add partner seconds_stopped observation feature#471
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…FEATURES 8->9) Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Pull request overview
Adds a new per-partner observation feature to expose “how long this partner agent has been stopped” (normalized and capped), aligning partner observations with the existing ego seconds_stopped signal.
Changes:
- Bump
PARTNER_FEATURESfrom 8 → 9 to reflect the expanded partner observation vector. - Extend
write_partner_obsto appendfminf(1.0f, other->seconds_stopped / MAX_STOPPED_SECONDS)as the 9th partner feature.
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The interactive obs viewer hardcoded the partner block stride as 8, so with PARTNER_FEATURES=9 it mis-parsed partners and shifted every subsequent obs block (lanes/boundaries/traffic). Add partner_features to the replay header and use H.partner_features (mirroring how target_features is already handled). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Yvonne511
approved these changes
Jun 2, 2026
vcharraut
requested changes
Jun 2, 2026
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Update the notebooks with the new partners features
The smoke golden is only bit-reproducible inside the QEMU/Haswell smoke image, so it cannot be regenerated on an arbitrary dev box. This adds a push-triggered (marker-gated) CI job that builds the image, runs the train smoke test with SMOKE_UPDATE_GOLDEN=1, uploads the result as an artifact, and commits it back to the branch. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
- Regenerate smoke golden in the pinned QEMU image (via CI workflow); it now reflects the 9th partner feature plus the obs/reward_components metrics the current pipeline logs. - Mark partner seconds_stopped obs as a temporary hack in drive.h. - 05_inference.ipynb: add seconds_stopped to partner_labels, drive the per-feature loop off len(partner_labels) instead of a literal 8, and fix stale shape comments + the markdown obs spec. Also corrects a pre-existing length/width label swap to match the C write order. - Workflow: git add -f the golden (tests/smoke_tests/data is gitignored). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
The partner heatmap sets xticks to range(env.partner_features) (now 9) but xticklabels to partner_labels; without the 9th label the ticks/labels mismatch. Append seconds_stopped to match. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Removed comments regarding the workflow trigger and its usage.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
eugenevinitsky
changed the title
seconds_stopped was incremented inside compute_rewards, which only runs for policy-controlled (active) agents. In control_sdc_only mode the ego is the sole active agent, so every other car's seconds_stopped stayed pinned at 0 and the partner observation was dead in that mode. Move the update into a dedicated loop over all agents (active + static/ replayed) right after the move step, mirroring the active-then-static index resolution used when gathering partner observations. Verified in control_sdc_only replay: partner seconds_stopped now populates (was 0). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
The regen workflow's json.dump writes no trailing newline, so the bot-committed golden trips pre-commit's end-of-file-fixer. Add the newline to the committed golden and make the workflow append one itself. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Refactor agent index resolution for stopped-duration updates.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
vcharraut
approved these changes
Jun 3, 2026
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WIP. Adds a per-partner "how long has this agent been stopped" signal to the
partner observation block.