From 44a22b5ad42e75d1a54a862c0fba23d0507893b1 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Wed, 26 Feb 2025 18:18:29 -0600
Subject: [PATCH 001/112] gpudrive memcpy testing

---
 gpudrive_test.c         | 26 +++++++++++++
 gpudrive_test.h         | 83 +++++++++++++++++++++++++++++++++++++++++
 scripts/build_simple.sh | 47 +++++++++++++++++++++++
 3 files changed, 156 insertions(+)
 create mode 100644 gpudrive_test.c
 create mode 100644 gpudrive_test.h
 create mode 100644 scripts/build_simple.sh

diff --git a/gpudrive_test.c b/gpudrive_test.c
new file mode 100644
index 0000000000..5bad9069a7
--- /dev/null
+++ b/gpudrive_test.c
@@ -0,0 +1,26 @@
+#include "gpudrive_test.h"
+#include <time.h>
+
+void demo(){
+    long test_time = 10;
+    test_struct env = {
+        .num_agents = 128,
+    };
+    init(&env);
+    long start = time(NULL);
+    int i = 0;
+    while (time(NULL) - start < test_time) {
+        step(&env);
+        // return;
+        i++;
+    }
+    long end = time(NULL);
+    printf("SPS: %ld\n", i / (end - start));
+    free_initialized(&env);
+
+}
+
+int main() {
+    demo();
+    return 0;
+}
\ No newline at end of file
diff --git a/gpudrive_test.h b/gpudrive_test.h
new file mode 100644
index 0000000000..f0a183e944
--- /dev/null
+++ b/gpudrive_test.h
@@ -0,0 +1,83 @@
+#include <stdlib.h>
+#include <stdio.h>
+#include <math.h>
+#include <assert.h>
+#include <string.h>
+#define SELF_OBS 27
+#define MAP_OBS 8
+
+static int new_agent_obs[SELF_OBS];
+static int new_map_obs[MAP_OBS];
+
+typedef struct test_struct test_struct;
+struct test_struct {
+    int* observations;
+    int num_agents;
+};
+
+void print_obs(test_struct* env, int agent_idx) {
+    printf("agent %d obs: ", agent_idx);
+    for (int i = 0; i < (SELF_OBS); i++) {
+        printf("%d ", env->observations[agent_idx*(SELF_OBS) + i]);
+    }
+    printf("\n");
+}
+
+void print_map_obs(test_struct* env) {
+    printf("map obs: ");
+    for (int i = 0; i < (MAP_OBS); i++) {
+        printf("%d ", env->observations[env->num_agents*(SELF_OBS) + i]);
+    }
+    printf("\n");
+}
+
+void add_obs(test_struct* env) {
+    int obs_idx = 0;
+    for (int i = 0; i < env->num_agents * (SELF_OBS); i++) {
+        if (i % (SELF_OBS) == 0 ) {
+            obs_idx++;
+        }
+        env->observations[i] = obs_idx;
+    }
+    for (int i = 0; i < (MAP_OBS); i++) {
+        env->observations[env->num_agents*(SELF_OBS) + i] = rand() % 100;
+    }
+}
+
+void init(test_struct* env) {
+    env->observations = (int*)calloc(env->num_agents*(SELF_OBS) + MAP_OBS, sizeof(int));
+    print_obs(env, 0);
+    print_obs(env, 1);
+    print_map_obs(env);
+    add_obs(env);
+    print_obs(env, 0);
+    print_obs(env, 1);
+    print_map_obs(env);
+}
+
+void free_initialized(test_struct* env) {
+    free(env->observations);
+}
+
+void step(test_struct* env) {
+    int rand_agents[5] = {rand() % env->num_agents, rand() % env->num_agents, rand() % env->num_agents, rand() % env->num_agents, rand() % env->num_agents};
+    for(int i=0;i<5;i++) {
+        for (int j=0;j<SELF_OBS;j++) {
+            new_agent_obs[j] = rand() % 100;
+        }
+        // printf("selected agents %d\n", rand_agents[i]);
+        // printf("old obs\n");
+        // print_obs(env, rand_agents[i]);
+        memcpy(env->observations + rand_agents[i]*(SELF_OBS), new_agent_obs, (SELF_OBS)*sizeof(int));
+        // printf("new obs\n");
+        // print_obs(env, rand_agents[i]);
+    }
+    for (int j=0;j<MAP_OBS;j++) {
+        new_map_obs[j] = rand() % 100;
+    }
+    memcpy(env->observations + env->num_agents*(SELF_OBS), new_map_obs, (MAP_OBS)*sizeof(int));
+
+    // print_obs(env, rand_agents[0]);
+    // print_obs(env, rand_agents[1]);
+    // print_map_obs(env);
+}
diff --git a/scripts/build_simple.sh b/scripts/build_simple.sh
new file mode 100644
index 0000000000..8d07113703
--- /dev/null
+++ b/scripts/build_simple.sh
@@ -0,0 +1,47 @@
+#!/bin/bash
+
+# Usage: ./build.sh your_file.c [debug|release]
+
+SOURCE=$1
+MODE=${2:-debug}
+PLATFORM="$(uname -s)"
+
+# Extract filename without extension
+FILENAME=$(basename -- "$SOURCE")
+FILENAME="${FILENAME%.*}"
+
+FLAGS=(
+    -Wall
+    "$SOURCE" -o "$FILENAME"
+    -lm
+    -lpthread
+)
+
+if [ "$PLATFORM" = "Darwin" ]; then
+    FLAGS+=(
+        -framework Cocoa
+        -framework IOKit
+        -framework CoreVideo
+    )
+fi
+
+echo "Compiling with: ${FLAGS[@]}"
+
+if [ "$MODE" = "debug" ]; then
+    echo "Building $SOURCE in debug mode..."
+    if [ "$PLATFORM" = "Linux" ]; then
+        # These important debug flags don't work on macos
+        FLAGS+=(
+            -fsanitize=address,undefined,bounds,pointer-overflow,leak -g
+        )
+    fi  
+    clang -g -O0 ${FLAGS[@]}
+    echo "Built to: $FILENAME (debug mode)"
+elif [ "$MODE" = "release" ]; then
+    echo "Building optimized $SOURCE..."
+    clang -O2 ${FLAGS[@]}
+    echo "Built to: $FILENAME (release mode)"
+else
+    echo "Invalid mode specified: debug|release"
+    exit 1
+fi
\ No newline at end of file

From 7bea54438246075843825b8e10b36e6b69614766 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 27 Feb 2025 13:36:46 -0600
Subject: [PATCH 002/112] slicing mem with memcpy is fast enough

---
 gpudrive_test.c |  3 ++-
 gpudrive_test.h | 60 ++++++++++++++++++++++++++++++++++---------------
 2 files changed, 44 insertions(+), 19 deletions(-)

diff --git a/gpudrive_test.c b/gpudrive_test.c
index 5bad9069a7..3dc0722590 100644
--- a/gpudrive_test.c
+++ b/gpudrive_test.c
@@ -5,6 +5,7 @@ void demo(){
     long test_time = 10;
     test_struct env = {
         .num_agents = 128,
+        .active_agents =10,
     };
     init(&env);
     long start = time(NULL);
@@ -15,7 +16,7 @@ void demo(){
         i++;
     }
     long end = time(NULL);
-    printf("SPS: %ld\n", i / (end - start));
+    printf("SPS: %ld\n", (i * env.active_agents) / (end - start));
     free_initialized(&env);
 
 }
diff --git a/gpudrive_test.h b/gpudrive_test.h
index f0a183e944..aca9d416b8 100644
--- a/gpudrive_test.h
+++ b/gpudrive_test.h
@@ -3,49 +3,63 @@
 #include <math.h>
 #include <assert.h>
 #include <string.h>
-#define SELF_OBS 27
+#define SELF_OBS 6
+#define OTHER_OBS 7
 #define MAP_OBS 8
 
-static int new_agent_obs[SELF_OBS];
 static int new_map_obs[MAP_OBS];
 
 typedef struct test_struct test_struct;
 struct test_struct {
     int* observations;
+    int* agent_states;
     int num_agents;
+    int active_agents;
 };
 
 void print_obs(test_struct* env, int agent_idx) {
     printf("agent %d obs: ", agent_idx);
-    for (int i = 0; i < (SELF_OBS); i++) {
-        printf("%d ", env->observations[agent_idx*(SELF_OBS) + i]);
+    int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS);
+    for (int i = 0; i < obs_size_per_agent; i++) {
+        printf("%d ", env->observations[agent_idx*obs_size_per_agent + i]);
     }
     printf("\n");
 }
 
 void print_map_obs(test_struct* env) {
     printf("map obs: ");
+    int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS);
     for (int i = 0; i < (MAP_OBS); i++) {
-        printf("%d ", env->observations[env->num_agents*(SELF_OBS) + i]);
+        printf("%d ", env->observations[env->active_agents*obs_size_per_agent + i]);
     }
     printf("\n");
 }
 
 void add_obs(test_struct* env) {
     int obs_idx = 0;
-    for (int i = 0; i < env->num_agents * (SELF_OBS); i++) {
-        if (i % (SELF_OBS) == 0 ) {
+    int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS);
+    for (int i = 0; i < env->active_agents * obs_size_per_agent; i++) {
+        if (i % obs_size_per_agent == 0 && i != 0) {
             obs_idx++;
         }
         env->observations[i] = obs_idx;
     }
     for (int i = 0; i < (MAP_OBS); i++) {
-        env->observations[env->num_agents*(SELF_OBS) + i] = rand() % 100;
+        env->observations[env->active_agents*obs_size_per_agent + i] = rand() % 100;
+    }
+}
+
+void set_agents(test_struct* env) {
+    int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS);
+    for(int i=0;i<env->num_agents * (obs_size_per_agent);i++) {
+        env->agent_states[i] = rand() % 100;
     }
 }
 
 void init(test_struct* env) {
-    env->observations = (int*)calloc(env->num_agents*(SELF_OBS) + MAP_OBS, sizeof(int));
+    int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS);
+    env->agent_states = (int*)calloc(env->num_agents * obs_size_per_agent, sizeof(int));
+    env->observations = (int*)calloc(env->active_agents*obs_size_per_agent + MAP_OBS, sizeof(int));
     print_obs(env, 0);
     print_obs(env, 1);
     print_map_obs(env);
@@ -53,6 +67,7 @@ void init(test_struct* env) {
     print_obs(env, 0);
     print_obs(env, 1);
     print_map_obs(env);
+    // set_agents(env);
 }
 
 void free_initialized(test_struct* env) {
@@ -60,22 +75,31 @@ void free_initialized(test_struct* env) {
 }
 
 void step(test_struct* env) {
-    int rand_agents[5] = {rand() % env->num_agents, rand() % env->num_agents, rand() % env->num_agents, rand() % env->num_agents, rand() % env->num_agents};
-    for(int i=0;i<5;i++) {
-        for (int j=0;j<SELF_OBS;j++) {
-            new_agent_obs[j] = rand() % 100;
+    int rand_agents[env->active_agents];
+    // do something
+    int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS);
+    for(int i=0;i<env->active_agents;i++) {
+        rand_agents[i] = rand() % env->num_agents;
+        for(int j = 0;j<SELF_OBS;j++) {
+            env->agent_states[rand_agents[i]*obs_size_per_agent + j] = 5;
         }
+        for(int j = 0;j<OTHER_OBS*(env->active_agents-1);j++) {
+            env->agent_states[rand_agents[i]*obs_size_per_agent + SELF_OBS + j] = 2;
+        }
+    }
+    // compute new obs   
+    for(int i=0;i<env->active_agents;i++) {
         // printf("selected agents %d\n", rand_agents[i]);
         // printf("old obs\n");
-        // print_obs(env, rand_agents[i]);
-        memcpy(env->observations + rand_agents[i]*(SELF_OBS), new_agent_obs, (SELF_OBS)*sizeof(int));
+        // print_obs(env, i);
+        memcpy(env->observations + i*obs_size_per_agent, env->agent_states + rand_agents[i]*obs_size_per_agent, obs_size_per_agent*sizeof(int));
         // printf("new obs\n");
-        // print_obs(env, rand_agents[i]);
+        // print_obs(env, i);
     }
     for (int j=0;j<MAP_OBS;j++) {
-        new_map_obs[j] = rand() % 100;
+        new_map_obs[j] = 2;
     }
-    memcpy(env->observations + env->num_agents*(SELF_OBS), new_map_obs, (MAP_OBS)*sizeof(int));
+    memcpy(env->observations + env->active_agents*obs_size_per_agent, new_map_obs, (MAP_OBS)*sizeof(int));
 
     // print_obs(env, rand_agents[0]);
     // print_obs(env, rand_agents[1]);

From 9d93872d29dc9e4452cab9b501145b2f96b5905e Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Fri, 28 Feb 2025 01:10:46 +0000
Subject: [PATCH 003/112] latest

---
 gpudrive_test.c |  6 ++---
 gpudrive_test.h | 66 +++++++++++++++++++++++++++++++------------------
 2 files changed, 45 insertions(+), 27 deletions(-)

diff --git a/gpudrive_test.c b/gpudrive_test.c
index 3dc0722590..8c85bd6244 100644
--- a/gpudrive_test.c
+++ b/gpudrive_test.c
@@ -5,7 +5,7 @@ void demo(){
     long test_time = 10;
     test_struct env = {
         .num_agents = 128,
-        .active_agents =10,
+        .active_agents =15,
     };
     init(&env);
     long start = time(NULL);
@@ -16,7 +16,7 @@ void demo(){
         i++;
     }
     long end = time(NULL);
-    printf("SPS: %ld\n", (i * env.active_agents) / (end - start));
+    printf("SPS: %ld\n", (i *env.active_agents) / (end - start));
     free_initialized(&env);
 
 }
@@ -24,4 +24,4 @@ void demo(){
 int main() {
     demo();
     return 0;
-}
\ No newline at end of file
+}
diff --git a/gpudrive_test.h b/gpudrive_test.h
index aca9d416b8..6aaa2939fe 100644
--- a/gpudrive_test.h
+++ b/gpudrive_test.h
@@ -3,9 +3,9 @@
 #include <math.h>
 #include <assert.h>
 #include <string.h>
-#define SELF_OBS 6
-#define OTHER_OBS 7
-#define MAP_OBS 8
+#define SELF_OBS 7
+#define OTHER_OBS 11
+#define MAP_OBS 13*200
 
 static int new_map_obs[MAP_OBS];
 
@@ -60,23 +60,31 @@ void init(test_struct* env) {
     int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS);
     env->agent_states = (int*)calloc(env->num_agents * obs_size_per_agent, sizeof(int));
     env->observations = (int*)calloc(env->active_agents*obs_size_per_agent + MAP_OBS, sizeof(int));
-    print_obs(env, 0);
-    print_obs(env, 1);
-    print_map_obs(env);
     add_obs(env);
-    print_obs(env, 0);
-    print_obs(env, 1);
-    print_map_obs(env);
-    // set_agents(env);
 }
 
 void free_initialized(test_struct* env) {
     free(env->observations);
+    free(env->agent_states);
 }
 
-void step(test_struct* env) {
-    int rand_agents[env->active_agents];
-    // do something
+void compute_observations(test_struct* env, int* rand_agents){
+    int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS);
+    for(int i=0;i<env->active_agents;i++) {
+        // printf("selected agents %d\n", rand_agents[i]);
+        // printf("old obs\n");
+        // print_obs(env, i);
+        memcpy(env->observations + i*obs_size_per_agent, env->agent_states + rand_agents[i]*obs_size_per_agent, obs_size_per_agent*sizeof(int));
+        // printf("new obs\n");
+        // print_obs(env, i);
+	
+    }
+    memcpy(env->observations + env->active_agents*obs_size_per_agent, new_map_obs, (MAP_OBS)*sizeof(int));
+
+
+    
+}
+void change_world(test_struct* env, int* rand_agents){
     int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS);
     for(int i=0;i<env->active_agents;i++) {
         rand_agents[i] = rand() % env->num_agents;
@@ -87,21 +95,31 @@ void step(test_struct* env) {
             env->agent_states[rand_agents[i]*obs_size_per_agent + SELF_OBS + j] = 2;
         }
     }
-    // compute new obs   
-    for(int i=0;i<env->active_agents;i++) {
-        // printf("selected agents %d\n", rand_agents[i]);
-        // printf("old obs\n");
-        // print_obs(env, i);
-        memcpy(env->observations + i*obs_size_per_agent, env->agent_states + rand_agents[i]*obs_size_per_agent, obs_size_per_agent*sizeof(int));
-        // printf("new obs\n");
-        // print_obs(env, i);
-    }
     for (int j=0;j<MAP_OBS;j++) {
         new_map_obs[j] = 2;
     }
-    memcpy(env->observations + env->active_agents*obs_size_per_agent, new_map_obs, (MAP_OBS)*sizeof(int));
+}
 
-    // print_obs(env, rand_agents[0]);
+void copy_world(test_struct* env, int* rand_agents){
+	int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS);
+	int* blah = (int*)calloc(obs_size_per_agent, sizeof(int));
+	int* randoworld = (int*)calloc(MAP_OBS, sizeof(int));
+	for(int i =0;i<env->active_agents;i++){
+		rand_agents[i] = rand() % env->num_agents;
+		memcpy(env->agent_states+rand_agents[i]*obs_size_per_agent, blah, obs_size_per_agent*sizeof(int));
+	}
+	memcpy(new_map_obs, randoworld, MAP_OBS*sizeof(int));
+	free(blah);
+	free(randoworld);
+}
+void step(test_struct* env) {
+    int rand_agents[env->active_agents];
+    // do something
+    copy_world(env, rand_agents);
+    //change_world(env,rand_agents);
+    // compute new obs  
+    compute_observations(env, rand_agents); 
+        // print_obs(env, rand_agents[0]);
     // print_obs(env, rand_agents[1]);
     // print_map_obs(env);
 }

From 0661c323bb6e4c01590a510db37cf438ee258745 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Wed, 5 Mar 2025 02:21:16 +0000
Subject: [PATCH 004/112] speed testing

---
 gpudrive_test.c |  2 ++
 gpudrive_test.h | 23 ++++++++++++-----------
 2 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/gpudrive_test.c b/gpudrive_test.c
index 8c85bd6244..afa47bed34 100644
--- a/gpudrive_test.c
+++ b/gpudrive_test.c
@@ -10,6 +10,8 @@ void demo(){
     init(&env);
     long start = time(NULL);
     int i = 0;
+    int mean_obs = 4000;
+    int max_obs = 20000;
     while (time(NULL) - start < test_time) {
         step(&env);
         // return;
diff --git a/gpudrive_test.h b/gpudrive_test.h
index 6aaa2939fe..3985e03f82 100644
--- a/gpudrive_test.h
+++ b/gpudrive_test.h
@@ -5,7 +5,7 @@
 #include <string.h>
 #define SELF_OBS 7
 #define OTHER_OBS 11
-#define MAP_OBS 13*200
+#define MAP_OBS 3000
 
 static int new_map_obs[MAP_OBS];
 
@@ -77,11 +77,10 @@ void compute_observations(test_struct* env, int* rand_agents){
         memcpy(env->observations + i*obs_size_per_agent, env->agent_states + rand_agents[i]*obs_size_per_agent, obs_size_per_agent*sizeof(int));
         // printf("new obs\n");
         // print_obs(env, i);
-	
-    }
-    memcpy(env->observations + env->active_agents*obs_size_per_agent, new_map_obs, (MAP_OBS)*sizeof(int));
-
+	memcpy(env->observations + env->active_agents*obs_size_per_agent, new_map_obs, (MAP_OBS)*sizeof(int));
 
+    }
+      
     
 }
 void change_world(test_struct* env, int* rand_agents){
@@ -94,23 +93,25 @@ void change_world(test_struct* env, int* rand_agents){
         for(int j = 0;j<OTHER_OBS*(env->active_agents-1);j++) {
             env->agent_states[rand_agents[i]*obs_size_per_agent + SELF_OBS + j] = 2;
         }
+	
     }
-    for (int j=0;j<MAP_OBS;j++) {
-        new_map_obs[j] = 2;
-    }
+    /*for (int j=0;j<MAP_OBS;j++) {
+            new_map_obs[j] = 2;
+    	}
+	*/
 }
 
 void copy_world(test_struct* env, int* rand_agents){
 	int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS);
 	int* blah = (int*)calloc(obs_size_per_agent, sizeof(int));
-	int* randoworld = (int*)calloc(MAP_OBS, sizeof(int));
+	//int* randoworld = (int*)calloc(MAP_OBS, sizeof(int));
 	for(int i =0;i<env->active_agents;i++){
 		rand_agents[i] = rand() % env->num_agents;
 		memcpy(env->agent_states+rand_agents[i]*obs_size_per_agent, blah, obs_size_per_agent*sizeof(int));
 	}
-	memcpy(new_map_obs, randoworld, MAP_OBS*sizeof(int));
+	//memcpy(new_map_obs, randoworld, MAP_OBS*sizeof(int));
 	free(blah);
-	free(randoworld);
+	//free(randoworld);
 }
 void step(test_struct* env) {
     int rand_agents[env->active_agents];

From 46b0b354e2f6611835c2ff5708a15712f05297a0 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sat, 8 Mar 2025 16:15:08 -0600
Subject: [PATCH 005/112] rendering 90% there

---
 pufferlib/ocean/environment.py       |   1 +
 pufferlib/ocean/gpudrive/gpudrive.c  |  92 +++++++
 pufferlib/ocean/gpudrive/gpudrive.h  | 378 +++++++++++++++++++++++++++
 pufferlib/ocean/gpudrive/gpudrive.py | 225 ++++++++++++++++
 4 files changed, 696 insertions(+)
 create mode 100644 pufferlib/ocean/gpudrive/gpudrive.c
 create mode 100644 pufferlib/ocean/gpudrive/gpudrive.h
 create mode 100644 pufferlib/ocean/gpudrive/gpudrive.py

diff --git a/pufferlib/ocean/environment.py b/pufferlib/ocean/environment.py
index 79295c926c..0e52bd6ecf 100644
--- a/pufferlib/ocean/environment.py
+++ b/pufferlib/ocean/environment.py
@@ -133,6 +133,7 @@ def make_multiagent(buf=None, **kwargs):
     'trash_pickup':  lambda: lazy_import('pufferlib.ocean.trash_pickup.trash_pickup', 'TrashPickupEnv'),
     'tower_climb':   lambda: lazy_import('pufferlib.ocean.tower_climb.tower_climb', 'TowerClimb'),
     'grid':          lambda: lazy_import('pufferlib.ocean.grid.grid', 'Grid'),
+    'gpudrive':      lambda: lazy_import('pufferlib.ocean.gpudrive.gpudrive', 'GPUDrive'),
     #'rocket_lander': rocket_lander.RocketLander,
     'foraging': make_foraging,
     'predator_prey': make_predator_prey,
diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
new file mode 100644
index 0000000000..efd8c820e6
--- /dev/null
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -0,0 +1,92 @@
+#include <time.h>
+#include <unistd.h>
+#include "gpudrive.h"
+#include "puffernet.h"
+
+
+void demo() {
+    GPUDrive env = {
+        .num_agents = 4,
+        .active_agent_count = 4,
+    };
+    allocate(&env);
+    c_reset(&env);
+    Client* client = make_client(&env);
+
+    // Initialize mouse control variables
+    Vector2 prev_mouse_pos = GetMousePosition();
+    bool is_dragging = false;
+    float camera_move_speed = 0.5f;  // Adjust this to control movement sensitivity
+
+    while (!WindowShouldClose()) {
+        // Handle mouse drag for camera movement
+        if (IsMouseButtonPressed(MOUSE_BUTTON_LEFT)) {
+            prev_mouse_pos = GetMousePosition();
+            is_dragging = true;
+        }
+        
+        if (IsMouseButtonReleased(MOUSE_BUTTON_LEFT)) {
+            is_dragging = false;
+        }
+        
+        if (is_dragging) {
+            Vector2 current_mouse_pos = GetMousePosition();
+            Vector2 delta = {
+                (current_mouse_pos.x - prev_mouse_pos.x) * camera_move_speed,
+                -(current_mouse_pos.y - prev_mouse_pos.y) * camera_move_speed
+            };
+
+            // Update camera position (only X and Y)
+            client->camera.position.x += delta.x;
+            client->camera.position.y += delta.y;
+            
+            // Update camera target (only X and Y)
+            client->camera.target.x += delta.x;
+            client->camera.target.y += delta.y;
+
+            prev_mouse_pos = current_mouse_pos;
+        }
+
+        // Handle mouse wheel for zoom
+        float wheel = GetMouseWheelMove();
+        if (wheel != 0) {
+            float zoom_factor = 1.0f - (wheel * 0.1f);
+            // Adjust camera position for zoom while maintaining height
+            client->camera.position.x = client->camera.target.x + (client->camera.position.x - client->camera.target.x) * zoom_factor;
+            client->camera.position.y = client->camera.target.y + (client->camera.position.y - client->camera.target.y) * zoom_factor;
+        }
+
+        c_step(&env);
+        c_render(client, &env);
+    }
+
+    close_client(client);
+    free_allocated(&env);
+}
+
+void performance_test() {
+    long test_time = 10;
+    GPUDrive env = {
+        .num_agents = 4,
+        .active_agent_count = 4,
+    };
+    allocate(&env);
+    c_reset(&env);
+
+    long start = time(NULL);
+    int i = 0;
+    while (time(NULL) - start < test_time) {
+        env.actions[0] = rand() % 5;
+        c_step(&env);
+        i++;
+    }
+    long end = time(NULL);
+    printf("SPS: %ld\n", i / (end - start));
+    free_allocated(&env);
+}
+
+int main() {
+    demo();
+    // performance_test();
+    return 0;
+}
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
new file mode 100644
index 0000000000..db29cea978
--- /dev/null
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -0,0 +1,378 @@
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <math.h>
+#include <assert.h>
+#include <string.h>
+#include "raylib.h"
+#include "raymath.h"
+#include "rlgl.h"
+#include <time.h>
+#define MAX_AGENTS 64
+#define MAX_ROAD_OBJECTS 200
+#define ROAD_OBS 13
+#define OTHER_AGENT_OBS 6
+#define SELF_OBJS 6
+
+// Entity Types
+#define NONE 0
+#define VEHICLE 1
+#define PEDESTRIAN 2
+#define CYCLIST 3
+#define ROAD_LANE 4
+#define ROAD_LINE 5
+#define ROAD_EDGE 6
+#define STOP_SIGN 7
+#define CROSSWALK 8
+#define SPEED_BUMP 9
+#define DRIVEWAY 10
+
+// Trajectory Length
+#define TRAJECTORY_LENGTH 91
+
+#define NOOP 0
+
+typedef struct Entity Entity;
+struct Entity {
+    int type;
+    int road_object_id;
+    int road_point_id;
+    int array_size;
+    float* x;
+    float* y;
+    float* z;
+    float* vx;
+    float* vy;
+    float* vz;
+    float* heading;
+    int* valid;
+    float width;
+    float length;
+    float height;
+    float goal_position_x;
+    float goal_position_y;
+    float goal_position_z;
+    int collision_state;
+};
+
+void free_entity(Entity* entity){
+    free(entity->x);
+    free(entity->y);
+    free(entity->z);
+    free(entity->vx);
+    free(entity->vy);
+    free(entity->vz);
+    free(entity->heading);
+    free(entity->valid);
+}
+
+
+
+typedef struct GPUDrive GPUDrive;
+struct GPUDrive {
+    int num_agents;
+    int active_agent_count;
+    int* active_agent_indices;
+    float* observations;
+    int* actions;
+    float* rewards;
+    unsigned char* dones;
+    int human_agent_idx;
+    Entity* entities;
+    int num_entities;
+    int timestep;
+};
+
+Entity* load_map_binary(const char* filename, GPUDrive* env) {
+    FILE* file = fopen(filename, "rb");
+    if (!file) return NULL;
+    
+    fread(&env->num_entities, sizeof(int), 1, file);
+    fread(&env->active_agent_count, sizeof(int), 1, file);
+    Entity* entities = (Entity*)malloc(env->num_entities * sizeof(Entity));
+    env->active_agent_indices = (int*)malloc(env->active_agent_count * sizeof(int));
+    fread(env->active_agent_indices, sizeof(int), env->active_agent_count, file);
+    
+    for (int i = 0; i < env->num_entities; i++) {
+        // Read base entity data
+        fread(&entities[i].type, sizeof(int), 1, file);
+        fread(&entities[i].road_object_id, sizeof(int), 1, file);
+        fread(&entities[i].road_point_id, sizeof(int), 1, file);
+        fread(&entities[i].array_size, sizeof(int), 1, file);
+        // Allocate arrays based on type
+        int size = entities[i].array_size;
+        entities[i].x = (float*)malloc(size * sizeof(float));
+        entities[i].y = (float*)malloc(size * sizeof(float));
+        entities[i].z = (float*)malloc(size * sizeof(float));
+        if (entities[i].type == 1 || entities[i].type == 2 || entities[i].type == 3) {  // Object type
+            // Allocate arrays for object-specific data
+            entities[i].vx = (float*)malloc(size * sizeof(float));
+            entities[i].vy = (float*)malloc(size * sizeof(float));
+            entities[i].vz = (float*)malloc(size * sizeof(float));
+            entities[i].heading = (float*)malloc(size * sizeof(float));
+            entities[i].valid = (int*)malloc(size * sizeof(int));
+        } else {
+            // Roads don't use these arrays
+            entities[i].vx = NULL;
+            entities[i].vy = NULL;
+            entities[i].vz = NULL;
+            entities[i].heading = NULL;
+            entities[i].valid = NULL;
+        }
+        // Read array data
+        fread(entities[i].x, sizeof(float), size, file);
+        fread(entities[i].y, sizeof(float), size, file);
+        fread(entities[i].z, sizeof(float), size, file);
+        if (entities[i].type == 1 || entities[i].type == 2 || entities[i].type == 3) {  // Object type
+            fread(entities[i].vx, sizeof(float), size, file);
+            fread(entities[i].vy, sizeof(float), size, file);
+            fread(entities[i].vz, sizeof(float), size, file);
+            fread(entities[i].heading, sizeof(float), size, file);
+            fread(entities[i].valid, sizeof(int), size, file);
+        }
+        // Read remaining scalar fields
+        fread(&entities[i].width, sizeof(float), 1, file);
+        fread(&entities[i].length, sizeof(float), 1, file);
+        fread(&entities[i].height, sizeof(float), 1, file);
+        fread(&entities[i].goal_position_x, sizeof(float), 1, file);
+        fread(&entities[i].goal_position_y, sizeof(float), 1, file);
+        fread(&entities[i].goal_position_z, sizeof(float), 1, file);
+    }
+    fclose(file);
+    return entities;
+}
+void print_entities(GPUDrive* env, int idx){
+    // for(int i = 0; i < env->num_entities; i++){
+    //     // if(env->entities[i].type >3){
+    //         printf("entity %d type: %d\n", i, env->entities[i].type);
+    //         printf("entity %d array_size: %d\n", i, env->entities[i].array_size);
+    //     // }
+    // }
+    for (int i = 0; i < env->num_entities; i++){
+        printf("entity %d type: %d\n", i, env->entities[i].type);
+        printf("entity %d array_size: %d\n", i, env->entities[i].array_size);
+    }
+    for(int i = 0; i < env->entities[idx].array_size; i++){
+        printf("entity %d x: %f\n", idx, env->entities[idx].x[i]);
+        printf("entity %d y: %f\n", idx, env->entities[idx].y[i]);
+        printf("entity %d z: %f\n", idx, env->entities[idx].z[i]);
+        if(env->entities[idx].type == 1 || env->entities[idx].type == 2 || env->entities[idx].type == 3){
+            printf("entity %d heading: %f\n", idx, env->entities[idx].heading[i]);
+            printf("entity %d vx: %f\n", idx, env->entities[idx].vx[i]);
+            printf("entity %d vy: %f\n", idx, env->entities[idx].vy[i]);
+            printf("entity %d vz: %f\n", idx, env->entities[idx].vz[i]);
+            printf("entity %d valid: %d\n", idx, env->entities[idx].valid[i]);
+        }
+    }
+    printf("entity %d width: %f\n", idx, env->entities[idx].width);
+    printf("entity %d length: %f\n", idx, env->entities[idx].length);
+    printf("entity %d height: %f\n", idx, env->entities[idx].height);
+    printf("entity %d goal_position_x: %f\n", idx, env->entities[idx].goal_position_x);
+    printf("entity %d goal_position_y: %f\n", idx, env->entities[idx].goal_position_y);
+    printf("entity %d goal_position_z: %f\n", idx, env->entities[idx].goal_position_z);
+}
+
+void init(GPUDrive* env){
+    env->human_agent_idx = 0;
+    env->timestep = 0;
+    env->entities = load_map_binary("map.bin", env);
+    printf("num_entities: %d\n", env->num_entities);
+    printf("active_agent_count: %d\n", env->active_agent_count);
+    printf("active_agent_indices: ");
+    for(int i = 0; i < env->active_agent_count; i++){
+        printf("%d ", env->active_agent_indices[i]);
+    }
+    printf("\n");
+
+    print_entities(env, 16);
+}
+
+void free_initialized(GPUDrive* env){
+    for(int i = 0; i < env->num_entities; i++){
+        free_entity(&env->entities[i]);
+    }
+    free(env->entities);
+    free(env->active_agent_indices);
+}
+
+void allocate(GPUDrive* env){
+    int max_obs = SELF_OBJS + (MAX_AGENTS - 1)*OTHER_AGENT_OBS + MAX_ROAD_OBJECTS*ROAD_OBS;
+    printf("MAX_OBS: %d\n", max_obs);
+    env->observations = (float*)calloc(env->num_agents * max_obs, sizeof(float));
+    env->actions = (int*)calloc(env->num_agents, sizeof(int));
+    env->rewards = (float*)calloc(env->num_agents, sizeof(float));
+    env->dones = (unsigned char*)calloc(env->num_agents, sizeof(unsigned char));
+    init(env);
+}
+
+void free_allocated(GPUDrive* env){
+    free_initialized(env);
+    free(env->observations);
+    free(env->actions);
+    free(env->rewards);
+    free(env->dones);
+}
+
+void c_reset(GPUDrive* env){
+    env->timestep = 0;
+}
+
+int c_step(GPUDrive* env){
+    env->timestep++;
+    if(env->timestep == 91){
+        env->timestep = 0;
+        return 1;
+    }
+    return 0;
+}   
+
+typedef struct Client Client;
+struct Client {
+    float width;
+    float height;
+    Texture2D puffers;
+    Vector3 camera_target;
+    float camera_zoom;
+    Camera3D camera;
+};
+
+
+Client* make_client(GPUDrive* env){
+    Client* client = (Client*)calloc(1, sizeof(Client));
+    client->width = 1280;
+    client->height = 704;
+    InitWindow(client->width, client->height, "PufferLib Ray GPU Drive");
+    SetTargetFPS(30);
+    client->puffers = LoadTexture("resources/puffers_128.png");
+    
+    // Get initial target position from first active agent
+    Vector3 target_pos = {
+        env->entities[env->active_agent_indices[0]].x[0],
+        env->entities[env->active_agent_indices[0]].y[0],  // Y is up
+        env->entities[env->active_agent_indices[0]].z[0]   // Z is depth
+    };
+    
+    // Set up camera to look at target from above and behind
+    client->camera.position = (Vector3){ 
+        target_pos.x,           // Same X as target
+        target_pos.y + 80.0f,   // 20 units above target
+        target_pos.z + 20.0f    // 20 units behind target
+    };
+    client->camera.target = target_pos;
+    client->camera.up = (Vector3){ 0.0f, -1.0f, 0.0f };  // Y is up
+    client->camera.fovy = 45.0f;
+    client->camera.projection = CAMERA_PERSPECTIVE;
+    
+    client->camera_zoom = 3.5f;
+    return client;
+}
+
+
+void c_render(Client* client, GPUDrive* env) {
+    BeginDrawing();
+    ClearBackground(RAYWHITE);
+    
+    BeginMode3D(client->camera);
+    
+    // Draw a grid to help with orientation
+    DrawGrid(20, 1.0f);
+    
+    for(int i = 0; i < env->num_entities; i++) {
+        if(env->entities[i].type == 1 || env->entities[i].type == 2 || env->entities[i].type == 3) {
+            for(int j = 0; j < env->active_agent_count; j++) {
+                if(env->active_agent_indices[j] == i) {
+                    // Get current heading
+                    float heading = env->entities[i].heading[env->timestep];
+                    // Create position vector (Y is up, Z is depth)
+                    Vector3 position = {
+                        env->entities[i].x[env->timestep],
+                        env->entities[i].y[env->timestep],
+                        env->entities[i].z[env->timestep]
+                    };
+                    
+                    // Create size vector
+                    Vector3 size = {
+                        env->entities[i].length,
+                        env->entities[i].width,
+                        env->entities[i].height
+                    };
+                    
+                    // Save current transform
+                    rlPushMatrix();
+                    
+                    // Translate to position, rotate around Y axis, then draw
+                    rlTranslatef(position.x, position.y, position.z);
+                    rlRotatef(heading * RAD2DEG, 0.0f, 0.0f, 1.0f);  // Convert radians to degrees
+                    
+                    // Draw cube centered at origin (will be transformed by matrix)
+                    Color object_color;
+                    if(env->entities[i].type == 1){
+                        object_color = DARKBLUE;
+                    }
+                    else if(env->entities[i].type == 2){
+                        object_color = BEIGE;
+                    }
+                    else if(env->entities[i].type == 3){
+                        object_color = YELLOW;
+                    }
+                    DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
+                    DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
+                    
+                    // Restore previous transform
+                    rlPopMatrix();
+                    
+                    // Draw goal position
+                    DrawSphere((Vector3){
+                        env->entities[i].goal_position_x,
+                        env->entities[i].goal_position_y,
+                        env->entities[i].goal_position_z
+                    }, 0.25f, DARKGREEN);
+                }
+            }
+        }
+        
+        // Draw road elements
+        if(env->entities[i].type > 3 && env->entities[i].type < 7) {
+            for(int j = 0; j < env->entities[i].array_size - 1; j++) {
+                Vector3 start = {
+                    env->entities[i].x[j],
+                    env->entities[i].y[j],
+                    env->entities[i].z[j]
+                };
+                Vector3 end = {
+                    env->entities[i].x[j + 1],
+                    env->entities[i].y[j + 1],
+                    env->entities[i].z[j + 1]
+                };
+                
+                Color lineColor = GRAY;
+                if (env->entities[i].type == ROAD_LINE) lineColor = BLUE;
+                else if (env->entities[i].type == ROAD_EDGE) lineColor = BLACK;
+                else if (env->entities[i].type == DRIVEWAY) lineColor = RED;
+                
+                DrawLine3D(start, end, lineColor);
+            }
+        }
+    }
+    
+    EndMode3D();
+    
+    // Draw debug info
+    DrawText(TextFormat("Camera Position: (%.2f, %.2f, %.2f)", 
+        client->camera.position.x, 
+        client->camera.position.y, 
+        client->camera.position.z), 10, 10, 20, BLACK);
+    DrawText(TextFormat("Camera Target: (%.2f, %.2f, %.2f)", 
+        client->camera.target.x, 
+        client->camera.target.y, 
+        client->camera.target.z), 10, 30, 20, BLACK);
+    DrawText(TextFormat("Timestep: %d", env->timestep), 10, 50, 20, BLACK);
+    
+    EndDrawing();
+}
+
+void close_client(Client* client){
+    CloseWindow();
+    free(client);
+}
+
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
new file mode 100644
index 0000000000..8c8cda06ae
--- /dev/null
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -0,0 +1,225 @@
+import numpy as np
+import gymnasium
+import json
+import struct
+
+import pufferlib
+# from pufferlib.ocean.gpudrive.cy_gpudrive import CyGPUDrive
+
+# class GPUDrive(pufferlib.PufferEnv):
+#     def __init__(self, num_envs=1, render_mode=None, report_interval=1,
+#             width=1280, height=1024,
+#             num_agents=4,
+#             active_agents=4,
+#             human_agent_idx=0,
+#             buf = None):
+
+#         # env
+#         self.num_agents = num_envs*num_agents
+#         self.render_mode = render_mode
+#         self.report_interval = report_interval
+        
+#         self.num_obs = 3000
+#         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
+#             shape=(self.num_obs,), dtype=np.float32)
+#         self.single_action_space = gymnasium.spaces.Discrete(90)
+
+#         super().__init__(buf=buf)
+#         self.c_envs = CyGPUDrive(self.observations, self.actions, self.rewards,
+#             self.terminals, num_envs, width, height, num_agents, active_agents)
+
+
+#     def reset(self, seed=None):
+#         self.c_envs.reset()
+#         self.tick = 0
+#         return self.observations, []
+
+#     def step(self, actions):
+#         self.actions[:] = actions
+#         self.c_envs.step()
+#         self.tick += 1
+
+#         info = []
+#         if self.tick % self.report_interval == 0:
+#             log = self.c_envs.log()
+#             if log['episode_length'] > 0:
+#                 info.append(log)
+#         return (self.observations, self.rewards,
+#             self.terminals, self.truncations, info)
+
+#     def render(self):
+#         self.c_envs.render()
+        
+#     def close(self):
+#         self.c_envs.close() 
+
+def entity_dtype():
+    return np.dtype([
+        ('type', np.int32),
+        ('road_object_id', np.int32),
+        ('road_point_id', np.int32),
+        ('x', np.float32),
+        ('y', np.float32),
+        ('z', np.float32),
+        ('vx', np.float32),
+        ('vy', np.float32),
+        ('vz', np.float32),
+        ('width', np.float32),
+        ('length', np.float32),
+        ('height', np.float32),
+        ('heading', np.float32),
+        ('valid', np.int32),
+        ('goal_position_x', np.float32),
+        ('goal_position_y', np.float32),
+        ('goal_position_z', np.float32),
+        ('collision_state', np.int32),
+    ])
+
+def save_map_binary(map_data, output_file):
+    """Saves map data in a binary format readable by C"""
+    with open(output_file, 'wb') as f:
+        # Count total entities
+        num_entities = len(map_data.get('objects', [])) + len(map_data.get('roads', []))
+        f.write(struct.pack('i', num_entities))
+        active_agent_indices = []
+        metadata = map_data.get('metadata', {})
+        if isinstance(metadata, str):
+            metadata = json.loads(metadata)
+            
+        if isinstance(metadata, dict) and 'tracks_to_predict' in metadata:
+            for track in metadata['tracks_to_predict']:
+                active_agent_indices.append(track['track_index'])
+        print("Active agent indices:", active_agent_indices)
+        # Write active agent indices
+        f.write(struct.pack('i', len(active_agent_indices)))
+        for idx in active_agent_indices:
+            f.write(struct.pack('i', idx))
+        
+        # Write objects
+        for obj in map_data.get('objects', []):
+            # Write base entity data
+            obj_type = obj.get('type', 1)
+            if(obj_type =='vehicle'):
+                obj_type = 1
+            elif(obj_type == 'pedestrian'):
+                obj_type = 2
+            elif(obj_type == 'cyclist'):
+                obj_type = 3
+            f.write(struct.pack('i', obj_type))  # type
+            f.write(struct.pack('i', obj.get('id', 0)))    # road_object_id
+            f.write(struct.pack('i', obj.get('road_point_id', 0)))  # road_point_id
+            f.write(struct.pack('i', 91))                  # array_size
+            
+            # Write position arrays
+            positions = obj.get('position', [])
+            for i in range(91):
+                pos = positions[i] if i < len(positions) else {'x': 0.0, 'y': 0.0, 'z': 0.0}
+                f.write(struct.pack('f', float(pos.get('x', 0.0))))
+            for i in range(91):
+                pos = positions[i] if i < len(positions) else {'x': 0.0, 'y': 0.0, 'z': 0.0}
+                f.write(struct.pack('f', float(pos.get('y', 0.0))))
+            for i in range(91):
+                pos = positions[i] if i < len(positions) else {'x': 0.0, 'y': 0.0, 'z': 0.0}
+                f.write(struct.pack('f', float(pos.get('z', 0.0))))
+            
+            # Write velocity arrays
+            velocities = obj.get('velocity', [])
+            for arr, key in [(velocities, 'x'), (velocities, 'y')]:
+                for i in range(91):
+                    vel = arr[i] if i < len(arr) else {'x': 0.0, 'y': 0.0}
+                    f.write(struct.pack('f', float(vel.get(key, 0.0))))
+            f.write(struct.pack('91f', *[0.0] * 91))  # vz (unused)
+            
+            # Write heading and valid arrays
+            headings = obj.get('heading', [])
+            f.write(struct.pack('91f', *[float(headings[i]) if i < len(headings) else 0.0 for i in range(91)]))
+            
+            valids = obj.get('valid', [])
+            f.write(struct.pack('91i', *[int(valids[i]) if i < len(valids) else 0 for i in range(91)]))
+            
+            # Write scalar fields
+            f.write(struct.pack('f', float(obj.get('width', 0.0))))
+            f.write(struct.pack('f', float(obj.get('length', 0.0))))
+            f.write(struct.pack('f', float(obj.get('height', 0.0))))
+            goal_pos = obj.get('goalPosition', {'x': 0, 'y': 0, 'z': 0})  # Get goalPosition object with default
+            f.write(struct.pack('f', float(goal_pos.get('x', 0.0))))  # Get x value
+            f.write(struct.pack('f', float(goal_pos.get('y', 0.0))))  # Get y value
+            f.write(struct.pack('f', float(goal_pos.get('z', 0.0))))  # Get z value
+        
+        # Write roads
+        for idx, road in enumerate(map_data.get('roads', [])):
+            geometry = road.get('geometry', [])
+            size = len(geometry)
+            road_type = road.get('map_element_id', 0)
+            if(road_type >=0 and road_type <=3):
+                road_type = 4
+            elif(road_type >=5 and road_type <=13):
+                road_type = 5
+            elif(road_type >=14 and road_type <=16):
+                road_type = 6
+            elif(road_type == 17):
+                road_type = 7
+            elif(road_type == 18):
+                road_type = 8
+            elif(road_type == 19):
+                road_type = 9
+            elif(road_type == 20):
+                road_type = 10
+            # Write base entity data
+            f.write(struct.pack('i', road_type))  # type
+            f.write(struct.pack('i', 0))          # road_object_id
+            f.write(struct.pack('i', road.get('id', 0)))    # road_point_id
+            f.write(struct.pack('i', size))                 # array_size
+            
+            # Write position arrays
+            for coord in ['x', 'y', 'z']:
+                for point in geometry:
+                    f.write(struct.pack('f', float(point.get(coord, 0.0))))
+            # Write scalar fields
+            f.write(struct.pack('f', float(road.get('width', 0.0))))
+            f.write(struct.pack('f', float(road.get('length', 0.0))))
+            f.write(struct.pack('f', float(road.get('height', 0.0))))
+            goal_pos = road.get('goalPosition', {'x': 0, 'y': 0, 'z': 0})  # Get goalPosition object with default
+            f.write(struct.pack('f', float(goal_pos.get('x', 0.0))))  # Get x value
+            f.write(struct.pack('f', float(goal_pos.get('y', 0.0))))  # Get y value
+            f.write(struct.pack('f', float(goal_pos.get('z', 0.0))))  # Get z value
+
+def load_map(map_name, binary_output=None):
+    """Loads a JSON map and optionally saves it as binary"""
+    with open(map_name, 'r') as f:
+        map_data = json.load(f)
+    
+    if binary_output:
+        save_map_binary(map_data, binary_output)
+    
+    # Create numpy array for Python usage
+    total_entities = len(map_data.get('roads', [])) + len(map_data.get('objects', []))
+    entities_flat = np.zeros(total_entities, dtype=entity_dtype())
+    # entities = np.frombuffer(entities_flat, dtype=entity_dtype()).view(np.recarray)
+    
+    # # Process roads
+    # current_idx = 0
+    # for entity in map_data.get('roads', []):
+    #     for json_key, struct_key in ROAD_MAPPING.items():
+    #         if json_key in entity:
+    #             if struct_key in ['type', 'road_object_id', 'valid', 'collision_state']:
+    #                 entities[struct_key][current_idx] = entity[json_key]
+    #             else:
+    #                 entities[struct_key][current_idx] = float(entity[json_key])
+    #     current_idx += 1
+    
+    # # Process objects
+    # for entity in map_data.get('objects', []):
+    #     for json_key, struct_key in OBJECT_MAPPING.items():
+    #         if json_key in entity:
+    #             if struct_key in ['type', 'road_object_id', 'valid', 'collision_state']:
+    #                 entities[struct_key][current_idx] = entity[json_key]
+    #             else:
+    #                 entities[struct_key][current_idx] = float(entity[json_key])
+    #     current_idx += 1
+    
+    # return entities_flat
+
+
+if __name__ == '__main__':
+    load_map('resources/tfrecord-00000-of-01000_4.json', 'map.bin')

From d8e8dadbdb57bc45c5b18acbd3946d419bced077 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sat, 8 Mar 2025 16:46:33 -0600
Subject: [PATCH 006/112] visual change on camera and goal spheres

---
 pufferlib/ocean/gpudrive/gpudrive.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index db29cea978..094abd426b 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -256,7 +256,7 @@ Client* make_client(GPUDrive* env){
     client->camera.position = (Vector3){ 
         target_pos.x,           // Same X as target
         target_pos.y + 80.0f,   // 20 units above target
-        target_pos.z + 20.0f    // 20 units behind target
+        target_pos.z + 50.0f    // 20 units behind target
     };
     client->camera.target = target_pos;
     client->camera.up = (Vector3){ 0.0f, -1.0f, 0.0f };  // Y is up
@@ -326,7 +326,7 @@ void c_render(Client* client, GPUDrive* env) {
                         env->entities[i].goal_position_x,
                         env->entities[i].goal_position_y,
                         env->entities[i].goal_position_z
-                    }, 0.25f, DARKGREEN);
+                    }, 0.5f, DARKGREEN);
                 }
             }
         }

From 4830538d09a31a582058ba6ede1abbd53dd08f1c Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sun, 9 Mar 2025 15:10:39 -0500
Subject: [PATCH 007/112] hunting for memory leaks

---
 pufferlib/ocean/gpudrive/gpudrive.c           | 146 +++++--
 pufferlib/ocean/gpudrive/gpudrive.h           | 413 +++++++++++++-----
 .../tfrecord-00000-of-01000_325.json          |   1 +
 .../resources/tfrecord-00000-of-01000_4.json  |   1 +
 4 files changed, 401 insertions(+), 160 deletions(-)
 create mode 100644 pufferlib/resources/tfrecord-00000-of-01000_325.json
 create mode 100644 pufferlib/resources/tfrecord-00000-of-01000_4.json

diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index efd8c820e6..2a74c01529 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -3,59 +3,111 @@
 #include "gpudrive.h"
 #include "puffernet.h"
 
+// Human control functions
+void handle_human_input(GPUDrive* env) {
+    float steering_delta = M_PI/8.0f;
+    int active_idx = env->active_agent_indices[env->human_agent_idx];
+    int (*actions)[2] = (int(*)[2])env->actions;
+    
+    // Reset the human-controlled agent's actions
+    actions[active_idx][0] = 0;
+    actions[active_idx][1] = 0;
+    
+    // Apply keyboard inputs to the human-controlled agent
+    if(IsKeyDown(KEY_W)) {
+        actions[active_idx][0] = 1;
+    }
+    if(IsKeyDown(KEY_S)) {
+        actions[active_idx][0] = -1;
+    }
+    if(IsKeyDown(KEY_A)) {
+        actions[active_idx][1] = -steering_delta;
+    }
+    if(IsKeyDown(KEY_D)) {
+        actions[active_idx][1] = steering_delta;
+    }
+    
+    // Allow switching between agents with number keys
+    for(int i = 0; i < env->active_agent_count; i++) {
+        if(IsKeyPressed(KEY_ONE + i)) {
+            env->human_agent_idx = i;
+            printf("Switched to controlling agent %d (index %d)\n", 
+                   i, env->active_agent_indices[i]);
+            break;
+        }
+    }
+}
+
+// Camera control functions
+void handle_camera_controls(Client* client) {
+    static Vector2 prev_mouse_pos = {0};
+    static bool is_dragging = false;
+    float camera_move_speed = 0.5f;
+    
+    // Handle mouse drag for camera movement
+    if (IsMouseButtonPressed(MOUSE_BUTTON_LEFT)) {
+        prev_mouse_pos = GetMousePosition();
+        is_dragging = true;
+    }
+    
+    if (IsMouseButtonReleased(MOUSE_BUTTON_LEFT)) {
+        is_dragging = false;
+    }
+    
+    if (is_dragging) {
+        Vector2 current_mouse_pos = GetMousePosition();
+        Vector2 delta = {
+            (current_mouse_pos.x - prev_mouse_pos.x) * camera_move_speed,
+            -(current_mouse_pos.y - prev_mouse_pos.y) * camera_move_speed
+        };
+
+        // Update camera position (only X and Y)
+        client->camera.position.x += delta.x;
+        client->camera.position.y += delta.y;
+        
+        // Update camera target (only X and Y)
+        client->camera.target.x += delta.x;
+        client->camera.target.y += delta.y;
+
+        prev_mouse_pos = current_mouse_pos;
+    }
+
+    // Handle mouse wheel for zoom
+    float wheel = GetMouseWheelMove();
+    if (wheel != 0) {
+        float zoom_factor = 1.0f - (wheel * 0.1f);
+        // Adjust camera position for zoom while maintaining height
+        client->camera.position.x = client->camera.target.x + 
+            (client->camera.position.x - client->camera.target.x) * zoom_factor;
+        client->camera.position.y = client->camera.target.y + 
+            (client->camera.position.y - client->camera.target.y) * zoom_factor;
+    }
+}
 
 void demo() {
     GPUDrive env = {
         .num_agents = 4,
         .active_agent_count = 4,
+        .dynamics_model = CLASSIC,
+        .human_agent_idx = 0,
     };
     allocate(&env);
     c_reset(&env);
     Client* client = make_client(&env);
-
-    // Initialize mouse control variables
-    Vector2 prev_mouse_pos = GetMousePosition();
-    bool is_dragging = false;
-    float camera_move_speed = 0.5f;  // Adjust this to control movement sensitivity
-
+    printf("Human controlling agent index: %d\n", env.active_agent_indices[env.human_agent_idx]);
+    
     while (!WindowShouldClose()) {
-        // Handle mouse drag for camera movement
-        if (IsMouseButtonPressed(MOUSE_BUTTON_LEFT)) {
-            prev_mouse_pos = GetMousePosition();
-            is_dragging = true;
-        }
-        
-        if (IsMouseButtonReleased(MOUSE_BUTTON_LEFT)) {
-            is_dragging = false;
-        }
-        
-        if (is_dragging) {
-            Vector2 current_mouse_pos = GetMousePosition();
-            Vector2 delta = {
-                (current_mouse_pos.x - prev_mouse_pos.x) * camera_move_speed,
-                -(current_mouse_pos.y - prev_mouse_pos.y) * camera_move_speed
-            };
-
-            // Update camera position (only X and Y)
-            client->camera.position.x += delta.x;
-            client->camera.position.y += delta.y;
-            
-            // Update camera target (only X and Y)
-            client->camera.target.x += delta.x;
-            client->camera.target.y += delta.y;
-
-            prev_mouse_pos = current_mouse_pos;
+        // Handle camera controls
+        handle_camera_controls(client);
+        int (*actions)[2] = (int(*)[2])env.actions;
+        // Reset all agent actions at the beginning of each frame
+        for(int i = 0; i < env.active_agent_count; i++) {
+            int idx = env.active_agent_indices[i];
+            actions[idx*2][0] = 0;
+            actions[idx*2][1] = 0;
         }
-
-        // Handle mouse wheel for zoom
-        float wheel = GetMouseWheelMove();
-        if (wheel != 0) {
-            float zoom_factor = 1.0f - (wheel * 0.1f);
-            // Adjust camera position for zoom while maintaining height
-            client->camera.position.x = client->camera.target.x + (client->camera.position.x - client->camera.target.x) * zoom_factor;
-            client->camera.position.y = client->camera.target.y + (client->camera.position.y - client->camera.target.y) * zoom_factor;
-        }
-
+        // Handle human input for the controlled agent
+        // handle_human_input(&env);
         c_step(&env);
         c_render(client, &env);
     }
@@ -75,8 +127,16 @@ void performance_test() {
 
     long start = time(NULL);
     int i = 0;
+    // int (*actions)[2] = (int(*)[2])env.actions;
+    
     while (time(NULL) - start < test_time) {
-        env.actions[0] = rand() % 5;
+        // Set random actions for all agents
+        // for(int j = 0; j < env.active_agent_count; j++) {
+        //     int idx = env.active_agent_indices[j];
+        //     actions[idx][0] = (rand() % 3) - 1;  // -1, 0, or 1
+        //     actions[idx][1] = ((rand() % 7) - 3) * (M_PI/16.0f);  // Random steering
+        // }
+        
         c_step(&env);
         i++;
     }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 094abd426b..1f01c6bef0 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -30,22 +30,83 @@
 // Trajectory Length
 #define TRAJECTORY_LENGTH 91
 
+// Actions
 #define NOOP 0
 
+// Dynamics Models
+#define CLASSIC 0
+#define INVERTIBLE_BICYLE 1
+#define DELTA_LOCAL 2
+#define STATE_DYNAMICS 3
+
+#define LOG_BUFFER_SIZE 1024
+
+typedef struct Log Log;
+struct Log {
+    float episode_return;
+    float episode_length;
+};
+
+
+typedef struct LogBuffer LogBuffer;
+struct LogBuffer {
+    Log* logs;
+    int length;
+    int idx;
+};
+
+LogBuffer* allocate_logbuffer(int size) {
+    LogBuffer* logs = (LogBuffer*)calloc(1, sizeof(LogBuffer));
+    logs->logs = (Log*)calloc(size, sizeof(Log));
+    logs->length = size;
+    logs->idx = 0;
+    return logs;
+}
+
+void free_logbuffer(LogBuffer* buffer) {
+    free(buffer->logs);
+    free(buffer);
+}
+
+void add_log(LogBuffer* logs, Log* log) {
+    if (logs->idx == logs->length) {
+        return;
+    }
+    logs->logs[logs->idx] = *log;
+    logs->idx += 1;
+    //printf("Log: %f, %f, %f\n", log->episode_return, log->episode_length, log->score);
+}
+
+Log aggregate_and_clear(LogBuffer* logs) {
+    Log log = {0};
+    if (logs->idx == 0) {
+        return log;
+    }
+    for (int i = 0; i < logs->idx; i++) {
+        log.episode_return += logs->logs[i].episode_return;
+        log.episode_length += logs->logs[i].episode_length;
+ 
+    }
+    log.episode_return /= logs->idx;
+    log.episode_length /= logs->idx;
+    logs->idx = 0;
+    return log;
+}
+
 typedef struct Entity Entity;
 struct Entity {
     int type;
     int road_object_id;
     int road_point_id;
     int array_size;
-    float* x;
-    float* y;
-    float* z;
-    float* vx;
-    float* vy;
-    float* vz;
-    float* heading;
-    int* valid;
+    float* traj_x;
+    float* traj_y;
+    float* traj_z;
+    float* traj_vx;
+    float* traj_vy;
+    float* traj_vz;
+    float* traj_heading;
+    int* traj_valid;
     float width;
     float length;
     float height;
@@ -53,34 +114,46 @@ struct Entity {
     float goal_position_y;
     float goal_position_z;
     int collision_state;
+    float x;
+    float y;
+    float z;
+    float vx;
+    float vy;
+    float vz;
+    float heading;
+    int valid;
 };
 
 void free_entity(Entity* entity){
-    free(entity->x);
-    free(entity->y);
-    free(entity->z);
-    free(entity->vx);
-    free(entity->vy);
-    free(entity->vz);
-    free(entity->heading);
-    free(entity->valid);
+    // free trajectory arrays
+    free(entity->traj_x);
+    free(entity->traj_y);
+    free(entity->traj_z);
+    free(entity->traj_vx);
+    free(entity->traj_vy);
+    free(entity->traj_vz);
+    free(entity->traj_heading);
+    free(entity->traj_valid);
 }
 
 
 
 typedef struct GPUDrive GPUDrive;
 struct GPUDrive {
-    int num_agents;
-    int active_agent_count;
-    int* active_agent_indices;
     float* observations;
     int* actions;
     float* rewards;
     unsigned char* dones;
+    LogBuffer* log_buffer;
+    Log* logs;
+    int num_agents;
+    int active_agent_count;
+    int* active_agent_indices;
     int human_agent_idx;
     Entity* entities;
     int num_entities;
     int timestep;
+    int dynamics_model;
 };
 
 Entity* load_map_binary(const char* filename, GPUDrive* env) {
@@ -101,34 +174,34 @@ Entity* load_map_binary(const char* filename, GPUDrive* env) {
         fread(&entities[i].array_size, sizeof(int), 1, file);
         // Allocate arrays based on type
         int size = entities[i].array_size;
-        entities[i].x = (float*)malloc(size * sizeof(float));
-        entities[i].y = (float*)malloc(size * sizeof(float));
-        entities[i].z = (float*)malloc(size * sizeof(float));
+        entities[i].traj_x = (float*)malloc(size * sizeof(float));
+        entities[i].traj_y = (float*)malloc(size * sizeof(float));
+        entities[i].traj_z = (float*)malloc(size * sizeof(float));
         if (entities[i].type == 1 || entities[i].type == 2 || entities[i].type == 3) {  // Object type
             // Allocate arrays for object-specific data
-            entities[i].vx = (float*)malloc(size * sizeof(float));
-            entities[i].vy = (float*)malloc(size * sizeof(float));
-            entities[i].vz = (float*)malloc(size * sizeof(float));
-            entities[i].heading = (float*)malloc(size * sizeof(float));
-            entities[i].valid = (int*)malloc(size * sizeof(int));
+            entities[i].traj_vx = (float*)malloc(size * sizeof(float));
+            entities[i].traj_vy = (float*)malloc(size * sizeof(float));
+            entities[i].traj_vz = (float*)malloc(size * sizeof(float));
+            entities[i].traj_heading = (float*)malloc(size * sizeof(float));
+            entities[i].traj_valid = (int*)malloc(size * sizeof(int));
         } else {
             // Roads don't use these arrays
-            entities[i].vx = NULL;
-            entities[i].vy = NULL;
-            entities[i].vz = NULL;
-            entities[i].heading = NULL;
-            entities[i].valid = NULL;
+            entities[i].traj_vx = NULL;
+            entities[i].traj_vy = NULL;
+            entities[i].traj_vz = NULL;
+            entities[i].traj_heading = NULL;
+            entities[i].traj_valid = NULL;
         }
         // Read array data
-        fread(entities[i].x, sizeof(float), size, file);
-        fread(entities[i].y, sizeof(float), size, file);
-        fread(entities[i].z, sizeof(float), size, file);
+        fread(entities[i].traj_x, sizeof(float), size, file);
+        fread(entities[i].traj_y, sizeof(float), size, file);
+        fread(entities[i].traj_z, sizeof(float), size, file);
         if (entities[i].type == 1 || entities[i].type == 2 || entities[i].type == 3) {  // Object type
-            fread(entities[i].vx, sizeof(float), size, file);
-            fread(entities[i].vy, sizeof(float), size, file);
-            fread(entities[i].vz, sizeof(float), size, file);
-            fread(entities[i].heading, sizeof(float), size, file);
-            fread(entities[i].valid, sizeof(int), size, file);
+            fread(entities[i].traj_vx, sizeof(float), size, file);
+            fread(entities[i].traj_vy, sizeof(float), size, file);
+            fread(entities[i].traj_vz, sizeof(float), size, file);
+            fread(entities[i].traj_heading, sizeof(float), size, file);
+            fread(entities[i].traj_valid, sizeof(int), size, file);
         }
         // Read remaining scalar fields
         fread(&entities[i].width, sizeof(float), 1, file);
@@ -153,15 +226,15 @@ void print_entities(GPUDrive* env, int idx){
         printf("entity %d array_size: %d\n", i, env->entities[i].array_size);
     }
     for(int i = 0; i < env->entities[idx].array_size; i++){
-        printf("entity %d x: %f\n", idx, env->entities[idx].x[i]);
-        printf("entity %d y: %f\n", idx, env->entities[idx].y[i]);
-        printf("entity %d z: %f\n", idx, env->entities[idx].z[i]);
+        printf("entity %d x: %f\n", idx, env->entities[idx].traj_x[i]);
+        printf("entity %d y: %f\n", idx, env->entities[idx].traj_y[i]);
+        printf("entity %d z: %f\n", idx, env->entities[idx].traj_z[i]);
         if(env->entities[idx].type == 1 || env->entities[idx].type == 2 || env->entities[idx].type == 3){
-            printf("entity %d heading: %f\n", idx, env->entities[idx].heading[i]);
-            printf("entity %d vx: %f\n", idx, env->entities[idx].vx[i]);
-            printf("entity %d vy: %f\n", idx, env->entities[idx].vy[i]);
-            printf("entity %d vz: %f\n", idx, env->entities[idx].vz[i]);
-            printf("entity %d valid: %d\n", idx, env->entities[idx].valid[i]);
+            printf("entity %d heading: %f\n", idx, env->entities[idx].traj_heading[i]);
+            printf("entity %d vx: %f\n", idx, env->entities[idx].traj_vx[i]);
+            printf("entity %d vy: %f\n", idx, env->entities[idx].traj_vy[i]);
+            printf("entity %d vz: %f\n", idx, env->entities[idx].traj_vz[i]);
+            printf("entity %d valid: %d\n", idx, env->entities[idx].traj_valid[i]);
         }
     }
     printf("entity %d width: %f\n", idx, env->entities[idx].width);
@@ -176,15 +249,22 @@ void init(GPUDrive* env){
     env->human_agent_idx = 0;
     env->timestep = 0;
     env->entities = load_map_binary("map.bin", env);
+    env->dynamics_model = CLASSIC;
+    env->logs = (Log*)calloc(env->active_agent_count, sizeof(Log));
     printf("num_entities: %d\n", env->num_entities);
     printf("active_agent_count: %d\n", env->active_agent_count);
     printf("active_agent_indices: ");
     for(int i = 0; i < env->active_agent_count; i++){
         printf("%d ", env->active_agent_indices[i]);
+        env->entities[env->active_agent_indices[i]].x = env->entities[env->active_agent_indices[i]].traj_x[0];
+        env->entities[env->active_agent_indices[i]].y = env->entities[env->active_agent_indices[i]].traj_y[0];
+        env->entities[env->active_agent_indices[i]].z = env->entities[env->active_agent_indices[i]].traj_z[0];
+        env->entities[env->active_agent_indices[i]].vx = env->entities[env->active_agent_indices[i]].traj_vx[0];
+        env->entities[env->active_agent_indices[i]].vy = env->entities[env->active_agent_indices[i]].traj_vy[0];
+        env->entities[env->active_agent_indices[i]].vz = env->entities[env->active_agent_indices[i]].traj_vz[0];
+        env->entities[env->active_agent_indices[i]].heading = env->entities[env->active_agent_indices[i]].traj_heading[0];
+        env->entities[env->active_agent_indices[i]].valid = env->entities[env->active_agent_indices[i]].traj_valid[0];
     }
-    printf("\n");
-
-    print_entities(env, 16);
 }
 
 void free_initialized(GPUDrive* env){
@@ -193,35 +273,127 @@ void free_initialized(GPUDrive* env){
     }
     free(env->entities);
     free(env->active_agent_indices);
+    free(env->logs);
 }
 
 void allocate(GPUDrive* env){
     int max_obs = SELF_OBJS + (MAX_AGENTS - 1)*OTHER_AGENT_OBS + MAX_ROAD_OBJECTS*ROAD_OBS;
     printf("MAX_OBS: %d\n", max_obs);
-    env->observations = (float*)calloc(env->num_agents * max_obs, sizeof(float));
-    env->actions = (int*)calloc(env->num_agents, sizeof(int));
-    env->rewards = (float*)calloc(env->num_agents, sizeof(float));
-    env->dones = (unsigned char*)calloc(env->num_agents, sizeof(unsigned char));
     init(env);
+    env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
+    env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
+    env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
+    env->dones = (unsigned char*)calloc(env->active_agent_count, sizeof(unsigned char));
+    env->log_buffer = allocate_logbuffer(LOG_BUFFER_SIZE);
 }
 
 void free_allocated(GPUDrive* env){
-    free_initialized(env);
     free(env->observations);
     free(env->actions);
     free(env->rewards);
     free(env->dones);
+    free_logbuffer(env->log_buffer);
+    free_initialized(env);
 }
 
 void c_reset(GPUDrive* env){
     env->timestep = 0;
+    for(int x = 0;x<env->active_agent_count; x++){
+        env->logs[x] = (Log){0};
+    }
+}
+
+void move_dynamics(GPUDrive* env, int* actions, int action_idx, int agent_idx){
+    if(env->dynamics_model == CLASSIC){
+        // clip acceleration & steering
+        Entity* agent = &env->entities[agent_idx];
+        
+        // Extract action components directly from the multi-discrete action array
+        int (*action_array)[2] = (int(*)[2])env->actions;
+        float acceleration = action_array[action_idx][0];
+        float steering = action_array[action_idx][1];
+
+        printf("agent %d: acceleration: %.2f, steering: %.2f\n", agent_idx, acceleration, steering);
+        
+        // Clip acceleration and steering
+        acceleration = fmaxf(-6.0f, fminf(acceleration, 6.0f));
+        steering = fmaxf(-3.0f, fminf(steering, 3.0f));
+        
+        // Current state
+        float x = agent->x;
+        float y = agent->y;
+        float heading = agent->heading;
+        float vx = agent->vx;
+        float vy = agent->vy;
+        
+        // Calculate current speed
+        float speed = sqrtf(vx*vx + vy*vy);
+        
+        // Time step (adjust as needed)
+        const float dt = 0.1f;
+        
+        // Update position using current velocity and acceleration
+        float new_x = x + vx * dt + 0.5f * acceleration * cosf(heading) * dt * dt;
+        float new_y = y + vy * dt + 0.5f * acceleration * sinf(heading) * dt * dt;
+        
+        // Calculate heading change based on steering and speed
+        float delta_heading = steering * (speed * dt + 0.5f * acceleration * dt * dt);
+        float new_heading = heading + delta_heading;
+        
+        // Normalize heading to [-π, π]
+        while (new_heading > M_PI) new_heading -= 2.0f * M_PI;
+        while (new_heading < -M_PI) new_heading += 2.0f * M_PI;
+        
+        // Update speed and velocity components
+        float new_speed = speed + acceleration * dt;
+        float new_vx = new_speed * cosf(new_heading);
+        float new_vy = new_speed * sinf(new_heading);
+        
+        // Update agent state for next timestep
+        printf("agent z: %f\n", agent->z);
+        printf("agent traj z: %f\n", agent->traj_z[env->timestep]);
+        agent->x = new_x;
+        agent->y = new_y;
+        agent->z = agent->traj_z[env->timestep];
+        agent->heading = new_heading;
+        agent->vx = new_vx;
+        agent->vy = new_vy;
+    }
+    else if(env->dynamics_model == INVERTIBLE_BICYLE){
+        // Invertible bicycle dynamics model
+    }
+}
+
+void move_expert(GPUDrive* env, int* actions, int agent_idx){
+    Entity* agent = &env->entities[agent_idx];
+    agent->x = agent->traj_x[env->timestep];
+    agent->y = agent->traj_y[env->timestep];
+    agent->z = agent->traj_z[env->timestep];
+    agent->heading = agent->traj_heading[env->timestep];
+}
+
+void move_random(GPUDrive* env, int* actions, int agent_idx){
+    Entity* agent = &env->entities[agent_idx];
+    float x_rand = agent->x + (rand() % 100 - 50) / 100.0f;
+    float y_rand = agent->y + (rand() % 100 - 50) / 100.0f;
+    float z_rand = agent->z + (rand() % 100 - 50) / 100.0f;
+    float heading_rand = agent->heading + (rand() % 100 - 50) / 100.0f;
+    agent->x = x_rand;
+    agent->y = y_rand;
+    agent->z = z_rand;
+    agent->heading = heading_rand;
 }
 
 int c_step(GPUDrive* env){
-    env->timestep++;
+    memset(env->rewards, 0, env->active_agent_count * sizeof(float));
+    env->timestep++;    
+    // Process actions for all active agents
+    for(int i=0; i<env->active_agent_count; i++){
+        int agent_idx = env->active_agent_indices[i];
+        move_dynamics(env, env->actions, i*2, agent_idx);
+    }
     if(env->timestep == 91){
-        env->timestep = 0;
-        return 1;
+        c_reset(env);
     }
     return 0;
 }   
@@ -247,9 +419,9 @@ Client* make_client(GPUDrive* env){
     
     // Get initial target position from first active agent
     Vector3 target_pos = {
-        env->entities[env->active_agent_indices[0]].x[0],
-        env->entities[env->active_agent_indices[0]].y[0],  // Y is up
-        env->entities[env->active_agent_indices[0]].z[0]   // Z is depth
+        env->entities[env->active_agent_indices[0]].x,
+        env->entities[env->active_agent_indices[0]].y,  // Y is up
+        env->entities[env->active_agent_indices[0]].z   // Z is depth
     };
     
     // Set up camera to look at target from above and behind
@@ -273,61 +445,62 @@ void c_render(Client* client, GPUDrive* env) {
     ClearBackground(RAYWHITE);
     
     BeginMode3D(client->camera);
-    
     // Draw a grid to help with orientation
     DrawGrid(20, 1.0f);
     
     for(int i = 0; i < env->num_entities; i++) {
         if(env->entities[i].type == 1 || env->entities[i].type == 2 || env->entities[i].type == 3) {
             for(int j = 0; j < env->active_agent_count; j++) {
-                if(env->active_agent_indices[j] == i) {
-                    // Get current heading
-                    float heading = env->entities[i].heading[env->timestep];
-                    // Create position vector (Y is up, Z is depth)
-                    Vector3 position = {
-                        env->entities[i].x[env->timestep],
-                        env->entities[i].y[env->timestep],
-                        env->entities[i].z[env->timestep]
-                    };
-                    
-                    // Create size vector
-                    Vector3 size = {
-                        env->entities[i].length,
-                        env->entities[i].width,
-                        env->entities[i].height
-                    };
-                    
-                    // Save current transform
-                    rlPushMatrix();
-                    
-                    // Translate to position, rotate around Y axis, then draw
-                    rlTranslatef(position.x, position.y, position.z);
-                    rlRotatef(heading * RAD2DEG, 0.0f, 0.0f, 1.0f);  // Convert radians to degrees
-                    
-                    // Draw cube centered at origin (will be transformed by matrix)
-                    Color object_color;
-                    if(env->entities[i].type == 1){
-                        object_color = DARKBLUE;
-                    }
-                    else if(env->entities[i].type == 2){
-                        object_color = BEIGE;
-                    }
-                    else if(env->entities[i].type == 3){
-                        object_color = YELLOW;
-                    }
-                    DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
-                    DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
-                    
-                    // Restore previous transform
-                    rlPopMatrix();
-                    
-                    // Draw goal position
-                    DrawSphere((Vector3){
-                        env->entities[i].goal_position_x,
-                        env->entities[i].goal_position_y,
-                        env->entities[i].goal_position_z
-                    }, 0.5f, DARKGREEN);
+                if(env->active_agent_indices[j] != i) {
+                    continue;
                 }
+                // Get current heading
+                float heading = env->entities[i].heading;
+                // Create position vector (Y is up, Z is depth)
+                Vector3 position = {
+                    env->entities[i].x,
+                    env->entities[i].y,
+                    env->entities[i].z
+                };
+                
+                // Create size vector
+                Vector3 size = {
+                    env->entities[i].length,
+                    env->entities[i].width,
+                    env->entities[i].height
+                };
+                
+                // Save current transform
+                rlPushMatrix();
+                
+                // Translate to position, rotate around Y axis, then draw
+                rlTranslatef(position.x, position.y, position.z);
+                rlRotatef(heading * RAD2DEG, 0.0f, 0.0f, 1.0f);  // Convert radians to degrees
+                
+                // Draw cube centered at origin (will be transformed by matrix)
+                Color object_color = PINK;
+                if(env->entities[i].type == 1){
+                    object_color = DARKBLUE;
+                }
+                else if(env->entities[i].type == 2){
+                    object_color = BEIGE;
+                }
+                else if(env->entities[i].type == 3){
+                    object_color = YELLOW;
+                }
+                DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
+                DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
+                
+                // Restore previous transform
+                rlPopMatrix();
+                
+                // Draw goal position
+                DrawSphere((Vector3){
+                    env->entities[i].goal_position_x,
+                    env->entities[i].goal_position_y,
+                    env->entities[i].goal_position_z
+                }, 0.5f, DARKGREEN);
+                
             }
         }
         
@@ -335,14 +508,14 @@ void c_render(Client* client, GPUDrive* env) {
         if(env->entities[i].type > 3 && env->entities[i].type < 7) {
             for(int j = 0; j < env->entities[i].array_size - 1; j++) {
                 Vector3 start = {
-                    env->entities[i].x[j],
-                    env->entities[i].y[j],
-                    env->entities[i].z[j]
+                    env->entities[i].traj_x[j],
+                    env->entities[i].traj_y[j],
+                    env->entities[i].traj_z[j]
                 };
                 Vector3 end = {
-                    env->entities[i].x[j + 1],
-                    env->entities[i].y[j + 1],
-                    env->entities[i].z[j + 1]
+                    env->entities[i].traj_x[j + 1],
+                    env->entities[i].traj_y[j + 1],
+                    env->entities[i].traj_z[j + 1]
                 };
                 
                 Color lineColor = GRAY;
@@ -367,7 +540,13 @@ void c_render(Client* client, GPUDrive* env) {
         client->camera.target.y, 
         client->camera.target.z), 10, 30, 20, BLACK);
     DrawText(TextFormat("Timestep: %d", env->timestep), 10, 50, 20, BLACK);
-    
+    // acceleration & steering
+    int human_idx = env->active_agent_indices[env->human_agent_idx];
+    DrawText(TextFormat("Controlling Agent: %d", env->human_agent_idx), 10, 70, 20, BLACK);
+    DrawText(TextFormat("Agent Index: %d", human_idx), 10, 90, 20, BLACK);
+    // Controls help
+    DrawText("Controls: W/S - Accelerate/Brake, A/D - Steer, 1-4 - Switch Agent", 
+             10, client->height - 30, 20, BLACK);
     EndDrawing();
 }
 
diff --git a/pufferlib/resources/tfrecord-00000-of-01000_325.json b/pufferlib/resources/tfrecord-00000-of-01000_325.json
new file mode 100644
index 0000000000..bb197d440f
--- /dev/null
+++ b/pufferlib/resources/tfrecord-00000-of-01000_325.json
@@ -0,0 +1 @@
+{"name": "tfrecord-00000-of-01000_325.json", "scenario_id": "ef3a8f65142f41ac", "objects": [{"position": [{"x": -8330.69921875, "y": 8096.3125, "z": -38.52962875366211}, {"x": -8329.8330078125, "y": 8095.95556640625, "z": -38.500244512748395}, {"x": -8328.87109375, "y": 8095.533203125, "z": -38.49168714732872}, {"x": -8327.91796875, "y": 8095.09716796875, "z": -38.482875825391815}, {"x": -8326.9345703125, "y": 8094.64990234375, "z": -38.4840157041386}, {"x": -8325.93359375, "y": 8094.1865234375, "z": -38.47635243273912}, {"x": -8324.958984375, "y": 8093.74658203125, "z": -38.46117327593842}, {"x": -8323.9189453125, "y": 8093.279296875, "z": -38.463948981567015}, {"x": -8322.89453125, "y": 8092.822265625, "z": -38.461732818135395}, {"x": -8321.853515625, "y": 8092.35546875, "z": -38.441345671330836}, {"x": -8320.822265625, "y": 8091.90087890625, "z": -38.43687360308022}, {"x": -8319.7470703125, "y": 8091.40478515625, "z": -38.441011095497345}, {"x": -8318.6884765625, "y": 8090.9375, "z": -38.440318435067425}, {"x": -8317.6083984375, "y": 8090.458984375, "z": -38.42866914666673}, {"x": -8316.533203125, "y": 8089.9609375, "z": -38.432401403688665}, {"x": -8315.45703125, "y": 8089.482421875, "z": -38.42254442127784}, {"x": -8314.380859375, "y": 8089.0, "z": -38.42716323242774}, {"x": -8313.2802734375, "y": 8088.5126953125, "z": -38.41602644921023}, {"x": -8312.1376953125, "y": 8087.99951171875, "z": -38.42053007130091}, {"x": -8311.029296875, "y": 8087.4921875, "z": -38.40892408446682}, {"x": -8309.89453125, "y": 8087.005859375, "z": -38.417920015998156}, {"x": -8308.7880859375, "y": 8086.50244140625, "z": -38.41797945720443}, {"x": -8307.673828125, "y": 8086.0009765625, "z": -38.42217707232292}, {"x": -8306.486328125, "y": 8085.4619140625, "z": -38.412216097067684}, {"x": -8305.3818359375, "y": 8084.9677734375, "z": -38.41838503444561}, {"x": -8304.2177734375, "y": 8084.4560546875, "z": -38.43300959916423}, {"x": -8303.0283203125, "y": 8083.93017578125, "z": 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"z": -38.391491394975965}, {"x": -8284.7666015625, "y": 8075.7294921875, "z": -38.42298595177218}, {"x": -8283.8232421875, "y": 8075.23193359375, "z": -38.33915295725544}, {"x": -8282.65234375, "y": 8074.724609375, "z": -38.32791842597519}, {"x": -8281.5498046875, "y": 8074.2021484375, "z": -38.32139300645706}, {"x": -8280.4287109375, "y": 8073.7001953125, "z": -38.33404713543104}, {"x": -8279.2041015625, "y": 8073.177734375, "z": -38.31779756164551}, {"x": -8277.9697265625, "y": 8072.6201171875, "z": -38.27948655700684}, {"x": -8276.716796875, "y": 8072.07763671875, "z": -38.27449517808133}, {"x": -8275.5390625, "y": 8071.49462890625, "z": -38.305127086351085}, {"x": -10000.0, "y": -10000.0, "z": -10000.0}, {"x": -10000.0, "y": -10000.0, "z": -10000.0}, {"x": -10000.0, "y": -10000.0, "z": -10000.0}, {"x": -10000.0, "y": -10000.0, "z": -10000.0}, {"x": -10000.0, "y": -10000.0, "z": -10000.0}, {"x": -10000.0, "y": -10000.0, "z": -10000.0}, {"x": -10000.0, "y": -10000.0, "z": -10000.0}, 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\ No newline at end of file
diff --git a/pufferlib/resources/tfrecord-00000-of-01000_4.json b/pufferlib/resources/tfrecord-00000-of-01000_4.json
new file mode 100644
index 0000000000..f069ece1e8
--- /dev/null
+++ b/pufferlib/resources/tfrecord-00000-of-01000_4.json
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\ No newline at end of file

