_nodes": 1, @@ -41,6 +43,7 @@ "singularity_image": SINGULARITY_IMAGE, "overlay_file": OVERLAY_FILE, "run_file": RUN_FILE, + "exclude_nodes": [], # GPU types to exclude } # a template for the submit script @@ -58,8 +61,9 @@ #SBATCH --time={time_d}-{time_h}:{time_m}:{time_s} #SBATCH --nodes={num_nodes} #SBATCH --cpus-per-task={num_cpus} -#SBATCH --gres=gpu:{num_gpus} +#SBATCH --gres=gpu:{num_gpus}{gpu_type_str} #SBATCH --account={account} +{exclude_str} SINGULARITY_IMAGE={singularity_image} OVERLAY_FILE={overlay_file} @@ -167,22 +171,23 @@ def _get_params_bash(params, values): def get_script( - fields: Dict = DEFAULT_SLURM_FIELDS, params: Dict = {}, param_order=None + fields: Dict = DEFAULT_SLURM_FIELDS, params: Dict = {}, param_order=None, exclude_nodes: List[str] = None ): """ returns a string of a SLURM submission script using the passed fields and which creates an array of jobs which sweep the given params - fields: dict of SLURM field names to their values. type is ignored - params: a dict of (param names, param value list) pairs. - The param name is the name of the bash variable created in - the submission script which will contain the param's current - value (for that SLURM job instance). param value list is - a list (or range instance) of the values the param should take, - to be run once against every other possible configuration of all params. - param_order: a list containing all param names which indicates the ordering - of the params in the sweep. The last param changes every - job number. If not supplied, uses an arbitrary order + fields: dict of SLURM field names to their values. type is ignored + params: a dict of (param names, param value list) pairs. + The param name is the name of the bash variable created in + the submission script which will contain the param's current + value (for that SLURM job instance). param value list is + a list (or range instance) of the values the param should take, + to be run once against every other possible configuration of all params. + param_order: a list containing all param names which indicates the ordering + of the params in the sweep. The last param changes every + job number. If not supplied, uses an arbitrary order + exclude_nodes: a list of GPU types to exclude (options: "rtx8000", "v100", "a100") """ assert isinstance(fields, dict) @@ -197,7 +202,7 @@ def get_script( # Check each field appears in the template for field in fields: - if ("{%s}" % field) not in TEMPLATE_SBATCH: + if ("{%s}" % field) not in TEMPLATE_SBATCH and field != "exclude_nodes": raise ValueError("passed field %s unused in template" % field) # Calculate total number of jobs (minus 1; SLURM is inclusive) @@ -225,14 +230,31 @@ def get_script( subs[key] = val if "job_name" not in subs: subs["job_name"] = "my_job" + + # Handle gpu_type if specified + gpu_type_str = "" + if subs.get("gpu_type") is not None: + gpu_type = subs["gpu_type"] + if gpu_type.lower() in SUPPORTED_GPU_TYPES: + gpu_type_str = f":{gpu_type}" + else: + raise ValueError(f"Unsupported GPU type: {gpu_type}. Supported types are: {', '.join(SUPPORTED_GPU_TYPES)}") + subs["gpu_type_str"] = gpu_type_str + + # Handle exclude_nodes parameter + exclude_str = "" + if exclude_nodes and len(exclude_nodes) > 0: + exclude_nodes_cmd = ",".join(exclusion_commands) + exclude_str = f"#SBATCH --exclude={exclude_nodes_cmd}" + subs["exclude_str"] = exclude_str return TEMPLATE_SBATCH.format(**subs) -def save_script(filename, file_path, fields, params, param_order=None): +def save_script(filename, file_path, fields, params, param_order=None, exclude_nodes=None): """Generate and save sbatch (.sh) submission script.""" - sbatch_script = get_script(fields, params, param_order) + sbatch_script = get_script(fields, params, param_order, exclude_nodes) if not file_path: os.makedirs(os.path.dirname(file_path), exist_ok=True) @@ -243,36 +265,42 @@ def save_script(filename, file_path, fields, params, param_order=None): if __name__ == "__main__": - group = "minimal_tiny" - + group = "10k_dropout_v3" fields = { - "time_h": 6, # Max time per job (job will finish if run is done before) + "time_h": 47, # Max time per job (job will finish if run is done before) "num_gpus": 1, # GPUs per job "max_sim_jobs": 30, # Max jobs at the same time - "memory": 70, + "memory": 80, "job_name": group, - "run_file": "baselines/ppo/ppo_waypoint.py", + "run_file": "baselines/ppo/ppo_guided_autonomy.py", } - + hyperparams = { - "group": [group], # Group name - "num_worlds": [500], - "resample_scenes": [0], - "k_unique_scenes": [4], - #"resample_interval": [5_000_000], - #"resample_dataset_size": [10_000], - #"total_timesteps": [3_000_000_000], - "batch_size": [262_144], - "minibatch_size": [16_384], - "waypoint_distance_scale": [0.0, 0.05, 0.1], - "ent_coef": [0.001], + "group": [group], # Group name + "num_worlds": [700], + "data_dir": ["/scratch/kj2676/gpudrive/data/processed/training"], + "resample_scenes": [1], + "k_unique_scenes": [700], + "resample_interval": [5_000_000], + "batch_size": [1], + "guidance_dropout_prob": [0.0, 0.95], + "off_road_weight": [-0.1, -0.01, 0.0], + "resample_dataset_size": [10_000], + "total_timesteps": [5_000_000_000], + "batch_size": [1048576], + "minibatch_size": [16384], + "ent_coef": [0.01], "vf_coef": [0.5], + "update_epochs": [1], "render": [0], } + # NOTE: The exclusion part doesn't work atm, have to spefify the nodes manually + #exclude_nodes = ["v100", "rtx8000"] + save_script( file_path="examples/experimental/sbatch_scripts/", filename=f"sbatch_{group}.sh", fields=fields, params=hyperparams, - ) + ) \ No newline at end of file diff --git a/gpudrive/utils/preprocess.py b/gpudrive/utils/preprocess.py new file mode 100644 index 000000000..8069a3d11 --- /dev/null +++ b/gpudrive/utils/preprocess.py @@ -0,0 +1,136 @@ +import torch +import numpy as np +from tqdm import tqdm +from typing import Dict, Tuple, List, Union +from scipy.signal import savgol_filter +from scipy.interpolate import interp1d + +from gpudrive.datatypes.trajectory import ( + LogTrajectory, + VBDTrajectory, + VBDTrajectoryOnline, +) + + +def smooth_scenario( + reference_trajectory: Union[ + LogTrajectory, VBDTrajectory, VBDTrajectoryOnline + ], + window_size: int = 11, + polyorder: int = 3, +): + """ + Smooths the trajectory of a scenario by applying filtering and interpolation techniques. + + Args: + reference_trajectory: The trajectory to be smoothed. It can be of type LogTrajectory, VBDTrajectory, or VBDTrajectoryOnline. + The trajectory should contain the following attributes: + - vel_xy: A tensor of shape (num_worlds, num_agents, traj_len, 2) representing the velocity in x and y directions. + - yaw: A tensor of shape (num_worlds, num_agents, traj_len, 1) representing the yaw angle. + - valids: A tensor of shape (num_worlds, num_agents, traj_len, 1) representing the validity of each timestep. + window_size (int, optional): The size of the window used for smoothing. Defaults to 11. + polyorder (int, optional): The order of the polynomial used for smoothing. Defaults to 3. + + Returns: + the updated reference_trajectory object. + """ + original_valid = reference_trajectory.valids.bool().cpu().numpy() + + num_worlds, num_agents, num_timesteps = ( + original_valid.shape[0], + original_valid.shape[1], + original_valid.shape[2], + ) + + # Elements that we want to smooth + vel = np.concatenate( + [ + reference_trajectory.vel_xy.cpu().numpy(), + np.sin(reference_trajectory.yaw.cpu().numpy()), + np.cos(reference_trajectory.yaw.cpu().numpy()), + ], + axis=-1, + ) + + smoothed_vel_xy = np.zeros_like(reference_trajectory.vel_xy.cpu().numpy()) + smoothed_yaw = np.zeros_like(reference_trajectory.yaw.cpu().numpy()) + smoothed_valid = np.zeros_like(original_valid, dtype=bool) + + t = np.arange(num_timesteps) + + for world_idx in tqdm( + range(num_worlds), colour="blue", desc="Smoothing guidance data" + ): + for agent_idx in range(num_agents): + + # Extract raw data and valid mask + valid = original_valid[world_idx, agent_idx].squeeze(-1) + + t_valid = t[valid] + vel_valid = vel[world_idx, agent_idx][valid] + valid_idx = np.where(valid)[0] + + if valid.sum() <= window_size: + continue + + # Use zscore to filter out outliers + std = np.clip( + np.std(vel_valid, axis=-2, keepdims=True), + a_min=0.1, + a_max=None, + ) + mean = np.mean(vel_valid, axis=-2, keepdims=True) + z = np.abs((vel_valid - mean) / std) + filtered_idx = np.all(z < 4, axis=-1) + valid_idx = valid_idx[filtered_idx] + + if len(valid_idx) == 0: # skip if no valid data + continue + + first_valid_idx = valid_idx[0] + last_valid_idx = valid_idx[-1] + if (last_valid_idx - first_valid_idx) <= 3: + continue + + # Extract valid velocity data and interpolate + t_valid = t[valid_idx] + + vel_valid = vel[world_idx, agent_idx][valid_idx, :] + vel_interp = interp1d(t_valid, vel_valid, axis=0, kind="linear") + + t_interped = np.arange(first_valid_idx, last_valid_idx + 1) + vel_interped = vel_interp(t_interped) + + # Smooth the interpolated data + vel_smoothed = savgol_filter( + vel_interped, + min(last_valid_idx - first_valid_idx, window_size), + polyorder, + axis=0, + ) + + # Store + smoothed_vel_xy[world_idx, agent_idx][ + first_valid_idx : last_valid_idx + 1 + ] = vel_smoothed[:, :2] + smoothed_yaw[world_idx, agent_idx][ + first_valid_idx : last_valid_idx + 1 + ] = np.expand_dims( + np.arctan2(vel_smoothed[:, 2], vel_smoothed[:, 3]), axis=-1 + ) + smoothed_valid[world_idx, agent_idx][ + first_valid_idx : last_valid_idx + 1 + ] = True + + # Update the reference trajectory with smoothed velocity and yaw + reference_trajectory.vel_xy = torch.from_numpy(smoothed_vel_xy).to( + reference_trajectory.vel_xy.device + ) + reference_trajectory.yaw = torch.from_numpy(smoothed_yaw).to( + reference_trajectory.yaw.device + ) + reference_trajectory.valids = torch.from_numpy(smoothed_valid).to( + reference_trajectory.valids.device + ) + + return reference_trajectory diff --git a/gpudrive/visualize/color.py b/gpudrive/visualize/color.py index 4cf250dec..f0cf2110c 100644 --- a/gpudrive/visualize/color.py +++ b/gpudrive/visualize/color.py @@ -12,6 +12,7 @@ 4: np.array([200, 200, 200]) / 255.0, # 'Crosswalk' (Light Gray) 5: np.array([0.85, 0.65, 0.13]), # 'SpeedBump' (Dark yellow) 6: np.array([255, 0, 0]) / 255.0, # 'StopSign' (Red) + 7: np.array([0.0, 0.0, 0.0]), # 'RoadEdge' (Black) } ROAD_GRAPH_TYPE_NAMES = { # 1-6 ; 0 is None (padding) @@ -24,15 +25,15 @@ } AGENT_COLOR_BY_STATE = { - "ok": "#4B77BE", # Controlled and doing fine + "ok": "#2a52be", # Controlled and doing fine "collided": "r", # Controlled and collided "off_road": "orange", # Controlled and off-road "log_replay": "#787878", # Agents marked as expert controlled or static } REL_OBS_OBJ_COLORS = { - "ego": "#0066ff", - "ego_goal": "#0099cc", + "ego": "#2a52be", + "ego_goal": "#2a52be", "other_agents": "#ff884d", } AGENT_COLOR_BY_POLICY = ["g", "b", "p"] diff --git a/gpudrive/visualize/core.py b/gpudrive/visualize/core.py index 02545c92f..fa7b2df99 100644 --- a/gpudrive/visualize/core.py +++ b/gpudrive/visualize/core.py @@ -5,7 +5,8 @@ from typing import Tuple, Optional, List, Dict, Any, Union import seaborn as sns import matplotlib.pyplot as plt -from matplotlib.patches import Circle +from matplotlib.patches import Circle, Arc +from matplotlib.lines import Line2D from matplotlib.collections import LineCollection from mpl_toolkits.mplot3d import Axes3D from mpl_toolkits.mplot3d.art3d import Poly3DCollection, Line3DCollection @@ -22,9 +23,12 @@ LocalEgoState, GlobalEgoState, PartnerObs, + LidarObs, + TrafficLightObs, ) from gpudrive.datatypes.trajectory import LogTrajectory, VBDTrajectory from gpudrive.datatypes.control import ResponseType +from gpudrive.env import constants from gpudrive.visualize.color import ( ROAD_GRAPH_COLORS, ROAD_GRAPH_TYPE_NAMES, @@ -41,8 +45,8 @@ def __init__( self, sim_object, controlled_agent_mask, + reference_trajectory, goal_radius, - backend: str, num_worlds: int, render_config: Dict[str, Any], env_config: Dict[str, Any], @@ -53,15 +57,20 @@ def __init__( self.goal_radius = goal_radius self.num_worlds = num_worlds self.render_config = render_config - self.figsize = (15, 15) + self.figsize = (10, 10) self.env_config = env_config self.render_3d = render_config.render_3d - self.vehicle_height = ( - render_config.vehicle_height - ) # Default vehicle height - self.initialize_static_scenario_data(controlled_agent_mask) + self.vehicle_height = render_config.vehicle_height + self.initialize_static_scenario_data( + controlled_agent_mask=controlled_agent_mask, + reference_trajectory=reference_trajectory, + ) - def initialize_static_scenario_data(self, controlled_agent_mask): + def initialize_static_scenario_data( + self, + controlled_agent_mask, + reference_trajectory, + ): """ Initialize key information for visualization based on the current batch of scenarios. @@ -76,25 +85,18 @@ def initialize_static_scenario_data(self, controlled_agent_mask): backend=self.backend, device=self.device, ) - self.controlled_agent_mask = controlled_agent_mask + self.controlled_agent_mask = controlled_agent_mask.clone().to( + self.device + ) if isinstance(controlled_agent_mask, ArrayImpl): self.controlled_agent_mask = torch.from_numpy( np.array(controlled_agent_mask) ) - self.controlled_agent_mask = self.controlled_agent_mask.to(self.device) - - self.log_trajectory = LogTrajectory.from_tensor( - self.sim_object.expert_trajectory_tensor(), - self.num_worlds, - self.controlled_agent_mask.shape[1], - backend=self.backend, - device=self.device, - ) - - self.vbd_trajectory = VBDTrajectory.from_tensor( - self.sim_object.vbd_trajectory_tensor(), + self.trajectory = reference_trajectory + self.tl_obs = TrafficLightObs.from_tensor( + tl_states_tensor=self.sim_object.tl_state_tensor(), backend=self.backend, device=self.device, ) @@ -105,8 +107,8 @@ def plot_simulator_state( time_steps: Optional[List[int]] = None, center_agent_indices: Optional[List[int]] = None, zoom_radius: int = 100, - plot_waypoints: bool = False, - plot_vbd_trajectory: bool = False, + plot_guidance_pos_xy: bool = False, + plot_guidance_up_to_time: bool = False, agent_positions: Optional[torch.Tensor] = None, backward_goals: bool = False, policy_masks: Optional[Dict[int, Dict[str, torch.Tensor]]] = None, @@ -126,7 +128,7 @@ def plot_simulator_state( center_agent_indices: Optional list of center agent indices for zooming. figsize: Tuple for figure size of each subplot. zoom_radius: Radius for zooming in around the center agent. - plot_waypoints: If True, plots the waypoints from the human replays. + plot_guidance_pos_xy: If True, plots the waypoints from the human replays. agent_positions: Optional tensor to plot rolled out agent positions. backward_goals: If True, plots backward goals for controlled agents. policy_mask: dict @@ -257,7 +259,6 @@ def plot_simulator_state( line_width_scale = max(self.figsize) / 15 if policy_masks: - world_based_policy_mask = {} for policy_name, (fn, mask) in policy_masks.items(): @@ -265,7 +266,6 @@ def plot_simulator_state( if world not in world_based_policy_mask: world_based_policy_mask[world] = {} world_based_policy_mask[world][policy_name] = mask[world] - else: world_based_policy_mask = None @@ -273,19 +273,27 @@ def plot_simulator_state( for idx, (env_idx, time_step, center_agent_idx) in enumerate( zip(env_indices, time_steps, center_agent_indices) ): + # Create a completely new figure and axis for each environment to prevent carryover + plt.close( + "all" + ) # Close all existing figures first to prevent memory leaks - # Initialize figure and axes from cached road graph - fig, ax = plt.subplots( - figsize=self.figsize, - subplot_kw={"projection": "3d"} if self.render_3d else {}, - ) + # Initialize a new figure for each environment + fig = plt.figure(figsize=self.figsize) + + # Create a new axis with proper projection if self.render_3d: + ax = fig.add_subplot(111, projection="3d") ax.view_init(elev=30, azim=45) # Set default 3D view angle + else: + ax = fig.add_subplot(111) + + # Set up the figure and axis fig.subplots_adjust(left=0, right=1, bottom=0, top=1) - ax.clear() # Clear any existing content ax.set_aspect("equal", adjustable="box") - figs.append(fig) # Add the new figure - plt.close(fig) # Close the figure to prevent carryover + + # Add to figures list - use a copy to ensure it's detached from the current matplotlib state + figs.append(fig) # Get control mask and omit out-of-bound agents (dead agents) controlled = self.controlled_agent_mask[env_idx, :] @@ -308,23 +316,23 @@ def plot_simulator_state( marker_size_scale=marker_scale, ) - if plot_waypoints: - self._plot_waypoints( + if plot_guidance_pos_xy: + self._plot_reference_xy( ax=ax, control_mask=controlled_live, env_idx=env_idx, - log_trajectory=self.log_trajectory, + trajectory=self.trajectory, line_width_scale=line_width_scale, + plot_guidance_up_to_time=plot_guidance_up_to_time, ) - if plot_vbd_trajectory: - self._plot_vbd_trajectory( - ax=ax, - control_mask=controlled_live, - env_idx=env_idx, - vbd_trajectory=self.vbd_trajectory, - line_width_scale=line_width_scale, - ) + self._plot_traffic_lights( + ax=ax, + env_idx=env_idx, + tl_obs=self.tl_obs, + time_step=time_step if time_step is not None else 0, + marker_size_scale=marker_scale, + ) # Draw the agents self._plot_filtered_agent_bounding_boxes( @@ -371,6 +379,44 @@ def plot_simulator_state( center_x = 0 # Default center x-coordinate center_y = 0 # Default center y-coordinate + time_step = ( + self.env_config.episode_len + - self.sim_object.steps_remaining_tensor().to_torch()[ + env_idx, 0 + ] + ).item() + + # Add time step text to the figure + ax.text( + 0.05, # x position in axes coordinates (5% from left) + 0.95, # y position in axes coordinates (95% from bottom) + f"t = {time_step}", + transform=ax.transAxes, # Use axes coordinates + fontsize=15, + color="black", + ha="left", + va="top", + ) + + time_step = ( + self.env_config.episode_len + - self.sim_object.steps_remaining_tensor().to_torch()[ + env_idx, 0 + ] + ).item() + + # Add time step text to the figure + ax.text( + 0.05, # x position in axes coordinates (5% from left) + 0.95, # y position in axes coordinates (95% from bottom) + f"t = {time_step}", + transform=ax.transAxes, # Use axes coordinates + fontsize=15, + color="black", + ha="left", + va="top", + ) + # Set zoom window around the center ax.set_xlim(center_x - zoom_radius, center_x + zoom_radius) ax.set_ylim(center_y - zoom_radius, center_y + zoom_radius) @@ -389,9 +435,12 @@ def plot_simulator_state( ax.set_axis_off() - for fig in figs: + # Apply tight layout to current figure fig.tight_layout(pad=2, rect=[0.00, 0.00, 0.9, 1]) + # Close the figure to prevent memory leaks and cleanup + plt.close(fig) + return figs def plot_agent_trajectories( @@ -626,91 +675,208 @@ def plot_agent_trajectories( return None - def _plot_waypoints( + def _plot_reference_xy( self, ax: matplotlib.axes.Axes, env_idx: int, control_mask: torch.Tensor, - log_trajectory: LogTrajectory, + trajectory, line_width_scale: int = 1.0, + plot_guidance_up_to_time: bool = False, ): """Plot the log replay trajectory for controlled agents in either 2D or 3D.""" if self.render_3d: - # Get trajectory points - trajectory_points = log_trajectory.pos_xy[ - env_idx, control_mask, :, : - ].numpy() - - # Set a fixed height for trajectory visualization - trajectory_height = 0.05 # Small height above ground - - # Plot trajectories for each controlled agent - for agent_trajectory in trajectory_points: - # Filter out invalid points (zeros or out of bounds) - valid_mask = ( - (agent_trajectory[:, 0] != 0) - & (agent_trajectory[:, 1] != 0) - & (np.abs(agent_trajectory[:, 0]) < OUT_OF_BOUNDS) - & (np.abs(agent_trajectory[:, 1]) < OUT_OF_BOUNDS) + # Get trajectory points - make a clean copy to avoid reference issues + try: + trajectory_points = ( + trajectory.pos_xy[env_idx, control_mask, :, :] + .clone() + .numpy() ) - valid_points = agent_trajectory[valid_mask] - if len(valid_points) > 1: - # Create segments for the trajectory - segments = [] - for i in range(len(valid_points) - 1): - segment = np.array( - [ - [ - valid_points[i, 0], - valid_points[i, 1], - trajectory_height, - ], + # Set a fixed height for trajectory visualization + trajectory_height = 0.05 # Small height above ground + + # Plot trajectories for each controlled agent + for agent_trajectory in trajectory_points: + # Filter out invalid points (zeros or out of bounds) + valid_mask = ( + (agent_trajectory[:, 0] != 0) + & (agent_trajectory[:, 1] != 0) + & (np.abs(agent_trajectory[:, 0]) < OUT_OF_BOUNDS) + & (np.abs(agent_trajectory[:, 1]) < OUT_OF_BOUNDS) + ) + valid_points = agent_trajectory[valid_mask] + + if len(valid_points) > 1: + # Create segments for the trajectory + segments = [] + for i in range(len(valid_points) - 1): + segment = np.array( [ - valid_points[i + 1, 0], - valid_points[i + 1, 1], - trajectory_height, - ], - ] + [ + valid_points[i, 0], + valid_points[i, 1], + trajectory_height, + ], + [ + valid_points[i + 1, 0], + valid_points[i + 1, 1], + trajectory_height, + ], + ] + ) + segments.append(segment) + + # Create line collection with fade effect + colors = np.zeros((len(segments), 4)) + colors[:, 1] = 0.9 # Green component + colors[:, 3] = np.linspace( + 0.2, 0.6, len(segments) + ) # Alpha gradient + + # Create a fresh line collection for each plot + lc = Line3DCollection( + segments, + colors=colors, + linewidth=2 * line_width_scale, ) - segments.append(segment) + ax.add_collection3d(lc) - # Create line collection with fade effect - colors = np.zeros((len(segments), 4)) - colors[:, 1] = 0.9 # Green component - colors[:, 3] = np.linspace( - 0.2, 0.6, len(segments) - ) # Alpha gradient + # Add points at trajectory positions - creating a new scatter object each time + ax.scatter3D( + valid_points[:, 0], + valid_points[:, 1], + np.full_like( + valid_points[:, 0], trajectory_height + ), + color="lightgreen", + s=10, + alpha=0.5, + zorder=0, + ) + except Exception as e: + print(f"Error plotting 3D reference trajectory: {e}") + else: + try: - lc = Line3DCollection( - segments, colors=colors, linewidth=2 * line_width_scale + if plot_guidance_up_to_time: + # Get the time step for the current environment + time_step = ( + self.env_config.episode_len + - self.sim_object.steps_remaining_tensor().to_torch()[ + env_idx, 0 + ] + ).item() + + # Limit the trajectory to the specified time step + # Create a new scatter plot for this specific environment and control mask + pos_x_context = ( + trajectory.pos_xy.clone()[ + env_idx, control_mask, :time_step, 0 + ] + .cpu() + .numpy() + ) + pos_y_context = ( + trajectory.pos_xy.clone()[ + env_idx, control_mask, :time_step, 1 + ] + .cpu() + .numpy() ) - ax.add_collection3d(lc) - # Add points at trajectory positions - ax.scatter3D( - valid_points[:, 0], - valid_points[:, 1], - np.full_like(valid_points[:, 0], trajectory_height), - color="lightgreen", - s=10, - alpha=0.5, + # Filter out invalid points (zeros or out of bounds) + valid_mask = ( + (pos_x_context != 0) + & (pos_y_context != 0) + & (np.abs(pos_x_context) < OUT_OF_BOUNDS) + & (np.abs(pos_y_context) < OUT_OF_BOUNDS) + ) + + ax.scatter( + pos_x_context, + pos_y_context, + color="#f4a261", + linewidth=0.1 * line_width_scale, + alpha=0.7, + s=25, zorder=0, ) - else: - # Original 2D plotting - ax.scatter( - log_trajectory.pos_xy[env_idx, control_mask, :, 0] - .cpu() - .numpy(), - log_trajectory.pos_xy[env_idx, control_mask, :, 1] - .cpu() - .numpy(), - color="lightgreen", - linewidth=0.35 * line_width_scale, - alpha=0.35, - zorder=0, - ) + + pos_x = ( + trajectory.pos_xy.clone()[ + env_idx, control_mask, time_step:, 0 + ] + .cpu() + .numpy() + ) + pos_y = ( + trajectory.pos_xy.clone()[ + env_idx, control_mask, time_step:, 1 + ] + .cpu() + .numpy() + ) + + # Filter out invalid points (zeros or out of bounds) + valid_mask = ( + (pos_x != 0) + & (pos_y != 0) + & (np.abs(pos_x) < OUT_OF_BOUNDS) + & (np.abs(pos_y) < OUT_OF_BOUNDS) + ) + + # Apply mask if any valid points exist + if np.any(valid_mask): + pos_x = pos_x[valid_mask] + pos_y = pos_y[valid_mask] + + ax.scatter( + pos_x, + pos_y, + color="g", + s=25, + alpha=0.25, + zorder=0, + ) + + else: + pos_x = ( + trajectory.pos_xy.clone()[env_idx, control_mask, :, 0] + .cpu() + .numpy() + ) + pos_y = ( + trajectory.pos_xy.clone()[env_idx, control_mask, :, 1] + .cpu() + .numpy() + ) + + # Filter out invalid points (zeros or out of bounds) + valid_mask = ( + (pos_x != 0) + & (pos_y != 0) + & (np.abs(pos_x) < OUT_OF_BOUNDS) + & (np.abs(pos_y) < OUT_OF_BOUNDS) + ) + + # Apply mask if any valid points exist + if np.any(valid_mask): + pos_x = pos_x[valid_mask] + pos_y = pos_y[valid_mask] + + # Create a fresh scatter plot + ax.scatter( + pos_x, + pos_y, + color="g", + s=25, + alpha=0.1, + zorder=0, + ) + except Exception as e: + print(f"Error plotting 2D reference trajectory: {e}") def _plot_vbd_trajectory( self, @@ -794,87 +960,91 @@ def _plot_vbd_trajectory( zorder=0, ) - def _plot_vbd_trajectory( + def _plot_traffic_lights( self, ax: matplotlib.axes.Axes, env_idx: int, - control_mask: torch.Tensor, - vbd_trajectory: VBDTrajectory, - line_width_scale: int = 1.0, + tl_obs: "TrafficLightObs", + time_step: int = 0, + marker_size_scale: float = 1.0, ): - """Plot the VBD trajectory for controlled agents in either 2D or 3D.""" - if self.render_3d: - # Get trajectory points - trajectory_points = vbd_trajectory.pos_xy[ - env_idx, control_mask, :, : - ].numpy() + """Plot traffic light states as colored dots. - # Set a fixed height for trajectory visualization - trajectory_height = 0.05 + Args: + ax: Matplotlib axis to plot on + env_idx: Environment index + tl_obs: Traffic light observation object + time_step: Current time step + marker_size_scale: Scale factor for marker size + """ - # Plot trajectories for each controlled agent - for agent_trajectory in trajectory_points: - # Filter out invalid points (zeros or out of bounds) - valid_mask = ( - (agent_trajectory[:, 0] != 0) - & (agent_trajectory[:, 1] != 0) - & (np.abs(agent_trajectory[:, 0]) < OUT_OF_BOUNDS) - & (np.abs(agent_trajectory[:, 1]) < OUT_OF_BOUNDS) - ) - valid_points = agent_trajectory[valid_mask] + # Traffic light state colors + TL_STATE_COLORS = { + 0: "#C5C5C5", # Unknown - gray + 1: "r", # Stop - red + 2: "tab:orange", # Caution - orange + 3: "g", # Go - green + } + + # Get valid traffic lights for this environment + valid_mask = tl_obs.valid_mask[env_idx, :] + if not valid_mask.any(): + return - if len(valid_points) > 1: - # Create segments for the trajectory - segments = [] - for i in range(len(valid_points) - 1): - segment = np.array( - [ - [ - valid_points[i, 0], - valid_points[i, 1], - trajectory_height, - ], - [ - valid_points[i + 1, 0], - valid_points[i + 1, 1], - trajectory_height, - ], - ] - ) - segments.append(segment) + # Clamp time_step to available data + max_time_idx = tl_obs.state.shape[2] - 1 + time_step = min(time_step, max_time_idx) - # Create line collection with fade effect - colors = np.zeros((len(segments), 4)) - colors[:, 1] = 0.9 # Green component - colors[:, 3] = np.linspace( - 0.2, 0.6, len(segments) - ) # Alpha gradient + # Get traffic light data for valid lights at current time step + valid_indices = torch.where(valid_mask)[0] - lc = Line3DCollection( - segments, colors=colors, linewidth=2 * line_width_scale - ) - ax.add_collection3d(lc) + for tl_idx in valid_indices: + # Get position (use first valid position if time series) + pos_x = tl_obs.pos_x[env_idx, tl_idx, time_step].item() + pos_y = tl_obs.pos_y[env_idx, tl_idx, time_step].item() - # Add points at trajectory positions - ax.scatter3D( - valid_points[:, 0], - valid_points[:, 1], - np.full_like(valid_points[:, 0], trajectory_height), - color="lightgreen", - s=10, - alpha=0.5, - zorder=0, - ) - else: - # Original 2D plotting - ax.scatter( - vbd_trajectory.pos_xy[env_idx, control_mask, :, 0].numpy(), - vbd_trajectory.pos_xy[env_idx, control_mask, :, 1].numpy(), - color="lightgreen", - linewidth=0.35 * line_width_scale, - alpha=0.35, - zorder=0, - ) + # Skip if position is invalid (0,0 or out of bounds) + if ( + (pos_x == 0 and pos_y == 0) + or abs(pos_x) > 1000 + or abs(pos_y) > 1000 + ): + continue + + # Get current state + state = int(tl_obs.state[env_idx, tl_idx, time_step].item()) + state = max(0, min(3, state)) # Clamp to valid range + + color = TL_STATE_COLORS[state] + + if self.render_3d: + # Plot as elevated marker in 3D + height = 0.2 # Height above ground for visibility + ax.scatter3D( + [pos_x], + [pos_y], + [height], + color=color, + s=60 * marker_size_scale, + marker="o", + edgecolors="black", + linewidth=0.5, + alpha=0.8, + zorder=10, + ) + else: + # Plot as 2D marker + ax.scatter( + pos_x, + pos_y, + color=color, + s=30 * marker_size_scale, + marker="o", + edgecolors="black", + linewidth=0.5, + alpha=0.9, + zorder=10, + ) def _get_endpoints(self, x, y, length, yaw): """Compute the start and end points of a road segment.""" @@ -1166,7 +1336,7 @@ def _plot_roadgraph( radius, height, facecolor="#c04000", - alpha=0.9, + alpha=0.7, ) else: for x, y in zip(x_coords, y_coords): @@ -1177,7 +1347,7 @@ def _plot_roadgraph( facecolor="#c04000", edgecolor="none", linewidth=3.0, - alpha=0.9, + alpha=0.6, ) elif road_point_type == int(madrona_gpudrive.EntityType.CrossWalk): @@ -1295,7 +1465,7 @@ def _plot_filtered_agent_bounding_boxes( alpha: Optional[float] = 1.0, as_center_pts: bool = False, label: Optional[str] = None, - plot_goal_points: bool = True, + plot_goal_points: bool = False, line_width_scale: int = 1.0, marker_size_scale: int = 1.0, extended_goals: Optional[Dict[str, torch.Tensor]] = None, @@ -1451,7 +1621,7 @@ def plot_agent_group_2d(bboxes, color, by_policy=False): # Plot goals if plot_goal_points: for mask, color in [ - (is_ok_mask, AGENT_COLOR_BY_STATE["ok"]), + (is_ok_mask, "#f4a261"), # AGENT_COLOR_BY_STATE["ok"]), (is_offroad_mask, AGENT_COLOR_BY_STATE["off_road"]), (is_collided_mask, AGENT_COLOR_BY_STATE["collided"]), ]: @@ -1491,9 +1661,10 @@ def plot_agent_group_2d(bboxes, color, by_policy=False): goal_x, goal_y, s=5 * marker_size_scale, - linewidth=1.5 * line_width_scale, + linewidth=2.0 * line_width_scale, c=color, marker="o", + zorder=3, ) for x, y in zip(goal_x, goal_y): circle = Circle( @@ -1502,6 +1673,8 @@ def plot_agent_group_2d(bboxes, color, by_policy=False): color=color, fill=False, linestyle="--", + linewidth=3 * line_width_scale, + zorder=3, ) ax.add_patch(circle) @@ -1621,58 +1794,16 @@ def plot_agent_group_2d(bboxes, color, by_policy=False): bboxes_static, AGENT_COLOR_BY_STATE["log_replay"] ) - def _plot_expert_trajectories( - self, - ax: matplotlib.axes.Axes, - env_idx: int, - expert_trajectories: torch.Tensor, - response_type: Any, - ) -> None: - """Plot expert trajectories. - Args: - ax: Matplotlib axis for plotting. - env_idx: Environment index to select specific environment agents. - expert_trajectories: The global state of expert from `LogTrajectory`. - """ - if self.vis_config.draw_expert_trajectories: - controlled_mask = self.controlled_agents[env_idx, :] - non_controlled_mask = ( - ~response_type.static[env_idx, :] - & response_type.moving[env_idx, :] - & ~controlled_mask - ) - mask = ( - controlled_mask - if self.vis_config.draw_only_controllable_veh - else controlled_mask | non_controlled_mask - ) - agent_indices = torch.where(mask)[0] - trajectories = expert_trajectories[env_idx][mask] - for idx, trajectory in zip(agent_indices, trajectories): - color = ( - AGENT_COLOR_BY_STATE["ok"] - if controlled_mask[idx] - else AGENT_COLOR_BY_STATE["log_replay"] - ) - for step in trajectory: - x, y = step[:2].numpy() - if x < OUT_OF_BOUNDS and y < OUT_OF_BOUNDS: - ax.add_patch( - Circle( - (x, y), - radius=0.3, - color=color, - fill=True, - alpha=0.5, - ) - ) - def plot_agent_observation( self, agent_idx: int, env_idx: int, figsize: Tuple[int, int] = (10, 10), trajectory: Optional[np.ndarray] = None, + step_reward: Optional[float] = None, + route_progress: Optional[float] = None, + head_angle: Optional[float] = 0.0, + previous_actions: Optional[torch.Tensor] = None ): """ Plot observation from agent POV to inspect the information available @@ -1684,30 +1815,47 @@ def plot_agent_observation( Should be of shape (N, 2) where N is the number of points and each point is an (x, y) coordinate. Defaults to None. """ - observation_ego = LocalEgoState.from_tensor( - self_obs_tensor=self.sim_object.self_observation_tensor(), - backend=self.backend, - device="cpu", - ) - observation_roadgraph = LocalRoadGraphPoints.from_tensor( - local_roadgraph_tensor=self.sim_object.agent_roadmap_tensor(), - backend=self.backend, - device="cpu", - ) + observation_ego = None + if self.env_config.ego_state: + observation_ego = LocalEgoState.from_tensor( + self_obs_tensor=self.sim_object.self_observation_tensor(), + backend=self.backend, + device="cpu", + ) - observation_partner = PartnerObs.from_tensor( - partner_obs_tensor=self.sim_object.partner_observations_tensor(), - backend=self.backend, - device="cpu", + observation_roadgraph = None + if self.env_config.road_map_obs: + observation_roadgraph = LocalRoadGraphPoints.from_tensor( + local_roadgraph_tensor=self.sim_object.agent_roadmap_tensor(), + backend=self.backend, + device="cpu", + ) + + observation_partner = None + if self.env_config.partner_obs: + observation_partner = PartnerObs.from_tensor( + partner_obs_tensor=self.sim_object.partner_observations_tensor(), + backend=self.backend, + device="cpu", + ) + + lidar_obs = ( + None # Note: Lidar obs are in global coordinates by default ) + if self.env_config.lidar_obs: + lidar_obs = LidarObs.from_tensor( + lidar_tensor=self.sim_object.lidar_tensor(), + backend=self.backend, + device="cpu", + ) - # Check if agent index is valid, otherwise return None - if observation_ego.id[env_idx, agent_idx] == -1: - return None, None + marker_scale = max(figsize) / 15 + line_width_scale = max(figsize) / 15 fig, ax = plt.subplots(figsize=figsize) - ax.clear() # Clear any previous plots + self._cleanup_axis(ax) + ax.set_aspect("equal", adjustable="box") # Plot roadgraph if provided @@ -1736,7 +1884,7 @@ def plot_agent_observation( x_points, y_points, c=[ROAD_GRAPH_COLORS[road_type]], - s=8, + s=8 * marker_scale, label=type_name, ) @@ -1763,28 +1911,28 @@ def plot_agent_observation( [y_start - width_dy, y_end - width_dy], color=ROAD_GRAPH_COLORS[road_type], alpha=0.5, - linewidth=1.0, + linewidth=line_width_scale, ) ax.plot( [x_start + width_dx, x_end + width_dx], [y_start + width_dy, y_end + width_dy], color=ROAD_GRAPH_COLORS[road_type], alpha=0.5, - linewidth=1.0, + linewidth=line_width_scale, ) ax.plot( [x_start - width_dx, x_start + width_dx], [y_start - width_dy, y_start + width_dy], color=ROAD_GRAPH_COLORS[road_type], alpha=0.5, - linewidth=1.0, + linewidth=line_width_scale, ) ax.plot( [x_end - width_dx, x_end + width_dx], [y_end - width_dy, y_end + width_dy], color=ROAD_GRAPH_COLORS[road_type], alpha=0.5, - linewidth=1.0, + linewidth=line_width_scale, ) # Plot partner agents if provided @@ -1815,9 +1963,14 @@ def plot_agent_observation( ].squeeze(), color=REL_OBS_OBJ_COLORS["other_agents"], alpha=1.0, + line_width_scale=line_width_scale * 2.0, ) if observation_ego is not None: + # Check if agent index is valid, otherwise return None + if observation_ego.id[env_idx, agent_idx] == -1: + return None, None + ego_agent_color = ( "r" if observation_ego.is_collided[env_idx, agent_idx] @@ -1835,7 +1988,7 @@ def plot_agent_observation( orientation=0.0, color=ego_agent_color, alpha=1.0, - label="Ego agent", + line_width_scale=2.3, ) # Add an arrow for speed @@ -1849,40 +2002,35 @@ def plot_agent_observation( head_length=1.1, fc="k", ec="k", - zorder=1, + zorder=10, + ) + + if lidar_obs is not None: + num_lidar_samples = lidar_obs.num_lidar_samples * 3 + + ego_lidar_pos_xy = ( + lidar_obs.all_lidar_samples[env_idx, agent_idx, :, :, 2:4] + .flatten(end_dim=1) + .cpu() + .numpy() ) - # ax.scatter( - # observation_ego.rel_goal_x[env_idx, agent_idx], - # observation_ego.rel_goal_y[env_idx, agent_idx], - # s=5, - # linewidth=1.5, - # c=ego_agent_color, - # marker="x", - # ) - - # circle = Circle( - # ( - # observation_ego.rel_goal_x[env_idx, agent_idx], - # observation_ego.rel_goal_y[env_idx, agent_idx], - # ), - # radius=self.goal_radius, - # color=ego_agent_color, - # fill=False, - # linestyle="--", - # ) - # ax.add_patch(circle) - - # observation_radius = Circle( - # (0, 0), - # radius=self.env_config.obs_radius, - # color="#000000", - # linewidth=0.8, - # fill=False, - # linestyle="-", - # ) - # ax.add_patch(observation_radius) - plt.axis("off") + ego_lidar_entity_types = ( + lidar_obs.all_lidar_samples[env_idx, agent_idx, :, :, 1] + .flatten() + .cpu() + .numpy() + ) + + for lidar_sample_idx in range(num_lidar_samples): + ax.scatter( + ego_lidar_pos_xy[lidar_sample_idx, 0], + ego_lidar_pos_xy[lidar_sample_idx, 1], + s=2, + marker="o", + c="k", + alpha=0.5, + ) time_step = ( self.env_config.episode_len @@ -1891,49 +2039,150 @@ def plot_agent_observation( ] ).item() - # Add time step text to the figure ax.text( - 0.05, # x position in axes coordinates (5% from left) - 0.95, # y position in axes coordinates (95% from bottom) - f"t = {time_step}", - transform=ax.transAxes, # Use axes coordinates + 0.05, + 0.90, + r"$O_{t}$ for " + f"t = {time_step}", + transform=ax.transAxes, fontsize=15, color="black", ha="left", va="top", + bbox=dict(facecolor="white", alpha=1.0, edgecolor="none", pad=3), ) - attn_reference_idx = torch.where(trajectory[:, 2] == 1)[0] + if step_reward is not None: + reward_color = ( + "g" if step_reward > 0 else "r" if step_reward < 0 else "black" + ) + + ax.text( + 0.05, + 0.85, + r"$R_{t+1} = $" + f"{step_reward:.3f}", + transform=ax.transAxes, + fontsize=15, + color=reward_color, + ha="left", + va="top", + bbox=dict( + facecolor="white", alpha=1.0, edgecolor="none", pad=3 + ), + ) + + if route_progress is not None: + ax.text( + 0.05, + 0.80, + f"Route progress = {route_progress:.2f}", + transform=ax.transAxes, + fontsize=15, + color="black", + ha="left", + va="top", + bbox=dict( + facecolor="white", alpha=1.0, edgecolor="none", pad=3 + ), + ) if trajectory is not None and len(trajectory) > 0: + mask = trajectory[:, 0] != constants.INVALID_ID # Plot the trajectory as a line ax.scatter( - trajectory[:, 0], # x coordinates - trajectory[:, 1], # y coordinates + trajectory[:, 0][mask].cpu(), # x coordinates + trajectory[:, 1][mask].cpu(), # y coordinates color="g", - linewidth=0.3, + linewidth=0.01 * line_width_scale, marker="o", - alpha=0.2, + alpha=0.6, zorder=0, ) - # Add a purple star above the reference position - if len(attn_reference_idx) > 0: - ref_idx = attn_reference_idx[0] - ref_x = trajectory[ref_idx, 0] - ref_y = trajectory[ref_idx, 1] - ax.scatter( - ref_x, - ref_y, - color="#9D00FF", - marker="*", - s=120, - zorder=10, - ) + # Draw a circle around every point in the trajectory + for i in range(trajectory.shape[0]): + if mask[i]: + # Draw a circle around the trajectory point + circle = Circle( + (trajectory[i, 0].cpu(), trajectory[i, 1].cpu()), + radius=self.env_config.guidance_pos_xy_radius, + color="#d4a373", + fill=False, + linestyle="--", + alpha=0.3, + ) + ax.add_patch(circle) ax.set_xlim((-self.env_config.obs_radius, self.env_config.obs_radius)) ax.set_ylim((-self.env_config.obs_radius, self.env_config.obs_radius)) + + # Add V lines for view cone boundaries + # must be classic or bicycle to have head angle + if previous_actions is not None and \ + hasattr(self.env_config, 'dynamics_model') and \ + self.env_config.dynamics_model in ["classic", "bicycle"] and \ + previous_actions.ndim == 3 and \ + env_idx < previous_actions.shape[0] and \ + agent_idx < previous_actions.shape[1] and \ + previous_actions.shape[2] == 3: # Expected shape [worlds, agents, 3 (accel, steer, head)] + headAngle = previous_actions[env_idx, agent_idx, 2].item() + else: + headAngle = head_angle + + # Calculate angles for the arc and view cone lines, incorporating head_angle_to_use + angle1_rad = headAngle + self.env_config.view_cone_half_angle + angle2_rad = headAngle - self.env_config.view_cone_half_angle + + x1_rot = self.env_config.obs_radius * np.cos(angle1_rad) + y1_rot = self.env_config.obs_radius * np.sin(angle1_rad) + + x2_rot = self.env_config.obs_radius * np.cos(angle2_rad) + y2_rot = self.env_config.obs_radius * np.sin(angle2_rad) + + ax.add_line(Line2D([0, x1_rot], [0, y1_rot], color="k", linewidth=1.0, linestyle="-")) + ax.add_line(Line2D([0, x2_rot], [0, y2_rot], color="k", linewidth=1.0, linestyle="-")) + + # Plot