From e913223d370695343eeb06d7c2bba7014015e887 Mon Sep 17 00:00:00 2001
From: Daphne Cornelisse <cor.daphne@gmail.com>
Date: Mon, 28 Apr 2025 11:16:31 -0400
Subject: [PATCH 1/6] Improve agent pov plotting utils

---
 examples/experimental/notebooks/debug.ipynb | 25343 +++++++++++++++++-
 gpudrive/env/env_torch.py                   |     8 +-
 gpudrive/visualize/core.py                  |    31 +-
 gpudrive/visualize/utils.py                 |    24 +-
 4 files changed, 25130 insertions(+), 276 deletions(-)

diff --git a/examples/experimental/notebooks/debug.ipynb b/examples/experimental/notebooks/debug.ipynb
index f4fd484c2..e0939d261 100644
--- a/examples/experimental/notebooks/debug.ipynb
+++ b/examples/experimental/notebooks/debug.ipynb
@@ -19,14 +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": "markdown",
+   "cell_type": "code",
+   "execution_count": 2,
    "metadata": {},
+   "outputs": [],
    "source": [
-    "### Make environment"
+    "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"
    ]
   },
   {
@@ -34,22 +94,51 @@
    "execution_count": null,
    "metadata": {},
    "outputs": [],
+   "source": []
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Make environment"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "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=\"guided_autonomy\",\n",
-    "    add_reference_path=True,\n",
+    "    guidance=True,\n",
+    "    add_reference_heading=True,\n",
+    "    add_reference_speed=True,\n",
+    "    add_reference_pos_xy=True,\n",
+    "    init_mode=\"womd_tracks_to_predict\"\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 +149,25039 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 4,
    "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,  9, 10, 11, 12, 13, 14, 15, 16, 17,\n",
+      "        18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35,\n",
+      "        36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51])\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": 5,
    "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": [
+    "### Display agent POV\n"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 6,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "torch.Size([52, 91, 5])"
+      ]
+     },
+     "execution_count": 6,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
    "source": [
-    "obs = env.reset(control_mask)\n",
+    "env.guidance_obs.shape\n",
     "\n",
-    "expert_actions, _, _, _ = env.get_expert_actions()\n",
     "\n",
-    "for t in range(5):\n",
-    "    env.step_dynamics(expert_actions[:, :, t, :])\n",
-    "    obs = env.get_obs(control_mask)"
+    "#env.guidance_obs[0, :, :]"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 14,
+   "metadata": {},
+   "outputs": [
+    {
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+       "   <cc:Work>\n",
+       "    <dc:type rdf:resource=\"http://purl.org/dc/dcmitype/StillImage\"/>\n",
+       "    <dc:date>2025-04-28T11:14:33.507738</dc:date>\n",
+       "    <dc:format>image/svg+xml</dc:format>\n",
+       "    <dc:creator>\n",
+       "     <cc:Agent>\n",
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+    "for center_agent_idx in [0, 3, 12]:\n",
+    "    plot_agent_guidance_info(env.guidance_obs, center_agent_idx)"
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+  {
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+    "center_agent_idx=3\n",
+    "\n",
+    "traj_masked = env.reference_path[center_agent_idx, :, :]\n",
+    "\n",
+    "agent_obs_masked = env.vis.plot_agent_observation(\n",
+    "    env_idx=env_idx,\n",
+    "    agent_idx=center_agent_idx,\n",
+    "    figsize=(8, 8),\n",
+    "    trajectory=traj_masked,\n",
+    ")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 15,
+   "metadata": {},
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+      "text/plain": [
+       "<Figure size 800x800 with 1 Axes>"
+      ]
+     },
+     "metadata": {
+      "needs_background": "light"
+     },
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "center_agent_idx=12\n",
+    "\n",
+    "traj_masked = env.reference_path[center_agent_idx, :, :]\n",
+    "\n",
+    "agent_obs_masked = env.vis.plot_agent_observation(\n",
+    "    env_idx=env_idx,\n",
+    "    agent_idx=center_agent_idx,\n",
+    "    figsize=(8, 8),\n",
+    "    trajectory=traj_masked,\n",
+    ")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Simulator state centered at that agent"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 13,
+   "metadata": {},
+   "outputs": [
+    {
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+       " </g>\n",
+       " <defs>\n",
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+       " <defs>\n",
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+       "  </pattern>\n",
+       " </defs>\n",
+       "</svg>\n"
+      ],
+      "text/plain": [
+       "<Figure size 1000x1000 with 1 Axes>"
+      ]
+     },
+     "execution_count": 13,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "sim_states = env.vis.plot_simulator_state(\n",
+    "    env_indices=env_idx,\n",
+    "    zoom_radius=60,\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 +25251,6 @@
     "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",
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-       "        [-1.6712e+00, -1.1899e-01,  0.0000e+00],\n",
-       "        [-1.1435e+00, -2.1718e-01,  0.0000e+00],\n",
-       "        [-5.8799e-01, -3.4425e-01,  0.0000e+00],\n",
-       "        [-4.9307e-02, -4.9633e-01,  0.0000e+00],\n",
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-       "        [ 5.6316e+01, -3.2302e+01,  0.0000e+00],\n",
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-       "        [ 5.8433e+01, -3.3481e+01,  0.0000e+00],\n",
-       "        [ 5.9471e+01, -3.4043e+01,  0.0000e+00],\n",
-       "        [ 6.0508e+01, -3.4615e+01,  0.0000e+00],\n",
-       "        [ 6.1611e+01, -3.5201e+01,  0.0000e+00],\n",
-       "        [ 6.2707e+01, -3.5811e+01,  0.0000e+00],\n",
-       "        [ 6.3779e+01, -3.6378e+01,  0.0000e+00],\n",
-       "        [ 6.4890e+01, -3.7002e+01,  0.0000e+00],\n",
-       "        [ 6.5991e+01, -3.7572e+01,  0.0000e+00],\n",
-       "        [-2.3981e+01,  1.1701e+01,  0.0000e+00],\n",
-       "        [-2.3981e+01,  1.1701e+01,  0.0000e+00],\n",
-       "        [-2.3981e+01,  1.1701e+01,  0.0000e+00],\n",
-       "        [-2.3981e+01,  1.1701e+01,  0.0000e+00]])"
-      ]
-     },
-     "execution_count": 17,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
-   "source": [
-    "traj_masked"
-   ]
-  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -357,119 +25317,6 @@
    "metadata": {},
    "source": []
   },
-  {
-   "cell_type": "code",
-   "execution_count": 34,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "tensor([[    -4.6843,     -0.0000],\n",
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-       "        [    -0.0000,     -0.0000],\n",
-       "        [    -0.0000,     -0.0000],\n",
-       "        [    -0.0000,     -0.0000],\n",
-       "        [    -0.0000,     -0.0000],\n",
-       "        [    -0.0000,     -0.0000],\n",
-       "        [    -0.0000,     -0.0000],\n",
-       "        [    -0.0000,     -0.0000],\n",
-       "        [    -0.0000,     -0.0000],\n",
-       "        [    -0.0000,     -0.0000],\n",
-       "        [    -0.0000,     -0.0000],\n",
-       "        [    -0.0000,     -0.0000],\n",
-       "        [    -0.0000,     -0.0000],\n",
-       "        [    -0.0000,     -0.0000],\n",
-       "        [    -0.0000,     -0.0000],\n",
-       "        [    -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/env/env_torch.py b/gpudrive/env/env_torch.py
index 60cec0fef..fbd4fbc32 100755
--- a/gpudrive/env/env_torch.py
+++ b/gpudrive/env/env_torch.py
@@ -1032,7 +1032,9 @@ def _get_guidance(self, mask=None) -> torch.Tensor:
                 ] = constants.INVALID_ID
                 guidance.append(reference_headings)
 