From 1c29a59dd4714e8013438a415c836189541a0899 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Sun, 9 Mar 2025 20:32:58 +0000
Subject: [PATCH 008/112] fixed memory shit

---
 pufferlib/ocean/gpudrive/gpudrive.c | 32 ++++++++++++++---------------
 pufferlib/ocean/gpudrive/gpudrive.h | 12 +++++------
 2 files changed, 20 insertions(+), 24 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index 2a74c01529..c1914597d6 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -93,26 +93,25 @@ void demo() {
     };
     allocate(&env);
     c_reset(&env);
-    Client* client = make_client(&env);
+    //Client* client = make_client(&env);
     printf("Human controlling agent index: %d\n", env.active_agent_indices[env.human_agent_idx]);
     
-    while (!WindowShouldClose()) {
+    while (true) {
         // Handle camera controls
-        handle_camera_controls(client);
+        //handle_camera_controls(client);
         int (*actions)[2] = (int(*)[2])env.actions;
         // Reset all agent actions at the beginning of each frame
         for(int i = 0; i < env.active_agent_count; i++) {
-            int idx = env.active_agent_indices[i];
-            actions[idx*2][0] = 0;
-            actions[idx*2][1] = 0;
+            actions[i][0] = 0;
+            actions[i][1] = 0;
         }
         // Handle human input for the controlled agent
         // handle_human_input(&env);
         c_step(&env);
-        c_render(client, &env);
+        //c_render(client, &env);
     }
 
-    close_client(client);
+    //close_client(client);
     free_allocated(&env);
 }
 
@@ -127,26 +126,25 @@ void performance_test() {
 
     long start = time(NULL);
     int i = 0;
-    // int (*actions)[2] = (int(*)[2])env.actions;
+    int (*actions)[2] = (int(*)[2])env.actions;
     
     while (time(NULL) - start < test_time) {
         // Set random actions for all agents
-        // for(int j = 0; j < env.active_agent_count; j++) {
-        //     int idx = env.active_agent_indices[j];
-        //     actions[idx][0] = (rand() % 3) - 1;  // -1, 0, or 1
-        //     actions[idx][1] = ((rand() % 7) - 3) * (M_PI/16.0f);  // Random steering
-        // }
+        for(int j = 0; j < env.active_agent_count; j++) {
+             actions[j][0] = (rand() % 3) - 1;  // -1, 0, or 1
+             actions[j][1] = ((rand() % 7) - 3) * (M_PI/16.0f);  // Random steering
+        }
         
         c_step(&env);
         i++;
     }
     long end = time(NULL);
-    printf("SPS: %ld\n", i / (end - start));
+    printf("SPS: %ld\n", (i*env.active_agent_count) / (end - start));
     free_allocated(&env);
 }
 
 int main() {
-    demo();
-    // performance_test();
+    // demo();
+    performance_test();
     return 0;
 }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 1f01c6bef0..377b8e43b8 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -313,7 +313,6 @@ void move_dynamics(GPUDrive* env, int* actions, int action_idx, int agent_idx){
         float acceleration = action_array[action_idx][0];
         float steering = action_array[action_idx][1];
 
-        printf("agent %d: acceleration: %.2f, steering: %.2f\n", agent_idx, acceleration, steering);
         
         // Clip acceleration and steering
         acceleration = fmaxf(-6.0f, fminf(acceleration, 6.0f));
@@ -350,8 +349,6 @@ void move_dynamics(GPUDrive* env, int* actions, int action_idx, int agent_idx){
         float new_vy = new_speed * sinf(new_heading);
         
         // Update agent state for next timestep
-        printf("agent z: %f\n", agent->z);
-        printf("agent traj z: %f\n", agent->traj_z[env->timestep]);
         agent->x = new_x;
         agent->y = new_y;
         agent->z = agent->traj_z[env->timestep];
@@ -388,13 +385,14 @@ int c_step(GPUDrive* env){
     memset(env->rewards, 0, env->active_agent_count * sizeof(float));
     env->timestep++;    
     // Process actions for all active agents
-    for(int i=0; i<env->active_agent_count; i++){
-        int agent_idx = env->active_agent_indices[i];
-        move_dynamics(env, env->actions, i*2, agent_idx);
-    }
     if(env->timestep == 91){
         c_reset(env);
     }
+    for(int i=0; i<env->active_agent_count; i++){
+        int agent_idx = env->active_agent_indices[i];
+        move_dynamics(env, env->actions, i, agent_idx);
+    }
+    
     return 0;
 }   
 

From f039059a3e2e7d5bf81ae6183665bf843d5d1b92 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sun, 9 Mar 2025 22:12:24 -0500
Subject: [PATCH 009/112] trying to get training loop setup

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx | 169 +++++++++++++
 pufferlib/ocean/gpudrive/gpudrive.c      |  20 +-
 pufferlib/ocean/gpudrive/gpudrive.h      | 188 +++++++++++----
 pufferlib/ocean/gpudrive/gpudrive.py     | 292 +++++++++++++++--------
 setup.py                                 |   1 +
 5 files changed, 515 insertions(+), 155 deletions(-)
 create mode 100644 pufferlib/ocean/gpudrive/cy_gpudrive.pyx

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
new file mode 100644
index 0000000000..77180c3f59
--- /dev/null
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -0,0 +1,169 @@
+from libc.stdlib cimport calloc, free
+import numpy as np
+cdef extern from "gpudrive.h":
+    int LOG_BUFFER_SIZE
+
+    ctypedef struct Log:
+        float episode_return;
+        float episode_length;
+
+
+    ctypedef struct LogBuffer
+    LogBuffer* allocate_logbuffer(int)
+    void free_logbuffer(LogBuffer*)
+    Log aggregate_and_clear(LogBuffer*)
+
+    ctypedef struct Entity:
+        int type;
+        int road_object_id;
+        int road_point_id;
+        int array_size;
+        float* traj_x;
+        float* traj_y;
+        float* traj_z;
+        float* traj_vx;
+        float* traj_vy;
+        float* traj_vz;
+        float* traj_heading;
+        int* traj_valid;
+        float width;
+        float length;
+        float height;
+        float goal_position_x;
+        float goal_position_y;
+        float goal_position_z;
+        int collision_state;
+        float x;
+        float y;
+        float z;
+        float vx;
+        float vy;
+        float vz;
+        float heading;
+        int valid;
+
+    ctypedef struct GPUDrive:
+        float* observations;
+        int* actions;
+        float* rewards;
+        unsigned char* dones;
+        LogBuffer* log_buffer;
+        Log* logs;
+        int num_agents;
+        int active_agent_count;
+        int* active_agent_indices;
+        int human_agent_idx;
+        Entity* entities;
+        int num_entities;
+        int timestep;
+        int dynamics_model;
+        float* fake_data;
+
+    ctypedef struct Client
+
+    void init(GPUDrive* env)
+    void free_allocated(GPUDrive* env)
+
+
+    Client* make_client(GPUDrive* env)
+    void close_client(Client* client)
+    void c_render(Client* client, GPUDrive* env)
+    void c_reset(GPUDrive* env)
+    void c_step(GPUDrive* env)
+
+cpdef entity_dtype():
+    '''Make a dummy entity to get the dtype'''
+    # Create a numpy structured dtype that matches the Entity struct
+    return np.dtype([
+        ('type', np.int32),
+        ('road_object_id', np.int32),
+        ('road_point_id', np.int32),
+        ('array_size', np.int32),
+        # For pointer fields, we use intp (integer large enough to hold a pointer)
+        ('traj_x', np.intp),
+        ('traj_y', np.intp),
+        ('traj_z', np.intp),
+        ('traj_vx', np.intp),
+        ('traj_vy', np.intp),
+        ('traj_vz', np.intp),
+        ('traj_heading', np.intp),
+        ('traj_valid', np.intp),
+        ('width', np.float32),
+        ('length', np.float32),
+        ('height', np.float32),
+        ('goal_position_x', np.float32),
+        ('goal_position_y', np.float32),
+        ('goal_position_z', np.float32),
+        ('collision_state', np.int32),
+        ('x', np.float32),
+        ('y', np.float32),
+        ('z', np.float32),
+        ('vx', np.float32),
+        ('vy', np.float32),
+        ('vz', np.float32),
+        ('heading', np.float32),
+        ('valid', np.int32)
+    ])
+
+cdef class CyGPUDrive:
+    cdef:
+        GPUDrive* envs
+        Client* client
+        LogBuffer* logs
+        int num_envs
+
+    def __init__(self, float[:, :] observations, int[:] actions,
+            float[:] rewards, unsigned char[:] terminals, int num_envs,
+            int active_agent_count, int human_agent_idx):
+
+        self.client = NULL
+        self.num_envs = num_envs
+        self.envs = <GPUDrive*> calloc(num_envs, sizeof(GPUDrive))
+        self.logs = allocate_logbuffer(LOG_BUFFER_SIZE)
+
+        cdef int inc = active_agent_count
+
+        cdef int i
+        for i in range(num_envs):
+            self.envs[i] = GPUDrive(
+                observations=&observations[inc*i, 0],
+                actions=&actions[inc*i],
+                rewards=&rewards[inc*i],
+                dones=&terminals[inc*i],
+                log_buffer=self.logs,
+                human_agent_idx=human_agent_idx,
+            )
+            init(&self.envs[i])
+            self.client = NULL
+
+    def reset(self):
+        cdef int i
+        for i in range(self.num_envs):
+            c_reset(&self.envs[i])
+
+    def step(self):
+        cdef int i
+        for i in range(self.num_envs):
+            c_step(&self.envs[i])
+
+    def render(self):
+        cdef GPUDrive* env = &self.envs[0]
+        if self.client == NULL:
+            import os
+            cwd = os.getcwd()
+            os.chdir(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
+            self.client = make_client(env)
+            os.chdir(cwd)
+
+        c_render(self.client, env)
+
+    def close(self):
+        if self.client != NULL:
+            close_client(self.client)
+            self.client = NULL
+
+        free(self.envs)
+
+    def log(self):
+        cdef Log log = aggregate_and_clear(self.logs)
+        return log
diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index c1914597d6..148d800234 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -86,19 +86,17 @@ void handle_camera_controls(Client* client) {
 
 void demo() {
     GPUDrive env = {
-        .num_agents = 4,
-        .active_agent_count = 4,
         .dynamics_model = CLASSIC,
         .human_agent_idx = 0,
     };
     allocate(&env);
     c_reset(&env);
-    //Client* client = make_client(&env);
+    Client* client = make_client(&env);
     printf("Human controlling agent index: %d\n", env.active_agent_indices[env.human_agent_idx]);
     
-    while (true) {
+    while (!WindowShouldClose()) {
         // Handle camera controls
-        //handle_camera_controls(client);
+        handle_camera_controls(client);
         int (*actions)[2] = (int(*)[2])env.actions;
         // Reset all agent actions at the beginning of each frame
         for(int i = 0; i < env.active_agent_count; i++) {
@@ -108,10 +106,10 @@ void demo() {
         // Handle human input for the controlled agent
         // handle_human_input(&env);
         c_step(&env);
-        //c_render(client, &env);
+        c_render(client, &env);
     }
 
-    //close_client(client);
+    close_client(client);
     free_allocated(&env);
 }
 
@@ -131,8 +129,8 @@ void performance_test() {
     while (time(NULL) - start < test_time) {
         // Set random actions for all agents
         for(int j = 0; j < env.active_agent_count; j++) {
-             actions[j][0] = (rand() % 3) - 1;  // -1, 0, or 1
-             actions[j][1] = ((rand() % 7) - 3) * (M_PI/16.0f);  // Random steering
+             actions[j][0] = 0;  // -1, 0, or 1
+             actions[j][1] = 0;  // Random steering
         }
         
         c_step(&env);
@@ -144,7 +142,7 @@ void performance_test() {
 }
 
 int main() {
-    // demo();
-    performance_test();
+    demo();
+    // performance_test();
     return 0;
 }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 377b8e43b8..487dc41a58 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -1,6 +1,7 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <stdint.h>
+#include <stddef.h>
 #include <math.h>
 #include <assert.h>
 #include <string.h>
@@ -136,6 +137,29 @@ void free_entity(Entity* entity){
     free(entity->traj_valid);
 }
 
+float relative_distance(float x1, float y1, float x2, float y2){
+    float distance = sqrtf(powf(x1 - x2, 2) + 
+                          powf(y1 - y2, 2));
+    return distance;
+}
+
+typedef struct ObservationData ObservationData;
+struct ObservationData {
+    // self_obs
+    float* rel_goal_x;
+    float* rel_goaly;
+    float* heading;
+    float* speed;
+    float* width;
+    float* length;
+    // partner_obs
+    float* rel_other_x;
+    float* rel_other_y;
+    float* speed_other;
+    float* heading_other;
+    float* other_length;
+    float* other_width;
+};
 
 
 typedef struct GPUDrive GPUDrive;
@@ -154,6 +178,7 @@ struct GPUDrive {
     int num_entities;
     int timestep;
     int dynamics_model;
+    float* fake_data;
 };
 
 Entity* load_map_binary(const char* filename, GPUDrive* env) {
@@ -161,10 +186,7 @@ Entity* load_map_binary(const char* filename, GPUDrive* env) {
     if (!file) return NULL;
     
     fread(&env->num_entities, sizeof(int), 1, file);
-    fread(&env->active_agent_count, sizeof(int), 1, file);
     Entity* entities = (Entity*)malloc(env->num_entities * sizeof(Entity));
-    env->active_agent_indices = (int*)malloc(env->active_agent_count * sizeof(int));
-    fread(env->active_agent_indices, sizeof(int), env->active_agent_count, file);
     
     for (int i = 0; i < env->num_entities; i++) {
         // Read base entity data
@@ -177,7 +199,7 @@ Entity* load_map_binary(const char* filename, GPUDrive* env) {
         entities[i].traj_x = (float*)malloc(size * sizeof(float));
         entities[i].traj_y = (float*)malloc(size * sizeof(float));
         entities[i].traj_z = (float*)malloc(size * sizeof(float));
-        if (entities[i].type == 1 || entities[i].type == 2 || entities[i].type == 3) {  // Object type
+        if (entities[i].type == 1) {  // Object type
             // Allocate arrays for object-specific data
             entities[i].traj_vx = (float*)malloc(size * sizeof(float));
             entities[i].traj_vy = (float*)malloc(size * sizeof(float));
@@ -196,7 +218,7 @@ Entity* load_map_binary(const char* filename, GPUDrive* env) {
         fread(entities[i].traj_x, sizeof(float), size, file);
         fread(entities[i].traj_y, sizeof(float), size, file);
         fread(entities[i].traj_z, sizeof(float), size, file);
-        if (entities[i].type == 1 || entities[i].type == 2 || entities[i].type == 3) {  // Object type
+        if (entities[i].type == 1) {  // Object type
             fread(entities[i].traj_vx, sizeof(float), size, file);
             fread(entities[i].traj_vy, sizeof(float), size, file);
             fread(entities[i].traj_vz, sizeof(float), size, file);
@@ -245,17 +267,8 @@ void print_entities(GPUDrive* env, int idx){
     printf("entity %d goal_position_z: %f\n", idx, env->entities[idx].goal_position_z);
 }
 
-void init(GPUDrive* env){
-    env->human_agent_idx = 0;
-    env->timestep = 0;
-    env->entities = load_map_binary("map.bin", env);
-    env->dynamics_model = CLASSIC;
-    env->logs = (Log*)calloc(env->active_agent_count, sizeof(Log));
-    printf("num_entities: %d\n", env->num_entities);
-    printf("active_agent_count: %d\n", env->active_agent_count);
-    printf("active_agent_indices: ");
+void set_start_position(GPUDrive* env){
     for(int i = 0; i < env->active_agent_count; i++){
-        printf("%d ", env->active_agent_indices[i]);
         env->entities[env->active_agent_indices[i]].x = env->entities[env->active_agent_indices[i]].traj_x[0];
         env->entities[env->active_agent_indices[i]].y = env->entities[env->active_agent_indices[i]].traj_y[0];
         env->entities[env->active_agent_indices[i]].z = env->entities[env->active_agent_indices[i]].traj_z[0];
@@ -267,6 +280,61 @@ void init(GPUDrive* env){
     }
 }
 
+void set_active_agents(GPUDrive* env){
+    env->active_agent_count = 0;
+    int active_agent_indices[env->num_entities];
+    for(int i = 0; i < env->num_entities; i++){
+        if(env->entities[i].type == 1){
+            int start_idx=0;
+            for(int j = 0; j<env->entities[i].array_size; j++){
+                if(env->entities[i].traj_valid[j] == 1){
+                    start_idx = j;
+                    break;
+                }
+            }
+            if(start_idx !=0) continue;
+            float distance = relative_distance(
+                env->entities[i].traj_x[start_idx],
+                env->entities[i].traj_y[start_idx],
+                env->entities[i].goal_position_x,
+                env->entities[i].goal_position_y);
+            printf("entity %d distance: %f\n", i, distance);
+            if(distance >= 2.0f){
+                active_agent_indices[env->active_agent_count] = i;
+                env->active_agent_count++;
+            }
+        }
+    }
+    printf("active_agent_count: %d\n", env->active_agent_count);
+    env->active_agent_indices = (int*)malloc(env->active_agent_count * sizeof(int));
+    for(int i=0;i<env->active_agent_count;i++){
+        env->active_agent_indices[i] = active_agent_indices[i];
+    };
+    for(int i = 0; i < env->active_agent_count; i++){
+        int valid_count = 0;
+        for(int j=  0; j<91; j++){
+            if(env->entities[env->active_agent_indices[i]].traj_valid[j] == 1){
+                valid_count++;
+            }
+        }
+        printf("agent %d valid_count: %d\n", env->active_agent_indices[i], valid_count);
+    }
+}
+
+void init(GPUDrive* env){
+    env->human_agent_idx = 0;
+    env->timestep = 0;
+    env->entities = load_map_binary("map.bin", env);
+    env->dynamics_model = CLASSIC;
+    env->logs = (Log*)calloc(env->active_agent_count, sizeof(Log));
+    printf("num_entities: %d\n", env->num_entities);
+    set_active_agents(env);
+    set_start_position(env);
+    printf("Offset of x: %zu\n", offsetof(struct Entity, x));
+    printf("Offset of y: %zu\n", offsetof(struct Entity, y));
+    env->fake_data = (float*)calloc(10000, sizeof(float));
+}
+
 void free_initialized(GPUDrive* env){
     for(int i = 0; i < env->num_entities; i++){
         free_entity(&env->entities[i]);
@@ -277,9 +345,9 @@ void free_initialized(GPUDrive* env){
 }
 
 void allocate(GPUDrive* env){
-    int max_obs = SELF_OBJS + (MAX_AGENTS - 1)*OTHER_AGENT_OBS + MAX_ROAD_OBJECTS*ROAD_OBS;
-    printf("MAX_OBS: %d\n", max_obs);
     init(env);
+    int max_obs = 10000;
+    printf("MAX_OBS: %d\n", max_obs);
     env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
     env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
@@ -298,15 +366,27 @@ void free_allocated(GPUDrive* env){
 
 void c_reset(GPUDrive* env){
     env->timestep = 0;
+    set_start_position(env);
     for(int x = 0;x<env->active_agent_count; x++){
         env->logs[x] = (Log){0};
     }
 }
 
-void move_dynamics(GPUDrive* env, int* actions, int action_idx, int agent_idx){
+void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
     if(env->dynamics_model == CLASSIC){
         // clip acceleration & steering
         Entity* agent = &env->entities[agent_idx];
+        if(agent->valid == 0){
+            printf("agent %d is invalid at timestep %d\n", agent_idx, env->timestep);
+            agent->x = agent->traj_x[env->timestep];
+            agent->y = agent->traj_y[env->timestep];
+            agent->z = agent->traj_z[env->timestep];
+            agent->heading = agent->traj_heading[env->timestep];
+            agent->vx = agent->traj_vx[env->timestep];
+            agent->vy = agent->traj_vy[env->timestep];
+            agent->vz = agent->traj_vz[env->timestep];
+            return;
+        }
         
         // Extract action components directly from the multi-discrete action array
         int (*action_array)[2] = (int(*)[2])env->actions;
@@ -369,7 +449,7 @@ void move_expert(GPUDrive* env, int* actions, int agent_idx){
     agent->heading = agent->traj_heading[env->timestep];
 }
 
-void move_random(GPUDrive* env, int* actions, int agent_idx){
+void move_random(GPUDrive* env, int agent_idx){
     Entity* agent = &env->entities[agent_idx];
     float x_rand = agent->x + (rand() % 100 - 50) / 100.0f;
     float y_rand = agent->y + (rand() % 100 - 50) / 100.0f;
@@ -381,6 +461,15 @@ void move_random(GPUDrive* env, int* actions, int agent_idx){
     agent->heading = heading_rand;
 }
 
+void compute_observations(GPUDrive* env){
+    int max_obs = 10000;
+    float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
+    for(int i = 0; i < env->active_agent_count; i++){
+        float* obs = &observations[i][0];
+        memcpy(obs, env->fake_data, max_obs*sizeof(float));
+    }
+};
+
 int c_step(GPUDrive* env){
     memset(env->rewards, 0, env->active_agent_count * sizeof(float));
     env->timestep++;    
@@ -388,11 +477,14 @@ int c_step(GPUDrive* env){
     if(env->timestep == 91){
         c_reset(env);
     }
-    for(int i=0; i<env->active_agent_count; i++){
+    for(int i = 0; i < env->active_agent_count; i++){
         int agent_idx = env->active_agent_indices[i];
-        move_dynamics(env, env->actions, i, agent_idx);
+        // move_dynamics(env, i, agent_idx);
+        // move_random(env, agent_idx);
+        move_expert(env, env->actions, agent_idx);
     }
-    
+        
+    compute_observations(env);
     return 0;
 }   
 
@@ -447,19 +539,26 @@ void c_render(Client* client, GPUDrive* env) {
     DrawGrid(20, 1.0f);
     
     for(int i = 0; i < env->num_entities; i++) {
-        if(env->entities[i].type == 1 || env->entities[i].type == 2 || env->entities[i].type == 3) {
+        if(env->entities[i].type == 1 ) {
             for(int j = 0; j < env->active_agent_count; j++) {
-                if(env->active_agent_indices[j] != i) {
+                Vector3 position;
+                float heading;
+                if(env->active_agent_indices[j] != i ) {
+                    // position = (Vector3){
+                    //     env->entities[i].traj_x[env->timestep],
+                    //     env->entities[i].traj_y[env->timestep],
+                    //     env->entities[i].traj_z[env->timestep]
+                    // };
+                    // heading = env->entities[i].traj_heading[env->timestep];
                     continue;
-                }
-                // Get current heading
-                float heading = env->entities[i].heading;
-                // Create position vector (Y is up, Z is depth)
-                Vector3 position = {
-                    env->entities[i].x,
-                    env->entities[i].y,
-                    env->entities[i].z
-                };
+                } else {
+                    position = (Vector3){
+                        env->entities[i].x,
+                        env->entities[i].y,
+                        env->entities[i].traj_z[env->timestep]
+                    };
+                    heading = env->entities[i].heading;
+                } 
                 
                 // Create size vector
                 Vector3 size = {
@@ -477,15 +576,20 @@ void c_render(Client* client, GPUDrive* env) {
                 
                 // Draw cube centered at origin (will be transformed by matrix)
                 Color object_color = PINK;
-                if(env->entities[i].type == 1){
+                if(env->entities[i].type == 1 && env->entities[i].valid == 1){
                     object_color = DARKBLUE;
                 }
-                else if(env->entities[i].type == 2){
+                else if(env->entities[i].type == 2 && env->entities[i].valid == 1){
                     object_color = BEIGE;
                 }
-                else if(env->entities[i].type == 3){
+                else if(env->entities[i].type == 3 && env->entities[i].valid == 1){
                     object_color = YELLOW;
                 }
+                else if(env->entities[i].valid == 0 ){
+                    object_color = RED;
+                }
+                
+                // draw the id number above the object
                 DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
                 DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
                 
@@ -493,11 +597,13 @@ void c_render(Client* client, GPUDrive* env) {
                 rlPopMatrix();
                 
                 // Draw goal position
-                DrawSphere((Vector3){
-                    env->entities[i].goal_position_x,
-                    env->entities[i].goal_position_y,
-                    env->entities[i].goal_position_z
-                }, 0.5f, DARKGREEN);
+                if(env->entities[i].valid == 1){
+                    DrawSphere((Vector3){
+                        env->entities[i].goal_position_x,
+                        env->entities[i].goal_position_y,
+                        env->entities[i].goal_position_z
+                    }, 0.5f, DARKGREEN);
+                }
                 
             }
         }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 8c8cda06ae..a01fd930a5 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -4,76 +4,53 @@
 import struct
 
 import pufferlib
-# from pufferlib.ocean.gpudrive.cy_gpudrive import CyGPUDrive
+from pufferlib.ocean.gpudrive.cy_gpudrive import CyGPUDrive, entity_dtype
 
-# class GPUDrive(pufferlib.PufferEnv):
-#     def __init__(self, num_envs=1, render_mode=None, report_interval=1,
-#             width=1280, height=1024,
-#             num_agents=4,
-#             active_agents=4,
-#             human_agent_idx=0,
-#             buf = None):
+class GPUDrive(pufferlib.PufferEnv):
+    def __init__(self, num_envs=1, render_mode=None, report_interval=1,
+            width=1280, height=1024,
+            active_agent_count=5,
+            human_agent_idx=0,
+            buf = None):
 
-#         # env
-#         self.num_agents = num_envs*num_agents
-#         self.render_mode = render_mode
-#         self.report_interval = report_interval
-        
-#         self.num_obs = 3000
-#         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
-#             shape=(self.num_obs,), dtype=np.float32)
-#         self.single_action_space = gymnasium.spaces.Discrete(90)
+        # env
+        self.num_agents = num_envs*active_agent_count
+        self.render_mode = render_mode
+        self.report_interval = report_interval
+        
+        self.num_obs = 10000
+        self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
+            shape=(self.num_obs,), dtype=np.float32)
+        self.single_action_space = gymnasium.spaces.Discrete(91)
 
-#         super().__init__(buf=buf)
-#         self.c_envs = CyGPUDrive(self.observations, self.actions, self.rewards,
-#             self.terminals, num_envs, width, height, num_agents, active_agents)
+        super().__init__(buf=buf)
+        self.c_envs = CyGPUDrive(self.observations, self.actions, self.rewards,
+            self.terminals, num_envs, width, height, active_agent_count, human_agent_idx)
 
 
-#     def reset(self, seed=None):
-#         self.c_envs.reset()
-#         self.tick = 0
-#         return self.observations, []
+    def reset(self, seed=None):
+        self.c_envs.reset()
+        self.tick = 0
+        return self.observations, []
 
-#     def step(self, actions):
-#         self.actions[:] = actions
-#         self.c_envs.step()
-#         self.tick += 1
+    def step(self, actions):
+        self.actions[:] = actions
+        self.c_envs.step()
+        self.tick += 1
 
-#         info = []
-#         if self.tick % self.report_interval == 0:
-#             log = self.c_envs.log()
-#             if log['episode_length'] > 0:
-#                 info.append(log)
-#         return (self.observations, self.rewards,
-#             self.terminals, self.truncations, info)
+        info = []
+        if self.tick % self.report_interval == 0:
+            log = self.c_envs.log()
+            if log['episode_length'] > 0:
+                info.append(log)
+        return (self.observations, self.rewards,
+            self.terminals, self.truncations, info)
 
-#     def render(self):
-#         self.c_envs.render()
+    def render(self):
+        self.c_envs.render()
         
-#     def close(self):
-#         self.c_envs.close() 
-
-def entity_dtype():
-    return np.dtype([
-        ('type', np.int32),
-        ('road_object_id', np.int32),
-        ('road_point_id', np.int32),
-        ('x', np.float32),
-        ('y', np.float32),
-        ('z', np.float32),
-        ('vx', np.float32),
-        ('vy', np.float32),
-        ('vz', np.float32),
-        ('width', np.float32),
-        ('length', np.float32),
-        ('height', np.float32),
-        ('heading', np.float32),
-        ('valid', np.int32),
-        ('goal_position_x', np.float32),
-        ('goal_position_y', np.float32),
-        ('goal_position_z', np.float32),
-        ('collision_state', np.int32),
-    ])
+    def close(self):
+        self.c_envs.close() 
 
 def save_map_binary(map_data, output_file):
     """Saves map data in a binary format readable by C"""
@@ -81,30 +58,14 @@ def save_map_binary(map_data, output_file):
         # Count total entities
         num_entities = len(map_data.get('objects', [])) + len(map_data.get('roads', []))
         f.write(struct.pack('i', num_entities))
-        active_agent_indices = []
-        metadata = map_data.get('metadata', {})
-        if isinstance(metadata, str):
-            metadata = json.loads(metadata)
-            
-        if isinstance(metadata, dict) and 'tracks_to_predict' in metadata:
-            for track in metadata['tracks_to_predict']:
-                active_agent_indices.append(track['track_index'])
-        print("Active agent indices:", active_agent_indices)
-        # Write active agent indices
-        f.write(struct.pack('i', len(active_agent_indices)))
-        for idx in active_agent_indices:
-            f.write(struct.pack('i', idx))
-        
         # Write objects
         for obj in map_data.get('objects', []):
             # Write base entity data
             obj_type = obj.get('type', 1)
             if(obj_type =='vehicle'):
                 obj_type = 1
-            elif(obj_type == 'pedestrian'):
-                obj_type = 2
-            elif(obj_type == 'cyclist'):
-                obj_type = 3
+            elif(obj_type == 'pedestrian' or obj_type =='cyclist'):
+                continue;
             f.write(struct.pack('i', obj_type))  # type
             f.write(struct.pack('i', obj.get('id', 0)))    # road_object_id
             f.write(struct.pack('i', obj.get('road_point_id', 0)))  # road_point_id
@@ -193,33 +154,158 @@ def load_map(map_name, binary_output=None):
         save_map_binary(map_data, binary_output)
     
     # Create numpy array for Python usage
-    total_entities = len(map_data.get('roads', [])) + len(map_data.get('objects', []))
-    entities_flat = np.zeros(total_entities, dtype=entity_dtype())
-    # entities = np.frombuffer(entities_flat, dtype=entity_dtype()).view(np.recarray)
+    objects = [obj for obj in map_data.get('objects', []) 
+               if obj.get('type') == 'vehicle' or obj.get('type') == 1]
+    roads = map_data.get('roads', [])
+    total_entities = len(roads) + len(objects)
     
-    # # Process roads
-    # current_idx = 0
-    # for entity in map_data.get('roads', []):
-    #     for json_key, struct_key in ROAD_MAPPING.items():
-    #         if json_key in entity:
-    #             if struct_key in ['type', 'road_object_id', 'valid', 'collision_state']:
-    #                 entities[struct_key][current_idx] = entity[json_key]
-    #             else:
-    #                 entities[struct_key][current_idx] = float(entity[json_key])
-    #     current_idx += 1
+    # Create the recarray with the entity_dtype
+    entities = np.zeros(total_entities, dtype=entity_dtype()).view(np.recarray)
+    
+    # Process objects
+    current_idx = 0
+    for obj in objects:
+        # Set basic entity data
+        obj_type = 1 if obj.get('type') == 'vehicle' or obj.get('type') == 1 else 1
+        entities[current_idx].type = obj_type
+        entities[current_idx].road_object_id = obj.get('id', 0)
+        entities[current_idx].road_point_id = obj.get('road_point_id', 0)
+        entities[current_idx].array_size = 91
+        
+        # Allocate memory for trajectory arrays
+        # Note: In a real implementation, you'd need to manage this memory properly
+        # and ensure it's freed when no longer needed
+        traj_x = np.zeros(91, dtype=np.float32)
+        traj_y = np.zeros(91, dtype=np.float32)
+        traj_z = np.zeros(91, dtype=np.float32)
+        traj_vx = np.zeros(91, dtype=np.float32)
+        traj_vy = np.zeros(91, dtype=np.float32)
+        traj_vz = np.zeros(91, dtype=np.float32)
+        traj_heading = np.zeros(91, dtype=np.float32)
+        traj_valid = np.zeros(91, dtype=np.int32)
+        
+        # Fill trajectory arrays
+        positions = obj.get('position', [])
+        for i in range(91):
+            pos = positions[i] if i < len(positions) else {'x': 0.0, 'y': 0.0, 'z': 0.0}
+            traj_x[i] = float(pos.get('x', 0.0))
+            traj_y[i] = float(pos.get('y', 0.0))
+            traj_z[i] = float(pos.get('z', 0.0))
+        
+        velocities = obj.get('velocity', [])
+        for i in range(91):
+            vel = velocities[i] if i < len(velocities) else {'x': 0.0, 'y': 0.0}
+            traj_vx[i] = float(vel.get('x', 0.0))
+            traj_vy[i] = float(vel.get('y', 0.0))
+            # vz is unused, already zeros
+        
+        headings = obj.get('heading', [])
+        for i in range(91):
+            traj_heading[i] = float(headings[i]) if i < len(headings) else 0.0
+        
+        valids = obj.get('valid', [])
+        for i in range(91):
+            traj_valid[i] = int(valids[i]) if i < len(valids) else 0
+        
+        # Store pointers to arrays in the entity
+        # Note: This assumes the arrays won't be garbage collected
+        entities[current_idx].traj_x = traj_x.ctypes.data
+        entities[current_idx].traj_y = traj_y.ctypes.data
+        entities[current_idx].traj_z = traj_z.ctypes.data
+        entities[current_idx].traj_vx = traj_vx.ctypes.data
+        entities[current_idx].traj_vy = traj_vy.ctypes.data
+        entities[current_idx].traj_vz = traj_vz.ctypes.data
+        entities[current_idx].traj_heading = traj_heading.ctypes.data
+        entities[current_idx].traj_valid = traj_valid.ctypes.data
+        
+        # Set scalar fields
+        entities[current_idx].width = float(obj.get('width', 0.0))
+        entities[current_idx].length = float(obj.get('length', 0.0))
+        entities[current_idx].height = float(obj.get('height', 0.0))
+        
+        goal_pos = obj.get('goalPosition', {'x': 0, 'y': 0, 'z': 0})
+        entities[current_idx].goal_position_x = float(goal_pos.get('x', 0.0))
+        entities[current_idx].goal_position_y = float(goal_pos.get('y', 0.0))
+        entities[current_idx].goal_position_z = float(goal_pos.get('z', 0.0))
+        
+        # Set current state (first position in trajectory)
+        if len(positions) > 0:
+            pos = positions[0]
+            entities[current_idx].x = float(pos.get('x', 0.0))
+            entities[current_idx].y = float(pos.get('y', 0.0))
+            entities[current_idx].z = float(pos.get('z', 0.0))
+        
+        if len(velocities) > 0:
+            vel = velocities[0]
+            entities[current_idx].vx = float(vel.get('x', 0.0))
+            entities[current_idx].vy = float(vel.get('y', 0.0))
+            entities[current_idx].vz = 0.0
+        
+        if len(headings) > 0:
+            entities[current_idx].heading = float(headings[0])
+        
+        entities[current_idx].valid = 1  # Assume valid
+        entities[current_idx].collision_state = 0  # Assume no collision
+        
+        current_idx += 1
     
-    # # Process objects
-    # for entity in map_data.get('objects', []):
-    #     for json_key, struct_key in OBJECT_MAPPING.items():
-    #         if json_key in entity:
-    #             if struct_key in ['type', 'road_object_id', 'valid', 'collision_state']:
-    #                 entities[struct_key][current_idx] = entity[json_key]
-    #             else:
-    #                 entities[struct_key][current_idx] = float(entity[json_key])
-    #     current_idx += 1
+    # Process roads
+    for road in roads:
+        geometry = road.get('geometry', [])
+        size = len(geometry)
+        
+        # Map road types
+        road_type = road.get('map_element_id', 0)
+        if road_type >= 0 and road_type <= 3:
+            road_type = 4
+        elif road_type >= 5 and road_type <= 13:
+            road_type = 5
+        elif road_type >= 14 and road_type <= 16:
+            road_type = 6
+        elif road_type == 17:
+            road_type = 7
+        elif road_type == 18:
+            road_type = 8
+        elif road_type == 19:
+            road_type = 9
+        elif road_type == 20:
+            road_type = 10
+        
+        entities[current_idx].type = road_type
+        entities[current_idx].road_object_id = 0
+        entities[current_idx].road_point_id = road.get('id', 0)
+        entities[current_idx].array_size = size
+        
+        # Allocate memory for geometry arrays
+        geom_x = np.zeros(size, dtype=np.float32)
+        geom_y = np.zeros(size, dtype=np.float32)
+        geom_z = np.zeros(size, dtype=np.float32)
+        
+        # Fill geometry arrays
+        for i, point in enumerate(geometry):
+            geom_x[i] = float(point.get('x', 0.0))
+            geom_y[i] = float(point.get('y', 0.0))
+            geom_z[i] = float(point.get('z', 0.0))
+        
+        # Store pointers to arrays
+        entities[current_idx].traj_x = geom_x.ctypes.data
+        entities[current_idx].traj_y = geom_y.ctypes.data
+        entities[current_idx].traj_z = geom_z.ctypes.data
+        
+        # Set scalar fields
+        entities[current_idx].width = float(road.get('width', 0.0))
+        entities[current_idx].length = float(road.get('length', 0.0))
+        entities[current_idx].height = float(road.get('height', 0.0))
+        
+        goal_pos = road.get('goalPosition', {'x': 0, 'y': 0, 'z': 0})
+        entities[current_idx].goal_position_x = float(goal_pos.get('x', 0.0))
+        entities[current_idx].goal_position_y = float(goal_pos.get('y', 0.0))
+        entities[current_idx].goal_position_z = float(goal_pos.get('z', 0.0))
+
+        current_idx += 1
     
-    # return entities_flat
+    return entities
 
 
 if __name__ == '__main__':
-    load_map('resources/tfrecord-00000-of-01000_4.json', 'map.bin')
+    load_map('resources/tfrecord-00000-of-01000_325.json', 'map.bin')
diff --git a/setup.py b/setup.py
index 514cbca6e2..faa282f42c 100644
--- a/setup.py
+++ b/setup.py
@@ -268,6 +268,7 @@
     'pufferlib/ocean/rware/cy_rware',
     'pufferlib/ocean/trash_pickup/cy_trash_pickup',
     'pufferlib/ocean/tower_climb/cy_tower_climb',
+    'pufferlib/ocean/gpudrive/cy_gpudrive',
 ]
 
 system = platform.system()

From 16c57abd683e2da771e78b0060a6fe973b1f266e Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Mon, 10 Mar 2025 22:35:51 +0000
Subject: [PATCH 010/112] cleaning up mem leaks

---
 pufferlib/ocean/gpudrive/gpudrive.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 487dc41a58..d84f320dc7 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -326,10 +326,10 @@ void init(GPUDrive* env){
     env->timestep = 0;
     env->entities = load_map_binary("map.bin", env);
     env->dynamics_model = CLASSIC;
-    env->logs = (Log*)calloc(env->active_agent_count, sizeof(Log));
-    printf("num_entities: %d\n", env->num_entities);
     set_active_agents(env);
     set_start_position(env);
+    env->logs = (Log*)calloc(env->active_agent_count, sizeof(Log));
+    printf("num_entities: %d\n", env->num_entities);
     printf("Offset of x: %zu\n", offsetof(struct Entity, x));
     printf("Offset of y: %zu\n", offsetof(struct Entity, y));
     env->fake_data = (float*)calloc(10000, sizeof(float));
@@ -342,6 +342,7 @@ void free_initialized(GPUDrive* env){
     free(env->entities);
     free(env->active_agent_indices);
     free(env->logs);
+    free(env->fake_data);
 }
 
 void allocate(GPUDrive* env){

From 46ad42b6b6fcf254162f282860670d5718e1d2e7 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Mon, 10 Mar 2025 22:54:51 -0500
Subject: [PATCH 011/112] train?

---
 config/ocean/gpudrive.ini                |  35 +++
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |   2 +-
 pufferlib/ocean/gpudrive/gpudrive.c      |   8 +-
 pufferlib/ocean/gpudrive/gpudrive.h      |   4 +
 pufferlib/ocean/gpudrive/gpudrive.py     | 258 ++++++++++++-----------
 5 files changed, 174 insertions(+), 133 deletions(-)
 create mode 100644 config/ocean/gpudrive.ini

diff --git a/config/ocean/gpudrive.ini b/config/ocean/gpudrive.ini
new file mode 100644
index 0000000000..1f65013972
--- /dev/null
+++ b/config/ocean/gpudrive.ini
@@ -0,0 +1,35 @@
+[base]
+package = ocean
+env_name = puffer_gpudrive
+policy_name = Policy
+rnn_name = Recurrent
+
+[env]
+num_envs = 800
+
+[train]
+total_timesteps = 50000
+checkpoint_interval = 25
+num_envs = 1
+num_workers = 1
+env_batch_size = 1
+batch_size = 131072
+update_epochs = 1
+minibatch_size = 32768
+bptt_horizon = 8
+anneal_lr = False
+ent_coef = 0.019885424670094166
+device = cpu
+learning_rate=0.0018129721882644975
+gamma = 0.9543211781474217
+gae_lambda = 0.8297991396183212
+vf_coef = 0.3974834958825928
+clip_coef = 0.1
+vf_clip_coef = 0.1
+
+[sweep.train.total_timesteps]
+distribution = log_normal
+min = 3e7
+max = 3e8
+mean = 1e8
+scale = 0.25
diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index 77180c3f59..f295da136a 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -127,7 +127,7 @@ cdef class CyGPUDrive:
         for i in range(num_envs):
             self.envs[i] = GPUDrive(
                 observations=&observations[inc*i, 0],
-                actions=&actions[inc*i],
+                actions=&actions[inc*i*2],
                 rewards=&rewards[inc*i],
                 dones=&terminals[inc*i],
                 log_buffer=self.logs,
diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index 148d800234..baff166bd3 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -116,8 +116,8 @@ void demo() {
 void performance_test() {
     long test_time = 10;
     GPUDrive env = {
-        .num_agents = 4,
-        .active_agent_count = 4,
+        .dynamics_model = CLASSIC,
+        .human_agent_idx = 0,
     };
     allocate(&env);
     c_reset(&env);
@@ -142,7 +142,7 @@ void performance_test() {
 }
 
 int main() {
-    demo();
-    // performance_test();
+    // demo();
+    performance_test();
     return 0;
 }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index d84f320dc7..5d5150cb83 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -467,6 +467,9 @@ void compute_observations(GPUDrive* env){
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     for(int i = 0; i < env->active_agent_count; i++){
         float* obs = &observations[i][0];
+        for(int j = 0; j < env->active_agent_count * 7; j++){
+            obs[j] = env->fake_data[j];
+        }
         memcpy(obs, env->fake_data, max_obs*sizeof(float));
     }
 };
@@ -479,6 +482,7 @@ int c_step(GPUDrive* env){
         c_reset(env);
     }
     for(int i = 0; i < env->active_agent_count; i++){
+        env->logs[i].episode_length += 1;
         int agent_idx = env->active_agent_indices[i];
         // move_dynamics(env, i, agent_idx);
         // move_random(env, agent_idx);
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index a01fd930a5..208a5a50fe 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -21,11 +21,12 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.num_obs = 10000
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
-        self.single_action_space = gymnasium.spaces.Discrete(91)
+        self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])
+
 
         super().__init__(buf=buf)
         self.c_envs = CyGPUDrive(self.observations, self.actions, self.rewards,
-            self.terminals, num_envs, width, height, active_agent_count, human_agent_idx)
+            self.terminals, num_envs, active_agent_count, human_agent_idx)
 
 
     def reset(self, seed=None):
@@ -36,6 +37,7 @@ def reset(self, seed=None):
     def step(self, actions):
         self.actions[:] = actions
         self.c_envs.step()
+        breakpoint()
         self.tick += 1
 
         info = []
@@ -154,156 +156,156 @@ def load_map(map_name, binary_output=None):
         save_map_binary(map_data, binary_output)
     
     # Create numpy array for Python usage
-    objects = [obj for obj in map_data.get('objects', []) 
-               if obj.get('type') == 'vehicle' or obj.get('type') == 1]
-    roads = map_data.get('roads', [])
-    total_entities = len(roads) + len(objects)
+    # objects = [obj for obj in map_data.get('objects', []) 
+    #            if obj.get('type') == 'vehicle' or obj.get('type') == 1]
+    # roads = map_data.get('roads', [])
+    # total_entities = len(roads) + len(objects)
     
-    # Create the recarray with the entity_dtype
-    entities = np.zeros(total_entities, dtype=entity_dtype()).view(np.recarray)
+    # # Create the recarray with the entity_dtype
+    # entities = np.zeros(total_entities, dtype=entity_dtype()).view(np.recarray)
     
-    # Process objects
-    current_idx = 0
-    for obj in objects:
-        # Set basic entity data
-        obj_type = 1 if obj.get('type') == 'vehicle' or obj.get('type') == 1 else 1
-        entities[current_idx].type = obj_type
-        entities[current_idx].road_object_id = obj.get('id', 0)
-        entities[current_idx].road_point_id = obj.get('road_point_id', 0)
-        entities[current_idx].array_size = 91
+    # # Process objects
+    # current_idx = 0
+    # for obj in objects:
+    #     # Set basic entity data
+    #     obj_type = 1 if obj.get('type') == 'vehicle' or obj.get('type') == 1 else 1
+    #     entities[current_idx].type = obj_type
+    #     entities[current_idx].road_object_id = obj.get('id', 0)
+    #     entities[current_idx].road_point_id = obj.get('road_point_id', 0)
+    #     entities[current_idx].array_size = 91
         
-        # Allocate memory for trajectory arrays
-        # Note: In a real implementation, you'd need to manage this memory properly
-        # and ensure it's freed when no longer needed
-        traj_x = np.zeros(91, dtype=np.float32)
-        traj_y = np.zeros(91, dtype=np.float32)
-        traj_z = np.zeros(91, dtype=np.float32)
-        traj_vx = np.zeros(91, dtype=np.float32)
-        traj_vy = np.zeros(91, dtype=np.float32)
-        traj_vz = np.zeros(91, dtype=np.float32)
-        traj_heading = np.zeros(91, dtype=np.float32)
-        traj_valid = np.zeros(91, dtype=np.int32)
+    #     # Allocate memory for trajectory arrays
+    #     # Note: In a real implementation, you'd need to manage this memory properly
+    #     # and ensure it's freed when no longer needed
+    #     traj_x = np.zeros(91, dtype=np.float32)
+    #     traj_y = np.zeros(91, dtype=np.float32)
+    #     traj_z = np.zeros(91, dtype=np.float32)
+    #     traj_vx = np.zeros(91, dtype=np.float32)
+    #     traj_vy = np.zeros(91, dtype=np.float32)
+    #     traj_vz = np.zeros(91, dtype=np.float32)
+    #     traj_heading = np.zeros(91, dtype=np.float32)
+    #     traj_valid = np.zeros(91, dtype=np.int32)
         
-        # Fill trajectory arrays
-        positions = obj.get('position', [])
-        for i in range(91):
-            pos = positions[i] if i < len(positions) else {'x': 0.0, 'y': 0.0, 'z': 0.0}
-            traj_x[i] = float(pos.get('x', 0.0))
-            traj_y[i] = float(pos.get('y', 0.0))
-            traj_z[i] = float(pos.get('z', 0.0))
+    #     # Fill trajectory arrays
+    #     positions = obj.get('position', [])
+    #     for i in range(91):
+    #         pos = positions[i] if i < len(positions) else {'x': 0.0, 'y': 0.0, 'z': 0.0}
+    #         traj_x[i] = float(pos.get('x', 0.0))
+    #         traj_y[i] = float(pos.get('y', 0.0))
+    #         traj_z[i] = float(pos.get('z', 0.0))
         
-        velocities = obj.get('velocity', [])
-        for i in range(91):
-            vel = velocities[i] if i < len(velocities) else {'x': 0.0, 'y': 0.0}
-            traj_vx[i] = float(vel.get('x', 0.0))
-            traj_vy[i] = float(vel.get('y', 0.0))
-            # vz is unused, already zeros
+    #     velocities = obj.get('velocity', [])
+    #     for i in range(91):
+    #         vel = velocities[i] if i < len(velocities) else {'x': 0.0, 'y': 0.0}
+    #         traj_vx[i] = float(vel.get('x', 0.0))
+    #         traj_vy[i] = float(vel.get('y', 0.0))
+    #         # vz is unused, already zeros
         
-        headings = obj.get('heading', [])
-        for i in range(91):
-            traj_heading[i] = float(headings[i]) if i < len(headings) else 0.0
+    #     headings = obj.get('heading', [])
+    #     for i in range(91):
+    #         traj_heading[i] = float(headings[i]) if i < len(headings) else 0.0
         
-        valids = obj.get('valid', [])
-        for i in range(91):
-            traj_valid[i] = int(valids[i]) if i < len(valids) else 0
+    #     valids = obj.get('valid', [])
+    #     for i in range(91):
+    #         traj_valid[i] = int(valids[i]) if i < len(valids) else 0
         
-        # Store pointers to arrays in the entity
-        # Note: This assumes the arrays won't be garbage collected
-        entities[current_idx].traj_x = traj_x.ctypes.data
-        entities[current_idx].traj_y = traj_y.ctypes.data
-        entities[current_idx].traj_z = traj_z.ctypes.data
-        entities[current_idx].traj_vx = traj_vx.ctypes.data
-        entities[current_idx].traj_vy = traj_vy.ctypes.data
-        entities[current_idx].traj_vz = traj_vz.ctypes.data
-        entities[current_idx].traj_heading = traj_heading.ctypes.data
-        entities[current_idx].traj_valid = traj_valid.ctypes.data
+    #     # Store pointers to arrays in the entity
+    #     # Note: This assumes the arrays won't be garbage collected
+    #     entities[current_idx].traj_x = traj_x.ctypes.data
+    #     entities[current_idx].traj_y = traj_y.ctypes.data
+    #     entities[current_idx].traj_z = traj_z.ctypes.data
+    #     entities[current_idx].traj_vx = traj_vx.ctypes.data
+    #     entities[current_idx].traj_vy = traj_vy.ctypes.data
+    #     entities[current_idx].traj_vz = traj_vz.ctypes.data
+    #     entities[current_idx].traj_heading = traj_heading.ctypes.data
+    #     entities[current_idx].traj_valid = traj_valid.ctypes.data
         
-        # Set scalar fields
-        entities[current_idx].width = float(obj.get('width', 0.0))
-        entities[current_idx].length = float(obj.get('length', 0.0))
-        entities[current_idx].height = float(obj.get('height', 0.0))
+    #     # Set scalar fields
+    #     entities[current_idx].width = float(obj.get('width', 0.0))
+    #     entities[current_idx].length = float(obj.get('length', 0.0))
+    #     entities[current_idx].height = float(obj.get('height', 0.0))
         
-        goal_pos = obj.get('goalPosition', {'x': 0, 'y': 0, 'z': 0})
-        entities[current_idx].goal_position_x = float(goal_pos.get('x', 0.0))
-        entities[current_idx].goal_position_y = float(goal_pos.get('y', 0.0))
-        entities[current_idx].goal_position_z = float(goal_pos.get('z', 0.0))
+    #     goal_pos = obj.get('goalPosition', {'x': 0, 'y': 0, 'z': 0})
+    #     entities[current_idx].goal_position_x = float(goal_pos.get('x', 0.0))
+    #     entities[current_idx].goal_position_y = float(goal_pos.get('y', 0.0))
+    #     entities[current_idx].goal_position_z = float(goal_pos.get('z', 0.0))
         
-        # Set current state (first position in trajectory)
-        if len(positions) > 0:
-            pos = positions[0]
-            entities[current_idx].x = float(pos.get('x', 0.0))
-            entities[current_idx].y = float(pos.get('y', 0.0))
-            entities[current_idx].z = float(pos.get('z', 0.0))
+    #     # Set current state (first position in trajectory)
+    #     if len(positions) > 0:
+    #         pos = positions[0]
+    #         entities[current_idx].x = float(pos.get('x', 0.0))
+    #         entities[current_idx].y = float(pos.get('y', 0.0))
+    #         entities[current_idx].z = float(pos.get('z', 0.0))
         
-        if len(velocities) > 0:
-            vel = velocities[0]
-            entities[current_idx].vx = float(vel.get('x', 0.0))
-            entities[current_idx].vy = float(vel.get('y', 0.0))
-            entities[current_idx].vz = 0.0
+    #     if len(velocities) > 0:
+    #         vel = velocities[0]
+    #         entities[current_idx].vx = float(vel.get('x', 0.0))
+    #         entities[current_idx].vy = float(vel.get('y', 0.0))
+    #         entities[current_idx].vz = 0.0
         
-        if len(headings) > 0:
-            entities[current_idx].heading = float(headings[0])
+    #     if len(headings) > 0:
+    #         entities[current_idx].heading = float(headings[0])
         
-        entities[current_idx].valid = 1  # Assume valid
-        entities[current_idx].collision_state = 0  # Assume no collision
+    #     entities[current_idx].valid = 1  # Assume valid
+    #     entities[current_idx].collision_state = 0  # Assume no collision
         
-        current_idx += 1
+    #     current_idx += 1
     
-    # Process roads
-    for road in roads:
-        geometry = road.get('geometry', [])
-        size = len(geometry)
+    # # Process roads
+    # for road in roads:
+    #     geometry = road.get('geometry', [])
+    #     size = len(geometry)
         
-        # Map road types
-        road_type = road.get('map_element_id', 0)
-        if road_type >= 0 and road_type <= 3:
-            road_type = 4
-        elif road_type >= 5 and road_type <= 13:
-            road_type = 5
-        elif road_type >= 14 and road_type <= 16:
-            road_type = 6
-        elif road_type == 17:
-            road_type = 7
-        elif road_type == 18:
-            road_type = 8
-        elif road_type == 19:
-            road_type = 9
-        elif road_type == 20:
-            road_type = 10
+    #     # Map road types
+    #     road_type = road.get('map_element_id', 0)
+    #     if road_type >= 0 and road_type <= 3:
+    #         road_type = 4
+    #     elif road_type >= 5 and road_type <= 13:
+    #         road_type = 5
+    #     elif road_type >= 14 and road_type <= 16:
+    #         road_type = 6
+    #     elif road_type == 17:
+    #         road_type = 7
+    #     elif road_type == 18:
+    #         road_type = 8
+    #     elif road_type == 19:
+    #         road_type = 9
+    #     elif road_type == 20:
+    #         road_type = 10
         
-        entities[current_idx].type = road_type
-        entities[current_idx].road_object_id = 0
-        entities[current_idx].road_point_id = road.get('id', 0)
-        entities[current_idx].array_size = size
+    #     entities[current_idx].type = road_type
+    #     entities[current_idx].road_object_id = 0
+    #     entities[current_idx].road_point_id = road.get('id', 0)
+    #     entities[current_idx].array_size = size
         
-        # Allocate memory for geometry arrays
-        geom_x = np.zeros(size, dtype=np.float32)
-        geom_y = np.zeros(size, dtype=np.float32)
-        geom_z = np.zeros(size, dtype=np.float32)
+    #     # Allocate memory for geometry arrays
+    #     geom_x = np.zeros(size, dtype=np.float32)
+    #     geom_y = np.zeros(size, dtype=np.float32)
+    #     geom_z = np.zeros(size, dtype=np.float32)
         
-        # Fill geometry arrays
-        for i, point in enumerate(geometry):
-            geom_x[i] = float(point.get('x', 0.0))
-            geom_y[i] = float(point.get('y', 0.0))
-            geom_z[i] = float(point.get('z', 0.0))
+    #     # Fill geometry arrays
+    #     for i, point in enumerate(geometry):
+    #         geom_x[i] = float(point.get('x', 0.0))
+    #         geom_y[i] = float(point.get('y', 0.0))
+    #         geom_z[i] = float(point.get('z', 0.0))
         
-        # Store pointers to arrays
-        entities[current_idx].traj_x = geom_x.ctypes.data
-        entities[current_idx].traj_y = geom_y.ctypes.data
-        entities[current_idx].traj_z = geom_z.ctypes.data
+    #     # Store pointers to arrays
+    #     entities[current_idx].traj_x = geom_x.ctypes.data
+    #     entities[current_idx].traj_y = geom_y.ctypes.data
+    #     entities[current_idx].traj_z = geom_z.ctypes.data
         
-        # Set scalar fields
-        entities[current_idx].width = float(road.get('width', 0.0))
-        entities[current_idx].length = float(road.get('length', 0.0))
-        entities[current_idx].height = float(road.get('height', 0.0))
+    #     # Set scalar fields
+    #     entities[current_idx].width = float(road.get('width', 0.0))
+    #     entities[current_idx].length = float(road.get('length', 0.0))
+    #     entities[current_idx].height = float(road.get('height', 0.0))
         
-        goal_pos = road.get('goalPosition', {'x': 0, 'y': 0, 'z': 0})
-        entities[current_idx].goal_position_x = float(goal_pos.get('x', 0.0))
-        entities[current_idx].goal_position_y = float(goal_pos.get('y', 0.0))
-        entities[current_idx].goal_position_z = float(goal_pos.get('z', 0.0))
+    #     goal_pos = road.get('goalPosition', {'x': 0, 'y': 0, 'z': 0})
+    #     entities[current_idx].goal_position_x = float(goal_pos.get('x', 0.0))
+    #     entities[current_idx].goal_position_y = float(goal_pos.get('y', 0.0))
+    #     entities[current_idx].goal_position_z = float(goal_pos.get('z', 0.0))
 
-        current_idx += 1
-    
+    #     current_idx += 1
+    entities = np.zeros(1, dtype=entity_dtype())
     return entities
 
 

From 8516a9b0afe43f1c500e9598de38add1893c98a7 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Mon, 10 Mar 2025 22:57:34 -0500
Subject: [PATCH 012/112] forgot this file

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index f295da136a..a6e72d9e1f 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -112,7 +112,7 @@ cdef class CyGPUDrive:
         LogBuffer* logs
         int num_envs
 
-    def __init__(self, float[:, :] observations, int[:] actions,
+    def __init__(self, float[:, :] observations, int[:,:] actions,
             float[:] rewards, unsigned char[:] terminals, int num_envs,
             int active_agent_count, int human_agent_idx):
 
@@ -120,7 +120,6 @@ cdef class CyGPUDrive:
         self.num_envs = num_envs
         self.envs = <GPUDrive*> calloc(num_envs, sizeof(GPUDrive))
         self.logs = allocate_logbuffer(LOG_BUFFER_SIZE)
-
         cdef int inc = active_agent_count
 
         cdef int i

From a49dc833f58989548418a0f18036205b06017aaf Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Tue, 11 Mar 2025 04:11:52 +0000
Subject: [PATCH 013/112] training loop stuck at epoch 1

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx | 2 +-
 pufferlib/ocean/gpudrive/gpudrive.h      | 9 ++++++---
 pufferlib/ocean/gpudrive/gpudrive.py     | 2 --
 3 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index a6e72d9e1f..ebb7219c04 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -126,7 +126,7 @@ cdef class CyGPUDrive:
         for i in range(num_envs):
             self.envs[i] = GPUDrive(
                 observations=&observations[inc*i, 0],
-                actions=&actions[inc*i*2],
+                actions=&actions[inc*i,0],
                 rewards=&rewards[inc*i],
                 dones=&terminals[inc*i],
                 log_buffer=self.logs,
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 5d5150cb83..bed05053ab 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -298,7 +298,7 @@ void set_active_agents(GPUDrive* env){
                 env->entities[i].traj_y[start_idx],
                 env->entities[i].goal_position_x,
                 env->entities[i].goal_position_y);
-            printf("entity %d distance: %f\n", i, distance);
+            //printf("entity %d distance: %f\n", i, distance);
             if(distance >= 2.0f){
                 active_agent_indices[env->active_agent_count] = i;
                 env->active_agent_count++;
@@ -479,7 +479,11 @@ int c_step(GPUDrive* env){
     env->timestep++;    
     // Process actions for all active agents
     if(env->timestep == 91){
-        c_reset(env);
+        for(int i=0;i<env->active_agent_count;i++){
+		env->rewards[i] = 1;
+		add_log(env->log_buffer, &env->logs[i]);
+	}
+	    c_reset(env);
     }
     for(int i = 0; i < env->active_agent_count; i++){
         env->logs[i].episode_length += 1;
@@ -488,7 +492,6 @@ int c_step(GPUDrive* env){
         // move_random(env, agent_idx);
         move_expert(env, env->actions, agent_idx);
     }
-        
     compute_observations(env);
     return 0;
 }   
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 208a5a50fe..6e85ae8067 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -37,9 +37,7 @@ def reset(self, seed=None):
     def step(self, actions):
         self.actions[:] = actions
         self.c_envs.step()
-        breakpoint()
         self.tick += 1
-
         info = []
         if self.tick % self.report_interval == 0:
             log = self.c_envs.log()

From 6ddf5b4284d21d4dc2b2f1aedf152f2b92f110d5 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Tue, 11 Mar 2025 16:13:55 -0500
Subject: [PATCH 014/112] work plz

---
 config/ocean/gpudrive.ini           |  2 +-
 pufferlib/ocean/gpudrive/gpudrive.h | 13 ++++++++++---
 2 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/config/ocean/gpudrive.ini b/config/ocean/gpudrive.ini
index 1f65013972..37a7e2a8fe 100644
--- a/config/ocean/gpudrive.ini
+++ b/config/ocean/gpudrive.ini
@@ -5,7 +5,7 @@ policy_name = Policy
 rnn_name = Recurrent
 
 [env]
-num_envs = 800
+num_envs = 1
 
 [train]
 total_timesteps = 50000
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index bed05053ab..85c1793297 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -466,23 +466,30 @@ void compute_observations(GPUDrive* env){
     int max_obs = 10000;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     for(int i = 0; i < env->active_agent_count; i++){
+        for(int j = 0; j < max_obs; j++){
+            env->fake_data[j] = i;
+        }
         float* obs = &observations[i][0];
         for(int j = 0; j < env->active_agent_count * 7; j++){
-            obs[j] = env->fake_data[j];
+            obs[j] = 42.0;
         }
         memcpy(obs, env->fake_data, max_obs*sizeof(float));
     }
 };
 
 int c_step(GPUDrive* env){
+    int (*action_array)[2] = (int(*)[2])env->actions;
+    
     memset(env->rewards, 0, env->active_agent_count * sizeof(float));
     env->timestep++;    
     // Process actions for all active agents
-    if(env->timestep == 91){
+    if(env->timestep == 5){
         for(int i=0;i<env->active_agent_count;i++){
 		env->rewards[i] = 1;
+        env->logs[i].episode_return += 1;
 		add_log(env->log_buffer, &env->logs[i]);
-	}
+        
+	    }
 	    c_reset(env);
     }
     for(int i = 0; i < env->active_agent_count; i++){

From ea72fb967901633a841770868e9a66f993a41b09 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Tue, 11 Mar 2025 21:21:19 +0000
Subject: [PATCH 015/112] latest code

---
 config/ocean/gpudrive.ini           | 2 +-
 pufferlib/ocean/gpudrive/gpudrive.h | 3 ---
 2 files changed, 1 insertion(+), 4 deletions(-)

diff --git a/config/ocean/gpudrive.ini b/config/ocean/gpudrive.ini
index 37a7e2a8fe..240cbd638b 100644
--- a/config/ocean/gpudrive.ini
+++ b/config/ocean/gpudrive.ini
@@ -19,7 +19,7 @@ minibatch_size = 32768
 bptt_horizon = 8
 anneal_lr = False
 ent_coef = 0.019885424670094166
-device = cpu
+device = cuda
 learning_rate=0.0018129721882644975
 gamma = 0.9543211781474217
 gae_lambda = 0.8297991396183212
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 85c1793297..d686b6192f 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -466,9 +466,6 @@ void compute_observations(GPUDrive* env){
     int max_obs = 10000;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     for(int i = 0; i < env->active_agent_count; i++){
-        for(int j = 0; j < max_obs; j++){
-            env->fake_data[j] = i;
-        }
         float* obs = &observations[i][0];
         for(int j = 0; j < env->active_agent_count * 7; j++){
             obs[j] = 42.0;

From eec1457d14b3779c0b2a4c43cf65e95d4f394227 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Tue, 11 Mar 2025 20:13:42 -0500
Subject: [PATCH 016/112] fixed json bug

---
 pufferlib/ocean/gpudrive/gpudrive.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 85c1793297..dc154d0872 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -196,6 +196,10 @@ Entity* load_map_binary(const char* filename, GPUDrive* env) {
         fread(&entities[i].array_size, sizeof(int), 1, file);
         // Allocate arrays based on type
         int size = entities[i].array_size;
+        if(size ==0){
+            continue;
+        }
+        printf("entity %d size: %d\n", i, size);
         entities[i].traj_x = (float*)malloc(size * sizeof(float));
         entities[i].traj_y = (float*)malloc(size * sizeof(float));
         entities[i].traj_z = (float*)malloc(size * sizeof(float));
@@ -466,9 +470,6 @@ void compute_observations(GPUDrive* env){
     int max_obs = 10000;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     for(int i = 0; i < env->active_agent_count; i++){
-        for(int j = 0; j < max_obs; j++){
-            env->fake_data[j] = i;
-        }
         float* obs = &observations[i][0];
         for(int j = 0; j < env->active_agent_count * 7; j++){
             obs[j] = 42.0;

From a888540700a1518080c73b69a2c47cfda0f4ec11 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Tue, 11 Mar 2025 20:59:28 -0500
Subject: [PATCH 017/112] made a big mistake with binary file

---
 pufferlib/ocean/gpudrive/gpudrive.h  | 22 ++++++++++++----------
 pufferlib/ocean/gpudrive/gpudrive.py | 20 ++++++++++----------
 2 files changed, 22 insertions(+), 20 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index dc154d0872..5690c182c6 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -187,23 +187,25 @@ Entity* load_map_binary(const char* filename, GPUDrive* env) {
     
     fread(&env->num_entities, sizeof(int), 1, file);
     Entity* entities = (Entity*)malloc(env->num_entities * sizeof(Entity));
-    
+    printf("Num entities: %d\n", env->num_entities);
     for (int i = 0; i < env->num_entities; i++) {
         // Read base entity data
         fread(&entities[i].type, sizeof(int), 1, file);
-        fread(&entities[i].road_object_id, sizeof(int), 1, file);
-        fread(&entities[i].road_point_id, sizeof(int), 1, file);
+        if(entities[i].type < 4){
+            fread(&entities[i].road_object_id, sizeof(int), 1, file);
+            entities[i].road_point_id = -1;
+        }
+        else{
+            fread(&entities[i].road_point_id, sizeof(int), 1, file);
+            entities[i].road_object_id = -1;
+        }
         fread(&entities[i].array_size, sizeof(int), 1, file);
         // Allocate arrays based on type
         int size = entities[i].array_size;
-        if(size ==0){
-            continue;
-        }
-        printf("entity %d size: %d\n", i, size);
         entities[i].traj_x = (float*)malloc(size * sizeof(float));
         entities[i].traj_y = (float*)malloc(size * sizeof(float));
         entities[i].traj_z = (float*)malloc(size * sizeof(float));
-        if (entities[i].type == 1) {  // Object type
+        if (entities[i].type == 1 || entities[i].type == 2 || entities[i].type == 3) {  // Object type
             // Allocate arrays for object-specific data
             entities[i].traj_vx = (float*)malloc(size * sizeof(float));
             entities[i].traj_vy = (float*)malloc(size * sizeof(float));
@@ -222,7 +224,7 @@ Entity* load_map_binary(const char* filename, GPUDrive* env) {
         fread(entities[i].traj_x, sizeof(float), size, file);
         fread(entities[i].traj_y, sizeof(float), size, file);
         fread(entities[i].traj_z, sizeof(float), size, file);
-        if (entities[i].type == 1) {  // Object type
+        if (entities[i].type == 1 || entities[i].type == 2 || entities[i].type == 3) {  // Object type
             fread(entities[i].traj_vx, sizeof(float), size, file);
             fread(entities[i].traj_vy, sizeof(float), size, file);
             fread(entities[i].traj_vz, sizeof(float), size, file);
@@ -484,7 +486,7 @@ int c_step(GPUDrive* env){
     memset(env->rewards, 0, env->active_agent_count * sizeof(float));
     env->timestep++;    
     // Process actions for all active agents
-    if(env->timestep == 5){
+    if(env->timestep == 91){
         for(int i=0;i<env->active_agent_count;i++){
 		env->rewards[i] = 1;
         env->logs[i].episode_return += 1;
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 6e85ae8067..1eb08c819e 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -56,6 +56,8 @@ def save_map_binary(map_data, output_file):
     """Saves map data in a binary format readable by C"""
     with open(output_file, 'wb') as f:
         # Count total entities
+        print(len(map_data.get('objects', [])))
+        print(len(map_data.get('roads', [])))
         num_entities = len(map_data.get('objects', [])) + len(map_data.get('roads', []))
         f.write(struct.pack('i', num_entities))
         # Write objects
@@ -64,13 +66,13 @@ def save_map_binary(map_data, output_file):
             obj_type = obj.get('type', 1)
             if(obj_type =='vehicle'):
                 obj_type = 1
-            elif(obj_type == 'pedestrian' or obj_type =='cyclist'):
-                continue;
+            elif(obj_type == 'pedestrian'):
+                obj_type = 2;
+            elif(obj_type == 'cyclist'):
+                obj_type = 3;
             f.write(struct.pack('i', obj_type))  # type
-            f.write(struct.pack('i', obj.get('id', 0)))    # road_object_id
-            f.write(struct.pack('i', obj.get('road_point_id', 0)))  # road_point_id
+            f.write(struct.pack('i', obj.get('id', 0)))   # id  
             f.write(struct.pack('i', 91))                  # array_size
-            
             # Write position arrays
             positions = obj.get('position', [])
             for i in range(91):
@@ -85,11 +87,10 @@ def save_map_binary(map_data, output_file):
             
             # Write velocity arrays
             velocities = obj.get('velocity', [])
-            for arr, key in [(velocities, 'x'), (velocities, 'y')]:
+            for arr, key in [(velocities, 'x'), (velocities, 'y'), (velocities, 'z')]:
                 for i in range(91):
-                    vel = arr[i] if i < len(arr) else {'x': 0.0, 'y': 0.0}
+                    vel = arr[i] if i < len(arr) else {'x': 0.0, 'y': 0.0, 'z': 0.0}
                     f.write(struct.pack('f', float(vel.get(key, 0.0))))
-            f.write(struct.pack('91f', *[0.0] * 91))  # vz (unused)
             
             # Write heading and valid arrays
             headings = obj.get('heading', [])
@@ -128,8 +129,7 @@ def save_map_binary(map_data, output_file):
                 road_type = 10
             # Write base entity data
             f.write(struct.pack('i', road_type))  # type
-            f.write(struct.pack('i', 0))          # road_object_id
-            f.write(struct.pack('i', road.get('id', 0)))    # road_point_id
+            f.write(struct.pack('i', road.get('id', 0)))    # id
             f.write(struct.pack('i', size))                 # array_size
             
             # Write position arrays

From b6d3b84e0777745a0693fab0dc8575880fc2ee18 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Wed, 12 Mar 2025 03:09:20 +0000
Subject: [PATCH 018/112] grr

---
 pufferlib/ocean/gpudrive/gpudrive.h  | 47 ++++++++++++++--------------
 pufferlib/ocean/gpudrive/gpudrive.py |  3 +-
 2 files changed, 26 insertions(+), 24 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 5690c182c6..69eaa2d943 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -75,7 +75,7 @@ void add_log(LogBuffer* logs, Log* log) {
     }
     logs->logs[logs->idx] = *log;
     logs->idx += 1;
-    //printf("Log: %f, %f, %f\n", log->episode_return, log->episode_length, log->score);
+    printf("Log: %f, %f,\n", log->episode_return, log->episode_length);
 }
 
 Log aggregate_and_clear(LogBuffer* logs) {
@@ -86,7 +86,7 @@ Log aggregate_and_clear(LogBuffer* logs) {
     for (int i = 0; i < logs->idx; i++) {
         log.episode_return += logs->logs[i].episode_return;
         log.episode_length += logs->logs[i].episode_length;
- 
+	//printf("length: %f", log.episode_length);
     }
     log.episode_return /= logs->idx;
     log.episode_length /= logs->idx;
@@ -338,7 +338,7 @@ void init(GPUDrive* env){
     printf("num_entities: %d\n", env->num_entities);
     printf("Offset of x: %zu\n", offsetof(struct Entity, x));
     printf("Offset of y: %zu\n", offsetof(struct Entity, y));
-    env->fake_data = (float*)calloc(10000, sizeof(float));
+    env->fake_data = (float*)calloc(3000, sizeof(float));
 }
 
 void free_initialized(GPUDrive* env){
@@ -353,7 +353,7 @@ void free_initialized(GPUDrive* env){
 
 void allocate(GPUDrive* env){
     init(env);
-    int max_obs = 10000;
+    int max_obs = 3000;
     printf("MAX_OBS: %d\n", max_obs);
     env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
@@ -371,13 +371,7 @@ void free_allocated(GPUDrive* env){
     free_initialized(env);
 }
 
-void c_reset(GPUDrive* env){
-    env->timestep = 0;
-    set_start_position(env);
-    for(int x = 0;x<env->active_agent_count; x++){
-        env->logs[x] = (Log){0};
-    }
-}
+
 
 void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
     if(env->dynamics_model == CLASSIC){
@@ -469,7 +463,7 @@ void move_random(GPUDrive* env, int agent_idx){
 }
 
 void compute_observations(GPUDrive* env){
-    int max_obs = 10000;
+    int max_obs = 3000;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     for(int i = 0; i < env->active_agent_count; i++){
         float* obs = &observations[i][0];
@@ -480,30 +474,37 @@ void compute_observations(GPUDrive* env){
     }
 };
 
-int c_step(GPUDrive* env){
+void c_reset(GPUDrive* env){
+    env->timestep = 0;
+    set_start_position(env);
+    for(int x = 0;x<env->active_agent_count; x++){
+        env->logs[x] = (Log){0};
+    }
+    compute_observations(env);
+}
+
+void c_step(GPUDrive* env){
     int (*action_array)[2] = (int(*)[2])env->actions;
     
     memset(env->rewards, 0, env->active_agent_count * sizeof(float));
     env->timestep++;    
     // Process actions for all active agents
-    if(env->timestep == 91){
-        for(int i=0;i<env->active_agent_count;i++){
-		env->rewards[i] = 1;
-        env->logs[i].episode_return += 1;
-		add_log(env->log_buffer, &env->logs[i]);
-        
-	    }
-	    c_reset(env);
-    }
     for(int i = 0; i < env->active_agent_count; i++){
         env->logs[i].episode_length += 1;
         int agent_idx = env->active_agent_indices[i];
         // move_dynamics(env, i, agent_idx);
         // move_random(env, agent_idx);
         move_expert(env, env->actions, agent_idx);
+	if(env->timestep == 91){
+		env->rewards[i] += 0.5;
+		env->logs[i].episode_return += 0.5;
+		add_log(env->log_buffer, &env->logs[i]);
+	}
+    }
+    if(env->timestep == 91){
+	    c_reset(env);
     }
     compute_observations(env);
-    return 0;
 }   
 
 typedef struct Client Client;
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 1eb08c819e..cb1edce428 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -18,7 +18,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.render_mode = render_mode
         self.report_interval = report_interval
         
-        self.num_obs = 10000
+        self.num_obs = 3000
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])
@@ -43,6 +43,7 @@ def step(self, actions):
             log = self.c_envs.log()
             if log['episode_length'] > 0:
                 info.append(log)
+                breakpoint()
         return (self.observations, self.rewards,
             self.terminals, self.truncations, info)
 

From cfae24fc740a491918e72d0bb6c810ab08137c46 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Wed, 12 Mar 2025 19:24:38 +0000
Subject: [PATCH 019/112] Training at 500k sps!!