observation radius as an Arc + obs_arc = Arc((0,0), + width=2*self.env_config.obs_radius, + height=2*self.env_config.obs_radius, + angle=0, # Default orientation + theta1=np.degrees(angle2_rad), + theta2=np.degrees(angle1_rad), + color="k", + linestyle="-", + linewidth=1.0, + alpha=0.7) + ax.add_patch(obs_arc) + ax.set_xticks([]) ax.set_yticks([]) + plt.axis("off") return fig + + def _cleanup_axis(self, ax): + """Clean up all collections and artists from the axis.""" + if self.render_3d: + # Clean 3D collections + for collection in ax.collections[:]: + collection.remove() + + # Clean lines + for line in ax.lines[:]: + line.remove() + else: + # Clean 2D collections + for collection in ax.collections[:]: + collection.remove() + + # Clean patches + for patch in ax.patches[:]: + patch.remove() + + # Clean lines + for line in ax.lines[:]: + line.remove() + + # Clean texts + for text in ax.texts[:]: + text.remove() diff --git a/gpudrive/visualize/utils.py b/gpudrive/visualize/utils.py index 094c1d030..93839e09f 100644 --- a/gpudrive/visualize/utils.py +++ b/gpudrive/visualize/utils.py @@ -14,25 +14,26 @@ from gpudrive.visualize.color import ROAD_GRAPH_COLORS, ROAD_GRAPH_TYPE_NAMES + def img_from_fig(fig: matplotlib.figure.Figure) -> np.ndarray: """Returns a [H, W, 3] uint8 np image from fig.canvas.tostring_rgb().""" # Adjusted margins to better accommodate 3D plots fig.subplots_adjust( - left=0.0, # Reduce left margin + left=0.0, # Reduce left margin bottom=0.0, # Reduce bottom margin - right=1.0, # Extend to right edge - top=1.0, # Extend to top edge - wspace=0.0, - hspace=0.0 + right=1.0, # Extend to right edge + top=1.0, # Extend to top edge + wspace=0.0, + hspace=0.0, ) - + # Force render fig.canvas.draw() - + # Convert to numpy array data = np.frombuffer(fig.canvas.tostring_rgb(), dtype=np.uint8) img = data.reshape(fig.canvas.get_width_height()[::-1] + (3,)) - + plt.close(fig) return img @@ -133,7 +134,7 @@ def plot_numpy_bounding_boxes( [tl[1, :], tr[1, :], br[1, :], bl[1, :], tl[1, :]], color=color, zorder=4, - linewidth=1.7 * line_width_scale, + linewidth=2.0 * line_width_scale, alpha=alpha, label=label, ) @@ -158,6 +159,7 @@ def plot_bounding_box( orientation: Union[float, torch.Tensor], color: str, alpha: Optional[float] = 1.0, + line_width_scale: float = 1.5, label: Optional[str] = None, ) -> None: """Plots bounding boxes, supporting both single and multiple agents. @@ -223,7 +225,7 @@ def plot_bounding_box( color=color, alpha=alpha, linestyle="-", - linewidth=2, + linewidth=2 * line_width_scale, label=label if i == 0 else None, ) else: @@ -456,7 +458,7 @@ def plot_numpy_bounding_boxes_multiple_policy( label: String, represents the meaning of the color for different boxes. """ - for bboxes,color in zip(bboxes_s,colors): + for bboxes, color in zip(bboxes_s, colors): if bboxes.ndim != 2 or bboxes.shape[1] != 5: raise ValueError( ( @@ -515,4 +517,4 @@ def plot_numpy_bounding_boxes_multiple_policy( alpha=alpha, linewidth=1.5 * line_width_scale, label=label, - ) \ No newline at end of file + ) diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 5eec975fd..13677b6bd 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -33,7 +33,7 @@ target_link_libraries(gpudrive_mgr PUBLIC madrona_python_utils PRIVATE - nlohmann_json::nlohmann_json + madrona_json gpudrive_cpu_impl madrona_mw_cpu madrona_common diff --git a/src/MapReader.cpp b/src/MapReader.cpp index 8c933edd9..9a7130d6d 100644 --- a/src/MapReader.cpp +++ b/src/MapReader.cpp @@ -36,8 +36,13 @@ madrona_gpudrive::Map *copyToArrayOnHostOrDevice(const madrona_gpudrive::Map *in namespace madrona_gpudrive { -MapReader::MapReader(const std::string &pathToFile) : in_(pathToFile) { - assert(in_.is_open()); +simdjson::dom::parser& MapReader::getParser() { + static simdjson::dom::parser parser; + return parser; +} + +MapReader::MapReader(const std::string &pathToFile){ + in_ = pathToFile; map_ = new madrona_gpudrive::Map(); } @@ -46,10 +51,13 @@ MapReader::~MapReader() { } void MapReader::doParse(float polylineReductionThreshold) { - nlohmann::json rawJson; - in_ >> rawJson; + // Parse with simdjson + auto& parser = getParser(); + simdjson::dom::element doc; + auto error = parser.load(in_).get(doc); - from_json(rawJson, *map_, polylineReductionThreshold); + // Parse the document into the map + from_json(doc, *map_, polylineReductionThreshold); } madrona_gpudrive::Map* MapReader::parseAndWriteOut(const std::string &path, diff --git a/src/MapReader.hpp b/src/MapReader.hpp index e42a3f6c6..663d52795 100644 --- a/src/MapReader.hpp +++ b/src/MapReader.hpp @@ -2,7 +2,7 @@ #include #include - +#include #include "init.hpp" namespace madrona_gpudrive { @@ -14,11 +14,12 @@ class MapReader { static madrona_gpudrive::Map* parseAndWriteOut(const std::string &path, madrona::ExecMode executionMode, float polylineReductionThreshold); private: + static simdjson::dom::parser& getParser(); MapReader(const std::string &pathToFile); ~MapReader(); void doParse(float polylineReductionThreshold); - std::ifstream in_; + std::string in_; madrona_gpudrive::Map *map_; }; diff --git a/src/bindings.cpp b/src/bindings.cpp index e44ff4619..8196e4695 100755 --- a/src/bindings.cpp +++ b/src/bindings.cpp @@ -23,6 +23,7 @@ namespace madrona_gpudrive m.attr("kMaxAgentCount") = consts::kMaxAgentCount; m.attr("kMaxRoadEntityCount") = consts::kMaxRoadEntityCount; m.attr("kMaxAgentMapObservationsCount") = consts::kMaxAgentMapObservationsCount; + m.attr("kTrajectoryLength") = consts::kTrajectoryLength; m.attr("episodeLen") = consts::episodeLen; m.attr("numLidarSamples") = consts::numLidarSamples; m.attr("vehicleScale") = consts::vehicleLengthScale; @@ -49,6 +50,8 @@ namespace madrona_gpudrive .def(nb::init<>()) // Default constructor .def_rw("polylineReductionThreshold", &Parameters::polylineReductionThreshold) .def_rw("observationRadius", &Parameters::observationRadius) + .def_rw("viewConeHalfAngle", &Parameters::viewConeHalfAngle) + .def_rw("removeOccludedAgents", &Parameters::removeOccludedAgents) .def_rw("rewardParams", &Parameters::rewardParams) .def_rw("collisionBehaviour", &Parameters::collisionBehaviour) .def_rw("goalBehaviour", &Parameters::goalBehaviour) @@ -61,7 +64,8 @@ namespace madrona_gpudrive .def_rw("disableClassicalObs", &Parameters::disableClassicalObs) .def_rw("isStaticAgentControlled", &Parameters::isStaticAgentControlled) .def_rw("readFromTracksToPredict", &Parameters::readFromTracksToPredict) - .def_rw("initSteps", &Parameters::initSteps); + .def_rw("initSteps", &Parameters::initSteps) + .def_rw("controlExperts", &Parameters::controlExperts); // Define CollisionBehaviour enum nb::enum_(m, "CollisionBehaviour") @@ -139,6 +143,7 @@ namespace madrona_gpudrive .def("set_maps", &Manager::setMaps) .def("world_means_tensor", &Manager::worldMeansTensor) .def("metadata_tensor", &Manager::metadataTensor) + .def("tl_state_tensor", &Manager::trafficLightTensor) .def("vbd_trajectory_tensor", &Manager::vbdTrajectoryTensor) .def("map_name_tensor", &Manager::mapNameTensor) .def("deleteAgents", [](Manager &self, nb::dict py_agents_to_delete) { diff --git a/src/consts.hpp b/src/consts.hpp index d5e76b834..b40e31325 100644 --- a/src/consts.hpp +++ b/src/consts.hpp @@ -8,9 +8,10 @@ namespace madrona_gpudrive { namespace consts { -inline constexpr madrona::CountT kMaxAgentCount = 64; +inline constexpr madrona::CountT kMaxAgentCount = 32; inline constexpr madrona::CountT kMaxRoadEntityCount = 10000; -inline constexpr madrona::CountT kMaxAgentMapObservationsCount = 128; +inline constexpr madrona::CountT kMaxAgentMapObservationsCount = 186; +inline constexpr madrona::CountT kMaxTrafficLightCount = 16; inline constexpr bool useEstimatedYaw = true; @@ -22,7 +23,7 @@ inline constexpr float worldLength = 40.f; // This factor rescales the length of the vehicles by a tiny amount // To account for the fact that noise occasionally puts vehicles into initial // collisions. This is a dataset artifact that we are handling here like this. -inline constexpr float vehicleLengthScale = 0.9f; +inline constexpr float vehicleLengthScale = 1.0f; // Each unit of distance forward (+ y axis) rewards the agents by this amount inline constexpr float rewardPerDist = 0.05f; @@ -48,6 +49,10 @@ inline constexpr float lidarAngle = madrona::math::pi / 3; // The angle between // Bev observation constants inline constexpr int bev_rasterization_resolution = 200; +// Number of points to sample on each edge of a bounding box for occlusion checks. +// If set to 0, only corners of AABB are checked. If set to 1, midpoints of edges are also checked etc. +inline constexpr madrona::CountT kNumOcclusionEdgeSamples = 1; + // Time (seconds) per step inline constexpr float deltaT = 0.04f; diff --git a/src/dynamics.hpp b/src/dynamics.hpp index 41d98d8f2..ed2fead12 100755 --- a/src/dynamics.hpp +++ b/src/dynamics.hpp @@ -25,28 +25,26 @@ namespace madrona_gpudrive float speed = velocity.linear.length(); float yaw = utils::quatToYaw(rotation); - // Average speed - const float v{clipSpeed(speed + 0.5f * action.classic.acceleration * dt)}; - const float tanDelta{tanf(action.classic.steering)}; - // Assume center of mass lies at the middle of length, then l / L == 0.5. - const float beta{std::atan(0.5f * tanDelta)}; - const math::Vector2 d{polarToVector2D(v, yaw + beta)}; - const float w{v * std::cos(beta) * tanDelta / size.length}; - - // model.position += d * dt; - // model.heading = utils::AngleAdd(model.heading, w * dt); - // model.speed = clipSpeed(model.speed + action.acceleration * dt); - float new_yaw = utils::AngleAdd(yaw, w * dt); - float new_speed = clipSpeed(speed + action.classic.acceleration * dt); - position.x += d.x * dt; - position.y += d.y * dt; - position.z = 1; - rotation = Quat::angleAxis(new_yaw, madrona::math::up); + float x_dot = speed * cosf(yaw); + float y_dot = speed * sinf(yaw); + float theta_dot = speed * tanf(velocity.angular.z) / (0.8 * size.length); + float delta_dot = action.classic.steering; + // Update the yaw + float new_yaw = utils::AngleAdd(yaw, theta_dot * dt); + // Update the speed + float new_speed = speed + action.classic.acceleration * dt; velocity.linear.x = new_speed * cosf(new_yaw); velocity.linear.y = new_speed * sinf(new_yaw); - velocity.linear.z = 0; - velocity.angular = Vector3::zero(); - velocity.angular.z = w; + // Update the position + position.x = position.x + x_dot * dt; + position.y = position.y + y_dot * dt; + // Update the rotation + rotation = Quat::angleAxis(new_yaw, madrona::math::up); + // Update the angular velocity + velocity.angular.z = utils::AngleAdd(velocity.angular.z, delta_dot * dt); + // clip angular z between -pi/3 and pi/3 + velocity.angular.z = fmaxf(-madrona::math::pi / 3.0, fminf(velocity.angular.z, madrona::math::pi / 3.0)); + } inline void forwardBicycleModel(Action &action, Rotation &rotation, Position &position, Velocity &velocity) diff --git a/src/headless.cpp b/src/headless.cpp index 3bd1aa5b5..3caf97695 100755 --- a/src/headless.cpp +++ b/src/headless.cpp @@ -35,9 +35,7 @@ int main(int argc, char *argv[]) uint64_t num_steps = std::stoul(argv[2]); std::vector scenes = { - "../data/processed/examples/tfrecord-00000-of-00150_78.json", - "../data/processed/examples/tfrecord-00043-of-00150_223.json", - "../data/processed/examples/tfrecord-00149-of-00150_111.json" + "../data/processed/examples/tfrecord-00000-of-01000_325.json", }; uint64_t num_worlds = scenes.size(); diff --git a/src/init.hpp b/src/init.hpp index 0c7e25d3c..a848e35a1 100755 --- a/src/init.hpp +++ b/src/init.hpp @@ -37,7 +37,7 @@ namespace madrona_gpudrive uint32_t id; MapVector2 mean; bool markAsExpert{false}; - float vbd_trajectories[consts::episodeLen][5]; // x, y, yaw, vx, vy + float vbd_trajectories[consts::kTrajectoryLength][6]; // x, y, yaw, vx, vy, valid }; struct MapRoad @@ -55,10 +55,13 @@ namespace madrona_gpudrive { MapObject objects[MAX_OBJECTS]; MapRoad roads[MAX_ROADS]; + TrafficLightState trafficLightStates[consts::kMaxTrafficLightCount]; uint32_t numObjects; uint32_t numRoads; uint32_t numRoadSegments; + uint32_t numTrafficLights; + bool hasTrafficLights; MapVector2 mean; char mapName[32]; @@ -119,6 +122,8 @@ namespace madrona_gpudrive { float polylineReductionThreshold; float observationRadius; + float viewConeHalfAngle; + bool removeOccludedAgents; RewardParams rewardParams; CollisionBehaviour collisionBehaviour = CollisionBehaviour::AgentStop; // Default: AgentStop GoalBehaviour goalBehaviour = GoalBehaviour::Remove; // Default to current behavior @@ -131,8 +136,9 @@ namespace madrona_gpudrive bool enableLidar = false; bool disableClassicalObs = false; DynamicsModel dynamicsModel = DynamicsModel::Classic; - bool readFromTracksToPredict = false; // Default: false - for womd_tracks_to_predict initialization mode + bool readFromTracksToPredict = false; // Default: false - for wosac initialization mode uint32_t initSteps = 0; + bool controlExperts = false; // Default: false - for wosac initialization mode }; struct WorldInit diff --git a/src/json_serialization.hpp b/src/json_serialization.hpp index da69da5f1..6d53066a2 100644 --- a/src/json_serialization.hpp +++ b/src/json_serialization.hpp @@ -4,47 +4,250 @@ #include "types.hpp" #include "consts.hpp" #include -#include +#include #include namespace madrona_gpudrive { - void from_json(const nlohmann::json &j, MapVector2 &p) + + #define CHECK_JSON_ERROR(err) \ + if (err) { \ + std::cerr << "JSON error: " << simdjson::error_message(err) << std::endl; \ + abort(); \ + } + + template + T getValueOrDefault(const simdjson::dom::element &obj, + std::string_view key, + T defaultValue) { + simdjson::dom::object json_obj; + auto error = obj.get_object().get(json_obj); + if (error) { + printf("Warning: Failed to get object: %s\n", simdjson::error_message(error)); + abort(); + } + + simdjson::dom::element result; + error = json_obj.at_key(key).get(result); + + if (error == simdjson::NO_SUCH_FIELD) { + printf("Warning: Key %.