-        return torch.cat(guidance, dim=-1).flatten(start_dim=1)
+        self.guidance_obs = torch.cat(guidance, dim=-1)
+
+        return self.guidance_obs.flatten(start_dim=1)
 
     def _get_ego_state(self, mask=None) -> torch.Tensor:
         """Get the ego state."""
@@ -1451,7 +1453,7 @@ def get_obs(self, mask=None):
         ego_states = self._get_ego_state(mask)
         partner_observations = self._get_partner_obs(mask)
         road_map_observations = self._get_road_map_obs(mask)
-        guidance = self._get_guidance(mask)
+        guidance_obs = self._get_guidance(mask)
 
         if self.config.use_vbd and self.config.vbd_in_obs:
             # Add ego-centric VBD trajectories
@@ -1472,7 +1474,7 @@ def get_obs(self, mask=None):
                     ego_states,
                     partner_observations,
                     road_map_observations,
-                    guidance,
+                    guidance_obs,
                 ),
                 dim=-1,
             )
diff --git a/gpudrive/visualize/core.py b/gpudrive/visualize/core.py
index c51a8677d..a50956341 100644
--- a/gpudrive/visualize/core.py
+++ b/gpudrive/visualize/core.py
@@ -53,7 +53,7 @@ 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
@@ -1646,6 +1646,9 @@ def plot_agent_observation(
             device="cpu",
         )
 
+        marker_scale = max(figsize) / 15
+        line_width_scale = max(figsize) / 15
+
         # Check if agent index is valid, otherwise return None
         if observation_ego.id[env_idx, agent_idx] == -1:
             return None, None
@@ -1680,7 +1683,7 @@ def plot_agent_observation(
                     x_points,
                     y_points,
                     c=[ROAD_GRAPH_COLORS[road_type]],
-                    s=8,
+                    s=8 * marker_scale,
                     label=type_name,
                 )
 
@@ -1707,28 +1710,28 @@ 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
@@ -1759,6 +1762,7 @@ def plot_agent_observation(
                 ].squeeze(),
                 color=REL_OBS_OBJ_COLORS["other_agents"],
                 alpha=1.0,
+                line_width_scale=line_width_scale,
             )
 
         if observation_ego is not None:
@@ -1847,17 +1851,16 @@ def plot_agent_observation(
             va="top",
         )
 
-        attn_reference_idx = torch.where(trajectory[:, 2] == 1)[0]
-
         if trajectory is not None and len(trajectory) > 0:
+            attn_reference_idx = torch.where(trajectory[:, 2] == 1)[0]
             # Plot the trajectory as a line
             ax.scatter(
                 trajectory[:, 0],  # x coordinates
                 trajectory[:, 1],  # y coordinates
                 color="g",
-                linewidth=0.3,
+                linewidth=0.2 * line_width_scale,
                 marker="o",
-                alpha=0.2,
+                alpha=0.1,
                 zorder=0,
             )
             # Add a purple star above the reference position
@@ -1875,9 +1878,9 @@ def plot_agent_observation(
                     zorder=10,
                 )
 
-        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))
-        ax.set_xticks([])
-        ax.set_yticks([])
+        # 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))
+        # ax.set_xticks([])
+        # ax.set_yticks([])
 
         return fig
diff --git a/gpudrive/visualize/utils.py b/gpudrive/visualize/utils.py
index 094c1d030..5fa4a8566 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
 
@@ -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
+            )

From af159aaf9cb96f0d9f669780b990583ea5c11050 Mon Sep 17 00:00:00 2001
From: Daphne Cornelisse <cor.daphne@gmail.com>
Date: Mon, 28 Apr 2025 11:34:38 -0400
Subject: [PATCH 2/6] Delete old unused function

---
 gpudrive/visualize/core.py | 46 --------------------------------------
 1 file changed, 46 deletions(-)

diff --git a/gpudrive/visualize/core.py b/gpudrive/visualize/core.py
index a50956341..e3179b551 100644
--- a/gpudrive/visualize/core.py
+++ b/gpudrive/visualize/core.py
@@ -1565,52 +1565,6 @@ 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,

From 0a080e0ce3f05c283820637f662cf9021b05ca76 Mon Sep 17 00:00:00 2001
From: Daphne Cornelisse <cor.daphne@gmail.com>
Date: Mon, 28 Apr 2025 16:07:39 -0400
Subject: [PATCH 3/6] Fix

---
 baselines/ppo/config/ppo_guided_autonomy.yaml | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/baselines/ppo/config/ppo_guided_autonomy.yaml b/baselines/ppo/config/ppo_guided_autonomy.yaml
index e3395d25d..f0c4c37d0 100644
--- a/baselines/ppo/config/ppo_guided_autonomy.yaml
+++ b/baselines/ppo/config/ppo_guided_autonomy.yaml
@@ -2,14 +2,14 @@ mode: "train"
 use_rnn: false
 eval_model_path: null
 baseline: false
-data_dir: data/processed/wosac/validation_json_100
+data_dir: data/processed/wosac/validation_json_3
 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
-  k_unique_scenes: 100 # Number of unique scenes to sample from
+  k_unique_scenes: 3 # 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
@@ -27,8 +27,8 @@ environment: # Overrides default environment configs (see pygpudrive/env/config.
 
   # Reward function
   reward_type: "guided_autonomy"
-  collision_weight: -0.2
-  off_road_weight: -0.2
+  collision_weight: -0.0
+  off_road_weight: -0.0
   guidance_pos_xy_weight: 0.01
   guidance_speed_weight: 0.01
   guidance_heading_weight: 0.01
@@ -48,8 +48,6 @@ environment: # Overrides default environment configs (see pygpudrive/env/config.
   max_accel_value: 4.0
   init_steps: 0 # Warmup steps
   goal_achieved_weight: 0.0
-  collision_weight: -0.2
-  off_road_weight: -0.2
 
 wandb:
   entity: ""

From 3cefc5423cd9425328f0944ca6fd185688ba5b9d Mon Sep 17 00:00:00 2001
From: Daphne Cornelisse <cor.daphne@gmail.com>
Date: Mon, 28 Apr 2025 16:09:12 -0400
Subject: [PATCH 4/6] Add lidar obs option to plot agent observation

---
 examples/eval/run_wosac_eval.py             |    11 +-
 examples/experimental/notebooks/debug.ipynb | 35580 +++++++++++-------
 gpudrive/datatypes/observation.py           |     9 +-
 gpudrive/env/env_torch.py                   |     4 +
 gpudrive/visualize/color.py                 |     1 +
 gpudrive/visualize/core.py                  |   112 +-
 6 files changed, 21526 insertions(+), 14191 deletions(-)

diff --git a/examples/eval/run_wosac_eval.py b/examples/eval/run_wosac_eval.py
index a939cc8aa..05cfedc5b 100644
--- a/examples/eval/run_wosac_eval.py
+++ b/examples/eval/run_wosac_eval.py
@@ -214,16 +214,16 @@ def rollout(
 
     # Settings
     MAX_AGENTS = 64
-    NUM_ENVS = 3
+    NUM_ENVS = 20
     DEVICE = "cuda"  # where to run the env rollouts
     NUM_ROLLOUTS_PER_BATCH = 1
-    NUM_DATA_BATCHES = 2
+    NUM_DATA_BATCHES = 1
     INIT_STEPS = 10
     DATASET_SIZE = 100
     RENDER = True
 
-    DATA_JSON = "data/processed/wosac/validation_json_3"
-    DATA_TFRECORD = "data/processed/wosac/validation_tfrecord_3"
+    DATA_JSON = "data/processed/wosac/validation_json_100"
+    DATA_TFRECORD = "data/processed/wosac/validation_tfrecord_100"
 