---
 clean_pufferl.py                         |  3 ++-
 config/ocean/gpudrive.ini                |  8 ++++----
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |  6 +++---
 pufferlib/ocean/gpudrive/gpudrive.h      | 19 +++++++++++++------
 pufferlib/ocean/gpudrive/gpudrive.py     |  6 +++---
 5 files changed, 25 insertions(+), 17 deletions(-)

diff --git a/clean_pufferl.py b/clean_pufferl.py
index 57cabd70c6..3f7c850364 100644
--- a/clean_pufferl.py
+++ b/clean_pufferl.py
@@ -29,11 +29,12 @@
 from torch.utils.cpp_extension import load
 
 # Compile the CUDA kernel
-cuda_module = load(
+'''cuda_module = load(
     name='advantage_kernel',
     sources=['c_advantage.cu'],
     verbose=True
 )
+'''
 
 def compute_advantages(
     reward_block: torch.Tensor,  # [num_steps, horizon]
diff --git a/config/ocean/gpudrive.ini b/config/ocean/gpudrive.ini
index 240cbd638b..00f9fe7d53 100644
--- a/config/ocean/gpudrive.ini
+++ b/config/ocean/gpudrive.ini
@@ -5,17 +5,17 @@ policy_name = Policy
 rnn_name = Recurrent
 
 [env]
-num_envs = 1
+num_envs = 400
 
 [train]
-total_timesteps = 50000
+total_timesteps = 50000000
 checkpoint_interval = 25
 num_envs = 1
 num_workers = 1
-env_batch_size = 1
+env_batch_size =1
 batch_size = 131072
 update_epochs = 1
-minibatch_size = 32768
+minibatch_size = 8192
 bptt_horizon = 8
 anneal_lr = False
 ent_coef = 0.019885424670094166
diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index ebb7219c04..52cca4bbd9 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -114,14 +114,13 @@ cdef class CyGPUDrive:
 
     def __init__(self, float[:, :] observations, int[:,:] actions,
             float[:] rewards, unsigned char[:] terminals, int num_envs,
-            int active_agent_count, int human_agent_idx):
+            int num_agents, int human_agent_idx):
 
         self.client = NULL
         self.num_envs = num_envs
         self.envs = <GPUDrive*> calloc(num_envs, sizeof(GPUDrive))
         self.logs = allocate_logbuffer(LOG_BUFFER_SIZE)
-        cdef int inc = active_agent_count
-
+        cdef int inc = num_agents
         cdef int i
         for i in range(num_envs):
             self.envs[i] = GPUDrive(
@@ -134,6 +133,7 @@ cdef class CyGPUDrive:
             )
             init(&self.envs[i])
             self.client = NULL
+            print("start: ", i)
 
     def reset(self):
         cdef int i
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 69eaa2d943..fcc12db15a 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -75,7 +75,7 @@ void add_log(LogBuffer* logs, Log* log) {
     }
     logs->logs[logs->idx] = *log;
     logs->idx += 1;
-    printf("Log: %f, %f,\n", log->episode_return, log->episode_length);
+    //printf("Log: %f, %f,\n", log->episode_return, log->episode_length);
 }
 
 Log aggregate_and_clear(LogBuffer* logs) {
@@ -328,6 +328,7 @@ void set_active_agents(GPUDrive* env){
 }
 
 void init(GPUDrive* env){
+    printf("init");
     env->human_agent_idx = 0;
     env->timestep = 0;
     env->entities = load_map_binary("map.bin", env);
@@ -339,6 +340,9 @@ void init(GPUDrive* env){
     printf("Offset of x: %zu\n", offsetof(struct Entity, x));
     printf("Offset of y: %zu\n", offsetof(struct Entity, y));
     env->fake_data = (float*)calloc(3000, sizeof(float));
+    for (int i = 0;i<3000;i++ ){
+	    env->fake_data[i] = (float)(rand() % 5) / 5.0f;
+    }
 }
 
 void free_initialized(GPUDrive* env){
@@ -448,6 +452,7 @@ void move_expert(GPUDrive* env, int* actions, int agent_idx){
     agent->y = agent->traj_y[env->timestep];
     agent->z = agent->traj_z[env->timestep];
     agent->heading = agent->traj_heading[env->timestep];
+    //printf("x,y,z: %f %f %f", agent->x, agent->y, agent->z);
 }
 
 void move_random(GPUDrive* env, int agent_idx){
@@ -487,19 +492,21 @@ void c_step(GPUDrive* env){
     int (*action_array)[2] = (int(*)[2])env->actions;
     
     memset(env->rewards, 0, env->active_agent_count * sizeof(float));
-    env->timestep++;    
+    env->timestep++;
     // Process actions for all active agents
     for(int i = 0; i < env->active_agent_count; i++){
         env->logs[i].episode_length += 1;
         int agent_idx = env->active_agent_indices[i];
-        // move_dynamics(env, i, agent_idx);
-        // move_random(env, agent_idx);
-        move_expert(env, env->actions, agent_idx);
-	if(env->timestep == 91){
+        if(env->timestep == 91){
 		env->rewards[i] += 0.5;
 		env->logs[i].episode_return += 0.5;
 		add_log(env->log_buffer, &env->logs[i]);
+		break;
 	}
+	//move_dynamics(env, i, agent_idx);
+        // move_random(env, agent_idx);
+        move_expert(env, env->actions, agent_idx);
+	
     }
     if(env->timestep == 91){
 	    c_reset(env);
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index cb1edce428..1aefa012ba 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -11,10 +11,11 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
             width=1280, height=1024,
             active_agent_count=5,
             human_agent_idx=0,
+            num_agents = 5,
             buf = None):
 
         # env
-        self.num_agents = num_envs*active_agent_count
+        self.num_agents = num_envs*num_agents
         self.render_mode = render_mode
         self.report_interval = report_interval
         
@@ -26,7 +27,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
 
         super().__init__(buf=buf)
         self.c_envs = CyGPUDrive(self.observations, self.actions, self.rewards,
-            self.terminals, num_envs, active_agent_count, human_agent_idx)
+            self.terminals, num_envs, num_agents, human_agent_idx)
 
 
     def reset(self, seed=None):
@@ -43,7 +44,6 @@ def step(self, actions):
             log = self.c_envs.log()
             if log['episode_length'] > 0:
                 info.append(log)
-                breakpoint()
         return (self.observations, self.rewards,
             self.terminals, self.truncations, info)
 

From 9d863ab6af3a82947b924a0736754d2392cbf9d3 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Wed, 12 Mar 2025 17:01:33 -0500
Subject: [PATCH 020/112] 1 obs llol

---
 pufferlib/ocean/gpudrive/gpudrive.c  |  4 +-
 pufferlib/ocean/gpudrive/gpudrive.h  | 58 ++++++++++++++++++----------
 pufferlib/ocean/gpudrive/gpudrive.py |  2 +-
 3 files changed, 40 insertions(+), 24 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index baff166bd3..2233e07131 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -142,7 +142,7 @@ void performance_test() {
 }
 
 int main() {
-    // demo();
-    performance_test();
+    demo();
+    // performance_test();
     return 0;
 }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index fcc12db15a..478e50728b 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -40,6 +40,11 @@
 #define DELTA_LOCAL 2
 #define STATE_DYNAMICS 3
 
+// Acceleration Values
+static const float ACCELERATION_VALUES[7] = {-4.0000f, -2.6670f, -1.3330f, -0.0000f,  1.3330f,  2.6670f,  4.0000f};
+static const float STEERING_VALUES[13] = {-3.1420f, -2.6180f, -2.0940f, -1.5710f, -1.0470f, -0.5240f,  0.0000f,  0.5240f,
+         1.0470f,  1.5710f,  2.0940f,  2.6180f,  3.1420f};
+
 #define LOG_BUFFER_SIZE 1024
 
 typedef struct Log Log;
@@ -283,6 +288,9 @@ void set_start_position(GPUDrive* env){
         env->entities[env->active_agent_indices[i]].vz = env->entities[env->active_agent_indices[i]].traj_vz[0];
         env->entities[env->active_agent_indices[i]].heading = env->entities[env->active_agent_indices[i]].traj_heading[0];
         env->entities[env->active_agent_indices[i]].valid = env->entities[env->active_agent_indices[i]].traj_valid[0];
+        // printf("agent %d\n", env->active_agent_indices[i]);
+        // printf("x , y: %f, %f\n", env->entities[env->active_agent_indices[i]].x, env->entities[env->active_agent_indices[i]].y);
+        // printf("goal_x, goal_y: %f, %f\n", env->entities[env->active_agent_indices[i]].goal_position_x, env->entities[env->active_agent_indices[i]].goal_position_y);
     }
 }
 
@@ -339,8 +347,8 @@ void init(GPUDrive* env){
     printf("num_entities: %d\n", env->num_entities);
     printf("Offset of x: %zu\n", offsetof(struct Entity, x));
     printf("Offset of y: %zu\n", offsetof(struct Entity, y));
-    env->fake_data = (float*)calloc(3000, sizeof(float));
-    for (int i = 0;i<3000;i++ ){
+    env->fake_data = (float*)calloc(1, sizeof(float));
+    for (int i = 0;i<1;i++ ){
 	    env->fake_data[i] = (float)(rand() % 5) / 5.0f;
     }
 }
@@ -357,7 +365,7 @@ void free_initialized(GPUDrive* env){
 
 void allocate(GPUDrive* env){
     init(env);
-    int max_obs = 3000;
+    int max_obs = 1;
     printf("MAX_OBS: %d\n", max_obs);
     env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
@@ -375,8 +383,6 @@ void free_allocated(GPUDrive* env){
     free_initialized(env);
 }
 
-
-
 void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
     if(env->dynamics_model == CLASSIC){
         // clip acceleration & steering
@@ -395,9 +401,10 @@ void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
         
         // Extract action components directly from the multi-discrete action array
         int (*action_array)[2] = (int(*)[2])env->actions;
-        float acceleration = action_array[action_idx][0];
-        float steering = action_array[action_idx][1];
-
+        int acceleration_index = action_array[action_idx][0];
+        int steering_index = action_array[action_idx][1];
+        float acceleration = ACCELERATION_VALUES[acceleration_index];
+        float steering = STEERING_VALUES[steering_index];
         
         // Clip acceleration and steering
         acceleration = fmaxf(-6.0f, fminf(acceleration, 6.0f));
@@ -444,6 +451,7 @@ void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
     else if(env->dynamics_model == INVERTIBLE_BICYLE){
         // Invertible bicycle dynamics model
     }
+    return;
 }
 
 void move_expert(GPUDrive* env, int* actions, int agent_idx){
@@ -468,14 +476,16 @@ void move_random(GPUDrive* env, int agent_idx){
 }
 
 void compute_observations(GPUDrive* env){
-    int max_obs = 3000;
+    int max_obs = 1;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     for(int i = 0; i < env->active_agent_count; i++){
         float* obs = &observations[i][0];
-        for(int j = 0; j < env->active_agent_count * 7; j++){
-            obs[j] = 42.0;
-        }
-        memcpy(obs, env->fake_data, max_obs*sizeof(float));
+        obs[i] = relative_distance(
+            env->entities[env->active_agent_indices[i]].x,
+            env->entities[env->active_agent_indices[i]].y,
+            env->entities[env->active_agent_indices[i]].goal_position_x,
+            env->entities[env->active_agent_indices[i]].goal_position_y);
+        // printf("agent: %d, obs: %f\n", i, obs[i]);
     }
 };
 
@@ -497,15 +507,21 @@ void c_step(GPUDrive* env){
     for(int i = 0; i < env->active_agent_count; i++){
         env->logs[i].episode_length += 1;
         int agent_idx = env->active_agent_indices[i];
-        if(env->timestep == 91){
-		env->rewards[i] += 0.5;
-		env->logs[i].episode_return += 0.5;
-		add_log(env->log_buffer, &env->logs[i]);
-		break;
-	}
-	//move_dynamics(env, i, agent_idx);
+        float distance_to_goal = relative_distance(
+                env->entities[agent_idx].x,
+                env->entities[agent_idx].y,
+                env->entities[agent_idx].goal_position_x,
+                env->entities[agent_idx].goal_position_y);
+        int reached_goal = distance_to_goal < 2.0f;
+        if(reached_goal){            
+            env->rewards[i] += 1.0f;
+            env->logs[i].episode_return += 1.0f;
+            add_log(env->log_buffer, &env->logs[i]);
+            continue;
+	    }
+	    move_dynamics(env, i, agent_idx);
         // move_random(env, agent_idx);
-        move_expert(env, env->actions, agent_idx);
+        // move_expert(env, env->actions, agent_idx);
 	
     }
     if(env->timestep == 91){
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 1aefa012ba..cd09c56f86 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -19,7 +19,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.render_mode = render_mode
         self.report_interval = report_interval
         
-        self.num_obs = 3000
+        self.num_obs = 1
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])

From 09ddf7320ffc2a936dfac712e9097cdfd5ee594a Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Wed, 12 Mar 2025 23:37:52 +0000
Subject: [PATCH 021/112] training with 1 obs like a madman

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |  2 +-
 pufferlib/ocean/gpudrive/gpudrive.c      |  4 +--
 pufferlib/ocean/gpudrive/gpudrive.h      | 35 ++++++++++++++----------
 3 files changed, 23 insertions(+), 18 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index 52cca4bbd9..d309435c2e 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -6,7 +6,7 @@ cdef extern from "gpudrive.h":
     ctypedef struct Log:
         float episode_return;
         float episode_length;
-
+        float score;
 
     ctypedef struct LogBuffer
     LogBuffer* allocate_logbuffer(int)
diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index 2233e07131..123c98fc25 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -142,7 +142,7 @@ void performance_test() {
 }
 
 int main() {
-    demo();
-    // performance_test();
+    //demo();
+     performance_test();
     return 0;
 }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 478e50728b..fe4fd15346 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -51,6 +51,7 @@ typedef struct Log Log;
 struct Log {
     float episode_return;
     float episode_length;
+    float score;
 };
 
 
@@ -91,10 +92,12 @@ Log aggregate_and_clear(LogBuffer* logs) {
     for (int i = 0; i < logs->idx; i++) {
         log.episode_return += logs->logs[i].episode_return;
         log.episode_length += logs->logs[i].episode_length;
+	log.score += logs->logs[i].score;
 	//printf("length: %f", log.episode_length);
     }
     log.episode_return /= logs->idx;
     log.episode_length /= logs->idx;
+    log.score /= logs->idx;
     logs->idx = 0;
     return log;
 }
@@ -443,7 +446,7 @@ void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
         // Update agent state for next timestep
         agent->x = new_x;
         agent->y = new_y;
-        agent->z = agent->traj_z[env->timestep];
+	agent->z = agent->traj_z[env->timestep];
         agent->heading = new_heading;
         agent->vx = new_vx;
         agent->vy = new_vy;
@@ -480,7 +483,7 @@ void compute_observations(GPUDrive* env){
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     for(int i = 0; i < env->active_agent_count; i++){
         float* obs = &observations[i][0];
-        obs[i] = relative_distance(
+        obs[0] = relative_distance(
             env->entities[env->active_agent_indices[i]].x,
             env->entities[env->active_agent_indices[i]].y,
             env->entities[env->active_agent_indices[i]].goal_position_x,
@@ -500,14 +503,21 @@ void c_reset(GPUDrive* env){
 
 void c_step(GPUDrive* env){
     int (*action_array)[2] = (int(*)[2])env->actions;
-    
     memset(env->rewards, 0, env->active_agent_count * sizeof(float));
     env->timestep++;
-    // Process actions for all active agents
+    if(env->timestep == 91){
+	    
+	    c_reset(env);
+    }// Process actions for all active agents
     for(int i = 0; i < env->active_agent_count; i++){
-        env->logs[i].episode_length += 1;
+        env->logs[i].score = 0.0f;
+	    env->logs[i].episode_length += 1;
         int agent_idx = env->active_agent_indices[i];
-        float distance_to_goal = relative_distance(
+        move_dynamics(env, i, agent_idx);
+        // move_random(env, agent_idx);
+        // move_expert(env, env->actions, agent_idx);
+	
+float distance_to_goal = relative_distance(
                 env->entities[agent_idx].x,
                 env->entities[agent_idx].y,
                 env->entities[agent_idx].goal_position_x,
@@ -515,18 +525,13 @@ void c_step(GPUDrive* env){
         int reached_goal = distance_to_goal < 2.0f;
         if(reached_goal){            
             env->rewards[i] += 1.0f;
-            env->logs[i].episode_return += 1.0f;
+            env->logs[i].score = 1.0f;
+	    env->logs[i].episode_return += 1.0f;
             add_log(env->log_buffer, &env->logs[i]);
             continue;
 	    }
-	    move_dynamics(env, i, agent_idx);
-        // move_random(env, agent_idx);
-        // move_expert(env, env->actions, agent_idx);
-	
-    }
-    if(env->timestep == 91){
-	    c_reset(env);
-    }
+	    }
+    
     compute_observations(env);
 }   
 

From 55f78d01e664dcb824e21c262965834b154c5141 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Wed, 12 Mar 2025 22:46:21 -0500
Subject: [PATCH 022/112] fixed rollout on cleanpufferl i think?

---
 clean_pufferl.py                    | 4 +++-
 pufferlib/ocean/gpudrive/gpudrive.h | 7 ++++---
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/clean_pufferl.py b/clean_pufferl.py
index 3f7c850364..6d2cd56ebe 100644
--- a/clean_pufferl.py
+++ b/clean_pufferl.py
@@ -942,11 +942,13 @@ def rollout(env_creator, env_kwargs, policy_cls, rnn_cls, agent_creator, agent_k
 
         with torch.no_grad():
             ob = torch.as_tensor(ob).to(device)
+            # breakpoint()
             if hasattr(agent, 'lstm'):
                 #action, _, value, _, state, e3b, intrinsic = agent(ob, state, e3b=e3b_inv)
                 action, _, value, _, state = agent(ob, state, e3b=e3b_inv)
             else:
-                action, _, value, _, e3b, intrinsic = agent(ob, e3b=e3b_inv)
+                (logits, values), state = agent.forward_train(ob, state)
+                action, logprob, entropy = pufferlib.pytorch.sample_logits(logits, action=None, is_continuous=False)
 
             action = action.cpu().numpy().reshape(env.action_space.shape)
 
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index fe4fd15346..7e9dbedef9 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -517,20 +517,21 @@ void c_step(GPUDrive* env){
         // move_random(env, agent_idx);
         // move_expert(env, env->actions, agent_idx);
 	
-float distance_to_goal = relative_distance(
+        float distance_to_goal = relative_distance(
                 env->entities[agent_idx].x,
                 env->entities[agent_idx].y,
                 env->entities[agent_idx].goal_position_x,
                 env->entities[agent_idx].goal_position_y);
         int reached_goal = distance_to_goal < 2.0f;
         if(reached_goal){            
+            printf("reached goal agent: %d\n", agent_idx);
             env->rewards[i] += 1.0f;
             env->logs[i].score = 1.0f;
-	    env->logs[i].episode_return += 1.0f;
+	        env->logs[i].episode_return += 1.0f;
             add_log(env->log_buffer, &env->logs[i]);
             continue;
 	    }
-	    }
+    }
     
     compute_observations(env);
 }   

From 76788f686f9961965a91109c7e451ac59d1606b7 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Wed, 12 Mar 2025 23:06:27 -0500
Subject: [PATCH 023/112] removed z

---
 pufferlib/ocean/gpudrive/gpudrive.h | 37 ++++++++++++++---------------
 1 file changed, 18 insertions(+), 19 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 7e9dbedef9..e0594af810 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -92,7 +92,7 @@ Log aggregate_and_clear(LogBuffer* logs) {
     for (int i = 0; i < logs->idx; i++) {
         log.episode_return += logs->logs[i].episode_return;
         log.episode_length += logs->logs[i].episode_length;
-	log.score += logs->logs[i].score;
+	    log.score += logs->logs[i].score;
 	//printf("length: %f", log.episode_length);
     }
     log.episode_return /= logs->idx;
@@ -390,17 +390,17 @@ void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
     if(env->dynamics_model == CLASSIC){
         // clip acceleration & steering
         Entity* agent = &env->entities[agent_idx];
-        if(agent->valid == 0){
-            printf("agent %d is invalid at timestep %d\n", agent_idx, env->timestep);
-            agent->x = agent->traj_x[env->timestep];
-            agent->y = agent->traj_y[env->timestep];
-            agent->z = agent->traj_z[env->timestep];
-            agent->heading = agent->traj_heading[env->timestep];
-            agent->vx = agent->traj_vx[env->timestep];
-            agent->vy = agent->traj_vy[env->timestep];
-            agent->vz = agent->traj_vz[env->timestep];
-            return;
-        }
+        // if(agent->valid == 0){
+        //     printf("agent %d is invalid at timestep %d\n", agent_idx, env->timestep);
+        //     agent->x = agent->traj_x[env->timestep];
+        //     agent->y = agent->traj_y[env->timestep];
+        //     agent->z = agent->traj_z[env->timestep];
+        //     agent->heading = agent->traj_heading[env->timestep];
+        //     agent->vx = agent->traj_vx[env->timestep];
+        //     agent->vy = agent->traj_vy[env->timestep];
+        //     agent->vz = agent->traj_vz[env->timestep];
+        //     return;
+        // }
         
         // Extract action components directly from the multi-discrete action array
         int (*action_array)[2] = (int(*)[2])env->actions;
@@ -446,7 +446,7 @@ void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
         // Update agent state for next timestep
         agent->x = new_x;
         agent->y = new_y;
-	agent->z = agent->traj_z[env->timestep];
+	    // agent->z = agent->traj_z[env->timestep];
         agent->heading = new_heading;
         agent->vx = new_vx;
         agent->vy = new_vy;
@@ -524,7 +524,6 @@ void c_step(GPUDrive* env){
                 env->entities[agent_idx].goal_position_y);
         int reached_goal = distance_to_goal < 2.0f;
         if(reached_goal){            
-            printf("reached goal agent: %d\n", agent_idx);
             env->rewards[i] += 1.0f;
             env->logs[i].score = 1.0f;
 	        env->logs[i].episode_return += 1.0f;
@@ -566,7 +565,7 @@ Client* make_client(GPUDrive* env){
     client->camera.position = (Vector3){ 
         target_pos.x,           // Same X as target
         target_pos.y + 80.0f,   // 20 units above target
-        target_pos.z + 50.0f    // 20 units behind target
+        target_pos.z + 150.0f    // 20 units behind target
     };
     client->camera.target = target_pos;
     client->camera.up = (Vector3){ 0.0f, -1.0f, 0.0f };  // Y is up
@@ -603,7 +602,7 @@ void c_render(Client* client, GPUDrive* env) {
                     position = (Vector3){
                         env->entities[i].x,
                         env->entities[i].y,
-                        env->entities[i].traj_z[env->timestep]
+                        1
                     };
                     heading = env->entities[i].heading;
                 } 
@@ -649,7 +648,7 @@ void c_render(Client* client, GPUDrive* env) {
                     DrawSphere((Vector3){
                         env->entities[i].goal_position_x,
                         env->entities[i].goal_position_y,
-                        env->entities[i].goal_position_z
+                        1
                     }, 0.5f, DARKGREEN);
                 }
                 
@@ -662,12 +661,12 @@ void c_render(Client* client, GPUDrive* env) {
                 Vector3 start = {
                     env->entities[i].traj_x[j],
                     env->entities[i].traj_y[j],
-                    env->entities[i].traj_z[j]
+                    1
                 };
                 Vector3 end = {
                     env->entities[i].traj_x[j + 1],
                     env->entities[i].traj_y[j + 1],
-                    env->entities[i].traj_z[j + 1]
+                    1
                 };
                 
                 Color lineColor = GRAY;

From d61ad5d48a9009b089e391a7f600cf5b0c84de91 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Thu, 13 Mar 2025 15:23:47 +0000
Subject: [PATCH 024/112] only reward 1 time

---
 pufferlib/ocean/gpudrive/gpudrive.h | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index e0594af810..261259e657 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -187,6 +187,7 @@ struct GPUDrive {
     int timestep;
     int dynamics_model;
     float* fake_data;
+    char* goal_reached;
 };
 
 Entity* load_map_binary(const char* filename, GPUDrive* env) {
@@ -354,6 +355,7 @@ void init(GPUDrive* env){
     for (int i = 0;i<1;i++ ){
 	    env->fake_data[i] = (float)(rand() % 5) / 5.0f;
     }
+    env->goal_reached = (char*)calloc(env->active_agent_count, sizeof(char));
 }
 
 void free_initialized(GPUDrive* env){
@@ -498,6 +500,7 @@ void c_reset(GPUDrive* env){
     for(int x = 0;x<env->active_agent_count; x++){
         env->logs[x] = (Log){0};
     }
+    memset(env->goal_reached, 0, env->active_agent_count*sizeof(char));
     compute_observations(env);
 }
 
@@ -523,9 +526,10 @@ void c_step(GPUDrive* env){
                 env->entities[agent_idx].goal_position_x,
                 env->entities[agent_idx].goal_position_y);
         int reached_goal = distance_to_goal < 2.0f;
-        if(reached_goal){            
+        if(reached_goal && env->goal_reached[i] == 0){            
             env->rewards[i] += 1.0f;
             env->logs[i].score = 1.0f;
+	    env->goal_reached[i] = 1;
 	        env->logs[i].episode_return += 1.0f;
             add_log(env->log_buffer, &env->logs[i]);
             continue;

From bd99fa6f538de4bda568e7b02ff76adeba1e1e7c Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 13 Mar 2025 12:14:29 -0500
Subject: [PATCH 025/112] fixing scoring

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx | 1 +
 pufferlib/ocean/gpudrive/gpudrive.h      | 9 +++++++--
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index d309435c2e..495a8d14c4 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -58,6 +58,7 @@ cdef extern from "gpudrive.h":
         int timestep;
         int dynamics_model;
         float* fake_data;
+        char* goal_reached;
 
     ctypedef struct Client
 
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 261259e657..37f94cfdc1 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -509,7 +509,12 @@ void c_step(GPUDrive* env){
     memset(env->rewards, 0, env->active_agent_count * sizeof(float));
     env->timestep++;
     if(env->timestep == 91){
-	    
+	    for(int i = 0; i < env->active_agent_count; i++){
+            if(env->goal_reached[i] == 0){
+                env->logs[i].score = 0.0f;
+                add_log(env->log_buffer, &env->logs[i]);
+            }
+	    }
 	    c_reset(env);
     }// Process actions for all active agents
     for(int i = 0; i < env->active_agent_count; i++){
@@ -529,7 +534,7 @@ void c_step(GPUDrive* env){
         if(reached_goal && env->goal_reached[i] == 0){            
             env->rewards[i] += 1.0f;
             env->logs[i].score = 1.0f;
-	    env->goal_reached[i] = 1;
+	        env->goal_reached[i] = 1;
 	        env->logs[i].episode_return += 1.0f;
             add_log(env->log_buffer, &env->logs[i]);
             continue;

From d579c78bcddb177d49975dbb72c6f534d1cbad7f Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Thu, 13 Mar 2025 18:40:46 +0000
Subject: [PATCH 026/112] made some adjusments

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |  1 -
 pufferlib/ocean/gpudrive/gpudrive.h      | 26 ++++++++++++------------
 2 files changed, 13 insertions(+), 14 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index 495a8d14c4..62f7bdaae5 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -134,7 +134,6 @@ cdef class CyGPUDrive:
             )
             init(&self.envs[i])
             self.client = NULL
-            print("start: ", i)
 
     def reset(self):
         cdef int i
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 37f94cfdc1..cb417ed8ac 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -196,7 +196,7 @@ Entity* load_map_binary(const char* filename, GPUDrive* env) {
     
     fread(&env->num_entities, sizeof(int), 1, file);
     Entity* entities = (Entity*)malloc(env->num_entities * sizeof(Entity));
-    printf("Num entities: %d\n", env->num_entities);
+    //printf("Num entities: %d\n", env->num_entities);
     for (int i = 0; i < env->num_entities; i++) {
         // Read base entity data
         fread(&entities[i].type, sizeof(int), 1, file);
@@ -323,7 +323,6 @@ void set_active_agents(GPUDrive* env){
             }
         }
     }
-    printf("active_agent_count: %d\n", env->active_agent_count);
     env->active_agent_indices = (int*)malloc(env->active_agent_count * sizeof(int));
     for(int i=0;i<env->active_agent_count;i++){
         env->active_agent_indices[i] = active_agent_indices[i];
@@ -335,12 +334,11 @@ void set_active_agents(GPUDrive* env){
                 valid_count++;
             }
         }
-        printf("agent %d valid_count: %d\n", env->active_agent_indices[i], valid_count);
+        //printf("agent %d valid_count: %d\n", env->active_agent_indices[i], valid_count);
     }
 }
 
 void init(GPUDrive* env){
-    printf("init");
     env->human_agent_idx = 0;
     env->timestep = 0;
     env->entities = load_map_binary("map.bin", env);
@@ -348,9 +346,9 @@ void init(GPUDrive* env){
     set_active_agents(env);
     set_start_position(env);
     env->logs = (Log*)calloc(env->active_agent_count, sizeof(Log));
-    printf("num_entities: %d\n", env->num_entities);
-    printf("Offset of x: %zu\n", offsetof(struct Entity, x));
-    printf("Offset of y: %zu\n", offsetof(struct Entity, y));
+    //printf("num_entities: %d\n", env->num_entities);
+    //printf("Offset of x: %zu\n", offsetof(struct Entity, x));
+    //printf("Offset of y: %zu\n", offsetof(struct Entity, y));
     env->fake_data = (float*)calloc(1, sizeof(float));
     for (int i = 0;i<1;i++ ){
 	    env->fake_data[i] = (float)(rand() % 5) / 5.0f;
@@ -366,12 +364,12 @@ void free_initialized(GPUDrive* env){
     free(env->active_agent_indices);
     free(env->logs);
     free(env->fake_data);
+    free(env->goal_reached);
 }
 
 void allocate(GPUDrive* env){
     init(env);
     int max_obs = 1;
-    printf("MAX_OBS: %d\n", max_obs);
     env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
     env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
@@ -512,8 +510,12 @@ void c_step(GPUDrive* env){
 	    for(int i = 0; i < env->active_agent_count; i++){
             if(env->goal_reached[i] == 0){
                 env->logs[i].score = 0.0f;
-                add_log(env->log_buffer, &env->logs[i]);
-            }
+                
+	    } else {
+	        env->logs[i].score = 1.0f;
+		env->logs[i].episode_return +=1.0f;
+	    }
+	    add_log(env->log_buffer, &env->logs[i]);
 	    }
 	    c_reset(env);
     }// Process actions for all active agents
@@ -533,10 +535,8 @@ void c_step(GPUDrive* env){
         int reached_goal = distance_to_goal < 2.0f;
         if(reached_goal && env->goal_reached[i] == 0){            
             env->rewards[i] += 1.0f;
-            env->logs[i].score = 1.0f;
 	        env->goal_reached[i] = 1;
-	        env->logs[i].episode_return += 1.0f;
-            add_log(env->log_buffer, &env->logs[i]);
+	        //env->logs[i].episode_return += 1.0f;
             continue;
 	    }
     }

From 0db752adad240b4951ac2362bab2bbd12186cdd9 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 13 Mar 2025 15:33:36 -0500
Subject: [PATCH 027/112] random heading spawn

---
 pufferlib/ocean/gpudrive/gpudrive.c | 53 +++++++++++++++++++++++++----
 pufferlib/ocean/gpudrive/gpudrive.h | 22 +++++++-----
 2 files changed, 59 insertions(+), 16 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index 123c98fc25..3317e9fee5 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -85,24 +85,63 @@ void handle_camera_controls(Client* client) {
 }
 
 void demo() {
+    
     GPUDrive env = {
         .dynamics_model = CLASSIC,
         .human_agent_idx = 0,
     };
     allocate(&env);
+    Weights* weights = load_weights("resources/gpu_drive_weights.bin", 135061);
+    LinearLSTM* net = make_linearlstm(weights, env.active_agent_count, 1, 13);
     c_reset(&env);
     Client* client = make_client(&env);
     printf("Human controlling agent index: %d\n", env.active_agent_indices[env.human_agent_idx]);
-    
+    int accel_delta = 1;
+    int steer_delta = 1;
     while (!WindowShouldClose()) {
         // Handle camera controls
         handle_camera_controls(client);
         int (*actions)[2] = (int(*)[2])env.actions;
-        // Reset all agent actions at the beginning of each frame
-        for(int i = 0; i < env.active_agent_count; i++) {
-            actions[i][0] = 0;
-            actions[i][1] = 0;
+        // // Reset all agent actions at the beginning of each frame
+        // for(int i = 0; i < env.active_agent_count; i++) {
+        //     int accel = rand() % 7;
+        //     int steer = rand() % 13;
+        //     actions[i][0] = 0;
+        //     actions[i][1] = 0;
+        // }
+        if(IsKeyDown(KEY_UP)){
+            actions[env.human_agent_idx][0] += accel_delta;
+            // Cap acceleration to maximum of 6
+            if(actions[env.human_agent_idx][0] > 6) {
+                actions[env.human_agent_idx][0] = 6;
+            }
+        }
+        if(IsKeyDown(KEY_DOWN)){
+            actions[env.human_agent_idx][0] -= accel_delta;
+            // Cap acceleration to minimum of 0
+            if(actions[env.human_agent_idx][0] < 0) {
+                actions[env.human_agent_idx][0] = 0;
+            }
         }
+        if(IsKeyDown(KEY_LEFT)){
+            actions[env.human_agent_idx][1] -= steer_delta;
+            // Cap steering to minimum of 0
+            if(actions[env.human_agent_idx][1] < 0) {
+                actions[env.human_agent_idx][1] = 0;
+            }
+        }
+        if(IsKeyDown(KEY_RIGHT)){
+            actions[env.human_agent_idx][1] += steer_delta;
+            // Cap steering to maximum of 12
+            if(actions[env.human_agent_idx][1] > 12) {
+                actions[env.human_agent_idx][1] = 12;
+            }
+        }   
+        // for (int i = 0; i < env.active_agent_count * 1; i++) {
+        //         net->obs[i] = (float)env.observations[i];
+        //     }
+
+        // forward_linearlstm(net, net->obs, actions);
         // Handle human input for the controlled agent
         // handle_human_input(&env);
         c_step(&env);
@@ -142,7 +181,7 @@ void performance_test() {
 }
 
 int main() {
-    //demo();
-     performance_test();
+    demo();
+    //  performance_test();
     return 0;
 }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index cb417ed8ac..665a734e62 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -290,7 +290,8 @@ void set_start_position(GPUDrive* env){
         env->entities[env->active_agent_indices[i]].vx = env->entities[env->active_agent_indices[i]].traj_vx[0];
         env->entities[env->active_agent_indices[i]].vy = env->entities[env->active_agent_indices[i]].traj_vy[0];
         env->entities[env->active_agent_indices[i]].vz = env->entities[env->active_agent_indices[i]].traj_vz[0];
-        env->entities[env->active_agent_indices[i]].heading = env->entities[env->active_agent_indices[i]].traj_heading[0];
+        // env->entities[env->active_agent_indices[i]].heading = env->entities[env->active_agent_indices[i]].traj_heading[0];
+        env->entities[env->active_agent_indices[i]].heading = ((float)rand() / RAND_MAX) * 2.0f - 1.0f; // Random float between -1 and 1
         env->entities[env->active_agent_indices[i]].valid = env->entities[env->active_agent_indices[i]].traj_valid[0];
         // printf("agent %d\n", env->active_agent_indices[i]);
         // printf("x , y: %f, %f\n", env->entities[env->active_agent_indices[i]].x, env->entities[env->active_agent_indices[i]].y);
@@ -488,7 +489,9 @@ void compute_observations(GPUDrive* env){
             env->entities[env->active_agent_indices[i]].y,
             env->entities[env->active_agent_indices[i]].goal_position_x,
             env->entities[env->active_agent_indices[i]].goal_position_y);
-        // printf("agent: %d, obs: %f\n", i, obs[i]);
+        // printf("agent: %d, obs: %f\n", i, obs[0]);
+        // printf("x y%f %f \n", env->entities[env->active_agent_indices[i]].x, env->entities[env->active_agent_indices[i]].y);
+        // printf("goal_x goal_y%f %f\n", env->entities[env->active_agent_indices[i]].goal_position_x, env->entities[env->active_agent_indices[i]].goal_position_y);
     }
 };
 
@@ -510,12 +513,11 @@ void c_step(GPUDrive* env){
 	    for(int i = 0; i < env->active_agent_count; i++){
             if(env->goal_reached[i] == 0){
                 env->logs[i].score = 0.0f;
-                
-	    } else {
-	        env->logs[i].score = 1.0f;
-		env->logs[i].episode_return +=1.0f;
-	    }
-	    add_log(env->log_buffer, &env->logs[i]);
+            } else {
+                env->logs[i].score = 1.0f;
+                env->logs[i].episode_return +=1.0f;
+            }
+            add_log(env->log_buffer, &env->logs[i]);
 	    }
 	    c_reset(env);
     }// Process actions for all active agents
@@ -526,7 +528,6 @@ void c_step(GPUDrive* env){
         move_dynamics(env, i, agent_idx);
         // move_random(env, agent_idx);
         // move_expert(env, env->actions, agent_idx);
-	
         float distance_to_goal = relative_distance(
                 env->entities[agent_idx].x,
                 env->entities[agent_idx].y,
@@ -644,6 +645,9 @@ void c_render(Client* client, GPUDrive* env) {
                 else if(env->entities[i].valid == 0 ){
                     object_color = RED;
                 }
+                if(j == env->human_agent_idx){
+                    object_color = PURPLE;
+                }
                 
                 // draw the id number above the object
                 DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);

From 064b4fc5f481ac401a2561fad01a6a3881c920c2 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Fri, 14 Mar 2025 08:41:26 -0500
Subject: [PATCH 028/112] new map

---
 pufferlib/resources/tfrecord-00002-of-01000_407.json | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 pufferlib/resources/tfrecord-00002-of-01000_407.json

diff --git a/pufferlib/resources/tfrecord-00002-of-01000_407.json b/pufferlib/resources/tfrecord-00002-of-01000_407.json
new file mode 100644
index 0000000000..254362ec55
--- /dev/null
+++ b/pufferlib/resources/tfrecord-00002-of-01000_407.json
@@ -0,0 +1 @@
+{"name": "tfrecord-00002-of-01000_407.json", "scenario_id": "bada21415c031740", "objects": [{"position": [{"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.309698891635893}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.309947714651287}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.31018468217128}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.310341866158033}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.31058455215263}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.311363546837484}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.312028858361874}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.31197634604414}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.31192383159766}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.310537811103323}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.308155984898445}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.304805794363865}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.301629046077153}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.299538629631407}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.297361582456265}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.294560946870877}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.29211538711711}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.291978829148366}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.29178201159852}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.291178601145837}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.290462018993573}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.28903223652771}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.287601963115467}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.285813757626176}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.283888211776766}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.284168966751206}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.2844497364489}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.283371130674233}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.282281847371248}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.281155082523696}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.28003015780055}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.278919712021143}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.277809297990906}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.27643656833257}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.27494627897899}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.274098336676957}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.273238319376105}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.271078354823192}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.268935692717676}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.268206587347294}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.267488121306602}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.26770122126529}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.267914474341076}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.268426045278087}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.268903274738307}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.264301050441777}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.25991216801008}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.260555029037093}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.261147068006267}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 28.260577403030396}, {"x": -492.2278747558594, "y": -2870.24951171875, "z": 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-2931.1902848477257, "z": 27.975403600673264}], "type": "driveway", "map_element_id": 20, "id": 205}, {"geometry": [{"x": -527.0636605211828, "y": -2960.7788167275694, "z": 27.9731985863394}, {"x": -524.1408810643128, "y": -2962.976314594591, "z": 27.962702364185333}, {"x": -518.16246853924, "y": -2956.028669824541, "z": 27.96120290387761}, {"x": -521.7849436829655, "y": -2952.6658321795776, "z": 27.97619750695485}], "type": "driveway", "map_element_id": 20, "id": 206}, {"geometry": [{"x": -534.3617522564392, "y": -2943.1766368469357, "z": 28.02420182295097}, {"x": -536.5671222100991, "y": -2939.5141404024257, "z": 28.063878203449537}, {"x": -542.1558308080927, "y": -2948.625987616887, "z": 28.045544870128477}, {"x": -540.4730183928446, "y": -2949.6914411277876, "z": 28.027211536807418}], "type": "driveway", "map_element_id": 20, "id": 207}, {"geometry": [{"x": -532.9446470651151, "y": -2931.711913128973, "z": 28.0735752043495}, {"x": -525.1417116065429, "y": -2922.8997247140583, "z": 28.0679388414109}, {"x": -531.8552474474045, "y": -2917.7833281662633, "z": 28.1637570113671}, {"x": -539.1976237210305, "y": -2926.595516581178, "z": 28.1637570113671}], "type": "driveway", "map_element_id": 20, "id": 208}, {"geometry": [{"x": -553.714095021723, "y": -2940.2910335879833, "z": 28.542441498370145}, {"x": -546.4248601959025, "y": -2929.736384743652, "z": 28.22887820333908}, {"x": -551.2253040290431, "y": -2926.9950616477654, "z": 28.296100425516297}, {"x": -557.602277390631, "y": -2938.2600128324348, "z": 28.554217864257375}], "type": "driveway", "map_element_id": 20, "id": 209}, {"geometry": [{"x": -567.4865860971905, "y": -2922.022945262248, "z": 28.640915241155245}, {"x": -574.1115528676063, "y": -2914.6868538998137, "z": 28.632026351941963}, {"x": -575.2275232048144, "y": -2915.297269973899, "z": 28.637952278084153}, {"x": -571.2684855780393, "y": -2927.239228077084, "z": 28.679433761079466}], "type": "driveway", "map_element_id": 20, "id": 210}, {"geometry": [{"x": -572.7121614901197, "y": -2928.8818022402484, "z": 28.694248576434934}, {"x": -580.0191101322948, "y": -2924.875253099379, "z": 28.703137465648215}, {"x": -582.3396198834499, "y": -2928.204795321732, "z": 28.726841170216968}, {"x": -576.2194968401258, "y": -2933.432176609983, "z": 28.726841170216968}], "type": "driveway", "map_element_id": 20, "id": 211}, {"geometry": [{"x": -571.7910431151926, "y": -2943.709363602386, "z": 28.623087881647805}, {"x": -574.5189706110403, "y": -2947.1720875136016, "z": 28.63014970827701}, {"x": -567.2297357827026, "y": -2948.10435933564, "z": 28.623970609976457}, {"x": -566.352901946145, "y": -2945.229854550891, "z": 28.61867778472239}], "type": "driveway", "map_element_id": 20, "id": 212}], "tl_states": {}, "metadata": {"sdc_track_index": 14, "objects_of_interest": [], "tracks_to_predict": [{"track_index": 1, "difficulty": 0}, {"track_index": 5, "difficulty": 0}]}}
\ No newline at end of file

From 830ab655e9a6ff508da836cbaab2afbb84cd2060 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Fri, 14 Mar 2025 08:43:36 -0500
Subject: [PATCH 029/112] obs at 0 when done

---
 pufferlib/ocean/gpudrive/gpudrive.h | 21 +++++++++++++--------
 1 file changed, 13 insertions(+), 8 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 665a734e62..37bb19e397 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -409,7 +409,7 @@ void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
         int steering_index = action_array[action_idx][1];
         float acceleration = ACCELERATION_VALUES[acceleration_index];
         float steering = STEERING_VALUES[steering_index];
-        
+
         // Clip acceleration and steering
         acceleration = fmaxf(-6.0f, fminf(acceleration, 6.0f));
         steering = fmaxf(-3.0f, fminf(steering, 3.0f));
@@ -484,11 +484,16 @@ void compute_observations(GPUDrive* env){
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     for(int i = 0; i < env->active_agent_count; i++){
         float* obs = &observations[i][0];
-        obs[0] = relative_distance(
-            env->entities[env->active_agent_indices[i]].x,
-            env->entities[env->active_agent_indices[i]].y,
-            env->entities[env->active_agent_indices[i]].goal_position_x,
-            env->entities[env->active_agent_indices[i]].goal_position_y);
+        if(env->goal_reached[i] ==0){
+            obs[0] = relative_distance(
+                env->entities[env->active_agent_indices[i]].x,
+                env->entities[env->active_agent_indices[i]].y,
+                env->entities[env->active_agent_indices[i]].goal_position_x,
+                env->entities[env->active_agent_indices[i]].goal_position_y);
+        } else {
+            obs[0] = 0.0f;
+        }
+        
         // printf("agent: %d, obs: %f\n", i, obs[0]);
         // printf("x y%f %f \n", env->entities[env->active_agent_indices[i]].x, env->entities[env->active_agent_indices[i]].y);
         // printf("goal_x goal_y%f %f\n", env->entities[env->active_agent_indices[i]].goal_position_x, env->entities[env->active_agent_indices[i]].goal_position_y);
@@ -525,9 +530,9 @@ void c_step(GPUDrive* env){
         env->logs[i].score = 0.0f;
 	    env->logs[i].episode_length += 1;
         int agent_idx = env->active_agent_indices[i];
-        move_dynamics(env, i, agent_idx);
+        // move_dynamics(env, i, agent_idx);
         // move_random(env, agent_idx);
-        // move_expert(env, env->actions, agent_idx);
+        move_expert(env, env->actions, agent_idx);
         float distance_to_goal = relative_distance(
                 env->entities[agent_idx].x,
                 env->entities[agent_idx].y,

From 9786063716d58ca3f73c73ddda6582746bbad40e Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Fri, 14 Mar 2025 10:32:54 -0500
Subject: [PATCH 030/112] change obs from 1 distane to x,y dist

---
 pufferlib/ocean/gpudrive/gpudrive.h | 52 ++++++++++++++++-------------
 1 file changed, 29 insertions(+), 23 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 37bb19e397..cc74059557 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -145,9 +145,15 @@ void free_entity(Entity* entity){
     free(entity->traj_valid);
 }
 
-float relative_distance(float x1, float y1, float x2, float y2){
-    float distance = sqrtf(powf(x1 - x2, 2) + 
-                          powf(y1 - y2, 2));
+float relative_distance(float a, float b){
+    float distance = sqrtf(powf(a - b, 2));
+    return distance;
+}
+
+float relative_distance_2d(float x1, float y1, float x2, float y2){
+    float dx = x2 - x1;
+    float dy = y2 - y1;
+    float distance = sqrtf(dx*dx + dy*dy);
     return distance;
 }
 
@@ -290,8 +296,8 @@ void set_start_position(GPUDrive* env){
         env->entities[env->active_agent_indices[i]].vx = env->entities[env->active_agent_indices[i]].traj_vx[0];
         env->entities[env->active_agent_indices[i]].vy = env->entities[env->active_agent_indices[i]].traj_vy[0];
         env->entities[env->active_agent_indices[i]].vz = env->entities[env->active_agent_indices[i]].traj_vz[0];
-        // env->entities[env->active_agent_indices[i]].heading = env->entities[env->active_agent_indices[i]].traj_heading[0];
-        env->entities[env->active_agent_indices[i]].heading = ((float)rand() / RAND_MAX) * 2.0f - 1.0f; // Random float between -1 and 1
+        env->entities[env->active_agent_indices[i]].heading = env->entities[env->active_agent_indices[i]].traj_heading[0];
+        // env->entities[env->active_agent_indices[i]].heading = ((float)rand() / RAND_MAX) * 2.0f - 1.0f; // Random float between -1 and 1
         env->entities[env->active_agent_indices[i]].valid = env->entities[env->active_agent_indices[i]].traj_valid[0];
         // printf("agent %d\n", env->active_agent_indices[i]);
         // printf("x , y: %f, %f\n", env->entities[env->active_agent_indices[i]].x, env->entities[env->active_agent_indices[i]].y);
@@ -312,7 +318,7 @@ void set_active_agents(GPUDrive* env){
                 }
             }
             if(start_idx !=0) continue;
-            float distance = relative_distance(
+            float distance = relative_distance_2d(
                 env->entities[i].traj_x[start_idx],
                 env->entities[i].traj_y[start_idx],
                 env->entities[i].goal_position_x,
@@ -350,8 +356,9 @@ void init(GPUDrive* env){
     //printf("num_entities: %d\n", env->num_entities);
     //printf("Offset of x: %zu\n", offsetof(struct Entity, x));
     //printf("Offset of y: %zu\n", offsetof(struct Entity, y));
-    env->fake_data = (float*)calloc(1, sizeof(float));
-    for (int i = 0;i<1;i++ ){
+    printf("active_agent_count: %d\n", env->active_agent_count);
+    env->fake_data = (float*)calloc(2, sizeof(float));
+    for (int i = 0;i<2;i++ ){
 	    env->fake_data[i] = (float)(rand() % 5) / 5.0f;
     }
     env->goal_reached = (char*)calloc(env->active_agent_count, sizeof(char));
@@ -370,7 +377,7 @@ void free_initialized(GPUDrive* env){
 
 void allocate(GPUDrive* env){
     init(env);
-    int max_obs = 1;
+    int max_obs = 2;
     env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
     env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
@@ -480,21 +487,17 @@ void move_random(GPUDrive* env, int agent_idx){
 }
 
 void compute_observations(GPUDrive* env){
-    int max_obs = 1;
+    int max_obs = 2;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     for(int i = 0; i < env->active_agent_count; i++){
         float* obs = &observations[i][0];
-        if(env->goal_reached[i] ==0){
-            obs[0] = relative_distance(
-                env->entities[env->active_agent_indices[i]].x,
-                env->entities[env->active_agent_indices[i]].y,
-                env->entities[env->active_agent_indices[i]].goal_position_x,
-                env->entities[env->active_agent_indices[i]].goal_position_y);
-        } else {
-            obs[0] = 0.0f;
-        }
+        obs[0] = relative_distance(
+            env->entities[env->active_agent_indices[i]].x,
+            env->entities[env->active_agent_indices[i]].goal_position_x);
+        obs[1] = relative_distance(
+            env->entities[env->active_agent_indices[i]].y,
+            env->entities[env->active_agent_indices[i]].goal_position_y);
         
-        // printf("agent: %d, obs: %f\n", i, obs[0]);
         // printf("x y%f %f \n", env->entities[env->active_agent_indices[i]].x, env->entities[env->active_agent_indices[i]].y);
         // printf("goal_x goal_y%f %f\n", env->entities[env->active_agent_indices[i]].goal_position_x, env->entities[env->active_agent_indices[i]].goal_position_y);
     }
@@ -530,10 +533,10 @@ void c_step(GPUDrive* env){
         env->logs[i].score = 0.0f;
 	    env->logs[i].episode_length += 1;
         int agent_idx = env->active_agent_indices[i];
-        // move_dynamics(env, i, agent_idx);
+        move_dynamics(env, i, agent_idx);
         // move_random(env, agent_idx);
-        move_expert(env, env->actions, agent_idx);
-        float distance_to_goal = relative_distance(
+        // move_expert(env, env->actions, agent_idx);
+        float distance_to_goal = relative_distance_2d(
                 env->entities[agent_idx].x,
                 env->entities[agent_idx].y,
                 env->entities[agent_idx].goal_position_x,
@@ -716,6 +719,9 @@ void c_render(Client* client, GPUDrive* env) {
     // Controls help
     DrawText("Controls: W/S - Accelerate/Brake, A/D - Steer, 1-4 - Switch Agent", 
              10, client->height - 30, 20, BLACK);
+    // acceleration & steering
+    DrawText(TextFormat("Acceleration: %d", env->actions[env->human_agent_idx * 2]), 10, 110, 20, BLACK);
+    DrawText(TextFormat("Steering: %d", env->actions[env->human_agent_idx * 2 + 1]), 10, 130, 20, BLACK);
     EndDrawing();
 }
 

From 8a337cde9d07897b9b26682f9b2d9800b90ddb7b Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Sat, 15 Mar 2025 12:57:08 +0000
Subject: [PATCH 031/112] trained succesful model to reach goal no collisions
 on

---
 config/ocean/gpudrive.ini            | 26 +++++++++++++-------------
 pufferlib/ocean/gpudrive/gpudrive.c  |  4 ++--
 pufferlib/ocean/gpudrive/gpudrive.h  |  2 +-
 pufferlib/ocean/gpudrive/gpudrive.py |  5 +++--
 4 files changed, 19 insertions(+), 18 deletions(-)

diff --git a/config/ocean/gpudrive.ini b/config/ocean/gpudrive.ini
index 00f9fe7d53..8e53895c42 100644
--- a/config/ocean/gpudrive.ini
+++ b/config/ocean/gpudrive.ini
@@ -5,31 +5,31 @@ policy_name = Policy
 rnn_name = Recurrent
 
 [env]
-num_envs = 400
+num_envs = 256
 
 [train]
-total_timesteps = 50000000
+total_timesteps = 125000000
 checkpoint_interval = 25
 num_envs = 1
 num_workers = 1
 env_batch_size =1
 batch_size = 131072
 update_epochs = 1
-minibatch_size = 8192
-bptt_horizon = 8
+minibatch_size = 2048
+bptt_horizon = 16
 anneal_lr = False
-ent_coef = 0.019885424670094166
+ent_coef = 0.00017388233296166175
 device = cuda
-learning_rate=0.0018129721882644975
-gamma = 0.9543211781474217
-gae_lambda = 0.8297991396183212
-vf_coef = 0.3974834958825928
+learning_rate=0.00034781012489778265
+gamma = 0.9521457810270598
+gae_lambda = 0.9751014802714167
+vf_coef = 1
 clip_coef = 0.1
 vf_clip_coef = 0.1
-
+max_grad_norm =1.4592083665270446
 [sweep.train.total_timesteps]
 distribution = log_normal
-min = 3e7
-max = 3e8
-mean = 1e8
+min = 1e8
+max = 5e8
+mean = 3e8
 scale = 0.25
diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index 3317e9fee5..a7570f5dfc 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -181,7 +181,7 @@ void performance_test() {
 }
 
 int main() {
-    demo();
-    //  performance_test();
+    //demo();
+      performance_test();
     return 0;
 }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index cc74059557..b2c64f0de5 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -535,7 +535,7 @@ void c_step(GPUDrive* env){
         int agent_idx = env->active_agent_indices[i];
         move_dynamics(env, i, agent_idx);
         // move_random(env, agent_idx);
-        // move_expert(env, env->actions, agent_idx);
+        //move_expert(env, env->actions, agent_idx);
         float distance_to_goal = relative_distance_2d(
                 env->entities[agent_idx].x,
                 env->entities[agent_idx].y,
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index cd09c56f86..dc68f982ec 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -19,7 +19,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.render_mode = render_mode
         self.report_interval = report_interval
         
-        self.num_obs = 1
+        self.num_obs = 2
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])
@@ -309,4 +309,5 @@ def load_map(map_name, binary_output=None):
 
 
 if __name__ == '__main__':
-    load_map('resources/tfrecord-00000-of-01000_325.json', 'map.bin')
+        load_map('resources/tfrecord-00000-of-01000_325.json', 'map.bin')
+

From 012eb90d0fa77273ae008f195ad0f246cd8f588c Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sat, 15 Mar 2025 07:58:51 -0500
Subject: [PATCH 032/112] new visual control on human

---
 pufferlib/ocean/gpudrive/gpudrive.c | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index a7570f5dfc..d0a39d2d20 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -109,7 +109,7 @@ void demo() {
         //     actions[i][0] = 0;
         //     actions[i][1] = 0;
         // }
-        if(IsKeyDown(KEY_UP)){
+        if(IsKeyPressed(KEY_UP)){
             actions[env.human_agent_idx][0] += accel_delta;
             // Cap acceleration to maximum of 6
             if(actions[env.human_agent_idx][0] > 6) {
@@ -137,6 +137,9 @@ void demo() {
                 actions[env.human_agent_idx][1] = 12;
             }
         }   
+        if(IsKeyPressed(KEY_TAB)){
+            env.human_agent_idx = (env.human_agent_idx + 1) % env.active_agent_count;
+        }
         // for (int i = 0; i < env.active_agent_count * 1; i++) {
         //         net->obs[i] = (float)env.observations[i];
         //     }
@@ -181,7 +184,7 @@ void performance_test() {
 }
 
 int main() {
-    //demo();
-      performance_test();
+    demo();
+    //  performance_test();
     return 0;
 }

From 445bd315365ef138406608ead20a9ce8f60d8aca Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sat, 15 Mar 2025 08:17:24 -0500
Subject: [PATCH 033/112] adjsuted physics dynamics

---
 pufferlib/ocean/gpudrive/gpudrive.h | 51 ++++++++++++++---------------
 1 file changed, 25 insertions(+), 26 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index b2c64f0de5..6dd448c7cd 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -432,32 +432,31 @@ void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
         float speed = sqrtf(vx*vx + vy*vy);
         
         // Time step (adjust as needed)
-        const float dt = 0.1f;
-        
-        // Update position using current velocity and acceleration
-        float new_x = x + vx * dt + 0.5f * acceleration * cosf(heading) * dt * dt;
-        float new_y = y + vy * dt + 0.5f * acceleration * sinf(heading) * dt * dt;
-        
-        // Calculate heading change based on steering and speed
-        float delta_heading = steering * (speed * dt + 0.5f * acceleration * dt * dt);
-        float new_heading = heading + delta_heading;
-        
-        // Normalize heading to [-π, π]
-        while (new_heading > M_PI) new_heading -= 2.0f * M_PI;
-        while (new_heading < -M_PI) new_heading += 2.0f * M_PI;
-        
-        // Update speed and velocity components
-        float new_speed = speed + acceleration * dt;
-        float new_vx = new_speed * cosf(new_heading);
-        float new_vy = new_speed * sinf(new_heading);
-        
-        // Update agent state for next timestep
-        agent->x = new_x;
-        agent->y = new_y;
-	    // agent->z = agent->traj_z[env->timestep];
-        agent->heading = new_heading;
-        agent->vx = new_vx;
-        agent->vy = new_vy;
+        const float dt = 0.1f;        
+        // Update speed with acceleration
+        speed += acceleration * dt;
+        if (speed < 0) speed = 0;  // Prevent going backward
+        // compute yaw rate
+        float omega = (speed * tanf(steering)) / agent->length;
+        heading = heading + omega * dt;
+        // Normalize heading to range [-π, π]
+        while (heading > M_PI) heading -= 2.0f * M_PI;
+        while (heading < -M_PI) heading += 2.0f * M_PI;
+
+        // Compute new velocity components
+        vx = speed * cosf(heading);
+        vy = speed * sinf(heading);
+
+        // Update position
+        x += vx * dt;
+        y += vy * dt;
+
+        // Apply updates to the agent's state
+        agent->x = x;
+        agent->y = y;
+        agent->heading = heading;
+        agent->vx = vx;
+        agent->vy = vy;
     }
     else if(env->dynamics_model == INVERTIBLE_BICYLE){
         // Invertible bicycle dynamics model

From 85525e30e2b68bca19d09f4664230c3e9329aeec Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sat, 15 Mar 2025 18:32:28 -0500
Subject: [PATCH 034/112] added collision checks 27k sps rn

---
 pufferlib/ocean/gpudrive/gpudrive.c  |  27 ++-
 pufferlib/ocean/gpudrive/gpudrive.h  | 339 ++++++++++++++++++---------
 pufferlib/ocean/gpudrive/gpudrive.py |  50 +++-
 3 files changed, 295 insertions(+), 121 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index d0a39d2d20..5f441e5523 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -76,11 +76,22 @@ void handle_camera_controls(Client* client) {
     float wheel = GetMouseWheelMove();
     if (wheel != 0) {
         float zoom_factor = 1.0f - (wheel * 0.1f);
-        // Adjust camera position for zoom while maintaining height
-        client->camera.position.x = client->camera.target.x + 
-            (client->camera.position.x - client->camera.target.x) * zoom_factor;
-        client->camera.position.y = client->camera.target.y + 
-            (client->camera.position.y - client->camera.target.y) * zoom_factor;
+        // Calculate the current direction vector from target to position
+        Vector3 direction = {
+            client->camera.position.x - client->camera.target.x,
+            client->camera.position.y - client->camera.target.y,
+            client->camera.position.z - client->camera.target.z
+        };
+        
+        // Scale the direction vector by the zoom factor
+        direction.x *= zoom_factor;
+        direction.y *= zoom_factor;
+        direction.z *= zoom_factor;
+        
+        // Update the camera position based on the scaled direction
+        client->camera.position.x = client->camera.target.x + direction.x;
+        client->camera.position.y = client->camera.target.y + direction.y;
+        client->camera.position.z = client->camera.target.z + direction.z;
     }
 }
 
@@ -116,21 +127,21 @@ void demo() {
                 actions[env.human_agent_idx][0] = 6;
             }
         }
-        if(IsKeyDown(KEY_DOWN)){
+        if(IsKeyPressed(KEY_DOWN)){
             actions[env.human_agent_idx][0] -= accel_delta;
             // Cap acceleration to minimum of 0
             if(actions[env.human_agent_idx][0] < 0) {
                 actions[env.human_agent_idx][0] = 0;
             }
         }
-        if(IsKeyDown(KEY_LEFT)){
+        if(IsKeyPressed(KEY_LEFT)){
             actions[env.human_agent_idx][1] -= steer_delta;
             // Cap steering to minimum of 0
             if(actions[env.human_agent_idx][1] < 0) {
                 actions[env.human_agent_idx][1] = 0;
             }
         }
-        if(IsKeyDown(KEY_RIGHT)){
+        if(IsKeyPressed(KEY_RIGHT)){
             actions[env.human_agent_idx][1] += steer_delta;
             // Cap steering to maximum of 12
             if(actions[env.human_agent_idx][1] > 12) {
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 6dd448c7cd..5accfc5139 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -44,6 +44,12 @@
 static const float ACCELERATION_VALUES[7] = {-4.0000f, -2.6670f, -1.3330f, -0.0000f,  1.3330f,  2.6670f,  4.0000f};
 static const float STEERING_VALUES[13] = {-3.1420f, -2.6180f, -2.0940f, -1.5710f, -1.0470f, -0.5240f,  0.0000f,  0.5240f,
          1.0470f,  1.5710f,  2.0940f,  2.6180f,  3.1420f};
+static const float offsets[4][2] = {
+        {-1, 1},  // top-left
+        {1, 1},   // top-right
+        {1, -1},  // bottom-right
+        {-1, -1}  // bottom-left
+    };
 
 #define LOG_BUFFER_SIZE 1024
 
@@ -131,6 +137,9 @@ struct Entity {
     float vz;
     float heading;
     int valid;
+    float nearest_line_dist;
+    float nearest_line_start[2];
+    float nearest_line_end[2];
 };
 
 void free_entity(Entity* entity){
@@ -157,25 +166,6 @@ float relative_distance_2d(float x1, float y1, float x2, float y2){
     return distance;
 }
 
-typedef struct ObservationData ObservationData;
-struct ObservationData {
-    // self_obs
-    float* rel_goal_x;
-    float* rel_goaly;
-    float* heading;
-    float* speed;
-    float* width;
-    float* length;
-    // partner_obs
-    float* rel_other_x;
-    float* rel_other_y;
-    float* speed_other;
-    float* heading_other;
-    float* other_length;
-    float* other_width;
-};
-
-
 typedef struct GPUDrive GPUDrive;
 struct GPUDrive {
     float* observations;
@@ -357,8 +347,8 @@ void init(GPUDrive* env){
     //printf("Offset of x: %zu\n", offsetof(struct Entity, x));
     //printf("Offset of y: %zu\n", offsetof(struct Entity, y));
     printf("active_agent_count: %d\n", env->active_agent_count);
-    env->fake_data = (float*)calloc(2, sizeof(float));
-    for (int i = 0;i<2;i++ ){
+    env->fake_data = (float*)calloc(7, sizeof(float));
+    for (int i = 0;i<7;i++ ){
 	    env->fake_data[i] = (float)(rand() % 5) / 5.0f;
     }
     env->goal_reached = (char*)calloc(env->active_agent_count, sizeof(char));
@@ -377,7 +367,7 @@ void free_initialized(GPUDrive* env){
 
 void allocate(GPUDrive* env){
     init(env);
-    int max_obs = 2;
+    int max_obs = 7;
     env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
     env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
@@ -398,18 +388,6 @@ void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
     if(env->dynamics_model == CLASSIC){
         // clip acceleration & steering
         Entity* agent = &env->entities[agent_idx];
-        // if(agent->valid == 0){
-        //     printf("agent %d is invalid at timestep %d\n", agent_idx, env->timestep);
-        //     agent->x = agent->traj_x[env->timestep];
-        //     agent->y = agent->traj_y[env->timestep];
-        //     agent->z = agent->traj_z[env->timestep];
-        //     agent->heading = agent->traj_heading[env->timestep];
-        //     agent->vx = agent->traj_vx[env->timestep];
-        //     agent->vy = agent->traj_vy[env->timestep];
-        //     agent->vz = agent->traj_vz[env->timestep];
-        //     return;
-        // }
-        
         // Extract action components directly from the multi-discrete action array
         int (*action_array)[2] = (int(*)[2])env->actions;
         int acceleration_index = action_array[action_idx][0];
@@ -473,20 +451,138 @@ void move_expert(GPUDrive* env, int* actions, int agent_idx){
     //printf("x,y,z: %f %f %f", agent->x, agent->y, agent->z);
 }
 
-void move_random(GPUDrive* env, int agent_idx){
+bool check_line_intersection(float p1[2], float p2[2], float q1[2], float q2[2]) {
+    float s1_x = p2[0] - p1[0];     
+    float s1_y = p2[1] - p1[1];
+    float s2_x = q2[0] - q1[0];     
+    float s2_y = q2[1] - q1[1];
+
+    float s, t;
+    float denom = s1_x * s2_y - s2_x * s1_y;
+
+    if (denom == 0)
+        return false; // Collinear
+
+    bool denom_positive = denom > 0;
+
+    float s2_s1_x = p1[0] - q1[0];
+    float s2_s1_y = p1[1] - q1[1];
+    s = (s1_x * s2_s1_y - s1_y * s2_s1_x);
+    if ((s < 0) == denom_positive)
+        return false; // No intersection
+
+    t = (s2_x * s2_s1_y - s2_y * s2_s1_x);
+    if ((t < 0) == denom_positive)
+        return false; // No intersection
+
+    if ((s > denom) == denom_positive || (t > denom) == denom_positive)
+        return false; // No intersection
+
+    return true;
+}
+
+float point_to_line_distance(float point[2], float line_start[2], float line_end[2]) {
+    float x0 = point[0], y0 = point[1];
+    float x1 = line_start[0], y1 = line_start[1];
+    float x2 = line_end[0], y2 = line_end[1];
+
+    float dx = x2 - x1;
+    float dy = y2 - y1;
+    float denom = dx * dx + dy * dy;
+
+    if (denom == 0) { // Line segment is a point
+        return sqrtf((x0 - x1) * (x0 - x1) + (y0 - y1) * (y0 - y1));
+    }
+
+    // Parametric value t for closest point on line
+    float t = ((x0 - x1) * dx + (y0 - y1) * dy) / denom;
+    t = fmaxf(0.0f, fminf(1.0f, t)); // Clamp t to [0, 1] for line segment
+
+    // Closest point on the line segment
+    float closest_x = x1 + t * dx;
+    float closest_y = y1 + t * dy;
+
+    // Distance from point to closest point
+    return sqrtf((x0 - closest_x) * (x0 - closest_x) + (y0 - closest_y) * (y0 - closest_y));
+}
+
+
+void collision_check(GPUDrive* env, int agent_idx) {
     Entity* agent = &env->entities[agent_idx];
-    float x_rand = agent->x + (rand() % 100 - 50) / 100.0f;
-    float y_rand = agent->y + (rand() % 100 - 50) / 100.0f;
-    float z_rand = agent->z + (rand() % 100 - 50) / 100.0f;
-    float heading_rand = agent->heading + (rand() % 100 - 50) / 100.0f;
-    agent->x = x_rand;
-    agent->y = y_rand;
-    agent->z = z_rand;
-    agent->heading = heading_rand;
+    float half_length = agent->length / 2.0f;
+    float half_width = agent->width / 2.0f;
+    float cos_heading = cosf(agent->heading);
+    float sin_heading = sinf(agent->heading);
+    float corners[4][2];
+    for (int i = 0; i < 4; i++) {
+        corners[i][0] = agent->x + (offsets[i][0] * half_length * cos_heading - offsets[i][1] * half_width * sin_heading);
+        corners[i][1] = agent->y + (offsets[i][0] * half_length * sin_heading + offsets[i][1] * half_width * cos_heading);
+    }
+    int collided = 0;
+    float min_dist = 10000;
+    float nearest_start[2], nearest_end[2];
+
+    for (int i = 0; i < env->num_entities; i++) {
+        if(i == agent_idx) continue;
+        Entity* entity = &env->entities[i];
+        if(entity->type == ROAD_EDGE){
+            for (int j = 0; j < entity->array_size - 1; j++) {
+                float start[2] = {entity->traj_x[j], entity->traj_y[j]};
+                float end[2] = {entity->traj_x[j + 1], entity->traj_y[j + 1]};
+                for (int k = 0; k < 4; k++) { // Check each edge of the bounding box
+                    int next = (k + 1) % 4;
+                    if (check_line_intersection(corners[k], corners[next], start, end)) {
+                        collided = 1;
+                        break;
+                    }
+                }
+                if (collided)break;
+                // Distance check
+                float agent_center[2] = {agent->x, agent->y};
+                float dist = point_to_line_distance(agent_center, start, end);
+                if (dist < min_dist) {
+                    min_dist = dist;
+                    nearest_start[0] = start[0] - agent->x;
+                    nearest_start[1] = start[1] - agent->y;
+                    nearest_end[0] = end[0] - agent->x;
+                    nearest_end[1] = end[1] - agent->y;
+                }
+            }
+            if (collided) break;
+        }
+        if(entity->type == VEHICLE){
+            float other_corners[4][2];
+            for (int i = 0; i < 4; i++) {
+                other_corners[i][0] = entity->x + (offsets[i][0] * half_length * cos_heading - offsets[i][1] * half_width * sin_heading);
+                other_corners[i][1] = entity->y + (offsets[i][0] * half_length * sin_heading + offsets[i][1] * half_width * cos_heading);
+            }
+            for (int k = 0; k < 4; k++) { // Check each edge of the bounding box
+                int next = (k + 1) % 4;
+                for (int l = 0; l < 4; l++) { // Check each edge of the bounding box
+                    int next = (l + 1) % 4;
+                    if (check_line_intersection(corners[k], corners[next], other_corners[l], other_corners[next])) {
+                        collided = 1;
+                        break;
+                    }
+                }
+            }
+        }
+        
+    }
+    agent->collision_state = collided;
+    if (min_dist != 10000) { // If a road edge was found
+        agent->nearest_line_dist = min_dist;
+        agent->nearest_line_start[0] = nearest_start[0];
+        agent->nearest_line_start[1] = nearest_start[1];
+        agent->nearest_line_end[0] = nearest_end[0];
+        agent->nearest_line_end[1] = nearest_end[1];
+    } else {
+        agent->nearest_line_dist = -1.0f; // Indicate no line found
+    }
 }
 
 void compute_observations(GPUDrive* env){
-    int max_obs = 2;
+    int max_obs = 7;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     for(int i = 0; i < env->active_agent_count; i++){
         float* obs = &observations[i][0];
@@ -496,9 +592,11 @@ void compute_observations(GPUDrive* env){
         obs[1] = relative_distance(
             env->entities[env->active_agent_indices[i]].y,
             env->entities[env->active_agent_indices[i]].goal_position_y);
-        
-        // printf("x y%f %f \n", env->entities[env->active_agent_indices[i]].x, env->entities[env->active_agent_indices[i]].y);
-        // printf("goal_x goal_y%f %f\n", env->entities[env->active_agent_indices[i]].goal_position_x, env->entities[env->active_agent_indices[i]].goal_position_y);
+        obs[2] = env->entities[env->active_agent_indices[i]].nearest_line_dist;
+        obs[3] = env->entities[env->active_agent_indices[i]].nearest_line_start[0];
+        obs[4] = env->entities[env->active_agent_indices[i]].nearest_line_start[1];
+        obs[5] = env->entities[env->active_agent_indices[i]].nearest_line_end[0];
+        obs[6] = env->entities[env->active_agent_indices[i]].nearest_line_end[1];
     }
 };
 
@@ -532,9 +630,12 @@ void c_step(GPUDrive* env){
         env->logs[i].score = 0.0f;
 	    env->logs[i].episode_length += 1;
         int agent_idx = env->active_agent_indices[i];
+        env->entities[agent_idx].collision_state = 0;
         move_dynamics(env, i, agent_idx);
         // move_random(env, agent_idx);
-        //move_expert(env, env->actions, agent_idx);
+        // move_expert(env, env->actions, agent_idx);
+        collision_check(env, agent_idx);
+
         float distance_to_goal = relative_distance_2d(
                 env->entities[agent_idx].x,
                 env->entities[agent_idx].y,
@@ -603,75 +704,87 @@ void c_render(Client* client, GPUDrive* env) {
     DrawGrid(20, 1.0f);
     
     for(int i = 0; i < env->num_entities; i++) {
-        if(env->entities[i].type == 1 ) {
+        if(env->entities[i].type == 1) {  // If entity is a vehicle
+            // Check if this vehicle is an active agent
+            bool is_active_agent = false;
+            int agent_index = -1;
+            
             for(int j = 0; j < env->active_agent_count; j++) {
-                Vector3 position;
-                float heading;
-                if(env->active_agent_indices[j] != i ) {
-                    // position = (Vector3){
-                    //     env->entities[i].traj_x[env->timestep],
-                    //     env->entities[i].traj_y[env->timestep],
-                    //     env->entities[i].traj_z[env->timestep]
-                    // };
-                    // heading = env->entities[i].traj_heading[env->timestep];
-                    continue;
-                } else {
-                    position = (Vector3){
-                        env->entities[i].x,
-                        env->entities[i].y,
-                        1
-                    };
-                    heading = env->entities[i].heading;
-                } 
-                
-                // Create size vector
-                Vector3 size = {
-                    env->entities[i].length,
-                    env->entities[i].width,
-                    env->entities[i].height
+                if(env->active_agent_indices[j] == i) {
+                    is_active_agent = true;
+                    agent_index = j;
+                    break;
+                }
+            }
+            Vector3 position;
+            float heading;
+            if(is_active_agent){
+                position = (Vector3){
+                    env->entities[i].x,
+                    env->entities[i].y,
+                    1
+                };      
+                heading = env->entities[i].heading;
+      
+            } else {
+                position = (Vector3){
+                    env->entities[i].traj_x[0],
+                    env->entities[i].traj_y[0],
+                    1
                 };
+                heading = env->entities[i].traj_heading[0];
+            }
+            
+            
+            // Create size vector
+            Vector3 size = {
+                env->entities[i].length,
+                env->entities[i].width,
+                env->entities[i].height
+            };
+            
+            // Save current transform
+            rlPushMatrix();
+            
+            // Translate to position, rotate around Y axis, then draw
+            rlTranslatef(position.x, position.y, position.z);
+            rlRotatef(heading * RAD2DEG, 0.0f, 0.0f, 1.0f);  // Convert radians to degrees
+            
+            // Determine color based on active status and other conditions
+            Color object_color = GRAY;  // Default color for non-active vehicles
+            
+            if(is_active_agent) {
+                object_color = DARKBLUE;  // Active agents are blue
                 
-                // Save current transform
-                rlPushMatrix();
-                
-                // Translate to position, rotate around Y axis, then draw
-                rlTranslatef(position.x, position.y, position.z);
-                rlRotatef(heading * RAD2DEG, 0.0f, 0.0f, 1.0f);  // Convert radians to degrees
-                
-                // Draw cube centered at origin (will be transformed by matrix)
-                Color object_color = PINK;
-                if(env->entities[i].type == 1 && env->entities[i].valid == 1){
-                    object_color = DARKBLUE;
-                }
-                else if(env->entities[i].type == 2 && env->entities[i].valid == 1){
-                    object_color = BEIGE;
-                }
-                else if(env->entities[i].type == 3 && env->entities[i].valid == 1){
-                    object_color = YELLOW;
+                if(agent_index == env->human_agent_idx) {
+                    object_color = PURPLE;  // Human-controlled agent
                 }
-                else if(env->entities[i].valid == 0 ){
-                    object_color = RED;
-                }
-                if(j == env->human_agent_idx){
-                    object_color = PURPLE;
+                
+                if(env->entities[i].collision_state == 1) {
+                    object_color = RED;  // Collided agent
                 }
                 
-                // draw the id number above the object
+                // Only draw goal position for active agents
+                if(env->entities[i].valid == 1 && env->goal_reached[agent_index] == 0) {
+                    DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
+                    DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
+                }
+            } else {
+                // Draw non-active vehicles
                 DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
                 DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
-                
-                // Restore previous transform
-                rlPopMatrix();
-                
-                // Draw goal position
-                if(env->entities[i].valid == 1){
-                    DrawSphere((Vector3){
-                        env->entities[i].goal_position_x,
-                        env->entities[i].goal_position_y,
-                        1
-                    }, 0.5f, DARKGREEN);
-                }
-                
+            }
+            
+            // Restore previous transform
+            rlPopMatrix();
+            
+            // Draw goal position for active agents
+            if(is_active_agent && env->entities[i].valid == 1) {
+                DrawSphere((Vector3){
+                    env->entities[i].goal_position_x,
+                    env->entities[i].goal_position_y,
+                    1
+                }, 0.5f, DARKGREEN);
             }
         }
         
@@ -690,11 +803,15 @@ void c_render(Client* client, GPUDrive* env) {
                 };
                 
                 Color lineColor = GRAY;
-                if (env->entities[i].type == ROAD_LINE) lineColor = BLUE;
+                if (env->entities[i].type == ROAD_LANE) lineColor = GRAY;
+                else if (env->entities[i].type == ROAD_LINE) lineColor = BLUE;
                 else if (env->entities[i].type == ROAD_EDGE) lineColor = BLACK;
                 else if (env->entities[i].type == DRIVEWAY) lineColor = RED;
                 
-                DrawLine3D(start, end, lineColor);
+                if(env->entities[i].type == ROAD_LANE || env->entities[i].type == ROAD_EDGE){
+                    DrawLine3D(start, end, lineColor);
+                }
+
             }
         }
     }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index dc68f982ec..a696626722 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -52,6 +52,48 @@ def render(self):
         
     def close(self):
         self.c_envs.close() 
+def calculate_area(p1, p2, p3):
+    # Calculate the area of the triangle using the determinant method
+    return 0.5 * abs((p1['x'] - p3['x']) * (p2['y'] - p1['y']) - (p1['x'] - p2['x']) * (p3['y'] - p1['y']))
+
+def simplify_polyline(geometry, polyline_reduction_threshold):
+    """Simplify the given polyline using a method inspired by Visvalingham-Whyatt, optimized for Python."""
+    num_points = len(geometry)
+    if num_points < 3:
+        return geometry  # Not enough points to simplify
+
+    skip = [False] * num_points
+    skip_changed = True
+
+    while skip_changed:
+        skip_changed = False
+        k = 0
+        while k < num_points - 1:
+            k_1 = k + 1
+            while k_1 < num_points - 1 and skip[k_1]:
+                k_1 += 1
+            if k_1 >= num_points - 1:
+                break
+
+            k_2 = k_1 + 1
+            while k_2 < num_points and skip[k_2]:
+                k_2 += 1
+            if k_2 >= num_points:
+                break
+
+            point1 = geometry[k]
+            point2 = geometry[k_1]
+            point3 = geometry[k_2]
+            area = calculate_area(point1, point2, point3)
+
+            if area < polyline_reduction_threshold:
+                skip[k_1] = True
+                skip_changed = True
+                k = k_2
+            else:
+                k = k_1
+
+    return [geometry[i] for i in range(num_points) if not skip[i]]
 
 def save_map_binary(map_data, output_file):
     """Saves map data in a binary format readable by C"""
@@ -112,8 +154,12 @@ def save_map_binary(map_data, output_file):
         # Write roads
         for idx, road in enumerate(map_data.get('roads', [])):
             geometry = road.get('geometry', [])
-            size = len(geometry)
             road_type = road.get('map_element_id', 0)
+            # breakpoint()
+            if(len(geometry) > 10 and road_type >= 14 and road_type <=16):
+                geometry = simplify_polyline(geometry, .1)
+            size = len(geometry)
+            # breakpoint()
             if(road_type >=0 and road_type <=3):
                 road_type = 4
             elif(road_type >=5 and road_type <=13):
@@ -309,5 +355,5 @@ def load_map(map_name, binary_output=None):
 
 
 if __name__ == '__main__':
-        load_map('resources/tfrecord-00000-of-01000_325.json', 'map.bin')
+        load_map('resources/tfrecord-00002-of-01000_407.json', 'map.bin')
 

From 8c0c70bd744c1698069477982f4c6a6a2047076d Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sat, 15 Mar 2025 18:34:54 -0500
Subject: [PATCH 035/112] cython edit

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index 62f7bdaae5..f8e836ab34 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -41,6 +41,9 @@ cdef extern from "gpudrive.h":
         float vz;
         float heading;
         int valid;
+        float nearest_line_dist;
+        float nearest_line_start[2];
+        float nearest_line_end[2];
 
     ctypedef struct GPUDrive:
         float* observations;

From 3dba889f8153b6a961563383d0a482a7be5442aa Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sat, 15 Mar 2025 18:40:02 -0500
Subject: [PATCH 036/112] rewards negative on collision

---
 pufferlib/ocean/gpudrive/gpudrive.h  | 9 ++++++++-
 pufferlib/ocean/gpudrive/gpudrive.py | 2 +-
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 5accfc5139..eebc8719c6 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -616,7 +616,11 @@ void c_step(GPUDrive* env){
     env->timestep++;
     if(env->timestep == 91){
 	    for(int i = 0; i < env->active_agent_count; i++){
-            if(env->goal_reached[i] == 0){
+            if(env->entities[env->active_agent_indices[i]].collision_state == 1){
+                env->logs[i].score = -1.0f;
+                env->logs[i].episode_return = -1.0f;
+            }
+            else if(env->goal_reached[i] == 0){
                 env->logs[i].score = 0.0f;
             } else {
                 env->logs[i].score = 1.0f;
@@ -635,6 +639,9 @@ void c_step(GPUDrive* env){
         // move_random(env, agent_idx);
         // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
+        if(env->entities[agent_idx].collision_state == 1){
+            env->rewards[i] = -1.0f;
+        }
 
         float distance_to_goal = relative_distance_2d(
                 env->entities[agent_idx].x,
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index a696626722..778fd65232 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -355,5 +355,5 @@ def load_map(map_name, binary_output=None):
 
 
 if __name__ == '__main__':
-        load_map('resources/tfrecord-00002-of-01000_407.json', 'map.bin')
+        load_map('resources/tfrecord-00000-of-01000_325.json', 'map.bin')
 

From 1e364c94947f20e54fceb75029aa6ffc8ddec850 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Sun, 16 Mar 2025 15:57:37 +0000
Subject: [PATCH 037/112] collision stats

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |  5 ++--
 pufferlib/ocean/gpudrive/gpudrive.h      | 31 +++++++++++++++---------
 2 files changed, 22 insertions(+), 14 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index f8e836ab34..da6436b334 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -7,6 +7,7 @@ cdef extern from "gpudrive.h":
         float episode_return;
         float episode_length;
         float score;
+        float collision_count;
 
     ctypedef struct LogBuffer
     LogBuffer* allocate_logbuffer(int)
@@ -42,8 +43,8 @@ cdef extern from "gpudrive.h":
         float heading;
         int valid;
         float nearest_line_dist;
-        float nearest_line_start[2];
-        float nearest_line_end[2];
+        float* nearest_line_start;
+        float* nearest_line_end;
 
     ctypedef struct GPUDrive:
         float* observations;
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index eebc8719c6..eb195d7b7d 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -58,6 +58,7 @@ struct Log {
     float episode_return;
     float episode_length;
     float score;
+    float collision_count;
 };
 
 
@@ -99,11 +100,13 @@ Log aggregate_and_clear(LogBuffer* logs) {
         log.episode_return += logs->logs[i].episode_return;
         log.episode_length += logs->logs[i].episode_length;
 	    log.score += logs->logs[i].score;
+	    log.collision_count += logs->logs[i].collision_count;
 	//printf("length: %f", log.episode_length);
     }
     log.episode_return /= logs->idx;
     log.episode_length /= logs->idx;
     log.score /= logs->idx;
+    log.collision_count /= logs->idx;
     logs->idx = 0;
     return log;
 }
@@ -138,8 +141,8 @@ struct Entity {
     float heading;
     int valid;
     float nearest_line_dist;
-    float nearest_line_start[2];
-    float nearest_line_end[2];
+    float* nearest_line_start;
+    float* nearest_line_end;
 };
 
 void free_entity(Entity* entity){
@@ -152,6 +155,8 @@ void free_entity(Entity* entity){
     free(entity->traj_vz);
     free(entity->traj_heading);
     free(entity->traj_valid);
+    free(entity->nearest_line_start);
+    free(entity->nearest_line_end);
 }
 
 float relative_distance(float a, float b){
@@ -194,7 +199,9 @@ Entity* load_map_binary(const char* filename, GPUDrive* env) {
     Entity* entities = (Entity*)malloc(env->num_entities * sizeof(Entity));
     //printf("Num entities: %d\n", env->num_entities);
     for (int i = 0; i < env->num_entities; i++) {
-        // Read base entity data
+        entities[i].nearest_line_start = (float*)calloc(2, sizeof(float));
+	entities[i].nearest_line_end = (float*)calloc(2, sizeof(float));
+	// Read base entity data
         fread(&entities[i].type, sizeof(int), 1, file);
         if(entities[i].type < 4){
             fread(&entities[i].road_object_id, sizeof(int), 1, file);
@@ -616,15 +623,12 @@ void c_step(GPUDrive* env){
     env->timestep++;
     if(env->timestep == 91){
 	    for(int i = 0; i < env->active_agent_count; i++){
-            if(env->entities[env->active_agent_indices[i]].collision_state == 1){
-                env->logs[i].score = -1.0f;
-                env->logs[i].episode_return = -1.0f;
-            }
-            else if(env->goal_reached[i] == 0){
+            if(env->goal_reached[i] == 0){
                 env->logs[i].score = 0.0f;
-            } else {
+            } 
+	    else {
                 env->logs[i].score = 1.0f;
-                env->logs[i].episode_return +=1.0f;
+                // env->logs[i].episode_return +=1.0f;
             }
             add_log(env->log_buffer, &env->logs[i]);
 	    }
@@ -640,7 +644,10 @@ void c_step(GPUDrive* env){
         // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state == 1){
-            env->rewards[i] = -1.0f;
+            env->rewards[i] = -0.1f;
+	    env->logs[i].episode_return -=0.1f;
+	    env->logs[i].collision_count += 1.0f;
+
         }
 
         float distance_to_goal = relative_distance_2d(
@@ -652,7 +659,7 @@ void c_step(GPUDrive* env){
         if(reached_goal && env->goal_reached[i] == 0){            
             env->rewards[i] += 1.0f;
 	        env->goal_reached[i] = 1;
-	        //env->logs[i].episode_return += 1.0f;
+	        env->logs[i].episode_return += 1.0f;
             continue;
 	    }
     }

From 1179707d8f42c209bec06b43d2bb3e4eb11cd6ea Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sun, 16 Mar 2025 11:00:33 -0500
Subject: [PATCH 038/112] fixed collisions i think

---
 pufferlib/ocean/gpudrive/gpudrive.h  | 42 +++++++++++++++++-----------
 pufferlib/ocean/gpudrive/gpudrive.py |  2 +-
 2 files changed, 27 insertions(+), 17 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index eb195d7b7d..e2e98c282c 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -286,16 +286,18 @@ void print_entities(GPUDrive* env, int idx){
 }
 
 void set_start_position(GPUDrive* env){
-    for(int i = 0; i < env->active_agent_count; i++){
-        env->entities[env->active_agent_indices[i]].x = env->entities[env->active_agent_indices[i]].traj_x[0];
-        env->entities[env->active_agent_indices[i]].y = env->entities[env->active_agent_indices[i]].traj_y[0];
-        env->entities[env->active_agent_indices[i]].z = env->entities[env->active_agent_indices[i]].traj_z[0];
-        env->entities[env->active_agent_indices[i]].vx = env->entities[env->active_agent_indices[i]].traj_vx[0];
-        env->entities[env->active_agent_indices[i]].vy = env->entities[env->active_agent_indices[i]].traj_vy[0];
-        env->entities[env->active_agent_indices[i]].vz = env->entities[env->active_agent_indices[i]].traj_vz[0];
-        env->entities[env->active_agent_indices[i]].heading = env->entities[env->active_agent_indices[i]].traj_heading[0];
-        // env->entities[env->active_agent_indices[i]].heading = ((float)rand() / RAND_MAX) * 2.0f - 1.0f; // Random float between -1 and 1
-        env->entities[env->active_agent_indices[i]].valid = env->entities[env->active_agent_indices[i]].traj_valid[0];
+    for(int i = 0; i < env->num_entities; i++){
+        env->entities[i].x = env->entities[i].traj_x[0];
+        env->entities[i].y = env->entities[i].traj_y[0];
+        env->entities[i].z = env->entities[i].traj_z[0];
+        if(env->entities[i].type == 1 || env->entities[i].type == 2 || env->entities[i].type == 3){
+            env->entities[i].vx = env->entities[i].traj_vx[0];
+            env->entities[i].vy = env->entities[i].traj_vy[0];
+            env->entities[i].vz = env->entities[i].traj_vz[0];
+            env->entities[i].heading = env->entities[i].traj_heading[0];
+            // env->entities[env->active_agent_indices[i]].heading = ((float)rand() / RAND_MAX) * 2.0f - 1.0f; // Random float between -1 and 1
+            env->entities[i].valid = env->entities[i].traj_valid[0];
+        }
         // printf("agent %d\n", env->active_agent_indices[i]);
         // printf("x , y: %f, %f\n", env->entities[env->active_agent_indices[i]].x, env->entities[env->active_agent_indices[i]].y);
         // printf("goal_x, goal_y: %f, %f\n", env->entities[env->active_agent_indices[i]].goal_position_x, env->entities[env->active_agent_indices[i]].goal_position_y);
@@ -514,6 +516,7 @@ float point_to_line_distance(float point[2], float line_start[2], float line_end
 }
 
