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WIP Optional ego-size inflation in control_sdc_only obs #475

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WIP Optional ego-size inflation in control_sdc_only obs #475

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3 changes: 3 additions & 0 deletions pufferlib/config/ocean/drive.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -136,6 +136,9 @@ obs_norm_goal_offset_m = 120.0
obs_norm_xy_offset_m = 120.0
obs_norm_veh_length_m = 15.0
obs_norm_veh_width_m = 10.0
# SDC perceives its own size inflated by this fraction in control_sdc_only obs
# (0 = off, 0.05 = +5%). Observation-only; sim dynamics/collision unchanged.
ego_size_inflation = 0.0
Comment on lines +139 to +141
obs_norm_road_seg_length_m = 10.0
obs_norm_road_seg_width_m = 5.0
; --- Observation ranges (meters, ego frame) ---
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1 change: 1 addition & 0 deletions pufferlib/ocean/drive/binding.c
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Expand Up @@ -2006,6 +2006,7 @@ static int my_init(Env *env, PyObject *args, PyObject *kwargs) {
env->obs_norm_xy_offset_m = (float) unpack(kwargs, "obs_norm_xy_offset_m");
env->obs_norm_veh_length_m = (float) unpack(kwargs, "obs_norm_veh_length_m");
env->obs_norm_veh_width_m = (float) unpack(kwargs, "obs_norm_veh_width_m");
env->ego_size_inflation = (float) unpack(kwargs, "ego_size_inflation");
env->obs_norm_road_seg_length_m = (float) unpack(kwargs, "obs_norm_road_seg_length_m");
env->obs_norm_road_seg_width_m = (float) unpack(kwargs, "obs_norm_road_seg_width_m");
env->obs_range_traffic_control_m = (float) unpack(kwargs, "obs_range_traffic_control_m");
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17 changes: 15 additions & 2 deletions pufferlib/ocean/drive/drive.h
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Expand Up @@ -455,6 +455,10 @@ struct Drive {
float obs_norm_xy_offset_m;
float obs_norm_veh_length_m;
float obs_norm_veh_width_m;
// Fraction by which the SDC's own perceived length/width are inflated in its
// ego observation (control_sdc_only only). 0 = off; 0.05 = perceive +5%.
// Observation-only: actual sim dimensions (dynamics, collision) are unchanged.
float ego_size_inflation;
float obs_norm_road_seg_length_m;
float obs_norm_road_seg_width_m;
float obs_range_traffic_control_m;
Expand Down Expand Up @@ -4587,9 +4591,18 @@ static void compute_rewards(Drive *env, int i) {
}

static int write_ego_obs(Drive *env, Agent *ego, float *obs, int obs_idx) {
// Optionally inflate the SDC's perceived size in its own observation only
// (control_sdc_only). Sim dimensions used for dynamics/collision are untouched.
float perceived_width = ego->sim_width;
float perceived_length = ego->sim_length;
if (env->ego_size_inflation > 0.0f && env->control_mode == CONTROL_SDC_ONLY) {
perceived_width *= (1.0f + env->ego_size_inflation);
perceived_length *= (1.0f + env->ego_size_inflation);
}
Comment on lines +4598 to +4601

obs[obs_idx++] = ego->sim_speed_signed / MAX_SPEED;
obs[obs_idx++] = ego->sim_width / env->obs_norm_veh_width_m;
obs[obs_idx++] = ego->sim_length / env->obs_norm_veh_length_m;
obs[obs_idx++] = perceived_width / env->obs_norm_veh_width_m;
obs[obs_idx++] = perceived_length / env->obs_norm_veh_length_m;
obs[obs_idx++] = ego->steering_angle / STEERING_LIMIT;
obs[obs_idx++] = ego->a_long / fabsf(ACCEL_LONG_LIMIT[0]);
obs[obs_idx++] = ego->a_lat / ACCEL_LAT_LIMIT[1];
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3 changes: 3 additions & 0 deletions pufferlib/ocean/drive/drive.py
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Expand Up @@ -96,6 +96,7 @@ def __init__(
obs_norm_xy_offset_m=100.0,
obs_norm_veh_length_m=15.0,
obs_norm_veh_width_m=10.0,
ego_size_inflation=0.0,
obs_norm_road_seg_length_m=5.0,
obs_norm_road_seg_width_m=5.0,
obs_range_traffic_control_m=100.0,
Expand Down Expand Up @@ -190,6 +191,7 @@ def __init__(
self.obs_norm_xy_offset_m = float(obs_norm_xy_offset_m)
self.obs_norm_veh_length_m = float(obs_norm_veh_length_m)
self.obs_norm_veh_width_m = float(obs_norm_veh_width_m)
self.ego_size_inflation = float(ego_size_inflation)
self.obs_norm_road_seg_length_m = float(obs_norm_road_seg_length_m)
self.obs_norm_road_seg_width_m = float(obs_norm_road_seg_width_m)
self.obs_range_traffic_control_m = float(obs_range_traffic_control_m)
Expand Down Expand Up @@ -462,6 +464,7 @@ def _env_init_kwargs(self, map_file, max_agents):
"obs_norm_xy_offset_m": self.obs_norm_xy_offset_m,
"obs_norm_veh_length_m": self.obs_norm_veh_length_m,
"obs_norm_veh_width_m": self.obs_norm_veh_width_m,
"ego_size_inflation": self.ego_size_inflation,
"obs_norm_road_seg_length_m": self.obs_norm_road_seg_length_m,
"obs_norm_road_seg_width_m": self.obs_norm_road_seg_width_m,
"obs_range_traffic_control_m": self.obs_range_traffic_control_m,
Expand Down
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