     # Create data loader
     val_loader = SceneDataLoader(
@@ -238,7 +238,8 @@ def rollout(
     # Load agent
     agent = load_agent(
         # path_to_cpt="checkpoints/model_guidance_log_replay__S_1__04_26_09_02_20_677_000833.pt",
-        path_to_cpt="checkpoints/model_guidance_log_replay__S_3__04_27_13_13_33_780_013762.pt",
+        # path_to_cpt="checkpoints/model_guidance_log_replay__S_3__04_27_13_13_33_780_013762.pt",
+        path_to_cpt="checkpoints/model_guidance_log_replay__S_100__04_27_13_56_08_309_003600.pt"
     ).to(DEVICE)
 
     # Override default environment settings to match those the agent was trained with
diff --git a/examples/experimental/notebooks/debug.ipynb b/examples/experimental/notebooks/debug.ipynb
index e0939d261..9e00a48e0 100644
--- a/examples/experimental/notebooks/debug.ipynb
+++ b/examples/experimental/notebooks/debug.ipynb
@@ -199,36 +199,13 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "### Display agent POV\n"
+    "### Show agent guidance information \n"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": 6,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "torch.Size([52, 91, 5])"
-      ]
-     },
-     "execution_count": 6,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
-   "source": [
-    "env.guidance_obs.shape\n",
-    "\n",
-    "\n",
-    "#env.guidance_obs[0, :, :]"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 14,
-   "metadata": {},
    "outputs": [
     {
      "data": {
@@ -241,7 +218,7 @@
        "  <rdf:RDF xmlns:dc=\"http://purl.org/dc/elements/1.1/\" xmlns:cc=\"http://creativecommons.org/ns#\" xmlns:rdf=\"http://www.w3.org/1999/02/22-rdf-syntax-ns#\">\n",
        "   <cc:Work>\n",
        "    <dc:type rdf:resource=\"http://purl.org/dc/dcmitype/StillImage\"/>\n",
-       "    <dc:date>2025-04-28T11:14:33.507738</dc:date>\n",
+       "    <dc:date>2025-04-28T13:02:40.397071</dc:date>\n",
        "    <dc:format>image/svg+xml</dc:format>\n",
        "    <dc:creator>\n",
        "     <cc:Agent>\n",
@@ -279,16 +256,16 @@
        "     <g id=\"line2d_1\">\n",
        "      <path d=\"M 71.744811 186.48 \n",
        "L 71.744811 35.28 \n",
-       "\" clip-path=\"url(#p945709463d)\" style=\"fill: none; stroke: #cccccc; stroke-opacity: 0.3; stroke-width: 0.8; stroke-linecap: round\"/>\n",
+       "\" clip-path=\"url(#p8e1a06f434)\" style=\"fill: none; stroke: #cccccc; stroke-opacity: 0.3; stroke-width: 0.8; stroke-linecap: round\"/>\n",
        "     </g>\n",
        "     <g id=\"line2d_2\">\n",
        "      <defs>\n",
-       "       <path id=\"m9c9b32b7c5\" d=\"M 0 0 \n",
+       "       <path id=\"md97e539825\" d=\"M 0 0 \n",
        "L 0 3.5 \n",
        "\" style=\"stroke: #262626; stroke-width: 0.8\"/>\n",
        "      </defs>\n",
        "      <g>\n",
-       "       <use xlink:href=\"#m9c9b32b7c5\" x=\"71.744811\" y=\"186.48\" style=\"fill: #262626; stroke: #262626; stroke-width: 0.8\"/>\n",
+       "       <use xlink:href=\"#md97e539825\" x=\"71.744811\" y=\"186.48\" style=\"fill: #262626; stroke: #262626; stroke-width: 0.8\"/>\n",
        "      </g>\n",
        "     </g>\n",
        "     <g id=\"text_1\">\n",
@@ -325,11 +302,11 @@
        "     <g id=\"line2d_3\">\n",
        "      <path d=\"M 111.193969 186.48 \n",
        "L 111.193969 35.28 \n",
-       "\" clip-path=\"url(#p945709463d)\" style=\"fill: none; stroke: #cccccc; stroke-opacity: 0.3; stroke-width: 0.8; stroke-linecap: round\"/>\n",
+       "\" clip-path=\"url(#p8e1a06f434)\" style=\"fill: none; stroke: #cccccc; stroke-opacity: 0.3; stroke-width: 0.8; stroke-linecap: round\"/>\n",
        "     </g>\n",
        "     <g id=\"line2d_4\">\n",
        "      <g>\n",
-       "       <use xlink:href=\"#m9c9b32b7c5\" x=\"111.193969\" y=\"186.48\" style=\"fill: #262626; stroke: #262626; stroke-width: 0.8\"/>\n",
+       "       <use xlink:href=\"#md97e539825\" x=\"111.193969\" y=\"186.48\" style=\"fill: #262626; stroke: #262626; stroke-width: 0.8\"/>\n",
        "      </g>\n",
        "     </g>\n",
        "     <g id=\"text_2\">\n",
@@ -370,11 +347,11 @@
        "     <g id=\"line2d_5\">\n",
        "      <path d=\"M 150.643127 186.48 \n",
        "L 150.643127 35.28 \n",
-       "\" clip-path=\"url(#p945709463d)\" style=\"fill: none; stroke: #cccccc; stroke-opacity: 0.3; stroke-width: 0.8; stroke-linecap: round\"/>\n",
+       "\" clip-path=\"url(#p8e1a06f434)\" style=\"fill: none; stroke: #cccccc; stroke-opacity: 0.3; stroke-width: 0.8; stroke-linecap: round\"/>\n",
        "     </g>\n",
        "     <g id=\"line2d_6\">\n",
        "      <g>\n",
-       "       <use xlink:href=\"#m9c9b32b7c5\" x=\"150.643127\" y=\"186.48\" style=\"fill: #262626; stroke: #262626; stroke-width: 0.8\"/>\n",
+       "       <use xlink:href=\"#md97e539825\" x=\"150.643127\" y=\"186.48\" style=\"fill: #262626; stroke: #262626; stroke-width: 0.8\"/>\n",
        "      </g>\n",
        "     </g>\n",
        "     <g id=\"text_3\">\n",
@@ -410,11 +387,11 @@
        "     <g id=\"line2d_7\">\n",
        "      <path d=\"M 190.092285 186.48 \n",
        "L 190.092285 35.28 \n",
-       "\" clip-path=\"url(#p945709463d)\" style=\"fill: none; stroke: #cccccc; stroke-opacity: 0.3; stroke-width: 0.8; stroke-linecap: round\"/>\n",
+       "\" clip-path=\"url(#p8e1a06f434)\" style=\"fill: none; stroke: #cccccc; stroke-opacity: 0.3; stroke-width: 0.8; stroke-linecap: round\"/>\n",
        "     </g>\n",
        "     <g id=\"line2d_8\">\n",
        "      <g>\n",
-       "       <use xlink:href=\"#m9c9b32b7c5\" x=\"190.092285\" y=\"186.48\" style=\"fill: #262626; stroke: #262626; stroke-width: 0.8\"/>\n",
+       "       <use xlink:href=\"#md97e539825\" x=\"190.092285\" y=\"186.48\" style=\"fill: #262626; stroke: #262626; stroke-width: 0.8\"/>\n",
        "      </g>\n",
        "     </g>\n",
        "     <g id=\"text_4\">\n",
@@ -461,11 +438,11 @@
        "     <g id=\"line2d_9\">\n",
        "      <path d=\"M 229.541444 186.48 \n",
        "L 229.541444 35.28 \n",
-       "\" clip-path=\"url(#p945709463d)\" style=\"fill: none; stroke: #cccccc; stroke-opacity: 0.3; stroke-width: 0.8; stroke-linecap: round\"/>\n",
+       "\" clip-path=\"url(#p8e1a06f434)\" style=\"fill: none; stroke: #cccccc; stroke-opacity: 0.3; stroke-width: 0.8; stroke-linecap: round\"/>\n",
        "     </g>\n",
        "     <g id=\"line2d_10\">\n",
        "      <g>\n",
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     "    plot_agent_guidance_info(env.guidance_obs, center_agent_idx)"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Show corresponding full agent views"
+   ]
+  },
   {
    "cell_type": "code",
-   "execution_count": 12,
+   "execution_count": 7,
    "metadata": {},
    "outputs": [
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+    "center_agent_idx=3\n",
+    "\n",
+    "traj_masked = env.reference_path[center_agent_idx, :, :]\n",
+    "\n",
+    "agent_obs_masked = env.vis.plot_agent_observation(\n",
+    "    env_idx=env_idx,\n",
+    "    agent_idx=center_agent_idx,\n",
+    "    figsize=(8, 8),\n",
+    "    trajectory=traj_masked,\n",
+    ")"
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+   "execution_count": 10,
+   "metadata": {},
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-    "\n",
-    "traj_masked = env.reference_path[center_agent_idx, :, :]\n",
-    "\n",
-    "agent_obs_masked = env.vis.plot_agent_observation(\n",
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        "   </g>\n",
        "  </g>\n",
        " </g>\n",
        " <defs>\n",
-       "  <clipPath id=\"p69a18e5220\">\n",
+       "  <clipPath id=\"p7a3dae7787\">\n",
        "   <rect x=\"7.2\" y=\"7.2\" width=\"608\" height=\"608\"/>\n",
        "  </clipPath>\n",
        " </defs>\n",
        " <defs>\n",
-       "  <pattern id=\"h7b0860db2c\" patternUnits=\"userSpaceOnUse\" x=\"0\" y=\"0\" width=\"72\" height=\"72\">\n",
+       "  <pattern id=\"h038a706602\" patternUnits=\"userSpaceOnUse\" x=\"0\" y=\"0\" width=\"72\" height=\"72\">\n",
        "   <rect x=\"0\" y=\"0\" width=\"73\" height=\"73\" fill=\"none\"/>\n",
        "   <path d=\"M -36 36 \n",
        "L 36 -36 \n",
@@ -25115,7 +32425,7 @@
        "L 108 36 \n",
        "\" style=\"fill: #748b97; stroke: #748b97; stroke-width: 1.0; stroke-linecap: butt; stroke-linejoin: miter; stroke-opacity: 0.4\"/>\n",
        "  </pattern>\n",
-       "  <pattern id=\"h9456f20f2f\" patternUnits=\"userSpaceOnUse\" x=\"0\" y=\"0\" width=\"72\" height=\"72\">\n",
+       "  <pattern id=\"h230f7f3b6c\" patternUnits=\"userSpaceOnUse\" x=\"0\" y=\"0\" width=\"72\" height=\"72\">\n",
        "   <rect x=\"0\" y=\"0\" width=\"73\" height=\"73\" fill=\"#fac205\"/>\n",
        "   <path d=\"M -36 36 \n",
        "L 36 -36 \n",
@@ -25152,7 +32462,7 @@
        "<Figure size 1000x1000 with 1 Axes>"
       ]
      },
-     "execution_count": 13,
+     "execution_count": 9,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -25160,7 +32470,7 @@
    "source": [
     "sim_states = env.vis.plot_simulator_state(\n",
     "    env_indices=env_idx,\n",
-    "    zoom_radius=60,\n",
+    "    zoom_radius=100,\n",
     "    plot_guidance_pos_xy=True,\n",
     "    center_agent_indices=[center_agent_idx],\n",
     ")\n",
diff --git a/gpudrive/datatypes/observation.py b/gpudrive/datatypes/observation.py
index 8f4208307..e6b98b9e4 100644
--- a/gpudrive/datatypes/observation.py
+++ b/gpudrive/datatypes/observation.py
@@ -290,7 +290,7 @@ 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 +316,14 @@ 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
 