 
+
 void collision_check(GPUDrive* env, int agent_idx) {
     Entity* agent = &env->entities[agent_idx];
     float half_length = agent->length / 2.0f;
@@ -528,7 +531,7 @@ void collision_check(GPUDrive* env, int agent_idx) {
     int collided = 0;
     float min_dist = 10000;
     float nearest_start[2], nearest_end[2];
-
+    int car_collided_with_index = -1;
     for (int i = 0; i < env->num_entities; i++) {
         if(i == agent_idx) continue;
         Entity* entity = &env->entities[i];
@@ -560,15 +563,19 @@ void collision_check(GPUDrive* env, int agent_idx) {
         if(entity->type == VEHICLE){
             float other_corners[4][2];
             for (int i = 0; i < 4; i++) {
-                other_corners[i][0] = entity->x + (offsets[i][0] * half_length * cos_heading - offsets[i][1] * half_width * sin_heading);
-                other_corners[i][1] = entity->y + (offsets[i][0] * half_length * sin_heading + offsets[i][1] * half_width * cos_heading);
+                float other_cos_heading = cosf(entity->traj_heading[0]);
+                float other_sin_heading = sinf(entity->traj_heading[0]);
+
+                other_corners[i][0] = entity->x + (offsets[i][0] * half_length * other_cos_heading - offsets[i][1] * half_width * other_sin_heading);
+                other_corners[i][1] = entity->y + (offsets[i][0] * half_length * other_sin_heading + offsets[i][1] * half_width * other_cos_heading);
             }
             for (int k = 0; k < 4; k++) { // Check each edge of the bounding box
-                int next = (k + 1) % 4;
+                int next_k = (k + 1) % 4;
                 for (int l = 0; l < 4; l++) { // Check each edge of the bounding box
-                    int next = (l + 1) % 4;
-                    if (check_line_intersection(corners[k], corners[next], other_corners[l], other_corners[next])) {
+                    int next_l = (l + 1) % 4;
+                    if (check_line_intersection(corners[k], corners[next_k], other_corners[l], other_corners[next_l])) {
                         collided = 1;
+                        car_collided_with_index = i;
                         break;
                     }
                 }
@@ -577,6 +584,9 @@ void collision_check(GPUDrive* env, int agent_idx) {
         
     }
     agent->collision_state = collided;
+    if (car_collided_with_index != -1) {
+        env->entities[car_collided_with_index].collision_state = 1;
+    }
     if (min_dist != 10000) { // If a road edge was found
         agent->nearest_line_dist = min_dist;
         agent->nearest_line_start[0] = nearest_start[0];
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 778fd65232..70520d2c50 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -19,7 +19,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.render_mode = render_mode
         self.report_interval = report_interval
         
-        self.num_obs = 2
+        self.num_obs = 7
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])

From eb93897956c5b0f9cea2c19772a8981ed711be5f Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Sun, 16 Mar 2025 22:22:09 +0000
Subject: [PATCH 039/112] collions trained at 140k sps .999 score and .04
 collision rate

---
 config/ocean/gpudrive.ini                | 12 +++---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |  3 ++
 pufferlib/ocean/gpudrive/gpudrive.h      | 53 ++++++++++++++++++++----
 pufferlib/ocean/gpudrive/gpudrive.py     |  2 +-
 4 files changed, 55 insertions(+), 15 deletions(-)

diff --git a/config/ocean/gpudrive.ini b/config/ocean/gpudrive.ini
index 8e53895c42..1bc6e591e2 100644
--- a/config/ocean/gpudrive.ini
+++ b/config/ocean/gpudrive.ini
@@ -8,25 +8,25 @@ rnn_name = Recurrent
 num_envs = 256
 
 [train]
-total_timesteps = 125000000
+total_timesteps = 500000000
 checkpoint_interval = 25
 num_envs = 1
 num_workers = 1
 env_batch_size =1
 batch_size = 131072
 update_epochs = 1
-minibatch_size = 2048
+minibatch_size = 8192
 bptt_horizon = 16
 anneal_lr = False
-ent_coef = 0.00017388233296166175
+ent_coef = 0.0001
 device = cuda
 learning_rate=0.00034781012489778265
-gamma = 0.9521457810270598
-gae_lambda = 0.9751014802714167
+gamma = 0.99
+gae_lambda = 0.95
 vf_coef = 1
 clip_coef = 0.1
 vf_clip_coef = 0.1
-max_grad_norm =1.4592083665270446
+max_grad_norm = 1.3
 [sweep.train.total_timesteps]
 distribution = log_normal
 min = 1e8
diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index da6436b334..29c7dadb22 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -45,6 +45,9 @@ cdef extern from "gpudrive.h":
         float nearest_line_dist;
         float* nearest_line_start;
         float* nearest_line_end;
+        float nearest_car_dist;
+        float* nearest_car_start;
+        float* nearest_car_end;
 
     ctypedef struct GPUDrive:
         float* observations;
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index e2e98c282c..30c51ef1bd 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -143,6 +143,9 @@ struct Entity {
     float nearest_line_dist;
     float* nearest_line_start;
     float* nearest_line_end;
+    float nearest_car_dist;
+    float* nearest_car_start;
+    float* nearest_car_end;
 };
 
 void free_entity(Entity* entity){
@@ -157,6 +160,8 @@ void free_entity(Entity* entity){
     free(entity->traj_valid);
     free(entity->nearest_line_start);
     free(entity->nearest_line_end);
+    free(entity->nearest_car_start);
+    free(entity->nearest_car_end);
 }
 
 float relative_distance(float a, float b){
@@ -201,6 +206,8 @@ Entity* load_map_binary(const char* filename, GPUDrive* env) {
     for (int i = 0; i < env->num_entities; i++) {
         entities[i].nearest_line_start = (float*)calloc(2, sizeof(float));
 	entities[i].nearest_line_end = (float*)calloc(2, sizeof(float));
+	entities[i].nearest_car_start = (float*)calloc(2,sizeof(float));
+	entities[i].nearest_car_end = (float*)calloc(2,sizeof(float));
 	// Read base entity data
         fread(&entities[i].type, sizeof(int), 1, file);
         if(entities[i].type < 4){
@@ -356,8 +363,8 @@ void init(GPUDrive* env){
     //printf("Offset of x: %zu\n", offsetof(struct Entity, x));
     //printf("Offset of y: %zu\n", offsetof(struct Entity, y));
     printf("active_agent_count: %d\n", env->active_agent_count);
-    env->fake_data = (float*)calloc(7, sizeof(float));
-    for (int i = 0;i<7;i++ ){
+    env->fake_data = (float*)calloc(12, sizeof(float));
+    for (int i = 0;i<12;i++ ){
 	    env->fake_data[i] = (float)(rand() % 5) / 5.0f;
     }
     env->goal_reached = (char*)calloc(env->active_agent_count, sizeof(char));
@@ -376,7 +383,7 @@ void free_initialized(GPUDrive* env){
 
 void allocate(GPUDrive* env){
     init(env);
-    int max_obs = 7;
+    int max_obs = 12;
     env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
     env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
@@ -530,7 +537,9 @@ void collision_check(GPUDrive* env, int agent_idx) {
     }
     int collided = 0;
     float min_dist = 10000;
+    float min_car_dist = 10000;
     float nearest_start[2], nearest_end[2];
+    float nearest_car_start[2], nearest_car_end[2];
     int car_collided_with_index = -1;
     for (int i = 0; i < env->num_entities; i++) {
         if(i == agent_idx) continue;
@@ -579,9 +588,23 @@ void collision_check(GPUDrive* env, int agent_idx) {
                         break;
                     }
                 }
+		if (collided) break;
             }
+	    if (collided) break;
+	    // Get nearest car distance and start and end values for obs
+	    for (int k = 0;k<4; k++){
+		int next_k = (k+1) % 4;
+		float agent_center[2] = {agent->x, agent->y};
+		float dist = point_to_line_distance(agent_center, other_corners[k], other_corners[next_k]);
+		if (dist < min_car_dist) {
+		    min_car_dist = dist;
+		    nearest_car_start[0] = other_corners[k][0] - agent->x;
+		    nearest_car_start[1] = other_corners[k][1] - agent->y;
+		    nearest_car_end[0] = other_corners[next_k][0] - agent->x;
+		    nearest_car_end[1] = other_corners[next_k][1] - agent->y;
+		}
+	    }
         }
-        
     }
     agent->collision_state = collided;
     if (car_collided_with_index != -1) {
@@ -596,10 +619,19 @@ void collision_check(GPUDrive* env, int agent_idx) {
     } else {
         agent->nearest_line_dist = -1.0f; // Indicate no line found
     }
+    if(min_car_dist != 10000) {
+	    agent->nearest_car_dist = min_car_dist;
+	    agent->nearest_car_start[0] = nearest_car_start[0];
+	    agent->nearest_car_start[1] = nearest_car_start[1];
+	    agent->nearest_car_end[0] = nearest_car_end[0];
+	    agent->nearest_car_end[1] = nearest_car_end[1];
+    } else {
+	    agent->nearest_car_dist = -1.0f;
+    }
 }
 
 void compute_observations(GPUDrive* env){
-    int max_obs = 7;
+    int max_obs = 12;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     for(int i = 0; i < env->active_agent_count; i++){
         float* obs = &observations[i][0];
@@ -614,6 +646,11 @@ void compute_observations(GPUDrive* env){
         obs[4] = env->entities[env->active_agent_indices[i]].nearest_line_start[1];
         obs[5] = env->entities[env->active_agent_indices[i]].nearest_line_end[0];
         obs[6] = env->entities[env->active_agent_indices[i]].nearest_line_end[1];
+	obs[7] = env->entities[env->active_agent_indices[i]].nearest_car_dist;
+	obs[8] = env->entities[env->active_agent_indices[i]].nearest_car_start[0];
+	obs[9] = env->entities[env->active_agent_indices[i]].nearest_car_start[1];
+	obs[10] = env->entities[env->active_agent_indices[i]].nearest_car_end[0];
+	obs[11] = env->entities[env->active_agent_indices[i]].nearest_car_end[1];
     }
 };
 
@@ -654,9 +691,9 @@ void c_step(GPUDrive* env){
         // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state == 1){
-            env->rewards[i] = -0.1f;
-	    env->logs[i].episode_return -=0.1f;
-	    env->logs[i].collision_count += 1.0f;
+            env->rewards[i] = -0.04f;
+	    env->logs[i].episode_return -=0.04f;
+	    env->logs[i].collision_count = 1.0f;
 
         }
 
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 70520d2c50..bf065d4579 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -19,7 +19,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.render_mode = render_mode
         self.report_interval = report_interval
         
-        self.num_obs = 7
+        self.num_obs = 12
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])

From 9175bfe21bf5caf71a69b659324af7303eb12110 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sun, 16 Mar 2025 18:26:29 -0500
Subject: [PATCH 040/112] cars have differnt lengths

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |  4 +-
 pufferlib/ocean/gpudrive/gpudrive.h      | 86 ++++++++++++------------
 2 files changed, 45 insertions(+), 45 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index 29c7dadb22..c545c566a2 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -7,8 +7,8 @@ cdef extern from "gpudrive.h":
         float episode_return;
         float episode_length;
         float score;
-        float collision_count;
-
+        float offroad_rate;
+        float collision_rate;
     ctypedef struct LogBuffer
     LogBuffer* allocate_logbuffer(int)
     void free_logbuffer(LogBuffer*)
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 30c51ef1bd..112fbf10e8 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -40,6 +40,11 @@
 #define DELTA_LOCAL 2
 #define STATE_DYNAMICS 3
 
+// collision state
+#define NO_COLLISION 0
+#define VEHICLE_COLLISION 1
+#define OFFROAD 2
+
 // Acceleration Values
 static const float ACCELERATION_VALUES[7] = {-4.0000f, -2.6670f, -1.3330f, -0.0000f,  1.3330f,  2.6670f,  4.0000f};
 static const float STEERING_VALUES[13] = {-3.1420f, -2.6180f, -2.0940f, -1.5710f, -1.0470f, -0.5240f,  0.0000f,  0.5240f,
@@ -58,7 +63,8 @@ struct Log {
     float episode_return;
     float episode_length;
     float score;
-    float collision_count;
+    float offroad_rate;
+    float collision_rate;
 };
 
 
@@ -100,13 +106,15 @@ Log aggregate_and_clear(LogBuffer* logs) {
         log.episode_return += logs->logs[i].episode_return;
         log.episode_length += logs->logs[i].episode_length;
 	    log.score += logs->logs[i].score;
-	    log.collision_count += logs->logs[i].collision_count;
+	    log.offroad_rate += logs->logs[i].offroad_rate;
+	    log.collision_rate += logs->logs[i].collision_rate;
 	//printf("length: %f", log.episode_length);
     }
     log.episode_return /= logs->idx;
     log.episode_length /= logs->idx;
     log.score /= logs->idx;
-    log.collision_count /= logs->idx;
+    log.offroad_rate /= logs->idx;
+    log.collision_rate /= logs->idx;
     logs->idx = 0;
     return log;
 }
@@ -523,7 +531,6 @@ float point_to_line_distance(float point[2], float line_start[2], float line_end
 }
 
 
-
 void collision_check(GPUDrive* env, int agent_idx) {
     Entity* agent = &env->entities[agent_idx];
     float half_length = agent->length / 2.0f;
@@ -551,11 +558,11 @@ void collision_check(GPUDrive* env, int agent_idx) {
                 for (int k = 0; k < 4; k++) { // Check each edge of the bounding box
                     int next = (k + 1) % 4;
                     if (check_line_intersection(corners[k], corners[next], start, end)) {
-                        collided = 1;
+                        collided = OFFROAD;
                         break;
                     }
                 }
-                if (collided)break;
+                if (collided == OFFROAD) break;
                 // Distance check
                 float agent_center[2] = {agent->x, agent->y};
                 float dist = point_to_line_distance(agent_center, start, end);
@@ -567,43 +574,42 @@ void collision_check(GPUDrive* env, int agent_idx) {
                     nearest_end[1] = end[1] - agent->y;
                 }
             }
-            if (collided) break;
         }
         if(entity->type == VEHICLE){
             float other_corners[4][2];
             for (int i = 0; i < 4; i++) {
                 float other_cos_heading = cosf(entity->traj_heading[0]);
                 float other_sin_heading = sinf(entity->traj_heading[0]);
-
-                other_corners[i][0] = entity->x + (offsets[i][0] * half_length * other_cos_heading - offsets[i][1] * half_width * other_sin_heading);
-                other_corners[i][1] = entity->y + (offsets[i][0] * half_length * other_sin_heading + offsets[i][1] * half_width * other_cos_heading);
+                float other_half_length = entity->length / 2.0f;
+                float other_half_width = entity->width / 2.0f;
+                other_corners[i][0] = entity->x + (offsets[i][0] * other_half_length * other_cos_heading - offsets[i][1] * other_half_width * other_sin_heading);
+                other_corners[i][1] = entity->y + (offsets[i][0] * other_half_length * other_sin_heading + offsets[i][1] * other_half_width * other_cos_heading);
             }
             for (int k = 0; k < 4; k++) { // Check each edge of the bounding box
                 int next_k = (k + 1) % 4;
                 for (int l = 0; l < 4; l++) { // Check each edge of the bounding box
                     int next_l = (l + 1) % 4;
                     if (check_line_intersection(corners[k], corners[next_k], other_corners[l], other_corners[next_l])) {
-                        collided = 1;
+                        collided = VEHICLE_COLLISION;
                         car_collided_with_index = i;
                         break;
                     }
                 }
-		if (collided) break;
+		        if (collided == VEHICLE_COLLISION) break;
+            }
+            // Get nearest car distance and start and end values for obs
+            for (int k = 0;k<4; k++){
+                int next_k = (k+1) % 4;
+                float agent_center[2] = {agent->x, agent->y};
+                float dist = point_to_line_distance(agent_center, other_corners[k], other_corners[next_k]);
+                if (dist < min_car_dist) {
+                    min_car_dist = dist;
+                    nearest_car_start[0] = other_corners[k][0] - agent->x;
+                    nearest_car_start[1] = other_corners[k][1] - agent->y;
+                    nearest_car_end[0] = other_corners[next_k][0] - agent->x;
+                    nearest_car_end[1] = other_corners[next_k][1] - agent->y;
+                }
             }
-	    if (collided) break;
-	    // Get nearest car distance and start and end values for obs
-	    for (int k = 0;k<4; k++){
-		int next_k = (k+1) % 4;
-		float agent_center[2] = {agent->x, agent->y};
-		float dist = point_to_line_distance(agent_center, other_corners[k], other_corners[next_k]);
-		if (dist < min_car_dist) {
-		    min_car_dist = dist;
-		    nearest_car_start[0] = other_corners[k][0] - agent->x;
-		    nearest_car_start[1] = other_corners[k][1] - agent->y;
-		    nearest_car_end[0] = other_corners[next_k][0] - agent->x;
-		    nearest_car_end[1] = other_corners[next_k][1] - agent->y;
-		}
-	    }
         }
     }
     agent->collision_state = collided;
@@ -690,11 +696,15 @@ void c_step(GPUDrive* env){
         // move_random(env, agent_idx);
         // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
-        if(env->entities[agent_idx].collision_state == 1){
+        if(env->entities[agent_idx].collision_state > 0){
             env->rewards[i] = -0.04f;
-	    env->logs[i].episode_return -=0.04f;
-	    env->logs[i].collision_count = 1.0f;
-
+            env->logs[i].episode_return -=0.04f;
+            if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){
+                env->logs[i].collision_rate = 1.0f;
+            }
+            else if(env->entities[agent_idx].collision_state == OFFROAD){
+                env->logs[i].offroad_rate = 1.0f;
+            }
         }
 
         float distance_to_goal = relative_distance_2d(
@@ -779,22 +789,12 @@ void c_render(Client* client, GPUDrive* env) {
             }
             Vector3 position;
             float heading;
-            if(is_active_agent){
-                position = (Vector3){
+             position = (Vector3){
                     env->entities[i].x,
                     env->entities[i].y,
                     1
                 };      
-                heading = env->entities[i].heading;
-      
-            } else {
-                position = (Vector3){
-                    env->entities[i].traj_x[0],
-                    env->entities[i].traj_y[0],
-                    1
-                };
-                heading = env->entities[i].traj_heading[0];
-            }
+            heading = env->entities[i].heading;
             
             
             // Create size vector
@@ -821,7 +821,7 @@ void c_render(Client* client, GPUDrive* env) {
                     object_color = PURPLE;  // Human-controlled agent
                 }
                 
-                if(env->entities[i].collision_state == 1) {
+                if(env->entities[i].collision_state == 1 || env->entities[i].collision_state == 2) {
                     object_color = RED;  // Collided agent
                 }
                 

From 8e7382be4b3c366d554a46f8dd9a29609c34d0b3 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Mon, 17 Mar 2025 14:31:57 +0000
Subject: [PATCH 041/112] relative angle obs adjustment

---
 pufferlib/ocean/gpudrive/gpudrive.h | 22 ++++++++++++++++++----
 1 file changed, 18 insertions(+), 4 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 112fbf10e8..a85f56eeb4 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -604,10 +604,22 @@ void collision_check(GPUDrive* env, int agent_idx) {
                 float dist = point_to_line_distance(agent_center, other_corners[k], other_corners[next_k]);
                 if (dist < min_car_dist) {
                     min_car_dist = dist;
-                    nearest_car_start[0] = other_corners[k][0] - agent->x;
-                    nearest_car_start[1] = other_corners[k][1] - agent->y;
-                    nearest_car_end[0] = other_corners[next_k][0] - agent->x;
-                    nearest_car_end[1] = other_corners[next_k][1] - agent->y;
+        
+                    // Step 1: Calculate relative position (in world coordinates)
+                    float rel_x_start = other_corners[k][0] - agent->x;
+                    float rel_y_start = other_corners[k][1] - agent->y;
+                    float rel_x_end = other_corners[next_k][0] - agent->x;
+                    float rel_y_end = other_corners[next_k][1] - agent->y;
+                    
+                    // Step 2: Apply standard 2D rotation matrix
+                    // This is the standard 2D rotation to agent's local frame
+                    float cos_heading = cosf(agent->heading);
+                    float sin_heading = sinf(agent->heading);
+                    
+                    nearest_car_start[0] = rel_x_start * cos_heading + rel_y_start * sin_heading;
+                    nearest_car_start[1] = -rel_x_start * sin_heading + rel_y_start * cos_heading;
+                    nearest_car_end[0] = rel_x_end * cos_heading + rel_y_end * sin_heading;
+                    nearest_car_end[1] = -rel_x_end * sin_heading + rel_y_end * cos_heading;
                 }
             }
         }
@@ -829,6 +841,8 @@ void c_render(Client* client, GPUDrive* env) {
                 if(env->entities[i].valid == 1 && env->goal_reached[agent_index] == 0) {
                     DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
                     DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
+                    DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_car_start[0], env->entities[i].nearest_car_start[1], 1.0f}, RED);
+                    DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_car_end[0], env->entities[i].nearest_car_end[1], 1.0f}, ORANGE);
                 }
             } else {
                 // Draw non-active vehicles

From 9955a4c949b8ba8dc7ce3c6b1a2b96647337af24 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Mon, 17 Mar 2025 15:11:57 +0000
Subject: [PATCH 042/112] relative angle for streets as well

---
 pufferlib/ocean/gpudrive/gpudrive.h | 20 ++++++++++++++++----
 1 file changed, 16 insertions(+), 4 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index a85f56eeb4..a35b825dd0 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -568,10 +568,20 @@ void collision_check(GPUDrive* env, int agent_idx) {
                 float dist = point_to_line_distance(agent_center, start, end);
                 if (dist < min_dist) {
                     min_dist = dist;
-                    nearest_start[0] = start[0] - agent->x;
-                    nearest_start[1] = start[1] - agent->y;
-                    nearest_end[0] = end[0] - agent->x;
-                    nearest_end[1] = end[1] - agent->y;
+                    // Step 1: Calculate relative position (in world coordinates)
+                    float rel_x_start = start[0] - agent->x;
+                    float rel_y_start = start[1] - agent->y;
+                    float rel_x_end = end[0] - agent->x;
+                    float rel_y_end = end[1] - agent->y;
+                    
+                    // Step 2: Apply standard 2D rotation matrix to transform to agent's local frame
+                    float cos_heading = cosf(agent->heading);
+                    float sin_heading = sinf(agent->heading);
+                    
+                    nearest_start[0] = rel_x_start * cos_heading + rel_y_start * sin_heading;
+                    nearest_start[1] = -rel_x_start * sin_heading + rel_y_start * cos_heading;
+                    nearest_end[0] = rel_x_end * cos_heading + rel_y_end * sin_heading;
+                    nearest_end[1] = -rel_x_end * sin_heading + rel_y_end * cos_heading;
                 }
             }
         }
@@ -843,6 +853,8 @@ void c_render(Client* client, GPUDrive* env) {
                     DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
                     DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_car_start[0], env->entities[i].nearest_car_start[1], 1.0f}, RED);
                     DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_car_end[0], env->entities[i].nearest_car_end[1], 1.0f}, ORANGE);
+                    DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_line_start[0], env->entities[i].nearest_line_start[1], 1.0f}, GREEN);
+                    DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_line_end[0], env->entities[i].nearest_line_end[1], 1.0f}, GREEN);
                 }
             } else {
                 // Draw non-active vehicles

From 1194612d6e4de632b3a55d6fb88a60e16026416c Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Tue, 18 Mar 2025 02:52:03 +0000
Subject: [PATCH 043/112] fixed init bug no obs

---
 pufferlib/ocean/gpudrive/gpudrive.h | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index a35b825dd0..89c8f0d64d 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -687,6 +687,8 @@ void c_reset(GPUDrive* env){
     set_start_position(env);
     for(int x = 0;x<env->active_agent_count; x++){
         env->logs[x] = (Log){0};
+	int agent_idx = env->active_agent_indices[x];
+	collision_check(env, agent_idx);
     }
     memset(env->goal_reached, 0, env->active_agent_count*sizeof(char));
     compute_observations(env);
@@ -719,8 +721,8 @@ void c_step(GPUDrive* env){
         // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0){
-            env->rewards[i] = -0.04f;
-            env->logs[i].episode_return -=0.04f;
+            env->rewards[i] = -0.1f;
+            env->logs[i].episode_return -=0.1f;
             if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){
                 env->logs[i].collision_rate = 1.0f;
             }

From 818ef40f6113618e468df4cf79ab1e1a156ec8ce Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Wed, 19 Mar 2025 13:15:36 -0500
Subject: [PATCH 044/112] grid style colliions - progress

---
 pufferlib/ocean/gpudrive/gpudrive.h | 199 ++++++++++++++++++++++++++--
 1 file changed, 186 insertions(+), 13 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 89c8f0d64d..4707d155b5 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -45,6 +45,11 @@
 #define VEHICLE_COLLISION 1
 #define OFFROAD 2
 
+// grid cell size
+#define GRID_CELL_SIZE 5.0f
+#define MAX_ENTITIES_PER_CELL 10
+#define SLOTS_PER_CELL (MAX_ENTITIES_PER_CELL + 1)
+
 // Acceleration Values
 static const float ACCELERATION_VALUES[7] = {-4.0000f, -2.6670f, -1.3330f, -0.0000f,  1.3330f,  2.6670f,  4.0000f};
 static const float STEERING_VALUES[13] = {-3.1420f, -2.6180f, -2.0940f, -1.5710f, -1.0470f, -0.5240f,  0.0000f,  0.5240f,
@@ -202,6 +207,10 @@ struct GPUDrive {
     int dynamics_model;
     float* fake_data;
     char* goal_reached;
+    float* map_corners;
+    int* grid_cells;  // holds entity ids per cell
+    int grid_cols;
+    int grid_rows;
 };
 
 Entity* load_map_binary(const char* filename, GPUDrive* env) {
@@ -359,6 +368,104 @@ void set_active_agents(GPUDrive* env){
     }
 }
 
+// Function to get grid index from coordinates
+int getGridIndex(GPUDrive* env, float x1, float y1) {
+    
+    // Verify coordinate assumptions
+    if (env->map_corners[0] >= env->map_corners[2] || env->map_corners[1] >= env->map_corners[3]) {
+        printf("Invalid grid coordinates\n");
+        return -1;  // Invalid grid coordinates
+    }
+    
+    // Calculate dimensions of the world in meters
+    float worldWidth = env->map_corners[2] - env->map_corners[0];   // Positive value
+    float worldHeight = env->map_corners[3] - env->map_corners[1];  // Positive value
+    // Calculate number of cells in each dimension
+    // Each cell is 5 meters
+    int cellsX = (int)ceil(worldWidth / GRID_CELL_SIZE);  // Number of columns
+    int cellsY = (int)ceil(worldHeight / GRID_CELL_SIZE); // Number of rows
+    // Calculate position relative to top-left corner
+    float relativeX = x1 - env->map_corners[0];  // Distance from left
+    float relativeY = y1 - env->map_corners[1];  // Distance from top
+    // Calculate grid coordinates
+    int gridX = (int)(relativeX / GRID_CELL_SIZE);  // Column index
+    int gridY = (int)(relativeY / GRID_CELL_SIZE);  // Row index
+    // Ensure the coordinates are within bounds
+    if (gridX < 0 || gridX >= cellsX || gridY < 0 || gridY >= cellsY) {
+        return -1;  // Return -1 for out of bounds
+    }
+    
+    // Calculate 1D array index
+    // Index = (row * number_of_columns) + column
+    int index = (gridY * cellsX) + gridX;
+    
+    return index;
+}
+
+void add_entity_to_grid(GPUDrive* env, int grid_index, int entity_idx){
+    if(grid_index == -1){
+        return;
+    }
+    int base_index = grid_index * SLOTS_PER_CELL;
+    int count = env->grid_cells[base_index];
+    if(count>= MAX_ENTITIES_PER_CELL) return;
+    env->grid_cells[base_index + count + 1] = entity_idx;
+    env->grid_cells[base_index] = count + 1;
+    
+}
+
+void init_grid_map(GPUDrive* env){
+    // Find top left and bottom right points of the map
+    float top_left_x = env->entities[0].traj_x[0];
+    float top_left_y = env->entities[0].traj_y[0];
+    float bottom_right_x = env->entities[0].traj_x[0];
+    float bottom_right_y = env->entities[0].traj_y[0];
+
+    for(int i = 0; i < env->num_entities; i++){
+        if(env->entities[i].type > 3 && env->entities[i].type < 7){
+            // Check all points in the trajectory for road elements
+            for(int j = 0; j < env->entities[i].array_size; j++){
+                if(env->entities[i].traj_x[j] < top_left_x) top_left_x = env->entities[i].traj_x[j];
+                if(env->entities[i].traj_x[j] > bottom_right_x) bottom_right_x = env->entities[i].traj_x[j];
+                if(env->entities[i].traj_y[j] < top_left_y) top_left_y = env->entities[i].traj_y[j];
+                if(env->entities[i].traj_y[j] > bottom_right_y) bottom_right_y = env->entities[i].traj_y[j];
+            }
+        }
+    }
+
+    printf("top_left_x: %f, top_left_y: %f, bottom_right_x: %f, bottom_right_y: %f\n", top_left_x, top_left_y, bottom_right_x, bottom_right_y);
+    env->map_corners = (float*)calloc(4, sizeof(float));
+    env->map_corners[0] = top_left_x;
+    env->map_corners[1] = top_left_y;
+    env->map_corners[2] = bottom_right_x;
+    env->map_corners[3] = bottom_right_y;
+    
+    // Calculate grid dimensions
+    float grid_width = bottom_right_x - top_left_x;
+    float grid_height = bottom_right_y - top_left_y;
+    env->grid_cols = ceil(grid_width / GRID_CELL_SIZE);
+    env->grid_rows = ceil(grid_height / GRID_CELL_SIZE);
+    
+    // Allocate memory for grid cells: 4 values (x, y, width, height) per cell
+    int grid_cell_count = env->grid_cols * env->grid_rows;
+    env->grid_cells = (int*)calloc(grid_cell_count * SLOTS_PER_CELL, sizeof(int));
+    
+    // Populate grid cells
+    for(int i = 0; i < env->num_entities; i++){
+        if(env->entities[i].type <=3 ){
+            int grid_index = getGridIndex(env, env->entities[i].x, env->entities[i].y);
+            add_entity_to_grid(env, grid_index, i);
+        } else if(env->entities[i].type == ROAD_EDGE){
+            for(int j = 0; j < env->entities[i].array_size - 1; j++){
+                float x_center = (env->entities[i].traj_x[j] + env->entities[i].traj_x[j+1]) / 2;
+                float y_center = (env->entities[i].traj_y[j] + env->entities[i].traj_y[j+1]) / 2;
+                int grid_index = getGridIndex(env, x_center, y_center);
+                add_entity_to_grid(env, grid_index, i);
+            }
+        }
+    }
+}
+
 void init(GPUDrive* env){
     env->human_agent_idx = 0;
     env->timestep = 0;
@@ -376,6 +483,7 @@ void init(GPUDrive* env){
 	    env->fake_data[i] = (float)(rand() % 5) / 5.0f;
     }
     env->goal_reached = (char*)calloc(env->active_agent_count, sizeof(char));
+    init_grid_map(env);
 }
 
 void free_initialized(GPUDrive* env){
@@ -387,6 +495,8 @@ void free_initialized(GPUDrive* env){
     free(env->logs);
     free(env->fake_data);
     free(env->goal_reached);
+    free(env->map_corners);
+    free(env->grid_cells);  // Free the grid cells memory
 }
 
 void allocate(GPUDrive* env){
@@ -530,6 +640,46 @@ float point_to_line_distance(float point[2], float line_start[2], float line_end
     return sqrtf((x0 - closest_x) * (x0 - closest_x) + (y0 - closest_y) * (y0 - closest_y));
 }
 
+int checkNeighbors(GPUDrive* env, float x, float y, int* entity_list, int max_size) {
+    // Get the grid index for the given position (x, y)
+    int index = getGridIndex(env, x, y);
+    if (index == -1) return 0;  // Return 0 size if position invalid
+
+    // Calculate 2D grid coordinates
+    int cellsX = env->grid_cols;
+    int gridX = index % cellsX;
+    int gridY = index / cellsX;
+
+    // Define the 8 surrounding cell offsets
+    int offsets[8][2] = {
+        {-1, -1}, {0, -1}, {1, -1},  // Top row
+        {-1,  0},          {1,  0},  // Middle row (skip center)
+        {-1,  1}, {0,  1}, {1,  1}   // Bottom row
+    };
+
+    int entity_list_count = 0;
+
+    // Fill the provided array
+    for (int i = 0; i < 8; i++) {
+        int nx = gridX + offsets[i][0];
+        int ny = gridY + offsets[i][1];
+        // Ensure the neighbor is within grid bounds
+        if (nx >= 0 && nx < env->grid_cols && ny >= 0 && ny < env->grid_rows) {
+            int neighborIndex = (ny * env->grid_cols + nx) * SLOTS_PER_CELL;
+            int count = env->grid_cells[neighborIndex];
+            
+            // Add entities from this cell to the list
+            for (int j = 0; j < count && entity_list_count < max_size; j++) {
+                int entityId = env->grid_cells[neighborIndex + 1 + j];
+                entity_list[entity_list_count] = entityId;
+                entity_list_count++;
+            }
+        }
+    }
+
+    return entity_list_count;
+}
+
 
 void collision_check(GPUDrive* env, int agent_idx) {
     Entity* agent = &env->entities[agent_idx];
@@ -548,9 +698,11 @@ void collision_check(GPUDrive* env, int agent_idx) {
     float nearest_start[2], nearest_end[2];
     float nearest_car_start[2], nearest_car_end[2];
     int car_collided_with_index = -1;
-    for (int i = 0; i < env->num_entities; i++) {
-        if(i == agent_idx) continue;
-        Entity* entity = &env->entities[i];
+    int entity_list[MAX_ENTITIES_PER_CELL * 8];  // Array big enough for all neighboring cells
+    int list_size = checkNeighbors(env, agent->x, agent->y, entity_list, MAX_ENTITIES_PER_CELL * 8);
+    for (int i = 0; i < list_size; i++) {
+        if(entity_list[i] == agent_idx) continue;
+        Entity* entity = &env->entities[entity_list[i]];
         if(entity->type == ROAD_EDGE){
             for (int j = 0; j < entity->array_size - 1; j++) {
                 float start[2] = {entity->traj_x[j], entity->traj_y[j]};
@@ -587,13 +739,13 @@ void collision_check(GPUDrive* env, int agent_idx) {
         }
         if(entity->type == VEHICLE){
             float other_corners[4][2];
-            for (int i = 0; i < 4; i++) {
+            for (int z = 0; z < 4; z++) {
                 float other_cos_heading = cosf(entity->traj_heading[0]);
                 float other_sin_heading = sinf(entity->traj_heading[0]);
                 float other_half_length = entity->length / 2.0f;
                 float other_half_width = entity->width / 2.0f;
-                other_corners[i][0] = entity->x + (offsets[i][0] * other_half_length * other_cos_heading - offsets[i][1] * other_half_width * other_sin_heading);
-                other_corners[i][1] = entity->y + (offsets[i][0] * other_half_length * other_sin_heading + offsets[i][1] * other_half_width * other_cos_heading);
+                other_corners[z][0] = entity->x + (offsets[z][0] * other_half_length * other_cos_heading - offsets[z][1] * other_half_width * other_sin_heading);
+                other_corners[z][1] = entity->y + (offsets[z][0] * other_half_length * other_sin_heading + offsets[z][1] * other_half_width * other_cos_heading);
             }
             for (int k = 0; k < 4; k++) { // Check each edge of the bounding box
                 int next_k = (k + 1) % 4;
@@ -601,7 +753,7 @@ void collision_check(GPUDrive* env, int agent_idx) {
                     int next_l = (l + 1) % 4;
                     if (check_line_intersection(corners[k], corners[next_k], other_corners[l], other_corners[next_l])) {
                         collided = VEHICLE_COLLISION;
-                        car_collided_with_index = i;
+                        car_collided_with_index = entity_list[i];
                         break;
                     }
                 }
@@ -636,7 +788,7 @@ void collision_check(GPUDrive* env, int agent_idx) {
     }
     agent->collision_state = collided;
     if (car_collided_with_index != -1) {
-        env->entities[car_collided_with_index].collision_state = 1;
+        env->entities[car_collided_with_index].collision_state = VEHICLE_COLLISION;
     }
     if (min_dist != 10000) { // If a road edge was found
         agent->nearest_line_dist = min_dist;
@@ -797,7 +949,11 @@ void c_render(Client* client, GPUDrive* env) {
     BeginMode3D(client->camera);
     // Draw a grid to help with orientation
     DrawGrid(20, 1.0f);
-    
+    DrawLine3D((Vector3){env->map_corners[0], env->map_corners[1], 0}, (Vector3){env->map_corners[2], env->map_corners[1], 0}, BLACK);
+    DrawLine3D((Vector3){env->map_corners[0], env->map_corners[1], 0}, (Vector3){env->map_corners[0], env->map_corners[3], 0}, BLACK);
+    DrawLine3D((Vector3){env->map_corners[2], env->map_corners[1], 0}, (Vector3){env->map_corners[2], env->map_corners[3], 0}, BLACK);
+    DrawLine3D((Vector3){env->map_corners[0], env->map_corners[3], 0}, (Vector3){env->map_corners[2], env->map_corners[3], 0}, BLACK);
+
     for(int i = 0; i < env->num_entities; i++) {
         if(env->entities[i].type == 1) {  // If entity is a vehicle
             // Check if this vehicle is an active agent
@@ -854,8 +1010,8 @@ void c_render(Client* client, GPUDrive* env) {
                     DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
                     DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
                     DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_car_start[0], env->entities[i].nearest_car_start[1], 1.0f}, RED);
-                    DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_car_end[0], env->entities[i].nearest_car_end[1], 1.0f}, ORANGE);
-                    DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_line_start[0], env->entities[i].nearest_line_start[1], 1.0f}, GREEN);
+                    DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_car_end[0], env->entities[i].nearest_car_end[1], 1.0f}, RED);
+                    DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_line_start[0], env->entities[i].nearest_line_start[1],  1.0f}, GREEN);
                     DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_line_end[0], env->entities[i].nearest_line_end[1], 1.0f}, GREEN);
                 }
             } else {
@@ -897,14 +1053,31 @@ void c_render(Client* client, GPUDrive* env) {
                 else if (env->entities[i].type == ROAD_EDGE) lineColor = BLACK;
                 else if (env->entities[i].type == DRIVEWAY) lineColor = RED;
                 
-                if(env->entities[i].type == ROAD_LANE || env->entities[i].type == ROAD_EDGE){
+                if(env->entities[i].type == ROAD_EDGE){
                     DrawLine3D(start, end, lineColor);
                 }
-
+                if(env->entities[i].type == ROAD_EDGE){
+                    DrawSphere(start, 0.5f, lineColor);
+                    DrawSphere(end, 0.5f, lineColor);
+                }
             }
         }
     }
     
+    // Draw grid cells using the stored bounds
+    float grid_start_x = env->map_corners[0];
+    float grid_start_y = env->map_corners[1];
+    for(int i = 0; i < env->grid_cols; i++) {
+        for(int j = 0; j < env->grid_rows; j++) {
+            float x = grid_start_x + i * GRID_CELL_SIZE;
+            float y = grid_start_y + j * GRID_CELL_SIZE;
+            int index = i * env->grid_rows + j;
+            int count = env->grid_cells[index * SLOTS_PER_CELL];
+            DrawCubeWires(
+                (Vector3){x + GRID_CELL_SIZE/2, y + GRID_CELL_SIZE/2, 1}, 
+                GRID_CELL_SIZE, GRID_CELL_SIZE, 0.1f, GRAY);
+        }
+    }
     EndMode3D();
     
     // Draw debug info

From ab6a66b68b2bdd7532a134bdd851607d820ddc4a Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Wed, 19 Mar 2025 13:36:20 -0500
Subject: [PATCH 045/112] collisions with grid style checking - obs not changed
 yet

---
 pufferlib/ocean/gpudrive/gpudrive.h | 35 +++++++++++++++++++++++++++++
 1 file changed, 35 insertions(+)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 4707d155b5..d34a19ac3b 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -414,6 +414,38 @@ void add_entity_to_grid(GPUDrive* env, int grid_index, int entity_idx){
     
 }
 
+// Remove an entity from its current grid cell
+void remove_entity_from_grid(GPUDrive* env, int entity_idx, int old_grid_index) {
+    if (old_grid_index == -1) return;
+    int base_index = old_grid_index * SLOTS_PER_CELL;
+    int count = env->grid_cells[base_index];
+    if (count == 0) return;
+
+    // Find and remove the entity ID
+    for (int i = 0; i < count; i++) {
+        if (env->grid_cells[base_index + 1 + i] == entity_idx) {
+            // Shift remaining entities left
+            for (int j = i; j < count - 1; j++) {
+                env->grid_cells[base_index + 1 + j] = env->grid_cells[base_index + 1 + j + 1];
+            }
+            env->grid_cells[base_index]--;  // Decrement count
+            break;
+        }
+    }
+}
+
+// Update grid for a moving entity
+void update_grid_for_entity(GPUDrive* env, int entity_idx, float old_x, float old_y, float new_x, float new_y) {
+    int old_grid_index = getGridIndex(env, old_x, old_y);
+    int new_grid_index = getGridIndex(env, new_x, new_y);
+
+    // Only update if the grid cell changes
+    if (old_grid_index != new_grid_index) {
+        remove_entity_from_grid(env, entity_idx, old_grid_index);
+        add_entity_to_grid(env, new_grid_index, entity_idx);
+    }
+}
+
 void init_grid_map(GPUDrive* env){
     // Find top left and bottom right points of the map
     float top_left_x = env->entities[0].traj_x[0];
@@ -868,7 +900,10 @@ void c_step(GPUDrive* env){
 	    env->logs[i].episode_length += 1;
         int agent_idx = env->active_agent_indices[i];
         env->entities[agent_idx].collision_state = 0;
+        float old_x = env->entities[agent_idx].x;
+        float old_y = env->entities[agent_idx].y;
         move_dynamics(env, i, agent_idx);
+        update_grid_for_entity(env, agent_idx, old_x, old_y, env->entities[agent_idx].x, env->entities[agent_idx].y);
         // move_random(env, agent_idx);
         // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);

From e612bb51721f7ec1a0212e7daf33cb12f3c407cc Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Wed, 19 Mar 2025 14:10:20 -0500
Subject: [PATCH 046/112] small optimizations

---
 pufferlib/ocean/gpudrive/gpudrive.h | 38 +++++++++++++++++++++++++++--
 1 file changed, 36 insertions(+), 2 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index d34a19ac3b..8abf053f41 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -446,6 +446,25 @@ void update_grid_for_entity(GPUDrive* env, int entity_idx, float old_x, float ol
     }
 }
 
+void reset_grid_map(GPUDrive* env){
+    for(int i = 0; i < env->grid_cols * env->grid_rows * SLOTS_PER_CELL; i++){
+        env->grid_cells[i] = 0;
+    }
+    for(int i = 0; i < env->num_entities; i++){
+        if(env->entities[i].type <=3 ){
+            int grid_index = getGridIndex(env, env->entities[i].x, env->entities[i].y);
+            add_entity_to_grid(env, grid_index, i);
+        } else if(env->entities[i].type == ROAD_EDGE){
+            for(int j = 0; j < env->entities[i].array_size - 1; j++){
+                float x_center = (env->entities[i].traj_x[j] + env->entities[i].traj_x[j+1]) / 2;
+                float y_center = (env->entities[i].traj_y[j] + env->entities[i].traj_y[j+1]) / 2;
+                int grid_index = getGridIndex(env, x_center, y_center);
+                add_entity_to_grid(env, grid_index, i);
+            }
+        }
+    }
+}
+
 void init_grid_map(GPUDrive* env){
     // Find top left and bottom right points of the map
     float top_left_x = env->entities[0].traj_x[0];
@@ -618,6 +637,9 @@ void move_expert(GPUDrive* env, int* actions, int agent_idx){
 }
 
 bool check_line_intersection(float p1[2], float p2[2], float q1[2], float q2[2]) {
+    if (fmax(p1[0], p2[0]) < fmin(q1[0], q2[0]) || fmin(p1[0], p2[0]) > fmax(q1[0], q2[0]) ||
+    fmax(p1[1], p2[1]) < fmin(q1[1], q2[1]) || fmin(p1[1], p2[1]) > fmax(q1[1], q2[1]))
+    return false;
     float s1_x = p2[0] - p1[0];     
     float s1_y = p2[1] - p1[1];
     float s2_x = q2[0] - q1[0];     
@@ -830,6 +852,10 @@ void collision_check(GPUDrive* env, int agent_idx) {
         agent->nearest_line_end[1] = nearest_end[1];
     } else {
         agent->nearest_line_dist = -1.0f; // Indicate no line found
+        agent->nearest_line_start[0] = 10000.0f;
+        agent->nearest_line_start[1] = 10000.0f;
+        agent->nearest_line_end[0] = 10000.0f;
+        agent->nearest_line_end[1] = 10000.0f;
     }
     if(min_car_dist != 10000) {
 	    agent->nearest_car_dist = min_car_dist;
@@ -839,6 +865,10 @@ void collision_check(GPUDrive* env, int agent_idx) {
 	    agent->nearest_car_end[1] = nearest_car_end[1];
     } else {
 	    agent->nearest_car_dist = -1.0f;
+        agent->nearest_car_start[0] = 10000.0f;
+        agent->nearest_car_start[1] = 10000.0f;
+        agent->nearest_car_end[0] = 10000.0f;
+        agent->nearest_car_end[1] = 10000.0f;
     }
 }
 
@@ -868,11 +898,15 @@ void compute_observations(GPUDrive* env){
 
 void c_reset(GPUDrive* env){
     env->timestep = 0;
+    float old_x, old_y;
     set_start_position(env);
     for(int x = 0;x<env->active_agent_count; x++){
         env->logs[x] = (Log){0};
-	int agent_idx = env->active_agent_indices[x];
-	collision_check(env, agent_idx);
+        int agent_idx = env->active_agent_indices[x];
+        old_x = env->entities[agent_idx].x;
+        old_y = env->entities[agent_idx].y;
+        update_grid_for_entity(env, agent_idx, old_x, old_y, env->entities[agent_idx].x, env->entities[agent_idx].y);
+        collision_check(env, agent_idx);
     }
     memset(env->goal_reached, 0, env->active_agent_count*sizeof(char));
     compute_observations(env);

From fa5aee16215d7601fa33e16c4905e861868bfafa Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Wed, 19 Mar 2025 14:46:55 -0500
Subject: [PATCH 047/112] 300k sps env?

---
 pufferlib/ocean/gpudrive/gpudrive.h | 14 +++-----------
 1 file changed, 3 insertions(+), 11 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 8abf053f41..692333b195 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -447,9 +447,7 @@ void update_grid_for_entity(GPUDrive* env, int entity_idx, float old_x, float ol
 }
 
 void reset_grid_map(GPUDrive* env){
-    for(int i = 0; i < env->grid_cols * env->grid_rows * SLOTS_PER_CELL; i++){
-        env->grid_cells[i] = 0;
-    }
+    memset(env->grid_cells, 0, env->grid_cols * env->grid_rows * SLOTS_PER_CELL * sizeof(int));
     for(int i = 0; i < env->num_entities; i++){
         if(env->entities[i].type <=3 ){
             int grid_index = getGridIndex(env, env->entities[i].x, env->entities[i].y);
@@ -753,8 +751,10 @@ void collision_check(GPUDrive* env, int agent_idx) {
     float nearest_car_start[2], nearest_car_end[2];
     int car_collided_with_index = -1;
     int entity_list[MAX_ENTITIES_PER_CELL * 8];  // Array big enough for all neighboring cells
+    memset(entity_list, -1, MAX_ENTITIES_PER_CELL * 8 * sizeof(int));
     int list_size = checkNeighbors(env, agent->x, agent->y, entity_list, MAX_ENTITIES_PER_CELL * 8);
     for (int i = 0; i < list_size; i++) {
+        if(entity_list[i] == -1) continue;
         if(entity_list[i] == agent_idx) continue;
         Entity* entity = &env->entities[entity_list[i]];
         if(entity->type == ROAD_EDGE){
@@ -852,10 +852,6 @@ void collision_check(GPUDrive* env, int agent_idx) {
         agent->nearest_line_end[1] = nearest_end[1];
     } else {
         agent->nearest_line_dist = -1.0f; // Indicate no line found
-        agent->nearest_line_start[0] = 10000.0f;
-        agent->nearest_line_start[1] = 10000.0f;
-        agent->nearest_line_end[0] = 10000.0f;
-        agent->nearest_line_end[1] = 10000.0f;
     }
     if(min_car_dist != 10000) {
 	    agent->nearest_car_dist = min_car_dist;
@@ -865,10 +861,6 @@ void collision_check(GPUDrive* env, int agent_idx) {
 	    agent->nearest_car_end[1] = nearest_car_end[1];
     } else {
 	    agent->nearest_car_dist = -1.0f;
-        agent->nearest_car_start[0] = 10000.0f;
-        agent->nearest_car_start[1] = 10000.0f;
-        agent->nearest_car_end[0] = 10000.0f;
-        agent->nearest_car_end[1] = 10000.0f;
     }
 }
 

From e834b5f843668c22a895574a297cb46184dbbc7b Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Wed, 19 Mar 2025 16:20:42 -0500
Subject: [PATCH 048/112] performance questions

---
 pufferlib/ocean/gpudrive/gpudrive.c | 10 +++---
 pufferlib/ocean/gpudrive/gpudrive.h | 49 ++++++++++++++++++++---------
 2 files changed, 41 insertions(+), 18 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index 5f441e5523..fe13e87b66 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -182,8 +182,10 @@ void performance_test() {
     while (time(NULL) - start < test_time) {
         // Set random actions for all agents
         for(int j = 0; j < env.active_agent_count; j++) {
-             actions[j][0] = 0;  // -1, 0, or 1
-             actions[j][1] = 0;  // Random steering
+            int accel = rand() % 7;
+            int steer = rand() % 13;
+            actions[j][0] = accel;  // -1, 0, or 1
+            actions[j][1] = steer;  // Random steering
         }
         
         c_step(&env);
@@ -195,7 +197,7 @@ void performance_test() {
 }
 
 int main() {
-    demo();
-    //  performance_test();
+    // demo();
+    performance_test();
     return 0;
 }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 692333b195..6743bc2835 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -753,6 +753,7 @@ void collision_check(GPUDrive* env, int agent_idx) {
     int entity_list[MAX_ENTITIES_PER_CELL * 8];  // Array big enough for all neighboring cells
     memset(entity_list, -1, MAX_ENTITIES_PER_CELL * 8 * sizeof(int));
     int list_size = checkNeighbors(env, agent->x, agent->y, entity_list, MAX_ENTITIES_PER_CELL * 8);
+    // printf("agent: %d, list_size: %d\n", agent_idx, list_size);
     for (int i = 0; i < list_size; i++) {
         if(entity_list[i] == -1) continue;
         if(entity_list[i] == agent_idx) continue;
@@ -876,15 +877,33 @@ void compute_observations(GPUDrive* env){
             env->entities[env->active_agent_indices[i]].y,
             env->entities[env->active_agent_indices[i]].goal_position_y);
         obs[2] = env->entities[env->active_agent_indices[i]].nearest_line_dist;
-        obs[3] = env->entities[env->active_agent_indices[i]].nearest_line_start[0];
-        obs[4] = env->entities[env->active_agent_indices[i]].nearest_line_start[1];
-        obs[5] = env->entities[env->active_agent_indices[i]].nearest_line_end[0];
-        obs[6] = env->entities[env->active_agent_indices[i]].nearest_line_end[1];
-	obs[7] = env->entities[env->active_agent_indices[i]].nearest_car_dist;
-	obs[8] = env->entities[env->active_agent_indices[i]].nearest_car_start[0];
-	obs[9] = env->entities[env->active_agent_indices[i]].nearest_car_start[1];
-	obs[10] = env->entities[env->active_agent_indices[i]].nearest_car_end[0];
-	obs[11] = env->entities[env->active_agent_indices[i]].nearest_car_end[1];
+        if(obs[2] != -1.0f){
+            obs[3] = env->entities[env->active_agent_indices[i]].nearest_line_start[0];
+            obs[4] = env->entities[env->active_agent_indices[i]].nearest_line_start[1];
+            obs[5] = env->entities[env->active_agent_indices[i]].nearest_line_end[0];
+            obs[6] = env->entities[env->active_agent_indices[i]].nearest_line_end[1];
+        }
+        else {
+            obs[2] = -1.0f;
+            obs[3] = -1.0f;
+            obs[4] = -1.0f;
+            obs[5] = -1.0f;
+            obs[6] = -1.0f;
+        }
+        obs[7] = env->entities[env->active_agent_indices[i]].nearest_car_dist;
+        if(obs[7] != -1.0f){
+            obs[8] = env->entities[env->active_agent_indices[i]].nearest_car_start[0];
+            obs[9] = env->entities[env->active_agent_indices[i]].nearest_car_start[1];
+            obs[10] = env->entities[env->active_agent_indices[i]].nearest_car_end[0];
+            obs[11] = env->entities[env->active_agent_indices[i]].nearest_car_end[1];
+        }
+        else {
+            obs[7] = -1.0f;
+            obs[8] = -1.0f;
+            obs[9] = -1.0f;
+            obs[10] = -1.0f;
+            obs[11] = -1.0f;
+        }
     }
 };
 
@@ -929,9 +948,9 @@ void c_step(GPUDrive* env){
         float old_x = env->entities[agent_idx].x;
         float old_y = env->entities[agent_idx].y;
         move_dynamics(env, i, agent_idx);
-        update_grid_for_entity(env, agent_idx, old_x, old_y, env->entities[agent_idx].x, env->entities[agent_idx].y);
         // move_random(env, agent_idx);
         // move_expert(env, env->actions, agent_idx);
+        update_grid_for_entity(env, agent_idx, old_x, old_y, env->entities[agent_idx].x, env->entities[agent_idx].y);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0){
             env->rewards[i] = -0.1f;
@@ -1070,10 +1089,12 @@ void c_render(Client* client, GPUDrive* env) {
                 if(env->entities[i].valid == 1 && env->goal_reached[agent_index] == 0) {
                     DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
                     DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
-                    DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_car_start[0], env->entities[i].nearest_car_start[1], 1.0f}, RED);
-                    DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_car_end[0], env->entities[i].nearest_car_end[1], 1.0f}, RED);
-                    DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_line_start[0], env->entities[i].nearest_line_start[1],  1.0f}, GREEN);
-                    DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_line_end[0], env->entities[i].nearest_line_end[1], 1.0f}, GREEN);
+                    if(env->entities[i].nearest_car_dist != -1.0f){
+                        DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_car_start[0], env->entities[i].nearest_car_start[1], 1.0f}, RED);
+                        DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_car_end[0], env->entities[i].nearest_car_end[1], 1.0f}, RED);
+                        DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_line_start[0], env->entities[i].nearest_line_start[1],  1.0f}, GREEN);
+                        DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_line_end[0], env->entities[i].nearest_line_end[1], 1.0f}, GREEN);
+                    }
                 }
             } else {
                 // Draw non-active vehicles

From 306b77dc041d2b5b82b369df221caf2885add399 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 20 Mar 2025 09:02:56 -0500
Subject: [PATCH 049/112] removed active agents from grid cells

---
 pufferlib/ocean/gpudrive/gpudrive.h | 105 ++++++++--------------------
 1 file changed, 30 insertions(+), 75 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 6743bc2835..04f58b9a63 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -357,15 +357,6 @@ void set_active_agents(GPUDrive* env){
     for(int i=0;i<env->active_agent_count;i++){
         env->active_agent_indices[i] = active_agent_indices[i];
     };
-    for(int i = 0; i < env->active_agent_count; i++){
-        int valid_count = 0;
-        for(int j=  0; j<91; j++){
-            if(env->entities[env->active_agent_indices[i]].traj_valid[j] == 1){
-                valid_count++;
-            }
-        }
-        //printf("agent %d valid_count: %d\n", env->active_agent_indices[i], valid_count);
-    }
 }
 
 // Function to get grid index from coordinates
@@ -414,55 +405,6 @@ void add_entity_to_grid(GPUDrive* env, int grid_index, int entity_idx){
     
 }
 
-// Remove an entity from its current grid cell
-void remove_entity_from_grid(GPUDrive* env, int entity_idx, int old_grid_index) {
-    if (old_grid_index == -1) return;
-    int base_index = old_grid_index * SLOTS_PER_CELL;
-    int count = env->grid_cells[base_index];
-    if (count == 0) return;
-
-    // Find and remove the entity ID
-    for (int i = 0; i < count; i++) {
-        if (env->grid_cells[base_index + 1 + i] == entity_idx) {
-            // Shift remaining entities left
-            for (int j = i; j < count - 1; j++) {
-                env->grid_cells[base_index + 1 + j] = env->grid_cells[base_index + 1 + j + 1];
-            }
-            env->grid_cells[base_index]--;  // Decrement count
-            break;
-        }
-    }
-}
-
-// Update grid for a moving entity
-void update_grid_for_entity(GPUDrive* env, int entity_idx, float old_x, float old_y, float new_x, float new_y) {
-    int old_grid_index = getGridIndex(env, old_x, old_y);
-    int new_grid_index = getGridIndex(env, new_x, new_y);
-
-    // Only update if the grid cell changes
-    if (old_grid_index != new_grid_index) {
-        remove_entity_from_grid(env, entity_idx, old_grid_index);
-        add_entity_to_grid(env, new_grid_index, entity_idx);
-    }
-}
-
-void reset_grid_map(GPUDrive* env){
-    memset(env->grid_cells, 0, env->grid_cols * env->grid_rows * SLOTS_PER_CELL * sizeof(int));
-    for(int i = 0; i < env->num_entities; i++){
-        if(env->entities[i].type <=3 ){
-            int grid_index = getGridIndex(env, env->entities[i].x, env->entities[i].y);
-            add_entity_to_grid(env, grid_index, i);
-        } else if(env->entities[i].type == ROAD_EDGE){
-            for(int j = 0; j < env->entities[i].array_size - 1; j++){
-                float x_center = (env->entities[i].traj_x[j] + env->entities[i].traj_x[j+1]) / 2;
-                float y_center = (env->entities[i].traj_y[j] + env->entities[i].traj_y[j+1]) / 2;
-                int grid_index = getGridIndex(env, x_center, y_center);
-                add_entity_to_grid(env, grid_index, i);
-            }
-        }
-    }
-}
-
 void init_grid_map(GPUDrive* env){
     // Find top left and bottom right points of the map
     float top_left_x = env->entities[0].traj_x[0];
@@ -502,6 +444,11 @@ void init_grid_map(GPUDrive* env){
     // Populate grid cells
     for(int i = 0; i < env->num_entities; i++){
         if(env->entities[i].type <=3 ){
+            for( int z = 0; z<env->active_agent_count; z++){
+                if(env->active_agent_indices[z] == i){
+                    continue;
+                }
+            }
             int grid_index = getGridIndex(env, env->entities[i].x, env->entities[i].y);
             add_entity_to_grid(env, grid_index, i);
         } else if(env->entities[i].type == ROAD_EDGE){
@@ -567,6 +514,12 @@ void free_allocated(GPUDrive* env){
     free_initialized(env);
 }
 
+float normalize_heading(float heading) {
+    float wrapped = fmodf(heading + M_PI, 2.0f * M_PI); // Shift to [0, 2π) then wrap
+    if (wrapped < 0) wrapped += 2.0f * M_PI;            // Handle negative remainder
+    return wrapped - M_PI;                              // Shift back to [-π, π]
+}
+
 void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
     if(env->dynamics_model == CLASSIC){
         // clip acceleration & steering
@@ -601,8 +554,7 @@ void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
         float omega = (speed * tanf(steering)) / agent->length;
         heading = heading + omega * dt;
         // Normalize heading to range [-π, π]
-        while (heading > M_PI) heading -= 2.0f * M_PI;
-        while (heading < -M_PI) heading += 2.0f * M_PI;
+        heading = normalize_heading(heading);
 
         // Compute new velocity components
         vx = speed * cosf(heading);
@@ -754,10 +706,17 @@ void collision_check(GPUDrive* env, int agent_idx) {
     memset(entity_list, -1, MAX_ENTITIES_PER_CELL * 8 * sizeof(int));
     int list_size = checkNeighbors(env, agent->x, agent->y, entity_list, MAX_ENTITIES_PER_CELL * 8);
     // printf("agent: %d, list_size: %d\n", agent_idx, list_size);
-    for (int i = 0; i < list_size; i++) {
-        if(entity_list[i] == -1) continue;
-        if(entity_list[i] == agent_idx) continue;
-        Entity* entity = &env->entities[entity_list[i]];
+    for (int i = 0; i < list_size + env->active_agent_count; i++) {
+        if(entity_list[i] == -1 && i < list_size) continue;
+        if(entity_list[i] == agent_idx && i < list_size) continue;
+        Entity* entity;
+        if( i < list_size){
+            entity = &env->entities[entity_list[i]];
+        }
+        else {
+            if(env->active_agent_indices[i-list_size] == agent_idx) continue;
+            entity = &env->entities[env->active_agent_indices[i-list_size]];
+        }
         if(entity->type == ROAD_EDGE){
             for (int j = 0; j < entity->array_size - 1; j++) {
                 float start[2] = {entity->traj_x[j], entity->traj_y[j]};
@@ -808,7 +767,12 @@ void collision_check(GPUDrive* env, int agent_idx) {
                     int next_l = (l + 1) % 4;
                     if (check_line_intersection(corners[k], corners[next_k], other_corners[l], other_corners[next_l])) {
                         collided = VEHICLE_COLLISION;
-                        car_collided_with_index = entity_list[i];
+                        if( i < list_size){
+                            car_collided_with_index = entity_list[i];
+                        }
+                        else {
+                            car_collided_with_index = env->active_agent_indices[i-list_size];
+                        }
                         break;
                     }
                 }
@@ -909,14 +873,10 @@ void compute_observations(GPUDrive* env){
 
 void c_reset(GPUDrive* env){
     env->timestep = 0;
-    float old_x, old_y;
     set_start_position(env);
     for(int x = 0;x<env->active_agent_count; x++){
         env->logs[x] = (Log){0};
         int agent_idx = env->active_agent_indices[x];
-        old_x = env->entities[agent_idx].x;
-        old_y = env->entities[agent_idx].y;
-        update_grid_for_entity(env, agent_idx, old_x, old_y, env->entities[agent_idx].x, env->entities[agent_idx].y);
         collision_check(env, agent_idx);
     }
     memset(env->goal_reached, 0, env->active_agent_count*sizeof(char));
@@ -924,7 +884,6 @@ void c_reset(GPUDrive* env){
 }
 
 void c_step(GPUDrive* env){
-    int (*action_array)[2] = (int(*)[2])env->actions;
     memset(env->rewards, 0, env->active_agent_count * sizeof(float));
     env->timestep++;
     if(env->timestep == 91){
@@ -945,12 +904,9 @@ void c_step(GPUDrive* env){
 	    env->logs[i].episode_length += 1;
         int agent_idx = env->active_agent_indices[i];
         env->entities[agent_idx].collision_state = 0;
-        float old_x = env->entities[agent_idx].x;
-        float old_y = env->entities[agent_idx].y;
         move_dynamics(env, i, agent_idx);
         // move_random(env, agent_idx);
         // move_expert(env, env->actions, agent_idx);
-        update_grid_for_entity(env, agent_idx, old_x, old_y, env->entities[agent_idx].x, env->entities[agent_idx].y);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0){
             env->rewards[i] = -0.1f;
@@ -1153,8 +1109,7 @@ void c_render(Client* client, GPUDrive* env) {
         for(int j = 0; j < env->grid_rows; j++) {
             float x = grid_start_x + i * GRID_CELL_SIZE;
             float y = grid_start_y + j * GRID_CELL_SIZE;
-            int index = i * env->grid_rows + j;
-            int count = env->grid_cells[index * SLOTS_PER_CELL];
+            // int index = i * env->grid_rows + j;
             DrawCubeWires(
                 (Vector3){x + GRID_CELL_SIZE/2, y + GRID_CELL_SIZE/2, 1}, 
                 GRID_CELL_SIZE, GRID_CELL_SIZE, 0.1f, GRAY);

From 9e0072a0a6efb463aae206423b966f028fedbd96 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 20 Mar 2025 10:28:02 -0500
Subject: [PATCH 050/112] check neighbor function generalized

---
 pufferlib/ocean/gpudrive/gpudrive.h | 36 +++++++++++++++++++++--------
 1 file changed, 26 insertions(+), 10 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 04f58b9a63..a1bed573e0 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -61,6 +61,28 @@ static const float offsets[4][2] = {
         {-1, -1}  // bottom-left
     };
 
+static const int collision_offsets[8][2] = {
+        {-1, -1}, {0, -1}, {1, -1},  // Top row
+        {-1,  0},          {1,  0},  // Middle row (skip center)
+        {-1,  1}, {0,  1}, {1,  1}   // Bottom row
+    };
+
+static const int vision_offsets[24][2] = {
+    // Top row (from left to right)
+    {-2, -2}, {-1, -2}, {0, -2}, {1, -2}, {2, -2},
+    
+    // Second row
+    {-2, -1}, {-1, -1}, {0, -1}, {1, -1}, {2, -1},
+    
+    // Middle row (excluding center)
+    {-2, 0}, {-1, 0}, {1, 0}, {2, 0},
+    
+    // Fourth row
+    {-2, 1}, {-1, 1}, {0, 1}, {1, 1}, {2, 1},
+    
+    // Bottom row
+    {-2, 2}, {-1, 2}, {0, 2}, {1, 2}, {2, 2}
+};
 #define LOG_BUFFER_SIZE 1024
 
 typedef struct Log Log;
@@ -644,7 +666,7 @@ float point_to_line_distance(float point[2], float line_start[2], float line_end
     return sqrtf((x0 - closest_x) * (x0 - closest_x) + (y0 - closest_y) * (y0 - closest_y));
 }
 
-int checkNeighbors(GPUDrive* env, float x, float y, int* entity_list, int max_size) {
+int checkNeighbors(GPUDrive* env, float x, float y, int* entity_list, int max_size, const int (*offsets)[2], int offset_size) {
     // Get the grid index for the given position (x, y)
     int index = getGridIndex(env, x, y);
     if (index == -1) return 0;  // Return 0 size if position invalid
@@ -653,18 +675,12 @@ int checkNeighbors(GPUDrive* env, float x, float y, int* entity_list, int max_si
     int cellsX = env->grid_cols;
     int gridX = index % cellsX;
     int gridY = index / cellsX;
-
-    // Define the 8 surrounding cell offsets
-    int offsets[8][2] = {
-        {-1, -1}, {0, -1}, {1, -1},  // Top row
-        {-1,  0},          {1,  0},  // Middle row (skip center)
-        {-1,  1}, {0,  1}, {1,  1}   // Bottom row
-    };
+    
 
     int entity_list_count = 0;
 
     // Fill the provided array
-    for (int i = 0; i < 8; i++) {
+    for (int i = 0; i < offset_size; i++) {
         int nx = gridX + offsets[i][0];
         int ny = gridY + offsets[i][1];
         // Ensure the neighbor is within grid bounds
@@ -704,7 +720,7 @@ void collision_check(GPUDrive* env, int agent_idx) {
     int car_collided_with_index = -1;
     int entity_list[MAX_ENTITIES_PER_CELL * 8];  // Array big enough for all neighboring cells
     memset(entity_list, -1, MAX_ENTITIES_PER_CELL * 8 * sizeof(int));
-    int list_size = checkNeighbors(env, agent->x, agent->y, entity_list, MAX_ENTITIES_PER_CELL * 8);
+    int list_size = checkNeighbors(env, agent->x, agent->y, entity_list, MAX_ENTITIES_PER_CELL * 8, collision_offsets, 8);
     // printf("agent: %d, list_size: %d\n", agent_idx, list_size);
     for (int i = 0; i < list_size + env->active_agent_count; i++) {
         if(entity_list[i] == -1 && i < list_size) continue;

From 7d5c785155e019a8f565607d73919d33f3583016 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 20 Mar 2025 11:24:46 -0500
Subject: [PATCH 051/112] bigger obs

---
 pufferlib/ocean/gpudrive/gpudrive.h | 173 +++++++++++++---------------
 1 file changed, 77 insertions(+), 96 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index a1bed573e0..948af5fd64 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -75,7 +75,7 @@ static const int vision_offsets[24][2] = {
     {-2, -1}, {-1, -1}, {0, -1}, {1, -1}, {2, -1},
     
     // Middle row (excluding center)
-    {-2, 0}, {-1, 0}, {1, 0}, {2, 0},
+    {-2, 0}, {-1, 0}, {0, 0}, {1, 0}, {2, 0},
     
     // Fourth row
     {-2, 1}, {-1, 1}, {0, 1}, {1, 1}, {2, 1},
@@ -130,18 +130,13 @@ Log aggregate_and_clear(LogBuffer* logs) {
         return log;
     }
     for (int i = 0; i < logs->idx; i++) {
-        log.episode_return += logs->logs[i].episode_return;
-        log.episode_length += logs->logs[i].episode_length;
-	    log.score += logs->logs[i].score;
-	    log.offroad_rate += logs->logs[i].offroad_rate;
-	    log.collision_rate += logs->logs[i].collision_rate;
+        log.episode_return += logs->logs[i].episode_return / logs->idx;
+        log.episode_length += logs->logs[i].episode_length / logs->idx;
+	    log.score += logs->logs[i].score / logs->idx;
+	    log.offroad_rate += logs->logs[i].offroad_rate / logs->idx;
+	    log.collision_rate += logs->logs[i].collision_rate / logs->idx;
 	//printf("length: %f", log.episode_length);
     }
-    log.episode_return /= logs->idx;
-    log.episode_length /= logs->idx;
-    log.score /= logs->idx;
-    log.offroad_rate /= logs->idx;
-    log.collision_rate /= logs->idx;
     logs->idx = 0;
     return log;
 }
@@ -300,36 +295,6 @@ Entity* load_map_binary(const char* filename, GPUDrive* env) {
     fclose(file);
     return entities;
 }
-void print_entities(GPUDrive* env, int idx){
-    // for(int i = 0; i < env->num_entities; i++){
-    //     // if(env->entities[i].type >3){
-    //         printf("entity %d type: %d\n", i, env->entities[i].type);
-    //         printf("entity %d array_size: %d\n", i, env->entities[i].array_size);
-    //     // }
-    // }
-    for (int i = 0; i < env->num_entities; i++){
-        printf("entity %d type: %d\n", i, env->entities[i].type);
-        printf("entity %d array_size: %d\n", i, env->entities[i].array_size);
-    }
-    for(int i = 0; i < env->entities[idx].array_size; i++){
-        printf("entity %d x: %f\n", idx, env->entities[idx].traj_x[i]);
-        printf("entity %d y: %f\n", idx, env->entities[idx].traj_y[i]);
-        printf("entity %d z: %f\n", idx, env->entities[idx].traj_z[i]);
-        if(env->entities[idx].type == 1 || env->entities[idx].type == 2 || env->entities[idx].type == 3){
-            printf("entity %d heading: %f\n", idx, env->entities[idx].traj_heading[i]);
-            printf("entity %d vx: %f\n", idx, env->entities[idx].traj_vx[i]);
-            printf("entity %d vy: %f\n", idx, env->entities[idx].traj_vy[i]);
-            printf("entity %d vz: %f\n", idx, env->entities[idx].traj_vz[i]);
-            printf("entity %d valid: %d\n", idx, env->entities[idx].traj_valid[i]);
-        }
-    }
-    printf("entity %d width: %f\n", idx, env->entities[idx].width);
-    printf("entity %d length: %f\n", idx, env->entities[idx].length);
-    printf("entity %d height: %f\n", idx, env->entities[idx].height);
-    printf("entity %d goal_position_x: %f\n", idx, env->entities[idx].goal_position_x);
-    printf("entity %d goal_position_y: %f\n", idx, env->entities[idx].goal_position_y);
-    printf("entity %d goal_position_z: %f\n", idx, env->entities[idx].goal_position_z);
-}
 
 void set_start_position(GPUDrive* env){
     for(int i = 0; i < env->num_entities; i++){
@@ -341,12 +306,8 @@ void set_start_position(GPUDrive* env){
             env->entities[i].vy = env->entities[i].traj_vy[0];
             env->entities[i].vz = env->entities[i].traj_vz[0];
             env->entities[i].heading = env->entities[i].traj_heading[0];
-            // env->entities[env->active_agent_indices[i]].heading = ((float)rand() / RAND_MAX) * 2.0f - 1.0f; // Random float between -1 and 1
             env->entities[i].valid = env->entities[i].traj_valid[0];
         }
-        // printf("agent %d\n", env->active_agent_indices[i]);
-        // printf("x , y: %f, %f\n", env->entities[env->active_agent_indices[i]].x, env->entities[env->active_agent_indices[i]].y);
-        // printf("goal_x, goal_y: %f, %f\n", env->entities[env->active_agent_indices[i]].goal_position_x, env->entities[env->active_agent_indices[i]].goal_position_y);
     }
 }
 
@@ -496,10 +457,6 @@ void init(GPUDrive* env){
     //printf("Offset of x: %zu\n", offsetof(struct Entity, x));
     //printf("Offset of y: %zu\n", offsetof(struct Entity, y));
     printf("active_agent_count: %d\n", env->active_agent_count);
-    env->fake_data = (float*)calloc(12, sizeof(float));
-    for (int i = 0;i<12;i++ ){
-	    env->fake_data[i] = (float)(rand() % 5) / 5.0f;
-    }
     env->goal_reached = (char*)calloc(env->active_agent_count, sizeof(char));
     init_grid_map(env);
 }
@@ -519,7 +476,7 @@ void free_initialized(GPUDrive* env){
 
 void allocate(GPUDrive* env){
     init(env);
-    int max_obs = 12;
+    int max_obs = 2 + 4 * 25 * MAX_ENTITIES_PER_CELL;
     env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
     env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
@@ -825,29 +782,12 @@ void collision_check(GPUDrive* env, int agent_idx) {
     if (car_collided_with_index != -1) {
         env->entities[car_collided_with_index].collision_state = VEHICLE_COLLISION;
     }
-    if (min_dist != 10000) { // If a road edge was found
-        agent->nearest_line_dist = min_dist;
-        agent->nearest_line_start[0] = nearest_start[0];
-        agent->nearest_line_start[1] = nearest_start[1];
-        agent->nearest_line_end[0] = nearest_end[0];
-        agent->nearest_line_end[1] = nearest_end[1];
-    } else {
-        agent->nearest_line_dist = -1.0f; // Indicate no line found
-    }
-    if(min_car_dist != 10000) {
-	    agent->nearest_car_dist = min_car_dist;
-	    agent->nearest_car_start[0] = nearest_car_start[0];
-	    agent->nearest_car_start[1] = nearest_car_start[1];
-	    agent->nearest_car_end[0] = nearest_car_end[0];
-	    agent->nearest_car_end[1] = nearest_car_end[1];
-    } else {
-	    agent->nearest_car_dist = -1.0f;
-    }
 }
 
 void compute_observations(GPUDrive* env){
-    int max_obs = 12;
+    int max_obs = 2 + 4 * 25 * MAX_ENTITIES_PER_CELL;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
+    memset(observations, 0, env->active_agent_count * max_obs * sizeof(float));
     for(int i = 0; i < env->active_agent_count; i++){
         float* obs = &observations[i][0];
         obs[0] = relative_distance(
@@ -856,33 +796,74 @@ void compute_observations(GPUDrive* env){
         obs[1] = relative_distance(
             env->entities[env->active_agent_indices[i]].y,
             env->entities[env->active_agent_indices[i]].goal_position_y);
-        obs[2] = env->entities[env->active_agent_indices[i]].nearest_line_dist;
-        if(obs[2] != -1.0f){
-            obs[3] = env->entities[env->active_agent_indices[i]].nearest_line_start[0];
-            obs[4] = env->entities[env->active_agent_indices[i]].nearest_line_start[1];
-            obs[5] = env->entities[env->active_agent_indices[i]].nearest_line_end[0];
-            obs[6] = env->entities[env->active_agent_indices[i]].nearest_line_end[1];
-        }
-        else {
-            obs[2] = -1.0f;
-            obs[3] = -1.0f;
-            obs[4] = -1.0f;
-            obs[5] = -1.0f;
-            obs[6] = -1.0f;
-        }
-        obs[7] = env->entities[env->active_agent_indices[i]].nearest_car_dist;
-        if(obs[7] != -1.0f){
-            obs[8] = env->entities[env->active_agent_indices[i]].nearest_car_start[0];
-            obs[9] = env->entities[env->active_agent_indices[i]].nearest_car_start[1];
-            obs[10] = env->entities[env->active_agent_indices[i]].nearest_car_end[0];
-            obs[11] = env->entities[env->active_agent_indices[i]].nearest_car_end[1];
-        }
-        else {
-            obs[7] = -1.0f;
-            obs[8] = -1.0f;
-            obs[9] = -1.0f;
-            obs[10] = -1.0f;
-            obs[11] = -1.0f;
+        
+        int entity_list[MAX_ENTITIES_PER_CELL * 25];  // Array big enough for all neighboring cells
+        Entity* entity = &env->entities[env->active_agent_indices[i]];
+        int list_size = checkNeighbors(env, entity->x, entity->y, entity_list, MAX_ENTITIES_PER_CELL * 25, vision_offsets, 25);
+        for(int j = 0; j < MAX_ENTITIES_PER_CELL * 25; j++){
+            if(j >= list_size) break;
+            if(entity_list[j] == -1) continue;
+            Entity* other_entity = &env->entities[entity_list[j]];
+            if(entity_list[j] == env->active_agent_indices[i]) continue;
+            if(other_entity->type == ROAD_EDGE) {
+                float min_dist = 10000;
+                float nearest_start[2], nearest_end[2];
+                for (int j = 0; j < other_entity->array_size - 1; j++) {
+                    float start[2] = {other_entity->traj_x[j], other_entity->traj_y[j]};
+                    float end[2] = {other_entity->traj_x[j + 1], other_entity->traj_y[j + 1]};
+                    float agent_center[2] = {entity->x, entity->y};
+                    float dist = point_to_line_distance(agent_center, start, end);
+                    if(dist < min_dist){
+                        min_dist = dist;
+                        nearest_start[0] = start[0];
+                        nearest_start[1] = start[1];
+                        nearest_end[0] = end[0];
+                        nearest_end[1] = end[1];
+                    }
+                }
+                obs[j*4] = nearest_start[0];
+                obs[j*4+1] = nearest_start[1];
+                obs[j*4+2] = nearest_end[0];
+                obs[j*4+3] = nearest_end[1];
+            }
+            if(other_entity->type == VEHICLE){
+                float other_corners[4][2];
+                for (int z = 0; z < 4; z++) {
+                    float other_cos_heading = cosf(other_entity->traj_heading[0]);
+                    float other_sin_heading = sinf(other_entity->traj_heading[0]);
+                    float other_half_length = other_entity->length / 2.0f;
+                    float other_half_width = other_entity->width / 2.0f;
+                    other_corners[z][0] = other_entity->x + (offsets[z][0] * other_half_length * other_cos_heading - offsets[z][1] * other_half_width * other_sin_heading);
+                    other_corners[z][1] = other_entity->y + (offsets[z][0] * other_half_length * other_sin_heading + offsets[z][1] * other_half_width * other_cos_heading);
+                }
+                int min_dist = 10000;
+                float nearest_start[2], nearest_end[2];
+                for (int k = 0;k<4; k++){
+                    int next_k = (k+1) % 4;
+                    float agent_center[2] = {entity->x, entity->y};
+                    float dist = point_to_line_distance(agent_center, other_corners[k], other_corners[next_k]);        
+                    if(dist < min_dist){
+                        min_dist = dist;
+                        // Step 1: Calculate relative position (in world coordinates)
+                        float rel_x_start = other_corners[k][0] - entity->x;
+                        float rel_y_start = other_corners[k][1] - entity->y;
+                        float rel_x_end = other_corners[next_k][0] - entity->x;
+                        float rel_y_end = other_corners[next_k][1] - entity->y;
+                        // Step 2: Apply standard 2D rotation matrix
+                        // This is the standard 2D rotation to agent's local frame
+                        float cos_heading = cosf(entity->heading);
+                        float sin_heading = sinf(entity->heading);
+                        nearest_start[0] = rel_x_start * cos_heading + rel_y_start * sin_heading;
+                        nearest_start[1] = -rel_x_start * sin_heading + rel_y_start * cos_heading;
+                        nearest_end[0] = rel_x_end * cos_heading + rel_y_end * sin_heading;
+                        nearest_end[1] = -rel_x_end * sin_heading + rel_y_end * cos_heading;
+                    }
+                }
+                obs[j*4] = nearest_start[0];
+                obs[j*4+1] = nearest_start[1];
+                obs[j*4+2] = nearest_end[0];
+                obs[j*4+3] = nearest_end[1];
+            }
         }
     }
 };

From 799792868b4903d3ad24bd51e85156128a1ccef8 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Thu, 20 Mar 2025 16:38:00 +0000
Subject: [PATCH 052/112] obs in but not confident they are accurate

---
 pufferlib/ocean/gpudrive/gpudrive.h  | 9 ++++-----
 pufferlib/ocean/gpudrive/gpudrive.py | 2 +-
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 948af5fd64..7fd4d633bf 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -67,7 +67,7 @@ static const int collision_offsets[8][2] = {
         {-1,  1}, {0,  1}, {1,  1}   // Bottom row
     };
 
-static const int vision_offsets[24][2] = {
+static const int vision_offsets[25][2] = {
     // Top row (from left to right)
     {-2, -2}, {-1, -2}, {0, -2}, {1, -2}, {2, -2},
     
@@ -623,7 +623,7 @@ float point_to_line_distance(float point[2], float line_start[2], float line_end
     return sqrtf((x0 - closest_x) * (x0 - closest_x) + (y0 - closest_y) * (y0 - closest_y));
 }
 
-int checkNeighbors(GPUDrive* env, float x, float y, int* entity_list, int max_size, const int (*offsets)[2], int offset_size) {
+int checkNeighbors(GPUDrive* env, float x, float y, int* entity_list, int max_size, const int (*local_offsets)[2], int offset_size) {
     // Get the grid index for the given position (x, y)
     int index = getGridIndex(env, x, y);
     if (index == -1) return 0;  // Return 0 size if position invalid
@@ -635,11 +635,10 @@ int checkNeighbors(GPUDrive* env, float x, float y, int* entity_list, int max_si
     
 
     int entity_list_count = 0;
-
     // Fill the provided array
     for (int i = 0; i < offset_size; i++) {
-        int nx = gridX + offsets[i][0];
-        int ny = gridY + offsets[i][1];
+        int nx = gridX + local_offsets[i][0];
+        int ny = gridY + local_offsets[i][1];
         // Ensure the neighbor is within grid bounds
         if (nx >= 0 && nx < env->grid_cols && ny >= 0 && ny < env->grid_rows) {
             int neighborIndex = (ny * env->grid_cols + nx) * SLOTS_PER_CELL;
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index bf065d4579..203d86012c 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -19,7 +19,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.render_mode = render_mode
         self.report_interval = report_interval
         