*s not found in json\n", + static_cast(key.size()), key.data()); + abort(); + } + CHECK_JSON_ERROR(error); + + // Handle different types appropriately + if constexpr (std::is_same_v) { + double d; + error = result.get_double().get(d); + CHECK_JSON_ERROR(error); + return static_cast(d); + } else if constexpr (std::is_same_v) { + int64_t i; + error = result.get_int64().get(i); + CHECK_JSON_ERROR(error); + return static_cast(i); + } else if constexpr (std::is_same_v) { + uint64_t u; + error = result.get_uint64().get(u); + CHECK_JSON_ERROR(error); + return static_cast(u); + } else if constexpr (std::is_same_v) { + uint64_t u; + error = result.get_uint64().get(u); + CHECK_JSON_ERROR(error); + return static_cast(u); + } else if constexpr (std::is_same_v) { + bool b; + error = result.get_bool().get(b); + CHECK_JSON_ERROR(error); + return b; + } else if constexpr (std::is_same_v) { + std::string_view s; + error = result.get_string().get(s); + CHECK_JSON_ERROR(error); + return s; + } else if constexpr (std::is_same_v) { + simdjson::dom::array result_arr; + error = result.get_array().get(result_arr); + CHECK_JSON_ERROR(error); + return result_arr; + } else if constexpr (std::is_same_v) { + return result; + } else { + static_assert(!sizeof(T), "Unsupported type for getValueOrDefault"); + } + } + + template + T getValueOrDefault(const simdjson::dom::array &arr, + size_t idx, + T defaultValue) { + if (idx >= arr.size()) { + printf("Warning: Index %zu not found in array\n", idx); + return defaultValue; + } + + simdjson::dom::element result; + auto error = arr.at(idx).get(result); + CHECK_JSON_ERROR(error); + + // Handle different types appropriately using the same pattern as above + if constexpr (std::is_same_v) { + double d; + error = result.get_double().get(d); + CHECK_JSON_ERROR(error); + return static_cast(d); + } else if constexpr (std::is_same_v) { + return result; + } else if constexpr (std::is_same_v) { + int64_t i; + error = result.get_int64().get(i); + CHECK_JSON_ERROR(error); + return static_cast(i); + } else if constexpr (std::is_same_v) { + uint64_t u; + error = result.get_uint64().get(u); + CHECK_JSON_ERROR(error); + return static_cast(u); + } else if constexpr (std::is_same_v) { + bool b; + error = result.get_bool().get(b); + CHECK_JSON_ERROR(error); + return b; + } else if constexpr (std::is_same_v) { + std::string_view s; + error = result.get_string().get(s); + CHECK_JSON_ERROR(error); + return s; + } else if constexpr (std::is_same_v) { + simdjson::dom::array result_arr; + error = result.get_array().get(result_arr); + CHECK_JSON_ERROR(error); + return result_arr; + } else { + static_assert(!sizeof(T), "Unsupported type for array getValueOrDefault"); + } + } + + void from_dom(const simdjson::dom::element &j, TrafficLightState &tl_state) { - p.x = j.at("x").get(); - p.y = j.at("y").get(); + // Set number of states to the size of the state array + simdjson::dom::array states = getValueOrDefault(j, "state", {}); + simdjson::dom::array x = getValueOrDefault(j, "x", {}); + simdjson::dom::array y = getValueOrDefault(j, "y", {}); + simdjson::dom::array z = getValueOrDefault(j, "z", {}); + simdjson::dom::array timeIndex = getValueOrDefault(j, "time_index", {}); + simdjson::dom::array laneId = getValueOrDefault(j, "lane_id", {}); + size_t numStates = std::max(states.size(), static_cast(consts::kTrajectoryLength)); + tl_state.numStates = numStates; + static const std::unordered_map state_map = { + {"unknown", TLState::Unknown}, + {"stop", TLState::Stop}, + {"caution", TLState::Caution}, + {"go", TLState::Go} + }; + + // Process each timestep + for (size_t t = 0; t < numStates; t++) { + // Get the state string and convert to enum + if (t < states.size()) { + std::string_view state_str = getValueOrDefault(states, t, "unknown"); + auto it = state_map.find(state_str); + TLState enum_state = (it != state_map.end()) ? it->second : TLState::Unknown; // ADD THIS LINE + tl_state.state[t] = static_cast(enum_state); // Cast enum to float + } else { + tl_state.state[t] = static_cast(TLState::Unknown); // Cast enum to float + } + + // Get the x,y,z positions in a more interpretable fashion + if(x.size() > 0) + { + tl_state.x[t] = getValueOrDefault(x, 0, 0.0f); + } + else + { + tl_state.x[t] = -1000.0f; + } + if(y.size() > 0) + { + tl_state.y[t] = getValueOrDefault(y, 0, 0.0f); + } + else + { + tl_state.y[t] = -1000.0f; + } + if(z.size() > 0) + { + tl_state.z[t] = getValueOrDefault(z, 0, 0.0f); + } + else + { + tl_state.z[t] = -1000.0f; + } + + // Get time index and lane id + if (t < timeIndex.size()) { + tl_state.timeIndex[t] = getValueOrDefault(timeIndex, t, 0.0f); + } else { + tl_state.timeIndex[t] = -1; + } + } + + if (laneId.size() > 0) { + tl_state.laneId = getValueOrDefault(laneId, 0, 0); + } + // Fill any remaining timesteps with default values + for (size_t t = numStates; t < consts::kTrajectoryLength; t++) { + tl_state.state[t] = static_cast(TLState::Unknown); + tl_state.timeIndex[t] = -1; + } + } + + void from_dom(const simdjson::dom::element &j, MapVector2 &p) { + p.x = getValueOrDefault(j, "x", 0.0f); // Provide a default value of 0.0f if missing + p.y = getValueOrDefault(j, "y", 0.0f); } - void from_json(const nlohmann::json &j, MapObject &obj) + void from_dom(const simdjson::dom::element &j, MapObject &obj) { obj.mean = {0,0}; uint32_t i = 0; - for (const auto &pos : j.at("position")) + simdjson::dom::array positions = getValueOrDefault(j, "position", {}); + float zPositions[10]; + for (const auto &pos : positions) { - if (i < MAX_POSITIONS) + if (i >= MAX_POSITIONS) break; // Avoid overflow + from_dom(pos, obj.position[i]); + obj.mean.x += (obj.position[i].x - obj.mean.x)/(i+1); + obj.mean.y += (obj.position[i].y - obj.mean.y)/(i+1); + + // Store z position separately + float z = getValueOrDefault(pos, "z", 0.0f); + if (i < 10) { - from_json(pos, obj.position[i]); - obj.mean.x += (obj.position[i].x - obj.mean.x)/(i+1); - obj.mean.y += (obj.position[i].y - obj.mean.y)/(i+1); - ++i; - } - else - { - break; // Avoid overflow + zPositions[i] = z; } + + ++i; } obj.numPositions = i; - j.at("width").get_to(obj.vehicle_size.width); - j.at("length").get_to(obj.vehicle_size.length); - j.at("height").get_to(obj.vehicle_size.height); - j.at("id").get_to(obj.id); + // Replace with default values (here zero) if the key is missing. + obj.vehicle_size.width = getValueOrDefault(j, "width", 0.0f); + obj.vehicle_size.length = getValueOrDefault(j, "length", 0.0f); + obj.vehicle_size.height = getValueOrDefault(j, "height", 0.0f); + obj.id = getValueOrDefault(j, "id", 0); i = 0; - for (const auto &h : j.at("heading")) + simdjson::dom::array headings = getValueOrDefault(j, "heading", {}); + for (const auto &h : headings) { if (i < MAX_POSITIONS) { - h.get_to(obj.heading[i]); + double heading; + CHECK_JSON_ERROR(h.get(heading)); + obj.heading[i] = static_cast(heading); ++i; } else @@ -55,38 +258,31 @@ namespace madrona_gpudrive obj.numHeadings = i; i = 0; - for (const auto &v : j.at("velocity")) + simdjson::dom::array velocities = getValueOrDefault(j, "velocity", {}); + for (const auto &v : velocities) { - if (i < MAX_POSITIONS) - { - from_json(v, obj.velocity[i]); - ++i; - } - else - { - break; // Avoid overflow - } + if (i>= MAX_POSITIONS) break; // Avoid overflow + from_dom(v, obj.velocity[i]); + ++i; } obj.numVelocities = i; i = 0; - for (const auto &v : j.at("valid")) + simdjson::dom::array valid = getValueOrDefault(j, "valid", {}); + for (const auto &v : valid) { - if (i < MAX_POSITIONS) - { - v.get_to(obj.valid[i]); - ++i; - } - else - { - break; // Avoid overflow - } + if (i >= MAX_POSITIONS) break; // Avoid overflow + bool valid_val; + CHECK_JSON_ERROR(v.get(valid_val)); + obj.valid[i] = valid_val; + ++i; } obj.numValid = i; + simdjson::dom::element goalPosition = getValueOrDefault(j, "goalPosition", {}); + from_dom(goalPosition, obj.goalPosition); - from_json(j.at("goalPosition"), obj.goalPosition); - std::string type = j.at("type"); + std::string_view type = getValueOrDefault(j, "type", ""); if(type == "vehicle") obj.type = EntityType::Vehicle; else if(type == "pedestrian") @@ -96,10 +292,7 @@ namespace madrona_gpudrive else obj.type = EntityType::None; - std::string markAsExpertKey = "mark_as_expert"; - if (j.contains(markAsExpertKey)) { - from_json(j.at("mark_as_expert"), obj.markAsExpert); - } + obj.markAsExpert = getValueOrDefault(j, "mark_as_expert", false); // Initialize metadata fields to 0 obj.metadata.isSdc = 0; @@ -107,35 +300,81 @@ namespace madrona_gpudrive obj.metadata.isTrackToPredict = 0; obj.metadata.difficulty = 0; + // Calculate average z position from the first 10 positions + // Store in the avgZ field of map object + float avgZ = 0.0f; + float avg_count = 0.0f; + for (int zi = 0; zi < 10 && zi < obj.numValid; zi++) { + // Only consider valid z positions + if (zi < obj.numValid && obj.valid[zi]) { + avgZ += zPositions[zi]; + avg_count += 1; + } + } + if (avg_count == 0) { + avgZ = 0.0f; // Avoid division by zero + } + else + { + avgZ /= avg_count; // Calculate average + } + obj.metadata.avgZ = avgZ; + // Initialize VBD trajectories to zeros - for (int i = 0; i < consts::episodeLen; i++) { - for (int j = 0; j < 5; j++) { + for (int i = 0; i < consts::kTrajectoryLength; i++) { + for (int j = 0; j < 6; j++) { obj.vbd_trajectories[i][j] = 0.0f; } } // If VBD trajectories exist in the JSON, read them - if (j.contains("vbd_trajectory")) { - int vbd_idx = 0; - for (const auto &vbd_traj : j.at("vbd_trajectory")) { - if (vbd_idx < consts::episodeLen) { - if (!vbd_traj.is_null()) { - obj.vbd_trajectories[vbd_idx][0] = vbd_traj.at(0).get(); - obj.vbd_trajectories[vbd_idx][1] = vbd_traj.at(1).get(); - obj.vbd_trajectories[vbd_idx][2] = vbd_traj.at(2).get(); - obj.vbd_trajectories[vbd_idx][3] = vbd_traj.at(3).get(); - obj.vbd_trajectories[vbd_idx][4] = vbd_traj.at(4).get(); + auto vbd_traj_result = j.at_pointer("/vbd_trajectory"); + if (!vbd_traj_result.error()) { + // Get the array + simdjson::dom::array vbd_array; + auto array_error = vbd_traj_result.get(vbd_array); + + if (!array_error) { + int vbd_idx = 0; + // Rename the loop variable to avoid shadowing the outer i + for (size_t traj_i = 0; traj_i < vbd_array.size(); traj_i++) { + // Rename to avoid shadowing the outer vbd_traj_result + auto elem_result = vbd_array.at(traj_i); + if (!elem_result.error()) { + simdjson::dom::element vbd_traj; + auto get_error = elem_result.get(vbd_traj); + + if (!get_error && vbd_idx < consts::episodeLen) { + if (!vbd_traj.is_null()) { + // Extract float values properly for each coordinate + for (int coord_idx = 0; coord_idx < 5; coord_idx++) { + auto coord_result = vbd_traj.at(coord_idx); + if (!coord_result.error()) { + simdjson::dom::element coord_elem; + auto elem_error = coord_result.get(coord_elem); + if (!elem_error) { + // Get as double first, then cast to float (following your pattern) + double d_val; + auto d_error = coord_elem.get_double().get(d_val); + if (!d_error) { + obj.vbd_trajectories[vbd_idx][coord_idx] = static_cast(d_val); + } + } + } + } + } + } + vbd_idx++; } } - vbd_idx++; } } } - void from_json(const nlohmann::json &j, MapRoad &road, float polylineReductionThreshold = 0.0) + void from_dom(const simdjson::dom::element &j, MapRoad &road, float polylineReductionThreshold = 0.0) { road.mean = {0,0}; - std::string type = j.at("type"); + std::string_view type = getValueOrDefault(j, "type", ""); if(type == "road_edge") road.type = EntityType::RoadEdge; else if(type == "road_line") @@ -151,18 +390,25 @@ namespace madrona_gpudrive else road.type = EntityType::None; - std::vector geometry_points_; - for(const auto &point: j.at("geometry")) + simdjson::dom::array geometry = getValueOrDefault(j, "geometry", {}); + for(const auto &point: geometry) { MapVector2 p; - from_json(point, p); + from_dom(point, p); geometry_points_.push_back(p); } - const int64_t num_segments = j["geometry"].size() - 1; + const int64_t num_segments = geometry.size() - 1; const int64_t sample_every_n_ = 1; const int64_t num_sampled_points = (num_segments + sample_every_n_ - 1) / sample_every_n_ + 1; + + const int64_t geometry_size = static_cast(geometry_points_.size()); + if (geometry_size == 0) { + road.numPoints = 0; + return; + } + if (num_segments >= 10 && (road.type == EntityType::RoadLane || road.type == EntityType::RoadEdge || road.type == EntityType::RoadLine)) { std::vector skip(num_sampled_points, false); // This list tracks the points that are skipped @@ -188,9 +434,19 @@ namespace madrona_gpudrive } if (k_2 >= num_sampled_points) break; - auto point1 = geometry_points_[k * sample_every_n_]; - auto point2 = geometry_points_[k_1 * sample_every_n_]; - auto point3 = geometry_points_[k_2 * sample_every_n_]; + + // Add bounds checking for geometry_points_ access + int64_t idx1 = k * sample_every_n_; + int64_t idx2 = k_1 * sample_every_n_; + int64_t idx3 = k_2 * sample_every_n_; + + if (idx1 >= geometry_size || idx2 >= geometry_size || idx3 >= geometry_size) { + break; + } + + auto