 
diff --git a/gpudrive/env/env_torch.py b/gpudrive/env/env_torch.py
index fbd4fbc32..3b3a520de 100755
--- a/gpudrive/env/env_torch.py
+++ b/gpudrive/env/env_torch.py
@@ -1706,6 +1706,10 @@ def get_scenario_ids(self):
         add_reference_speed=True,
         add_reference_heading=True,
         reward_type="guided_autonomy",
+        # lidar_obs=True,
+        # ego_state=False,
+        # road_map_obs=False,
+        # partner_obs=False,
     )
     render_config = RenderConfig()
 
diff --git a/gpudrive/visualize/color.py b/gpudrive/visualize/color.py
index 4cf250dec..75db464d5 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)
diff --git a/gpudrive/visualize/core.py b/gpudrive/visualize/core.py
index e3179b551..bbe90b066 100644
--- a/gpudrive/visualize/core.py
+++ b/gpudrive/visualize/core.py
@@ -22,6 +22,7 @@
     LocalEgoState,
     GlobalEgoState,
     PartnerObs,
+    LidarObs,
 )
 from gpudrive.datatypes.trajectory import LogTrajectory, VBDTrajectory
 from gpudrive.datatypes.control import ResponseType
@@ -1582,31 +1583,44 @@ 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",
+            )
 
         marker_scale = max(figsize) / 15
         line_width_scale = max(figsize) / 15
 
-        # Check if agent index is valid, otherwise return None
-        if observation_ego.id[env_idx, agent_idx] == -1:
-            return None, None
-
         fig, ax = plt.subplots(figsize=figsize)
         ax.clear()  # Clear any previous plots
         ax.set_aspect("equal", adjustable="box")
@@ -1720,6 +1734,10 @@ def plot_agent_observation(
             )
 
         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]
@@ -1754,37 +1772,32 @@ def plot_agent_observation(
                 zorder=1,
             )
 
-            # 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")
+        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()
+            )
+
+            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
@@ -1836,5 +1849,6 @@ def plot_agent_observation(
         # ax.set_ylim((-self.env_config.obs_radius, self.env_config.obs_radius))
         # ax.set_xticks([])
         # ax.set_yticks([])
+        # plt.axis("off")
 
         return fig

From ea1e3c7d79a6c0041304253572bd7ba3d16be7b0 Mon Sep 17 00:00:00 2001
From: Daphne Cornelisse <cor.daphne@gmail.com>
Date: Tue, 29 Apr 2025 14:35:13 -0400
Subject: [PATCH 5/6] wip