-        self.num_obs = 12
+        self.num_obs = 1002
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])

From a6da3678e55f56737ac2c247c9001f4436ba139d Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 20 Mar 2025 15:50:25 -0500
Subject: [PATCH 053/112] self and other cars

---
 pufferlib/ocean/gpudrive/gpudrive.h | 141 ++++++++++++----------------
 1 file changed, 58 insertions(+), 83 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 7fd4d633bf..8ccaf17655 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -417,6 +417,7 @@ void init_grid_map(GPUDrive* env){
     // Calculate grid dimensions
     float grid_width = bottom_right_x - top_left_x;
     float grid_height = bottom_right_y - top_left_y;
+    printf("grid_width: %f, grid_height: %f\n", grid_width, grid_height);
     env->grid_cols = ceil(grid_width / GRID_CELL_SIZE);
     env->grid_rows = ceil(grid_height / GRID_CELL_SIZE);
     
@@ -783,89 +784,53 @@ void collision_check(GPUDrive* env, int agent_idx) {
     }
 }
 
-void compute_observations(GPUDrive* env){
-    int max_obs = 2 + 4 * 25 * MAX_ENTITIES_PER_CELL;
+void compute_observations(GPUDrive* env) {
+    int max_obs = 2 + 7 * (env->active_agent_count - 1);
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
-    memset(observations, 0, env->active_agent_count * max_obs * sizeof(float));
-    for(int i = 0; i < env->active_agent_count; i++){
+    memset(observations, -1, env->active_agent_count * max_obs * sizeof(float));
+    
+    for(int i = 0; i < env->active_agent_count; i++) {
         float* obs = &observations[i][0];
-        obs[0] = relative_distance(
-            env->entities[env->active_agent_indices[i]].x,
-            env->entities[env->active_agent_indices[i]].goal_position_x);
-        obs[1] = relative_distance(
-            env->entities[env->active_agent_indices[i]].y,
-            env->entities[env->active_agent_indices[i]].goal_position_y);
+        Entity* ego_entity = &env->entities[env->active_agent_indices[i]];
         
-        int entity_list[MAX_ENTITIES_PER_CELL * 25];  // Array big enough for all neighboring cells
-        Entity* entity = &env->entities[env->active_agent_indices[i]];
-        int list_size = checkNeighbors(env, entity->x, entity->y, entity_list, MAX_ENTITIES_PER_CELL * 25, vision_offsets, 25);
-        for(int j = 0; j < MAX_ENTITIES_PER_CELL * 25; j++){
-            if(j >= list_size) break;
-            if(entity_list[j] == -1) continue;
-            Entity* other_entity = &env->entities[entity_list[j]];
-            if(entity_list[j] == env->active_agent_indices[i]) continue;
-            if(other_entity->type == ROAD_EDGE) {
-                float min_dist = 10000;
-                float nearest_start[2], nearest_end[2];
-                for (int j = 0; j < other_entity->array_size - 1; j++) {
-                    float start[2] = {other_entity->traj_x[j], other_entity->traj_y[j]};
-                    float end[2] = {other_entity->traj_x[j + 1], other_entity->traj_y[j + 1]};
-                    float agent_center[2] = {entity->x, entity->y};
-                    float dist = point_to_line_distance(agent_center, start, end);
-                    if(dist < min_dist){
-                        min_dist = dist;
-                        nearest_start[0] = start[0];
-                        nearest_start[1] = start[1];
-                        nearest_end[0] = end[0];
-                        nearest_end[1] = end[1];
-                    }
-                }
-                obs[j*4] = nearest_start[0];
-                obs[j*4+1] = nearest_start[1];
-                obs[j*4+2] = nearest_end[0];
-                obs[j*4+3] = nearest_end[1];
-            }
-            if(other_entity->type == VEHICLE){
-                float other_corners[4][2];
-                for (int z = 0; z < 4; z++) {
-                    float other_cos_heading = cosf(other_entity->traj_heading[0]);
-                    float other_sin_heading = sinf(other_entity->traj_heading[0]);
-                    float other_half_length = other_entity->length / 2.0f;
-                    float other_half_width = other_entity->width / 2.0f;
-                    other_corners[z][0] = other_entity->x + (offsets[z][0] * other_half_length * other_cos_heading - offsets[z][1] * other_half_width * other_sin_heading);
-                    other_corners[z][1] = other_entity->y + (offsets[z][0] * other_half_length * other_sin_heading + offsets[z][1] * other_half_width * other_cos_heading);
-                }
-                int min_dist = 10000;
-                float nearest_start[2], nearest_end[2];
-                for (int k = 0;k<4; k++){
-                    int next_k = (k+1) % 4;
-                    float agent_center[2] = {entity->x, entity->y};
-                    float dist = point_to_line_distance(agent_center, other_corners[k], other_corners[next_k]);        
-                    if(dist < min_dist){
-                        min_dist = dist;
-                        // Step 1: Calculate relative position (in world coordinates)
-                        float rel_x_start = other_corners[k][0] - entity->x;
-                        float rel_y_start = other_corners[k][1] - entity->y;
-                        float rel_x_end = other_corners[next_k][0] - entity->x;
-                        float rel_y_end = other_corners[next_k][1] - entity->y;
-                        // Step 2: Apply standard 2D rotation matrix
-                        // This is the standard 2D rotation to agent's local frame
-                        float cos_heading = cosf(entity->heading);
-                        float sin_heading = sinf(entity->heading);
-                        nearest_start[0] = rel_x_start * cos_heading + rel_y_start * sin_heading;
-                        nearest_start[1] = -rel_x_start * sin_heading + rel_y_start * cos_heading;
-                        nearest_end[0] = rel_x_end * cos_heading + rel_y_end * sin_heading;
-                        nearest_end[1] = -rel_x_end * sin_heading + rel_y_end * cos_heading;
-                    }
-                }
-                obs[j*4] = nearest_start[0];
-                obs[j*4+1] = nearest_start[1];
-                obs[j*4+2] = nearest_end[0];
-                obs[j*4+3] = nearest_end[1];
-            }
+        // Set goal distances
+        obs[0] = relative_distance(ego_entity->x, ego_entity->goal_position_x);
+        obs[1] = relative_distance(ego_entity->y, ego_entity->goal_position_y);
+        
+        // Relative Pos of other cars
+        for(int j = 0; j < env->active_agent_count; j++) {
+            if(j == i) continue;
+            
+            int other_agent_idx = env->active_agent_indices[j];
+            Entity* other_entity = &env->entities[other_agent_idx];
+            
+            // Store original relative positions
+            float dx = other_entity->x - ego_entity->x;
+            float dy = other_entity->y - ego_entity->y;
+            
+            // Rotate to ego vehicle's frame
+            float cos_heading = cosf(ego_entity->heading);
+            float sin_heading = sinf(ego_entity->heading);
+            float rel_x = dx * cos_heading + dy * sin_heading;
+            float rel_y = -dx * sin_heading + dy * cos_heading;
+            
+            obs[2 + j*7] = rel_x;
+            obs[3 + j*7] = rel_y;
+            obs[4 + j*7] = other_entity->width;
+            obs[5 + j*7] = other_entity->length;
+            
+            // relative heading
+            float rel_heading = normalize_heading(other_entity->heading - ego_entity->heading);
+            obs[6 + j*7] = cosf(rel_heading);
+            obs[7 + j*7] = sinf(rel_heading);
+            
+            // relative speed
+            float ego_speed = sqrtf(ego_entity->vx * ego_entity->vx + ego_entity->vy * ego_entity->vy);
+            float other_speed = sqrtf(other_entity->vx * other_entity->vx + other_entity->vy * other_entity->vy);
+            obs[8 + j*7] = other_speed - ego_speed;
         }
     }
-};
+}
 
 void c_reset(GPUDrive* env){
     env->timestep = 0;
@@ -1041,11 +1006,18 @@ void c_render(Client* client, GPUDrive* env) {
                 if(env->entities[i].valid == 1 && env->goal_reached[agent_index] == 0) {
                     DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
                     DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
-                    if(env->entities[i].nearest_car_dist != -1.0f){
-                        DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_car_start[0], env->entities[i].nearest_car_start[1], 1.0f}, RED);
-                        DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_car_end[0], env->entities[i].nearest_car_end[1], 1.0f}, RED);
-                        DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_line_start[0], env->entities[i].nearest_line_start[1],  1.0f}, GREEN);
-                        DrawLine3D((Vector3){0,0,0}, (Vector3){env->entities[i].nearest_line_end[0], env->entities[i].nearest_line_end[1], 1.0f}, GREEN);
+                    int max_obs = 2 + 7 * (env->active_agent_count - 1);
+                    float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
+                    float* agent_obs = &observations[agent_index][0];
+                
+                    // Draw relative positions of all cars this agent can see
+                    for(int obs_offset = 2; obs_offset < max_obs; obs_offset += 7) {
+                        if(agent_obs[obs_offset] != -1 && agent_obs[obs_offset + 1] != -1) {
+                            DrawLine3D((Vector3){0, 0, 0}, 
+                                    (Vector3){agent_obs[obs_offset], 
+                                    agent_obs[obs_offset + 1], 1}, 
+                                    object_color);
+                        }
                     }
                 }
             } else {
@@ -1133,6 +1105,8 @@ void c_render(Client* client, GPUDrive* env) {
     // acceleration & steering
     DrawText(TextFormat("Acceleration: %d", env->actions[env->human_agent_idx * 2]), 10, 110, 20, BLACK);
     DrawText(TextFormat("Steering: %d", env->actions[env->human_agent_idx * 2 + 1]), 10, 130, 20, BLACK);
+    DrawText(TextFormat("Grid Rows: %d", env->grid_rows), 10, 150, 20, BLACK);
+    DrawText(TextFormat("Grid Cols: %d", env->grid_cols), 10, 170, 20, BLACK);
     EndDrawing();
 }
 
@@ -1141,3 +1115,4 @@ void close_client(Client* client){
     free(client);
 }
 
+

From 307cd2c9168638973b2be8b00ba97b3deeade531 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 20 Mar 2025 15:58:36 -0500
Subject: [PATCH 054/112] wrong indexign of obs

---
 pufferlib/ocean/gpudrive/gpudrive.h | 35 +++++++++++++++++------------
 1 file changed, 21 insertions(+), 14 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 8ccaf17655..72a9e6ddfd 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -798,8 +798,9 @@ void compute_observations(GPUDrive* env) {
         obs[1] = relative_distance(ego_entity->y, ego_entity->goal_position_y);
         
         // Relative Pos of other cars
+        int obs_idx = 2;  // Start after goal distances
         for(int j = 0; j < env->active_agent_count; j++) {
-            if(j == i) continue;
+            if(j == i) continue;  // Skip self, but don't increment obs_idx
             
             int other_agent_idx = env->active_agent_indices[j];
             Entity* other_entity = &env->entities[other_agent_idx];
@@ -814,20 +815,23 @@ void compute_observations(GPUDrive* env) {
             float rel_x = dx * cos_heading + dy * sin_heading;
             float rel_y = -dx * sin_heading + dy * cos_heading;
             
-            obs[2 + j*7] = rel_x;
-            obs[3 + j*7] = rel_y;
-            obs[4 + j*7] = other_entity->width;
-            obs[5 + j*7] = other_entity->length;
+            // Store observations with correct indexing
+            obs[obs_idx] = rel_x;
+            obs[obs_idx + 1] = rel_y;
+            obs[obs_idx + 2] = other_entity->width;
+            obs[obs_idx + 3] = other_entity->length;
             
             // relative heading
             float rel_heading = normalize_heading(other_entity->heading - ego_entity->heading);
-            obs[6 + j*7] = cosf(rel_heading);
-            obs[7 + j*7] = sinf(rel_heading);
+            obs[obs_idx + 4] = cosf(rel_heading);
+            obs[obs_idx + 5] = sinf(rel_heading);
             
             // relative speed
             float ego_speed = sqrtf(ego_entity->vx * ego_entity->vx + ego_entity->vy * ego_entity->vy);
             float other_speed = sqrtf(other_entity->vx * other_entity->vx + other_entity->vy * other_entity->vy);
-            obs[8 + j*7] = other_speed - ego_speed;
+            obs[obs_idx + 6] = other_speed - ego_speed;
+            
+            obs_idx += 7;  // Move to next observation slot
         }
     }
 }
@@ -1010,14 +1014,17 @@ void c_render(Client* client, GPUDrive* env) {
                     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
                     float* agent_obs = &observations[agent_index][0];
                 
-                    // Draw relative positions of all cars this agent can see
-                    for(int obs_offset = 2; obs_offset < max_obs; obs_offset += 7) {
-                        if(agent_obs[obs_offset] != -1 && agent_obs[obs_offset + 1] != -1) {
+                    int obs_idx = 2;  // Start after goal distances
+                    for(int j = 0; j < env->active_agent_count - 1; j++) {  // -1 because we skip self
+                        if(agent_obs[obs_idx] != -1 && agent_obs[obs_idx + 1] != -1) {
+                            // Draw position
                             DrawLine3D((Vector3){0, 0, 0}, 
-                                    (Vector3){agent_obs[obs_offset], 
-                                    agent_obs[obs_offset + 1], 1}, 
-                                    object_color);
+                                    (Vector3){agent_obs[obs_idx], 
+                                            agent_obs[obs_idx + 1], 1}, 
+                                    ORANGE);
+                            
                         }
+                        obs_idx += 7;  // Move to next observation slot
                     }
                 }
             } else {

From e9a6fd97b4dfe92d0071723de07175fd7097844f Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 20 Mar 2025 18:57:01 -0500
Subject: [PATCH 055/112] obs big test

---
 pufferlib/ocean/gpudrive/gpudrive.h | 72 ++++++++++++++++++++++++-----
 1 file changed, 61 insertions(+), 11 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 72a9e6ddfd..f9da7b2029 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -67,21 +67,45 @@ static const int collision_offsets[8][2] = {
         {-1,  1}, {0,  1}, {1,  1}   // Bottom row
     };
 
-static const int vision_offsets[25][2] = {
-    // Top row (from left to right)
-    {-2, -2}, {-1, -2}, {0, -2}, {1, -2}, {2, -2},
+// static const int vision_offsets[25][2] = {
+//     // Top row (from left to right)
+//     {-2, -2}, {-1, -2}, {0, -2}, {1, -2}, {2, -2},
     
-    // Second row
-    {-2, -1}, {-1, -1}, {0, -1}, {1, -1}, {2, -1},
+//     // Second row
+//     {-2, -1}, {-1, -1}, {0, -1}, {1, -1}, {2, -1},
     
-    // Middle row (excluding center)
-    {-2, 0}, {-1, 0}, {0, 0}, {1, 0}, {2, 0},
+//     // Middle row (excluding center)
+//     {-2, 0}, {-1, 0}, {0, 0}, {1, 0}, {2, 0},
     
-    // Fourth row
-    {-2, 1}, {-1, 1}, {0, 1}, {1, 1}, {2, 1},
+//     // Fourth row
+//     {-2, 1}, {-1, 1}, {0, 1}, {1, 1}, {2, 1},
     
-    // Bottom row
-    {-2, 2}, {-1, 2}, {0, 2}, {1, 2}, {2, 2}
+//     // Bottom row
+//     {-2, 2}, {-1, 2}, {0, 2}, {1, 2}, {2, 2}
+// };
+
+static const int vision_offsets[441][2] = {
+    {-10, -10}, {-9, -10}, {-8, -10}, {-7, -10}, {-6, -10}, {-5, -10}, {-4, -10}, {-3, -10}, {-2, -10}, {-1, -10}, {0, -10}, {1, -10}, {2, -10}, {3, -10}, {4, -10}, {5, -10}, {6, -10}, {7, -10}, {8, -10}, {9, -10}, {10, -10},
+    {-10, -9}, {-9, -9}, {-8, -9}, {-7, -9}, {-6, -9}, {-5, -9}, {-4, -9}, {-3, -9}, {-2, -9}, {-1, -9}, {0, -9}, {1, -9}, {2, -9}, {3, -9}, {4, -9}, {5, -9}, {6, -9}, {7, -9}, {8, -9}, {9, -9}, {10, -9},
+    {-10, -8}, {-9, -8}, {-8, -8}, {-7, -8}, {-6, -8}, {-5, -8}, {-4, -8}, {-3, -8}, {-2, -8}, {-1, -8}, {0, -8}, {1, -8}, {2, -8}, {3, -8}, {4, -8}, {5, -8}, {6, -8}, {7, -8}, {8, -8}, {9, -8}, {10, -8},
+    {-10, -7}, {-9, -7}, {-8, -7}, {-7, -7}, {-6, -7}, {-5, -7}, {-4, -7}, {-3, -7}, {-2, -7}, {-1, -7}, {0, -7}, {1, -7}, {2, -7}, {3, -7}, {4, -7}, {5, -7}, {6, -7}, {7, -7}, {8, -7}, {9, -7}, {10, -7},
+    {-10, -6}, {-9, -6}, {-8, -6}, {-7, -6}, {-6, -6}, {-5, -6}, {-4, -6}, {-3, -6}, {-2, -6}, {-1, -6}, {0, -6}, {1, -6}, {2, -6}, {3, -6}, {4, -6}, {5, -6}, {6, -6}, {7, -6}, {8, -6}, {9, -6}, {10, -6},
+    {-10, -5}, {-9, -5}, {-8, -5}, {-7, -5}, {-6, -5}, {-5, -5}, {-4, -5}, {-3, -5}, {-2, -5}, {-1, -5}, {0, -5}, {1, -5}, {2, -5}, {3, -5}, {4, -5}, {5, -5}, {6, -5}, {7, -5}, {8, -5}, {9, -5}, {10, -5},
+    {-10, -4}, {-9, -4}, {-8, -4}, {-7, -4}, {-6, -4}, {-5, -4}, {-4, -4}, {-3, -4}, {-2, -4}, {-1, -4}, {0, -4}, {1, -4}, {2, -4}, {3, -4}, {4, -4}, {5, -4}, {6, -4}, {7, -4}, {8, -4}, {9, -4}, {10, -4},
+    {-10, -3}, {-9, -3}, {-8, -3}, {-7, -3}, {-6, -3}, {-5, -3}, {-4, -3}, {-3, -3}, {-2, -3}, {-1, -3}, {0, -3}, {1, -3}, {2, -3}, {3, -3}, {4, -3}, {5, -3}, {6, -3}, {7, -3}, {8, -3}, {9, -3}, {10, -3},
+    {-10, -2}, {-9, -2}, {-8, -2}, {-7, -2}, {-6, -2}, {-5, -2}, {-4, -2}, {-3, -2}, {-2, -2}, {-1, -2}, {0, -2}, {1, -2}, {2, -2}, {3, -2}, {4, -2}, {5, -2}, {6, -2}, {7, -2}, {8, -2}, {9, -2}, {10, -2},
+    {-10, -1}, {-9, -1}, {-8, -1}, {-7, -1}, {-6, -1}, {-5, -1}, {-4, -1}, {-3, -1}, {-2, -1}, {-1, -1}, {0, -1}, {1, -1}, {2, -1}, {3, -1}, {4, -1}, {5, -1}, {6, -1}, {7, -1}, {8, -1}, {9, -1}, {10, -1},
+    {-10, 0}, {-9, 0}, {-8, 0}, {-7, 0}, {-6, 0}, {-5, 0}, {-4, 0}, {-3, 0}, {-2, 0}, {-1, 0}, {0, 0}, {1, 0}, {2, 0}, {3, 0}, {4, 0}, {5, 0}, {6, 0}, {7, 0}, {8, 0}, {9, 0}, {10, 0},
+    {-10, 1}, {-9, 1}, {-8, 1}, {-7, 1}, {-6, 1}, {-5, 1}, {-4, 1}, {-3, 1}, {-2, 1}, {-1, 1}, {0, 1}, {1, 1}, {2, 1}, {3, 1}, {4, 1}, {5, 1}, {6, 1}, {7, 1}, {8, 1}, {9, 1}, {10, 1},
+    {-10, 2}, {-9, 2}, {-8, 2}, {-7, 2}, {-6, 2}, {-5, 2}, {-4, 2}, {-3, 2}, {-2, 2}, {-1, 2}, {0, 2}, {1, 2}, {2, 2}, {3, 2}, {4, 2}, {5, 2}, {6, 2}, {7, 2}, {8, 2}, {9, 2}, {10, 2},
+    {-10, 3}, {-9, 3}, {-8, 3}, {-7, 3}, {-6, 3}, {-5, 3}, {-4, 3}, {-3, 3}, {-2, 3}, {-1, 3}, {0, 3}, {1, 3}, {2, 3}, {3, 3}, {4, 3}, {5, 3}, {6, 3}, {7, 3}, {8, 3}, {9, 3}, {10, 3},
+    {-10, 4}, {-9, 4}, {-8, 4}, {-7, 4}, {-6, 4}, {-5, 4}, {-4, 4}, {-3, 4}, {-2, 4}, {-1, 4}, {0, 4}, {1, 4}, {2, 4}, {3, 4}, {4, 4}, {5, 4}, {6, 4}, {7, 4}, {8, 4}, {9, 4}, {10, 4},
+    {-10, 5}, {-9, 5}, {-8, 5}, {-7, 5}, {-6, 5}, {-5, 5}, {-4, 5}, {-3, 5}, {-2, 5}, {-1, 5}, {0, 5}, {1, 5}, {2, 5}, {3, 5}, {4, 5}, {5, 5}, {6, 5}, {7, 5}, {8, 5}, {9, 5}, {10, 5},
+    {-10, 6}, {-9, 6}, {-8, 6}, {-7, 6}, {-6, 6}, {-5, 6}, {-4, 6}, {-3, 6}, {-2, 6}, {-1, 6}, {0, 6}, {1, 6}, {2, 6}, {3, 6}, {4, 6}, {5, 6}, {6, 6}, {7, 6}, {8, 6}, {9, 6}, {10, 6},
+    {-10, 7}, {-9, 7}, {-8, 7}, {-7, 7}, {-6, 7}, {-5, 7}, {-4, 7}, {-3, 7}, {-2, 7}, {-1, 7}, {0, 7}, {1, 7}, {2, 7}, {3, 7}, {4, 7}, {5, 7}, {6, 7}, {7, 7}, {8, 7}, {9, 7}, {10, 7},
+    {-10, 8}, {-9, 8}, {-8, 8}, {-7, 8}, {-6, 8}, {-5, 8}, {-4, 8}, {-3, 8}, {-2, 8}, {-1, 8}, {0, 8}, {1, 8}, {2, 8}, {3, 8}, {4, 8}, {5, 8}, {6, 8}, {7, 8}, {8, 8}, {9, 8}, {10, 8},
+    {-10, 9}, {-9, 9}, {-8, 9}, {-7, 9}, {-6, 9}, {-5, 9}, {-4, 9}, {-3, 9}, {-2, 9}, {-1, 9}, {0, 9}, {1, 9}, {2, 9}, {3, 9}, {4, 9}, {5, 9}, {6, 9}, {7, 9}, {8, 9}, {9, 9}, {10, 9},
+    {-10, 10}, {-9, 10}, {-8, 10}, {-7, 10}, {-6, 10}, {-5, 10}, {-4, 10}, {-3, 10}, {-2, 10}, {-1, 10}, {0, 10}, {1, 10}, {2, 10}, {3, 10}, {4, 10}, {5, 10}, {6, 10}, {7, 10}, {8, 10}, {9, 10}, {10, 10}
 };
 #define LOG_BUFFER_SIZE 1024
 
@@ -833,6 +857,32 @@ void compute_observations(GPUDrive* env) {
             
             obs_idx += 7;  // Move to next observation slot
         }
+
+        // map observations
+        for(int j = 0; j < env->active_agent_count; j++){
+            if(j == i) continue;
+            int entity_list[MAX_ENTITIES_PER_CELL * 441];  // Array big enough for all neighboring cells
+            memset(entity_list, -1, MAX_ENTITIES_PER_CELL * 441 * sizeof(int));
+            int list_size = checkNeighbors(env, ego_entity->x, ego_entity->y, entity_list, MAX_ENTITIES_PER_CELL * 441, vision_offsets, 441);
+            int vehicle_count = 0;
+            int road_object_count = 0;
+            int inner_vehicle_count = 0;
+            for(int k = 0; k < list_size; k++){
+                Entity* entity = &env->entities[entity_list[k]];
+                if(entity->type == VEHICLE){
+                    vehicle_count++;
+                }
+                else if(entity->type == ROAD_EDGE){
+                    road_object_count++;
+                    for(int l =0; l< entity->array_size; l++){
+                        if(entity->traj_x[l]){
+                            inner_vehicle_count++;
+                        }
+                    }
+                }
+            }
+            // printf("Vehicle count: %d, Road object count: %d, Inner vehicle count: %d\n", vehicle_count, road_object_count, inner_vehicle_count);
+        }
     }
 }
 

From 99cc80e6d59eb674f4cf62f2fe237089dc11d9e7 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 20 Mar 2025 19:33:20 -0500
Subject: [PATCH 056/112] 9x9 obs

---
 pufferlib/ocean/gpudrive/gpudrive.h | 39 ++++++++++-------------------
 1 file changed, 13 insertions(+), 26 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index f9da7b2029..5158d354db 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -83,29 +83,16 @@ static const int collision_offsets[8][2] = {
 //     // Bottom row
 //     {-2, 2}, {-1, 2}, {0, 2}, {1, 2}, {2, 2}
 // };
-
-static const int vision_offsets[441][2] = {
-    {-10, -10}, {-9, -10}, {-8, -10}, {-7, -10}, {-6, -10}, {-5, -10}, {-4, -10}, {-3, -10}, {-2, -10}, {-1, -10}, {0, -10}, {1, -10}, {2, -10}, {3, -10}, {4, -10}, {5, -10}, {6, -10}, {7, -10}, {8, -10}, {9, -10}, {10, -10},
-    {-10, -9}, {-9, -9}, {-8, -9}, {-7, -9}, {-6, -9}, {-5, -9}, {-4, -9}, {-3, -9}, {-2, -9}, {-1, -9}, {0, -9}, {1, -9}, {2, -9}, {3, -9}, {4, -9}, {5, -9}, {6, -9}, {7, -9}, {8, -9}, {9, -9}, {10, -9},
-    {-10, -8}, {-9, -8}, {-8, -8}, {-7, -8}, {-6, -8}, {-5, -8}, {-4, -8}, {-3, -8}, {-2, -8}, {-1, -8}, {0, -8}, {1, -8}, {2, -8}, {3, -8}, {4, -8}, {5, -8}, {6, -8}, {7, -8}, {8, -8}, {9, -8}, {10, -8},
-    {-10, -7}, {-9, -7}, {-8, -7}, {-7, -7}, {-6, -7}, {-5, -7}, {-4, -7}, {-3, -7}, {-2, -7}, {-1, -7}, {0, -7}, {1, -7}, {2, -7}, {3, -7}, {4, -7}, {5, -7}, {6, -7}, {7, -7}, {8, -7}, {9, -7}, {10, -7},
-    {-10, -6}, {-9, -6}, {-8, -6}, {-7, -6}, {-6, -6}, {-5, -6}, {-4, -6}, {-3, -6}, {-2, -6}, {-1, -6}, {0, -6}, {1, -6}, {2, -6}, {3, -6}, {4, -6}, {5, -6}, {6, -6}, {7, -6}, {8, -6}, {9, -6}, {10, -6},
-    {-10, -5}, {-9, -5}, {-8, -5}, {-7, -5}, {-6, -5}, {-5, -5}, {-4, -5}, {-3, -5}, {-2, -5}, {-1, -5}, {0, -5}, {1, -5}, {2, -5}, {3, -5}, {4, -5}, {5, -5}, {6, -5}, {7, -5}, {8, -5}, {9, -5}, {10, -5},
-    {-10, -4}, {-9, -4}, {-8, -4}, {-7, -4}, {-6, -4}, {-5, -4}, {-4, -4}, {-3, -4}, {-2, -4}, {-1, -4}, {0, -4}, {1, -4}, {2, -4}, {3, -4}, {4, -4}, {5, -4}, {6, -4}, {7, -4}, {8, -4}, {9, -4}, {10, -4},
-    {-10, -3}, {-9, -3}, {-8, -3}, {-7, -3}, {-6, -3}, {-5, -3}, {-4, -3}, {-3, -3}, {-2, -3}, {-1, -3}, {0, -3}, {1, -3}, {2, -3}, {3, -3}, {4, -3}, {5, -3}, {6, -3}, {7, -3}, {8, -3}, {9, -3}, {10, -3},
-    {-10, -2}, {-9, -2}, {-8, -2}, {-7, -2}, {-6, -2}, {-5, -2}, {-4, -2}, {-3, -2}, {-2, -2}, {-1, -2}, {0, -2}, {1, -2}, {2, -2}, {3, -2}, {4, -2}, {5, -2}, {6, -2}, {7, -2}, {8, -2}, {9, -2}, {10, -2},
-    {-10, -1}, {-9, -1}, {-8, -1}, {-7, -1}, {-6, -1}, {-5, -1}, {-4, -1}, {-3, -1}, {-2, -1}, {-1, -1}, {0, -1}, {1, -1}, {2, -1}, {3, -1}, {4, -1}, {5, -1}, {6, -1}, {7, -1}, {8, -1}, {9, -1}, {10, -1},
-    {-10, 0}, {-9, 0}, {-8, 0}, {-7, 0}, {-6, 0}, {-5, 0}, {-4, 0}, {-3, 0}, {-2, 0}, {-1, 0}, {0, 0}, {1, 0}, {2, 0}, {3, 0}, {4, 0}, {5, 0}, {6, 0}, {7, 0}, {8, 0}, {9, 0}, {10, 0},
-    {-10, 1}, {-9, 1}, {-8, 1}, {-7, 1}, {-6, 1}, {-5, 1}, {-4, 1}, {-3, 1}, {-2, 1}, {-1, 1}, {0, 1}, {1, 1}, {2, 1}, {3, 1}, {4, 1}, {5, 1}, {6, 1}, {7, 1}, {8, 1}, {9, 1}, {10, 1},
-    {-10, 2}, {-9, 2}, {-8, 2}, {-7, 2}, {-6, 2}, {-5, 2}, {-4, 2}, {-3, 2}, {-2, 2}, {-1, 2}, {0, 2}, {1, 2}, {2, 2}, {3, 2}, {4, 2}, {5, 2}, {6, 2}, {7, 2}, {8, 2}, {9, 2}, {10, 2},
-    {-10, 3}, {-9, 3}, {-8, 3}, {-7, 3}, {-6, 3}, {-5, 3}, {-4, 3}, {-3, 3}, {-2, 3}, {-1, 3}, {0, 3}, {1, 3}, {2, 3}, {3, 3}, {4, 3}, {5, 3}, {6, 3}, {7, 3}, {8, 3}, {9, 3}, {10, 3},
-    {-10, 4}, {-9, 4}, {-8, 4}, {-7, 4}, {-6, 4}, {-5, 4}, {-4, 4}, {-3, 4}, {-2, 4}, {-1, 4}, {0, 4}, {1, 4}, {2, 4}, {3, 4}, {4, 4}, {5, 4}, {6, 4}, {7, 4}, {8, 4}, {9, 4}, {10, 4},
-    {-10, 5}, {-9, 5}, {-8, 5}, {-7, 5}, {-6, 5}, {-5, 5}, {-4, 5}, {-3, 5}, {-2, 5}, {-1, 5}, {0, 5}, {1, 5}, {2, 5}, {3, 5}, {4, 5}, {5, 5}, {6, 5}, {7, 5}, {8, 5}, {9, 5}, {10, 5},
-    {-10, 6}, {-9, 6}, {-8, 6}, {-7, 6}, {-6, 6}, {-5, 6}, {-4, 6}, {-3, 6}, {-2, 6}, {-1, 6}, {0, 6}, {1, 6}, {2, 6}, {3, 6}, {4, 6}, {5, 6}, {6, 6}, {7, 6}, {8, 6}, {9, 6}, {10, 6},
-    {-10, 7}, {-9, 7}, {-8, 7}, {-7, 7}, {-6, 7}, {-5, 7}, {-4, 7}, {-3, 7}, {-2, 7}, {-1, 7}, {0, 7}, {1, 7}, {2, 7}, {3, 7}, {4, 7}, {5, 7}, {6, 7}, {7, 7}, {8, 7}, {9, 7}, {10, 7},
-    {-10, 8}, {-9, 8}, {-8, 8}, {-7, 8}, {-6, 8}, {-5, 8}, {-4, 8}, {-3, 8}, {-2, 8}, {-1, 8}, {0, 8}, {1, 8}, {2, 8}, {3, 8}, {4, 8}, {5, 8}, {6, 8}, {7, 8}, {8, 8}, {9, 8}, {10, 8},
-    {-10, 9}, {-9, 9}, {-8, 9}, {-7, 9}, {-6, 9}, {-5, 9}, {-4, 9}, {-3, 9}, {-2, 9}, {-1, 9}, {0, 9}, {1, 9}, {2, 9}, {3, 9}, {4, 9}, {5, 9}, {6, 9}, {7, 9}, {8, 9}, {9, 9}, {10, 9},
-    {-10, 10}, {-9, 10}, {-8, 10}, {-7, 10}, {-6, 10}, {-5, 10}, {-4, 10}, {-3, 10}, {-2, 10}, {-1, 10}, {0, 10}, {1, 10}, {2, 10}, {3, 10}, {4, 10}, {5, 10}, {6, 10}, {7, 10}, {8, 10}, {9, 10}, {10, 10}
+static const int vision_offsets[81][2] = {
+    {-4, -4}, {-3, -4}, {-2, -4}, {-1, -4}, {0, -4}, {1, -4}, {2, -4}, {3, -4}, {4, -4},
+    {-4, -3}, {-3, -3}, {-2, -3}, {-1, -3}, {0, -3}, {1, -3}, {2, -3}, {3, -3}, {4, -3},
+    {-4, -2}, {-3, -2}, {-2, -2}, {-1, -2}, {0, -2}, {1, -2}, {2, -2}, {3, -2}, {4, -2},
+    {-4, -1}, {-3, -1}, {-2, -1}, {-1, -1}, {0, -1}, {1, -1}, {2, -1}, {3, -1}, {4, -1},
+    {-4,  0}, {-3,  0}, {-2,  0}, {-1,  0}, {0,  0}, {1,  0}, {2,  0}, {3,  0}, {4,  0},
+    {-4,  1}, {-3,  1}, {-2,  1}, {-1,  1}, {0,  1}, {1,  1}, {2,  1}, {3,  1}, {4,  1},
+    {-4,  2}, {-3,  2}, {-2,  2}, {-1,  2}, {0,  2}, {1,  2}, {2,  2}, {3,  2}, {4,  2},
+    {-4,  3}, {-3,  3}, {-2,  3}, {-1,  3}, {0,  3}, {1,  3}, {2,  3}, {3,  3}, {4,  3},
+    {-4,  4}, {-3,  4}, {-2,  4}, {-1,  4}, {0,  4}, {1,  4}, {2,  4}, {3,  4}, {4,  4}
 };
 #define LOG_BUFFER_SIZE 1024
 
@@ -861,9 +848,9 @@ void compute_observations(GPUDrive* env) {
         // map observations
         for(int j = 0; j < env->active_agent_count; j++){
             if(j == i) continue;
-            int entity_list[MAX_ENTITIES_PER_CELL * 441];  // Array big enough for all neighboring cells
-            memset(entity_list, -1, MAX_ENTITIES_PER_CELL * 441 * sizeof(int));
-            int list_size = checkNeighbors(env, ego_entity->x, ego_entity->y, entity_list, MAX_ENTITIES_PER_CELL * 441, vision_offsets, 441);
+            int entity_list[MAX_ENTITIES_PER_CELL * 81];  // Array big enough for all neighboring cells
+            memset(entity_list, -1, MAX_ENTITIES_PER_CELL * 81 * sizeof(int));
+            int list_size = checkNeighbors(env, ego_entity->x, ego_entity->y, entity_list, MAX_ENTITIES_PER_CELL * 81, vision_offsets, 81);
             int vehicle_count = 0;
             int road_object_count = 0;
             int inner_vehicle_count = 0;

From 7a4e7a6f0a65040f09aa010ec8a45bc24110c708 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 20 Mar 2025 20:07:59 -0500
Subject: [PATCH 057/112] 200 max map obs

---
 pufferlib/ocean/gpudrive/gpudrive.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 5158d354db..488c62d272 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -848,9 +848,10 @@ void compute_observations(GPUDrive* env) {
         // map observations
         for(int j = 0; j < env->active_agent_count; j++){
             if(j == i) continue;
-            int entity_list[MAX_ENTITIES_PER_CELL * 81];  // Array big enough for all neighboring cells
-            memset(entity_list, -1, MAX_ENTITIES_PER_CELL * 81 * sizeof(int));
-            int list_size = checkNeighbors(env, ego_entity->x, ego_entity->y, entity_list, MAX_ENTITIES_PER_CELL * 81, vision_offsets, 81);
+            const int map_obs_size = 200;
+            int entity_list[map_obs_size];  // Array big enough for all neighboring cells
+            memset(entity_list, -1, map_obs_size * sizeof(int));
+            int list_size = checkNeighbors(env, ego_entity->x, ego_entity->y, entity_list, map_obs_size, vision_offsets, 81);
             int vehicle_count = 0;
             int road_object_count = 0;
             int inner_vehicle_count = 0;

From 76e3783c11e0d348b4240a53a0616155a6d177ad Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 20 Mar 2025 20:17:19 -0500
Subject: [PATCH 058/112] big obs is back baby

---
 pufferlib/ocean/gpudrive/gpudrive.h | 29 +++++++++++++++++++++++++++--
 1 file changed, 27 insertions(+), 2 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 488c62d272..9f586ba281 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -83,7 +83,8 @@ static const int collision_offsets[8][2] = {
 //     // Bottom row
 //     {-2, 2}, {-1, 2}, {0, 2}, {1, 2}, {2, 2}
 // };
-static const int vision_offsets[81][2] = {
+
+/*static const int vision_offsets[81][2] = {
     {-4, -4}, {-3, -4}, {-2, -4}, {-1, -4}, {0, -4}, {1, -4}, {2, -4}, {3, -4}, {4, -4},
     {-4, -3}, {-3, -3}, {-2, -3}, {-1, -3}, {0, -3}, {1, -3}, {2, -3}, {3, -3}, {4, -3},
     {-4, -2}, {-3, -2}, {-2, -2}, {-1, -2}, {0, -2}, {1, -2}, {2, -2}, {3, -2}, {4, -2},
@@ -94,6 +95,30 @@ static const int vision_offsets[81][2] = {
     {-4,  3}, {-3,  3}, {-2,  3}, {-1,  3}, {0,  3}, {1,  3}, {2,  3}, {3,  3}, {4,  3},
     {-4,  4}, {-3,  4}, {-2,  4}, {-1,  4}, {0,  4}, {1,  4}, {2,  4}, {3,  4}, {4,  4}
 };
+*/
+static const int vision_offsets[441][2] = {
+    {-10, -10}, {-9, -10}, {-8, -10}, {-7, -10}, {-6, -10}, {-5, -10}, {-4, -10}, {-3, -10}, {-2, -10}, {-1, -10}, {0, -10}, {1, -10}, {2, -10}, {3, -10}, {4, -10}, {5, -10}, {6, -10}, {7, -10}, {8, -10}, {9, -10}, {10, -10},
+    {-10, -9}, {-9, -9}, {-8, -9}, {-7, -9}, {-6, -9}, {-5, -9}, {-4, -9}, {-3, -9}, {-2, -9}, {-1, -9}, {0, -9}, {1, -9}, {2, -9}, {3, -9}, {4, -9}, {5, -9}, {6, -9}, {7, -9}, {8, -9}, {9, -9}, {10, -9},
+    {-10, -8}, {-9, -8}, {-8, -8}, {-7, -8}, {-6, -8}, {-5, -8}, {-4, -8}, {-3, -8}, {-2, -8}, {-1, -8}, {0, -8}, {1, -8}, {2, -8}, {3, -8}, {4, -8}, {5, -8}, {6, -8}, {7, -8}, {8, -8}, {9, -8}, {10, -8},
+    {-10, -7}, {-9, -7}, {-8, -7}, {-7, -7}, {-6, -7}, {-5, -7}, {-4, -7}, {-3, -7}, {-2, -7}, {-1, -7}, {0, -7}, {1, -7}, {2, -7}, {3, -7}, {4, -7}, {5, -7}, {6, -7}, {7, -7}, {8, -7}, {9, -7}, {10, -7},
+    {-10, -6}, {-9, -6}, {-8, -6}, {-7, -6}, {-6, -6}, {-5, -6}, {-4, -6}, {-3, -6}, {-2, -6}, {-1, -6}, {0, -6}, {1, -6}, {2, -6}, {3, -6}, {4, -6}, {5, -6}, {6, -6}, {7, -6}, {8, -6}, {9, -6}, {10, -6},
+    {-10, -5}, {-9, -5}, {-8, -5}, {-7, -5}, {-6, -5}, {-5, -5}, {-4, -5}, {-3, -5}, {-2, -5}, {-1, -5}, {0, -5}, {1, -5}, {2, -5}, {3, -5}, {4, -5}, {5, -5}, {6, -5}, {7, -5}, {8, -5}, {9, -5}, {10, -5},
+    {-10, -4}, {-9, -4}, {-8, -4}, {-7, -4}, {-6, -4}, {-5, -4}, {-4, -4}, {-3, -4}, {-2, -4}, {-1, -4}, {0, -4}, {1, -4}, {2, -4}, {3, -4}, {4, -4}, {5, -4}, {6, -4}, {7, -4}, {8, -4}, {9, -4}, {10, -4},
+    {-10, -3}, {-9, -3}, {-8, -3}, {-7, -3}, {-6, -3}, {-5, -3}, {-4, -3}, {-3, -3}, {-2, -3}, {-1, -3}, {0, -3}, {1, -3}, {2, -3}, {3, -3}, {4, -3}, {5, -3}, {6, -3}, {7, -3}, {8, -3}, {9, -3}, {10, -3},
+    {-10, -2}, {-9, -2}, {-8, -2}, {-7, -2}, {-6, -2}, {-5, -2}, {-4, -2}, {-3, -2}, {-2, -2}, {-1, -2}, {0, -2}, {1, -2}, {2, -2}, {3, -2}, {4, -2}, {5, -2}, {6, -2}, {7, -2}, {8, -2}, {9, -2}, {10, -2},
+    {-10, -1}, {-9, -1}, {-8, -1}, {-7, -1}, {-6, -1}, {-5, -1}, {-4, -1}, {-3, -1}, {-2, -1}, {-1, -1}, {0, -1}, {1, -1}, {2, -1}, {3, -1}, {4, -1}, {5, -1}, {6, -1}, {7, -1}, {8, -1}, {9, -1}, {10, -1},
+    {-10, 0}, {-9, 0}, {-8, 0}, {-7, 0}, {-6, 0}, {-5, 0}, {-4, 0}, {-3, 0}, {-2, 0}, {-1, 0}, {0, 0}, {1, 0}, {2, 0}, {3, 0}, {4, 0}, {5, 0}, {6, 0}, {7, 0}, {8, 0}, {9, 0}, {10, 0},
+    {-10, 1}, {-9, 1}, {-8, 1}, {-7, 1}, {-6, 1}, {-5, 1}, {-4, 1}, {-3, 1}, {-2, 1}, {-1, 1}, {0, 1}, {1, 1}, {2, 1}, {3, 1}, {4, 1}, {5, 1}, {6, 1}, {7, 1}, {8, 1}, {9, 1}, {10, 1},
+    {-10, 2}, {-9, 2}, {-8, 2}, {-7, 2}, {-6, 2}, {-5, 2}, {-4, 2}, {-3, 2}, {-2, 2}, {-1, 2}, {0, 2}, {1, 2}, {2, 2}, {3, 2}, {4, 2}, {5, 2}, {6, 2}, {7, 2}, {8, 2}, {9, 2}, {10, 2},
+    {-10, 3}, {-9, 3}, {-8, 3}, {-7, 3}, {-6, 3}, {-5, 3}, {-4, 3}, {-3, 3}, {-2, 3}, {-1, 3}, {0, 3}, {1, 3}, {2, 3}, {3, 3}, {4, 3}, {5, 3}, {6, 3}, {7, 3}, {8, 3}, {9, 3}, {10, 3},
+    {-10, 4}, {-9, 4}, {-8, 4}, {-7, 4}, {-6, 4}, {-5, 4}, {-4, 4}, {-3, 4}, {-2, 4}, {-1, 4}, {0, 4}, {1, 4}, {2, 4}, {3, 4}, {4, 4}, {5, 4}, {6, 4}, {7, 4}, {8, 4}, {9, 4}, {10, 4},
+    {-10, 5}, {-9, 5}, {-8, 5}, {-7, 5}, {-6, 5}, {-5, 5}, {-4, 5}, {-3, 5}, {-2, 5}, {-1, 5}, {0, 5}, {1, 5}, {2, 5}, {3, 5}, {4, 5}, {5, 5}, {6, 5}, {7, 5}, {8, 5}, {9, 5}, {10, 5},
+    {-10, 6}, {-9, 6}, {-8, 6}, {-7, 6}, {-6, 6}, {-5, 6}, {-4, 6}, {-3, 6}, {-2, 6}, {-1, 6}, {0, 6}, {1, 6}, {2, 6}, {3, 6}, {4, 6}, {5, 6}, {6, 6}, {7, 6}, {8, 6}, {9, 6}, {10, 6},
+    {-10, 7}, {-9, 7}, {-8, 7}, {-7, 7}, {-6, 7}, {-5, 7}, {-4, 7}, {-3, 7}, {-2, 7}, {-1, 7}, {0, 7}, {1, 7}, {2, 7}, {3, 7}, {4, 7}, {5, 7}, {6, 7}, {7, 7}, {8, 7}, {9, 7}, {10, 7},
+    {-10, 8}, {-9, 8}, {-8, 8}, {-7, 8}, {-6, 8}, {-5, 8}, {-4, 8}, {-3, 8}, {-2, 8}, {-1, 8}, {0, 8}, {1, 8}, {2, 8}, {3, 8}, {4, 8}, {5, 8}, {6, 8}, {7, 8}, {8, 8}, {9, 8}, {10, 8},
+    {-10, 9}, {-9, 9}, {-8, 9}, {-7, 9}, {-6, 9}, {-5, 9}, {-4, 9}, {-3, 9}, {-2, 9}, {-1, 9}, {0, 9}, {1, 9}, {2, 9}, {3, 9}, {4, 9}, {5, 9}, {6, 9}, {7, 9}, {8, 9}, {9, 9}, {10, 9},
+    {-10, 10}, {-9, 10}, {-8, 10}, {-7, 10}, {-6, 10}, {-5, 10}, {-4, 10}, {-3, 10}, {-2, 10}, {-1, 10}, {0, 10}, {1, 10}, {2, 10}, {3, 10}, {4, 10}, {5, 10}, {6, 10}, {7, 10}, {8, 10}, {9, 10}, {10, 10}
+};
 #define LOG_BUFFER_SIZE 1024
 
 typedef struct Log Log;
@@ -851,7 +876,7 @@ void compute_observations(GPUDrive* env) {
             const int map_obs_size = 200;
             int entity_list[map_obs_size];  // Array big enough for all neighboring cells
             memset(entity_list, -1, map_obs_size * sizeof(int));
-            int list_size = checkNeighbors(env, ego_entity->x, ego_entity->y, entity_list, map_obs_size, vision_offsets, 81);
+            int list_size = checkNeighbors(env, ego_entity->x, ego_entity->y, entity_list, map_obs_size, vision_offsets, 441);
             int vehicle_count = 0;
             int road_object_count = 0;
             int inner_vehicle_count = 0;

From 2945cde300766e543011c36896eb02f0fd96048f Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Fri, 21 Mar 2025 09:06:33 -0500
Subject: [PATCH 059/112] bigger obs

---
 pufferlib/ocean/gpudrive/gpudrive.h | 121 +++++++++++++++++++++-------
 1 file changed, 93 insertions(+), 28 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 9f586ba281..58d2275775 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -513,7 +513,7 @@ void free_initialized(GPUDrive* env){
 
 void allocate(GPUDrive* env){
     init(env);
-    int max_obs = 2 + 4 * 25 * MAX_ENTITIES_PER_CELL;
+    int max_obs = 2 + 7 * (env->active_agent_count - 1) + 200 * 7;
     env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
     env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
@@ -821,14 +821,15 @@ void collision_check(GPUDrive* env, int agent_idx) {
 }
 
 void compute_observations(GPUDrive* env) {
-    int max_obs = 2 + 7 * (env->active_agent_count - 1);
+    int max_obs = 2 + 7 * (env->active_agent_count - 1) + 200 * 7;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     memset(observations, -1, env->active_agent_count * max_obs * sizeof(float));
     
     for(int i = 0; i < env->active_agent_count; i++) {
         float* obs = &observations[i][0];
         Entity* ego_entity = &env->entities[env->active_agent_indices[i]];
-        
+        float cos_heading = cosf(ego_entity->heading);
+        float sin_heading = sinf(ego_entity->heading);
         // Set goal distances
         obs[0] = relative_distance(ego_entity->x, ego_entity->goal_position_x);
         obs[1] = relative_distance(ego_entity->y, ego_entity->goal_position_y);
@@ -846,8 +847,6 @@ void compute_observations(GPUDrive* env) {
             float dy = other_entity->y - ego_entity->y;
             
             // Rotate to ego vehicle's frame
-            float cos_heading = cosf(ego_entity->heading);
-            float sin_heading = sinf(ego_entity->heading);
             float rel_x = dx * cos_heading + dy * sin_heading;
             float rel_y = -dx * sin_heading + dy * cos_heading;
             
@@ -877,24 +876,56 @@ void compute_observations(GPUDrive* env) {
             int entity_list[map_obs_size];  // Array big enough for all neighboring cells
             memset(entity_list, -1, map_obs_size * sizeof(int));
             int list_size = checkNeighbors(env, ego_entity->x, ego_entity->y, entity_list, map_obs_size, vision_offsets, 441);
-            int vehicle_count = 0;
-            int road_object_count = 0;
-            int inner_vehicle_count = 0;
-            for(int k = 0; k < list_size; k++){
+            int entity_count = 0;
+            for(int k = 0; k < list_size && entity_count < 200; k++){
                 Entity* entity = &env->entities[entity_list[k]];
                 if(entity->type == VEHICLE){
-                    vehicle_count++;
+                    float rel_x_start = entity->x - ego_entity->x;
+                    float rel_y_start = entity->y - ego_entity->y;
+                    float rel_x = rel_x_start * cos_heading + rel_y_start * sin_heading;
+                    float rel_y = -rel_x_start * sin_heading + rel_y_start * cos_heading;
+                    float rel_distance = sqrtf(rel_x * rel_x + rel_y * rel_y);
+                    if(rel_distance > 100.0f) continue;
+                    float rel_heading = normalize_heading(entity->heading - ego_entity->heading); 
+                    obs[obs_idx] = rel_x;
+                    obs[obs_idx + 1] = rel_y;
+                    obs[obs_idx + 2] = entity->width;
+                    obs[obs_idx + 3] = entity->length;
+                    obs[obs_idx + 4] = cosf(rel_heading);
+                    obs[obs_idx + 5] = sinf(rel_heading);
+                    obs[obs_idx + 6] = entity->type;
+                    obs_idx += 7;
+                    entity_count++;
                 }
                 else if(entity->type == ROAD_EDGE){
-                    road_object_count++;
-                    for(int l =0; l< entity->array_size; l++){
+                    for(int l =0; l< entity->array_size - 1; l++){
                         if(entity->traj_x[l]){
-                            inner_vehicle_count++;
+                            float start[2] = {entity->traj_x[l], entity->traj_y[l]};
+                            float end[2] = {entity->traj_x[l+1], entity->traj_y[l+1]};
+                            float rel_x_start = start[0] - ego_entity->x;
+                            float rel_y_start = start[1] - ego_entity->y;
+                            float rel_x_end = end[0] - ego_entity->x;
+                            float rel_y_end = end[1] - ego_entity->y;
+                            float x_start = rel_x_start * cos_heading + rel_y_start * sin_heading;
+                            float y_start = -rel_x_start * sin_heading + rel_y_start * cos_heading;
+                            float x_end = rel_x_end * cos_heading + rel_y_end * sin_heading;
+                            float y_end = -rel_x_end * sin_heading + rel_y_end * cos_heading;
+
+                            float rel_heading = normalize_heading(entity->heading - ego_entity->heading); 
+                            obs[obs_idx] = x_start;
+                            obs[obs_idx + 1] = y_start;
+                            obs[obs_idx + 2] = x_end;
+                            obs[obs_idx + 3] = y_end;
+                            obs[obs_idx + 4] = cosf(rel_heading);
+                            obs[obs_idx + 5] = sinf(rel_heading);
+                            obs[obs_idx + 6] = entity->type;
+                            obs_idx += 7;
+                            entity_count++;
                         }
                     }
                 }
             }
-            // printf("Vehicle count: %d, Road object count: %d, Inner vehicle count: %d\n", vehicle_count, road_object_count, inner_vehicle_count);
+            // printf("Entity count: %d\n", entity_count);
         }
     }
 }
@@ -1073,22 +1104,56 @@ void c_render(Client* client, GPUDrive* env) {
                 if(env->entities[i].valid == 1 && env->goal_reached[agent_index] == 0) {
                     DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
                     DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
-                    int max_obs = 2 + 7 * (env->active_agent_count - 1);
-                    float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
-                    float* agent_obs = &observations[agent_index][0];
-                
-                    int obs_idx = 2;  // Start after goal distances
-                    for(int j = 0; j < env->active_agent_count - 1; j++) {  // -1 because we skip self
-                        if(agent_obs[obs_idx] != -1 && agent_obs[obs_idx + 1] != -1) {
-                            // Draw position
-                            DrawLine3D((Vector3){0, 0, 0}, 
-                                    (Vector3){agent_obs[obs_idx], 
-                                            agent_obs[obs_idx + 1], 1}, 
-                                    ORANGE);
-                            
+                    if( agent_index == env->human_agent_idx){
+                        int max_obs = 2 + 7 * (env->active_agent_count - 1) + 200 * 7;
+                        float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
+                        float* agent_obs = &observations[agent_index][0];
+                    
+                        // First draw other agent observations
+                        int obs_idx = 2;  // Start after goal distances
+                        for(int j = 0; j < env->active_agent_count - 1; j++) {  // -1 because we skip self
+                            if(agent_obs[obs_idx] != -1 && agent_obs[obs_idx + 1] != -1) {
+                                // Draw position of other agents
+                                DrawLine3D((Vector3){0, 0, 0}, 
+                                        (Vector3){agent_obs[obs_idx], 
+                                                agent_obs[obs_idx + 1], 1}, 
+                                        ORANGE);
+                            }
+                            obs_idx += 7;  // Move to next agent observation (7 values per agent)
+                        }
+
+                        // Then draw map observations
+                        int map_start_idx = 2 + 7 * (env->active_agent_count - 1);  // Start after agent observations
+                        for(int k = 0; k < 200; k++) {  // Loop through potential map entities
+                            int entity_idx = map_start_idx + k * 7;
+                            if(agent_obs[entity_idx] != -1 && agent_obs[entity_idx + 1] != -1) {
+                                Color lineColor = BLUE;  // Default color
+                                int entity_type = (int)agent_obs[entity_idx + 6];
+
+                                // Choose color based on entity type
+                                if(entity_type == ROAD_EDGE) {
+                                    printf("Road edge\n");
+                                    printf("agent_obs[entity_idx]: %f\n", agent_obs[entity_idx]);
+                                    printf("agent_obs[entity_idx + 1]: %f\n", agent_obs[entity_idx + 1]);
+                                    printf("agent_obs[entity_idx + 2]: %f\n", agent_obs[entity_idx + 2]);
+                                    printf("agent_obs[entity_idx + 3]: %f\n", agent_obs[entity_idx + 3]);
+                                    lineColor = BLACK;
+                                    // For road segments, draw line between start and end points
+                                    if(agent_obs[entity_idx + 2] != -1 && agent_obs[entity_idx + 3] != -1) {
+                                        DrawLine3D((Vector3){0,0,0}, (Vector3){agent_obs[entity_idx], agent_obs[entity_idx + 1], 1}, lineColor);    
+                                        DrawLine3D((Vector3){0,0,0}, (Vector3){agent_obs[entity_idx + 2], agent_obs[entity_idx + 3], 1}, lineColor);
+                                    }
+                                } else if(entity_type == VEHICLE) {
+                                    lineColor = RED;
+                                    // For vehicles, draw line to their position
+                                    DrawLine3D((Vector3){0, 0, 0},
+                                            (Vector3){agent_obs[entity_idx], agent_obs[entity_idx + 1], 1},
+                                            lineColor);
+                                }
+                            }
                         }
-                        obs_idx += 7;  // Move to next observation slot
                     }
+                    
                 }
             } else {
                 // Draw non-active vehicles

From 1e00f57767dec6256e0fb28b7dbaaa2f06528e19 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Fri, 21 Mar 2025 15:26:03 +0000
Subject: [PATCH 060/112] memory debugging

---
 pufferlib/ocean/gpudrive/gpudrive.h | 24 ++++--------------------
 1 file changed, 4 insertions(+), 20 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 58d2275775..bd27744e33 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -206,12 +206,6 @@ struct Entity {
     float vz;
     float heading;
     int valid;
-    float nearest_line_dist;
-    float* nearest_line_start;
-    float* nearest_line_end;
-    float nearest_car_dist;
-    float* nearest_car_start;
-    float* nearest_car_end;
 };
 
 void free_entity(Entity* entity){
@@ -224,10 +218,6 @@ void free_entity(Entity* entity){
     free(entity->traj_vz);
     free(entity->traj_heading);
     free(entity->traj_valid);
-    free(entity->nearest_line_start);
-    free(entity->nearest_line_end);
-    free(entity->nearest_car_start);
-    free(entity->nearest_car_end);
 }
 
 float relative_distance(float a, float b){
@@ -274,10 +264,6 @@ Entity* load_map_binary(const char* filename, GPUDrive* env) {
     Entity* entities = (Entity*)malloc(env->num_entities * sizeof(Entity));
     //printf("Num entities: %d\n", env->num_entities);
     for (int i = 0; i < env->num_entities; i++) {
-        entities[i].nearest_line_start = (float*)calloc(2, sizeof(float));
-	entities[i].nearest_line_end = (float*)calloc(2, sizeof(float));
-	entities[i].nearest_car_start = (float*)calloc(2,sizeof(float));
-	entities[i].nearest_car_end = (float*)calloc(2,sizeof(float));
 	// Read base entity data
         fread(&entities[i].type, sizeof(int), 1, file);
         if(entities[i].type < 4){
@@ -514,6 +500,7 @@ void free_initialized(GPUDrive* env){
 void allocate(GPUDrive* env){
     init(env);
     int max_obs = 2 + 7 * (env->active_agent_count - 1) + 200 * 7;
+    printf("max obs: %d\n", max_obs*env->active_agent_count);
     env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
     env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
@@ -870,8 +857,6 @@ void compute_observations(GPUDrive* env) {
         }
 
         // map observations
-        for(int j = 0; j < env->active_agent_count; j++){
-            if(j == i) continue;
             const int map_obs_size = 200;
             int entity_list[map_obs_size];  // Array big enough for all neighboring cells
             memset(entity_list, -1, map_obs_size * sizeof(int));
@@ -900,6 +885,7 @@ void compute_observations(GPUDrive* env) {
                 else if(entity->type == ROAD_EDGE){
                     for(int l =0; l< entity->array_size - 1; l++){
                         if(entity->traj_x[l]){
+			    if (entity_count == 200) break;
                             float start[2] = {entity->traj_x[l], entity->traj_y[l]};
                             float end[2] = {entity->traj_x[l+1], entity->traj_y[l+1]};
                             float rel_x_start = start[0] - ego_entity->x;
@@ -910,7 +896,6 @@ void compute_observations(GPUDrive* env) {
                             float y_start = -rel_x_start * sin_heading + rel_y_start * cos_heading;
                             float x_end = rel_x_end * cos_heading + rel_y_end * sin_heading;
                             float y_end = -rel_x_end * sin_heading + rel_y_end * cos_heading;
-
                             float rel_heading = normalize_heading(entity->heading - ego_entity->heading); 
                             obs[obs_idx] = x_start;
                             obs[obs_idx + 1] = y_start;
@@ -924,9 +909,8 @@ void compute_observations(GPUDrive* env) {
                         }
                     }
                 }
-            }
-            // printf("Entity count: %d\n", entity_count);
-        }
+	    }// printf("Entity count: %d\n", entity_count);
+        
     }
 }
 

From fd701d0603d49a1f3b6652afa98da0b797912c22 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Sat, 22 Mar 2025 16:44:48 +0000
Subject: [PATCH 061/112] cleaning up obs and checkign performance

---
 pufferlib/ocean/gpudrive/gpudrive.h | 53 ++---------------------------
 1 file changed, 2 insertions(+), 51 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index bd27744e33..d0c68cab78 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -476,9 +476,6 @@ void init(GPUDrive* env){
     set_active_agents(env);
     set_start_position(env);
     env->logs = (Log*)calloc(env->active_agent_count, sizeof(Log));
-    //printf("num_entities: %d\n", env->num_entities);
-    //printf("Offset of x: %zu\n", offsetof(struct Entity, x));
-    //printf("Offset of y: %zu\n", offsetof(struct Entity, y));
     printf("active_agent_count: %d\n", env->active_agent_count);
     env->goal_reached = (char*)calloc(env->active_agent_count, sizeof(char));
     init_grid_map(env);
@@ -725,26 +722,6 @@ void collision_check(GPUDrive* env, int agent_idx) {
                     }
                 }
                 if (collided == OFFROAD) break;
-                // Distance check
-                float agent_center[2] = {agent->x, agent->y};
-                float dist = point_to_line_distance(agent_center, start, end);
-                if (dist < min_dist) {
-                    min_dist = dist;
-                    // Step 1: Calculate relative position (in world coordinates)
-                    float rel_x_start = start[0] - agent->x;
-                    float rel_y_start = start[1] - agent->y;
-                    float rel_x_end = end[0] - agent->x;
-                    float rel_y_end = end[1] - agent->y;
-                    
-                    // Step 2: Apply standard 2D rotation matrix to transform to agent's local frame
-                    float cos_heading = cosf(agent->heading);
-                    float sin_heading = sinf(agent->heading);
-                    
-                    nearest_start[0] = rel_x_start * cos_heading + rel_y_start * sin_heading;
-                    nearest_start[1] = -rel_x_start * sin_heading + rel_y_start * cos_heading;
-                    nearest_end[0] = rel_x_end * cos_heading + rel_y_end * sin_heading;
-                    nearest_end[1] = -rel_x_end * sin_heading + rel_y_end * cos_heading;
-                }
             }
         }
         if(entity->type == VEHICLE){
@@ -774,31 +751,6 @@ void collision_check(GPUDrive* env, int agent_idx) {
                 }
 		        if (collided == VEHICLE_COLLISION) break;
             }
-            // Get nearest car distance and start and end values for obs
-            for (int k = 0;k<4; k++){
-                int next_k = (k+1) % 4;
-                float agent_center[2] = {agent->x, agent->y};
-                float dist = point_to_line_distance(agent_center, other_corners[k], other_corners[next_k]);
-                if (dist < min_car_dist) {
-                    min_car_dist = dist;
-        
-                    // Step 1: Calculate relative position (in world coordinates)
-                    float rel_x_start = other_corners[k][0] - agent->x;
-                    float rel_y_start = other_corners[k][1] - agent->y;
-                    float rel_x_end = other_corners[next_k][0] - agent->x;
-                    float rel_y_end = other_corners[next_k][1] - agent->y;
-                    
-                    // Step 2: Apply standard 2D rotation matrix
-                    // This is the standard 2D rotation to agent's local frame
-                    float cos_heading = cosf(agent->heading);
-                    float sin_heading = sinf(agent->heading);
-                    
-                    nearest_car_start[0] = rel_x_start * cos_heading + rel_y_start * sin_heading;
-                    nearest_car_start[1] = -rel_x_start * sin_heading + rel_y_start * cos_heading;
-                    nearest_car_end[0] = rel_x_end * cos_heading + rel_y_end * sin_heading;
-                    nearest_car_end[1] = -rel_x_end * sin_heading + rel_y_end * cos_heading;
-                }
-            }
         }
     }
     agent->collision_state = collided;
@@ -810,7 +762,6 @@ void collision_check(GPUDrive* env, int agent_idx) {
 void compute_observations(GPUDrive* env) {
     int max_obs = 2 + 7 * (env->active_agent_count - 1) + 200 * 7;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
-    memset(observations, -1, env->active_agent_count * max_obs * sizeof(float));
     
     for(int i = 0; i < env->active_agent_count; i++) {
         float* obs = &observations[i][0];
@@ -952,8 +903,8 @@ void c_step(GPUDrive* env){
         // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0){
-            env->rewards[i] = -0.1f;
-            env->logs[i].episode_return -=0.1f;
+            env->rewards[i] = -0.00f;
+            env->logs[i].episode_return -=0.00f;
             if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){
                 env->logs[i].collision_rate = 1.0f;
             }

From 742ad0a0fcae28c82f8d73ab9ad6ae97f2148f74 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sat, 22 Mar 2025 19:35:55 -0500
Subject: [PATCH 062/112] big refactor + cacheing - half working

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |   8 +
 pufferlib/ocean/gpudrive/gpudrive.h      | 271 +++++++++++++++--------
 2 files changed, 188 insertions(+), 91 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index c545c566a2..c183373667 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -66,6 +66,14 @@ cdef extern from "gpudrive.h":
         int dynamics_model;
         float* fake_data;
         char* goal_reached;
+        float* map_corners;
+        int* grid_cells; 
+        int grid_cols;
+        int grid_rows;
+        int vision_range;
+        int* neighbor_offsets;
+        int* neighbor_cache_entities;
+        int* neighbor_cache_indices;
 
     ctypedef struct Client
 
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index d0c68cab78..b3e4178c30 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -48,8 +48,10 @@
 // grid cell size
 #define GRID_CELL_SIZE 5.0f
 #define MAX_ENTITIES_PER_CELL 10
-#define SLOTS_PER_CELL (MAX_ENTITIES_PER_CELL + 1)
+#define SLOTS_PER_CELL (MAX_ENTITIES_PER_CELL*2 + 1)
 
+// Max road segment observation entities
+#define MAX_ROAD_SEGMENT_OBSERVATIONS 200
 // Acceleration Values
 static const float ACCELERATION_VALUES[7] = {-4.0000f, -2.6670f, -1.3330f, -0.0000f,  1.3330f,  2.6670f,  4.0000f};
 static const float STEERING_VALUES[13] = {-3.1420f, -2.6180f, -2.0940f, -1.5710f, -1.0470f, -0.5240f,  0.0000f,  0.5240f,
@@ -251,9 +253,13 @@ struct GPUDrive {
     float* fake_data;
     char* goal_reached;
     float* map_corners;
-    int* grid_cells;  // holds entity ids per cell
+    int* grid_cells;  // holds entity ids and geometry index per cell
     int grid_cols;
     int grid_rows;
+    int vision_range;
+    int* neighbor_offsets;
+    int* neighbor_cache_entities;
+    int* neighbor_cache_indices;
 };
 
 Entity* load_map_binary(const char* filename, GPUDrive* env) {
@@ -398,7 +404,7 @@ int getGridIndex(GPUDrive* env, float x1, float y1) {
     return index;
 }
 
-void add_entity_to_grid(GPUDrive* env, int grid_index, int entity_idx){
+void add_entity_to_grid(GPUDrive* env, int grid_index, int entity_idx, int geometry_idx){
     if(grid_index == -1){
         return;
     }
@@ -406,6 +412,7 @@ void add_entity_to_grid(GPUDrive* env, int grid_index, int entity_idx){
     int count = env->grid_cells[base_index];
     if(count>= MAX_ENTITIES_PER_CELL) return;
     env->grid_cells[base_index + count + 1] = entity_idx;
+    env->grid_cells[base_index + count + 2] = geometry_idx;
     env->grid_cells[base_index] = count + 1;
     
 }
@@ -443,31 +450,142 @@ void init_grid_map(GPUDrive* env){
     env->grid_cols = ceil(grid_width / GRID_CELL_SIZE);
     env->grid_rows = ceil(grid_height / GRID_CELL_SIZE);
     
-    // Allocate memory for grid cells: 4 values (x, y, width, height) per cell
     int grid_cell_count = env->grid_cols * env->grid_rows;
     env->grid_cells = (int*)calloc(grid_cell_count * SLOTS_PER_CELL, sizeof(int));
     
     // Populate grid cells
     for(int i = 0; i < env->num_entities; i++){
-        if(env->entities[i].type <=3 ){
-            for( int z = 0; z<env->active_agent_count; z++){
-                if(env->active_agent_indices[z] == i){
-                    continue;
-                }
-            }
-            int grid_index = getGridIndex(env, env->entities[i].x, env->entities[i].y);
-            add_entity_to_grid(env, grid_index, i);
-        } else if(env->entities[i].type == ROAD_EDGE){
+        if(env->entities[i].type == ROAD_EDGE){
             for(int j = 0; j < env->entities[i].array_size - 1; j++){
                 float x_center = (env->entities[i].traj_x[j] + env->entities[i].traj_x[j+1]) / 2;
                 float y_center = (env->entities[i].traj_y[j] + env->entities[i].traj_y[j+1]) / 2;
                 int grid_index = getGridIndex(env, x_center, y_center);
-                add_entity_to_grid(env, grid_index, i);
+                add_entity_to_grid(env, grid_index, i, j);
+            }
+        }
+    }    
+}
+
+void init_neighbor_offsets(GPUDrive* env) {
+    // Allocate memory for the offsets
+    env->neighbor_offsets = (int*)calloc(env->vision_range * env->vision_range * 2, sizeof(int));
+    
+    // The spiral moves in this sequence: right, up, left, left, down, down, right, right, right...
+    // Direction vectors for moving right, up, left, down in a clockwise spiral
+    int dx[] = {1, 0, -1, 0};
+    int dy[] = {0, 1, 0, -1};
+    
+    int x = 0;    // Current x offset
+    int y = 0;    // Current y offset
+    int dir = 0;  // Current direction (0: right, 1: up, 2: left, 3: down)
+    int steps_to_take = 1; // Number of steps in current direction
+    int steps_taken = 0;   // Steps taken in current direction
+    int segments_completed = 0; // Count of direction segments completed
+    int total = 0; // Total offsets added
+    int max_offsets = env->vision_range * env->vision_range;
+    
+    // Start at center (0,0)
+    int curr_idx = 0;
+    env->neighbor_offsets[curr_idx++] = 0;  // x offset
+    env->neighbor_offsets[curr_idx++] = 0;  // y offset
+    total++;
+    
+    // Generate spiral pattern
+    while (total < max_offsets) {
+        // Move in current direction
+        x += dx[dir];
+        y += dy[dir];
+        
+        // Only add if within vision range bounds
+        if (abs(x) <= env->vision_range/2 && abs(y) <= env->vision_range/2) {
+            env->neighbor_offsets[curr_idx++] = x;
+            env->neighbor_offsets[curr_idx++] = y;
+            total++;
+        }
+        
+        steps_taken++;
+        
+        // Check if we need to change direction
+        if (steps_taken == steps_to_take) {
+            steps_taken = 0;  // Reset steps taken
+            dir = (dir + 1) % 4;  // Change direction (clockwise: right->up->left->down)
+            segments_completed++;
+            
+            // Increase step length every two direction changes
+            if (segments_completed % 2 == 0) {
+                steps_to_take++;
+            }
+        }
+    }
+    
+    // Debug output to verify the first few offsets
+    // printf("First few spiral offsets:\n");
+    // for (int i = 0; i < (env->vision_range * env->vision_range); i++) {
+    //     printf("(%d,%d) ", env->neighbor_offsets[i*2], env->neighbor_offsets[i*2+1]);
+    // }
+    // printf("\n");
+}
+
+void cache_neighbor_offsets(GPUDrive* env){
+    int count = 0;
+    int cell_count = env->grid_cols * env->grid_rows;
+    for(int i = 0; i < cell_count; i++){
+        int cell_x = i % env->grid_cols;  // Convert to 2D coordinates
+        int cell_y = i / env->grid_cols;
+        env->neighbor_cache_indices[i] = count;
+        for(int j = 0; j< env->vision_range * env->vision_range; j++){
+            int x = cell_x + env->neighbor_offsets[j*2];
+            int y = cell_y + env->neighbor_offsets[j*2+1];
+            int grid_index = env->grid_cols*y + x;
+            if(x < 0 || x >= env->grid_cols || y < 0 || y >= env->grid_rows) continue;
+            int grid_count = env->grid_cells[grid_index*SLOTS_PER_CELL];
+            for(int k = 0; k < grid_count; k++){
+                count+=2;
             }
         }
     }
+    env->neighbor_cache_indices[cell_count] = count;
+    env->neighbor_cache_entities = (int*)calloc(count, sizeof(int));
+    for(int i = 0; i< cell_count; i ++){
+        int neighbor_cache_base_index = 0;
+        int cell_x = i % env->grid_cols;  // Convert to 2D coordinates
+        int cell_y = i / env->grid_cols;
+        for(int j = 0; j<env->vision_range* env->vision_range; j++){
+            int x = cell_x + env->neighbor_offsets[j*2];
+            int y = cell_y + env->neighbor_offsets[j*2+1];
+            int grid_index = env->grid_cols*y + x;
+            if(x < 0 || x >= env->grid_cols || y < 0 || y >= env->grid_rows) continue;
+            int grid_count = env->grid_cells[grid_index*SLOTS_PER_CELL];
+            for(int k = 0; k < grid_count; k++){
+                int entity_idx = env->grid_cells[grid_index*SLOTS_PER_CELL + 1 + k*2];
+                int geometry_idx = env->grid_cells[grid_index*SLOTS_PER_CELL + 2 + k*2];
+                int base_index = env->neighbor_cache_indices[i];
+                env->neighbor_cache_entities[base_index + neighbor_cache_base_index] = entity_idx;
+                env->neighbor_cache_entities[base_index + neighbor_cache_base_index + 1] = geometry_idx;
+                neighbor_cache_base_index+=2;
+            }
+        }
+    }
+}
+
+int get_neighbor_cache_entities(GPUDrive* env, int cell_idx, int* entities, int max_entities) {
+    if (cell_idx < 0 || cell_idx >= (env->grid_cols * env->grid_rows)) {
+        return 0; // Invalid cell index
+    }
+    int base_index = env->neighbor_cache_indices[cell_idx];
+    int end_index = env->neighbor_cache_indices[cell_idx + 1];
+    int count = end_index - base_index;
+    int pairs = count / 2;  // Entity ID and geometry ID pairs
+    // Limit to available space
+    if (pairs > max_entities) {
+        pairs = max_entities;
+        count = pairs * 2;
+    }
+    memcpy(entities, env->neighbor_cache_entities + base_index, count * sizeof(int));
+    return pairs;
 }
 
+
 void init(GPUDrive* env){
     env->human_agent_idx = 0;
     env->timestep = 0;
@@ -479,6 +597,11 @@ void init(GPUDrive* env){
     printf("active_agent_count: %d\n", env->active_agent_count);
     env->goal_reached = (char*)calloc(env->active_agent_count, sizeof(char));
     init_grid_map(env);
+    env->vision_range = 9;
+    init_neighbor_offsets(env);
+    env->neighbor_cache_indices = (int*)calloc((env->grid_cols * env->grid_rows) + 1, sizeof(int));
+    cache_neighbor_offsets(env);
+    
 }
 
 void free_initialized(GPUDrive* env){
@@ -492,11 +615,14 @@ void free_initialized(GPUDrive* env){
     free(env->goal_reached);
     free(env->map_corners);
     free(env->grid_cells);  // Free the grid cells memory
+    free(env->neighbor_offsets);
+    free(env->neighbor_cache_entities);
+    free(env->neighbor_cache_indices);
 }
 
 void allocate(GPUDrive* env){
     init(env);
-    int max_obs = 2 + 7 * (env->active_agent_count - 1) + 200 * 7;
+    int max_obs = 2 + 7 * (env->active_agent_count - 1) + 200 * 5;
     printf("max obs: %d\n", max_obs*env->active_agent_count);
     env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
@@ -690,13 +816,8 @@ void collision_check(GPUDrive* env, int agent_idx) {
         corners[i][1] = agent->y + (offsets[i][0] * half_length * sin_heading + offsets[i][1] * half_width * cos_heading);
     }
     int collided = 0;
-    float min_dist = 10000;
-    float min_car_dist = 10000;
-    float nearest_start[2], nearest_end[2];
-    float nearest_car_start[2], nearest_car_end[2];
     int car_collided_with_index = -1;
     int entity_list[MAX_ENTITIES_PER_CELL * 8];  // Array big enough for all neighboring cells
-    memset(entity_list, -1, MAX_ENTITIES_PER_CELL * 8 * sizeof(int));
     int list_size = checkNeighbors(env, agent->x, agent->y, entity_list, MAX_ENTITIES_PER_CELL * 8, collision_offsets, 8);
     // printf("agent: %d, list_size: %d\n", agent_idx, list_size);
     for (int i = 0; i < list_size + env->active_agent_count; i++) {
@@ -760,7 +881,7 @@ void collision_check(GPUDrive* env, int agent_idx) {
 }
 
 void compute_observations(GPUDrive* env) {
-    int max_obs = 2 + 7 * (env->active_agent_count - 1) + 200 * 7;
+    int max_obs = 2 + 7 * (env->active_agent_count - 1) + 200 * 5;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     
     for(int i = 0; i < env->active_agent_count; i++) {
@@ -808,60 +929,38 @@ void compute_observations(GPUDrive* env) {
         }
 
         // map observations
-            const int map_obs_size = 200;
-            int entity_list[map_obs_size];  // Array big enough for all neighboring cells
-            memset(entity_list, -1, map_obs_size * sizeof(int));
-            int list_size = checkNeighbors(env, ego_entity->x, ego_entity->y, entity_list, map_obs_size, vision_offsets, 441);
-            int entity_count = 0;
-            for(int k = 0; k < list_size && entity_count < 200; k++){
-                Entity* entity = &env->entities[entity_list[k]];
-                if(entity->type == VEHICLE){
-                    float rel_x_start = entity->x - ego_entity->x;
-                    float rel_y_start = entity->y - ego_entity->y;
-                    float rel_x = rel_x_start * cos_heading + rel_y_start * sin_heading;
-                    float rel_y = -rel_x_start * sin_heading + rel_y_start * cos_heading;
-                    float rel_distance = sqrtf(rel_x * rel_x + rel_y * rel_y);
-                    if(rel_distance > 100.0f) continue;
-                    float rel_heading = normalize_heading(entity->heading - ego_entity->heading); 
-                    obs[obs_idx] = rel_x;
-                    obs[obs_idx + 1] = rel_y;
-                    obs[obs_idx + 2] = entity->width;
-                    obs[obs_idx + 3] = entity->length;
-                    obs[obs_idx + 4] = cosf(rel_heading);
-                    obs[obs_idx + 5] = sinf(rel_heading);
-                    obs[obs_idx + 6] = entity->type;
-                    obs_idx += 7;
-                    entity_count++;
-                }
-                else if(entity->type == ROAD_EDGE){
-                    for(int l =0; l< entity->array_size - 1; l++){
-                        if(entity->traj_x[l]){
-			    if (entity_count == 200) break;
-                            float start[2] = {entity->traj_x[l], entity->traj_y[l]};
-                            float end[2] = {entity->traj_x[l+1], entity->traj_y[l+1]};
-                            float rel_x_start = start[0] - ego_entity->x;
-                            float rel_y_start = start[1] - ego_entity->y;
-                            float rel_x_end = end[0] - ego_entity->x;
-                            float rel_y_end = end[1] - ego_entity->y;
-                            float x_start = rel_x_start * cos_heading + rel_y_start * sin_heading;
-                            float y_start = -rel_x_start * sin_heading + rel_y_start * cos_heading;
-                            float x_end = rel_x_end * cos_heading + rel_y_end * sin_heading;
-                            float y_end = -rel_x_end * sin_heading + rel_y_end * cos_heading;
-                            float rel_heading = normalize_heading(entity->heading - ego_entity->heading); 
-                            obs[obs_idx] = x_start;
-                            obs[obs_idx + 1] = y_start;
-                            obs[obs_idx + 2] = x_end;
-                            obs[obs_idx + 3] = y_end;
-                            obs[obs_idx + 4] = cosf(rel_heading);
-                            obs[obs_idx + 5] = sinf(rel_heading);
-                            obs[obs_idx + 6] = entity->type;
-                            obs_idx += 7;
-                            entity_count++;
-                        }
-                    }
-                }
-	    }// printf("Entity count: %d\n", entity_count);
-        
+        int entity_list[MAX_ROAD_SEGMENT_OBSERVATIONS*2];  // Array big enough for all neighboring cells
+        int grid_idx = getGridIndex(env, ego_entity->x, ego_entity->y);
+        // if(env->human_agent_idx == i){
+        //     printf("Grid index: %d\n", grid_idx);
+        // }
+        int list_size = get_neighbor_cache_entities(env, grid_idx, entity_list, MAX_ROAD_SEGMENT_OBSERVATIONS);
+        for(int k = 0; k < list_size; k++){
+            
+            int entity_idx = entity_list[k*2];
+            int geometry_idx = entity_list[k*2+1];
+            Entity* entity = &env->entities[entity_idx];
+            float start[2] = {entity->traj_x[geometry_idx], entity->traj_y[geometry_idx]};
+            float end[2] = {entity->traj_x[geometry_idx+1], entity->traj_y[geometry_idx+1]};
+            float rel_x_start = start[0] - ego_entity->x;
+            float rel_y_start = start[1] - ego_entity->y;
+            float rel_x_end = end[0] - ego_entity->x;
+            float rel_y_end = end[1] - ego_entity->y;
+            float x_start = rel_x_start * cos_heading + rel_y_start * sin_heading;
+            float y_start = -rel_x_start * sin_heading + rel_y_start * cos_heading;
+            float x_end = rel_x_end * cos_heading + rel_y_end * sin_heading;
+            float y_end = -rel_x_end * sin_heading + rel_y_end * cos_heading;
+            // if(env->human_agent_idx == i){
+            //     printf("K: %d, Entity index: %d, Geometry index: %d\n", k, entity_list[k*2], entity_list[k*2+1]);
+            //     printf("start: %f, %f, end: %f, %f\n", start[0], start[1], end[0], end[1]);
+            // }
+            obs[obs_idx] = x_start;
+            obs[obs_idx + 1] = y_start;
+            obs[obs_idx + 2] = x_end;
+            obs[obs_idx + 3] = y_end;
+            obs[obs_idx + 4] = entity->type;
+            obs_idx += 5;
+        }
     }
 }
 