point1 = geometry_points_[idx1]; + auto point2 = geometry_points_[idx2]; + auto point3 = geometry_points_[idx3]; float_t area = 0.5 * std::abs((point1.x - point3.x) * (point2.y - point1.y) - (point1.x - point2.x) * (point3.y - point1.y)); if (area < polylineReductionThreshold) { // If the area is less than the threshold, then we skip the middle point @@ -207,59 +463,54 @@ namespace madrona_gpudrive // Create the road lines k = 0; - skip[0] = false; - skip[num_sampled_points - 1] = false; + if (num_sampled_points > 0) { + skip[0] = false; + } + if (num_sampled_points > 1) { + skip[num_sampled_points - 1] = false; + } std::vector new_geometry_points; // This list stores the points that are not skipped while (k < num_sampled_points) { - if (!skip[k]) + int64_t idx = k * sample_every_n_; + if (idx < geometry_size && !skip[k]) { - new_geometry_points.push_back(geometry_points_[k * sample_every_n_]); // Add the point to the list if it is not skipped + new_geometry_points.push_back(geometry_points_[idx]); // Add the point to the list if it is not skipped } k++; } for (size_t i = 0; i < new_geometry_points.size(); i++) { - if(i==MAX_GEOMETRY) + if(i >= MAX_GEOMETRY) break; road.geometry[i] = new_geometry_points[i]; // Create the road lines } - road.numPoints = new_geometry_points.size(); + road.numPoints = std::min(new_geometry_points.size(), static_cast(MAX_GEOMETRY)); } else { for (int64_t i = 0; i < num_sampled_points ; ++i) { - if(i==MAX_GEOMETRY) + if(i >= MAX_GEOMETRY) + break; + int64_t idx = i * sample_every_n_; + if (idx >= geometry_size) { break; - road.geometry[i] = geometry_points_[i * sample_every_n_]; + } + road.geometry[i] = geometry_points_[idx]; } - road.numPoints = num_sampled_points; - } - - if (j.contains("id")) { - road.id = j.at("id").get(); + road.numPoints = std::min(static_cast(num_sampled_points), static_cast(MAX_GEOMETRY)); } - if (j.contains("map_element_id")) - { - auto mapElementId = j.at("map_element_id").get(); - - if(mapElementId == 4 or mapElementId >= static_cast(MapType::NUM_TYPES) or mapElementId < -1) - { - road.mapType = MapType::UNKNOWN; - } - else - { - road.mapType = static_cast(mapElementId); - } - } - else - { + road.id = getValueOrDefault(j, "id", -1); + + int32_t mapElementId = getValueOrDefault(j, "map_element_id", static_cast(MapType::UNKNOWN)); + if(mapElementId == 4 or mapElementId >= static_cast(MapType::NUM_TYPES) or mapElementId < -1) road.mapType = MapType::UNKNOWN; - } + else + road.mapType = static_cast(mapElementId); - for (int i = 0; i < road.numPoints; i++) + for (uint32_t i = 0; i < road.numPoints; i++) { road.mean.x += (road.geometry[i].x - road.mean.x)/(i+1); road.mean.y += (road.geometry[i].y - road.mean.y)/(i+1); @@ -267,32 +518,38 @@ namespace madrona_gpudrive } - std::pair calc_mean(const nlohmann::json &j) + std::pair calc_mean(const simdjson::dom::element &j) { std::pair mean = {0, 0}; int64_t numEntities = 0; - for (const auto &obj : j["objects"]) + simdjson::dom::array objects = getValueOrDefault(j, "objects", {}); + for (const auto &obj : objects) { + simdjson::dom::array position = getValueOrDefault(obj, "position", {}); + simdjson::dom::array valids = getValueOrDefault(obj, "valid", {}); int i = 0; - for (const auto &pos : obj["position"]) - { - if(obj["valid"][i++] == false) - continue; - numEntities++; - float newX = pos["x"]; - float newY = pos["y"]; - // Update mean incrementally - mean.first += (newX - mean.first) / numEntities; - mean.second += (newY - mean.second) / numEntities; + for (const auto &pos : position) { + bool valid_val; + CHECK_JSON_ERROR(valids.at(i).get(valid_val)); + if (valid_val) { + numEntities++; + float newX = getValueOrDefault(pos, "x", 0.0f); + float newY = getValueOrDefault(pos, "y", 0.0f); + mean.first += (newX - mean.first) / numEntities; + mean.second += (newY - mean.second) / numEntities; + } + ++i; } } - for (const auto &obj : j["roads"]) + simdjson::dom::array roads = getValueOrDefault(j, "roads", {}); + for (const auto &obj : roads) { - for (const auto &point : obj["geometry"]) + simdjson::dom::array geometry = getValueOrDefault(obj, "geometry", {}); + for (const auto &point : geometry) { numEntities++; - float newX = point["x"]; - float newY = point["y"]; + float newX = getValueOrDefault(point, "x", 0.0f); + float newY = getValueOrDefault(point, "y", 0.0f); // Update mean incrementally mean.first += (newX - mean.first) / numEntities; @@ -302,20 +559,21 @@ namespace madrona_gpudrive return mean; } - void from_json(const nlohmann::json &j, Map &map, float polylineReductionThreshold) + void from_json(const simdjson::dom::element &j, Map &map, float polylineReductionThreshold) { - std::string name = j.at("name").get(); - std::strncpy(map.mapName, name.c_str(), sizeof(map.mapName)); + std::string_view name = getValueOrDefault(j, "name", ""); + std::strncpy(map.mapName, name.data(), sizeof(map.mapName)); - std::string scenario_id = j.at("scenario_id").get(); - std::strncpy(map.scenarioId, scenario_id.c_str(), sizeof(map.scenarioId)); + std::string_view scenario_id = getValueOrDefault(j, "scenario_id", ""); + std::strncpy(map.scenarioId, scenario_id.data(), sizeof(map.scenarioId)); auto mean = calc_mean(j); map.mean = {mean.first, mean.second}; - map.numObjects = std::min(j.at("objects").size(), static_cast(MAX_OBJECTS)); + auto objects = getValueOrDefault(j, "objects", {}); + map.numObjects = std::min(objects.size(), static_cast(MAX_OBJECTS)); - const auto& metadata = j.at("metadata"); - int sdc_index = metadata.at("sdc_track_index").get(); + simdjson::dom::element metadata = getValueOrDefault(j, "metadata", {}); + int sdc_index = getValueOrDefault(metadata, "sdc_track_index", -1); // Create id to object index mapping std::unordered_map idToObjIdx; @@ -326,83 +584,89 @@ namespace madrona_gpudrive std::unordered_set objects_of_interest_ids; // Collect tracks_to_predict indices - for (const auto& track : metadata.at("tracks_to_predict")) { - int track_index = track.at("track_index").get(); - if (track_index >= 0 && track_index < j.at("objects").size()) { + simdjson::dom::array tracks_to_predict = getValueOrDefault(metadata, "tracks_to_predict", {}); + for (const auto& track : tracks_to_predict) { + int track_index = getValueOrDefault(track, "track_index", -1); + if (track_index >= 0 && static_cast(track_index) < map.numObjects) { tracks_to_predict_indices.insert(track_index); } else { - std::cerr << "Warning: Invalid track_index " << track_index << " in scene " << j.at("name").get() << std::endl; + std::cerr << "Warning: Invalid track_index " << track_index << " in scene " << std::string(map.mapName) << std::endl; } } // Collect objects_of_interest IDs - for (const auto& obj_id : metadata.at("objects_of_interest")) { - objects_of_interest_ids.insert(obj_id.get()); + simdjson::dom::array objects_of_interest = getValueOrDefault(metadata, "objects_of_interest", {}); + for (const auto& obj_id : objects_of_interest) { + objects_of_interest_ids.insert(getValueOrDefault(obj_id, "id", -1)); } - // Initialize SDC first if valid - if (sdc_index >= 0 && sdc_index < j.at("objects").size()) { - j.at("objects")[sdc_index].get_to(map.objects[0]); + if (sdc_index >= 0 && static_cast(sdc_index) < map.numObjects) { + + simdjson::dom::element sdc_element; + auto error = objects.at(sdc_index).get(sdc_element); + CHECK_JSON_ERROR(error); + from_dom(sdc_element, map.objects[0]); map.objects[0].metadata.isSdc = 1; // Set additional metadata if needed int sdc_id = map.objects[0].id; if (tracks_to_predict_indices.find(sdc_index) != tracks_to_predict_indices.end()) { - map.objects[0].metadata.isTrackToPredict = 1; + map.objects[0].metadata.isTrackToPredict = 1.0f; // Find and set difficulty - for (const auto& track : metadata.at("tracks_to_predict")) { - if (track.at("track_index").get() == sdc_index) { - map.objects[0].metadata.difficulty = track.at("difficulty").get(); + for (const auto& track : tracks_to_predict) { + if (getValueOrDefault(track, "track_index", -1) == sdc_index) { + map.objects[0].metadata.difficulty = getValueOrDefault(track, "difficulty", 0); break; } } } if (objects_of_interest_ids.find(sdc_id) != objects_of_interest_ids.end()) { - map.objects[0].metadata.isObjectOfInterest = 1; + map.objects[0].metadata.isObjectOfInterest = 1.0f; } - + idToObjIdx[sdc_id] = 0; idx = 1; - + // Remove SDC from sets to avoid double processing tracks_to_predict_indices.erase(sdc_index); objects_of_interest_ids.erase(sdc_id); } // Initialize tracks_to_predict objects (excluding SDC) - for (size_t i = 0; i < j.at("objects").size() && idx < map.numObjects; i++) { - if (i == sdc_index) continue; // Skip SDC as it's already initialized + for (size_t i = 0; i < map.numObjects && idx < map.numObjects; i++) { + if (i == static_cast(sdc_index)) continue; // Skip SDC as it's already initialized if (tracks_to_predict_indices.find(i) != tracks_to_predict_indices.end()) { - j.at("objects")[i].get_to(map.objects[idx]); + from_dom(getValueOrDefault(objects, i, simdjson::dom::element()), map.objects[idx]); map.objects[idx].metadata.isTrackToPredict = 1; // Find and set difficulty - for (const auto& track : metadata.at("tracks_to_predict")) { - if (track.at("track_index").get() == static_cast(i)) { - map.objects[idx].metadata.difficulty = track.at("difficulty").get(); + for (const auto& track : tracks_to_predict) { + if (getValueOrDefault(track, "track_index", -1) == static_cast(i)) { + map.objects[idx].metadata.difficulty = getValueOrDefault(track, "difficulty", 0); break; } } - + // Check if also object of interest if (objects_of_interest_ids.find(map.objects[idx].id) != objects_of_interest_ids.end()) { - map.objects[idx].metadata.isObjectOfInterest = 1; + map.objects[idx].metadata.isObjectOfInterest = 1.0f; objects_of_interest_ids.erase(map.objects[idx].id); } - + idToObjIdx[map.objects[idx].id] = idx; idx++; } } // Initialize objects_of_interest (excluding those already processed) - for (size_t i = 0; i < j.at("objects").size() && idx < map.numObjects; i++) { - if (i == sdc_index) continue; + for (size_t i = 0; i < map.numObjects && idx < map.numObjects; i++) { + if (i == static_cast(sdc_index)) continue; - int obj_id = j.at("objects")[i].at("id").get(); + + int obj_id = getValueOrDefault(getValueOrDefault(objects, i, simdjson::dom::element()), "id", -1); if (objects_of_interest_ids.find(obj_id) != objects_of_interest_ids.end()) { - j.at("objects")[i].get_to(map.objects[idx]); + from_dom(getValueOrDefault(objects, i, simdjson::dom::element()), map.objects[idx]); map.objects[idx].metadata.isObjectOfInterest = 1; idToObjIdx[map.objects[idx].id] = idx; @@ -411,29 +675,49 @@ namespace madrona_gpudrive } // Initialize all remaining objects - for (size_t i = 0; i < j.at("objects").size() && idx < map.numObjects; i++) { - if (i == sdc_index) continue; + for (size_t i = 0; i < map.numObjects && idx < map.numObjects; i++) { + if (i == static_cast(sdc_index)) continue; - int obj_id = j.at("objects")[i].at("id").get(); + int obj_id = getValueOrDefault(getValueOrDefault(objects, i, simdjson::dom::element()), "id", -1); if (idToObjIdx.find(obj_id) == idToObjIdx.end()) { // Check if not already processed - j.at("objects")[i].get_to(map.objects[idx]); + from_dom(getValueOrDefault(objects, i, simdjson::dom::element()), map.objects[idx]); idToObjIdx[map.objects[idx].id] = idx; idx++; } } - + // Process roads - map.numRoads = std::min(j.at("roads").size(), static_cast(MAX_ROADS)); + auto roads = getValueOrDefault(j, "roads", {}); + map.numRoads = std::min(roads.size(), static_cast(MAX_ROADS)); size_t countRoadPoints = 0; idx = 0; - for (const auto &road : j.at("roads")) { + for (const auto &road : roads) { if (idx >= map.numRoads) break; - from_json(road, map.roads[idx], polylineReductionThreshold); + from_dom(road, map.roads[idx], polylineReductionThreshold); size_t roadPoints = map.roads[idx].numPoints; countRoadPoints += (map.roads[idx].type <= EntityType::RoadLane) ? (roadPoints - 1) : 1; ++idx; } map.numRoadSegments = countRoadPoints; + + map.numTrafficLights = 0; + map.hasTrafficLights = false; + auto tl_states_element = getValueOrDefault(j, "tl_states", simdjson::dom::element()); + simdjson::dom::object tl_states; + if (tl_states_element.is_object() && tl_states_element.get_object().get(tl_states) == simdjson::SUCCESS) { + if (std::begin(tl_states) != std::end(tl_states)) { + // non-empty object + map.numTrafficLights = std::max(tl_states.size(), static_cast(consts::kMaxTrafficLightCount)); + map.hasTrafficLights = (map.numTrafficLights > 0); + for (auto [key, value] : tl_states) { + size_t idx = 0; + if (idx >= map.numTrafficLights) + break; + from_dom(value, map.trafficLightStates[idx]); + ++idx; + } + } + } } -} +} \ No newline at end of file diff --git a/src/level_gen.cpp b/src/level_gen.cpp index 76da34ed7..ad3262984 100755 --- a/src/level_gen.cpp +++ b/src/level_gen.cpp @@ -109,8 +109,8 @@ static inline void populateVBDTrajectory(Engine &ctx, const Entity &agent, const auto &vbd_trajectory = ctx.get(agent_iface); // Copy VBD trajectories from the map object - for (int i = 0; i < consts::episodeLen; i++) { - for (int j = 0; j < 5; j++) { + for (int i = 0; i < consts::kTrajectoryLength; i++) { + for (int j = 0; j < 6; j++) { vbd_trajectory.trajectories[i][j] = agentInit.vbd_trajectories[i][j]; } } @@ -133,12 +133,20 @@ static inline bool isAgentControllable(Engine &ctx, Entity agent, bool markAsExp if (ctx.get(agent_iface).valids[initSteps] == 0) { return false; } + else if (!ctx.data().params.controlExperts && markAsExpert) { + return false; + } else { return ctx.data().numControlledAgents < ctx.data().params.maxNumControlledAgents; } } // Original logic for other initialization modes + if (ctx.data().params.controlExperts) { + return ctx.data().numControlledAgents < ctx.data().params.maxNumControlledAgents && + ctx.get(agent_iface).valids[0] && + ctx.get(agent) == ResponseType::Dynamic; + } return ctx.data().numControlledAgents < ctx.data().params.maxNumControlledAgents && ctx.get(agent_iface).valids[0] && ctx.get(agent) == ResponseType::Dynamic && @@ -487,6 +495,20 @@ void createPersistentEntities(Engine &ctx) { other_agents.e[out_idx++] = other_agent; } } + + + for(CountT i = 0; i < map.numTrafficLights; i++) + { + auto &trafficLight = ctx.singleton().trafficLights[i]; + trafficLight = map.trafficLightStates[i]; + + for (size_t t = 0; t < consts::kTrajectoryLength-1; t++) { + trafficLight.x[t] -= ctx.singleton().mean.x; + trafficLight.y[t] -= ctx.singleton().mean.y; + trafficLight.z[t] -= ctx.singleton().mean.z; + } + } + } static void resetPersistentEntities(Engine &ctx) diff --git a/src/mgr.cpp b/src/mgr.cpp index 2fa511897..cb31bd259 100755 --- a/src/mgr.cpp +++ b/src/mgr.cpp @@ -896,19 +896,33 @@ Tensor Manager::scenarioIdTensor() const { Tensor Manager::metadataTensor() const { return impl_->exportTensor( - ExportID::MetaData, TensorElementType::Int32, + ExportID::MetaData, TensorElementType::Float32, {impl_->numWorlds, consts::kMaxAgentCount, MetaDataExportSize} ); } +Tensor Manager::trafficLightTensor() const +{ + return impl_->exportTensor( + ExportID::TrafficLights, + TensorElementType::Float32, + { + impl_->numWorlds, + consts::kMaxTrafficLightCount, + TrafficLightsStateExportSize + } + ); +} + Tensor Manager::vbdTrajectoryTensor() const { - return impl_->exportTensor(ExportID::VBDTrajectory, TensorElementType::Float32, - { - impl_->numWorlds, - consts::kMaxAgentCount, - consts::episodeLen, - 5, - }); + return impl_->exportTensor( + ExportID::VBDTrajectory, TensorElementType::Float32, + { + impl_->numWorlds, + consts::kMaxAgentCount, + consts::kTrajectoryLength, + 6, + }); } void Manager::triggerReset(int32_t world_idx) diff --git a/src/mgr.hpp b/src/mgr.hpp index 9a4ad5fa1..9ae71d4aa 100755 --- a/src/mgr.hpp +++ b/src/mgr.hpp @@ -70,6 +70,7 @@ class Manager { MGR_EXPORT madrona::py::Tensor expertTrajectoryTensor() const; MGR_EXPORT madrona::py::Tensor worldMeansTensor() const; MGR_EXPORT madrona::py::Tensor metadataTensor() const; + MGR_EXPORT madrona::py::Tensor trafficLightTensor() const; MGR_EXPORT madrona::py::Tensor deletedAgentsTensor() const; MGR_EXPORT madrona::py::Tensor mapNameTensor() const; MGR_EXPORT madrona::py::Tensor scenarioIdTensor() const; diff --git a/src/sim.cpp b/src/sim.cpp index 1a0e39189..7cdddcea1 100755 --- a/src/sim.cpp +++ b/src/sim.cpp @@ -60,7 +60,7 @@ void Sim::registerTypes(ECSRegistry ®istry, const Config &cfg) registry.registerComponent(); registry.registerComponent(); registry.registerComponent(); - + registry.registerSingleton(); registry.registerSingleton(); registry.registerSingleton(); registry.registerSingleton(); @@ -84,6 +84,7 @@ void Sim::registerTypes(ECSRegistry ®istry, const Config &cfg) registry.exportSingleton((uint32_t)ExportID::DeletedAgents); registry.exportSingleton((uint32_t)ExportID::MapName); registry.exportSingleton((uint32_t)ExportID::ScenarioId); + registry.exportSingleton((uint32_t)ExportID::TrafficLights); registry.exportColumn( (uint32_t)ExportID::Action); @@ -93,7 +94,6 @@ void Sim::registerTypes(ECSRegistry ®istry, const Config &cfg) (uint32_t)ExportID::AgentMapObservations); registry.exportColumn( (uint32_t)ExportID::MapObservation); - registry.exportColumn( (uint32_t)ExportID::PartnerObservations); registry.exportColumn( @@ -193,6 +193,248 @@ inline void collectSelfObsSystem(Engine &ctx, const Info& info = ctx.get(agent_iface.e); self_obs.goalState = info.reachedGoal ? 1.f : 0.f; + self_obs.steerAngle = vel.angular.z; +} + +struct ViewField { + const Position& position; + const float heading; + const float viewRadius; + const float viewAngle; + const float headAngle; + + ViewField(const Position& position, const float heading, const float viewRadius, const float viewAngle, const float headAngle) + : position(position), heading(heading), viewRadius(viewRadius), viewAngle(viewAngle), headAngle(headAngle) {} +}; + +// Broad-phase filtering: Get dynamic objects that are potentially visible within the view field +inline CountT visibleCandidatesDynamic(Engine &ctx, + const ViewField &vf, + const OtherAgents &other_agents, + Entity self_entity, + Entity* candidates_buffer) { + CountT count = 0; + + // Simple radius-based broad phase filtering for now + for (CountT agentIdx = 0; agentIdx < ctx.data().numAgents - 1 && count < consts::kMaxAgentCount - 1; ++agentIdx) { + Entity other = other_agents.e[agentIdx]; + if (other == self_entity) continue; // Don't include self + + const Position &other_pos = ctx.get(other); + Vector2 relative_pos = (other_pos - vf.position).xy(); + + // Check if within view radius + if (relative_pos.length() <= vf.viewRadius) { + // Check if within view cone + Vector2 forward_dir = {cosf(vf.heading + vf.headAngle), sinf(vf.heading + vf.headAngle)}; + Vector2 normalized_relative_pos = relative_pos / relative_pos.length(); + float dot_product = normalized_relative_pos.dot(forward_dir); + float angle = acosf(fmaxf(-1.0f, fminf(1.0f, dot_product))); // clamp to [-1, 1] + + if (angle <= vf.viewAngle * 0.5f) { + candidates_buffer[count++] = other; + } + } + } + + return count; +} + +// Broad-phase filtering: Get static road objects that are potentially visible within the view field +inline CountT visibleCandidatesStatic(Engine &ctx, + const ViewField &vf, + Entity* candidates_buffer) { + CountT count = 0; + + // Simple radius-based broad phase filtering for roads + for (CountT roadIdx = 0; roadIdx < ctx.data().numRoads && count < consts::kMaxAgentMapObservationsCount; ++roadIdx) { + Entity road = ctx.data().roads[roadIdx]; + const Position &road_pos = ctx.get(road); + Vector2 relative_pos = (road_pos - vf.position).xy(); + + // Check if within view radius + if (relative_pos.length() <= vf.viewRadius) { + // Check if within view cone + Vector2 forward_dir = {cosf(vf.heading + vf.headAngle), sinf(vf.heading + vf.headAngle)}; + Vector2 normalized_relative_pos = relative_pos / relative_pos.length(); + float dot_product = normalized_relative_pos.dot(forward_dir); + float angle = acosf(fmaxf(-1.0f, fminf(1.0f, dot_product))); // clamp to [-1, 1] + + if (angle <= vf.viewAngle * 0.5f) { + candidates_buffer[count++] = road; + } + } + } + + return count; +} + +// Narrow-phase filtering: Check for occlusion using simple ray casting +inline void filterByOcclusion(Engine &ctx, + const ViewField &vf, + Span objects) { + auto &bvh = ctx.singleton(); + Vector3 observer_pos = {vf.position.x, vf.position.y, vf.position.z}; + + // Filter out occluded objects in-place + CountT write_idx = 0; + for (CountT read_idx = 0; read_idx < objects.size(); ++read_idx) { + Entity target = objects[read_idx]; + const Position &target_pos = ctx.get(target); + Vector3 target_pos_3d = {target_pos.x, target_pos.y, target_pos.z}; + + Vector3 ray_dir = (target_pos_3d - observer_pos).normalize(); + float target_distance = (target_pos_3d - observer_pos).length(); + + // Trace ray from observer to target + float hit_t; + Vector3 hit_normal; + Entity hit_entity = bvh.traceRay(observer_pos, ray_dir, &hit_t, &hit_normal, target_distance - 0.1f); + + // If we didn't hit something before reaching the target, it's not occluded + if (hit_entity == Entity::none() || hit_entity == target) { + objects[write_idx++] = target; + } + } + + // Update the effective size (though we can't change span size, caller needs to track this) + // This is handled by returning the new count +} + +inline CountT filterByOcclusionAll(Engine &ctx, + const ViewField &vf, // Contains observer's position + Span objects_to_filter // List of potential targets + ) +{ + using namespace madrona::math; + + Vector3 observer_pos_3d = {vf.position.x, vf.position.y, vf.position.z}; + + CountT visible_count = 0; + + for (CountT target_idx = 0; target_idx < objects_to_filter.size(); ++target_idx) { + Entity target_entity = objects_to_filter[target_idx]; + const Position& target_pos_comp = ctx.get(target_entity); + const Rotation& target_rot_comp = ctx.get(target_entity); + const VehicleSize& target_vehicle_size = ctx.get(target_entity); + + Vector3 target_world_center = {target_pos_comp.x, target_pos_comp.y, target_pos_comp.z}; + + float half_width = target_vehicle_size.width / 2.f; + float half_length = target_vehicle_size.length / 2.f; + float half_height = target_vehicle_size.height / 2.f; + + Vector3 local_corners[8] = { + {-half_width, -half_length, -half_height}, { half_width, -half_length, -half_height}, + {-half_width, half_length, -half_height}, { half_width, half_length, -half_height}, + {-half_width, -half_length, half_height}, { half_width, -half_length, half_height}, + {-half_width, half_length, half_height}, { half_width, half_length, half_height} + }; + + constexpr CountT num_points_to_check = 8 + 12 * consts::kNumOcclusionEdgeSamples; + madrona::math::Vector3 local_points_to_check[num_points_to_check]; + CountT point_idx = 0; + + for (int i = 0; i < 8; ++i) { + local_points_to_check[point_idx++] = local_corners[i]; + } + + // add points on edge to check if config is set + if constexpr (consts::kNumOcclusionEdgeSamples > 0) { + // sample uniformly along edge + auto add_edge_points = [&](const Vector3& start, const Vector3& end) { + for (CountT i = 1; i <= consts::kNumOcclusionEdgeSamples; ++i) { + float t = (float)i / (float)(consts::kNumOcclusionEdgeSamples + 1); + local_points_to_check[point_idx++] = start + t * (end - start); + } + }; + + // Edges along x + add_edge_points(local_corners[0], local_corners[1]); + add_edge_points(local_corners[2], local_corners[3]); + add_edge_points(local_corners[4], local_corners[5]); + add_edge_points(local_corners[6], local_corners[7]); + + // Edges along y + add_edge_points(local_corners[0], local_corners[2]); + add_edge_points(local_corners[1], local_corners[3]); + add_edge_points(local_corners[4], local_corners[6]); + add_edge_points(local_corners[5], local_corners[7]); + + // Edges along z + add_edge_points(local_corners[0], local_corners[4]); + add_edge_points(local_corners[1], local_corners[5]); + add_edge_points(local_corners[2], local_corners[6]); + add_edge_points(local_corners[3], local_corners[7]); + } + + bool is_visible = false; + + for (CountT i = 0; i < num_points_to_check; ++i) { // check all points + Vector3 target_point_world = target_world_center + target_rot_comp.rotateVec(local_points_to_check[i]); + + Vector3 vec_observer_to_target_point = target_point_world - observer_pos_3d; + float dist_to_target_point = vec_observer_to_target_point.length(); + + if (dist_to_target_point < 0.1f) { // add to visible if really close + is_visible = true; + break; // early return since one clear ray is enough + } + Vector3 normalized_ray_dir_to_target_point = vec_observer_to_target_point / dist_to_target_point; + + bool point_ray_occluded = false; + for (CountT occluder_idx = 0; occluder_idx < objects_to_filter.size(); ++occluder_idx) { + Entity potential_occluder_entity = objects_to_filter[occluder_idx]; + if (potential_occluder_entity == target_entity) { + continue; // Don't check occlusion against self + } + + const Position& occluder_pos_comp = ctx.get(potential_occluder_entity); + const Rotation& occluder_rot_comp = ctx.get(potential_occluder_entity); + const VehicleSize& occluder_vehicle_size = ctx.get(potential_occluder_entity); + + Diag3x3 occluder_dims_from_vehicle_size = { + occluder_vehicle_size.width, + occluder_vehicle_size.length, + occluder_vehicle_size.height + }; + + AABB local_aabb = { + {-0.5f, -0.5f, -0.5f}, + { 0.5f, 0.5f, 0.5f} + }; + + AABB world_occluder_aabb = local_aabb.applyTRS( + occluder_pos_comp, + occluder_rot_comp, + occluder_dims_from_vehicle_size + ); + + // inverse ray direction + Diag3x3 inv_ray_d = { + (normalized_ray_dir_to_target_point.x == 0.f) ? copysignf(FLT_MAX, normalized_ray_dir_to_target_point.x) : 1.f / normalized_ray_dir_to_target_point.x, + (normalized_ray_dir_to_target_point.y == 0.f) ? copysignf(FLT_MAX, normalized_ray_dir_to_target_point.y) : 1.f / normalized_ray_dir_to_target_point.y, + (normalized_ray_dir_to_target_point.z == 0.f) ? copysignf(FLT_MAX, normalized_ray_dir_to_target_point.z) : 1.f / normalized_ray_dir_to_target_point.z + }; + + float hit_t_occluder = 0.f; + if (world_occluder_aabb.rayIntersects(observer_pos_3d, inv_ray_d, 0.01f, dist_to_target_point - 0.01f, hit_t_occluder)) { + point_ray_occluded = true; + break; + } + } + if (!point_ray_occluded) { + is_visible = true; + break; + } + } + + if (is_visible) { + objects_to_filter[visible_count++] = target_entity; + } + } + + return visible_count; } inline void collectPartnerObsSystem(Engine &ctx, @@ -204,13 +446,37 @@ inline void collectPartnerObsSystem(Engine &ctx, if(ctx.data().params.disableClassicalObs) return; - auto &partner_obs = ctx.get(agent_iface.e); + // User config + // viewRadius (float), viewConeHalfAngle (float), removeOccludedAgents (bool; False = no filtering), - CountT arrIndex = 0; CountT agentIdx = 0; - while(agentIdx < ctx.data().numAgents - 1) - { - Entity other = other_agents.e[agentIdx++]; + // to write partner features into array + auto &partner_obs = ctx.get(agent_iface.e); + // Get agent's heading from rotation + float heading = utils::quatToYaw(rot); + float viewRadius = ctx.data().params.observationRadius; + float viewAngle = ctx.data().params.viewConeHalfAngle * 2.0f; // Convert half-angle to full angle + const Action &action = ctx.get(agent_iface.e); + float headAngle = ctx.get(agent_iface.e).controlled ? action.classic.headAngle : 0.f; + + ViewField vf(pos, heading, viewRadius, viewAngle, headAngle); + + // broad phase: remove if not in view field + remove self + Entity objectsDynamicBuffer[consts::kMaxAgentCount - 1]; + CountT dynamicCount = visibleCandidatesDynamic(ctx, vf, other_agents, agent_iface.e, objectsDynamicBuffer); + Span objectsDynamic(objectsDynamicBuffer, dynamicCount); + + // narrow phase: raycast to get occlusion by other dynamic objects + if (ctx.data().params.removeOccludedAgents) { + dynamicCount = filterByOcclusionAll(ctx, vf, objectsDynamic); + } + // add observations to array partner_obs.obs based on filtered list + CountT arrIndex = 0; + for (CountT i = 0; i < dynamicCount; ++i) { + Entity other = objectsDynamicBuffer[i]; + // future optimization: k nearest maybe in case of many agents in view + if (arrIndex >= consts::kMaxAgentCount - 1) break; + const Position &other_position = ctx.get(other); const Velocity &other_velocity = ctx.get(other); const Rotation &other_rot = ctx.get(other); @@ -221,13 +487,8 @@ inline void collectPartnerObsSystem(Engine &ctx, float relative_speed = other_velocity.linear.length(); // Design decision: return the speed of the other agent directly Rotation relative_orientation = rot.inv() * other_rot; - float relative_heading = utils::quatToYaw(relative_orientation); - if(relative_pos.length() > ctx.data().params.observationRadius) - { - continue; - } partner_obs.obs[arrIndex++] = { .speed = relative_speed, .position = relative_pos, @@ -237,6 +498,8 @@ inline void collectPartnerObsSystem(Engine &ctx, .id = (float)ctx.get(ctx.get(other).e).id }; } + + // Zero out remaining entries while(arrIndex < consts::kMaxAgentCount - 1) { partner_obs.obs[arrIndex++] = PartnerObservation::zero(); } @@ -252,6 +515,25 @@ inline void collectMapObservationsSystem(Engine &ctx, auto &map_obs = ctx.get(agent_iface.e); + // User config (some of it not implemented yet, but assume it will be): + // viewRadius (float), viewConeHalfAngle (float), removeOccludedAgents (bool; False = no filtering), + + // Get agent's heading from rotation + float heading = utils::quatToYaw(rot); + float view_radius = ctx.data().params.observationRadius; + float view_angle = ctx.data().params.viewConeHalfAngle * 2.0f; + const Action &action = ctx.get(agent_iface.e); + float headAngle = ctx.get(agent_iface.e).controlled ? action.classic.headAngle : 0.f; + + ViewField vf(pos, heading, view_radius, view_angle, headAngle); + + // broad phase: remove if not in view field + remove self + Entity objectsStaticBuffer[consts::kMaxAgentMapObservationsCount]; + CountT staticCount = visibleCandidatesStatic(ctx, vf, objectsStaticBuffer); + + // Further filtering: narrow phase based on occlusion from dynamic objects + // But this would require removing the parallelism of the collectPartnerObsSystem and collectMapObservationsSystem + const auto alg = ctx.data().params.roadObservationAlgorithm; if (alg == FindRoadObservationsWith::KNearestEntitiesWithRadiusFiltering) { selectKNearestRoadEntities( @@ -262,9 +544,12 @@ inline void collectMapObservationsSystem(Engine &ctx, assert(alg == FindRoadObservationsWith::AllEntitiesWithRadiusFiltering); utils::ReferenceFrame referenceFrame(pos.xy(), rot); - CountT arrIndex = 0; CountT roadIdx = 0; - while(roadIdx < ctx.data().numRoads && arrIndex < consts::kMaxAgentMapObservationsCount) { - Entity road = ctx.data().roads[roadIdx++]; + CountT arrIndex = 0; + + for (CountT i = 0; i < staticCount; ++i) { + Entity road = objectsStaticBuffer[i]; + if (arrIndex >= consts::kMaxAgentMapObservationsCount) break; + auto roadPos = ctx.get(road); auto roadRot = ctx.get(road); @@ -274,9 +559,12 @@ inline void collectMapObservationsSystem(Engine &ctx, } map_obs.obs[arrIndex] = referenceFrame.observationOf( - roadPos, roadRot, ctx.get(road), ctx.get(road), static_cast(ctx.get(road).id), ctx.get(road)); + roadPos, roadRot, ctx.get(road), ctx.get(road), + static_cast(ctx.get(road).id), ctx.get(road)); arrIndex++; } + + // Zero out remaining entries while (arrIndex < consts::kMaxAgentMapObservationsCount) { map_obs.obs[arrIndex++] = MapObservation::zero(); } @@ -867,7 +1155,7 @@ void setupRestOfTasks(TaskGraphBuilder &builder, const Sim::Config &cfg, // Progress, // OtherAgents, // EntityType, - // CollisionDetectionEvent, + // CollisionDetectionEvent,f // AgentInterfaceEntity // >>({clear_tmp}); diff --git a/src/sim.hpp b/src/sim.hpp index bc8ad1f4d..b1084995f 100755 --- a/src/sim.hpp +++ b/src/sim.hpp @@ -42,7 +42,8 @@ enum class ExportID : uint32_t { MapName, ScenarioId, VBDTrajectory, - NumExports + TrafficLights, + NumExports // NumExports should always be the last entry in this enum }; // Stores values for the ObjectID component that links entities to @@ -81,26 +82,26 @@ struct Sim : public madrona::WorldBase { const Config &cfg); // Sim::setupTasks is called during initialization to build - // the system task graph that will be invoked by the + // the system task graph that will be invoked by the // Manager class (src/mgr.hpp) for each step. static void setupTasks(madrona::TaskGraphManager &taskgraph_mgr, const Config &cfg); - const std::pair collisionPairs[20] = { - {EntityType::Pedestrian, EntityType::RoadEdge}, - {EntityType::Pedestrian, EntityType::RoadLine}, - {EntityType::Pedestrian, EntityType::RoadLane}, - {EntityType::Pedestrian, EntityType::CrossWalk}, - {EntityType::Pedestrian, EntityType::SpeedBump}, - {EntityType::Cyclist, EntityType::RoadEdge}, - {EntityType::Cyclist, EntityType::RoadLine}, - {EntityType::Cyclist, EntityType::RoadLane}, - {EntityType::Cyclist, EntityType::CrossWalk}, - {EntityType::Cyclist, EntityType::SpeedBump}, - {EntityType::Vehicle, EntityType::CrossWalk}, - {EntityType::Vehicle, EntityType::SpeedBump}, - {EntityType::Vehicle, EntityType::RoadLine}, - {EntityType::Vehicle, EntityType::RoadLane}}; + const std::pair collisionPairs[20] = { + {EntityType::Pedestrian, EntityType::RoadEdge}, + {EntityType::Pedestrian, EntityType::RoadLine}, + {EntityType::Pedestrian, EntityType::RoadLane}, + {EntityType::Pedestrian, EntityType::CrossWalk}, + {EntityType::Pedestrian, EntityType::SpeedBump}, + {EntityType::Cyclist, EntityType::RoadEdge}, + {EntityType::Cyclist, EntityType::RoadLine}, + {EntityType::Cyclist, EntityType::RoadLane}, + {EntityType::Cyclist, EntityType::CrossWalk}, + {EntityType::Cyclist, EntityType::SpeedBump}, + {EntityType::Vehicle, EntityType::CrossWalk}, + {EntityType::Vehicle, EntityType::SpeedBump}, + {EntityType::Vehicle, EntityType::RoadLine}, + {EntityType::Vehicle, EntityType::RoadLane}}; // The constructor is called for each world during initialization. // Config is global across all worlds, while WorldInit (src/init.hpp) diff --git a/src/types.hpp b/src/types.hpp index a75d801ef..f18bf9683 100755 --- a/src/types.hpp +++ b/src/types.hpp @@ -193,6 +193,7 @@ namespace madrona_gpudrive float collisionState; float goalState; float id; + float steerAngle; static inline SelfObservation zero() { return SelfObservation{ @@ -201,11 +202,12 @@ namespace madrona_gpudrive .goal = {.position = {0, 0}}, .collisionState = 0, .goalState = 0, - .id = -1}; + .id = -1, + .steerAngle = 0}; } }; - const size_t SelfObservationExportSize = 9; // 1 + 3 + 2 + 1 + 1 + 1 + const size_t SelfObservationExportSize = 10; // 1 + 3 + 2 + 1 + 1 + 1 static_assert(sizeof(SelfObservation) == sizeof(float) * SelfObservationExportSize); @@ -364,15 +366,15 @@ namespace madrona_gpudrive struct VBDTrajectory { - // For each agent, store the full VBD trajectory (x, y, yaw, vx, vy) - // The tensor has shape [traj_length, 5] - float trajectories[consts::episodeLen][5]; + // For each agent, store the full VBD trajectory (x, y, yaw, vx, vy, valid) + // The tensor has shape [traj_length, 6] + float trajectories[consts::kTrajectoryLength][6]; static inline void zero(VBDTrajectory& vbd_traj) { - for (int i = 0; i < consts::episodeLen; i++) + for (int i = 0; i < consts::kTrajectoryLength; i++) { - for (int j = 0; j < 5; j++) + for (int j = 0; j < 6; j++) { vbd_traj.trajectories[i][j] = 0.0f; } @@ -380,7 +382,7 @@ namespace madrona_gpudrive } }; - const size_t VBDTrajectoryExportSize = consts::episodeLen * 5; + const size_t VBDTrajectoryExportSize = consts::kTrajectoryLength * 6; static_assert(sizeof(VBDTrajectory) == sizeof(float) * VBDTrajectoryExportSize); @@ -435,24 +437,60 @@ namespace madrona_gpudrive const size_t ScenarioIdExportSize = 32; static_assert(sizeof(ScenarioId) == sizeof(char32_t) * ScenarioIdExportSize); - //Metadata struct : using agent IDs. + enum class TLState : int32_t + { + Unknown = 0, + Stop = 1, + Caution = 2, + Go = 3 + }; + + struct TrafficLightState + { + // Lane ID for this traffic light + float laneId = 0; + + // Arrays of state data for each timestep + float state[consts::kTrajectoryLength] = {}; + float x [consts::kTrajectoryLength] = {}; + float y [consts::kTrajectoryLength] = {}; + float z [consts::kTrajectoryLength] = {}; + float timeIndex[consts::kTrajectoryLength] = {}; + // Number of valid states + float numStates = 0; + }; + + // 1 (lane_id) + 5 (state, x, y, z, timeIndex) + 1 (numStates) = 6 + const size_t TrafficLightsStateExportSize = 1 + (consts::kTrajectoryLength) * 5 + 1; + static_assert(sizeof(TrafficLightState) == sizeof(float) * TrafficLightsStateExportSize); + + struct TrafficLights + { + TrafficLightState trafficLights[consts::kMaxTrafficLightCount]; + }; + + const size_t TrafficLightsExportSize = consts::kMaxTrafficLightCount * TrafficLightsStateExportSize; + static_assert(sizeof(TrafficLights) == sizeof(float) * TrafficLightsExportSize); + struct MetaData { - int32_t isSdc; - int32_t isObjectOfInterest; - int32_t isTrackToPredict; - int32_t difficulty; + float isSdc; + float isObjectOfInterest; + float isTrackToPredict; + float difficulty; + float avgZ; static inline void zero(MetaData& metadata) { - metadata.isSdc = -1; - metadata.isObjectOfInterest = -1; - metadata.isTrackToPredict = -1; - metadata.difficulty = -1; + metadata.isSdc = -1.0f; + metadata.isObjectOfInterest = -1.0f; + metadata.isTrackToPredict = -1.0f; + metadata.difficulty = -1.0f; + metadata.avgZ = 0.0f; } }; - const size_t MetaDataExportSize = 4; - static_assert(sizeof(MetaData) == sizeof(int32_t) * MetaDataExportSize); + const size_t MetaDataExportSize = 5; + static_assert(sizeof(MetaData) == sizeof(int32_t) * (MetaDataExportSize - 1) + sizeof(float)); struct AgentInterface : public madrona::Archetype< Action, @@ -472,9 +510,7 @@ namespace madrona_gpudrive AgentID, MetaData, VBDTrajectory, - ControlledState // Drive Logic - > { }; diff --git a/test_scenario_ids.pkl b/test_scenario_ids.pkl new file mode 100644 index 000000000..9fae33556 Binary files /dev/null and b/test_scenario_ids.pkl differ diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 3e4fe6570..f48c6fe01 100755 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -1,36 +1,36 @@ -# Assuming you're in a sub-directory "tests" in your project directory +# # Assuming you're in a sub-directory "tests" in your project directory -set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}) -set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}) +# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}) +# set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}) -# Create the testJsons directory if it doesn't exist -file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/testJsons) +# # Create the testJsons directory if it doesn't exist +# file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/testJsons) -# Copy test.json to the testJsons directory -configure_file(${CMAKE_SOURCE_DIR}/tests/test.json ${CMAKE_CURRENT_BINARY_DIR}/testJsons/test.json COPYONLY) +# # Copy test.json to the testJsons directory +# configure_file(${CMAKE_SOURCE_DIR}/tests/test.json ${CMAKE_CURRENT_BINARY_DIR}/testJsons/test.json COPYONLY) -include_directories( - ${CMAKE_SOURCE_DIR}/src - ${CMAKE_SOURCE_DIR}/external/madrona -) +# include_directories( +# ${CMAKE_SOURCE_DIR}/src +# ${CMAKE_SOURCE_DIR}/external/madrona +# ) -# Add your test file(s) to the add_executable command -add_executable(my_tests - bicyclemodel.cpp - test_utils.cpp - CollisionDetectionTests.cpp - observationTest.cpp - EgocentricRoadObservationTests.cpp -) +# # Add your test file(s) to the add_executable command +# add_executable(my_tests +# bicyclemodel.cpp +# test_utils.cpp +# CollisionDetectionTests.cpp +# observationTest.cpp +# EgocentricRoadObservationTests.cpp +# ) -# Link against required libraries. Ensure that the paths and names are correct. -target_link_libraries(my_tests - gtest_main - gpudrive_mgr - nlohmann_json::nlohmann_json - madrona_libcxx -) +# # Link against required libraries. Ensure that the paths and names are correct. +# target_link_libraries(my_tests +# gtest_main +# gpudrive_mgr +# nlohmann_json::nlohmann_json +# madrona_libcxx +# ) -# Include GoogleTest module functions and discover tests in the executable -include(GoogleTest) -gtest_discover_tests(my_tests) +# # Include GoogleTest module functions and discover tests in the executable +# include(GoogleTest) +# gtest_discover_tests(my_tests)