---
 examples/eval/notebooks/wosac_results.ipynb | 319 ++++++++++++++------
 examples/eval/run_wosac_eval.py             |  12 +-
 gpudrive/visualize/core.py                  |  10 +-
 3 files changed, 235 insertions(+), 106 deletions(-)

diff --git a/examples/eval/notebooks/wosac_results.ipynb b/examples/eval/notebooks/wosac_results.ipynb
index e76e80422..c63b2ad1c 100644
--- a/examples/eval/notebooks/wosac_results.ipynb
+++ b/examples/eval/notebooks/wosac_results.ipynb
@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 15,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -15,7 +15,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 28,
+   "execution_count": 27,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -31,25 +31,45 @@
     "    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",
+    "    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",
-    "            max_indices = df[col] == max_val\n",
-    "            styles.loc[max_indices, col] = 'background-color: #a8f0a8'\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",
-    "            min_indices = df[col] == min_val\n",
-    "            styles.loc[min_indices, col] = 'background-color: #a8f0a8'\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",
-    "    styled_df = df.style.apply(highlight_best, axis=None).format(precision=3)\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",
@@ -113,43 +133,138 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 29,
+   "execution_count": 28,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Using file: ../figures_data/wosac_table_2025-04-24 09.csv\n"
+      "Using file: ../figures_data/wosac_table_2025-04-29 12.csv\n"
      ]
     },
     {
      "data": {
       "text/html": [
        "<style type=\"text/css\">\n",
-       "#T_1b1dc_row0_col2, #T_1b1dc_row0_col4, #T_1b1dc_row0_col5, #T_1b1dc_row0_col6, #T_1b1dc_row0_col8, #T_1b1dc_row0_col9, #T_1b1dc_row0_col10, #T_1b1dc_row0_col11, #T_1b1dc_row0_col12, #T_1b1dc_row1_col1, #T_1b1dc_row1_col3, #T_1b1dc_row1_col7, #T_1b1dc_row1_col13, #T_1b1dc_row1_col14 {\n",
-       "  background-color: #a8f0a8;\n",
+       "#T_489db_row0_col1 {\n",
+       "  background-color: rgba(0, 255, 0, 0.3145877437142511);\n",
+       "}\n",
+       "#T_489db_row0_col2 {\n",
+       "  background-color: rgba(0, 255, 0, 0.4740065635205114);\n",
+       "}\n",
+       "#T_489db_row0_col3 {\n",
+       "  background-color: rgba(0, 255, 0, 0.4906903910771463);\n",
+       "}\n",
+       "#T_489db_row0_col4, #T_489db_row0_col6, #T_489db_row0_col7, #T_489db_row0_col8, #T_489db_row0_col9, #T_489db_row0_col10, #T_489db_row2_col1, #T_489db_row2_col2, #T_489db_row2_col3, #T_489db_row2_col5 {\n",
+       "  background-color: rgba(0, 255, 0, 0.5);\n",
+       "  font-weight: bold;\n",
+       "}\n",
+       "#T_489db_row0_col5 {\n",
+       "  background-color: rgba(0, 255, 0, 0.3721843005938857);\n",
+       "}\n",
+       "#T_489db_row0_col11, #T_489db_row0_col12, #T_489db_row0_col13, #T_489db_row0_col14 {\n",
+       "  background-color: rgba(255, 180, 180, 0.5);\n",
+       "  font-weight: bold;\n",
+       "}\n",
+       "#T_489db_row1_col1 {\n",
+       "  background-color: rgba(0, 255, 0, 0.2369363386202271);\n",
+       "}\n",
+       "#T_489db_row1_col2 {\n",
+       "  background-color: rgba(0, 255, 0, 0.3273525991163753);\n",
+       "}\n",
+       "#T_489db_row1_col3 {\n",
+       "  background-color: rgba(0, 255, 0, 0.3532274801016337);\n",
+       "}\n",
+       "#T_489db_row1_col4 {\n",
+       "  background-color: rgba(0, 255, 0, 0.36969696969696975);\n",
+       "}\n",
+       "#T_489db_row1_col5 {\n",
+       "  background-color: rgba(0, 255, 0, 0.28773912314821415);\n",
+       "}\n",
+       "#T_489db_row1_col6 {\n",
+       "  background-color: rgba(0, 255, 0, 0.467);\n",
+       "}\n",
+       "#T_489db_row1_col7 {\n",
+       "  background-color: rgba(0, 255, 0, 0.2702702702702701);\n",
+       "}\n",
+       "#T_489db_row1_col8 {\n",
+       "  background-color: rgba(0, 255, 0, 0.44356261022927695);\n",
+       "}\n",
+       "#T_489db_row1_col9 {\n",
+       "  background-color: rgba(0, 255, 0, 0.4252163164400494);\n",
+       "}\n",
+       "#T_489db_row1_col10 {\n",
+       "  background-color: rgba(0, 255, 0, 0.4266666666666667);\n",
+       "}\n",
+       "#T_489db_row1_col11 {\n",
+       "  background-color: rgba(255, 180, 180, 0.4785068842674822);\n",
+       "}\n",
+       "#T_489db_row1_col12 {\n",
+       "  background-color: rgba(255, 180, 180, 0.4859632908330832);\n",
+       "}\n",
+       "#T_489db_row1_col13 {\n",
+       "  background-color: rgba(255, 180, 180, 0.49588477366255146);\n",
+       "}\n",
+       "#T_489db_row1_col14 {\n",
+       "  background-color: rgba(255, 180, 180, 0.45916334661354585);\n",
+       "}\n",
+       "#T_489db_row2_col4 {\n",
+       "  background-color: rgba(0, 255, 0, 0.3954657847231085);\n",
+       "}\n",
+       "#T_489db_row2_col6 {\n",
+       "  background-color: rgba(0, 255, 0, 0.49950110912323);\n",
+       "}\n",
+       "#T_489db_row2_col7 {\n",
+       "  background-color: rgba(0, 255, 0, 0.49339199388349375);\n",
+       "}\n",
+       "#T_489db_row2_col8 {\n",
+       "  background-color: rgba(0, 255, 0, 0.46655078581821774);\n",
+       "}\n",
+       "#T_489db_row2_col9 {\n",
+       "  background-color: rgba(0, 255, 0, 0.08450589398076416);\n",
+       "}\n",
+       "#T_489db_row2_col10 {\n",
+       "  background-color: rgba(0, 255, 0, 0.4025441141481753);\n",
+       "}\n",
+       "#T_489db_row2_col11, #T_489db_row2_col12, #T_489db_row3_col13, #T_489db_row3_col14 {\n",
+       "  background-color: rgba(255, 180, 180, 0.0);\n",
+       "}\n",
+       "#T_489db_row2_col13 {\n",
+       "  background-color: rgba(255, 180, 180, 0.45724737040177293);\n",
+       "}\n",
+       "#T_489db_row2_col14 {\n",
+       "  background-color: rgba(255, 180, 180, 0.0018813700315011839);\n",
+       "}\n",
+       "#T_489db_row3_col1, #T_489db_row3_col2, #T_489db_row3_col3, #T_489db_row3_col4, #T_489db_row3_col5, #T_489db_row3_col6, #T_489db_row3_col7, #T_489db_row3_col8, #T_489db_row3_col9, #T_489db_row3_col10 {\n",
+       "  background-color: rgba(0, 255, 0, 0.0);\n",
+       "}\n",
+       "#T_489db_row3_col11 {\n",
+       "  background-color: rgba(255, 180, 180, 0.01681914082755065);\n",
+       "}\n",
+       "#T_489db_row3_col12 {\n",
+       "  background-color: rgba(255, 180, 180, 0.017133395510392058);\n",
        "}\n",
        "</style>\n",
-       "<table id=\"T_1b1dc\">\n",
+       "<table id=\"T_489db\">\n",
        "  <thead>\n",
        "    <tr>\n",
        "      <th class=\"blank level0\" >&nbsp;</th>\n",
-       "      <th id=\"T_1b1dc_level0_col0\" class=\"col_heading level0 col0\" >REPLAN RATE (Hz)</th>\n",
-       "      <th id=\"T_1b1dc_level0_col1\" class=\"col_heading level0 col1\" >LINEAR SPEED (↑)</th>\n",
-       "      <th id=\"T_1b1dc_level0_col2\" class=\"col_heading level0 col2\" >LINEAR ACCEL. (↑)</th>\n",
-       "      <th id=\"T_1b1dc_level0_col3\" class=\"col_heading level0 col3\" >ANG. SPEED (↑)</th>\n",
-       "      <th id=\"T_1b1dc_level0_col4\" class=\"col_heading level0 col4\" >ANG. ACCEL. (↑)</th>\n",
-       "      <th id=\"T_1b1dc_level0_col5\" class=\"col_heading level0 col5\" >DIST. TO OBJ. (↑)</th>\n",