@@ -1040,7 +1139,7 @@ void c_render(Client* client, GPUDrive* env) {
                     DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
                     DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
                     if( agent_index == env->human_agent_idx){
-                        int max_obs = 2 + 7 * (env->active_agent_count - 1) + 200 * 7;
+                        int max_obs = 2 + 7 * (env->active_agent_count - 1) + 200 * 5;
                         float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
                         float* agent_obs = &observations[agent_index][0];
                     
@@ -1059,33 +1158,22 @@ void c_render(Client* client, GPUDrive* env) {
 
                         // Then draw map observations
                         int map_start_idx = 2 + 7 * (env->active_agent_count - 1);  // Start after agent observations
-                        for(int k = 0; k < 200; k++) {  // Loop through potential map entities
-                            int entity_idx = map_start_idx + k * 7;
+                        for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS; k++) {  // Loop through potential map entities
+                            int entity_idx = map_start_idx + k * 5;
                             if(agent_obs[entity_idx] != -1 && agent_obs[entity_idx + 1] != -1) {
                                 Color lineColor = BLUE;  // Default color
-                                int entity_type = (int)agent_obs[entity_idx + 6];
-
+                                int entity_type = (int)agent_obs[entity_idx + 4];
                                 // Choose color based on entity type
                                 if(entity_type == ROAD_EDGE) {
-                                    printf("Road edge\n");
-                                    printf("agent_obs[entity_idx]: %f\n", agent_obs[entity_idx]);
-                                    printf("agent_obs[entity_idx + 1]: %f\n", agent_obs[entity_idx + 1]);
-                                    printf("agent_obs[entity_idx + 2]: %f\n", agent_obs[entity_idx + 2]);
-                                    printf("agent_obs[entity_idx + 3]: %f\n", agent_obs[entity_idx + 3]);
                                     lineColor = BLACK;
                                     // For road segments, draw line between start and end points
                                     if(agent_obs[entity_idx + 2] != -1 && agent_obs[entity_idx + 3] != -1) {
                                         DrawLine3D((Vector3){0,0,0}, (Vector3){agent_obs[entity_idx], agent_obs[entity_idx + 1], 1}, lineColor);    
                                         DrawLine3D((Vector3){0,0,0}, (Vector3){agent_obs[entity_idx + 2], agent_obs[entity_idx + 3], 1}, lineColor);
                                     }
-                                } else if(entity_type == VEHICLE) {
-                                    lineColor = RED;
-                                    // For vehicles, draw line to their position
-                                    DrawLine3D((Vector3){0, 0, 0},
-                                            (Vector3){agent_obs[entity_idx], agent_obs[entity_idx + 1], 1},
-                                            lineColor);
                                 }
                             }
+
                         }
                     }
                     
@@ -1186,3 +1274,4 @@ void close_client(Client* client){
 }
 
 
+

From 17209f6b8a1c588dabe4f803188861f61e385448 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sat, 22 Mar 2025 20:05:42 -0500
Subject: [PATCH 063/112] cleaning up obs and -1 for not visible segments

---
 pufferlib/ocean/gpudrive/gpudrive.h | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index b3e4178c30..318a607626 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -411,8 +411,8 @@ void add_entity_to_grid(GPUDrive* env, int grid_index, int entity_idx, int geome
     int base_index = grid_index * SLOTS_PER_CELL;
     int count = env->grid_cells[base_index];
     if(count>= MAX_ENTITIES_PER_CELL) return;
-    env->grid_cells[base_index + count + 1] = entity_idx;
-    env->grid_cells[base_index + count + 2] = geometry_idx;
+    env->grid_cells[base_index + count*2 + 1] = entity_idx;
+    env->grid_cells[base_index + count*2 + 2] = geometry_idx;
     env->grid_cells[base_index] = count + 1;
     
 }
@@ -936,7 +936,6 @@ void compute_observations(GPUDrive* env) {
         // }
         int list_size = get_neighbor_cache_entities(env, grid_idx, entity_list, MAX_ROAD_SEGMENT_OBSERVATIONS);
         for(int k = 0; k < list_size; k++){
-            
             int entity_idx = entity_list[k*2];
             int geometry_idx = entity_list[k*2+1];
             Entity* entity = &env->entities[entity_idx];
@@ -961,6 +960,15 @@ void compute_observations(GPUDrive* env) {
             obs[obs_idx + 4] = entity->type;
             obs_idx += 5;
         }
+
+        for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS - list_size; k++){
+            obs[obs_idx] = -1.0f;
+            obs[obs_idx + 1] = -1.0f;
+            obs[obs_idx + 2] = -1.0f;
+            obs[obs_idx + 3] = -1.0f;
+            obs[obs_idx + 4] = -1.0f;
+            obs_idx += 5;
+        }
     }
 }
 

From e9459e6291fbb0ef63e9cee0e378d2a69e2f281c Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Sun, 23 Mar 2025 01:39:09 +0000
Subject: [PATCH 064/112] 21 window + penlaty for collsions added back

---
 pufferlib/ocean/gpudrive/gpudrive.h  | 11 +++++------
 pufferlib/ocean/gpudrive/gpudrive.py |  4 ++--
 2 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 318a607626..d1e36801bb 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -436,7 +436,6 @@ void init_grid_map(GPUDrive* env){
         }
     }
 
-    printf("top_left_x: %f, top_left_y: %f, bottom_right_x: %f, bottom_right_y: %f\n", top_left_x, top_left_y, bottom_right_x, bottom_right_y);
     env->map_corners = (float*)calloc(4, sizeof(float));
     env->map_corners[0] = top_left_x;
     env->map_corners[1] = top_left_y;
@@ -446,7 +445,6 @@ void init_grid_map(GPUDrive* env){
     // Calculate grid dimensions
     float grid_width = bottom_right_x - top_left_x;
     float grid_height = bottom_right_y - top_left_y;
-    printf("grid_width: %f, grid_height: %f\n", grid_width, grid_height);
     env->grid_cols = ceil(grid_width / GRID_CELL_SIZE);
     env->grid_rows = ceil(grid_height / GRID_CELL_SIZE);
     
@@ -594,10 +592,9 @@ void init(GPUDrive* env){
     set_active_agents(env);
     set_start_position(env);
     env->logs = (Log*)calloc(env->active_agent_count, sizeof(Log));
-    printf("active_agent_count: %d\n", env->active_agent_count);
     env->goal_reached = (char*)calloc(env->active_agent_count, sizeof(char));
     init_grid_map(env);
-    env->vision_range = 9;
+    env->vision_range = 21;
     init_neighbor_offsets(env);
     env->neighbor_cache_indices = (int*)calloc((env->grid_cols * env->grid_rows) + 1, sizeof(int));
     cache_neighbor_offsets(env);
@@ -927,6 +924,7 @@ void compute_observations(GPUDrive* env) {
             
             obs_idx += 7;  // Move to next observation slot
         }
+	
 
         // map observations
         int entity_list[MAX_ROAD_SEGMENT_OBSERVATIONS*2];  // Array big enough for all neighboring cells
@@ -969,6 +967,7 @@ void compute_observations(GPUDrive* env) {
             obs[obs_idx + 4] = -1.0f;
             obs_idx += 5;
         }
+	
     }
 }
 
@@ -1010,8 +1009,8 @@ void c_step(GPUDrive* env){
         // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0){
-            env->rewards[i] = -0.00f;
-            env->logs[i].episode_return -=0.00f;
+            env->rewards[i] = -0.1f;
+            env->logs[i].episode_return -=0.1f;
             if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){
                 env->logs[i].collision_rate = 1.0f;
             }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 203d86012c..a21685711e 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -19,7 +19,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.render_mode = render_mode
         self.report_interval = report_interval
         
-        self.num_obs = 1002
+        self.num_obs = 1030
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])
@@ -38,7 +38,7 @@ def reset(self, seed=None):
     def step(self, actions):
         self.actions[:] = actions
         self.c_envs.step()
-        self.tick += 1
+        self.tick+=1
         info = []
         if self.tick % self.report_interval == 0:
             log = self.c_envs.log()

From 81919668e26c18ba92f18062bfbc317350d77c11 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sat, 22 Mar 2025 20:53:40 -0500
Subject: [PATCH 065/112] added other cars as other agent type of obs

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |  1 +
 pufferlib/ocean/gpudrive/gpudrive.h      | 37 +++++++++++++++++-------
 2 files changed, 27 insertions(+), 11 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index c183373667..f353c8def0 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -62,6 +62,7 @@ cdef extern from "gpudrive.h":
         int human_agent_idx;
         Entity* entities;
         int num_entities;
+        int num_cars;
         int timestep;
         int dynamics_model;
         float* fake_data;
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index d1e36801bb..8b2f023ba1 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -248,6 +248,7 @@ struct GPUDrive {
     int human_agent_idx;
     Entity* entities;
     int num_entities;
+    int num_cars;
     int timestep;
     int dynamics_model;
     float* fake_data;
@@ -344,6 +345,7 @@ void set_active_agents(GPUDrive* env){
     int active_agent_indices[env->num_entities];
     for(int i = 0; i < env->num_entities; i++){
         if(env->entities[i].type == 1){
+            env->num_cars++;
             int start_idx=0;
             for(int j = 0; j<env->entities[i].array_size; j++){
                 if(env->entities[i].traj_valid[j] == 1){
@@ -619,8 +621,9 @@ void free_initialized(GPUDrive* env){
 
 void allocate(GPUDrive* env){
     init(env);
-    int max_obs = 2 + 7 * (env->active_agent_count - 1) + 200 * 5;
+    int max_obs = 2 + 7 * (env->num_cars - 1) + 200 * 5;
     printf("max obs: %d\n", max_obs*env->active_agent_count);
+    printf("num cars: %d\n", env->num_cars);
     env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
     env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
@@ -878,12 +881,13 @@ void collision_check(GPUDrive* env, int agent_idx) {
 }
 
 void compute_observations(GPUDrive* env) {
-    int max_obs = 2 + 7 * (env->active_agent_count - 1) + 200 * 5;
+    int max_obs = 2 + 7 * (env->num_cars - 1) + 200 * 5;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     
     for(int i = 0; i < env->active_agent_count; i++) {
         float* obs = &observations[i][0];
         Entity* ego_entity = &env->entities[env->active_agent_indices[i]];
+        if(ego_entity->type > 3) break;
         float cos_heading = cosf(ego_entity->heading);
         float sin_heading = sinf(ego_entity->heading);
         // Set goal distances
@@ -892,20 +896,21 @@ void compute_observations(GPUDrive* env) {
         
         // Relative Pos of other cars
         int obs_idx = 2;  // Start after goal distances
-        for(int j = 0; j < env->active_agent_count; j++) {
+        int cars_seen = 0;
+        for(int j = 0; j < env->num_entities; j++) {
+            if(env->entities[j].type > 3) break;
             if(j == i) continue;  // Skip self, but don't increment obs_idx
             
-            int other_agent_idx = env->active_agent_indices[j];
-            Entity* other_entity = &env->entities[other_agent_idx];
+            Entity* other_entity = &env->entities[j];
             
             // Store original relative positions
             float dx = other_entity->x - ego_entity->x;
             float dy = other_entity->y - ego_entity->y;
-            
+            float dist = sqrtf(dx*dx + dy*dy);
+            if(dist > 100.0f) continue;
             // Rotate to ego vehicle's frame
             float rel_x = dx * cos_heading + dy * sin_heading;
             float rel_y = -dx * sin_heading + dy * cos_heading;
-            
             // Store observations with correct indexing
             obs[obs_idx] = rel_x;
             obs[obs_idx + 1] = rel_y;
@@ -921,9 +926,19 @@ void compute_observations(GPUDrive* env) {
             float ego_speed = sqrtf(ego_entity->vx * ego_entity->vx + ego_entity->vy * ego_entity->vy);
             float other_speed = sqrtf(other_entity->vx * other_entity->vx + other_entity->vy * other_entity->vy);
             obs[obs_idx + 6] = other_speed - ego_speed;
-            
+            cars_seen++;
             obs_idx += 7;  // Move to next observation slot
         }
+        for(int j = cars_seen; j < env->num_cars - 1; j++){
+            obs[obs_idx] = -1.0f;
+            obs[obs_idx + 1] = -1.0f;
+            obs[obs_idx + 2] = -1.0f;
+            obs[obs_idx + 3] = -1.0f;
+            obs[obs_idx + 4] = -1.0f;
+            obs[obs_idx + 5] = -1.0f;
+            obs[obs_idx + 6] = -1.0f;
+            obs_idx += 7;
+        }
 	
 
         // map observations
@@ -1146,13 +1161,13 @@ void c_render(Client* client, GPUDrive* env) {
                     DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
                     DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
                     if( agent_index == env->human_agent_idx){
-                        int max_obs = 2 + 7 * (env->active_agent_count - 1) + 200 * 5;
+                        int max_obs = 2 + 7 * (env->num_cars - 1) + 200 * 5;
                         float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
                         float* agent_obs = &observations[agent_index][0];
                     
                         // First draw other agent observations
                         int obs_idx = 2;  // Start after goal distances
-                        for(int j = 0; j < env->active_agent_count - 1; j++) {  // -1 because we skip self
+                        for(int j = 0; j < env->num_cars - 1; j++) {  // -1 because we skip self
                             if(agent_obs[obs_idx] != -1 && agent_obs[obs_idx + 1] != -1) {
                                 // Draw position of other agents
                                 DrawLine3D((Vector3){0, 0, 0}, 
@@ -1164,7 +1179,7 @@ void c_render(Client* client, GPUDrive* env) {
                         }
 
                         // Then draw map observations
-                        int map_start_idx = 2 + 7 * (env->active_agent_count - 1);  // Start after agent observations
+                        int map_start_idx = 2 + 7 * (env->num_cars - 1);  // Start after agent observations
                         for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS; k++) {  // Loop through potential map entities
                             int entity_idx = map_start_idx + k * 5;
                             if(agent_obs[entity_idx] != -1 && agent_obs[entity_idx + 1] != -1) {

From 620a1e9935097c2cd629cf342e5a6f49d004e073 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sun, 23 Mar 2025 00:12:03 -0500
Subject: [PATCH 066/112] vehuicle collisions and wall collisions fixed

---
 pufferlib/ocean/gpudrive/gpudrive.h  | 107 +++++++++++++--------------
 pufferlib/ocean/gpudrive/gpudrive.py |   2 +-
 2 files changed, 53 insertions(+), 56 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 8b2f023ba1..709212b907 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -63,9 +63,9 @@ static const float offsets[4][2] = {
         {-1, -1}  // bottom-left
     };
 
-static const int collision_offsets[8][2] = {
+static const int collision_offsets[9][2] = {
         {-1, -1}, {0, -1}, {1, -1},  // Top row
-        {-1,  0},          {1,  0},  // Middle row (skip center)
+        {-1,  0}, {0,  0}, {1,  0},  // Middle row (skip center)
         {-1,  1}, {0,  1}, {1,  1}   // Bottom row
     };
 
@@ -793,9 +793,11 @@ int checkNeighbors(GPUDrive* env, float x, float y, int* entity_list, int max_si
             
             // Add entities from this cell to the list
             for (int j = 0; j < count && entity_list_count < max_size; j++) {
-                int entityId = env->grid_cells[neighborIndex + 1 + j];
+                int entityId = env->grid_cells[neighborIndex + 1 + j*2];
+                int geometry_idx = env->grid_cells[neighborIndex + 2 + j*2];
                 entity_list[entity_list_count] = entityId;
-                entity_list_count++;
+                entity_list[entity_list_count + 1] = geometry_idx;
+                entity_list_count += 2;
             }
         }
     }
@@ -817,62 +819,57 @@ void collision_check(GPUDrive* env, int agent_idx) {
     }
     int collided = 0;
     int car_collided_with_index = -1;
-    int entity_list[MAX_ENTITIES_PER_CELL * 8];  // Array big enough for all neighboring cells
-    int list_size = checkNeighbors(env, agent->x, agent->y, entity_list, MAX_ENTITIES_PER_CELL * 8, collision_offsets, 8);
+    int entity_list[MAX_ENTITIES_PER_CELL*2 * 9];  // Array big enough for all neighboring cells
+    int list_size = checkNeighbors(env, agent->x, agent->y, entity_list, MAX_ENTITIES_PER_CELL*2 * 9, collision_offsets, 9);
     // printf("agent: %d, list_size: %d\n", agent_idx, list_size);
-    for (int i = 0; i < list_size + env->active_agent_count; i++) {
-        if(entity_list[i] == -1 && i < list_size) continue;
-        if(entity_list[i] == agent_idx && i < list_size) continue;
+    for (int i = 0; i < list_size ; i+=2) {
+        if(entity_list[i] == -1) continue;
+        if(entity_list[i] == agent_idx) continue;
         Entity* entity;
-        if( i < list_size){
-            entity = &env->entities[entity_list[i]];
-        }
-        else {
-            if(env->active_agent_indices[i-list_size] == agent_idx) continue;
-            entity = &env->entities[env->active_agent_indices[i-list_size]];
-        }
-        if(entity->type == ROAD_EDGE){
-            for (int j = 0; j < entity->array_size - 1; j++) {
-                float start[2] = {entity->traj_x[j], entity->traj_y[j]};
-                float end[2] = {entity->traj_x[j + 1], entity->traj_y[j + 1]};
-                for (int k = 0; k < 4; k++) { // Check each edge of the bounding box
-                    int next = (k + 1) % 4;
-                    if (check_line_intersection(corners[k], corners[next], start, end)) {
-                        collided = OFFROAD;
-                        break;
-                    }
-                }
-                if (collided == OFFROAD) break;
+        entity = &env->entities[entity_list[i]];
+        int geometry_idx = entity_list[i + 1];
+        float start[2] = {entity->traj_x[geometry_idx], entity->traj_y[geometry_idx]};
+        float end[2] = {entity->traj_x[geometry_idx + 1], entity->traj_y[geometry_idx + 1]};
+        for (int k = 0; k < 4; k++) { // Check each edge of the bounding box
+            int next = (k + 1) % 4;
+            if (check_line_intersection(corners[k], corners[next], start, end)) {
+                collided = OFFROAD;
+                break;
             }
         }
-        if(entity->type == VEHICLE){
-            float other_corners[4][2];
-            for (int z = 0; z < 4; z++) {
-                float other_cos_heading = cosf(entity->traj_heading[0]);
-                float other_sin_heading = sinf(entity->traj_heading[0]);
-                float other_half_length = entity->length / 2.0f;
-                float other_half_width = entity->width / 2.0f;
-                other_corners[z][0] = entity->x + (offsets[z][0] * other_half_length * other_cos_heading - offsets[z][1] * other_half_width * other_sin_heading);
-                other_corners[z][1] = entity->y + (offsets[z][0] * other_half_length * other_sin_heading + offsets[z][1] * other_half_width * other_cos_heading);
-            }
-            for (int k = 0; k < 4; k++) { // Check each edge of the bounding box
-                int next_k = (k + 1) % 4;
-                for (int l = 0; l < 4; l++) { // Check each edge of the bounding box
-                    int next_l = (l + 1) % 4;
-                    if (check_line_intersection(corners[k], corners[next_k], other_corners[l], other_corners[next_l])) {
-                        collided = VEHICLE_COLLISION;
-                        if( i < list_size){
-                            car_collided_with_index = entity_list[i];
-                        }
-                        else {
-                            car_collided_with_index = env->active_agent_indices[i-list_size];
-                        }
-                        break;
-                    }
+        if (collided == OFFROAD) break;
+    }
+    for(int i = 0; i < env->num_entities; i++){
+        if(i == agent_idx) continue;
+        Entity* entity = &env->entities[i];
+        if (entity->type > 3) break;
+        if (entity->type != VEHICLE) continue;
+        float x1 = entity->x;
+        float y1 = entity->y;
+        float dist = sqrtf((x1 - agent->x) * (x1 - agent->x) + (y1 - agent->y) * (y1 - agent->y));
+        if(dist > 5.0f) continue;
+        float other_corners[4][2];
+        for (int z = 0; z < 4; z++) {
+            float other_cos_heading = cosf(entity->traj_heading[0]);
+            float other_sin_heading = sinf(entity->traj_heading[0]);
+            float other_half_length = entity->length / 2.0f;
+            float other_half_width = entity->width / 2.0f;
+            other_corners[z][0] = entity->x + (offsets[z][0] * other_half_length * other_cos_heading - offsets[z][1] * other_half_width * other_sin_heading);
+            other_corners[z][1] = entity->y + (offsets[z][0] * other_half_length * other_sin_heading + offsets[z][1] * other_half_width * other_cos_heading);
+        }
+        for (int k = 0; k < 4; k++) { // Check each edge of the bounding box
+            int next = (k + 1) % 4;
+            for (int l = 0; l < 4; l++) { // Check each edge of the bounding box
+                int next_l = (l + 1) % 4;
+                if (check_line_intersection(corners[k], corners[next], other_corners[l], other_corners[next_l])) {
+                    collided = VEHICLE_COLLISION;
+                    car_collided_with_index = i;
+                    break;
                 }
-		        if (collided == VEHICLE_COLLISION) break;
             }
+            if (collided == VEHICLE_COLLISION) break;
         }
+        if (collided == VEHICLE_COLLISION) break;
     }
     agent->collision_state = collided;
     if (car_collided_with_index != -1) {
@@ -936,7 +933,7 @@ void compute_observations(GPUDrive* env) {
             obs[obs_idx + 3] = -1.0f;
             obs[obs_idx + 4] = -1.0f;
             obs[obs_idx + 5] = -1.0f;
-            obs[obs_idx + 6] = -1.0f;
+            obs[obs_idx + 6] = 1.0f;
             obs_idx += 7;
         }
 	
@@ -979,7 +976,7 @@ void compute_observations(GPUDrive* env) {
             obs[obs_idx + 1] = -1.0f;
             obs[obs_idx + 2] = -1.0f;
             obs[obs_idx + 3] = -1.0f;
-            obs[obs_idx + 4] = -1.0f;
+            obs[obs_idx + 4] = 6.0f;
             obs_idx += 5;
         }
 	
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index a21685711e..fd14f7c14d 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -19,7 +19,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.render_mode = render_mode
         self.report_interval = report_interval
         
-        self.num_obs = 1030
+        self.num_obs = 2 + 54*7 + 200*5
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])

From 6ac73d9329ba929eba217b111f7dfb6ceee12cf5 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sun, 23 Mar 2025 08:40:21 -0500
Subject: [PATCH 067/112] added more self obs

---
 pufferlib/ocean/gpudrive/gpudrive.h | 71 ++++-------------------------
 1 file changed, 10 insertions(+), 61 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 709212b907..48b8b188bb 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -68,59 +68,6 @@ static const int collision_offsets[9][2] = {
         {-1,  0}, {0,  0}, {1,  0},  // Middle row (skip center)
         {-1,  1}, {0,  1}, {1,  1}   // Bottom row
     };
-
-// static const int vision_offsets[25][2] = {
-//     // Top row (from left to right)
-//     {-2, -2}, {-1, -2}, {0, -2}, {1, -2}, {2, -2},
-    
-//     // Second row
-//     {-2, -1}, {-1, -1}, {0, -1}, {1, -1}, {2, -1},
-    
-//     // Middle row (excluding center)
-//     {-2, 0}, {-1, 0}, {0, 0}, {1, 0}, {2, 0},
-    
-//     // Fourth row
-//     {-2, 1}, {-1, 1}, {0, 1}, {1, 1}, {2, 1},
-    
-//     // Bottom row
-//     {-2, 2}, {-1, 2}, {0, 2}, {1, 2}, {2, 2}
-// };
-
-/*static const int vision_offsets[81][2] = {
-    {-4, -4}, {-3, -4}, {-2, -4}, {-1, -4}, {0, -4}, {1, -4}, {2, -4}, {3, -4}, {4, -4},
-    {-4, -3}, {-3, -3}, {-2, -3}, {-1, -3}, {0, -3}, {1, -3}, {2, -3}, {3, -3}, {4, -3},
-    {-4, -2}, {-3, -2}, {-2, -2}, {-1, -2}, {0, -2}, {1, -2}, {2, -2}, {3, -2}, {4, -2},
-    {-4, -1}, {-3, -1}, {-2, -1}, {-1, -1}, {0, -1}, {1, -1}, {2, -1}, {3, -1}, {4, -1},
-    {-4,  0}, {-3,  0}, {-2,  0}, {-1,  0}, {0,  0}, {1,  0}, {2,  0}, {3,  0}, {4,  0},
-    {-4,  1}, {-3,  1}, {-2,  1}, {-1,  1}, {0,  1}, {1,  1}, {2,  1}, {3,  1}, {4,  1},
-    {-4,  2}, {-3,  2}, {-2,  2}, {-1,  2}, {0,  2}, {1,  2}, {2,  2}, {3,  2}, {4,  2},
-    {-4,  3}, {-3,  3}, {-2,  3}, {-1,  3}, {0,  3}, {1,  3}, {2,  3}, {3,  3}, {4,  3},
-    {-4,  4}, {-3,  4}, {-2,  4}, {-1,  4}, {0,  4}, {1,  4}, {2,  4}, {3,  4}, {4,  4}
-};
-*/
-static const int vision_offsets[441][2] = {
-    {-10, -10}, {-9, -10}, {-8, -10}, {-7, -10}, {-6, -10}, {-5, -10}, {-4, -10}, {-3, -10}, {-2, -10}, {-1, -10}, {0, -10}, {1, -10}, {2, -10}, {3, -10}, {4, -10}, {5, -10}, {6, -10}, {7, -10}, {8, -10}, {9, -10}, {10, -10},
-    {-10, -9}, {-9, -9}, {-8, -9}, {-7, -9}, {-6, -9}, {-5, -9}, {-4, -9}, {-3, -9}, {-2, -9}, {-1, -9}, {0, -9}, {1, -9}, {2, -9}, {3, -9}, {4, -9}, {5, -9}, {6, -9}, {7, -9}, {8, -9}, {9, -9}, {10, -9},
-    {-10, -8}, {-9, -8}, {-8, -8}, {-7, -8}, {-6, -8}, {-5, -8}, {-4, -8}, {-3, -8}, {-2, -8}, {-1, -8}, {0, -8}, {1, -8}, {2, -8}, {3, -8}, {4, -8}, {5, -8}, {6, -8}, {7, -8}, {8, -8}, {9, -8}, {10, -8},
-    {-10, -7}, {-9, -7}, {-8, -7}, {-7, -7}, {-6, -7}, {-5, -7}, {-4, -7}, {-3, -7}, {-2, -7}, {-1, -7}, {0, -7}, {1, -7}, {2, -7}, {3, -7}, {4, -7}, {5, -7}, {6, -7}, {7, -7}, {8, -7}, {9, -7}, {10, -7},
-    {-10, -6}, {-9, -6}, {-8, -6}, {-7, -6}, {-6, -6}, {-5, -6}, {-4, -6}, {-3, -6}, {-2, -6}, {-1, -6}, {0, -6}, {1, -6}, {2, -6}, {3, -6}, {4, -6}, {5, -6}, {6, -6}, {7, -6}, {8, -6}, {9, -6}, {10, -6},
-    {-10, -5}, {-9, -5}, {-8, -5}, {-7, -5}, {-6, -5}, {-5, -5}, {-4, -5}, {-3, -5}, {-2, -5}, {-1, -5}, {0, -5}, {1, -5}, {2, -5}, {3, -5}, {4, -5}, {5, -5}, {6, -5}, {7, -5}, {8, -5}, {9, -5}, {10, -5},
-    {-10, -4}, {-9, -4}, {-8, -4}, {-7, -4}, {-6, -4}, {-5, -4}, {-4, -4}, {-3, -4}, {-2, -4}, {-1, -4}, {0, -4}, {1, -4}, {2, -4}, {3, -4}, {4, -4}, {5, -4}, {6, -4}, {7, -4}, {8, -4}, {9, -4}, {10, -4},
-    {-10, -3}, {-9, -3}, {-8, -3}, {-7, -3}, {-6, -3}, {-5, -3}, {-4, -3}, {-3, -3}, {-2, -3}, {-1, -3}, {0, -3}, {1, -3}, {2, -3}, {3, -3}, {4, -3}, {5, -3}, {6, -3}, {7, -3}, {8, -3}, {9, -3}, {10, -3},
-    {-10, -2}, {-9, -2}, {-8, -2}, {-7, -2}, {-6, -2}, {-5, -2}, {-4, -2}, {-3, -2}, {-2, -2}, {-1, -2}, {0, -2}, {1, -2}, {2, -2}, {3, -2}, {4, -2}, {5, -2}, {6, -2}, {7, -2}, {8, -2}, {9, -2}, {10, -2},
-    {-10, -1}, {-9, -1}, {-8, -1}, {-7, -1}, {-6, -1}, {-5, -1}, {-4, -1}, {-3, -1}, {-2, -1}, {-1, -1}, {0, -1}, {1, -1}, {2, -1}, {3, -1}, {4, -1}, {5, -1}, {6, -1}, {7, -1}, {8, -1}, {9, -1}, {10, -1},
-    {-10, 0}, {-9, 0}, {-8, 0}, {-7, 0}, {-6, 0}, {-5, 0}, {-4, 0}, {-3, 0}, {-2, 0}, {-1, 0}, {0, 0}, {1, 0}, {2, 0}, {3, 0}, {4, 0}, {5, 0}, {6, 0}, {7, 0}, {8, 0}, {9, 0}, {10, 0},
-    {-10, 1}, {-9, 1}, {-8, 1}, {-7, 1}, {-6, 1}, {-5, 1}, {-4, 1}, {-3, 1}, {-2, 1}, {-1, 1}, {0, 1}, {1, 1}, {2, 1}, {3, 1}, {4, 1}, {5, 1}, {6, 1}, {7, 1}, {8, 1}, {9, 1}, {10, 1},
-    {-10, 2}, {-9, 2}, {-8, 2}, {-7, 2}, {-6, 2}, {-5, 2}, {-4, 2}, {-3, 2}, {-2, 2}, {-1, 2}, {0, 2}, {1, 2}, {2, 2}, {3, 2}, {4, 2}, {5, 2}, {6, 2}, {7, 2}, {8, 2}, {9, 2}, {10, 2},
-    {-10, 3}, {-9, 3}, {-8, 3}, {-7, 3}, {-6, 3}, {-5, 3}, {-4, 3}, {-3, 3}, {-2, 3}, {-1, 3}, {0, 3}, {1, 3}, {2, 3}, {3, 3}, {4, 3}, {5, 3}, {6, 3}, {7, 3}, {8, 3}, {9, 3}, {10, 3},
-    {-10, 4}, {-9, 4}, {-8, 4}, {-7, 4}, {-6, 4}, {-5, 4}, {-4, 4}, {-3, 4}, {-2, 4}, {-1, 4}, {0, 4}, {1, 4}, {2, 4}, {3, 4}, {4, 4}, {5, 4}, {6, 4}, {7, 4}, {8, 4}, {9, 4}, {10, 4},
-    {-10, 5}, {-9, 5}, {-8, 5}, {-7, 5}, {-6, 5}, {-5, 5}, {-4, 5}, {-3, 5}, {-2, 5}, {-1, 5}, {0, 5}, {1, 5}, {2, 5}, {3, 5}, {4, 5}, {5, 5}, {6, 5}, {7, 5}, {8, 5}, {9, 5}, {10, 5},
-    {-10, 6}, {-9, 6}, {-8, 6}, {-7, 6}, {-6, 6}, {-5, 6}, {-4, 6}, {-3, 6}, {-2, 6}, {-1, 6}, {0, 6}, {1, 6}, {2, 6}, {3, 6}, {4, 6}, {5, 6}, {6, 6}, {7, 6}, {8, 6}, {9, 6}, {10, 6},
-    {-10, 7}, {-9, 7}, {-8, 7}, {-7, 7}, {-6, 7}, {-5, 7}, {-4, 7}, {-3, 7}, {-2, 7}, {-1, 7}, {0, 7}, {1, 7}, {2, 7}, {3, 7}, {4, 7}, {5, 7}, {6, 7}, {7, 7}, {8, 7}, {9, 7}, {10, 7},
-    {-10, 8}, {-9, 8}, {-8, 8}, {-7, 8}, {-6, 8}, {-5, 8}, {-4, 8}, {-3, 8}, {-2, 8}, {-1, 8}, {0, 8}, {1, 8}, {2, 8}, {3, 8}, {4, 8}, {5, 8}, {6, 8}, {7, 8}, {8, 8}, {9, 8}, {10, 8},
-    {-10, 9}, {-9, 9}, {-8, 9}, {-7, 9}, {-6, 9}, {-5, 9}, {-4, 9}, {-3, 9}, {-2, 9}, {-1, 9}, {0, 9}, {1, 9}, {2, 9}, {3, 9}, {4, 9}, {5, 9}, {6, 9}, {7, 9}, {8, 9}, {9, 9}, {10, 9},
-    {-10, 10}, {-9, 10}, {-8, 10}, {-7, 10}, {-6, 10}, {-5, 10}, {-4, 10}, {-3, 10}, {-2, 10}, {-1, 10}, {0, 10}, {1, 10}, {2, 10}, {3, 10}, {4, 10}, {5, 10}, {6, 10}, {7, 10}, {8, 10}, {9, 10}, {10, 10}
-};
 #define LOG_BUFFER_SIZE 1024
 
 typedef struct Log Log;
@@ -621,7 +568,7 @@ void free_initialized(GPUDrive* env){
 
 void allocate(GPUDrive* env){
     init(env);
-    int max_obs = 2 + 7 * (env->num_cars - 1) + 200 * 5;
+    int max_obs = 6 + 7 * (env->num_cars - 1) + 200 * 5;
     printf("max obs: %d\n", max_obs*env->active_agent_count);
     printf("num cars: %d\n", env->num_cars);
     env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
@@ -878,7 +825,7 @@ void collision_check(GPUDrive* env, int agent_idx) {
 }
 
 void compute_observations(GPUDrive* env) {
-    int max_obs = 2 + 7 * (env->num_cars - 1) + 200 * 5;
+    int max_obs = 6 + 7 * (env->num_cars - 1) + 200 * 5;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     
     for(int i = 0; i < env->active_agent_count; i++) {
@@ -887,12 +834,17 @@ void compute_observations(GPUDrive* env) {
         if(ego_entity->type > 3) break;
         float cos_heading = cosf(ego_entity->heading);
         float sin_heading = sinf(ego_entity->heading);
+        float ego_speed = sqrtf(ego_entity->vx * ego_entity->vx + ego_entity->vy * ego_entity->vy);
         // Set goal distances
         obs[0] = relative_distance(ego_entity->x, ego_entity->goal_position_x);
         obs[1] = relative_distance(ego_entity->y, ego_entity->goal_position_y);
+        obs[2] = ego_speed;
+        obs[3] = ego_entity->width;
+        obs[4] = ego_entity->length;
+        obs[5] = ego_entity->collision_state;
         
         // Relative Pos of other cars
-        int obs_idx = 2;  // Start after goal distances
+        int obs_idx = 6;  // Start after goal distances
         int cars_seen = 0;
         for(int j = 0; j < env->num_entities; j++) {
             if(env->entities[j].type > 3) break;
@@ -1158,7 +1110,7 @@ void c_render(Client* client, GPUDrive* env) {
                     DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
                     DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
                     if( agent_index == env->human_agent_idx){
-                        int max_obs = 2 + 7 * (env->num_cars - 1) + 200 * 5;
+                        int max_obs = 6 + 7 * (env->num_cars - 1) + 200 * 5;
                         float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
                         float* agent_obs = &observations[agent_index][0];
                     
@@ -1290,7 +1242,4 @@ void c_render(Client* client, GPUDrive* env) {
 void close_client(Client* client){
     CloseWindow();
     free(client);
-}
-
-
-
+}
\ No newline at end of file

From 630f92b50e7a2c7a523da055141b631f52c6ab6c Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sun, 23 Mar 2025 08:44:01 -0500
Subject: [PATCH 068/112] obs was bugged now its back

---
 pufferlib/ocean/gpudrive/gpudrive.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 48b8b188bb..4afe428a59 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -1115,7 +1115,7 @@ void c_render(Client* client, GPUDrive* env) {
                         float* agent_obs = &observations[agent_index][0];
                     
                         // First draw other agent observations
-                        int obs_idx = 2;  // Start after goal distances
+                        int obs_idx = 6;  // Start after goal distances
                         for(int j = 0; j < env->num_cars - 1; j++) {  // -1 because we skip self
                             if(agent_obs[obs_idx] != -1 && agent_obs[obs_idx + 1] != -1) {
                                 // Draw position of other agents
@@ -1128,7 +1128,7 @@ void c_render(Client* client, GPUDrive* env) {
                         }
 
                         // Then draw map observations
-                        int map_start_idx = 2 + 7 * (env->num_cars - 1);  // Start after agent observations
+                        int map_start_idx = 6 + 7 * (env->num_cars - 1);  // Start after agent observations
                         for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS; k++) {  // Loop through potential map entities
                             int entity_idx = map_start_idx + k * 5;
                             if(agent_obs[entity_idx] != -1 && agent_obs[entity_idx + 1] != -1) {

From 64caf170680d8c2a00a434f522b2bf28cb50365c Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sun, 23 Mar 2025 08:44:31 -0500
Subject: [PATCH 069/112] forgot this file

---
 pufferlib/ocean/gpudrive/gpudrive.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index fd14f7c14d..f22ae873d2 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -19,7 +19,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.render_mode = render_mode
         self.report_interval = report_interval
         
-        self.num_obs = 2 + 54*7 + 200*5
+        self.num_obs = 6 + 54*7 + 200*5
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])

From 314b927aa5bb413e2fbadd1c8d1c1739b3fc0e3e Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sun, 23 Mar 2025 10:22:33 -0500
Subject: [PATCH 070/112] reward collision rate as param

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx | 6 +++++-
 pufferlib/ocean/gpudrive/gpudrive.c      | 2 ++
 pufferlib/ocean/gpudrive/gpudrive.h      | 8 ++++++--
 pufferlib/ocean/gpudrive/gpudrive.py     | 4 +++-
 4 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index f353c8def0..0c2787019f 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -75,6 +75,8 @@ cdef extern from "gpudrive.h":
         int* neighbor_offsets;
         int* neighbor_cache_entities;
         int* neighbor_cache_indices;
+        float reward_vehicle_collision
+        float reward_offroad_collision
 
     ctypedef struct Client
 
@@ -131,7 +133,7 @@ cdef class CyGPUDrive:
 
     def __init__(self, float[:, :] observations, int[:,:] actions,
             float[:] rewards, unsigned char[:] terminals, int num_envs,
-            int num_agents, int human_agent_idx):
+            int num_agents, int human_agent_idx, reward_vehicle_collision, reward_offroad_collision):
 
         self.client = NULL
         self.num_envs = num_envs
@@ -147,6 +149,8 @@ cdef class CyGPUDrive:
                 dones=&terminals[inc*i],
                 log_buffer=self.logs,
                 human_agent_idx=human_agent_idx,
+                reward_vehicle_collision=reward_vehicle_collision,
+                reward_offroad_collision=reward_offroad_collision
             )
             init(&self.envs[i])
             self.client = NULL
diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index fe13e87b66..72915767f0 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -100,6 +100,8 @@ void demo() {
     GPUDrive env = {
         .dynamics_model = CLASSIC,
         .human_agent_idx = 0,
+        .reward_vehicle_collision = -0.1f,
+        .reward_offroad_collision = -0.1f,
     };
     allocate(&env);
     Weights* weights = load_weights("resources/gpu_drive_weights.bin", 135061);
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 4afe428a59..d0c5715df4 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -208,6 +208,8 @@ struct GPUDrive {
     int* neighbor_offsets;
     int* neighbor_cache_entities;
     int* neighbor_cache_indices;
+    float reward_vehicle_collision;
+    float reward_offroad_collision;
 };
 
 Entity* load_map_binary(const char* filename, GPUDrive* env) {
@@ -973,13 +975,15 @@ void c_step(GPUDrive* env){
         // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0){
-            env->rewards[i] = -0.1f;
-            env->logs[i].episode_return -=0.1f;
             if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){
+                env->rewards[i] = env->reward_vehicle_collision;
                 env->logs[i].collision_rate = 1.0f;
+                env->logs[i].episode_return += env->reward_vehicle_collision;
             }
             else if(env->entities[agent_idx].collision_state == OFFROAD){
+                env->rewards[i] = env->reward_offroad_collision;
                 env->logs[i].offroad_rate = 1.0f;
+                env->logs[i].episode_return += env->reward_offroad_collision;
             }
         }
 
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index f22ae873d2..fca21d08f2 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -12,6 +12,8 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
             active_agent_count=5,
             human_agent_idx=0,
             num_agents = 5,
+            reward_vehicle_collision=-0.1,
+            reward_offroad_collision=-0.1,
             buf = None):
 
         # env
@@ -27,7 +29,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
 
         super().__init__(buf=buf)
         self.c_envs = CyGPUDrive(self.observations, self.actions, self.rewards,
-            self.terminals, num_envs, num_agents, human_agent_idx)
+            self.terminals, num_envs, num_agents, human_agent_idx, reward_vehicle_collision, reward_offroad_collision)
 
 
     def reset(self, seed=None):

From b05db096358b867430194990cb61e55cdb703aed Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Sun, 23 Mar 2025 17:42:04 +0000
Subject: [PATCH 071/112] modified car partner obs speed as absolute and not
 relative and lowered obs radious from 100 to 50

---
 pufferlib/ocean/gpudrive/gpudrive.h | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index d0c5715df4..a4a76dd8fd 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -858,7 +858,7 @@ void compute_observations(GPUDrive* env) {
             float dx = other_entity->x - ego_entity->x;
             float dy = other_entity->y - ego_entity->y;
             float dist = sqrtf(dx*dx + dy*dy);
-            if(dist > 100.0f) continue;
+            if(dist > 50.0f) continue;
             // Rotate to ego vehicle's frame
             float rel_x = dx * cos_heading + dy * sin_heading;
             float rel_y = -dx * sin_heading + dy * cos_heading;
@@ -874,9 +874,8 @@ void compute_observations(GPUDrive* env) {
             obs[obs_idx + 5] = sinf(rel_heading);
             
             // relative speed
-            float ego_speed = sqrtf(ego_entity->vx * ego_entity->vx + ego_entity->vy * ego_entity->vy);
             float other_speed = sqrtf(other_entity->vx * other_entity->vx + other_entity->vy * other_entity->vy);
-            obs[obs_idx + 6] = other_speed - ego_speed;
+            obs[obs_idx + 6] = other_speed;
             cars_seen++;
             obs_idx += 7;  // Move to next observation slot
         }
@@ -1246,4 +1245,4 @@ void c_render(Client* client, GPUDrive* env) {
 void close_client(Client* client){
     CloseWindow();
     free(client);
-}
\ No newline at end of file
+}

From fb03fd4d17d7009309f72ffc6358922dfc3bf7ca Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sun, 23 Mar 2025 13:43:27 -0500
Subject: [PATCH 072/112] normalized obs

---
 pufferlib/ocean/gpudrive/gpudrive.h | 52 ++++++++++++++++++++---------
 1 file changed, 36 insertions(+), 16 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index a4a76dd8fd..3d6d391c69 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -52,6 +52,20 @@
 
 // Max road segment observation entities
 #define MAX_ROAD_SEGMENT_OBSERVATIONS 200
+
+// Observation Space Constants
+#define MAX_SPEED 100
+#define MAX_VEH_LEN 30
+#define MAX_VEH_WIDTH 15
+#define MAX_VEH_HEIGHT 10
+#define MIN_REL_GOAL_COORD -1000
+#define MAX_REL_GOAL_COORD 1000
+#define MIN_REL_AGENT_POS -1000
+#define MAX_REL_AGENT_POS 1000
+#define MAX_ORIENTATION_RAD 2 * PI
+#define MIN_RG_COORD -1000
+#define MAX_RG_COORD 1000
+
 // Acceleration Values
 static const float ACCELERATION_VALUES[7] = {-4.0000f, -2.6670f, -1.3330f, -0.0000f,  1.3330f,  2.6670f,  4.0000f};
 static const float STEERING_VALUES[13] = {-3.1420f, -2.6180f, -2.0940f, -1.5710f, -1.0470f, -0.5240f,  0.0000f,  0.5240f,
@@ -826,6 +840,10 @@ void collision_check(GPUDrive* env, int agent_idx) {
     }
 }
 
+float normalize_value(float value, float min, float max){
+    return (value - min) / (max - min);
+}
+
 void compute_observations(GPUDrive* env) {
     int max_obs = 6 + 7 * (env->num_cars - 1) + 200 * 5;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
@@ -838,11 +856,13 @@ void compute_observations(GPUDrive* env) {
         float sin_heading = sinf(ego_entity->heading);
         float ego_speed = sqrtf(ego_entity->vx * ego_entity->vx + ego_entity->vy * ego_entity->vy);
         // Set goal distances
-        obs[0] = relative_distance(ego_entity->x, ego_entity->goal_position_x);
-        obs[1] = relative_distance(ego_entity->y, ego_entity->goal_position_y);
-        obs[2] = ego_speed;
-        obs[3] = ego_entity->width;
-        obs[4] = ego_entity->length;
+        float goal_x = relative_distance(ego_entity->x, ego_entity->goal_position_x);
+        float goal_y = relative_distance(ego_entity->y, ego_entity->goal_position_y);
+        obs[0] = normalize_value(goal_x, MIN_REL_GOAL_COORD, MAX_REL_GOAL_COORD);
+        obs[1] = normalize_value(goal_y, MIN_REL_GOAL_COORD, MAX_REL_GOAL_COORD);
+        obs[2] = ego_speed / MAX_SPEED;
+        obs[3] = ego_entity->width / MAX_VEH_WIDTH;
+        obs[4] = ego_entity->length / MAX_VEH_LEN;
         obs[5] = ego_entity->collision_state;
         
         // Relative Pos of other cars
@@ -863,19 +883,19 @@ void compute_observations(GPUDrive* env) {
             float rel_x = dx * cos_heading + dy * sin_heading;
             float rel_y = -dx * sin_heading + dy * cos_heading;
             // Store observations with correct indexing
-            obs[obs_idx] = rel_x;
-            obs[obs_idx + 1] = rel_y;
-            obs[obs_idx + 2] = other_entity->width;
-            obs[obs_idx + 3] = other_entity->length;
+            obs[obs_idx] = normalize_value(rel_x, MIN_REL_AGENT_POS, MAX_REL_AGENT_POS);
+            obs[obs_idx + 1] = normalize_value(rel_y, MIN_REL_AGENT_POS, MAX_REL_AGENT_POS);
+            obs[obs_idx + 2] = other_entity->width / MAX_VEH_WIDTH;
+            obs[obs_idx + 3] = other_entity->length / MAX_VEH_LEN;
             
             // relative heading
             float rel_heading = normalize_heading(other_entity->heading - ego_entity->heading);
-            obs[obs_idx + 4] = cosf(rel_heading);
-            obs[obs_idx + 5] = sinf(rel_heading);
+            obs[obs_idx + 4] = cosf(rel_heading) / MAX_ORIENTATION_RAD;
+            obs[obs_idx + 5] = sinf(rel_heading) / MAX_ORIENTATION_RAD;
             
             // relative speed
             float other_speed = sqrtf(other_entity->vx * other_entity->vx + other_entity->vy * other_entity->vy);
-            obs[obs_idx + 6] = other_speed;
+            obs[obs_idx + 6] = other_speed / MAX_SPEED;
             cars_seen++;
             obs_idx += 7;  // Move to next observation slot
         }
@@ -916,10 +936,10 @@ void compute_observations(GPUDrive* env) {
             //     printf("K: %d, Entity index: %d, Geometry index: %d\n", k, entity_list[k*2], entity_list[k*2+1]);
             //     printf("start: %f, %f, end: %f, %f\n", start[0], start[1], end[0], end[1]);
             // }
-            obs[obs_idx] = x_start;
-            obs[obs_idx + 1] = y_start;
-            obs[obs_idx + 2] = x_end;
-            obs[obs_idx + 3] = y_end;
+            obs[obs_idx] = normalize_value(x_start, MIN_RG_COORD, MAX_RG_COORD);
+            obs[obs_idx + 1] = normalize_value(y_start, MIN_RG_COORD, MAX_RG_COORD);
+            obs[obs_idx + 2] = normalize_value(x_end, MIN_RG_COORD, MAX_RG_COORD);
+            obs[obs_idx + 3] = normalize_value(y_end, MIN_RG_COORD, MAX_RG_COORD);
             obs[obs_idx + 4] = entity->type;
             obs_idx += 5;
         }

From d9cdeb326040332261c8ff15f0905b46c110dab9 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Sun, 23 Mar 2025 20:30:43 +0000
Subject: [PATCH 073/112] reset obs at 0 each step

---
 pufferlib/ocean/gpudrive/gpudrive.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 3d6d391c69..44ef6f400c 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -846,8 +846,8 @@ float normalize_value(float value, float min, float max){
 
 void compute_observations(GPUDrive* env) {
     int max_obs = 6 + 7 * (env->num_cars - 1) + 200 * 5;
-    float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
-    
+    memset(env->observations, 0, max_obs * env->active_agent_count * sizeof(float));
+    float (*observations)[max_obs] = (float(*)[max_obs])env->observations; 
     for(int i = 0; i < env->active_agent_count; i++) {
         float* obs = &observations[i][0];
         Entity* ego_entity = &env->entities[env->active_agent_indices[i]];

From 3e690aca65752d4d8fac57402ca3f27803972048 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sun, 23 Mar 2025 15:45:03 -0500
Subject: [PATCH 074/112] revrese normalize obs for visual

---
 pufferlib/ocean/gpudrive/gpudrive.h | 20 +++++++++++++++-----
 1 file changed, 15 insertions(+), 5 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 3d6d391c69..829a02a6e4 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -587,6 +587,7 @@ void allocate(GPUDrive* env){
     int max_obs = 6 + 7 * (env->num_cars - 1) + 200 * 5;
     printf("max obs: %d\n", max_obs*env->active_agent_count);
     printf("num cars: %d\n", env->num_cars);
+    printf("active agent count: %d\n", env->active_agent_count);
     env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
     env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
@@ -844,6 +845,10 @@ float normalize_value(float value, float min, float max){
     return (value - min) / (max - min);
 }
 
+float reverse_normalize_value(float value, float min, float max){
+    return value * (max - min) + min;
+}
+
 void compute_observations(GPUDrive* env) {
     int max_obs = 6 + 7 * (env->num_cars - 1) + 200 * 5;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
@@ -1136,15 +1141,16 @@ void c_render(Client* client, GPUDrive* env) {
                         int max_obs = 6 + 7 * (env->num_cars - 1) + 200 * 5;
                         float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
                         float* agent_obs = &observations[agent_index][0];
-                    
                         // First draw other agent observations
                         int obs_idx = 6;  // Start after goal distances
                         for(int j = 0; j < env->num_cars - 1; j++) {  // -1 because we skip self
                             if(agent_obs[obs_idx] != -1 && agent_obs[obs_idx + 1] != -1) {
                                 // Draw position of other agents
+                                float x = reverse_normalize_value(agent_obs[obs_idx], MIN_RG_COORD, MAX_RG_COORD);
+                                float y = reverse_normalize_value(agent_obs[obs_idx + 1], MIN_RG_COORD, MAX_RG_COORD);
                                 DrawLine3D((Vector3){0, 0, 0}, 
-                                        (Vector3){agent_obs[obs_idx], 
-                                                agent_obs[obs_idx + 1], 1}, 
+                                        (Vector3){x, 
+                                                y, 1}, 
                                         ORANGE);
                             }
                             obs_idx += 7;  // Move to next agent observation (7 values per agent)
@@ -1162,8 +1168,12 @@ void c_render(Client* client, GPUDrive* env) {
                                     lineColor = BLACK;
                                     // For road segments, draw line between start and end points
                                     if(agent_obs[entity_idx + 2] != -1 && agent_obs[entity_idx + 3] != -1) {
-                                        DrawLine3D((Vector3){0,0,0}, (Vector3){agent_obs[entity_idx], agent_obs[entity_idx + 1], 1}, lineColor);    
-                                        DrawLine3D((Vector3){0,0,0}, (Vector3){agent_obs[entity_idx + 2], agent_obs[entity_idx + 3], 1}, lineColor);
+                                        float x_start = reverse_normalize_value(agent_obs[entity_idx], MIN_RG_COORD, MAX_RG_COORD);
+                                        float y_start = reverse_normalize_value(agent_obs[entity_idx + 1], MIN_RG_COORD, MAX_RG_COORD);
+                                        float x_end = reverse_normalize_value(agent_obs[entity_idx + 2], MIN_RG_COORD, MAX_RG_COORD);
+                                        float y_end = reverse_normalize_value(agent_obs[entity_idx + 3], MIN_RG_COORD, MAX_RG_COORD);
+                                        DrawLine3D((Vector3){0,0,0}, (Vector3){x_start, y_start, 1}, lineColor);    
+                                        DrawLine3D((Vector3){0,0,0}, (Vector3){x_end, y_end, 1}, lineColor);
                                     }
                                 }
                             }

From 2cc539932b465360357a3909f2bf7263db042302 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Mon, 24 Mar 2025 16:51:23 -0500
Subject: [PATCH 075/112] first crack at network design here

---
 pufferlib/ocean/gpudrive/gpudrive.py |  2 +-
 pufferlib/ocean/torch.py             | 89 ++++++++++++++++++++++++++++
 2 files changed, 90 insertions(+), 1 deletion(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index fca21d08f2..89d1d7041e 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -21,7 +21,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.render_mode = render_mode
         self.report_interval = report_interval
         
-        self.num_obs = 6 + 54*7 + 200*5
+        self.num_obs = 6 + 53*7 + 200*5
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])
diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py
index e925dc73d7..64c72b2857 100644
--- a/pufferlib/ocean/torch.py
+++ b/pufferlib/ocean/torch.py
@@ -404,3 +404,92 @@ def decode_actions(self, flat_hidden, lookup, concat=None):
         
         return action, value
 
+
+class GPUDrive(nn.Module):
+    def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
+        super().__init__()
+        self.ego_encoder = nn.Sequential(
+            pufferlib.pytorch.layer_init(
+                nn.Linear(6, hidden_size)),
+            nn.LayerNorm(hidden_size),
+            nn.Tanh(),
+            nn.Dropout(0.01),
+            pufferlib.pytorch.layer_init(
+                nn.Linear(hidden_size, hidden_size)
+            )
+        )
+        max_road_objects = 200 * 5
+        self.road_encoder = nn.Sequential(
+            pufferlib.pytorch.layer_init(
+                nn.Linear(max_road_objects, hidden_size)),
+            nn.LayerNorm(hidden_size),
+            nn.Tanh(),
+            nn.Dropout(0.01),
+            pufferlib.pytorch.layer_init(
+                nn.Linear(hidden_size, hidden_size)
+            )
+        )
+        max_partner_objects = 53*7
+        self.partner_encoder = nn.Sequential(
+            pufferlib.pytorch.layer_init(
+                nn.Linear(max_partner_objects, hidden_size)),
+            nn.LayerNorm(hidden_size),
+            nn.Tanh(),
+            nn.Dropout(0.01),
+            pufferlib.pytorch.layer_init(
+                nn.Linear(hidden_size, hidden_size)
+            )
+        )
+        
+        self.shared_embedding = nn.Sequential(
+            pufferlib.pytorch.layer_init(nn.Linear(3*hidden_size, 128)),
+            nn.ReLU(),
+        )
+        self.is_continuous = isinstance(env.single_action_space, pufferlib.spaces.Box)
+
+        self.atn_dim = env.single_action_space.nvec.tolist()
+        self.actor = pufferlib.pytorch.layer_init(
+                nn.Linear(hidden_size, sum(self.atn_dim)), std = 0.01)
+        self.value_fn = pufferlib.pytorch.layer_init(
+                nn.Linear(hidden_size, 1 ), std=1)
+    
+    def forward(self, observations):
+        hidden, lookup = self.encode_observations(observations)
+        actions, value = self.decode_actions(hidden, lookup)
+        return actions, value
+    
+    def encode_observations(self, observations):
+        ego_dim = 6
+        partner_dim = 53 * 7
+        road_dim = 200*5
+        ego_obs = observations[:, :ego_dim]
+        partner_obs = observations[:, ego_dim:ego_dim+partner_dim]
+        road_obs = observations[:, ego_dim+partner_dim:ego_dim+partner_dim+road_dim]
+
+        ego_features = self.ego_encoder(ego_obs)
+        partner_features = self.partner_encoder(partner_obs)
+        road_features = self.road_encoder(road_obs)
+        
+        concat_features = torch.cat([ego_features, road_features, partner_features], dim=1)
+        
+        # Apply max pooling across concatenated features
+        # Reshape to [batch, 3, hidden_size] to pool across the 3 modalities
+        # pooled_features = torch.max(
+        #     concat_features.view(-1, 3, self.hidden_size), dim=1
+        # )[0]
+        
+        # Pass through shared embedding
+        embedding = self.shared_embedding(concat_features)
+        return embedding, None
+    
+    def decode_actions(self, flat_hidden, lookup, concat=None):
+        action = self.actor(flat_hidden)
+        action = torch.split(action, self.atn_dim, dim=1)
+        value = self.value_fn(flat_hidden)
+        return action, value
+        
+        
+        
+        
+        
+        

From 9374a78a99f1e830b59f35b1421dea032c034185 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Tue, 25 Mar 2025 23:09:49 +0000
Subject: [PATCH 076/112] latest

---
 pufferlib/ocean/gpudrive/gpudrive.h  |  3 +--
 pufferlib/ocean/gpudrive/gpudrive.py |  8 ++++----
 pufferlib/ocean/torch.py             | 26 +++++++++++++-------------
 3 files changed, 18 insertions(+), 19 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index f996a052af..41343e18e6 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -913,8 +913,7 @@ void compute_observations(GPUDrive* env) {
             obs[obs_idx + 5] = -1.0f;
             obs[obs_idx + 6] = 1.0f;
             obs_idx += 7;
-        }
-	
+	}
 
         // map observations
         int entity_list[MAX_ROAD_SEGMENT_OBSERVATIONS*2];  // Array big enough for all neighboring cells
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 89d1d7041e..2645fd5a4d 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -9,9 +9,9 @@
 class GPUDrive(pufferlib.PufferEnv):
     def __init__(self, num_envs=1, render_mode=None, report_interval=1,
             width=1280, height=1024,
-            active_agent_count=5,
+            active_agent_count=8,
             human_agent_idx=0,
-            num_agents = 5,
+            num_agents = 8,
             reward_vehicle_collision=-0.1,
             reward_offroad_collision=-0.1,
             buf = None):
@@ -21,7 +21,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.render_mode = render_mode
         self.report_interval = report_interval
         
-        self.num_obs = 6 + 53*7 + 200*5
+        self.num_obs = 6 + 67*7 + 200*5
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])
@@ -357,5 +357,5 @@ def load_map(map_name, binary_output=None):
 
 
 if __name__ == '__main__':
-        load_map('resources/tfrecord-00000-of-01000_325.json', 'map.bin')
+        load_map('resources/tfrecord-00000-of-01000_4.json', 'map.bin')
 
diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py
index 64c72b2857..bd4ed4a4cf 100644
--- a/pufferlib/ocean/torch.py
+++ b/pufferlib/ocean/torch.py
@@ -410,40 +410,40 @@ def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
         super().__init__()
         self.ego_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
-                nn.Linear(6, hidden_size)),
-            nn.LayerNorm(hidden_size),
+                nn.Linear(6, cnn_channels)),
+            nn.LayerNorm(cnn_channels),
             nn.Tanh(),
             nn.Dropout(0.01),
             pufferlib.pytorch.layer_init(
-                nn.Linear(hidden_size, hidden_size)
+                nn.Linear(cnn_channels, cnn_channels)
             )
         )
         max_road_objects = 200 * 5
         self.road_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
-                nn.Linear(max_road_objects, hidden_size)),
-            nn.LayerNorm(hidden_size),
+                nn.Linear(max_road_objects, cnn_channels)),
+            nn.LayerNorm(cnn_channels),
             nn.Tanh(),
             nn.Dropout(0.01),
             pufferlib.pytorch.layer_init(
-                nn.Linear(hidden_size, hidden_size)
+                nn.Linear(cnn_channels, cnn_channels)
             )
         )
-        max_partner_objects = 53*7
+        max_partner_objects = 67*7
         self.partner_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
-                nn.Linear(max_partner_objects, hidden_size)),
-            nn.LayerNorm(hidden_size),
+                nn.Linear(max_partner_objects, cnn_channels)),
+            nn.LayerNorm(cnn_channels),
             nn.Tanh(),
             nn.Dropout(0.01),
             pufferlib.pytorch.layer_init(
-                nn.Linear(hidden_size, hidden_size)
+                nn.Linear(cnn_channels, cnn_channels)
             )
         )
         
         self.shared_embedding = nn.Sequential(
-            pufferlib.pytorch.layer_init(nn.Linear(3*hidden_size, 128)),
-            nn.ReLU(),
+            pufferlib.pytorch.layer_init(nn.Linear(3*cnn_channels,  hidden_size)),
+            nn.Dropout(0.01),
         )
         self.is_continuous = isinstance(env.single_action_space, pufferlib.spaces.Box)
 
@@ -460,7 +460,7 @@ def forward(self, observations):
     
     def encode_observations(self, observations):
         ego_dim = 6
-        partner_dim = 53 * 7
+        partner_dim = 67 * 7
         road_dim = 200*5
         ego_obs = observations[:, :ego_dim]
         partner_obs = observations[:, ego_dim:ego_dim+partner_dim]

From 2c46c69720d220a65008d7e062c34313615be2ae Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Tue, 25 Mar 2025 18:12:51 -0500
Subject: [PATCH 077/112] reshape and max pool

---
 pufferlib/ocean/torch.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py
index bd4ed4a4cf..4f1996909c 100644
--- a/pufferlib/ocean/torch.py
+++ b/pufferlib/ocean/torch.py
@@ -465,10 +465,14 @@ def encode_observations(self, observations):
         ego_obs = observations[:, :ego_dim]
         partner_obs = observations[:, ego_dim:ego_dim+partner_dim]
         road_obs = observations[:, ego_dim+partner_dim:ego_dim+partner_dim+road_dim]
+        
+        partner_obs = partner_obs.view(-1, 7, 67)
+        road_obs = road_obs.view(-1, 5, 200)
 
         ego_features = self.ego_encoder(ego_obs)
-        partner_features = self.partner_encoder(partner_obs)
-        road_features = self.road_encoder(road_obs)
+        partner_features = self.partner_encoder(partner_obs).max(dim=1)
+        road_features = self.road_encoder(road_obs).max(dim=1)
+        
         
         concat_features = torch.cat([ego_features, road_features, partner_features], dim=1)
         

From 8dca10a1a7abc09b3c0008de81471d2402af9092 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Wed, 26 Mar 2025 05:00:53 +0000
Subject: [PATCH 078/112] trying to train

---
 config/ocean/gpudrive.ini           | 44 ++++++++++++++---------------
 pufferlib/ocean/gpudrive/gpudrive.h | 12 --------
 pufferlib/ocean/torch.py            | 19 ++++++-------
 3 files changed, 31 insertions(+), 44 deletions(-)

diff --git a/config/ocean/gpudrive.ini b/config/ocean/gpudrive.ini
index 1bc6e591e2..139d784055 100644
--- a/config/ocean/gpudrive.ini
+++ b/config/ocean/gpudrive.ini
@@ -1,35 +1,35 @@
 [base]
 package = ocean
 env_name = puffer_gpudrive
-policy_name = Policy
+policy_name = GPUDrive
 rnn_name = Recurrent
 
 [env]
 num_envs = 256
+reward_vehicle_collision = -0.05
+reward_offroad_collision = -0.05
 
 [train]
-total_timesteps = 500000000
-checkpoint_interval = 25
-num_envs = 1
-num_workers = 1
-env_batch_size =1
-batch_size = 131072
-update_epochs = 1
-minibatch_size = 8192
-bptt_horizon = 16
-anneal_lr = False
+total_timesteps = 250_000_000
 ent_coef = 0.0001
-device = cuda
-learning_rate=0.00034781012489778265
-gamma = 0.99
-gae_lambda = 0.95
-vf_coef = 1
-clip_coef = 0.1
-vf_clip_coef = 0.1
-max_grad_norm = 1.3
+learning_rate = 0.005
 [sweep.train.total_timesteps]
 distribution = log_normal
-min = 1e8
-max = 5e8
-mean = 3e8
+min = 3e8
+max = 9e8
+mean = 5e8
 scale = 0.25
+
+[sweep.env.reward_vehicle_collision]
+distribution = uniform
+min = -1.0
+max = -0.1
+mean = -0.25
+scale = auto 
+
+[sweep.env.reward_offroad_collision]
+distribution = uniform
+min = -1.0
+max = -0.1
+mean = -0.25
+scale = auto
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 41343e18e6..f4443da1cd 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -905,13 +905,6 @@ void compute_observations(GPUDrive* env) {
             obs_idx += 7;  // Move to next observation slot
         }
         for(int j = cars_seen; j < env->num_cars - 1; j++){
-            obs[obs_idx] = -1.0f;
-            obs[obs_idx + 1] = -1.0f;
-            obs[obs_idx + 2] = -1.0f;
-            obs[obs_idx + 3] = -1.0f;
-            obs[obs_idx + 4] = -1.0f;
-            obs[obs_idx + 5] = -1.0f;
-            obs[obs_idx + 6] = 1.0f;
             obs_idx += 7;
 	}
 
@@ -949,11 +942,6 @@ void compute_observations(GPUDrive* env) {
         }
 
         for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS - list_size; k++){
-            obs[obs_idx] = -1.0f;
-            obs[obs_idx + 1] = -1.0f;
-            obs[obs_idx + 2] = -1.0f;
-            obs[obs_idx + 3] = -1.0f;
-            obs[obs_idx + 4] = 6.0f;
             obs_idx += 5;
         }
 	
diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py
index a06646723c..4b2f0c81e2 100644
--- a/pufferlib/ocean/torch.py
+++ b/pufferlib/ocean/torch.py
@@ -418,6 +418,7 @@ def decode_actions(self, flat_hidden):
 class GPUDrive(nn.Module):
     def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
         super().__init__()
+        self.hidden_size = hidden_size
         self.ego_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(6, cnn_channels)),
@@ -428,7 +429,7 @@ def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
                 nn.Linear(cnn_channels, cnn_channels)
             )
         )
-        max_road_objects = 200 * 5
+        max_road_objects = 5
         self.road_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(max_road_objects, cnn_channels)),
@@ -439,7 +440,7 @@ def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
                 nn.Linear(cnn_channels, cnn_channels)
             )
         )
-        max_partner_objects = 67*7
+        max_partner_objects = 7
         self.partner_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(max_partner_objects, cnn_channels)),
@@ -473,15 +474,13 @@ def encode_observations(self, observations):
         partner_dim = 67 * 7
         road_dim = 200*5
         ego_obs = observations[:, :ego_dim]
-        partner_obs = observations[:, ego_dim:ego_dim+partner_dim]
-        road_obs = observations[:, ego_dim+partner_dim:ego_dim+partner_dim+road_dim]
+        partner_obs = observations[:, ego_dim:ego_dim+partner_dim].view(-1, 67, 7 )
+        road_obs = observations[:, ego_dim+partner_dim:ego_dim+partner_dim+road_dim].view(-1, 200, 5)
         
-        partner_obs = partner_obs.view(-1, 7, 67)
-        road_obs = road_obs.view(-1, 5, 200)
 
         ego_features = self.ego_encoder(ego_obs)
-        partner_features = self.partner_encoder(partner_obs).max(dim=1)
-        road_features = self.road_encoder(road_obs).max(dim=1)
+        partner_features, _ = self.partner_encoder(partner_obs).max(dim=1)
+        road_features, _ = self.road_encoder(road_obs).max(dim=1)
         
         
         concat_features = torch.cat([ego_features, road_features, partner_features], dim=1)
@@ -494,9 +493,9 @@ def encode_observations(self, observations):
         
         # Pass through shared embedding
         embedding = self.shared_embedding(concat_features)
-        return embedding, None
+        return embedding
     
-    def decode_actions(self, flat_hidden, lookup, concat=None):
+    def decode_actions(self, flat_hidden):
         action = self.actor(flat_hidden)
         action = torch.split(action, self.atn_dim, dim=1)
         value = self.value_fn(flat_hidden)

From 8d3407c130b9d8744c7a4bd45f2305ebbb600c3c Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Wed, 26 Mar 2025 18:42:08 +0000
Subject: [PATCH 079/112] trying to get smart robot

---
 config/ocean/gpudrive.ini           | 19 +++++++++++--------
 pufferlib/ocean/gpudrive/gpudrive.h |  4 ++--
 pufferlib/ocean/torch.py            | 27 ++++++++++-----------------
 3 files changed, 23 insertions(+), 27 deletions(-)

diff --git a/config/ocean/gpudrive.ini b/config/ocean/gpudrive.ini
index 139d784055..683bd1dc09 100644
--- a/config/ocean/gpudrive.ini
+++ b/config/ocean/gpudrive.ini
@@ -6,13 +6,16 @@ rnn_name = Recurrent
 
 [env]
 num_envs = 256
-reward_vehicle_collision = -0.05
-reward_offroad_collision = -0.05
+reward_vehicle_collision = -0.075
+reward_offroad_collision = -0.075
 
 [train]
-total_timesteps = 250_000_000
-ent_coef = 0.0001
+total_timesteps = 500_000_000
+ent_coef = 0.001
 learning_rate = 0.005
+num_workers = 2
+num_envs = 2
+anneal_lr = False
 [sweep.train.total_timesteps]
 distribution = log_normal
 min = 3e8
@@ -23,13 +26,13 @@ scale = 0.25
 [sweep.env.reward_vehicle_collision]
 distribution = uniform
 min = -1.0
-max = -0.1
-mean = -0.25
+max = -0.001
+mean = -0.1
 scale = auto 
 
 [sweep.env.reward_offroad_collision]
 distribution = uniform
 min = -1.0
-max = -0.1
-mean = -0.25
+max = -0.001
+mean = -0.1
 scale = auto
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index f4443da1cd..dff4585525 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -559,7 +559,7 @@ void init(GPUDrive* env){
     env->logs = (Log*)calloc(env->active_agent_count, sizeof(Log));
     env->goal_reached = (char*)calloc(env->active_agent_count, sizeof(char));
     init_grid_map(env);
-    env->vision_range = 21;
+    env->vision_range = 11;
     init_neighbor_offsets(env);
     env->neighbor_cache_indices = (int*)calloc((env->grid_cols * env->grid_rows) + 1, sizeof(int));
     cache_neighbor_offsets(env);
@@ -883,7 +883,7 @@ void compute_observations(GPUDrive* env) {
             float dx = other_entity->x - ego_entity->x;
             float dy = other_entity->y - ego_entity->y;
             float dist = sqrtf(dx*dx + dy*dy);
-            if(dist > 50.0f) continue;
+            if(dist > 25.0f) continue;
             // Rotate to ego vehicle's frame
             float rel_x = dx * cos_heading + dy * sin_heading;
             float rel_y = -dx * sin_heading + dy * cos_heading;
diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py
index 4b2f0c81e2..90ddd66298 100644
--- a/pufferlib/ocean/torch.py
+++ b/pufferlib/ocean/torch.py
@@ -422,31 +422,25 @@ def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
         self.ego_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(6, cnn_channels)),
-            nn.LayerNorm(cnn_channels),
-            nn.Tanh(),
-            nn.Dropout(0.01),
+            nn.ReLU(),
             pufferlib.pytorch.layer_init(
                 nn.Linear(cnn_channels, cnn_channels)
             )
         )
-        max_road_objects = 5
+        max_road_objects = 5*200
         self.road_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(max_road_objects, cnn_channels)),
-            nn.LayerNorm(cnn_channels),
-            nn.Tanh(),
-            nn.Dropout(0.01),
+            nn.ReLU(),
             pufferlib.pytorch.layer_init(
                 nn.Linear(cnn_channels, cnn_channels)
             )
         )
-        max_partner_objects = 7
+        max_partner_objects = 7*67
         self.partner_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(max_partner_objects, cnn_channels)),
-            nn.LayerNorm(cnn_channels),
-            nn.Tanh(),
-            nn.Dropout(0.01),
+            nn.ReLU(),
             pufferlib.pytorch.layer_init(
                 nn.Linear(cnn_channels, cnn_channels)
             )
@@ -454,7 +448,6 @@ def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
         
         self.shared_embedding = nn.Sequential(
             pufferlib.pytorch.layer_init(nn.Linear(3*cnn_channels,  hidden_size)),
-            nn.Dropout(0.01),
         )
         self.is_continuous = isinstance(env.single_action_space, pufferlib.spaces.Box)
 
@@ -474,13 +467,13 @@ def encode_observations(self, observations):
         partner_dim = 67 * 7
         road_dim = 200*5
         ego_obs = observations[:, :ego_dim]
-        partner_obs = observations[:, ego_dim:ego_dim+partner_dim].view(-1, 67, 7 )
-        road_obs = observations[:, ego_dim+partner_dim:ego_dim+partner_dim+road_dim].view(-1, 200, 5)
+        partner_obs = observations[:, ego_dim:ego_dim+partner_dim]
+        road_obs = observations[:, ego_dim+partner_dim:ego_dim+partner_dim+road_dim]
         
 
         ego_features = self.ego_encoder(ego_obs)
-        partner_features, _ = self.partner_encoder(partner_obs).max(dim=1)
-        road_features, _ = self.road_encoder(road_obs).max(dim=1)
+        partner_features = self.partner_encoder(partner_obs)
+        road_features = self.road_encoder(road_obs)
         
         
         concat_features = torch.cat([ego_features, road_features, partner_features], dim=1)
@@ -492,7 +485,7 @@ def encode_observations(self, observations):
         # )[0]
         
         # Pass through shared embedding
-        embedding = self.shared_embedding(concat_features)
+        embedding = F.relu(self.shared_embedding(concat_features))
         return embedding
     
     def decode_actions(self, flat_hidden):

From 3763eb2cb163746d85b2ce51397f00ca167484c4 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 27 Mar 2025 18:22:51 -0500
Subject: [PATCH 080/112] changed dynamics

---
 pufferlib/ocean/gpudrive/gpudrive.h | 84 ++++++++++++++++++++---------
 1 file changed, 58 insertions(+), 26 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index dff4585525..cd7246ac27 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -68,8 +68,9 @@
 
 // Acceleration Values
 static const float ACCELERATION_VALUES[7] = {-4.0000f, -2.6670f, -1.3330f, -0.0000f,  1.3330f,  2.6670f,  4.0000f};
-static const float STEERING_VALUES[13] = {-3.1420f, -2.6180f, -2.0940f, -1.5710f, -1.0470f, -0.5240f,  0.0000f,  0.5240f,
-         1.0470f,  1.5710f,  2.0940f,  2.6180f,  3.1420f};
+// static const float STEERING_VALUES[13] = {-3.1420f, -2.6180f, -2.0940f, -1.5710f, -1.0470f, -0.5240f,  0.0000f,  0.5240f,
+//          1.0470f,  1.5710f,  2.0940f,  2.6180f,  3.1420f};
+static const float STEERING_VALUES[13] = {-1.000f, -0.833f, -0.667f, -0.500f, -0.333f, -0.167f, 0.000f, 0.167f, 0.333f, 0.500f, 0.667f, 0.833f, 1.000f};
 static const float offsets[4][2] = {
         {-1, 1},  // top-left
         {1, 1},   // top-right
@@ -290,16 +291,32 @@ Entity* load_map_binary(const char* filename, GPUDrive* env) {
 
 void set_start_position(GPUDrive* env){
     for(int i = 0; i < env->num_entities; i++){
+        int is_active = 0;
+        for(int j = 0; j < env->active_agent_count; j++){
+            if(env->active_agent_indices[j] == i){
+                is_active = 1;
+                break;
+            }
+        }
         env->entities[i].x = env->entities[i].traj_x[0];
         env->entities[i].y = env->entities[i].traj_y[0];
         env->entities[i].z = env->entities[i].traj_z[0];
-        if(env->entities[i].type == 1 || env->entities[i].type == 2 || env->entities[i].type == 3){
+        if(env->entities[i].type >3 || env->entities[i].type == 0){
+            continue;
+        }
+        if(is_active == 0){
+            env->entities[i].vx = 0;
+            env->entities[i].vy = 0;
+            env->entities[i].vz = 0;
+        } else{
             env->entities[i].vx = env->entities[i].traj_vx[0];
             env->entities[i].vy = env->entities[i].traj_vy[0];
             env->entities[i].vz = env->entities[i].traj_vz[0];
-            env->entities[i].heading = env->entities[i].traj_heading[0];
-            env->entities[i].valid = env->entities[i].traj_valid[0];
         }
+        
+        env->entities[i].heading = env->entities[i].traj_heading[0];
+        env->entities[i].valid = env->entities[i].traj_valid[0];
+        
     }
 }
 
@@ -311,7 +328,7 @@ void set_active_agents(GPUDrive* env){
             env->num_cars++;
             int start_idx=0;
             for(int j = 0; j<env->entities[i].array_size; j++){
-                if(env->entities[i].traj_valid[j] == 1){
+                if(env->entities[i].traj_valid[j] == 1 ){
                     start_idx = j;
                     break;
                 }
@@ -610,6 +627,12 @@ float normalize_heading(float heading) {
     return wrapped - M_PI;                              // Shift back to [-π, π]
 }
 
+float clipSpeed(float speed) {
+    const float maxSpeed = MAX_SPEED;
+    if (speed > maxSpeed) return maxSpeed;
+    if (speed < -maxSpeed) return -maxSpeed;
+    return speed;
+}
 void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
     if(env->dynamics_model == CLASSIC){
         // clip acceleration & steering
@@ -621,10 +644,6 @@ void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
         float acceleration = ACCELERATION_VALUES[acceleration_index];
         float steering = STEERING_VALUES[steering_index];
 
-        // Clip acceleration and steering
-        acceleration = fmaxf(-6.0f, fminf(acceleration, 6.0f));
-        steering = fmaxf(-3.0f, fminf(steering, 3.0f));
-        
         // Current state
         float x = agent->x;
         float y = agent->y;
@@ -638,28 +657,29 @@ void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
         // Time step (adjust as needed)
         const float dt = 0.1f;        
         // Update speed with acceleration
-        speed += acceleration * dt;
+        speed = speed + acceleration*dt;
         if (speed < 0) speed = 0;  // Prevent going backward
+        speed = clipSpeed(speed);
         // compute yaw rate
-        float omega = (speed * tanf(steering)) / agent->length;
-        heading = heading + omega * dt;
-        // Normalize heading to range [-π, π]
-        heading = normalize_heading(heading);
-
-        // Compute new velocity components
-        vx = speed * cosf(heading);
-        vy = speed * sinf(heading);
-
+        float beta = tanh(.5*tanf(steering));
+        // new heading
+        float yaw_rate = (speed*cosf(beta) * tanf(steering)) / agent->length;
+        // new velocity
+        float new_vx = speed*cosf(heading + beta);
+        float new_vy = speed*sinf(heading + beta);
         // Update position
-        x += vx * dt;
-        y += vy * dt;
-
+        x = x + (new_vx*dt);
+        y = y + (new_vy*dt);
+        
+        
+        heading = heading + yaw_rate*dt;
+        // heading = normalize_heading(heading);
         // Apply updates to the agent's state
         agent->x = x;
         agent->y = y;
         agent->heading = heading;
-        agent->vx = vx;
-        agent->vy = vy;
+        agent->vx = new_vx;
+        agent->vy = new_vy;
     }
     else if(env->dynamics_model == INVERTIBLE_BICYLE){
         // Invertible bicycle dynamics model
@@ -905,8 +925,15 @@ void compute_observations(GPUDrive* env) {
             obs_idx += 7;  // Move to next observation slot
         }
         for(int j = cars_seen; j < env->num_cars - 1; j++){
+            obs[obs_idx] = -1;
+            obs[obs_idx + 1] = -1;
+            obs[obs_idx + 2] = -1;
+            obs[obs_idx + 3] = -1;
+            obs[obs_idx + 4] = -1;
+            obs[obs_idx + 5] = -1;
+            obs[obs_idx + 6] = -1;
             obs_idx += 7;
-	}
+	    }
 
         // map observations
         int entity_list[MAX_ROAD_SEGMENT_OBSERVATIONS*2];  // Array big enough for all neighboring cells
@@ -942,6 +969,11 @@ void compute_observations(GPUDrive* env) {
         }
 
         for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS - list_size; k++){
+            obs[obs_idx] = -1;
+            obs[obs_idx + 1] = -1;
+            obs[obs_idx + 2] = -1;
+            obs[obs_idx + 3] = -1;
+            obs[obs_idx + 4] = -1;
             obs_idx += 5;
         }
 	

From bdd27621288d1f5a2c1a29d42d58238e3641f886 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 27 Mar 2025 19:14:25 -0500
Subject: [PATCH 081/112] code cleanup

---
 pufferlib/ocean/gpudrive/gpudrive.h | 298 ++++++++++------------------
 1 file changed, 106 insertions(+), 192 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index cd7246ac27..c908b93514 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -135,7 +135,6 @@ Log aggregate_and_clear(LogBuffer* logs) {
 	    log.score += logs->logs[i].score / logs->idx;
 	    log.offroad_rate += logs->logs[i].offroad_rate / logs->idx;
 	    log.collision_rate += logs->logs[i].collision_rate / logs->idx;
-	//printf("length: %f", log.episode_length);
     }
     logs->idx = 0;
     return log;
@@ -298,25 +297,24 @@ void set_start_position(GPUDrive* env){
                 break;
             }
         }
-        env->entities[i].x = env->entities[i].traj_x[0];
-        env->entities[i].y = env->entities[i].traj_y[0];
-        env->entities[i].z = env->entities[i].traj_z[0];
-        if(env->entities[i].type >3 || env->entities[i].type == 0){
+        Entity* e = &env->entities[i];
+        e->x = e->traj_x[0];
+        e->y = e->traj_y[0];
+        e->z = e->traj_z[0];
+        if(e->type >3 || e->type == 0){
             continue;
         }
         if(is_active == 0){
-            env->entities[i].vx = 0;
-            env->entities[i].vy = 0;
-            env->entities[i].vz = 0;
+            e->vx = 0;
+            e->vy = 0;
+            e->vz = 0;
         } else{
-            env->entities[i].vx = env->entities[i].traj_vx[0];
-            env->entities[i].vy = env->entities[i].traj_vy[0];
-            env->entities[i].vz = env->entities[i].traj_vz[0];
+            e->vx = e->traj_vx[0];
+            e->vy = e->traj_vy[0];
+            e->vz = e->traj_vz[0];
         }
-        
-        env->entities[i].heading = env->entities[i].traj_heading[0];
-        env->entities[i].valid = env->entities[i].traj_valid[0];
-        
+        e->heading = e->traj_heading[0];
+        e->valid = e->traj_valid[0];
     }
 }
 
