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Better agent POV visualization and add LiDAR #424

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Merged
daphne-cornelisse merged 7 commits into from
Apr 29, 2025
Merged

Better agent POV visualization and add LiDAR #424

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e913223
Improve agent pov plotting utils
daphne-cornelisse Apr 28, 2025
af159aa
Delete old unused function
daphne-cornelisse Apr 28, 2025
0a080e0
Fix
daphne-cornelisse Apr 28, 2025
3cefc54
Add lidar obs option to plot agent observation
daphne-cornelisse Apr 28, 2025
ea1e3c7
wip
daphne-cornelisse Apr 29, 2025
cb961c0
Revert defaults
daphne-cornelisse Apr 29, 2025
eff05ba
Rebase over dev
daphne-cornelisse Apr 29, 2025
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6 changes: 2 additions & 4 deletions baselines/ppo/config/ppo_guided_autonomy.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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: -0.01
off_road_weight: -0.01
guidance_pos_xy_weight: 0.01
guidance_speed_weight: 0.01
guidance_heading_weight: 0.01
Expand All @@ -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: ""
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319 changes: 224 additions & 95 deletions examples/eval/notebooks/wosac_results.ipynb
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