-       "      <th id=\"T_1b1dc_level0_col6\" class=\"col_heading level0 col6\" >COLLISION (↑)</th>\n",
-       "      <th id=\"T_1b1dc_level0_col7\" class=\"col_heading level0 col7\" >TTC (↑)</th>\n",
-       "      <th id=\"T_1b1dc_level0_col8\" class=\"col_heading level0 col8\" >DIST. TO ROAD EDGE (↑)</th>\n",
-       "      <th id=\"T_1b1dc_level0_col9\" class=\"col_heading level0 col9\" >OFFROAD (↑)</th>\n",
-       "      <th id=\"T_1b1dc_level0_col10\" class=\"col_heading level0 col10\" >COMPOSITE METRIC (↑)</th>\n",
-       "      <th id=\"T_1b1dc_level0_col11\" class=\"col_heading level0 col11\" >ADE (↓)</th>\n",
-       "      <th id=\"T_1b1dc_level0_col12\" class=\"col_heading level0 col12\" >MINADE (↓)</th>\n",
-       "      <th id=\"T_1b1dc_level0_col13\" class=\"col_heading level0 col13\" >COLLISION RATE (↓)</th>\n",
-       "      <th id=\"T_1b1dc_level0_col14\" class=\"col_heading level0 col14\" >OFFROAD RATE (↓)</th>\n",
+       "      <th id=\"T_489db_level0_col0\" class=\"col_heading level0 col0\" >REPLAN RATE (Hz)</th>\n",
+       "      <th id=\"T_489db_level0_col1\" class=\"col_heading level0 col1\" >LINEAR SPEED (↑)</th>\n",
+       "      <th id=\"T_489db_level0_col2\" class=\"col_heading level0 col2\" >LINEAR ACCEL. (↑)</th>\n",
+       "      <th id=\"T_489db_level0_col3\" class=\"col_heading level0 col3\" >ANG. SPEED (↑)</th>\n",
+       "      <th id=\"T_489db_level0_col4\" class=\"col_heading level0 col4\" >ANG. ACCEL. (↑)</th>\n",
+       "      <th id=\"T_489db_level0_col5\" class=\"col_heading level0 col5\" >DIST. TO OBJ. (↑)</th>\n",
+       "      <th id=\"T_489db_level0_col6\" class=\"col_heading level0 col6\" >COLLISION (↑)</th>\n",
+       "      <th id=\"T_489db_level0_col7\" class=\"col_heading level0 col7\" >TTC (↑)</th>\n",
+       "      <th id=\"T_489db_level0_col8\" class=\"col_heading level0 col8\" >DIST. TO ROAD EDGE (↑)</th>\n",
+       "      <th id=\"T_489db_level0_col9\" class=\"col_heading level0 col9\" >OFFROAD (↑)</th>\n",
+       "      <th id=\"T_489db_level0_col10\" class=\"col_heading level0 col10\" >COMPOSITE METRIC (↑)</th>\n",
+       "      <th id=\"T_489db_level0_col11\" class=\"col_heading level0 col11\" >ADE (↓)</th>\n",
+       "      <th id=\"T_489db_level0_col12\" class=\"col_heading level0 col12\" >MINADE (↓)</th>\n",
+       "      <th id=\"T_489db_level0_col13\" class=\"col_heading level0 col13\" >COLLISION RATE (↓)</th>\n",
+       "      <th id=\"T_489db_level0_col14\" class=\"col_heading level0 col14\" >OFFROAD RATE (↓)</th>\n",
        "    </tr>\n",
        "    <tr>\n",
        "      <th class=\"index_name level0\" >AGENT POLICY</th>\n",
@@ -172,82 +287,82 @@
        "  </thead>\n",
        "  <tbody>\n",
        "    <tr>\n",
-       "      <th id=\"T_1b1dc_level0_row0\" class=\"row_heading level0 row0\" >Logged oracle</th>\n",
-       "      <td id=\"T_1b1dc_row0_col0\" class=\"data row0 col0\" >-</td>\n",
-       "      <td id=\"T_1b1dc_row0_col1\" class=\"data row0 col1\" >0.476</td>\n",
-       "      <td id=\"T_1b1dc_row0_col2\" class=\"data row0 col2\" >0.478</td>\n",
-       "      <td id=\"T_1b1dc_row0_col3\" class=\"data row0 col3\" >0.578</td>\n",
-       "      <td id=\"T_1b1dc_row0_col4\" class=\"data row0 col4\" >0.694</td>\n",
-       "      <td id=\"T_1b1dc_row0_col5\" class=\"data row0 col5\" >0.476</td>\n",
-       "      <td id=\"T_1b1dc_row0_col6\" class=\"data row0 col6\" >1.000</td>\n",
-       "      <td id=\"T_1b1dc_row0_col7\" class=\"data row0 col7\" >0.883</td>\n",
-       "      <td id=\"T_1b1dc_row0_col8\" class=\"data row0 col8\" >0.715</td>\n",
-       "      <td id=\"T_1b1dc_row0_col9\" class=\"data row0 col9\" >1.000</td>\n",
-       "      <td id=\"T_1b1dc_row0_col10\" class=\"data row0 col10\" >0.819</td>\n",
-       "      <td id=\"T_1b1dc_row0_col11\" class=\"data row0 col11\" >0.000</td>\n",
-       "      <td id=\"T_1b1dc_row0_col12\" class=\"data row0 col12\" >0.000</td>\n",
-       "      <td id=\"T_1b1dc_row0_col13\" class=\"data row0 col13\" >0.028</td>\n",
-       "      <td id=\"T_1b1dc_row0_col14\" class=\"data row0 col14\" >0.111</td>\n",
+       "      <th id=\"T_489db_level0_row0\" class=\"row_heading level0 row0\" >Logged oracle</th>\n",
+       "      <td id=\"T_489db_row0_col0\" class=\"data row0 col0\" >-</td>\n",
+       "      <td id=\"T_489db_row0_col1\" class=\"data row0 col1\" >0.476</td>\n",
+       "      <td id=\"T_489db_row0_col2\" class=\"data row0 col2\" >0.478</td>\n",
+       "      <td id=\"T_489db_row0_col3\" class=\"data row0 col3\" >0.578</td>\n",
+       "      <td id=\"T_489db_row0_col4\" class=\"data row0 col4\" >0.694</td>\n",
+       "      <td id=\"T_489db_row0_col5\" class=\"data row0 col5\" >0.476</td>\n",
+       "      <td id=\"T_489db_row0_col6\" class=\"data row0 col6\" >1.000</td>\n",
+       "      <td id=\"T_489db_row0_col7\" class=\"data row0 col7\" >0.883</td>\n",
+       "      <td id=\"T_489db_row0_col8\" class=\"data row0 col8\" >0.715</td>\n",
+       "      <td id=\"T_489db_row0_col9\" class=\"data row0 col9\" >1.000</td>\n",
+       "      <td id=\"T_489db_row0_col10\" class=\"data row0 col10\" >0.819</td>\n",
+       "      <td id=\"T_489db_row0_col11\" class=\"data row0 col11\" >0.000</td>\n",
+       "      <td id=\"T_489db_row0_col12\" class=\"data row0 col12\" >0.000</td>\n",
+       "      <td id=\"T_489db_row0_col13\" class=\"data row0 col13\" >0.028</td>\n",
+       "      <td id=\"T_489db_row0_col14\" class=\"data row0 col14\" >0.111</td>\n",
        "    </tr>\n",
        "    <tr>\n",
-       "      <th id=\"T_1b1dc_level0_row1\" class=\"row_heading level0 row1\" >Guided self-play (ours)</th>\n",
-       "      <td id=\"T_1b1dc_row1_col0\" class=\"data row1 col0\" >10</td>\n",
-       "      <td id=\"T_1b1dc_row1_col1\" class=\"data row1 col1\" >0.589</td>\n",
-       "      <td id=\"T_1b1dc_row1_col2\" class=\"data row1 col2\" >0.366</td>\n",
-       "      <td id=\"T_1b1dc_row1_col3\" class=\"data row1 col3\" >0.629</td>\n",
-       "      <td id=\"T_1b1dc_row1_col4\" class=\"data row1 col4\" >0.446</td>\n",
-       "      <td id=\"T_1b1dc_row1_col5\" class=\"data row1 col5\" >0.376</td>\n",
-       "      <td id=\"T_1b1dc_row1_col6\" class=\"data row1 col6\" >0.999</td>\n",
-       "      <td id=\"T_1b1dc_row1_col7\" class=\"data row1 col7\" >0.989</td>\n",
-       "      <td id=\"T_1b1dc_row1_col8\" class=\"data row1 col8\" >0.531</td>\n",
-       "      <td id=\"T_1b1dc_row1_col9\" class=\"data row1 col9\" >0.999</td>\n",
-       "      <td id=\"T_1b1dc_row1_col10\" class=\"data row1 col10\" >0.791</td>\n",
-       "      <td id=\"T_1b1dc_row1_col11\" class=\"data row1 col11\" >0.873</td>\n",
-       "      <td id=\"T_1b1dc_row1_col12\" class=\"data row1 col12\" >0.873</td>\n",
-       "      <td id=\"T_1b1dc_row1_col13\" class=\"data row1 col13\" >0.000</td>\n",
-       "      <td id=\"T_1b1dc_row1_col14\" class=\"data row1 col14\" >0.000</td>\n",
+       "      <th id=\"T_489db_level0_row1\" class=\"row_heading level0 row1\" >VBD</th>\n",
+       "      <td id=\"T_489db_row1_col0\" class=\"data row1 col0\" >0.125</td>\n",
+       "      <td id=\"T_489db_row1_col1\" class=\"data row1 col1\" >0.359</td>\n",
+       "      <td id=\"T_489db_row1_col2\" class=\"data row1 col2\" >0.366</td>\n",