@@ -324,27 +322,26 @@ void set_active_agents(GPUDrive* env){
     env->active_agent_count = 0;
     int active_agent_indices[env->num_entities];
     for(int i = 0; i < env->num_entities; i++){
-        if(env->entities[i].type == 1){
-            env->num_cars++;
-            int start_idx=0;
-            for(int j = 0; j<env->entities[i].array_size; j++){
-                if(env->entities[i].traj_valid[j] == 1 ){
-                    start_idx = j;
-                    break;
-                }
-            }
-            if(start_idx !=0) continue;
-            float distance = relative_distance_2d(
-                env->entities[i].traj_x[start_idx],
-                env->entities[i].traj_y[start_idx],
-                env->entities[i].goal_position_x,
-                env->entities[i].goal_position_y);
-            //printf("entity %d distance: %f\n", i, distance);
-            if(distance >= 2.0f){
-                active_agent_indices[env->active_agent_count] = i;
-                env->active_agent_count++;
+        if(env->entities[i].type != 1) continue;
+        env->num_cars++;
+        int start_idx=0;
+        for(int j = 0; j<env->entities[i].array_size; j++){
+            if(env->entities[i].traj_valid[j] == 1 ){
+                start_idx = j;
+                break;
             }
         }
+        if(start_idx !=0) continue;
+        float distance = relative_distance_2d(
+            env->entities[i].traj_x[start_idx],
+            env->entities[i].traj_y[start_idx],
+            env->entities[i].goal_position_x,
+            env->entities[i].goal_position_y);
+        if(distance >= 2.0f){
+            active_agent_indices[env->active_agent_count] = i;
+            env->active_agent_count++;
+        }
+        
     }
     env->active_agent_indices = (int*)malloc(env->active_agent_count * sizeof(int));
     for(int i=0;i<env->active_agent_count;i++){
@@ -352,37 +349,23 @@ void set_active_agents(GPUDrive* env){
     };
 }
 
-// Function to get grid index from coordinates
 int getGridIndex(GPUDrive* env, float x1, float y1) {
-    
-    // Verify coordinate assumptions
     if (env->map_corners[0] >= env->map_corners[2] || env->map_corners[1] >= env->map_corners[3]) {
         printf("Invalid grid coordinates\n");
         return -1;  // Invalid grid coordinates
     }
-    
-    // Calculate dimensions of the world in meters
     float worldWidth = env->map_corners[2] - env->map_corners[0];   // Positive value
     float worldHeight = env->map_corners[3] - env->map_corners[1];  // Positive value
-    // Calculate number of cells in each dimension
-    // Each cell is 5 meters
     int cellsX = (int)ceil(worldWidth / GRID_CELL_SIZE);  // Number of columns
     int cellsY = (int)ceil(worldHeight / GRID_CELL_SIZE); // Number of rows
-    // Calculate position relative to top-left corner
     float relativeX = x1 - env->map_corners[0];  // Distance from left
     float relativeY = y1 - env->map_corners[1];  // Distance from top
-    // Calculate grid coordinates
     int gridX = (int)(relativeX / GRID_CELL_SIZE);  // Column index
     int gridY = (int)(relativeY / GRID_CELL_SIZE);  // Row index
-    // Ensure the coordinates are within bounds
     if (gridX < 0 || gridX >= cellsX || gridY < 0 || gridY >= cellsY) {
         return -1;  // Return -1 for out of bounds
     }
-    
-    // Calculate 1D array index
-    // Index = (row * number_of_columns) + column
-    int index = (gridY * cellsX) + gridX;
-    
+    int index = (gridY * cellsX) + gridX;    
     return index;
 }
 
@@ -409,11 +392,12 @@ void init_grid_map(GPUDrive* env){
     for(int i = 0; i < env->num_entities; i++){
         if(env->entities[i].type > 3 && env->entities[i].type < 7){
             // Check all points in the trajectory for road elements
-            for(int j = 0; j < env->entities[i].array_size; j++){
-                if(env->entities[i].traj_x[j] < top_left_x) top_left_x = env->entities[i].traj_x[j];
-                if(env->entities[i].traj_x[j] > bottom_right_x) bottom_right_x = env->entities[i].traj_x[j];
-                if(env->entities[i].traj_y[j] < top_left_y) top_left_y = env->entities[i].traj_y[j];
-                if(env->entities[i].traj_y[j] > bottom_right_y) bottom_right_y = env->entities[i].traj_y[j];
+            Entity* e = &env->entities[i];
+            for(int j = 0; j < e->array_size; j++){
+                if(e->traj_x[j] < top_left_x) top_left_x = e->traj_x[j];
+                if(e->traj_x[j] > bottom_right_x) bottom_right_x = e->traj_x[j];
+                if(e->traj_y[j] < top_left_y) top_left_y = e->traj_y[j];
+                if(e->traj_y[j] > bottom_right_y) bottom_right_y = e->traj_y[j];
             }
         }
     }
@@ -429,10 +413,8 @@ void init_grid_map(GPUDrive* env){
     float grid_height = bottom_right_y - top_left_y;
     env->grid_cols = ceil(grid_width / GRID_CELL_SIZE);
     env->grid_rows = ceil(grid_height / GRID_CELL_SIZE);
-    
-    int grid_cell_count = env->grid_cols * env->grid_rows;
-    env->grid_cells = (int*)calloc(grid_cell_count * SLOTS_PER_CELL, sizeof(int));
-    
+    int grid_cell_count = env->grid_cols*env->grid_rows;
+    env->grid_cells = (int*)calloc(grid_cell_count*SLOTS_PER_CELL, sizeof(int));
     // Populate grid cells
     for(int i = 0; i < env->num_entities; i++){
         if(env->entities[i].type == ROAD_EDGE){
@@ -449,12 +431,9 @@ void init_grid_map(GPUDrive* env){
 void init_neighbor_offsets(GPUDrive* env) {
     // Allocate memory for the offsets
     env->neighbor_offsets = (int*)calloc(env->vision_range * env->vision_range * 2, sizeof(int));
-    
-    // The spiral moves in this sequence: right, up, left, left, down, down, right, right, right...
-    // Direction vectors for moving right, up, left, down in a clockwise spiral
+    // neighbor offsets in a spiral pattern
     int dx[] = {1, 0, -1, 0};
     int dy[] = {0, 1, 0, -1};
-    
     int x = 0;    // Current x offset
     int y = 0;    // Current y offset
     int dir = 0;  // Current direction (0: right, 1: up, 2: left, 3: down)
@@ -462,58 +441,44 @@ void init_neighbor_offsets(GPUDrive* env) {
     int steps_taken = 0;   // Steps taken in current direction
     int segments_completed = 0; // Count of direction segments completed
     int total = 0; // Total offsets added
-    int max_offsets = env->vision_range * env->vision_range;
-    
+    int max_offsets = env->vision_range*env->vision_range;
     // Start at center (0,0)
     int curr_idx = 0;
     env->neighbor_offsets[curr_idx++] = 0;  // x offset
     env->neighbor_offsets[curr_idx++] = 0;  // y offset
     total++;
-    
     // Generate spiral pattern
     while (total < max_offsets) {
         // Move in current direction
         x += dx[dir];
         y += dy[dir];
-        
         // Only add if within vision range bounds
         if (abs(x) <= env->vision_range/2 && abs(y) <= env->vision_range/2) {
             env->neighbor_offsets[curr_idx++] = x;
             env->neighbor_offsets[curr_idx++] = y;
             total++;
         }
-        
         steps_taken++;
-        
         // Check if we need to change direction
-        if (steps_taken == steps_to_take) {
-            steps_taken = 0;  // Reset steps taken
-            dir = (dir + 1) % 4;  // Change direction (clockwise: right->up->left->down)
-            segments_completed++;
-            
-            // Increase step length every two direction changes
-            if (segments_completed % 2 == 0) {
-                steps_to_take++;
-            }
+        if(steps_taken != steps_to_take) continue;
+        steps_taken = 0;  // Reset steps taken
+        dir = (dir + 1) % 4;  // Change direction (clockwise: right->up->left->down)
+        segments_completed++;
+        // Increase step length every two direction changes
+        if (segments_completed % 2 == 0) {
+            steps_to_take++;
         }
     }
-    
-    // Debug output to verify the first few offsets
-    // printf("First few spiral offsets:\n");
-    // for (int i = 0; i < (env->vision_range * env->vision_range); i++) {
-    //     printf("(%d,%d) ", env->neighbor_offsets[i*2], env->neighbor_offsets[i*2+1]);
-    // }
-    // printf("\n");
 }
 
 void cache_neighbor_offsets(GPUDrive* env){
     int count = 0;
-    int cell_count = env->grid_cols * env->grid_rows;
+    int cell_count = env->grid_cols*env->grid_rows;
     for(int i = 0; i < cell_count; i++){
         int cell_x = i % env->grid_cols;  // Convert to 2D coordinates
         int cell_y = i / env->grid_cols;
         env->neighbor_cache_indices[i] = count;
-        for(int j = 0; j< env->vision_range * env->vision_range; j++){
+        for(int j = 0; j< env->vision_range*env->vision_range; j++){
             int x = cell_x + env->neighbor_offsets[j*2];
             int y = cell_y + env->neighbor_offsets[j*2+1];
             int grid_index = env->grid_cols*y + x;
@@ -526,11 +491,11 @@ void cache_neighbor_offsets(GPUDrive* env){
     }
     env->neighbor_cache_indices[cell_count] = count;
     env->neighbor_cache_entities = (int*)calloc(count, sizeof(int));
-    for(int i = 0; i< cell_count; i ++){
+    for(int i = 0; i < cell_count; i ++){
         int neighbor_cache_base_index = 0;
         int cell_x = i % env->grid_cols;  // Convert to 2D coordinates
         int cell_y = i / env->grid_cols;
-        for(int j = 0; j<env->vision_range* env->vision_range; j++){
+        for(int j = 0; j<env->vision_range*env->vision_range; j++){
             int x = cell_x + env->neighbor_offsets[j*2];
             int y = cell_y + env->neighbor_offsets[j*2+1];
             int grid_index = env->grid_cols*y + x;
@@ -565,7 +530,6 @@ int get_neighbor_cache_entities(GPUDrive* env, int cell_idx, int* entities, int
     return pairs;
 }
 
-
 void init(GPUDrive* env){
     env->human_agent_idx = 0;
     env->timestep = 0;
@@ -580,7 +544,6 @@ void init(GPUDrive* env){
     init_neighbor_offsets(env);
     env->neighbor_cache_indices = (int*)calloc((env->grid_cols * env->grid_rows) + 1, sizeof(int));
     cache_neighbor_offsets(env);
-    
 }
 
 void free_initialized(GPUDrive* env){
@@ -593,7 +556,7 @@ void free_initialized(GPUDrive* env){
     free(env->fake_data);
     free(env->goal_reached);
     free(env->map_corners);
-    free(env->grid_cells);  // Free the grid cells memory
+    free(env->grid_cells);
     free(env->neighbor_offsets);
     free(env->neighbor_cache_entities);
     free(env->neighbor_cache_indices);
@@ -621,18 +584,19 @@ void free_allocated(GPUDrive* env){
     free_initialized(env);
 }
 
-float normalize_heading(float heading) {
-    float wrapped = fmodf(heading + M_PI, 2.0f * M_PI); // Shift to [0, 2π) then wrap
-    if (wrapped < 0) wrapped += 2.0f * M_PI;            // Handle negative remainder
-    return wrapped - M_PI;                              // Shift back to [-π, π]
-}
-
 float clipSpeed(float speed) {
     const float maxSpeed = MAX_SPEED;
     if (speed > maxSpeed) return maxSpeed;
     if (speed < -maxSpeed) return -maxSpeed;
     return speed;
 }
+
+float normalize_heading(float heading){
+    if(heading > M_PI) heading -= 2*M_PI;
+    if(heading < -M_PI) heading += 2*M_PI;
+    return heading;
+}
+
 void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
     if(env->dynamics_model == CLASSIC){
         // clip acceleration & steering
@@ -663,15 +627,13 @@ void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
         // compute yaw rate
         float beta = tanh(.5*tanf(steering));
         // new heading
-        float yaw_rate = (speed*cosf(beta) * tanf(steering)) / agent->length;
+        float yaw_rate = (speed*cosf(beta)*tanf(steering)) / agent->length;
         // new velocity
         float new_vx = speed*cosf(heading + beta);
         float new_vy = speed*sinf(heading + beta);
         // Update position
         x = x + (new_vx*dt);
         y = y + (new_vy*dt);
-        
-        
         heading = heading + yaw_rate*dt;
         // heading = normalize_heading(heading);
         // Apply updates to the agent's state
@@ -681,9 +643,6 @@ void move_dynamics(GPUDrive* env, int action_idx, int agent_idx){
         agent->vx = new_vx;
         agent->vy = new_vy;
     }
-    else if(env->dynamics_model == INVERTIBLE_BICYLE){
-        // Invertible bicycle dynamics model
-    }
     return;
 }
 
@@ -693,7 +652,6 @@ void move_expert(GPUDrive* env, int* actions, int agent_idx){
     agent->y = agent->traj_y[env->timestep];
     agent->z = agent->traj_z[env->timestep];
     agent->heading = agent->traj_heading[env->timestep];
-    //printf("x,y,z: %f %f %f", agent->x, agent->y, agent->z);
 }
 
 bool check_line_intersection(float p1[2], float p2[2], float q1[2], float q2[2]) {
@@ -706,7 +664,7 @@ bool check_line_intersection(float p1[2], float p2[2], float q1[2], float q2[2])
     float s2_y = q2[1] - q1[1];
 
     float s, t;
-    float denom = s1_x * s2_y - s2_x * s1_y;
+    float denom = s1_x*s2_y - s2_x*s1_y;
 
     if (denom == 0)
         return false; // Collinear
@@ -715,11 +673,11 @@ bool check_line_intersection(float p1[2], float p2[2], float q1[2], float q2[2])
 
     float s2_s1_x = p1[0] - q1[0];
     float s2_s1_y = p1[1] - q1[1];
-    s = (s1_x * s2_s1_y - s1_y * s2_s1_x);
+    s = (s1_x*s2_s1_y - s1_y*s2_s1_x);
     if ((s < 0) == denom_positive)
         return false; // No intersection
 
-    t = (s2_x * s2_s1_y - s2_y * s2_s1_x);
+    t = (s2_x*s2_s1_y - s2_y*s2_s1_x);
     if ((t < 0) == denom_positive)
         return false; // No intersection
 
@@ -733,79 +691,66 @@ float point_to_line_distance(float point[2], float line_start[2], float line_end
     float x0 = point[0], y0 = point[1];
     float x1 = line_start[0], y1 = line_start[1];
     float x2 = line_end[0], y2 = line_end[1];
-
     float dx = x2 - x1;
     float dy = y2 - y1;
-    float denom = dx * dx + dy * dy;
-
+    float denom = dx*dx + dy*dy;
     if (denom == 0) { // Line segment is a point
-        return sqrtf((x0 - x1) * (x0 - x1) + (y0 - y1) * (y0 - y1));
+        return sqrtf((x0 - x1)*(x0 - x1) + (y0 - y1)*(y0 - y1));
     }
-
     // Parametric value t for closest point on line
-    float t = ((x0 - x1) * dx + (y0 - y1) * dy) / denom;
+    float t = ((x0 - x1)*dx + (y0 - y1)*dy) / denom;
     t = fmaxf(0.0f, fminf(1.0f, t)); // Clamp t to [0, 1] for line segment
-
     // Closest point on the line segment
-    float closest_x = x1 + t * dx;
-    float closest_y = y1 + t * dy;
-
+    float closest_x = x1 + t*dx;
+    float closest_y = y1 + t*dy;
     // Distance from point to closest point
-    return sqrtf((x0 - closest_x) * (x0 - closest_x) + (y0 - closest_y) * (y0 - closest_y));
+    return sqrtf((x0 - closest_x)*(x0 - closest_x) + (y0 - closest_y)*(y0 - closest_y));
 }
 
 int checkNeighbors(GPUDrive* env, float x, float y, int* entity_list, int max_size, const int (*local_offsets)[2], int offset_size) {
     // Get the grid index for the given position (x, y)
     int index = getGridIndex(env, x, y);
     if (index == -1) return 0;  // Return 0 size if position invalid
-
     // Calculate 2D grid coordinates
     int cellsX = env->grid_cols;
     int gridX = index % cellsX;
     int gridY = index / cellsX;
-    
-
     int entity_list_count = 0;
     // Fill the provided array
     for (int i = 0; i < offset_size; i++) {
         int nx = gridX + local_offsets[i][0];
         int ny = gridY + local_offsets[i][1];
         // Ensure the neighbor is within grid bounds
-        if (nx >= 0 && nx < env->grid_cols && ny >= 0 && ny < env->grid_rows) {
-            int neighborIndex = (ny * env->grid_cols + nx) * SLOTS_PER_CELL;
-            int count = env->grid_cells[neighborIndex];
-            
-            // Add entities from this cell to the list
-            for (int j = 0; j < count && entity_list_count < max_size; j++) {
-                int entityId = env->grid_cells[neighborIndex + 1 + j*2];
-                int geometry_idx = env->grid_cells[neighborIndex + 2 + j*2];
-                entity_list[entity_list_count] = entityId;
-                entity_list[entity_list_count + 1] = geometry_idx;
-                entity_list_count += 2;
-            }
+        if(nx < 0 || nx >= env->grid_cols || ny < 0 || ny >= env->grid_rows) continue;
+        int neighborIndex = (ny * env->grid_cols + nx) * SLOTS_PER_CELL;
+        int count = env->grid_cells[neighborIndex];
+        // Add entities from this cell to the list
+        for (int j = 0; j < count && entity_list_count < max_size; j++) {
+            int entityId = env->grid_cells[neighborIndex + 1 + j*2];
+            int geometry_idx = env->grid_cells[neighborIndex + 2 + j*2];
+            entity_list[entity_list_count] = entityId;
+            entity_list[entity_list_count + 1] = geometry_idx;
+            entity_list_count += 2;
         }
     }
-
     return entity_list_count;
 }
 
-
 void collision_check(GPUDrive* env, int agent_idx) {
     Entity* agent = &env->entities[agent_idx];
-    float half_length = agent->length / 2.0f;
-    float half_width = agent->width / 2.0f;
+    float half_length = agent->length/2.0f;
+    float half_width = agent->width/2.0f;
     float cos_heading = cosf(agent->heading);
     float sin_heading = sinf(agent->heading);
     float corners[4][2];
     for (int i = 0; i < 4; i++) {
-        corners[i][0] = agent->x + (offsets[i][0] * half_length * cos_heading - offsets[i][1] * half_width * sin_heading);
-        corners[i][1] = agent->y + (offsets[i][0] * half_length * sin_heading + offsets[i][1] * half_width * cos_heading);
+        corners[i][0] = agent->x + (offsets[i][0]*half_length*cos_heading - offsets[i][1]*half_width*sin_heading);
+        corners[i][1] = agent->y + (offsets[i][0]*half_length*sin_heading + offsets[i][1]*half_width*cos_heading);
     }
     int collided = 0;
     int car_collided_with_index = -1;
-    int entity_list[MAX_ENTITIES_PER_CELL*2 * 9];  // Array big enough for all neighboring cells
-    int list_size = checkNeighbors(env, agent->x, agent->y, entity_list, MAX_ENTITIES_PER_CELL*2 * 9, collision_offsets, 9);
-    // printf("agent: %d, list_size: %d\n", agent_idx, list_size);
+    int entity_list[MAX_ENTITIES_PER_CELL*2*9];  // Array big enough for all neighboring cells
+    int list_size = checkNeighbors(env, agent->x, agent->y, entity_list, MAX_ENTITIES_PER_CELL*2*9, collision_offsets, 9);
     for (int i = 0; i < list_size ; i+=2) {
         if(entity_list[i] == -1) continue;
         if(entity_list[i] == agent_idx) continue;
@@ -830,7 +775,7 @@ void collision_check(GPUDrive* env, int agent_idx) {
         if (entity->type != VEHICLE) continue;
         float x1 = entity->x;
         float y1 = entity->y;
-        float dist = sqrtf((x1 - agent->x) * (x1 - agent->x) + (y1 - agent->y) * (y1 - agent->y));
+        float dist = sqrtf((x1 - agent->x)*(x1 - agent->x) + (y1 - agent->y)*(y1 - agent->y));
         if(dist > 5.0f) continue;
         float other_corners[4][2];
         for (int z = 0; z < 4; z++) {
@@ -838,8 +783,8 @@ void collision_check(GPUDrive* env, int agent_idx) {
             float other_sin_heading = sinf(entity->traj_heading[0]);
             float other_half_length = entity->length / 2.0f;
             float other_half_width = entity->width / 2.0f;
-            other_corners[z][0] = entity->x + (offsets[z][0] * other_half_length * other_cos_heading - offsets[z][1] * other_half_width * other_sin_heading);
-            other_corners[z][1] = entity->y + (offsets[z][0] * other_half_length * other_sin_heading + offsets[z][1] * other_half_width * other_cos_heading);
+            other_corners[z][0] = entity->x + (offsets[z][0]*other_half_length*other_cos_heading - offsets[z][1]*other_half_width*other_sin_heading);
+            other_corners[z][1] = entity->y + (offsets[z][0]*other_half_length*other_sin_heading + offsets[z][1]*other_half_width*other_cos_heading);
         }
         for (int k = 0; k < 4; k++) { // Check each edge of the bounding box
             int next = (k + 1) % 4;
@@ -866,11 +811,11 @@ float normalize_value(float value, float min, float max){
 }
 
 float reverse_normalize_value(float value, float min, float max){
-    return value * (max - min) + min;
+    return value*(max - min) + min;
 }
 
 void compute_observations(GPUDrive* env) {
-    int max_obs = 6 + 7 * (env->num_cars - 1) + 200 * 5;
+    int max_obs = 6 + 7*(env->num_cars - 1) + 5*MAX_ROAD_SEGMENT_OBSERVATIONS;
     memset(env->observations, 0, max_obs * env->active_agent_count * sizeof(float));
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations; 
     for(int i = 0; i < env->active_agent_count; i++) {
@@ -879,7 +824,7 @@ void compute_observations(GPUDrive* env) {
         if(ego_entity->type > 3) break;
         float cos_heading = cosf(ego_entity->heading);
         float sin_heading = sinf(ego_entity->heading);
-        float ego_speed = sqrtf(ego_entity->vx * ego_entity->vx + ego_entity->vy * ego_entity->vy);
+        float ego_speed = sqrtf(ego_entity->vx*ego_entity->vx + ego_entity->vy*ego_entity->vy);
         // Set goal distances
         float goal_x = relative_distance(ego_entity->x, ego_entity->goal_position_x);
         float goal_y = relative_distance(ego_entity->y, ego_entity->goal_position_y);
@@ -896,9 +841,7 @@ void compute_observations(GPUDrive* env) {
         for(int j = 0; j < env->num_entities; j++) {
             if(env->entities[j].type > 3) break;
             if(j == i) continue;  // Skip self, but don't increment obs_idx
-            
             Entity* other_entity = &env->entities[j];
-            
             // Store original relative positions
             float dx = other_entity->x - ego_entity->x;
             float dy = other_entity->y - ego_entity->y;
@@ -912,14 +855,12 @@ void compute_observations(GPUDrive* env) {
             obs[obs_idx + 1] = normalize_value(rel_y, MIN_REL_AGENT_POS, MAX_REL_AGENT_POS);
             obs[obs_idx + 2] = other_entity->width / MAX_VEH_WIDTH;
             obs[obs_idx + 3] = other_entity->length / MAX_VEH_LEN;
-            
             // relative heading
             float rel_heading = normalize_heading(other_entity->heading - ego_entity->heading);
             obs[obs_idx + 4] = cosf(rel_heading) / MAX_ORIENTATION_RAD;
             obs[obs_idx + 5] = sinf(rel_heading) / MAX_ORIENTATION_RAD;
-            
             // relative speed
-            float other_speed = sqrtf(other_entity->vx * other_entity->vx + other_entity->vy * other_entity->vy);
+            float other_speed = sqrtf(other_entity->vx*other_entity->vx + other_entity->vy*other_entity->vy);
             obs[obs_idx + 6] = other_speed / MAX_SPEED;
             cars_seen++;
             obs_idx += 7;  // Move to next observation slot
@@ -952,14 +893,11 @@ void compute_observations(GPUDrive* env) {
             float rel_y_start = start[1] - ego_entity->y;
             float rel_x_end = end[0] - ego_entity->x;
             float rel_y_end = end[1] - ego_entity->y;
-            float x_start = rel_x_start * cos_heading + rel_y_start * sin_heading;
-            float y_start = -rel_x_start * sin_heading + rel_y_start * cos_heading;
-            float x_end = rel_x_end * cos_heading + rel_y_end * sin_heading;
-            float y_end = -rel_x_end * sin_heading + rel_y_end * cos_heading;
-            // if(env->human_agent_idx == i){
-            //     printf("K: %d, Entity index: %d, Geometry index: %d\n", k, entity_list[k*2], entity_list[k*2+1]);
-            //     printf("start: %f, %f, end: %f, %f\n", start[0], start[1], end[0], end[1]);
-            // }
+            float x_start = rel_x_start*cos_heading + rel_y_start*sin_heading;
+            float y_start = -rel_x_start*sin_heading + rel_y_start*cos_heading;
+            float x_end = rel_x_end*cos_heading + rel_y_end*sin_heading;
+            float y_end = -rel_x_end*sin_heading + rel_y_end*cos_heading;
+
             obs[obs_idx] = normalize_value(x_start, MIN_RG_COORD, MAX_RG_COORD);
             obs[obs_idx + 1] = normalize_value(y_start, MIN_RG_COORD, MAX_RG_COORD);
             obs[obs_idx + 2] = normalize_value(x_end, MIN_RG_COORD, MAX_RG_COORD);
@@ -967,7 +905,6 @@ void compute_observations(GPUDrive* env) {
             obs[obs_idx + 4] = entity->type;
             obs_idx += 5;
         }
-
         for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS - list_size; k++){
             obs[obs_idx] = -1;
             obs[obs_idx + 1] = -1;
@@ -976,7 +913,6 @@ void compute_observations(GPUDrive* env) {
             obs[obs_idx + 4] = -1;
             obs_idx += 5;
         }
-	
     }
 }
 
@@ -1000,9 +936,8 @@ void c_step(GPUDrive* env){
             if(env->goal_reached[i] == 0){
                 env->logs[i].score = 0.0f;
             } 
-	    else {
+	        else {
                 env->logs[i].score = 1.0f;
-                // env->logs[i].episode_return +=1.0f;
             }
             add_log(env->log_buffer, &env->logs[i]);
 	    }
@@ -1043,7 +978,6 @@ void c_step(GPUDrive* env){
             continue;
 	    }
     }
-    
     compute_observations(env);
 }   
 
@@ -1057,7 +991,6 @@ struct Client {
     Camera3D camera;
 };
 
-
 Client* make_client(GPUDrive* env){
     Client* client = (Client*)calloc(1, sizeof(Client));
     client->width = 1280;
@@ -1083,7 +1016,6 @@ Client* make_client(GPUDrive* env){
     client->camera.up = (Vector3){ 0.0f, -1.0f, 0.0f };  // Y is up
     client->camera.fovy = 45.0f;
     client->camera.projection = CAMERA_PERSPECTIVE;
-    
     client->camera_zoom = 3.5f;
     return client;
 }
@@ -1092,7 +1024,6 @@ Client* make_client(GPUDrive* env){
 void c_render(Client* client, GPUDrive* env) {
     BeginDrawing();
     ClearBackground(RAYWHITE);
-    
     BeginMode3D(client->camera);
     // Draw a grid to help with orientation
     DrawGrid(20, 1.0f);
@@ -1106,7 +1037,6 @@ void c_render(Client* client, GPUDrive* env) {
             // Check if this vehicle is an active agent
             bool is_active_agent = false;
             int agent_index = -1;
-            
             for(int j = 0; j < env->active_agent_count; j++) {
                 if(env->active_agent_indices[j] == i) {
                     is_active_agent = true;
@@ -1122,42 +1052,35 @@ void c_render(Client* client, GPUDrive* env) {
                     1
                 };      
             heading = env->entities[i].heading;
-            
-            
             // Create size vector
             Vector3 size = {
                 env->entities[i].length,
                 env->entities[i].width,
                 env->entities[i].height
             };
-            
             // Save current transform
             rlPushMatrix();
-            
             // Translate to position, rotate around Y axis, then draw
             rlTranslatef(position.x, position.y, position.z);
-            rlRotatef(heading * RAD2DEG, 0.0f, 0.0f, 1.0f);  // Convert radians to degrees
+            rlRotatef(heading*RAD2DEG, 0.0f, 0.0f, 1.0f);  // Convert radians to degrees
             
             // Determine color based on active status and other conditions
             Color object_color = GRAY;  // Default color for non-active vehicles
             
             if(is_active_agent) {
                 object_color = DARKBLUE;  // Active agents are blue
-                
                 if(agent_index == env->human_agent_idx) {
                     object_color = PURPLE;  // Human-controlled agent
                 }
-                
                 if(env->entities[i].collision_state == 1 || env->entities[i].collision_state == 2) {
                     object_color = RED;  // Collided agent
                 }
-                
                 // Only draw goal position for active agents
                 if(env->entities[i].valid == 1 && env->goal_reached[agent_index] == 0) {
                     DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
                     DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
                     if( agent_index == env->human_agent_idx){
-                        int max_obs = 6 + 7 * (env->num_cars - 1) + 200 * 5;
+                        int max_obs = 6 + 7*(env->num_cars - 1) + 5*MAX_ROAD_SEGMENT_OBSERVATIONS;
                         float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
                         float* agent_obs = &observations[agent_index][0];
                         // First draw other agent observations
@@ -1174,11 +1097,10 @@ void c_render(Client* client, GPUDrive* env) {
                             }
                             obs_idx += 7;  // Move to next agent observation (7 values per agent)
                         }
-
                         // Then draw map observations
-                        int map_start_idx = 6 + 7 * (env->num_cars - 1);  // Start after agent observations
+                        int map_start_idx = 6 + 7*(env->num_cars - 1);  // Start after agent observations
                         for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS; k++) {  // Loop through potential map entities
-                            int entity_idx = map_start_idx + k * 5;
+                            int entity_idx = map_start_idx + k*5;
                             if(agent_obs[entity_idx] != -1 && agent_obs[entity_idx + 1] != -1) {
                                 Color lineColor = BLUE;  // Default color
                                 int entity_type = (int)agent_obs[entity_idx + 4];
@@ -1196,20 +1118,16 @@ void c_render(Client* client, GPUDrive* env) {
                                     }
                                 }
                             }
-
                         }
                     }
-                    
                 }
             } else {
                 // Draw non-active vehicles
                 DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
                 DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
             }
-            
             // Restore previous transform
             rlPopMatrix();
-            
             // Draw goal position for active agents
             if(is_active_agent && env->entities[i].valid == 1) {
                 DrawSphere((Vector3){
@@ -1219,7 +1137,6 @@ void c_render(Client* client, GPUDrive* env) {
                 }, 0.5f, DARKGREEN);
             }
         }
-        
         // Draw road elements
         if(env->entities[i].type > 3 && env->entities[i].type < 7) {
             for(int j = 0; j < env->entities[i].array_size - 1; j++) {
@@ -1233,13 +1150,11 @@ void c_render(Client* client, GPUDrive* env) {
                     env->entities[i].traj_y[j + 1],
                     1
                 };
-                
                 Color lineColor = GRAY;
                 if (env->entities[i].type == ROAD_LANE) lineColor = GRAY;
                 else if (env->entities[i].type == ROAD_LINE) lineColor = BLUE;
                 else if (env->entities[i].type == ROAD_EDGE) lineColor = BLACK;
                 else if (env->entities[i].type == DRIVEWAY) lineColor = RED;
-                
                 if(env->entities[i].type == ROAD_EDGE){
                     DrawLine3D(start, end, lineColor);
                 }
@@ -1256,8 +1171,8 @@ void c_render(Client* client, GPUDrive* env) {
     float grid_start_y = env->map_corners[1];
     for(int i = 0; i < env->grid_cols; i++) {
         for(int j = 0; j < env->grid_rows; j++) {
-            float x = grid_start_x + i * GRID_CELL_SIZE;
-            float y = grid_start_y + j * GRID_CELL_SIZE;
+            float x = grid_start_x + i*GRID_CELL_SIZE;
+            float y = grid_start_y + j*GRID_CELL_SIZE;
             // int index = i * env->grid_rows + j;
             DrawCubeWires(
                 (Vector3){x + GRID_CELL_SIZE/2, y + GRID_CELL_SIZE/2, 1}, 
@@ -1265,7 +1180,6 @@ void c_render(Client* client, GPUDrive* env) {
         }
     }
     EndMode3D();
-    
     // Draw debug info
     DrawText(TextFormat("Camera Position: (%.2f, %.2f, %.2f)", 
         client->camera.position.x, 

From 27fe5140daa5448efcdbea0ca595cf799122011b Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 27 Mar 2025 20:50:42 -0500
Subject: [PATCH 082/112] shrink cars?

---
 pufferlib/ocean/gpudrive/gpudrive.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index c908b93514..aba329db33 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -337,6 +337,8 @@ void set_active_agents(GPUDrive* env){
             env->entities[i].traj_y[start_idx],
             env->entities[i].goal_position_x,
             env->entities[i].goal_position_y);
+        env->entities[i].width *= 0.7f;
+        env->entities[i].length *= 0.7f;
         if(distance >= 2.0f){
             active_agent_indices[env->active_agent_count] = i;
             env->active_agent_count++;

From 054c426be595c2672e95195c365ee9e713400756 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 27 Mar 2025 21:22:10 -0500
Subject: [PATCH 083/112] dont penalize after goal

---
 pufferlib/ocean/gpudrive/gpudrive.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index aba329db33..3924b2b676 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -954,13 +954,13 @@ void c_step(GPUDrive* env){
         // move_random(env, agent_idx);
         // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
-        if(env->entities[agent_idx].collision_state > 0){
+        if(env->entities[agent_idx].collision_state > 0 && env->goal_reached[i] == 0){
             if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){
                 env->rewards[i] = env->reward_vehicle_collision;
                 env->logs[i].collision_rate = 1.0f;
                 env->logs[i].episode_return += env->reward_vehicle_collision;
             }
-            else if(env->entities[agent_idx].collision_state == OFFROAD){
+            else if(env->entities[agent_idx].collision_state == OFFROAD && env->goal_reached[i] == 0){
                 env->rewards[i] = env->reward_offroad_collision;
                 env->logs[i].offroad_rate = 1.0f;
                 env->logs[i].episode_return += env->reward_offroad_collision;

From 99dea5428bce3f52215a5f9d3ebd19f3f6826d4b Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Fri, 28 Mar 2025 02:46:42 +0000
Subject: [PATCH 084/112] back to 50 vision

---
 config/ocean/gpudrive.ini           | 30 ++++++++++++++++++-----------
 pufferlib/ocean/gpudrive/gpudrive.h |  4 ++--
 2 files changed, 21 insertions(+), 13 deletions(-)

diff --git a/config/ocean/gpudrive.ini b/config/ocean/gpudrive.ini
index 683bd1dc09..7d98dd056b 100644
--- a/config/ocean/gpudrive.ini
+++ b/config/ocean/gpudrive.ini
@@ -5,17 +5,25 @@ policy_name = GPUDrive
 rnn_name = Recurrent
 
 [env]
-num_envs = 256
-reward_vehicle_collision = -0.075
-reward_offroad_collision = -0.075
+num_envs = 128
+reward_vehicle_collision = -0.15
+reward_offroad_collision = -0.15
 
 [train]
-total_timesteps = 500_000_000
-ent_coef = 0.001
-learning_rate = 0.005
-num_workers = 2
-num_envs = 2
-anneal_lr = False
+total_timesteps = 1_000_000_000
+#bptt_horizon = 16
+#ent_coef = 0.0001
+#learning_rate = 0.001
+batch_size = 131072
+minibatch_size = 32768
+#gae_lambda = 0.95
+#gamma = 0.99
+#max_grad_norm = 0.5
+#update_epochs = 1
+#vf_coef = 2
+#num_workers = 2
+#num_envs = 2
+#anneal_lr = False
 [sweep.train.total_timesteps]
 distribution = log_normal
 min = 3e8
@@ -26,13 +34,13 @@ scale = 0.25
 [sweep.env.reward_vehicle_collision]
 distribution = uniform
 min = -1.0
-max = -0.001
+max = -0.1
 mean = -0.1
 scale = auto 
 
 [sweep.env.reward_offroad_collision]
 distribution = uniform
 min = -1.0
-max = -0.001
+max = -0.1
 mean = -0.1
 scale = auto
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 3924b2b676..bbad2f1c9f 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -542,7 +542,7 @@ void init(GPUDrive* env){
     env->logs = (Log*)calloc(env->active_agent_count, sizeof(Log));
     env->goal_reached = (char*)calloc(env->active_agent_count, sizeof(char));
     init_grid_map(env);
-    env->vision_range = 11;
+    env->vision_range = 21;
     init_neighbor_offsets(env);
     env->neighbor_cache_indices = (int*)calloc((env->grid_cols * env->grid_rows) + 1, sizeof(int));
     cache_neighbor_offsets(env);
@@ -848,7 +848,7 @@ void compute_observations(GPUDrive* env) {
             float dx = other_entity->x - ego_entity->x;
             float dy = other_entity->y - ego_entity->y;
             float dist = sqrtf(dx*dx + dy*dy);
-            if(dist > 25.0f) continue;
+            if(dist > 50.0f) continue;
             // Rotate to ego vehicle's frame
             float rel_x = dx * cos_heading + dy * sin_heading;
             float rel_y = -dx * sin_heading + dy * cos_heading;

From 468b7ba5bf67b732e324ab03c16a9c7e43fa503c Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Fri, 28 Mar 2025 09:27:31 -0500
Subject: [PATCH 085/112] small obs edge case error

---
 pufferlib/ocean/gpudrive/gpudrive.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index bbad2f1c9f..742fdb7e61 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -842,7 +842,7 @@ void compute_observations(GPUDrive* env) {
         int cars_seen = 0;
         for(int j = 0; j < env->num_entities; j++) {
             if(env->entities[j].type > 3) break;
-            if(j == i) continue;  // Skip self, but don't increment obs_idx
+            if(j == env->active_agent_indices[i]) continue;  // Skip self, but don't increment obs_idx
             Entity* other_entity = &env->entities[j];
             // Store original relative positions
             float dx = other_entity->x - ego_entity->x;
@@ -1035,7 +1035,7 @@ void c_render(Client* client, GPUDrive* env) {
     DrawLine3D((Vector3){env->map_corners[0], env->map_corners[3], 0}, (Vector3){env->map_corners[2], env->map_corners[3], 0}, BLACK);
 
     for(int i = 0; i < env->num_entities; i++) {
-        if(env->entities[i].type == 1) {  // If entity is a vehicle
+        if(env->entities[i].type == 1 || env->entities[i].type == 2) {  // If entity is a vehicle
             // Check if this vehicle is an active agent
             bool is_active_agent = false;
             int agent_index = -1;

From e95265563d08d31bd5916e2d22e6ba348d823336 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Fri, 28 Mar 2025 15:04:16 -0500
Subject: [PATCH 086/112] cleanup

---
 pufferlib/ocean/gpudrive/gpudrive.h | 25 +++++++++----------------
 1 file changed, 9 insertions(+), 16 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 742fdb7e61..8487af8b1f 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -9,12 +9,6 @@
 #include "raymath.h"
 #include "rlgl.h"
 #include <time.h>
-#define MAX_AGENTS 64
-#define MAX_ROAD_OBJECTS 200
-#define ROAD_OBS 13
-#define OTHER_AGENT_OBS 6
-#define SELF_OBJS 6
-
 // Entity Types
 #define NONE 0
 #define VEHICLE 1
@@ -367,7 +361,7 @@ int getGridIndex(GPUDrive* env, float x1, float y1) {
     if (gridX < 0 || gridX >= cellsX || gridY < 0 || gridY >= cellsY) {
         return -1;  // Return -1 for out of bounds
     }
-    int index = (gridY * cellsX) + gridX;    
+    int index = (gridY*cellsX) + gridX;    
     return index;
 }
 
@@ -432,7 +426,7 @@ void init_grid_map(GPUDrive* env){
 
 void init_neighbor_offsets(GPUDrive* env) {
     // Allocate memory for the offsets
-    env->neighbor_offsets = (int*)calloc(env->vision_range * env->vision_range * 2, sizeof(int));
+    env->neighbor_offsets = (int*)calloc(env->vision_range*env->vision_range*2, sizeof(int));
     // neighbor offsets in a spiral pattern
     int dx[] = {1, 0, -1, 0};
     int dy[] = {0, 1, 0, -1};
@@ -544,7 +538,7 @@ void init(GPUDrive* env){
     init_grid_map(env);
     env->vision_range = 21;
     init_neighbor_offsets(env);
-    env->neighbor_cache_indices = (int*)calloc((env->grid_cols * env->grid_rows) + 1, sizeof(int));
+    env->neighbor_cache_indices = (int*)calloc((env->grid_cols*env->grid_rows) + 1, sizeof(int));
     cache_neighbor_offsets(env);
 }
 
@@ -566,11 +560,11 @@ void free_initialized(GPUDrive* env){
 
 void allocate(GPUDrive* env){
     init(env);
-    int max_obs = 6 + 7 * (env->num_cars - 1) + 200 * 5;
+    int max_obs = 6 + 7*(env->num_cars - 1) + 5*200;
     printf("max obs: %d\n", max_obs*env->active_agent_count);
     printf("num cars: %d\n", env->num_cars);
     printf("active agent count: %d\n", env->active_agent_count);
-    env->observations = (float*)calloc(env->active_agent_count * max_obs, sizeof(float));
+    env->observations = (float*)calloc(env->active_agent_count*max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
     env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
     env->dones = (unsigned char*)calloc(env->active_agent_count, sizeof(unsigned char));
@@ -818,7 +812,7 @@ float reverse_normalize_value(float value, float min, float max){
 
 void compute_observations(GPUDrive* env) {
     int max_obs = 6 + 7*(env->num_cars - 1) + 5*MAX_ROAD_SEGMENT_OBSERVATIONS;
-    memset(env->observations, 0, max_obs * env->active_agent_count * sizeof(float));
+    memset(env->observations, 0, max_obs*env->active_agent_count*sizeof(float));
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations; 
     for(int i = 0; i < env->active_agent_count; i++) {
         float* obs = &observations[i][0];
@@ -850,8 +844,8 @@ void compute_observations(GPUDrive* env) {
             float dist = sqrtf(dx*dx + dy*dy);
             if(dist > 50.0f) continue;
             // Rotate to ego vehicle's frame
-            float rel_x = dx * cos_heading + dy * sin_heading;
-            float rel_y = -dx * sin_heading + dy * cos_heading;
+            float rel_x = dx*cos_heading + dy*sin_heading;
+            float rel_y = -dx*sin_heading + dy*cos_heading;
             // Store observations with correct indexing
             obs[obs_idx] = normalize_value(rel_x, MIN_REL_AGENT_POS, MAX_REL_AGENT_POS);
             obs[obs_idx + 1] = normalize_value(rel_y, MIN_REL_AGENT_POS, MAX_REL_AGENT_POS);
@@ -951,7 +945,6 @@ void c_step(GPUDrive* env){
         int agent_idx = env->active_agent_indices[i];
         env->entities[agent_idx].collision_state = 0;
         move_dynamics(env, i, agent_idx);
-        // move_random(env, agent_idx);
         // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0 && env->goal_reached[i] == 0){
@@ -960,7 +953,7 @@ void c_step(GPUDrive* env){
                 env->logs[i].collision_rate = 1.0f;
                 env->logs[i].episode_return += env->reward_vehicle_collision;
             }
-            else if(env->entities[agent_idx].collision_state == OFFROAD && env->goal_reached[i] == 0){
+            else if(env->entities[agent_idx].collision_state == OFFROAD){
                 env->rewards[i] = env->reward_offroad_collision;
                 env->logs[i].offroad_rate = 1.0f;
                 env->logs[i].episode_return += env->reward_offroad_collision;

From 4468b5f068c6d7349d00ca51894ce6a9679ddfdf Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Sun, 30 Mar 2025 17:20:47 -0500
Subject: [PATCH 087/112] multimap memory testing

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |  82 +++++++--
 pufferlib/ocean/gpudrive/gpudrive.h      |  95 ++++++++---
 pufferlib/ocean/gpudrive/gpudrive.py     | 203 +++++------------------
 3 files changed, 178 insertions(+), 202 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index 0c2787019f..537abf2054 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -42,12 +42,6 @@ cdef extern from "gpudrive.h":
         float vz;
         float heading;
         int valid;
-        float nearest_line_dist;
-        float* nearest_line_start;
-        float* nearest_line_end;
-        float nearest_car_dist;
-        float* nearest_car_start;
-        float* nearest_car_end;
 
     ctypedef struct GPUDrive:
         float* observations;
@@ -63,6 +57,10 @@ cdef extern from "gpudrive.h":
         Entity* entities;
         int num_entities;
         int num_cars;
+        int num_objects;
+        int num_roads;
+        int static_car_count;
+        int* static_car_indices;
         int timestep;
         int dynamics_model;
         float* fake_data;
@@ -75,20 +73,23 @@ cdef extern from "gpudrive.h":
         int* neighbor_offsets;
         int* neighbor_cache_entities;
         int* neighbor_cache_indices;
-        float reward_vehicle_collision
-        float reward_offroad_collision
+        float reward_vehicle_collision;
+        float reward_offroad_collision;
+        char* map_name;
 
     ctypedef struct Client
 
     void init(GPUDrive* env)
     void free_allocated(GPUDrive* env)
-
+    void free_entity(Entity* entity)
 
     Client* make_client(GPUDrive* env)
     void close_client(Client* client)
     void c_render(Client* client, GPUDrive* env)
     void c_reset(GPUDrive* env)
     void c_step(GPUDrive* env)
+    Entity* load_map_binary(char* name, GPUDrive* env)
+    void set_active_agents(GPUDrive *env)
 
 cpdef entity_dtype():
     '''Make a dummy entity to get the dtype'''
@@ -130,31 +131,80 @@ cdef class CyGPUDrive:
         Client* client
         LogBuffer* logs
         int num_envs
+        int* agent_offsets
+        int agent_count
+
+    @staticmethod
+    def get_total_agent_count(int num_envs, int human_agent_idx, float reward_vehicle_collision, float reward_offroad_collision):
+        """Static method to count total agents across all environments"""
+        cdef int* agent_offsets = <int*> calloc(num_envs + 1, sizeof(int))
+        cdef int total_count = 0
+        cdef GPUDrive* temp_envs = <GPUDrive*> calloc(num_envs, sizeof(GPUDrive))
+        cdef int i
+        try:
+            for i in range(num_envs):
+                temp_envs[i].human_agent_idx = human_agent_idx
+                temp_envs[i].reward_vehicle_collision = reward_vehicle_collision
+                temp_envs[i].reward_offroad_collision = reward_offroad_collision
+                
+                map_file = f"resources/gpudrive/binaries/map_{i:03d}.bin".encode('utf-8')
+                temp_envs[i].entities = load_map_binary(map_file, &temp_envs[i])
+                set_active_agents(&temp_envs[i])
+                
+                agent_offsets[i] = total_count
+                total_count += temp_envs[i].active_agent_count
+                if (temp_envs[i].active_agent_count ==0 ):
+                    print("No active agents: ", map_file)
+            
+            agent_offsets[num_envs] = total_count
+            py_offsets = [agent_offsets[i] for i in range(num_envs + 1)]
+            return total_count, py_offsets
+            
+        finally:
+            for i in range(num_envs):
+                for x in range(temp_envs[i].num_entities):
+                    free_entity(&temp_envs[i].entities[x])
+                free(temp_envs[i].entities)
+                free(temp_envs[i].active_agent_indices)
+                free(temp_envs[i].static_car_indices)
+            free(temp_envs)
+            free(agent_offsets)
 
     def __init__(self, float[:, :] observations, int[:,:] actions,
             float[:] rewards, unsigned char[:] terminals, int num_envs,
-            int num_agents, int human_agent_idx, reward_vehicle_collision, reward_offroad_collision):
+            int human_agent_idx, reward_vehicle_collision, 
+            reward_offroad_collision, offsets):
 
         self.client = NULL
         self.num_envs = num_envs
         self.envs = <GPUDrive*> calloc(num_envs, sizeof(GPUDrive))
+        self.agent_offsets = <int*> calloc(num_envs + 1, sizeof(int))
         self.logs = allocate_logbuffer(LOG_BUFFER_SIZE)
-        cdef int inc = num_agents
         cdef int i
+        for i in range(num_envs + 1):
+            self.agent_offsets[i] = offsets[i]
+        cdef int inc
         for i in range(num_envs):
+            inc = self.agent_offsets[i]
+            print(inc)
+            map_file = f"resources/gpudrive/binaries/map_{i:03d}.bin".encode('utf-8')
+            print("cython map_name", map_file)
             self.envs[i] = GPUDrive(
-                observations=&observations[inc*i, 0],
-                actions=&actions[inc*i,0],
-                rewards=&rewards[inc*i],
-                dones=&terminals[inc*i],
+                observations=&observations[inc, 0],
+                actions=&actions[inc,0],
+                rewards=&rewards[inc],
+                dones=&terminals[inc],
                 log_buffer=self.logs,
                 human_agent_idx=human_agent_idx,
                 reward_vehicle_collision=reward_vehicle_collision,
-                reward_offroad_collision=reward_offroad_collision
+                reward_offroad_collision=reward_offroad_collision,
+                map_name = map_file
             )
+            print("init")
             init(&self.envs[i])
             self.client = NULL
 
+
     def reset(self):
         cdef int i
         for i in range(self.num_envs):
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 8487af8b1f..b8581ee743 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -45,8 +45,8 @@
 #define SLOTS_PER_CELL (MAX_ENTITIES_PER_CELL*2 + 1)
 
 // Max road segment observation entities
-#define MAX_ROAD_SEGMENT_OBSERVATIONS 200
-
+#define MAX_ROAD_SEGMENT_OBSERVATIONS 64
+#define MAX_CARS 64
 // Observation Space Constants
 #define MAX_SPEED 100
 #define MAX_VEH_LEN 30
@@ -204,6 +204,10 @@ struct GPUDrive {
     Entity* entities;
     int num_entities;
     int num_cars;
+    int num_objects;
+    int num_roads;
+    int static_car_count;
+    int* static_car_indices;
     int timestep;
     int dynamics_model;
     float* fake_data;
@@ -218,13 +222,15 @@ struct GPUDrive {
     int* neighbor_cache_indices;
     float reward_vehicle_collision;
     float reward_offroad_collision;
+    char* map_name;
 };
 
 Entity* load_map_binary(const char* filename, GPUDrive* env) {
     FILE* file = fopen(filename, "rb");
     if (!file) return NULL;
-    
-    fread(&env->num_entities, sizeof(int), 1, file);
+    fread(&env->num_objects, sizeof(int), 1, file);
+    fread(&env->num_roads, sizeof(int), 1, file);
+    env->num_entities = env->num_objects + env->num_roads;
     Entity* entities = (Entity*)malloc(env->num_entities * sizeof(Entity));
     //printf("Num entities: %d\n", env->num_entities);
     for (int i = 0; i < env->num_entities; i++) {
@@ -314,10 +320,12 @@ void set_start_position(GPUDrive* env){
 
 void set_active_agents(GPUDrive* env){
     env->active_agent_count = 0;
-    int active_agent_indices[env->num_entities];
-    for(int i = 0; i < env->num_entities; i++){
+    env->static_car_count = 0;
+    env->num_cars = 0;
+    int active_agent_indices[MAX_CARS];
+    int static_car_indices[MAX_CARS];
+    for(int i = 0; i < env->num_entities && env->num_cars < MAX_CARS; i++){
         if(env->entities[i].type != 1) continue;
-        env->num_cars++;
         int start_idx=0;
         for(int j = 0; j<env->entities[i].array_size; j++){
             if(env->entities[i].traj_valid[j] == 1 ){
@@ -326,6 +334,7 @@ void set_active_agents(GPUDrive* env){
             }
         }
         if(start_idx !=0) continue;
+        env->num_cars++;
         float distance = relative_distance_2d(
             env->entities[i].traj_x[start_idx],
             env->entities[i].traj_y[start_idx],
@@ -336,13 +345,20 @@ void set_active_agents(GPUDrive* env){
         if(distance >= 2.0f){
             active_agent_indices[env->active_agent_count] = i;
             env->active_agent_count++;
+        } else {
+            static_car_indices[env->static_car_count] = i;
+            env->static_car_count++;
         }
         
     }
     env->active_agent_indices = (int*)malloc(env->active_agent_count * sizeof(int));
+    env->static_car_indices = (int*)malloc(env->static_car_count * sizeof(int));
     for(int i=0;i<env->active_agent_count;i++){
         env->active_agent_indices[i] = active_agent_indices[i];
     };
+    for(int i=0;i<env->static_car_count;i++){
+        env->static_car_indices[i] = static_car_indices[i];
+    }
 }
 
 int getGridIndex(GPUDrive* env, float x1, float y1) {
@@ -529,10 +545,13 @@ int get_neighbor_cache_entities(GPUDrive* env, int cell_idx, int* entities, int
 void init(GPUDrive* env){
     env->human_agent_idx = 0;
     env->timestep = 0;
-    env->entities = load_map_binary("map.bin", env);
+    env->entities = load_map_binary(env->map_name, env);
+    printf("entities loaded\n");
+    printf("num entities: %d\n", env->num_entities);
     env->dynamics_model = CLASSIC;
     set_active_agents(env);
     set_start_position(env);
+    printf("Active agents: %d\n", env->active_agent_count);
     env->logs = (Log*)calloc(env->active_agent_count, sizeof(Log));
     env->goal_reached = (char*)calloc(env->active_agent_count, sizeof(char));
     init_grid_map(env);
@@ -556,19 +575,23 @@ void free_initialized(GPUDrive* env){
     free(env->neighbor_offsets);
     free(env->neighbor_cache_entities);
     free(env->neighbor_cache_indices);
+    free(env->static_car_indices);
 }
 
 void allocate(GPUDrive* env){
     init(env);
-    int max_obs = 6 + 7*(env->num_cars - 1) + 5*200;
+    int max_obs = 6 + 7*(MAX_CARS - 1) + 5*MAX_ROAD_SEGMENT_OBSERVATIONS;
     printf("max obs: %d\n", max_obs*env->active_agent_count);
     printf("num cars: %d\n", env->num_cars);
+    printf("num static cars: %d\n", env->static_car_count);
     printf("active agent count: %d\n", env->active_agent_count);
+    printf("num objects: %d\n", env->num_objects);
     env->observations = (float*)calloc(env->active_agent_count*max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
     env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
     env->dones = (unsigned char*)calloc(env->active_agent_count, sizeof(unsigned char));
     env->log_buffer = allocate_logbuffer(LOG_BUFFER_SIZE);
+    printf("allocated\n");
 }
 
 void free_allocated(GPUDrive* env){
@@ -764,9 +787,16 @@ void collision_check(GPUDrive* env, int agent_idx) {
         }
         if (collided == OFFROAD) break;
     }
-    for(int i = 0; i < env->num_entities; i++){
-        if(i == agent_idx) continue;
-        Entity* entity = &env->entities[i];
+    for(int i = 0; i < MAX_CARS; i++){
+        int index = -1;
+        if(i < env->active_agent_count){
+            index = env->active_agent_indices[i];
+        } else if (i < env->num_cars){
+            index = env->static_car_indices[i - env->active_agent_count];
+        }
+        if(index == -1) continue;
+        if(index == agent_idx) continue;
+        Entity* entity = &env->entities[index];
         if (entity->type > 3) break;
         if (entity->type != VEHICLE) continue;
         float x1 = entity->x;
@@ -788,7 +818,7 @@ void collision_check(GPUDrive* env, int agent_idx) {
                 int next_l = (l + 1) % 4;
                 if (check_line_intersection(corners[k], corners[next], other_corners[l], other_corners[next_l])) {
                     collided = VEHICLE_COLLISION;
-                    car_collided_with_index = i;
+                    car_collided_with_index = index;
                     break;
                 }
             }
@@ -811,7 +841,7 @@ float reverse_normalize_value(float value, float min, float max){
 }
 
 void compute_observations(GPUDrive* env) {
-    int max_obs = 6 + 7*(env->num_cars - 1) + 5*MAX_ROAD_SEGMENT_OBSERVATIONS;
+    int max_obs = 6 + 7*(MAX_CARS - 1) + 5*MAX_ROAD_SEGMENT_OBSERVATIONS;
     memset(env->observations, 0, max_obs*env->active_agent_count*sizeof(float));
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations; 
     for(int i = 0; i < env->active_agent_count; i++) {
@@ -834,10 +864,17 @@ void compute_observations(GPUDrive* env) {
         // Relative Pos of other cars
         int obs_idx = 6;  // Start after goal distances
         int cars_seen = 0;
-        for(int j = 0; j < env->num_entities; j++) {
-            if(env->entities[j].type > 3) break;
-            if(j == env->active_agent_indices[i]) continue;  // Skip self, but don't increment obs_idx
-            Entity* other_entity = &env->entities[j];
+        for(int j = 0; j < MAX_CARS; j++) {
+            int index = -1;
+            if(j < env->active_agent_count){
+                index = env->active_agent_indices[j];
+            } else if (j < env->num_cars){
+                index = env->static_car_indices[j - env->active_agent_count];
+            } 
+            if(index == -1) continue;
+            if(env->entities[index].type > 3) break;
+            if(index == env->active_agent_indices[i]) continue;  // Skip self, but don't increment obs_idx
+            Entity* other_entity = &env->entities[index];
             // Store original relative positions
             float dx = other_entity->x - ego_entity->x;
             float dy = other_entity->y - ego_entity->y;
@@ -861,7 +898,7 @@ void compute_observations(GPUDrive* env) {
             cars_seen++;
             obs_idx += 7;  // Move to next observation slot
         }
-        for(int j = cars_seen; j < env->num_cars - 1; j++){
+        for(int j = cars_seen; j < MAX_CARS - 1; j++){
             obs[obs_idx] = -1;
             obs[obs_idx + 1] = -1;
             obs[obs_idx + 2] = -1;
@@ -875,9 +912,6 @@ void compute_observations(GPUDrive* env) {
         // map observations
         int entity_list[MAX_ROAD_SEGMENT_OBSERVATIONS*2];  // Array big enough for all neighboring cells
         int grid_idx = getGridIndex(env, ego_entity->x, ego_entity->y);
-        // if(env->human_agent_idx == i){
-        //     printf("Grid index: %d\n", grid_idx);
-        // }
         int list_size = get_neighbor_cache_entities(env, grid_idx, entity_list, MAX_ROAD_SEGMENT_OBSERVATIONS);
         for(int k = 0; k < list_size; k++){
             int entity_idx = entity_list[k*2];
@@ -1026,11 +1060,11 @@ void c_render(Client* client, GPUDrive* env) {
     DrawLine3D((Vector3){env->map_corners[0], env->map_corners[1], 0}, (Vector3){env->map_corners[0], env->map_corners[3], 0}, BLACK);
     DrawLine3D((Vector3){env->map_corners[2], env->map_corners[1], 0}, (Vector3){env->map_corners[2], env->map_corners[3], 0}, BLACK);
     DrawLine3D((Vector3){env->map_corners[0], env->map_corners[3], 0}, (Vector3){env->map_corners[2], env->map_corners[3], 0}, BLACK);
-
     for(int i = 0; i < env->num_entities; i++) {
-        if(env->entities[i].type == 1 || env->entities[i].type == 2) {  // If entity is a vehicle
+        if(env->entities[i].type == 1 || env->entities[i].type == 2) {
             // Check if this vehicle is an active agent
             bool is_active_agent = false;
+            bool is_static_car = false;
             int agent_index = -1;
             for(int j = 0; j < env->active_agent_count; j++) {
                 if(env->active_agent_indices[j] == i) {
@@ -1039,6 +1073,13 @@ void c_render(Client* client, GPUDrive* env) {
                     break;
                 }
             }
+            for(int j = 0; j < env->static_car_count; j++) {
+                if(env->static_car_indices[j] == i) {
+                    is_static_car = true;
+                    break;
+                }
+            }
+            if(!is_active_agent && !is_static_car) continue;
             Vector3 position;
             float heading;
              position = (Vector3){
@@ -1075,12 +1116,12 @@ void c_render(Client* client, GPUDrive* env) {
                     DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
                     DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
                     if( agent_index == env->human_agent_idx){
-                        int max_obs = 6 + 7*(env->num_cars - 1) + 5*MAX_ROAD_SEGMENT_OBSERVATIONS;
+                        int max_obs = 6 + 7*(MAX_CARS - 1) + 5*MAX_ROAD_SEGMENT_OBSERVATIONS;
                         float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
                         float* agent_obs = &observations[agent_index][0];
                         // First draw other agent observations
                         int obs_idx = 6;  // Start after goal distances
-                        for(int j = 0; j < env->num_cars - 1; j++) {  // -1 because we skip self
+                        for(int j = 0; j < MAX_CARS - 1; j++) {  // -1 because we skip self
                             if(agent_obs[obs_idx] != -1 && agent_obs[obs_idx + 1] != -1) {
                                 // Draw position of other agents
                                 float x = reverse_normalize_value(agent_obs[obs_idx], MIN_RG_COORD, MAX_RG_COORD);
@@ -1093,7 +1134,7 @@ void c_render(Client* client, GPUDrive* env) {
                             obs_idx += 7;  // Move to next agent observation (7 values per agent)
                         }
                         // Then draw map observations
-                        int map_start_idx = 6 + 7*(env->num_cars - 1);  // Start after agent observations
+                        int map_start_idx = 6 + 7*(MAX_CARS - 1);  // Start after agent observations
                         for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS; k++) {  // Loop through potential map entities
                             int entity_idx = map_start_idx + k*5;
                             if(agent_obs[entity_idx] != -1 && agent_obs[entity_idx + 1] != -1) {
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 2645fd5a4d..25f666436f 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -9,27 +9,31 @@
 class GPUDrive(pufferlib.PufferEnv):
     def __init__(self, num_envs=1, render_mode=None, report_interval=1,
             width=1280, height=1024,
-            active_agent_count=8,
             human_agent_idx=0,
-            num_agents = 8,
             reward_vehicle_collision=-0.1,
             reward_offroad_collision=-0.1,
             buf = None):
 
         # env
-        self.num_agents = num_envs*num_agents
+        self.num_agents = num_envs
         self.render_mode = render_mode
         self.report_interval = report_interval
+        print("Num envs: ", num_envs)
         
-        self.num_obs = 6 + 67*7 + 200*5
+        self.num_obs = 6 + 63*7 + 200*5
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])
-
-
+        
+        total_agents, agent_offsets = CyGPUDrive.get_total_agent_count(
+            num_envs, human_agent_idx, reward_vehicle_collision, reward_offroad_collision)
+        
+        self.num_agents = total_agents
+        print("Num agents: ", self.num_agents)
         super().__init__(buf=buf)
+        breakpoint()
         self.c_envs = CyGPUDrive(self.observations, self.actions, self.rewards,
-            self.terminals, num_envs, num_agents, human_agent_idx, reward_vehicle_collision, reward_offroad_collision)
+            self.terminals, num_envs, human_agent_idx, reward_vehicle_collision, reward_offroad_collision, offsets = agent_offsets)
 
 
     def reset(self, seed=None):
@@ -103,8 +107,12 @@ def save_map_binary(map_data, output_file):
         # Count total entities
         print(len(map_data.get('objects', [])))
         print(len(map_data.get('roads', [])))
-        num_entities = len(map_data.get('objects', [])) + len(map_data.get('roads', []))
-        f.write(struct.pack('i', num_entities))
+        num_objects = len(map_data.get('objects', []))
+        num_roads = len(map_data.get('roads', []))
+        # num_entities = num_objects + num_roads
+        f.write(struct.pack('i', num_objects))
+        f.write(struct.pack('i', num_roads))
+        # f.write(struct.pack('i', num_entities))
         # Write objects
         for obj in map_data.get('objects', []):
             # Write base entity data
@@ -202,160 +210,37 @@ def load_map(map_name, binary_output=None):
     if binary_output:
         save_map_binary(map_data, binary_output)
     
-    # Create numpy array for Python usage
-    # objects = [obj for obj in map_data.get('objects', []) 
-    #            if obj.get('type') == 'vehicle' or obj.get('type') == 1]
-    # roads = map_data.get('roads', [])
-    # total_entities = len(roads) + len(objects)
+    entities = np.zeros(1, dtype=entity_dtype())
+    return entities
+
+def process_all_maps():
+    """Process all maps and save them as binaries"""
+    import os
+    from pathlib import Path
+
+    # Create the binaries directory if it doesn't exist
+    binary_dir = Path("resources/gpudrive/binaries")
+    binary_dir.mkdir(parents=True, exist_ok=True)
+
+    # Path to the training data
+    data_dir = Path("data/processed/training")
     
-    # # Create the recarray with the entity_dtype
-    # entities = np.zeros(total_entities, dtype=entity_dtype()).view(np.recarray)
+    # Get all JSON files in the training directory
+    json_files = sorted(data_dir.glob("*.json"))[256:384]
     
-    # # Process objects
-    # current_idx = 0
-    # for obj in objects:
-    #     # Set basic entity data
-    #     obj_type = 1 if obj.get('type') == 'vehicle' or obj.get('type') == 1 else 1
-    #     entities[current_idx].type = obj_type
-    #     entities[current_idx].road_object_id = obj.get('id', 0)
-    #     entities[current_idx].road_point_id = obj.get('road_point_id', 0)
-    #     entities[current_idx].array_size = 91
-        
-    #     # Allocate memory for trajectory arrays
-    #     # Note: In a real implementation, you'd need to manage this memory properly
-    #     # and ensure it's freed when no longer needed
-    #     traj_x = np.zeros(91, dtype=np.float32)
-    #     traj_y = np.zeros(91, dtype=np.float32)
-    #     traj_z = np.zeros(91, dtype=np.float32)
-    #     traj_vx = np.zeros(91, dtype=np.float32)
-    #     traj_vy = np.zeros(91, dtype=np.float32)
-    #     traj_vz = np.zeros(91, dtype=np.float32)
-    #     traj_heading = np.zeros(91, dtype=np.float32)
-    #     traj_valid = np.zeros(91, dtype=np.int32)
-        
-    #     # Fill trajectory arrays
-    #     positions = obj.get('position', [])
-    #     for i in range(91):
-    #         pos = positions[i] if i < len(positions) else {'x': 0.0, 'y': 0.0, 'z': 0.0}
-    #         traj_x[i] = float(pos.get('x', 0.0))
-    #         traj_y[i] = float(pos.get('y', 0.0))
-    #         traj_z[i] = float(pos.get('z', 0.0))
-        
-    #     velocities = obj.get('velocity', [])
-    #     for i in range(91):
-    #         vel = velocities[i] if i < len(velocities) else {'x': 0.0, 'y': 0.0}
-    #         traj_vx[i] = float(vel.get('x', 0.0))
-    #         traj_vy[i] = float(vel.get('y', 0.0))
-    #         # vz is unused, already zeros
-        
-    #     headings = obj.get('heading', [])
-    #     for i in range(91):
-    #         traj_heading[i] = float(headings[i]) if i < len(headings) else 0.0
-        
-    #     valids = obj.get('valid', [])
-    #     for i in range(91):
-    #         traj_valid[i] = int(valids[i]) if i < len(valids) else 0
-        
-    #     # Store pointers to arrays in the entity
-    #     # Note: This assumes the arrays won't be garbage collected
-    #     entities[current_idx].traj_x = traj_x.ctypes.data
-    #     entities[current_idx].traj_y = traj_y.ctypes.data
-    #     entities[current_idx].traj_z = traj_z.ctypes.data
-    #     entities[current_idx].traj_vx = traj_vx.ctypes.data
-    #     entities[current_idx].traj_vy = traj_vy.ctypes.data
-    #     entities[current_idx].traj_vz = traj_vz.ctypes.data
-    #     entities[current_idx].traj_heading = traj_heading.ctypes.data
-    #     entities[current_idx].traj_valid = traj_valid.ctypes.data
-        
-    #     # Set scalar fields
-    #     entities[current_idx].width = float(obj.get('width', 0.0))
-    #     entities[current_idx].length = float(obj.get('length', 0.0))
-    #     entities[current_idx].height = float(obj.get('height', 0.0))
-        
-    #     goal_pos = obj.get('goalPosition', {'x': 0, 'y': 0, 'z': 0})
-    #     entities[current_idx].goal_position_x = float(goal_pos.get('x', 0.0))
-    #     entities[current_idx].goal_position_y = float(goal_pos.get('y', 0.0))
-    #     entities[current_idx].goal_position_z = float(goal_pos.get('z', 0.0))
-        
-    #     # Set current state (first position in trajectory)
-    #     if len(positions) > 0:
-    #         pos = positions[0]
-    #         entities[current_idx].x = float(pos.get('x', 0.0))
-    #         entities[current_idx].y = float(pos.get('y', 0.0))
-    #         entities[current_idx].z = float(pos.get('z', 0.0))
-        
-    #     if len(velocities) > 0:
-    #         vel = velocities[0]
-    #         entities[current_idx].vx = float(vel.get('x', 0.0))
-    #         entities[current_idx].vy = float(vel.get('y', 0.0))
-    #         entities[current_idx].vz = 0.0
-        
-    #     if len(headings) > 0:
-    #         entities[current_idx].heading = float(headings[0])
-        
-    #     entities[current_idx].valid = 1  # Assume valid
-    #     entities[current_idx].collision_state = 0  # Assume no collision
-        
-    #     current_idx += 1
+    print(f"Found {len(json_files)} JSON files")
     
-    # # Process roads
-    # for road in roads:
-    #     geometry = road.get('geometry', [])
-    #     size = len(geometry)
-        
-    #     # Map road types
-    #     road_type = road.get('map_element_id', 0)
-    #     if road_type >= 0 and road_type <= 3:
-    #         road_type = 4
-    #     elif road_type >= 5 and road_type <= 13:
-    #         road_type = 5
-    #     elif road_type >= 14 and road_type <= 16:
-    #         road_type = 6
-    #     elif road_type == 17:
-    #         road_type = 7
-    #     elif road_type == 18:
-    #         road_type = 8
-    #     elif road_type == 19:
-    #         road_type = 9
-    #     elif road_type == 20:
-    #         road_type = 10
-        
-    #     entities[current_idx].type = road_type
-    #     entities[current_idx].road_object_id = 0
-    #     entities[current_idx].road_point_id = road.get('id', 0)
-    #     entities[current_idx].array_size = size
+    # Process each JSON file
+    for i, map_path in enumerate(json_files):
+        binary_file = f"map_{i:03d}.bin"  # Use zero-padded numbers for consistent sorting
+        binary_path = binary_dir / binary_file
         
-    #     # Allocate memory for geometry arrays
-    #     geom_x = np.zeros(size, dtype=np.float32)
-    #     geom_y = np.zeros(size, dtype=np.float32)
-    #     geom_z = np.zeros(size, dtype=np.float32)
-        
-    #     # Fill geometry arrays
-    #     for i, point in enumerate(geometry):
-    #         geom_x[i] = float(point.get('x', 0.0))
-    #         geom_y[i] = float(point.get('y', 0.0))
-    #         geom_z[i] = float(point.get('z', 0.0))
-        
-    #     # Store pointers to arrays
-    #     entities[current_idx].traj_x = geom_x.ctypes.data
-    #     entities[current_idx].traj_y = geom_y.ctypes.data
-    #     entities[current_idx].traj_z = geom_z.ctypes.data
-        
-    #     # Set scalar fields
-    #     entities[current_idx].width = float(road.get('width', 0.0))
-    #     entities[current_idx].length = float(road.get('length', 0.0))
-    #     entities[current_idx].height = float(road.get('height', 0.0))
-        
-    #     goal_pos = road.get('goalPosition', {'x': 0, 'y': 0, 'z': 0})
-    #     entities[current_idx].goal_position_x = float(goal_pos.get('x', 0.0))
-    #     entities[current_idx].goal_position_y = float(goal_pos.get('y', 0.0))
-    #     entities[current_idx].goal_position_z = float(goal_pos.get('z', 0.0))
-
-    #     current_idx += 1
-    entities = np.zeros(1, dtype=entity_dtype())
-    return entities
-
+        print(f"Processing {map_path.name} -> {binary_file}")
+        try:
+            load_map(str(map_path), str(binary_path))
+        except Exception as e:
+            print(f"Error processing {map_path.name}: {e}")
 
 if __name__ == '__main__':
-        load_map('resources/tfrecord-00000-of-01000_4.json', 'map.bin')
+    process_all_maps()
 

From fc9e281677fd0ebf4aa5a79d0a8cbc5bd99584da Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Wed, 2 Apr 2025 00:02:59 +0000
Subject: [PATCH 088/112] multi map training test

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx | 49 ++++++++++++------------
 pufferlib/ocean/gpudrive/gpudrive.c      |  2 +
 pufferlib/ocean/gpudrive/gpudrive.h      |  7 +++-
 pufferlib/ocean/gpudrive/gpudrive.py     |  2 +-
 pufferlib/ocean/torch.py                 |  8 ++--
 5 files changed, 37 insertions(+), 31 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index 537abf2054..1da482a51a 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -141,35 +141,34 @@ cdef class CyGPUDrive:
         cdef int total_count = 0
         cdef GPUDrive* temp_envs = <GPUDrive*> calloc(num_envs, sizeof(GPUDrive))
         cdef int i
-        try:
-            for i in range(num_envs):
-                temp_envs[i].human_agent_idx = human_agent_idx
-                temp_envs[i].reward_vehicle_collision = reward_vehicle_collision
-                temp_envs[i].reward_offroad_collision = reward_offroad_collision
+        for i in range(num_envs):
+            temp_envs[i].human_agent_idx = human_agent_idx
+            temp_envs[i].reward_vehicle_collision = reward_vehicle_collision
+            temp_envs[i].reward_offroad_collision = reward_offroad_collision
                 
-                map_file = f"resources/gpudrive/binaries/map_{i:03d}.bin".encode('utf-8')
-                temp_envs[i].entities = load_map_binary(map_file, &temp_envs[i])
-                set_active_agents(&temp_envs[i])
+            map_file = f"resources/gpudrive/binaries/map_{i:03d}.bin".encode('utf-8')
+            temp_envs[i].entities = load_map_binary(map_file, &temp_envs[i])
+            set_active_agents(&temp_envs[i])
                 
-                agent_offsets[i] = total_count
-                total_count += temp_envs[i].active_agent_count
-                if (temp_envs[i].active_agent_count ==0 ):
-                    print("No active agents: ", map_file)
+            agent_offsets[i] = total_count
+            total_count += temp_envs[i].active_agent_count
+            if (temp_envs[i].active_agent_count ==0 ):
+                print("No active agents: ", map_file)
             
-            agent_offsets[num_envs] = total_count
-            py_offsets = [agent_offsets[i] for i in range(num_envs + 1)]
-            return total_count, py_offsets
+        agent_offsets[num_envs] = total_count
+        py_offsets = [agent_offsets[i] for i in range(num_envs + 1)]
+        for i in range(num_envs):
+            for x in range(temp_envs[i].num_entities):
+                free_entity(&temp_envs[i].entities[x])
+            free(temp_envs[i].entities)
+            free(temp_envs[i].active_agent_indices)
+            free(temp_envs[i].static_car_indices)
+        free(temp_envs)
+        free(agent_offsets)
+        return total_count, py_offsets
             
-        finally:
-            for i in range(num_envs):
-                for x in range(temp_envs[i].num_entities):
-                    free_entity(&temp_envs[i].entities[x])
-                free(temp_envs[i].entities)
-                free(temp_envs[i].active_agent_indices)
-                free(temp_envs[i].static_car_indices)
-            free(temp_envs)
-            free(agent_offsets)
-
+        #finally:
+         #   
     def __init__(self, float[:, :] observations, int[:,:] actions,
             float[:] rewards, unsigned char[:] terminals, int num_envs,
             int human_agent_idx, reward_vehicle_collision, 
diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index 72915767f0..a1df82e7bf 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -102,6 +102,7 @@ void demo() {
         .human_agent_idx = 0,
         .reward_vehicle_collision = -0.1f,
         .reward_offroad_collision = -0.1f,
+	.map_name = "resources/gpudrive/binaries/map_002.bin"
     };
     allocate(&env);
     Weights* weights = load_weights("resources/gpu_drive_weights.bin", 135061);
@@ -173,6 +174,7 @@ void performance_test() {
     GPUDrive env = {
         .dynamics_model = CLASSIC,
         .human_agent_idx = 0,
+	.map_name = "resources/gpudrive/binaries/map_004.bin"
     };
     allocate(&env);
     c_reset(&env);
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index b8581ee743..f84422e134 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -227,6 +227,7 @@ struct GPUDrive {
 
 Entity* load_map_binary(const char* filename, GPUDrive* env) {
     FILE* file = fopen(filename, "rb");
+    printf("fileanme: %s\n", filename);
     if (!file) return NULL;
     fread(&env->num_objects, sizeof(int), 1, file);
     fread(&env->num_roads, sizeof(int), 1, file);
@@ -978,7 +979,11 @@ void c_step(GPUDrive* env){
 	    env->logs[i].episode_length += 1;
         int agent_idx = env->active_agent_indices[i];
         env->entities[agent_idx].collision_state = 0;
-        move_dynamics(env, i, agent_idx);
+        if(env->goal_reached[i]){
+		env->entities[agent_idx].x = 0;
+		env->entities[agent_idx].y = 0;
+	}
+	move_dynamics(env, i, agent_idx);
         // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0 && env->goal_reached[i] == 0){
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 25f666436f..d2e957dd21 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -20,7 +20,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.report_interval = report_interval
         print("Num envs: ", num_envs)
         
-        self.num_obs = 6 + 63*7 + 200*5
+        self.num_obs = 6 + 63*7 + 64*5
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])
diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py
index 90ddd66298..3b37d4ead8 100644
--- a/pufferlib/ocean/torch.py
+++ b/pufferlib/ocean/torch.py
@@ -427,7 +427,7 @@ def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
                 nn.Linear(cnn_channels, cnn_channels)
             )
         )
-        max_road_objects = 5*200
+        max_road_objects = 5*64
         self.road_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(max_road_objects, cnn_channels)),
@@ -436,7 +436,7 @@ def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
                 nn.Linear(cnn_channels, cnn_channels)
             )
         )
-        max_partner_objects = 7*67
+        max_partner_objects = 7*63
         self.partner_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(max_partner_objects, cnn_channels)),
@@ -464,8 +464,8 @@ def forward(self, observations):
     
     def encode_observations(self, observations):
         ego_dim = 6
-        partner_dim = 67 * 7
-        road_dim = 200*5
+        partner_dim = 63 * 7
+        road_dim = 64*5
         ego_obs = observations[:, :ego_dim]
         partner_obs = observations[:, ego_dim:ego_dim+partner_dim]
         road_obs = observations[:, ego_dim+partner_dim:ego_dim+partner_dim+road_dim]

From 8be8d9beb847c8dde5d5743f76831e1ddc830c22 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Tue, 1 Apr 2025 21:05:38 -0500
Subject: [PATCH 089/112] agent masking?