+       "      <td id=\"T_489db_row1_col3\" class=\"data row1 col3\" >0.420</td>\n",
+       "      <td id=\"T_489db_row1_col4\" class=\"data row1 col4\" >0.522</td>\n",
+       "      <td id=\"T_489db_row1_col5\" class=\"data row1 col5\" >0.368</td>\n",
+       "      <td id=\"T_489db_row1_col6\" class=\"data row1 col6\" >0.934</td>\n",
+       "      <td id=\"T_489db_row1_col7\" class=\"data row1 col7\" >0.815</td>\n",
+       "      <td id=\"T_489db_row1_col8\" class=\"data row1 col8\" >0.651</td>\n",
+       "      <td id=\"T_489db_row1_col9\" class=\"data row1 col9\" >0.879</td>\n",
+       "      <td id=\"T_489db_row1_col10\" class=\"data row1 col10\" >0.720</td>\n",
+       "      <td id=\"T_489db_row1_col11\" class=\"data row1 col11\" >2.257</td>\n",
+       "      <td id=\"T_489db_row1_col12\" class=\"data row1 col12\" >1.474</td>\n",
+       "      <td id=\"T_489db_row1_col13\" class=\"data row1 col13\" >0.036</td>\n",
+       "      <td id=\"T_489db_row1_col14\" class=\"data row1 col14\" >0.152</td>\n",
        "    </tr>\n",
        "    <tr>\n",
-       "      <th id=\"T_1b1dc_level0_row2\" class=\"row_heading level0 row2\" >VBD</th>\n",
-       "      <td id=\"T_1b1dc_row2_col0\" class=\"data row2 col0\" >0.125</td>\n",
-       "      <td id=\"T_1b1dc_row2_col1\" class=\"data row2 col1\" >0.359</td>\n",
-       "      <td id=\"T_1b1dc_row2_col2\" class=\"data row2 col2\" >0.366</td>\n",
-       "      <td id=\"T_1b1dc_row2_col3\" class=\"data row2 col3\" >0.420</td>\n",
-       "      <td id=\"T_1b1dc_row2_col4\" class=\"data row2 col4\" >0.522</td>\n",
-       "      <td id=\"T_1b1dc_row2_col5\" class=\"data row2 col5\" >0.368</td>\n",
-       "      <td id=\"T_1b1dc_row2_col6\" class=\"data row2 col6\" >0.934</td>\n",
-       "      <td id=\"T_1b1dc_row2_col7\" class=\"data row2 col7\" >0.815</td>\n",
-       "      <td id=\"T_1b1dc_row2_col8\" class=\"data row2 col8\" >0.651</td>\n",
-       "      <td id=\"T_1b1dc_row2_col9\" class=\"data row2 col9\" >0.879</td>\n",
-       "      <td id=\"T_1b1dc_row2_col10\" class=\"data row2 col10\" >0.720</td>\n",
-       "      <td id=\"T_1b1dc_row2_col11\" class=\"data row2 col11\" >2.257</td>\n",
-       "      <td id=\"T_1b1dc_row2_col12\" class=\"data row2 col12\" >1.474</td>\n",
-       "      <td id=\"T_1b1dc_row2_col13\" class=\"data row2 col13\" >0.036</td>\n",
-       "      <td id=\"T_1b1dc_row2_col14\" class=\"data row2 col14\" >0.152</td>\n",
+       "      <th id=\"T_489db_level0_row2\" class=\"row_heading level0 row2\" >Guided self-play (ours)</th>\n",
+       "      <td id=\"T_489db_row2_col0\" class=\"data row2 col0\" >10</td>\n",
+       "      <td id=\"T_489db_row2_col1\" class=\"data row2 col1\" >0.755</td>\n",
+       "      <td id=\"T_489db_row2_col2\" class=\"data row2 col2\" >0.498</td>\n",
+       "      <td id=\"T_489db_row2_col3\" class=\"data row2 col3\" >0.589</td>\n",
+       "      <td id=\"T_489db_row2_col4\" class=\"data row2 col4\" >0.556</td>\n",
+       "      <td id=\"T_489db_row2_col5\" class=\"data row2 col5\" >0.639</td>\n",
+       "      <td id=\"T_489db_row2_col6\" class=\"data row2 col6\" >0.999</td>\n",
+       "      <td id=\"T_489db_row2_col7\" class=\"data row2 col7\" >0.881</td>\n",
+       "      <td id=\"T_489db_row2_col8\" class=\"data row2 col8\" >0.677</td>\n",
+       "      <td id=\"T_489db_row2_col9\" class=\"data row2 col9\" >0.328</td>\n",
+       "      <td id=\"T_489db_row2_col10\" class=\"data row2 col10\" >0.687</td>\n",
+       "      <td id=\"T_489db_row2_col11\" class=\"data row2 col11\" >52.505</td>\n",
+       "      <td id=\"T_489db_row2_col12\" class=\"data row2 col12\" >52.505</td>\n",
+       "      <td id=\"T_489db_row2_col13\" class=\"data row2 col13\" >0.111</td>\n",
+       "      <td id=\"T_489db_row2_col14\" class=\"data row2 col14\" >0.611</td>\n",
        "    </tr>\n",
        "    <tr>\n",
-       "      <th id=\"T_1b1dc_level0_row3\" class=\"row_heading level0 row3\" >Random agent</th>\n",
-       "      <td id=\"T_1b1dc_row3_col0\" class=\"data row3 col0\" >10</td>\n",
-       "      <td id=\"T_1b1dc_row3_col1\" class=\"data row3 col1\" >0.002</td>\n",
-       "      <td id=\"T_1b1dc_row3_col2\" class=\"data row3 col2\" >0.116</td>\n",
-       "      <td id=\"T_1b1dc_row3_col3\" class=\"data row3 col3\" >0.014</td>\n",
-       "      <td id=\"T_1b1dc_row3_col4\" class=\"data row3 col4\" >0.034</td>\n",
-       "      <td id=\"T_1b1dc_row3_col5\" class=\"data row3 col5\" >0.000</td>\n",
-       "      <td id=\"T_1b1dc_row3_col6\" class=\"data row3 col6\" >0.000</td>\n",
-       "      <td id=\"T_1b1dc_row3_col7\" class=\"data row3 col7\" >0.735</td>\n",
-       "      <td id=\"T_1b1dc_row3_col8\" class=\"data row3 col8\" >0.148</td>\n",
-       "      <td id=\"T_1b1dc_row3_col9\" class=\"data row3 col9\" >0.191</td>\n",
-       "      <td id=\"T_1b1dc_row3_col10\" class=\"data row3 col10\" >0.144</td>\n",
-       "      <td id=\"T_1b1dc_row3_col11\" class=\"data row3 col11\" >50.739</td>\n",
-       "      <td id=\"T_1b1dc_row3_col12\" class=\"data row3 col12\" >50.706</td>\n",
-       "      <td id=\"T_1b1dc_row3_col13\" class=\"data row3 col13\" >1.000</td>\n",
-       "      <td id=\"T_1b1dc_row3_col14\" class=\"data row3 col14\" >0.613</td>\n",
+       "      <th id=\"T_489db_level0_row3\" class=\"row_heading level0 row3\" >Random agent</th>\n",
+       "      <td id=\"T_489db_row3_col0\" class=\"data row3 col0\" >10</td>\n",
+       "      <td id=\"T_489db_row3_col1\" class=\"data row3 col1\" >0.002</td>\n",
+       "      <td id=\"T_489db_row3_col2\" class=\"data row3 col2\" >0.116</td>\n",
+       "      <td id=\"T_489db_row3_col3\" class=\"data row3 col3\" >0.014</td>\n",
+       "      <td id=\"T_489db_row3_col4\" class=\"data row3 col4\" >0.034</td>\n",
+       "      <td id=\"T_489db_row3_col5\" class=\"data row3 col5\" >0.000</td>\n",
+       "      <td id=\"T_489db_row3_col6\" class=\"data row3 col6\" >0.000</td>\n",
+       "      <td id=\"T_489db_row3_col7\" class=\"data row3 col7\" >0.735</td>\n",
+       "      <td id=\"T_489db_row3_col8\" class=\"data row3 col8\" >0.148</td>\n",
+       "      <td id=\"T_489db_row3_col9\" class=\"data row3 col9\" >0.191</td>\n",
+       "      <td id=\"T_489db_row3_col10\" class=\"data row3 col10\" >0.144</td>\n",
+       "      <td id=\"T_489db_row3_col11\" class=\"data row3 col11\" >50.739</td>\n",
+       "      <td id=\"T_489db_row3_col12\" class=\"data row3 col12\" >50.706</td>\n",
+       "      <td id=\"T_489db_row3_col13\" class=\"data row3 col13\" >1.000</td>\n",
+       "      <td id=\"T_489db_row3_col14\" class=\"data row3 col14\" >0.613</td>\n",
        "    </tr>\n",
        "  </tbody>\n",
        "</table>\n"
       ],
       "text/plain": [
-       "<pandas.io.formats.style.Styler at 0x7f4ee0408e90>"
+       "<pandas.io.formats.style.Styler at 0x7f8375366010>"
       ]
      },
      "metadata": {},
@@ -259,6 +374,20 @@
     "display(table);"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  },
   {
    "cell_type": "code",
    "execution_count": 30,
diff --git a/examples/eval/run_wosac_eval.py b/examples/eval/run_wosac_eval.py
index 05cfedc5b..845a21f81 100644
--- a/examples/eval/run_wosac_eval.py
+++ b/examples/eval/run_wosac_eval.py
@@ -214,16 +214,16 @@ def rollout(
 
     # Settings
     MAX_AGENTS = 64
-    NUM_ENVS = 20
+    NUM_ENVS = 3
     DEVICE = "cuda"  # where to run the env rollouts
-    NUM_ROLLOUTS_PER_BATCH = 1
-    NUM_DATA_BATCHES = 1
+    NUM_ROLLOUTS_PER_BATCH = 2
+    NUM_DATA_BATCHES = 3
     INIT_STEPS = 10
     DATASET_SIZE = 100
     RENDER = True
 
-    DATA_JSON = "data/processed/wosac/validation_json_100"
-    DATA_TFRECORD = "data/processed/wosac/validation_tfrecord_100"
+    DATA_JSON = "data/processed/wosac/validation_json_3"
+    DATA_TFRECORD = "data/processed/wosac/validation_tfrecord_3"
 
     # Create data loader
     val_loader = SceneDataLoader(
@@ -239,7 +239,7 @@ def rollout(
     agent = load_agent(
         # path_to_cpt="checkpoints/model_guidance_log_replay__S_1__04_26_09_02_20_677_000833.pt",
         # path_to_cpt="checkpoints/model_guidance_log_replay__S_3__04_27_13_13_33_780_013762.pt",
-        path_to_cpt="checkpoints/model_guidance_log_replay__S_100__04_27_13_56_08_309_003600.pt"
+        path_to_cpt="checkpoints/model_guidance_log_replay__S_3__04_28_15_56_44_152_014083.pt"
     ).to(DEVICE)
 
     # Override default environment settings to match those the agent was trained with
diff --git a/gpudrive/visualize/core.py b/gpudrive/visualize/core.py
index bbe90b066..318183787 100644
--- a/gpudrive/visualize/core.py
+++ b/gpudrive/visualize/core.py
@@ -1845,10 +1845,10 @@ def plot_agent_observation(
                     zorder=10,
                 )
 
-        # 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))
-        # ax.set_xticks([])
-        # ax.set_yticks([])
-        # plt.axis("off")
+        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))
+        ax.set_xticks([])
+        ax.set_yticks([])
+        plt.axis("off")
 
         return fig

From cb961c0994be35a3b3ad49a88e2ea83b01f91540 Mon Sep 17 00:00:00 2001
From: Daphne Cornelisse <cor.daphne@gmail.com>
Date: Tue, 29 Apr 2025 19:26:11 -0400
Subject: [PATCH 6/6] Revert defaults

---
 baselines/ppo/config/ppo_guided_autonomy.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/baselines/ppo/config/ppo_guided_autonomy.yaml b/baselines/ppo/config/ppo_guided_autonomy.yaml
index f0c4c37d0..27d359e88 100644
--- a/baselines/ppo/config/ppo_guided_autonomy.yaml
+++ b/baselines/ppo/config/ppo_guided_autonomy.yaml
@@ -2,14 +2,14 @@ mode: "train"
 use_rnn: false
 eval_model_path: null
 baseline: false
-data_dir: data/processed/wosac/validation_json_3
+data_dir: data/processed/wosac/validation_json_100
 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
-  k_unique_scenes: 3 # Number of unique scenes to sample from
+  k_unique_scenes: 100 # 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
@@ -27,8 +27,8 @@ environment: # Overrides default environment configs (see pygpudrive/env/config.
 
   # Reward function
   reward_type: "guided_autonomy"
-  collision_weight: -0.0
-  off_road_weight: -0.0
+  collision_weight: -0.01
+  off_road_weight: -0.01
   guidance_pos_xy_weight: 0.01
   guidance_speed_weight: 0.01
   guidance_heading_weight: 0.01