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |  4 +++-
 pufferlib/ocean/gpudrive/gpudrive.h      | 19 ++++++++++++++-----
 pufferlib/ocean/gpudrive/gpudrive.py     |  3 ++-
 3 files changed, 19 insertions(+), 7 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index 1da482a51a..8e7a9f075f 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -47,6 +47,7 @@ cdef extern from "gpudrive.h":
         float* observations;
         int* actions;
         float* rewards;
+        unsigned char* masks;
         unsigned char* dones;
         LogBuffer* log_buffer;
         Log* logs;
@@ -170,7 +171,7 @@ cdef class CyGPUDrive:
         #finally:
          #   
     def __init__(self, float[:, :] observations, int[:,:] actions,
-            float[:] rewards, unsigned char[:] terminals, int num_envs,
+            float[:] rewards, unsigned char[:] masks, unsigned char[:] terminals, int num_envs,
             int human_agent_idx, reward_vehicle_collision, 
             reward_offroad_collision, offsets):
 
@@ -192,6 +193,7 @@ cdef class CyGPUDrive:
                 observations=&observations[inc, 0],
                 actions=&actions[inc,0],
                 rewards=&rewards[inc],
+                masks=&masks[inc],
                 dones=&terminals[inc],
                 log_buffer=self.logs,
                 human_agent_idx=human_agent_idx,
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index f84422e134..34df4be37e 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -194,6 +194,7 @@ struct GPUDrive {
     float* observations;
     int* actions;
     float* rewards;
+    unsigned char* masks;
     unsigned char* dones;
     LogBuffer* log_buffer;
     Log* logs;
@@ -590,6 +591,7 @@ void allocate(GPUDrive* env){
     env->observations = (float*)calloc(env->active_agent_count*max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
     env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
+    env->masks = (unsigned char*)calloc(env->active_agent_count, sizeof(unsigned char));
     env->dones = (unsigned char*)calloc(env->active_agent_count, sizeof(unsigned char));
     env->log_buffer = allocate_logbuffer(LOG_BUFFER_SIZE);
     printf("allocated\n");
@@ -599,6 +601,7 @@ void free_allocated(GPUDrive* env){
     free(env->observations);
     free(env->actions);
     free(env->rewards);
+    free(env->masks);
     free(env->dones);
     free_logbuffer(env->log_buffer);
     free_initialized(env);
@@ -855,6 +858,7 @@ void compute_observations(GPUDrive* env) {
         // Set goal distances
         float goal_x = relative_distance(ego_entity->x, ego_entity->goal_position_x);
         float goal_y = relative_distance(ego_entity->y, ego_entity->goal_position_y);
+        
         obs[0] = normalize_value(goal_x, MIN_REL_GOAL_COORD, MAX_REL_GOAL_COORD);
         obs[1] = normalize_value(goal_y, MIN_REL_GOAL_COORD, MAX_REL_GOAL_COORD);
         obs[2] = ego_speed / MAX_SPEED;
@@ -956,6 +960,8 @@ void c_reset(GPUDrive* env){
         collision_check(env, agent_idx);
     }
     memset(env->goal_reached, 0, env->active_agent_count*sizeof(char));
+    memset(env->masks, 1, env->active_agent_count*sizeof(char));  
+    memset(env->dones, 0, env->active_agent_count*sizeof(char));
     compute_observations(env);
 }
 
@@ -980,10 +986,11 @@ void c_step(GPUDrive* env){
         int agent_idx = env->active_agent_indices[i];
         env->entities[agent_idx].collision_state = 0;
         if(env->goal_reached[i]){
-		env->entities[agent_idx].x = 0;
-		env->entities[agent_idx].y = 0;
-	}
-	move_dynamics(env, i, agent_idx);
+            env->masks[i] = 0;
+            env->entities[agent_idx].x = 0;
+            env->entities[agent_idx].y = 0;
+	    }
+        move_dynamics(env, i, agent_idx);
         // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0 && env->goal_reached[i] == 0){
@@ -1009,6 +1016,7 @@ void c_step(GPUDrive* env){
             env->rewards[i] += 1.0f;
 	        env->goal_reached[i] = 1;
 	        env->logs[i].episode_return += 1.0f;
+            env->dones[i] = 1;
             continue;
 	    }
     }
@@ -1039,12 +1047,13 @@ Client* make_client(GPUDrive* env){
         env->entities[env->active_agent_indices[0]].y,  // Y is up
         env->entities[env->active_agent_indices[0]].z   // Z is depth
     };
+    printf("target_pos: %f, %f, %f\n", target_pos.x, target_pos.y, target_pos.z);
     
     // Set up camera to look at target from above and behind
     client->camera.position = (Vector3){ 
         target_pos.x,           // Same X as target
         target_pos.y + 80.0f,   // 20 units above target
-        target_pos.z + 150.0f    // 20 units behind target
+        target_pos.z + 450.0f    // 20 units behind target
     };
     client->camera.target = target_pos;
     client->camera.up = (Vector3){ 0.0f, -1.0f, 0.0f };  // Y is up
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index d2e957dd21..eca3e9dcb8 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -32,7 +32,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         print("Num agents: ", self.num_agents)
         super().__init__(buf=buf)
         breakpoint()
-        self.c_envs = CyGPUDrive(self.observations, self.actions, self.rewards,
+        self.c_envs = CyGPUDrive(self.observations, self.actions, self.rewards, self.masks,
             self.terminals, num_envs, human_agent_idx, reward_vehicle_collision, reward_offroad_collision, offsets = agent_offsets)
 
 
@@ -42,6 +42,7 @@ def reset(self, seed=None):
         return self.observations, []
 
     def step(self, actions):
+        breakpoint()
         self.actions[:] = actions
         self.c_envs.step()
         self.tick+=1

From cebf5627c855ed95850fda2ec88d04f54aa6218f Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Tue, 1 Apr 2025 21:24:27 -0500
Subject: [PATCH 090/112] skip movign if reached goal

---
 pufferlib/ocean/gpudrive/gpudrive.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 34df4be37e..7c4431358c 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -989,6 +989,7 @@ void c_step(GPUDrive* env){
             env->masks[i] = 0;
             env->entities[agent_idx].x = 0;
             env->entities[agent_idx].y = 0;
+            continue;
 	    }
         move_dynamics(env, i, agent_idx);
         // move_expert(env, env->actions, agent_idx);

From 5ed78832e42f3b93824a49e4699ce51d3cf51b9a Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Wed, 2 Apr 2025 11:50:23 -0500
Subject: [PATCH 091/112] zero out invisible obs

---
 pufferlib/ocean/gpudrive/gpudrive.h | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 7c4431358c..c95d4a2ffb 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -904,13 +904,13 @@ void compute_observations(GPUDrive* env) {
             obs_idx += 7;  // Move to next observation slot
         }
         for(int j = cars_seen; j < MAX_CARS - 1; j++){
-            obs[obs_idx] = -1;
-            obs[obs_idx + 1] = -1;
-            obs[obs_idx + 2] = -1;
-            obs[obs_idx + 3] = -1;
-            obs[obs_idx + 4] = -1;
-            obs[obs_idx + 5] = -1;
-            obs[obs_idx + 6] = -1;
+            obs[obs_idx] = 0;
+            obs[obs_idx + 1] = 0;
+            obs[obs_idx + 2] = 0;
+            obs[obs_idx + 3] = 0;
+            obs[obs_idx + 4] = 0;
+            obs[obs_idx + 5] = 0;
+            obs[obs_idx + 6] = 0;
             obs_idx += 7;
 	    }
 
@@ -941,11 +941,11 @@ void compute_observations(GPUDrive* env) {
             obs_idx += 5;
         }
         for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS - list_size; k++){
-            obs[obs_idx] = -1;
-            obs[obs_idx + 1] = -1;
-            obs[obs_idx + 2] = -1;
-            obs[obs_idx + 3] = -1;
-            obs[obs_idx + 4] = -1;
+            obs[obs_idx] = 0;
+            obs[obs_idx + 1] = 0;
+            obs[obs_idx + 2] = 0;
+            obs[obs_idx + 3] = 0;
+            obs[obs_idx + 4] = 0;
             obs_idx += 5;
         }
     }

From ff31fb49a0878bb8d5448000eea9cdb7a9ed9559 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 3 Apr 2025 19:33:33 -0500
Subject: [PATCH 092/112] adjusted active agent for always have at least 1 sdc

---
 pufferlib/ocean/gpudrive/gpudrive.h | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index c95d4a2ffb..268e5e39fa 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -321,13 +321,15 @@ void set_start_position(GPUDrive* env){
 }
 
 void set_active_agents(GPUDrive* env){
-    env->active_agent_count = 0;
     env->static_car_count = 0;
     env->num_cars = 0;
     int active_agent_indices[MAX_CARS];
     int static_car_indices[MAX_CARS];
+    active_agent_indices[0] = env->num_objects-1;
+    env->active_agent_count = 1;
     for(int i = 0; i < env->num_entities && env->num_cars < MAX_CARS; i++){
         if(env->entities[i].type != 1) continue;
+        if(i == env->num_objects-1) continue;
         int start_idx=0;
         for(int j = 0; j<env->entities[i].array_size; j++){
             if(env->entities[i].traj_valid[j] == 1 ){
@@ -986,7 +988,7 @@ void c_step(GPUDrive* env){
         int agent_idx = env->active_agent_indices[i];
         env->entities[agent_idx].collision_state = 0;
         if(env->goal_reached[i]){
-            env->masks[i] = 0;
+            // env->masks[i] = 0;
             env->entities[agent_idx].x = 0;
             env->entities[agent_idx].y = 0;
             continue;
@@ -1017,7 +1019,7 @@ void c_step(GPUDrive* env){
             env->rewards[i] += 1.0f;
 	        env->goal_reached[i] = 1;
 	        env->logs[i].episode_return += 1.0f;
-            env->dones[i] = 1;
+            // env->dones[i] = 1;
             continue;
 	    }
     }
@@ -1137,7 +1139,7 @@ void c_render(Client* client, GPUDrive* env) {
                         // First draw other agent observations
                         int obs_idx = 6;  // Start after goal distances
                         for(int j = 0; j < MAX_CARS - 1; j++) {  // -1 because we skip self
-                            if(agent_obs[obs_idx] != -1 && agent_obs[obs_idx + 1] != -1) {
+                            if(agent_obs[obs_idx] != 0 && agent_obs[obs_idx + 1] != 0) {
                                 // Draw position of other agents
                                 float x = reverse_normalize_value(agent_obs[obs_idx], MIN_RG_COORD, MAX_RG_COORD);
                                 float y = reverse_normalize_value(agent_obs[obs_idx + 1], MIN_RG_COORD, MAX_RG_COORD);
@@ -1152,7 +1154,7 @@ void c_render(Client* client, GPUDrive* env) {
                         int map_start_idx = 6 + 7*(MAX_CARS - 1);  // Start after agent observations
                         for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS; k++) {  // Loop through potential map entities
                             int entity_idx = map_start_idx + k*5;
-                            if(agent_obs[entity_idx] != -1 && agent_obs[entity_idx + 1] != -1) {
+                            if(agent_obs[entity_idx] != 0 && agent_obs[entity_idx + 1] != 0) {
                                 Color lineColor = BLUE;  // Default color
                                 int entity_type = (int)agent_obs[entity_idx + 4];
                                 // Choose color based on entity type

From 33e651ca5fed5bd32f8b00336a8a8b63b8700242 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Sun, 6 Apr 2025 21:32:18 +0000
Subject: [PATCH 093/112] sweeping for all sweeps

---
 config/ocean/gpudrive.ini                | 55 ++++++++++++------------
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |  1 +
 pufferlib/ocean/gpudrive/gpudrive.h      | 17 ++++++--
 pufferlib/ocean/gpudrive/gpudrive.py     |  4 +-
 pufferlib/ocean/torch.py                 | 10 +++--
 5 files changed, 49 insertions(+), 38 deletions(-)

diff --git a/config/ocean/gpudrive.ini b/config/ocean/gpudrive.ini
index 7d98dd056b..e6048185da 100644
--- a/config/ocean/gpudrive.ini
+++ b/config/ocean/gpudrive.ini
@@ -5,42 +5,43 @@ policy_name = GPUDrive
 rnn_name = Recurrent
 
 [env]
-num_envs = 128
-reward_vehicle_collision = -0.15
-reward_offroad_collision = -0.15
+num_envs = 256
+reward_vehicle_collision = -0.25
+reward_offroad_collision = -0.25
 
 [train]
 total_timesteps = 1_000_000_000
 #bptt_horizon = 16
-#ent_coef = 0.0001
-#learning_rate = 0.001
-batch_size = 131072
+ent_coef = 0.001
+learning_rate = 0.0025
+batch_size = 524288
 minibatch_size = 32768
 #gae_lambda = 0.95
 #gamma = 0.99
 #max_grad_norm = 0.5
 #update_epochs = 1
 #vf_coef = 2
-#num_workers = 2
-#num_envs = 2
-#anneal_lr = False
-[sweep.train.total_timesteps]
-distribution = log_normal
-min = 3e8
-max = 9e8
-mean = 5e8
-scale = 0.25
+num_workers = 2
+num_envs = 2
+anneal_lr = False
 
-[sweep.env.reward_vehicle_collision]
-distribution = uniform
-min = -1.0
-max = -0.1
-mean = -0.1
-scale = auto 
+#[sweep.train.total_timesteps]
+#distribution = log_normal
+#min = 5e8
+#max = 5e9
+#mean = 1e9
+#scale = auto
 
-[sweep.env.reward_offroad_collision]
-distribution = uniform
-min = -1.0
-max = -0.1
-mean = -0.1
-scale = auto
+#[sweep.env.reward_vehicle_collision]
+#distribution = uniform
+#min = -1.0
+#max = -0.1
+#mean = -0.1
+#scale = auto 
+
+#[sweep.env.reward_offroad_collision]
+#distribution = uniform
+#min = -1.0
+#max = -0.1
+#mean = -0.1
+#scale = auto
diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index 8e7a9f075f..d6ab72aa9c 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -77,6 +77,7 @@ cdef extern from "gpudrive.h":
         float reward_vehicle_collision;
         float reward_offroad_collision;
         char* map_name;
+        char* reached_goal_this_turn;
 
     ctypedef struct Client
 
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 268e5e39fa..686f1c010b 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -224,6 +224,7 @@ struct GPUDrive {
     float reward_vehicle_collision;
     float reward_offroad_collision;
     char* map_name;
+    char* reached_goal_this_turn;
 };
 
 Entity* load_map_binary(const char* filename, GPUDrive* env) {
@@ -558,6 +559,7 @@ void init(GPUDrive* env){
     printf("Active agents: %d\n", env->active_agent_count);
     env->logs = (Log*)calloc(env->active_agent_count, sizeof(Log));
     env->goal_reached = (char*)calloc(env->active_agent_count, sizeof(char));
+    env->reached_goal_this_turn = (char*)calloc(env->active_agent_count, sizeof(char));
     init_grid_map(env);
     env->vision_range = 21;
     init_neighbor_offsets(env);
@@ -574,6 +576,7 @@ void free_initialized(GPUDrive* env){
     free(env->logs);
     free(env->fake_data);
     free(env->goal_reached);
+    free(env->reached_goal_this_turn);
     free(env->map_corners);
     free(env->grid_cells);
     free(env->neighbor_offsets);
@@ -851,6 +854,9 @@ void compute_observations(GPUDrive* env) {
     memset(env->observations, 0, max_obs*env->active_agent_count*sizeof(float));
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations; 
     for(int i = 0; i < env->active_agent_count; i++) {
+	if(env->goal_reached[i] && !env->reached_goal_this_turn[i]){
+		continue;
+	}
         float* obs = &observations[i][0];
         Entity* ego_entity = &env->entities[env->active_agent_indices[i]];
         if(ego_entity->type > 3) break;
@@ -866,7 +872,7 @@ void compute_observations(GPUDrive* env) {
         obs[2] = ego_speed / MAX_SPEED;
         obs[3] = ego_entity->width / MAX_VEH_WIDTH;
         obs[4] = ego_entity->length / MAX_VEH_LEN;
-        obs[5] = ego_entity->collision_state;
+        obs[5] = (ego_entity->collision_state > 0) ? 1 : 0;
         
         // Relative Pos of other cars
         int obs_idx = 6;  // Start after goal distances
@@ -915,7 +921,7 @@ void compute_observations(GPUDrive* env) {
             obs[obs_idx + 6] = 0;
             obs_idx += 7;
 	    }
-
+	
         // map observations
         int entity_list[MAX_ROAD_SEGMENT_OBSERVATIONS*2];  // Array big enough for all neighboring cells
         int grid_idx = getGridIndex(env, ego_entity->x, ego_entity->y);
@@ -950,6 +956,7 @@ void compute_observations(GPUDrive* env) {
             obs[obs_idx + 4] = 0;
             obs_idx += 5;
         }
+	
     }
 }
 
@@ -969,6 +976,7 @@ void c_reset(GPUDrive* env){
 
 void c_step(GPUDrive* env){
     memset(env->rewards, 0, env->active_agent_count * sizeof(float));
+    memset(env->reached_goal_this_turn, 0, env->active_agent_count * sizeof(char));
     env->timestep++;
     if(env->timestep == 91){
 	    for(int i = 0; i < env->active_agent_count; i++){
@@ -988,7 +996,7 @@ void c_step(GPUDrive* env){
         int agent_idx = env->active_agent_indices[i];
         env->entities[agent_idx].collision_state = 0;
         if(env->goal_reached[i]){
-            // env->masks[i] = 0;
+            env->masks[i] = 0;
             env->entities[agent_idx].x = 0;
             env->entities[agent_idx].y = 0;
             continue;
@@ -1018,8 +1026,9 @@ void c_step(GPUDrive* env){
         if(reached_goal && env->goal_reached[i] == 0){            
             env->rewards[i] += 1.0f;
 	        env->goal_reached[i] = 1;
+		env->reached_goal_this_turn[i] = 1;
 	        env->logs[i].episode_return += 1.0f;
-            // env->dones[i] = 1;
+            env->dones[i] = 1;
             continue;
 	    }
     }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index eca3e9dcb8..d0a65dcdef 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -31,7 +31,6 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.num_agents = total_agents
         print("Num agents: ", self.num_agents)
         super().__init__(buf=buf)
-        breakpoint()
         self.c_envs = CyGPUDrive(self.observations, self.actions, self.rewards, self.masks,
             self.terminals, num_envs, human_agent_idx, reward_vehicle_collision, reward_offroad_collision, offsets = agent_offsets)
 
@@ -42,7 +41,6 @@ def reset(self, seed=None):
         return self.observations, []
 
     def step(self, actions):
-        breakpoint()
         self.actions[:] = actions
         self.c_envs.step()
         self.tick+=1
@@ -227,7 +225,7 @@ def process_all_maps():
     data_dir = Path("data/processed/training")
     
     # Get all JSON files in the training directory
-    json_files = sorted(data_dir.glob("*.json"))[256:384]
+    json_files = sorted(data_dir.glob("*.json"))[0:256]
     
     print(f"Found {len(json_files)} JSON files")
     
diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py
index 3b37d4ead8..83e096c813 100644
--- a/pufferlib/ocean/torch.py
+++ b/pufferlib/ocean/torch.py
@@ -427,7 +427,7 @@ def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
                 nn.Linear(cnn_channels, cnn_channels)
             )
         )
-        max_road_objects = 5*64
+        max_road_objects = 5
         self.road_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(max_road_objects, cnn_channels)),
@@ -436,7 +436,7 @@ def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
                 nn.Linear(cnn_channels, cnn_channels)
             )
         )
-        max_partner_objects = 7*63
+        max_partner_objects = 7
         self.partner_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(max_partner_objects, cnn_channels)),
@@ -470,10 +470,12 @@ def encode_observations(self, observations):
         partner_obs = observations[:, ego_dim:ego_dim+partner_dim]
         road_obs = observations[:, ego_dim+partner_dim:ego_dim+partner_dim+road_dim]
         
+        partner_objects = partner_obs.view(-1, 63, 7)
+        road_objects = road_obs.view(-1, 64, 5)
 
         ego_features = self.ego_encoder(ego_obs)
-        partner_features = self.partner_encoder(partner_obs)
-        road_features = self.road_encoder(road_obs)
+        partner_features, _ = self.partner_encoder(partner_objects).max(dim=1)
+        road_features, _ = self.road_encoder(road_objects).max(dim=1)
         
         
         concat_features = torch.cat([ego_features, road_features, partner_features], dim=1)

From b96910992bcae827ed9a6c3ad20aa03c536615bd Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 10 Apr 2025 17:32:29 -0500
Subject: [PATCH 094/112] cache looping optimizations + removing goku render
 code

---
 pufferlib/ocean/gpudrive/gpudrive.h | 155 +++++++++++++++-------------
 1 file changed, 82 insertions(+), 73 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 686f1c010b..9e3f392b29 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -59,6 +59,8 @@
 #define MAX_ORIENTATION_RAD 2 * PI
 #define MIN_RG_COORD -1000
 #define MAX_RG_COORD 1000
+#define MAX_ROAD_SCALE 100
+#define MAX_ROAD_SEGMENT_LENGTH 100
 
 // Acceleration Values
 static const float ACCELERATION_VALUES[7] = {-4.0000f, -2.6670f, -1.3330f, -0.0000f,  1.3330f,  2.6670f,  4.0000f};
@@ -501,9 +503,7 @@ void cache_neighbor_offsets(GPUDrive* env){
             int grid_index = env->grid_cols*y + x;
             if(x < 0 || x >= env->grid_cols || y < 0 || y >= env->grid_rows) continue;
             int grid_count = env->grid_cells[grid_index*SLOTS_PER_CELL];
-            for(int k = 0; k < grid_count; k++){
-                count+=2;
-            }
+            count += grid_count * 2;
         }
     }
     env->neighbor_cache_indices[cell_count] = count;
@@ -518,14 +518,16 @@ void cache_neighbor_offsets(GPUDrive* env){
             int grid_index = env->grid_cols*y + x;
             if(x < 0 || x >= env->grid_cols || y < 0 || y >= env->grid_rows) continue;
             int grid_count = env->grid_cells[grid_index*SLOTS_PER_CELL];
-            for(int k = 0; k < grid_count; k++){
-                int entity_idx = env->grid_cells[grid_index*SLOTS_PER_CELL + 1 + k*2];
-                int geometry_idx = env->grid_cells[grid_index*SLOTS_PER_CELL + 2 + k*2];
-                int base_index = env->neighbor_cache_indices[i];
-                env->neighbor_cache_entities[base_index + neighbor_cache_base_index] = entity_idx;
-                env->neighbor_cache_entities[base_index + neighbor_cache_base_index + 1] = geometry_idx;
-                neighbor_cache_base_index+=2;
-            }
+            int base_index = env->neighbor_cache_indices[i];
+            int src_idx = grid_index*SLOTS_PER_CELL + 1;
+            int dst_idx = base_index + neighbor_cache_base_index;
+            // Copy grid_count pairs (entity_idx, geometry_idx) at once
+            memcpy(&env->neighbor_cache_entities[dst_idx], 
+                &env->grid_cells[src_idx], 
+                grid_count * 2 * sizeof(int));
+
+            // Update index outside the loop
+            neighbor_cache_base_index += grid_count * 2;
         }
     }
 }
@@ -587,7 +589,7 @@ void free_initialized(GPUDrive* env){
 
 void allocate(GPUDrive* env){
     init(env);
-    int max_obs = 6 + 7*(MAX_CARS - 1) + 5*MAX_ROAD_SEGMENT_OBSERVATIONS;
+    int max_obs = 6 + 7*(MAX_CARS - 1) + 7*MAX_ROAD_SEGMENT_OBSERVATIONS;
     printf("max obs: %d\n", max_obs*env->active_agent_count);
     printf("num cars: %d\n", env->num_cars);
     printf("num static cars: %d\n", env->static_car_count);
@@ -850,7 +852,7 @@ float reverse_normalize_value(float value, float min, float max){
 }
 
 void compute_observations(GPUDrive* env) {
-    int max_obs = 6 + 7*(MAX_CARS - 1) + 5*MAX_ROAD_SEGMENT_OBSERVATIONS;
+    int max_obs = 6 + 7*(MAX_CARS - 1) + 7*MAX_ROAD_SEGMENT_OBSERVATIONS;
     memset(env->observations, 0, max_obs*env->active_agent_count*sizeof(float));
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations; 
     for(int i = 0; i < env->active_agent_count; i++) {
@@ -932,21 +934,26 @@ void compute_observations(GPUDrive* env) {
             Entity* entity = &env->entities[entity_idx];
             float start[2] = {entity->traj_x[geometry_idx], entity->traj_y[geometry_idx]};
             float end[2] = {entity->traj_x[geometry_idx+1], entity->traj_y[geometry_idx+1]};
-            float rel_x_start = start[0] - ego_entity->x;
-            float rel_y_start = start[1] - ego_entity->y;
-            float rel_x_end = end[0] - ego_entity->x;
-            float rel_y_end = end[1] - ego_entity->y;
-            float x_start = rel_x_start*cos_heading + rel_y_start*sin_heading;
-            float y_start = -rel_x_start*sin_heading + rel_y_start*cos_heading;
-            float x_end = rel_x_end*cos_heading + rel_y_end*sin_heading;
-            float y_end = -rel_x_end*sin_heading + rel_y_end*cos_heading;
-
-            obs[obs_idx] = normalize_value(x_start, MIN_RG_COORD, MAX_RG_COORD);
-            obs[obs_idx + 1] = normalize_value(y_start, MIN_RG_COORD, MAX_RG_COORD);
-            obs[obs_idx + 2] = normalize_value(x_end, MIN_RG_COORD, MAX_RG_COORD);
-            obs[obs_idx + 3] = normalize_value(y_end, MIN_RG_COORD, MAX_RG_COORD);
-            obs[obs_idx + 4] = entity->type;
-            obs_idx += 5;
+            float mid_x = (start[0] + end[0]) / 2.0f;
+            float mid_y = (start[1] + end[1]) / 2.0f;
+            float rel_x = mid_x - ego_entity->x;
+            float rel_y = mid_y - ego_entity->y;
+            float x_obs = rel_x*cos_heading + rel_y*sin_heading;
+            float y_obs = -rel_x*sin_heading + rel_y*cos_heading;
+            float length = relative_distance_2d(mid_x, mid_y, end[0], end[1]);
+            float width = 0.1;
+            float height = 0.1;
+            // Calculate angle from ego to midpoint (vector from ego to midpoint)
+            float angle_to_midpoint = atan2(mid_y - ego_entity->y, mid_x - ego_entity->x);
+            float rel_angle_to_midpoint = normalize_heading(angle_to_midpoint - ego_entity->heading);
+            obs[obs_idx] = normalize_value(x_obs, MIN_RG_COORD, MAX_RG_COORD);
+            obs[obs_idx + 1] = normalize_value(y_obs, MIN_RG_COORD, MAX_RG_COORD);
+            obs[obs_idx + 2] = length / MAX_ROAD_SEGMENT_LENGTH;
+            obs[obs_idx + 3] = width / MAX_ROAD_SCALE;
+            obs[obs_idx + 4] = height / MAX_ROAD_SCALE;
+            obs[obs_idx + 5] = rel_angle_to_midpoint / MAX_ORIENTATION_RAD;
+            obs[obs_idx + 6] = entity->type;
+            obs_idx += 7;
         }
         for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS - list_size; k++){
             obs[obs_idx] = 0;
@@ -954,9 +961,10 @@ void compute_observations(GPUDrive* env) {
             obs[obs_idx + 2] = 0;
             obs[obs_idx + 3] = 0;
             obs[obs_idx + 4] = 0;
-            obs_idx += 5;
+            obs[obs_idx + 5] = 0;
+            obs[obs_idx + 6] = 0;
+            obs_idx += 7;
         }
-	
     }
 }
 
@@ -1138,50 +1146,51 @@ void c_render(Client* client, GPUDrive* env) {
                     object_color = RED;  // Collided agent
                 }
                 // Only draw goal position for active agents
-                if(env->entities[i].valid == 1 && env->goal_reached[agent_index] == 0) {
-                    DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
-                    DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
-                    if( agent_index == env->human_agent_idx){
-                        int max_obs = 6 + 7*(MAX_CARS - 1) + 5*MAX_ROAD_SEGMENT_OBSERVATIONS;
-                        float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
-                        float* agent_obs = &observations[agent_index][0];
-                        // First draw other agent observations
-                        int obs_idx = 6;  // Start after goal distances
-                        for(int j = 0; j < MAX_CARS - 1; j++) {  // -1 because we skip self
-                            if(agent_obs[obs_idx] != 0 && agent_obs[obs_idx + 1] != 0) {
-                                // Draw position of other agents
-                                float x = reverse_normalize_value(agent_obs[obs_idx], MIN_RG_COORD, MAX_RG_COORD);
-                                float y = reverse_normalize_value(agent_obs[obs_idx + 1], MIN_RG_COORD, MAX_RG_COORD);
-                                DrawLine3D((Vector3){0, 0, 0}, 
-                                        (Vector3){x, 
-                                                y, 1}, 
-                                        ORANGE);
-                            }
-                            obs_idx += 7;  // Move to next agent observation (7 values per agent)
-                        }
-                        // Then draw map observations
-                        int map_start_idx = 6 + 7*(MAX_CARS - 1);  // Start after agent observations
-                        for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS; k++) {  // Loop through potential map entities
-                            int entity_idx = map_start_idx + k*5;
-                            if(agent_obs[entity_idx] != 0 && agent_obs[entity_idx + 1] != 0) {
-                                Color lineColor = BLUE;  // Default color
-                                int entity_type = (int)agent_obs[entity_idx + 4];
-                                // Choose color based on entity type
-                                if(entity_type == ROAD_EDGE) {
-                                    lineColor = BLACK;
-                                    // For road segments, draw line between start and end points
-                                    if(agent_obs[entity_idx + 2] != -1 && agent_obs[entity_idx + 3] != -1) {
-                                        float x_start = reverse_normalize_value(agent_obs[entity_idx], MIN_RG_COORD, MAX_RG_COORD);
-                                        float y_start = reverse_normalize_value(agent_obs[entity_idx + 1], MIN_RG_COORD, MAX_RG_COORD);
-                                        float x_end = reverse_normalize_value(agent_obs[entity_idx + 2], MIN_RG_COORD, MAX_RG_COORD);
-                                        float y_end = reverse_normalize_value(agent_obs[entity_idx + 3], MIN_RG_COORD, MAX_RG_COORD);
-                                        DrawLine3D((Vector3){0,0,0}, (Vector3){x_start, y_start, 1}, lineColor);    
-                                        DrawLine3D((Vector3){0,0,0}, (Vector3){x_end, y_end, 1}, lineColor);
-                                    }
-                                }
-                            }
-                        }
+                if(env->entities[i].valid != 1 || env->goal_reached[agent_index]){
+                    continue;
+                }
+                DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
+                DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
+                if (agent_index != env->human_agent_idx){
+                    continue;
+                }
+                int max_obs = 6 + 7*(MAX_CARS - 1) + 7*MAX_ROAD_SEGMENT_OBSERVATIONS;
+                float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
+                float* agent_obs = &observations[agent_index][0];
+                // First draw other agent observations
+                int obs_idx = 6;  // Start after goal distances
+                for(int j = 0; j < MAX_CARS - 1; j++) {  // -1 because we skip self
+                    if(agent_obs[obs_idx] == 0 && agent_obs[obs_idx + 1] == 0){
+                        continue;
+                    }
+                    // Draw position of other agents
+                    float x = reverse_normalize_value(agent_obs[obs_idx], MIN_RG_COORD, MAX_RG_COORD);
+                    float y = reverse_normalize_value(agent_obs[obs_idx + 1], MIN_RG_COORD, MAX_RG_COORD);
+                    DrawLine3D(
+                        (Vector3){0, 0, 0}, 
+                        (Vector3){x, y, 1}, 
+                        ORANGE
+                    );
+                    obs_idx += 7;  // Move to next agent observation (7 values per agent)
+                }
+                // Then draw map observations
+                int map_start_idx = 6 + 7*(MAX_CARS - 1);  // Start after agent observations
+                for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS; k++) {  // Loop through potential map entities
+                    int entity_idx = map_start_idx + k*7;
+                    if(agent_obs[entity_idx] == 0 && agent_obs[entity_idx + 1] == 0){
+                        continue;
                     }
+                    Color lineColor = BLUE;  // Default color
+                    int entity_type = (int)agent_obs[entity_idx + 6];
+                    // Choose color based on entity type
+                    if(entity_type != ROAD_EDGE){
+                        continue;
+                    } 
+                    lineColor = BLACK;
+                    // For road segments, draw line between start and end points
+                    float x_start = reverse_normalize_value(agent_obs[entity_idx], MIN_RG_COORD, MAX_RG_COORD);
+                    float y_start = reverse_normalize_value(agent_obs[entity_idx + 1], MIN_RG_COORD, MAX_RG_COORD);
+                    DrawLine3D((Vector3){0,0,0}, (Vector3){x_start, y_start, 1}, lineColor);    
                 }
             } else {
                 // Draw non-active vehicles

From 2a363a50769e984299f98876fc71be0866d1aea5 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 10 Apr 2025 19:00:14 -0500
Subject: [PATCH 095/112] less evil render code

---
 pufferlib/ocean/gpudrive/gpudrive.h | 200 ++++++++++++++--------------
 1 file changed, 99 insertions(+), 101 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 9e3f392b29..513d890306 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -1009,8 +1009,8 @@ void c_step(GPUDrive* env){
             env->entities[agent_idx].y = 0;
             continue;
 	    }
-        move_dynamics(env, i, agent_idx);
-        // move_expert(env, env->actions, agent_idx);
+        // move_dynamics(env, i, agent_idx);
+        move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0 && env->goal_reached[i] == 0){
             if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){
@@ -1034,7 +1034,7 @@ void c_step(GPUDrive* env){
         if(reached_goal && env->goal_reached[i] == 0){            
             env->rewards[i] += 1.0f;
 	        env->goal_reached[i] = 1;
-		env->reached_goal_this_turn[i] = 1;
+		    env->reached_goal_this_turn[i] = 1;
 	        env->logs[i].episode_return += 1.0f;
             env->dones[i] = 1;
             continue;
@@ -1083,6 +1083,48 @@ Client* make_client(GPUDrive* env){
     return client;
 }
 
+void draw_agent_obs(GPUDrive* env, int agent_index){
+    int max_obs = 6 + 7*(MAX_CARS - 1) + 7*MAX_ROAD_SEGMENT_OBSERVATIONS;
+    float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
+    float* agent_obs = &observations[agent_index][0];
+    // First draw other agent observations
+    int obs_idx = 6;  // Start after goal distances
+    for(int j = 0; j < MAX_CARS - 1; j++) {
+        if(agent_obs[obs_idx] == 0 || agent_obs[obs_idx + 1] == 0) {
+            obs_idx += 7;  // Move to next agent observation
+            continue;
+        }
+        // Draw position of other agents
+        float x = reverse_normalize_value(agent_obs[obs_idx], MIN_RG_COORD, MAX_RG_COORD);
+        float y = reverse_normalize_value(agent_obs[obs_idx + 1], MIN_RG_COORD, MAX_RG_COORD);
+        DrawLine3D(
+            (Vector3){0, 0, 0}, 
+            (Vector3){x, y, 1}, 
+            ORANGE
+        );
+        obs_idx += 7;  // Move to next agent observation (7 values per agent)
+    }
+    // Then draw map observations
+    int map_start_idx = 6 + 7*(MAX_CARS - 1);  // Start after agent observations
+    for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS; k++) {  // Loop through potential map entities
+        int entity_idx = map_start_idx + k*7;
+        if(agent_obs[entity_idx] == 0 && agent_obs[entity_idx + 1] == 0){
+            continue;
+        }
+        Color lineColor = BLUE;  // Default color
+        int entity_type = (int)agent_obs[entity_idx + 6];
+        // Choose color based on entity type
+        if(entity_type != ROAD_EDGE){
+            continue;
+        } 
+        lineColor = BLACK;
+        // For road segments, draw line between start and end points
+        float x_start = reverse_normalize_value(agent_obs[entity_idx], MIN_RG_COORD, MAX_RG_COORD);
+        float y_start = reverse_normalize_value(agent_obs[entity_idx + 1], MIN_RG_COORD, MAX_RG_COORD);
+        DrawLine3D((Vector3){0,0,0}, (Vector3){x_start, y_start, 1}, lineColor);    
+    }
+}
+
 
 void c_render(Client* client, GPUDrive* env) {
     BeginDrawing();
@@ -1095,6 +1137,7 @@ void c_render(Client* client, GPUDrive* env) {
     DrawLine3D((Vector3){env->map_corners[2], env->map_corners[1], 0}, (Vector3){env->map_corners[2], env->map_corners[3], 0}, BLACK);
     DrawLine3D((Vector3){env->map_corners[0], env->map_corners[3], 0}, (Vector3){env->map_corners[2], env->map_corners[3], 0}, BLACK);
     for(int i = 0; i < env->num_entities; i++) {
+        // Draw cars
         if(env->entities[i].type == 1 || env->entities[i].type == 2) {
             // Check if this vehicle is an active agent
             bool is_active_agent = false;
@@ -1113,14 +1156,16 @@ void c_render(Client* client, GPUDrive* env) {
                     break;
                 }
             }
-            if(!is_active_agent && !is_static_car) continue;
+            if(!is_active_agent && !is_static_car){
+                continue;
+            }
             Vector3 position;
             float heading;
-             position = (Vector3){
-                    env->entities[i].x,
-                    env->entities[i].y,
-                    1
-                };      
+            position = (Vector3){
+                env->entities[i].x,
+                env->entities[i].y,
+                1
+            };      
             heading = env->entities[i].heading;
             // Create size vector
             Vector3 size = {
@@ -1133,110 +1178,63 @@ void c_render(Client* client, GPUDrive* env) {
             // Translate to position, rotate around Y axis, then draw
             rlTranslatef(position.x, position.y, position.z);
             rlRotatef(heading*RAD2DEG, 0.0f, 0.0f, 1.0f);  // Convert radians to degrees
-            
             // Determine color based on active status and other conditions
             Color object_color = GRAY;  // Default color for non-active vehicles
-            
-            if(is_active_agent) {
+            if(is_active_agent){
                 object_color = DARKBLUE;  // Active agents are blue
-                if(agent_index == env->human_agent_idx) {
-                    object_color = PURPLE;  // Human-controlled agent
-                }
-                if(env->entities[i].collision_state == 1 || env->entities[i].collision_state == 2) {
-                    object_color = RED;  // Collided agent
-                }
-                // Only draw goal position for active agents
-                if(env->entities[i].valid != 1 || env->goal_reached[agent_index]){
-                    continue;
-                }
-                DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
-                DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
-                if (agent_index != env->human_agent_idx){
-                    continue;
-                }
-                int max_obs = 6 + 7*(MAX_CARS - 1) + 7*MAX_ROAD_SEGMENT_OBSERVATIONS;
-                float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
-                float* agent_obs = &observations[agent_index][0];
-                // First draw other agent observations
-                int obs_idx = 6;  // Start after goal distances
-                for(int j = 0; j < MAX_CARS - 1; j++) {  // -1 because we skip self
-                    if(agent_obs[obs_idx] == 0 && agent_obs[obs_idx + 1] == 0){
-                        continue;
-                    }
-                    // Draw position of other agents
-                    float x = reverse_normalize_value(agent_obs[obs_idx], MIN_RG_COORD, MAX_RG_COORD);
-                    float y = reverse_normalize_value(agent_obs[obs_idx + 1], MIN_RG_COORD, MAX_RG_COORD);
-                    DrawLine3D(
-                        (Vector3){0, 0, 0}, 
-                        (Vector3){x, y, 1}, 
-                        ORANGE
-                    );
-                    obs_idx += 7;  // Move to next agent observation (7 values per agent)
-                }
-                // Then draw map observations
-                int map_start_idx = 6 + 7*(MAX_CARS - 1);  // Start after agent observations
-                for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS; k++) {  // Loop through potential map entities
-                    int entity_idx = map_start_idx + k*7;
-                    if(agent_obs[entity_idx] == 0 && agent_obs[entity_idx + 1] == 0){
-                        continue;
-                    }
-                    Color lineColor = BLUE;  // Default color
-                    int entity_type = (int)agent_obs[entity_idx + 6];
-                    // Choose color based on entity type
-                    if(entity_type != ROAD_EDGE){
-                        continue;
-                    } 
-                    lineColor = BLACK;
-                    // For road segments, draw line between start and end points
-                    float x_start = reverse_normalize_value(agent_obs[entity_idx], MIN_RG_COORD, MAX_RG_COORD);
-                    float y_start = reverse_normalize_value(agent_obs[entity_idx + 1], MIN_RG_COORD, MAX_RG_COORD);
-                    DrawLine3D((Vector3){0,0,0}, (Vector3){x_start, y_start, 1}, lineColor);    
-                }
-            } else {
-                // Draw non-active vehicles
-                DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
-                DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
             }
-            // Restore previous transform
+            if(agent_index == env->human_agent_idx){
+                object_color = PURPLE;
+            }
+            if(is_active_agent && env->entities[i].collision_state > 0) {
+                object_color = RED;  // Collided agent
+            }
+            // Draw obs for human selected agent
+            if(agent_index == env->human_agent_idx && env->goal_reached[agent_index] == 0) {
+                draw_agent_obs(env, agent_index);
+            }
+            // Draw cube for cars static and active
+            DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
+            DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, BLACK);
             rlPopMatrix();
             // Draw goal position for active agents
-            if(is_active_agent && env->entities[i].valid == 1) {
-                DrawSphere((Vector3){
-                    env->entities[i].goal_position_x,
-                    env->entities[i].goal_position_y,
-                    1
-                }, 0.5f, DARKGREEN);
+            if(!is_active_agent || env->entities[i].valid == 0) {
+                continue;
             }
+            DrawSphere((Vector3){
+                env->entities[i].goal_position_x,
+                env->entities[i].goal_position_y,
+                1
+            }, 0.5f, DARKGREEN);
         }
         // Draw road elements
-        if(env->entities[i].type > 3 && env->entities[i].type < 7) {
-            for(int j = 0; j < env->entities[i].array_size - 1; j++) {
-                Vector3 start = {
-                    env->entities[i].traj_x[j],
-                    env->entities[i].traj_y[j],
-                    1
-                };
-                Vector3 end = {
-                    env->entities[i].traj_x[j + 1],
-                    env->entities[i].traj_y[j + 1],
-                    1
-                };
-                Color lineColor = GRAY;
-                if (env->entities[i].type == ROAD_LANE) lineColor = GRAY;
-                else if (env->entities[i].type == ROAD_LINE) lineColor = BLUE;
-                else if (env->entities[i].type == ROAD_EDGE) lineColor = BLACK;
-                else if (env->entities[i].type == DRIVEWAY) lineColor = RED;
-                if(env->entities[i].type == ROAD_EDGE){
-                    DrawLine3D(start, end, lineColor);
-                }
-                if(env->entities[i].type == ROAD_EDGE){
-                    DrawSphere(start, 0.5f, lineColor);
-                    DrawSphere(end, 0.5f, lineColor);
-                }
+        if(env->entities[i].type <=3 && env->entities[i].type >= 7){
+            continue;
+        }
+        for(int j = 0; j < env->entities[i].array_size - 1; j++) {
+            Vector3 start = {
+                env->entities[i].traj_x[j],
+                env->entities[i].traj_y[j],
+                1
+            };
+            Vector3 end = {
+                env->entities[i].traj_x[j + 1],
+                env->entities[i].traj_y[j + 1],
+                1
+            };
+            Color lineColor = GRAY;
+            if (env->entities[i].type == ROAD_LANE) lineColor = GRAY;
+            else if (env->entities[i].type == ROAD_LINE) lineColor = BLUE;
+            else if (env->entities[i].type == ROAD_EDGE) lineColor = BLACK;
+            else if (env->entities[i].type == DRIVEWAY) lineColor = RED;
+            if(env->entities[i].type != ROAD_EDGE){
+                continue;
             }
+            DrawLine3D(start, end, lineColor);
+            DrawSphere(start, 0.5f, lineColor);
+            DrawSphere(end, 0.5f, lineColor);
         }
     }
-    
     // Draw grid cells using the stored bounds
     float grid_start_x = env->map_corners[0];
     float grid_start_y = env->map_corners[1];

From 3ef7e764348515998a5344ad5b309ba5289765a0 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 10 Apr 2025 19:04:51 -0500
Subject: [PATCH 096/112] formatting

---
 pufferlib/ocean/gpudrive/gpudrive.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 513d890306..a8167aff39 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -856,9 +856,9 @@ void compute_observations(GPUDrive* env) {
     memset(env->observations, 0, max_obs*env->active_agent_count*sizeof(float));
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations; 
     for(int i = 0; i < env->active_agent_count; i++) {
-	if(env->goal_reached[i] && !env->reached_goal_this_turn[i]){
-		continue;
-	}
+        if(env->goal_reached[i] && !env->reached_goal_this_turn[i]){
+            continue;
+        }
         float* obs = &observations[i][0];
         Entity* ego_entity = &env->entities[env->active_agent_indices[i]];
         if(ego_entity->type > 3) break;

From 6df5c9d006de630f10f9ccae4bd6f25961e45b90 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Thu, 10 Apr 2025 19:16:10 -0500
Subject: [PATCH 097/112] collision missed possible

---
 pufferlib/ocean/gpudrive/gpudrive.h | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index a8167aff39..dea3c1e7d1 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -808,12 +808,10 @@ void collision_check(GPUDrive* env, int agent_idx) {
         if(index == -1) continue;
         if(index == agent_idx) continue;
         Entity* entity = &env->entities[index];
-        if (entity->type > 3) break;
-        if (entity->type != VEHICLE) continue;
         float x1 = entity->x;
         float y1 = entity->y;
         float dist = sqrtf((x1 - agent->x)*(x1 - agent->x) + (y1 - agent->y)*(y1 - agent->y));
-        if(dist > 5.0f) continue;
+        if(dist > 10.0f) continue;
         float other_corners[4][2];
         for (int z = 0; z < 4; z++) {
             float other_cos_heading = cosf(entity->traj_heading[0]);
@@ -1009,8 +1007,8 @@ void c_step(GPUDrive* env){
             env->entities[agent_idx].y = 0;
             continue;
 	    }
-        // move_dynamics(env, i, agent_idx);
-        move_expert(env, env->actions, agent_idx);
+        move_dynamics(env, i, agent_idx);
+        // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0 && env->goal_reached[i] == 0){
             if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){

From 98ef8c3cf7d1da5cf804dd350e6194e6982de2a4 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Fri, 11 Apr 2025 08:38:49 -0500
Subject: [PATCH 098/112] fixed slow cache bug

---
 pufferlib/ocean/gpudrive/gpudrive.c | 10 ++++++++--
 pufferlib/ocean/gpudrive/gpudrive.h | 28 +++++++++++++++++++---------
 2 files changed, 27 insertions(+), 11 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index a1df82e7bf..f9d4adf2d4 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -102,7 +102,7 @@ void demo() {
         .human_agent_idx = 0,
         .reward_vehicle_collision = -0.1f,
         .reward_offroad_collision = -0.1f,
-	.map_name = "resources/gpudrive/binaries/map_002.bin"
+	    .map_name = "resources/gpudrive/binaries/map_024.bin"
     };
     allocate(&env);
     Weights* weights = load_weights("resources/gpu_drive_weights.bin", 135061);
@@ -174,10 +174,16 @@ void performance_test() {
     GPUDrive env = {
         .dynamics_model = CLASSIC,
         .human_agent_idx = 0,
-	.map_name = "resources/gpudrive/binaries/map_004.bin"
+	.map_name = "resources/gpudrive/binaries/map_010.bin"
     };
+    clock_t start_time, end_time;
+    double cpu_time_used;
+    start_time = clock();
     allocate(&env);
     c_reset(&env);
+    end_time = clock();
+    cpu_time_used = ((double) (end_time - start_time)) / CLOCKS_PER_SEC;
+    printf("Init time: %f\n", cpu_time_used);
 
     long start = time(NULL);
     int i = 0;
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index dea3c1e7d1..d86bf5aa7b 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -403,16 +403,24 @@ void add_entity_to_grid(GPUDrive* env, int grid_index, int entity_idx, int geome
 
 void init_grid_map(GPUDrive* env){
     // Find top left and bottom right points of the map
-    float top_left_x = env->entities[0].traj_x[0];
-    float top_left_y = env->entities[0].traj_y[0];
-    float bottom_right_x = env->entities[0].traj_x[0];
-    float bottom_right_y = env->entities[0].traj_y[0];
-
+    float top_left_x;
+    float top_left_y;
+    float bottom_right_x;
+    float bottom_right_y;
+    int first_valid_point = 0;
     for(int i = 0; i < env->num_entities; i++){
         if(env->entities[i].type > 3 && env->entities[i].type < 7){
             // Check all points in the trajectory for road elements
             Entity* e = &env->entities[i];
             for(int j = 0; j < e->array_size; j++){
+                if(e->traj_x[j] == -10000) continue;
+                if(e->traj_y[j] == -10000) continue;
+                if(!first_valid_point) {
+                    top_left_x = bottom_right_x = e->traj_x[j];
+                    top_left_y = bottom_right_y = e->traj_y[j];
+                    first_valid_point = true;
+                    continue;
+                }
                 if(e->traj_x[j] < top_left_x) top_left_x = e->traj_x[j];
                 if(e->traj_x[j] > bottom_right_x) bottom_right_x = e->traj_x[j];
                 if(e->traj_y[j] < top_left_y) top_left_y = e->traj_y[j];
@@ -420,6 +428,8 @@ void init_grid_map(GPUDrive* env){
             }
         }
     }
+    printf("top left: %f, %f\n", top_left_x, top_left_y);
+    printf("bottom right: %f, %f\n", bottom_right_x, bottom_right_y);
 
     env->map_corners = (float*)calloc(4, sizeof(float));
     env->map_corners[0] = top_left_x;
@@ -811,7 +821,7 @@ void collision_check(GPUDrive* env, int agent_idx) {
         float x1 = entity->x;
         float y1 = entity->y;
         float dist = sqrtf((x1 - agent->x)*(x1 - agent->x) + (y1 - agent->y)*(y1 - agent->y));
-        if(dist > 10.0f) continue;
+        if(dist > 30.0f) continue;
         float other_corners[4][2];
         for (int z = 0; z < 4; z++) {
             float other_cos_heading = cosf(entity->traj_heading[0]);
@@ -1003,8 +1013,8 @@ void c_step(GPUDrive* env){
         env->entities[agent_idx].collision_state = 0;
         if(env->goal_reached[i]){
             env->masks[i] = 0;
-            env->entities[agent_idx].x = 0;
-            env->entities[agent_idx].y = 0;
+            env->entities[agent_idx].x = -10000;
+            env->entities[agent_idx].y = -10000;
             continue;
 	    }
         move_dynamics(env, i, agent_idx);
@@ -1129,7 +1139,7 @@ void c_render(Client* client, GPUDrive* env) {
     ClearBackground(RAYWHITE);
     BeginMode3D(client->camera);
     // Draw a grid to help with orientation
-    DrawGrid(20, 1.0f);
+    // DrawGrid(20, 1.0f);
     DrawLine3D((Vector3){env->map_corners[0], env->map_corners[1], 0}, (Vector3){env->map_corners[2], env->map_corners[1], 0}, BLACK);
     DrawLine3D((Vector3){env->map_corners[0], env->map_corners[1], 0}, (Vector3){env->map_corners[0], env->map_corners[3], 0}, BLACK);
     DrawLine3D((Vector3){env->map_corners[2], env->map_corners[1], 0}, (Vector3){env->map_corners[2], env->map_corners[3], 0}, BLACK);

From ae1bff25fa7439930e969a666128d6d33ea95be6 Mon Sep 17 00:00:00 2001
From: l1onh3art88 <spenccheng@gmail.com>
Date: Mon, 14 Apr 2025 22:55:15 -0500
Subject: [PATCH 099/112] screwed with obs

---
 pufferlib/ocean/gpudrive/gpudrive.h  | 78 +++++++++++++++++++---------
 pufferlib/ocean/gpudrive/gpudrive.py |  2 +-
 2 files changed, 54 insertions(+), 26 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index d86bf5aa7b..4cd3544b8d 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -45,22 +45,22 @@
 #define SLOTS_PER_CELL (MAX_ENTITIES_PER_CELL*2 + 1)
 
 // Max road segment observation entities
-#define MAX_ROAD_SEGMENT_OBSERVATIONS 64
+#define MAX_ROAD_SEGMENT_OBSERVATIONS 200
 #define MAX_CARS 64
 // Observation Space Constants
-#define MAX_SPEED 100
-#define MAX_VEH_LEN 30
-#define MAX_VEH_WIDTH 15
-#define MAX_VEH_HEIGHT 10
-#define MIN_REL_GOAL_COORD -1000
-#define MAX_REL_GOAL_COORD 1000
-#define MIN_REL_AGENT_POS -1000
-#define MAX_REL_AGENT_POS 1000
+#define MAX_SPEED 100.0f
+#define MAX_VEH_LEN 30.0f
+#define MAX_VEH_WIDTH 15.0f
+#define MAX_VEH_HEIGHT 10.0f
+#define MIN_REL_GOAL_COORD -1000.0f
+#define MAX_REL_GOAL_COORD 1000.0f
+#define MIN_REL_AGENT_POS -1000.0f
+#define MAX_REL_AGENT_POS 1000.0f
 #define MAX_ORIENTATION_RAD 2 * PI
-#define MIN_RG_COORD -1000
-#define MAX_RG_COORD 1000
-#define MAX_ROAD_SCALE 100
-#define MAX_ROAD_SEGMENT_LENGTH 100
+#define MIN_RG_COORD -1000.0f
+#define MAX_RG_COORD 1000.0f
+#define MAX_ROAD_SCALE 100.0f
+#define MAX_ROAD_SEGMENT_LENGTH 100.0f
 
 // Acceleration Values
 static const float ACCELERATION_VALUES[7] = {-4.0000f, -2.6670f, -1.3330f, -0.0000f,  1.3330f,  2.6670f,  4.0000f};
@@ -948,18 +948,26 @@ void compute_observations(GPUDrive* env) {
             float rel_y = mid_y - ego_entity->y;
             float x_obs = rel_x*cos_heading + rel_y*sin_heading;
             float y_obs = -rel_x*sin_heading + rel_y*cos_heading;
+            float rel_end_x = end[0] - ego_entity->x;
+            float rel_end_y = end[1] - ego_entity->y;
+            float end_x_obs = rel_end_x*cos_heading + rel_end_y*sin_heading;
+            float end_y_obs = -rel_end_x*sin_heading + rel_end_y*cos_heading;
             float length = relative_distance_2d(mid_x, mid_y, end[0], end[1]);
             float width = 0.1;
             float height = 0.1;
             // Calculate angle from ego to midpoint (vector from ego to midpoint)
-            float angle_to_midpoint = atan2(mid_y - ego_entity->y, mid_x - ego_entity->x);
-            float rel_angle_to_midpoint = normalize_heading(angle_to_midpoint - ego_entity->heading);
+            float dx = end[0] - mid_x;
+            float dy = end[1] - mid_y;
+            float absolute_angle = atan2f(dy, dx);
+            float rel_angle = normalize_heading(absolute_angle - ego_entity->heading);
+            float cos_angle = cosf(rel_angle);
+            float sin_angle = sinf(rel_angle);
             obs[obs_idx] = normalize_value(x_obs, MIN_RG_COORD, MAX_RG_COORD);
             obs[obs_idx + 1] = normalize_value(y_obs, MIN_RG_COORD, MAX_RG_COORD);
             obs[obs_idx + 2] = length / MAX_ROAD_SEGMENT_LENGTH;
             obs[obs_idx + 3] = width / MAX_ROAD_SCALE;
-            obs[obs_idx + 4] = height / MAX_ROAD_SCALE;
-            obs[obs_idx + 5] = rel_angle_to_midpoint / MAX_ORIENTATION_RAD;
+            obs[obs_idx + 4] = cos_angle / MAX_ORIENTATION_RAD;
+            obs[obs_idx + 5] = sin_angle / MAX_ORIENTATION_RAD;
             obs[obs_idx + 6] = entity->type;
             obs_idx += 7;
         }
@@ -1017,8 +1025,8 @@ void c_step(GPUDrive* env){
             env->entities[agent_idx].y = -10000;
             continue;
 	    }
-        move_dynamics(env, i, agent_idx);
-        // move_expert(env, env->actions, agent_idx);
+        // move_dynamics(env, i, agent_idx);
+        move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0 && env->goal_reached[i] == 0){
             if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){
@@ -1110,6 +1118,14 @@ void draw_agent_obs(GPUDrive* env, int agent_index){
             (Vector3){x, y, 1}, 
             ORANGE
         );
+        float theta_x = agent_obs[obs_idx + 4];
+        float theta_y = agent_obs[obs_idx + 5];
+        float partner_angle = atan2f(theta_y, theta_x);
+        // draw an arrow above the car pointing in the direction that the partner is going
+        float arrow_length = 10.0f;
+        float arrow_x = x + arrow_length*cosf(partner_angle);
+        float arrow_y = y + arrow_length*sinf(partner_angle);
+        DrawLine3D((Vector3){x, y, 1}, (Vector3){arrow_x, arrow_y, 1}, RED);
         obs_idx += 7;  // Move to next agent observation (7 values per agent)
     }
     // Then draw map observations
@@ -1127,9 +1143,19 @@ void draw_agent_obs(GPUDrive* env, int agent_index){
         } 
         lineColor = BLACK;
         // For road segments, draw line between start and end points
-        float x_start = reverse_normalize_value(agent_obs[entity_idx], MIN_RG_COORD, MAX_RG_COORD);
-        float y_start = reverse_normalize_value(agent_obs[entity_idx + 1], MIN_RG_COORD, MAX_RG_COORD);
-        DrawLine3D((Vector3){0,0,0}, (Vector3){x_start, y_start, 1}, lineColor);    
+        float x_middle = reverse_normalize_value(agent_obs[entity_idx], MIN_RG_COORD, MAX_RG_COORD);
+        float y_middle = reverse_normalize_value(agent_obs[entity_idx + 1], MIN_RG_COORD, MAX_RG_COORD);
+        float rel_angle_x = (agent_obs[entity_idx + 4]);
+        float rel_angle_y = (agent_obs[entity_idx + 5]);
+        float rel_angle = atan2f(rel_angle_y, rel_angle_x);
+        float segment_length = agent_obs[entity_idx + 2] * MAX_ROAD_SEGMENT_LENGTH;
+        printf("obs idx: %d, segment_length: %f\n", entity_idx, segment_length);
+        // Calculate endpoint using the relative angle directly
+        // Calculate endpoint directly
+        float x_end = x_middle + segment_length*cosf(rel_angle);
+        float y_end = y_middle + segment_length*sinf(rel_angle);
+        DrawLine3D((Vector3){0,0,0}, (Vector3){x_middle, y_middle, 1}, lineColor); 
+        DrawLine3D((Vector3){x_middle, y_middle, 1}, (Vector3){x_end, y_end, 1}, BLUE);
     }
 }
 
@@ -1238,9 +1264,11 @@ void c_render(Client* client, GPUDrive* env) {
             if(env->entities[i].type != ROAD_EDGE){
                 continue;
             }
-            DrawLine3D(start, end, lineColor);
-            DrawSphere(start, 0.5f, lineColor);
-            DrawSphere(end, 0.5f, lineColor);
+            if(!IsKeyDown(KEY_LEFT_SHIFT)){
+                DrawLine3D(start, end, lineColor);
+                DrawSphere(start, 0.5f, lineColor);
+                DrawSphere(end, 0.5f, lineColor);
+            }
         }
     }
     // Draw grid cells using the stored bounds
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index d0a65dcdef..69720f245b 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -20,7 +20,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.report_interval = report_interval
         print("Num envs: ", num_envs)
         
-        self.num_obs = 6 + 63*7 + 64*5
+        self.num_obs = 6 + 63*7 + 200*7
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])

From 51f84b7f12295278ef09d54086bf8e689e8adb3e Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Fri, 18 Apr 2025 13:49:57 +0000
Subject: [PATCH 100/112] 200 road obs

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |  1 +
 pufferlib/ocean/gpudrive/gpudrive.h      | 14 ++++++++--
 pufferlib/ocean/gpudrive/gpudrive.py     |  3 ++-
 pufferlib/ocean/torch.py                 | 33 +++++++++++++-----------
 4 files changed, 33 insertions(+), 18 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index d6ab72aa9c..0ec68ba310 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -9,6 +9,7 @@ cdef extern from "gpudrive.h":
         float score;
         float offroad_rate;
         float collision_rate;
+        float dnf_rate;
     ctypedef struct LogBuffer
     LogBuffer* allocate_logbuffer(int)
     void free_logbuffer(LogBuffer*)
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 4cd3544b8d..5d1ea2d0c0 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -88,6 +88,7 @@ struct Log {
     float score;
     float offroad_rate;
     float collision_rate;
+    float dnf_rate;
 };
 
 
@@ -131,6 +132,7 @@ Log aggregate_and_clear(LogBuffer* logs) {
 	    log.score += logs->logs[i].score / logs->idx;
 	    log.offroad_rate += logs->logs[i].offroad_rate / logs->idx;
 	    log.collision_rate += logs->logs[i].collision_rate / logs->idx;
+	log.dnf_rate += logs->logs[i].dnf_rate / logs->idx;
     }
     logs->idx = 0;
     return log;
@@ -1009,7 +1011,15 @@ void c_step(GPUDrive* env){
             } 
 	        else {
                 env->logs[i].score = 1.0f;
+		env->logs[i].dnf_rate = 0.0f;
             }
+	    int offroad = env->logs[i].offroad_rate;
+	    int collided = env->logs[i].collision_rate;
+	    int goal_reached = env->goal_reached[i];
+	    if(!offroad && !collided && !goal_reached){
+		    env->logs[i].dnf_rate = 1.0f;
+	    }
+
             add_log(env->log_buffer, &env->logs[i]);
 	    }
 	    c_reset(env);
@@ -1025,8 +1035,8 @@ void c_step(GPUDrive* env){
             env->entities[agent_idx].y = -10000;
             continue;
 	    }
-        // move_dynamics(env, i, agent_idx);
-        move_expert(env, env->actions, agent_idx);
+        move_dynamics(env, i, agent_idx);
+        //move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0 && env->goal_reached[i] == 0){
             if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 69720f245b..8e3fb906d7 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -25,7 +25,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])
         
-        total_agents, agent_offsets = CyGPUDrive.get_total_agent_count(
+        total_agents, agent_offsets =CyGPUDrive.get_total_agent_count(
             num_envs, human_agent_idx, reward_vehicle_collision, reward_offroad_collision)
         
         self.num_agents = total_agents
@@ -49,6 +49,7 @@ def step(self, actions):
             log = self.c_envs.log()
             if log['episode_length'] > 0:
                 info.append(log)
+                info.append({'total_agents': self.num_agents}) 
         return (self.observations, self.rewards,
             self.terminals, self.truncations, info)
 
diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py
index 83e096c813..bc985ef4e1 100644
--- a/pufferlib/ocean/torch.py
+++ b/pufferlib/ocean/torch.py
@@ -416,7 +416,7 @@ def decode_actions(self, flat_hidden):
 
 
 class GPUDrive(nn.Module):
-    def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
+    def __init__(self, env, cnn_channels=32, hidden_size=128, **kwargs):
         super().__init__()
         self.hidden_size = hidden_size
         self.ego_encoder = nn.Sequential(
@@ -424,28 +424,30 @@ def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
                 nn.Linear(6, cnn_channels)),
             nn.ReLU(),
             pufferlib.pytorch.layer_init(
-                nn.Linear(cnn_channels, cnn_channels)
-            )
+                nn.Linear(cnn_channels, cnn_channels))
         )
-        max_road_objects = 5
+        max_road_objects = 7
         self.road_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(max_road_objects, cnn_channels)),
             nn.ReLU(),
-            pufferlib.pytorch.layer_init(
-                nn.Linear(cnn_channels, cnn_channels)
-            )
+            
         )
         max_partner_objects = 7
         self.partner_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(max_partner_objects, cnn_channels)),
-            nn.ReLU(),
+            nn.ReLU()
+        )
+
+        self.post_mask_road_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
-                nn.Linear(cnn_channels, cnn_channels)
-            )
+                nn.Linear(cnn_channels, cnn_channels)),
+        )
+        self.post_mask_partner_encoder = nn.Sequential(
+            pufferlib.pytorch.layer_init(
+                nn.Linear(cnn_channels, cnn_channels)),
         )
-        
         self.shared_embedding = nn.Sequential(
             pufferlib.pytorch.layer_init(nn.Linear(3*cnn_channels,  hidden_size)),
         )
@@ -465,20 +467,21 @@ def forward(self, observations):
     def encode_observations(self, observations):
         ego_dim = 6
         partner_dim = 63 * 7
-        road_dim = 64*5
+        road_dim = 200*7
         ego_obs = observations[:, :ego_dim]
         partner_obs = observations[:, ego_dim:ego_dim+partner_dim]
         road_obs = observations[:, ego_dim+partner_dim:ego_dim+partner_dim+road_dim]
         
         partner_objects = partner_obs.view(-1, 63, 7)
-        road_objects = road_obs.view(-1, 64, 5)
+        road_objects = road_obs.view(-1, 200, 7)
 
         ego_features = self.ego_encoder(ego_obs)
         partner_features, _ = self.partner_encoder(partner_objects).max(dim=1)
         road_features, _ = self.road_encoder(road_objects).max(dim=1)
+        partner_features_post_mask = self.post_mask_partner_encoder(partner_features)
+        road_features_post_mask = self.post_mask_road_encoder(road_features)
         
-        
-        concat_features = torch.cat([ego_features, road_features, partner_features], dim=1)
+        concat_features = torch.cat([ego_features, road_features_post_mask, partner_features_post_mask], dim=1)
         
         # Apply max pooling across concatenated features
         # Reshape to [batch, 3, hidden_size] to pool across the 3 modalities

From 920d0fff3f73eb32c0dc8038181b712a46d38e00 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Sat, 19 Apr 2025 14:31:05 +0000
Subject: [PATCH 101/112] small tower climb c nn issue solve

---
 pufferlib/ocean/tower_climb/tower_climb.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/pufferlib/ocean/tower_climb/tower_climb.c b/pufferlib/ocean/tower_climb/tower_climb.c
index b99bf659b5..d44990cfe3 100644
--- a/pufferlib/ocean/tower_climb/tower_climb.c
+++ b/pufferlib/ocean/tower_climb/tower_climb.c
@@ -31,7 +31,7 @@ TowerClimbNet* init_tower_climb_net(Weights* weights, int num_agents) {
 
     net->num_agents = num_agents;
     net->obs_3d = calloc(5 * 5 * 9, sizeof(float));
-    net->obs_1d = calloc(4, sizeof(float));
+    net->obs_1d = calloc(3, sizeof(float));
     net->conv1 = make_conv3d(weights, num_agents, 9, 5, 5, 1, cnn_channels, 3, 1);
     net->relu1 = make_relu(num_agents, cnn_channels * 3 * 3 * 7);
     net->conv2 = make_conv3d(weights, num_agents, 7, 3, 3, cnn_channels, cnn_channels, 3, 1);
@@ -48,13 +48,13 @@ TowerClimbNet* init_tower_climb_net(Weights* weights, int num_agents) {
 
 void forward(TowerClimbNet* net, unsigned char* observations, int* actions) {
     int vision_size = 5 * 5 * 9;
-    int player_size = 4;
+    int player_size = 3;
     // clear previous observations
     memset(net->obs_3d, 0, vision_size * sizeof(float));
     memset(net->obs_1d, 0, player_size * sizeof(float));
     // reshape board to 3d tensor
     float (*obs_3d)[1][5][5][9] = (float (*)[1][5][5][9])net->obs_3d;
-    float (*obs_1d)[4] = (float (*)[4])net->obs_1d;
+    float (*obs_1d)[3] = (float (*)[3])net->obs_1d;
     // process vision board
     int obs_3d_idx = 0;
     for (int b = 0; b < 1; b++) {
@@ -71,7 +71,7 @@ void forward(TowerClimbNet* net, unsigned char* observations, int* actions) {
     for (int i = 0; i < player_size; i++) {
         obs_1d[0][i] = observations[vision_size + i];
     }
-    
+
     conv3d(net->conv1, net->obs_3d);
     relu(net->relu1, net->conv1->output);
     conv3d(net->conv2, net->relu1->output);

From b812692cfb3110a7eb2d3e7a40535e7d1a052b51 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Mon, 21 Apr 2025 19:26:36 +0000
Subject: [PATCH 102/112] 1M sps env speed consistent now, but train is stuck
 at lower speed

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |   5 +-
 pufferlib/ocean/gpudrive/gpudrive.c      |   6 +-
 pufferlib/ocean/gpudrive/gpudrive.h      | 120 +++++++++++------------
 pufferlib/ocean/gpudrive/gpudrive.py     |   6 +-
 pufferlib/ocean/torch.py                 |   6 +-
 5 files changed, 66 insertions(+), 77 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index 0ec68ba310..6e00e6716d 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -168,10 +168,7 @@ cdef class CyGPUDrive:
             free(temp_envs[i].static_car_indices)
         free(temp_envs)
         free(agent_offsets)
-        return total_count, py_offsets
-            
-        #finally:
-         #   
+        return total_count, py_offsets  
     def __init__(self, float[:, :] observations, int[:,:] actions,
             float[:] rewards, unsigned char[:] masks, unsigned char[:] terminals, int num_envs,
             int human_agent_idx, reward_vehicle_collision, 
diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index f9d4adf2d4..0089774260 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -102,11 +102,9 @@ void demo() {
         .human_agent_idx = 0,
         .reward_vehicle_collision = -0.1f,
         .reward_offroad_collision = -0.1f,
-	    .map_name = "resources/gpudrive/binaries/map_024.bin"
+	    .map_name = "resources/gpudrive/binaries/map_227.bin"
     };
     allocate(&env);
-    Weights* weights = load_weights("resources/gpu_drive_weights.bin", 135061);
-    LinearLSTM* net = make_linearlstm(weights, env.active_agent_count, 1, 13);
     c_reset(&env);
     Client* client = make_client(&env);
     printf("Human controlling agent index: %d\n", env.active_agent_indices[env.human_agent_idx]);
@@ -174,7 +172,7 @@ void performance_test() {
     GPUDrive env = {
         .dynamics_model = CLASSIC,
         .human_agent_idx = 0,
-	.map_name = "resources/gpudrive/binaries/map_010.bin"
+	    .map_name = "resources/gpudrive/binaries/map_005.bin"
     };
     clock_t start_time, end_time;
     double cpu_time_used;
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 5d1ea2d0c0..3bab41a88f 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -45,7 +45,7 @@
 #define SLOTS_PER_CELL (MAX_ENTITIES_PER_CELL*2 + 1)
 
 // Max road segment observation entities
-#define MAX_ROAD_SEGMENT_OBSERVATIONS 200
+#define MAX_ROAD_SEGMENT_OBSERVATIONS 64
 #define MAX_CARS 64
 // Observation Space Constants
 #define MAX_SPEED 100.0f
@@ -698,35 +698,31 @@ void move_expert(GPUDrive* env, int* actions, int agent_idx){
 
 bool check_line_intersection(float p1[2], float p2[2], float q1[2], float q2[2]) {
     if (fmax(p1[0], p2[0]) < fmin(q1[0], q2[0]) || fmin(p1[0], p2[0]) > fmax(q1[0], q2[0]) ||
-    fmax(p1[1], p2[1]) < fmin(q1[1], q2[1]) || fmin(p1[1], p2[1]) > fmax(q1[1], q2[1]))
-    return false;
-    float s1_x = p2[0] - p1[0];     
-    float s1_y = p2[1] - p1[1];
-    float s2_x = q2[0] - q1[0];     
-    float s2_y = q2[1] - q1[1];
-
-    float s, t;
-    float denom = s1_x*s2_y - s2_x*s1_y;
-
-    if (denom == 0)
-        return false; // Collinear
-
-    bool denom_positive = denom > 0;
-
-    float s2_s1_x = p1[0] - q1[0];
-    float s2_s1_y = p1[1] - q1[1];
-    s = (s1_x*s2_s1_y - s1_y*s2_s1_x);
-    if ((s < 0) == denom_positive)
-        return false; // No intersection
-
-    t = (s2_x*s2_s1_y - s2_y*s2_s1_x);
-    if ((t < 0) == denom_positive)
-        return false; // No intersection
-
-    if ((s > denom) == denom_positive || (t > denom) == denom_positive)
-        return false; // No intersection
-
-    return true;
+        fmax(p1[1], p2[1]) < fmin(q1[1], q2[1]) || fmin(p1[1], p2[1]) > fmax(q1[1], q2[1]))
+        return false;
+
+    // Calculate vectors
+    float dx1 = p2[0] - p1[0];
+    float dy1 = p2[1] - p1[1];
+    float dx2 = q2[0] - q1[0];
+    float dy2 = q2[1] - q1[1];
+    
+    // Calculate cross products
+    float cross = dx1 * dy2 - dy1 * dx2;
+    
+    // If lines are parallel
+    if (cross == 0) return false;
+    
+    // Calculate relative vectors between start points
+    float dx3 = p1[0] - q1[0];
+    float dy3 = p1[1] - q1[1];
+    
+    // Calculate parameters for intersection point
+    float s = (dx1 * dy3 - dy1 * dx3) / cross;
+    float t = (dx2 * dy3 - dy2 * dx3) / cross;
+    
+    // Check if intersection point lies within both line segments
+    return (s >= 0 && s <= 1 && t >= 0 && t <= 1);
 }
 
 float point_to_line_distance(float point[2], float line_start[2], float line_end[2]) {
@@ -823,7 +819,7 @@ void collision_check(GPUDrive* env, int agent_idx) {
         float x1 = entity->x;
         float y1 = entity->y;
         float dist = sqrtf((x1 - agent->x)*(x1 - agent->x) + (y1 - agent->y)*(y1 - agent->y));
-        if(dist > 30.0f) continue;
+        if(dist > 15.0f) continue;
         float other_corners[4][2];
         for (int z = 0; z < 4; z++) {
             float other_cos_heading = cosf(entity->traj_heading[0]);
@@ -872,8 +868,9 @@ void compute_observations(GPUDrive* env) {
         float* obs = &observations[i][0];
         Entity* ego_entity = &env->entities[env->active_agent_indices[i]];
         if(ego_entity->type > 3) break;
-        float cos_heading = cosf(ego_entity->heading);
-        float sin_heading = sinf(ego_entity->heading);
+        float ego_heading = ego_entity->heading;
+        float cos_heading = cosf(ego_heading);
+        float sin_heading = sinf(ego_heading);
         float ego_speed = sqrtf(ego_entity->vx*ego_entity->vx + ego_entity->vy*ego_entity->vy);
         // Set goal distances
         float goal_x = relative_distance(ego_entity->x, ego_entity->goal_position_x);
@@ -914,7 +911,7 @@ void compute_observations(GPUDrive* env) {
             obs[obs_idx + 2] = other_entity->width / MAX_VEH_WIDTH;
             obs[obs_idx + 3] = other_entity->length / MAX_VEH_LEN;
             // relative heading
-            float rel_heading = normalize_heading(other_entity->heading - ego_entity->heading);
+            float rel_heading = normalize_heading(other_entity->heading - ego_heading);
             obs[obs_idx + 4] = cosf(rel_heading) / MAX_ORIENTATION_RAD;
             obs[obs_idx + 5] = sinf(rel_heading) / MAX_ORIENTATION_RAD;
             // relative speed
@@ -942,47 +939,43 @@ void compute_observations(GPUDrive* env) {
             int entity_idx = entity_list[k*2];
             int geometry_idx = entity_list[k*2+1];
             Entity* entity = &env->entities[entity_idx];
-            float start[2] = {entity->traj_x[geometry_idx], entity->traj_y[geometry_idx]};
-            float end[2] = {entity->traj_x[geometry_idx+1], entity->traj_y[geometry_idx+1]};
-            float mid_x = (start[0] + end[0]) / 2.0f;
-            float mid_y = (start[1] + end[1]) / 2.0f;
+            float start_x = entity->traj_x[geometry_idx];
+            float start_y = entity->traj_y[geometry_idx];
+            float end_x = entity->traj_x[geometry_idx+1];
+            float end_y = entity->traj_y[geometry_idx+1];
+            float mid_x = (start_x + end_x) / 2.0f;
+            float mid_y = (start_y + end_y) / 2.0f;
             float rel_x = mid_x - ego_entity->x;
             float rel_y = mid_y - ego_entity->y;
             float x_obs = rel_x*cos_heading + rel_y*sin_heading;
             float y_obs = -rel_x*sin_heading + rel_y*cos_heading;
-            float rel_end_x = end[0] - ego_entity->x;
-            float rel_end_y = end[1] - ego_entity->y;
-            float end_x_obs = rel_end_x*cos_heading + rel_end_y*sin_heading;
-            float end_y_obs = -rel_end_x*sin_heading + rel_end_y*cos_heading;
-            float length = relative_distance_2d(mid_x, mid_y, end[0], end[1]);
+            float length = relative_distance_2d(mid_x, mid_y, end_x, end_y);
             float width = 0.1;
-            float height = 0.1;
             // Calculate angle from ego to midpoint (vector from ego to midpoint)
-            float dx = end[0] - mid_x;
-            float dy = end[1] - mid_y;
-            float absolute_angle = atan2f(dy, dx);
-            float rel_angle = normalize_heading(absolute_angle - ego_entity->heading);
-            float cos_angle = cosf(rel_angle);
-            float sin_angle = sinf(rel_angle);
+            float dx = end_x - mid_x;
+            float dy = end_y - mid_y;
+            float dx_norm = dx;
+            float dy_norm = dy;
+            float hypot = sqrtf(dx*dx + dy*dy);
+            if(hypot > 0) {
+                dx_norm /= hypot;
+                dy_norm /= hypot;
+            }
+            // Compute sin and cos of relative angle directly without atan2f
+            float cos_angle = dx_norm*cos_heading + dy_norm*sin_heading;
+            float sin_angle = -dx_norm*sin_heading + dy_norm*cos_heading;
             obs[obs_idx] = normalize_value(x_obs, MIN_RG_COORD, MAX_RG_COORD);
             obs[obs_idx + 1] = normalize_value(y_obs, MIN_RG_COORD, MAX_RG_COORD);
             obs[obs_idx + 2] = length / MAX_ROAD_SEGMENT_LENGTH;
             obs[obs_idx + 3] = width / MAX_ROAD_SCALE;
             obs[obs_idx + 4] = cos_angle / MAX_ORIENTATION_RAD;
             obs[obs_idx + 5] = sin_angle / MAX_ORIENTATION_RAD;
-            obs[obs_idx + 6] = entity->type;
-            obs_idx += 7;
-        }
-        for(int k = 0; k < MAX_ROAD_SEGMENT_OBSERVATIONS - list_size; k++){
-            obs[obs_idx] = 0;
-            obs[obs_idx + 1] = 0;
-            obs[obs_idx + 2] = 0;
-            obs[obs_idx + 3] = 0;
-            obs[obs_idx + 4] = 0;
-            obs[obs_idx + 5] = 0;
-            obs[obs_idx + 6] = 0;
+            obs[obs_idx + 6] = entity->type - 4.0f;
             obs_idx += 7;
         }
+        int remaining_obs = (MAX_ROAD_SEGMENT_OBSERVATIONS - list_size) * 7;
+        // Set the entire block to 0 at once
+        memset(&obs[obs_idx], 0, remaining_obs * sizeof(float));
     }
 }
 
@@ -1036,7 +1029,7 @@ void c_step(GPUDrive* env){
             continue;
 	    }
         move_dynamics(env, i, agent_idx);
-        //move_expert(env, env->actions, agent_idx);
+        // move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0 && env->goal_reached[i] == 0){
             if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){
@@ -1084,7 +1077,7 @@ Client* make_client(GPUDrive* env){
     client->width = 1280;
     client->height = 704;
     InitWindow(client->width, client->height, "PufferLib Ray GPU Drive");
-    SetTargetFPS(30);
+    SetTargetFPS(60);
     client->puffers = LoadTexture("resources/puffers_128.png");
     
     // Get initial target position from first active agent
@@ -1159,7 +1152,6 @@ void draw_agent_obs(GPUDrive* env, int agent_index){
         float rel_angle_y = (agent_obs[entity_idx + 5]);
         float rel_angle = atan2f(rel_angle_y, rel_angle_x);
         float segment_length = agent_obs[entity_idx + 2] * MAX_ROAD_SEGMENT_LENGTH;
-        printf("obs idx: %d, segment_length: %f\n", entity_idx, segment_length);
         // Calculate endpoint using the relative angle directly
         // Calculate endpoint directly
         float x_end = x_middle + segment_length*cosf(rel_angle);
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 8e3fb906d7..337285fd12 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -20,7 +20,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.report_interval = report_interval
         print("Num envs: ", num_envs)
         
-        self.num_obs = 6 + 63*7 + 200*7
+        self.num_obs = 6 + 63*7 + 64*7
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])
@@ -155,6 +155,8 @@ def save_map_binary(map_data, output_file):
             # Write scalar fields
             f.write(struct.pack('f', float(obj.get('width', 0.0))))
             f.write(struct.pack('f', float(obj.get('length', 0.0))))
+            if(obj.get('length', 0.0) > 10):
+                print("length: ", obj.get('length', 0.0))
             f.write(struct.pack('f', float(obj.get('height', 0.0))))
             goal_pos = obj.get('goalPosition', {'x': 0, 'y': 0, 'z': 0})  # Get goalPosition object with default
             f.write(struct.pack('f', float(goal_pos.get('x', 0.0))))  # Get x value
@@ -226,7 +228,7 @@ def process_all_maps():
     data_dir = Path("data/processed/training")
     
     # Get all JSON files in the training directory
-    json_files = sorted(data_dir.glob("*.json"))[0:256]
+    json_files = sorted(data_dir.glob("*.json"))[0:512]
     
     print(f"Found {len(json_files)} JSON files")
     
diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py
index bc985ef4e1..6a356085b2 100644
--- a/pufferlib/ocean/torch.py
+++ b/pufferlib/ocean/torch.py
@@ -416,7 +416,7 @@ def decode_actions(self, flat_hidden):
 
 
 class GPUDrive(nn.Module):
-    def __init__(self, env, cnn_channels=32, hidden_size=128, **kwargs):
+    def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
         super().__init__()
         self.hidden_size = hidden_size
         self.ego_encoder = nn.Sequential(
@@ -467,13 +467,13 @@ def forward(self, observations):
     def encode_observations(self, observations):
         ego_dim = 6
         partner_dim = 63 * 7
-        road_dim = 200*7
+        road_dim = 64*7
         ego_obs = observations[:, :ego_dim]
         partner_obs = observations[:, ego_dim:ego_dim+partner_dim]
         road_obs = observations[:, ego_dim+partner_dim:ego_dim+partner_dim+road_dim]
         
         partner_objects = partner_obs.view(-1, 63, 7)
-        road_objects = road_obs.view(-1, 200, 7)
+        road_objects = road_obs.view(-1, 64, 7)
 
         ego_features = self.ego_encoder(ego_obs)
         partner_features, _ = self.partner_encoder(partner_objects).max(dim=1)

From 90a7334e1fda16aa91ec36e3191dd387c032e6e8 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Tue, 22 Apr 2025 15:00:44 +0000
Subject: [PATCH 103/112] new network arch

---
 config/ocean/gpudrive.ini | 60 +++++++++++++++++++++------------------
 pufferlib/ocean/torch.py  | 44 ++++++++++++++--------------
 2 files changed, 54 insertions(+), 50 deletions(-)

diff --git a/config/ocean/gpudrive.ini b/config/ocean/gpudrive.ini
index e6048185da..37cd297a31 100644
--- a/config/ocean/gpudrive.ini
+++ b/config/ocean/gpudrive.ini
@@ -3,6 +3,15 @@ package = ocean
 env_name = puffer_gpudrive
 policy_name = GPUDrive
 rnn_name = Recurrent
+vec = multiprocessing
+
+[policy]
+input_size = 256
+hidden_size = 256
+
+[rnn]
+input_size = 256
+hidden_size = 256
 
 [env]
 num_envs = 256
@@ -10,38 +19,35 @@ reward_vehicle_collision = -0.25
 reward_offroad_collision = -0.25
 
 [train]
-total_timesteps = 1_000_000_000
+total_timesteps = 250_000_000
 #bptt_horizon = 16
-ent_coef = 0.001
-learning_rate = 0.0025
-batch_size = 524288
-minibatch_size = 32768
+#ent_coef = 0.001
+#learning_rate = 0.0025
+#batch_size = 524288
+#minibatch_size = 32768
 #gae_lambda = 0.95
 #gamma = 0.99
 #max_grad_norm = 0.5
 #update_epochs = 1
 #vf_coef = 2
-num_workers = 2
-num_envs = 2
+learning_rate = 0.01
+num_workers = 4
+num_envs = 4
+env_batch_size = 1
 anneal_lr = False
 
-#[sweep.train.total_timesteps]
-#distribution = log_normal
-#min = 5e8
-#max = 5e9
-#mean = 1e9
-#scale = auto
-
-#[sweep.env.reward_vehicle_collision]
-#distribution = uniform
-#min = -1.0
-#max = -0.1
-#mean = -0.1
-#scale = auto 
-
-#[sweep.env.reward_offroad_collision]
-#distribution = uniform
-#min = -1.0
-#max = -0.1
-#mean = -0.1
-#scale = auto
+
+
+[sweep.env.reward_vehicle_collision]
+distribution = uniform
+min = -1.0
+max = -0.25
+mean = -0.5
+scale = auto 
+
+[sweep.env.reward_offroad_collision]
+distribution = uniform
+min = -1.0
+max = -0.25
+mean = -0.5
+scale = auto
diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py
index 6a356085b2..d37cd22c71 100644
--- a/pufferlib/ocean/torch.py
+++ b/pufferlib/ocean/torch.py
@@ -414,42 +414,44 @@ def decode_actions(self, flat_hidden):
         
         return action, value
 
-
 class GPUDrive(nn.Module):
-    def __init__(self, env, cnn_channels=64, hidden_size=128, **kwargs):
+    def __init__(self, env, input_size=128, hidden_size=128, **kwargs):
         super().__init__()
         self.hidden_size = hidden_size
         self.ego_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
-                nn.Linear(6, cnn_channels)),
-            nn.ReLU(),
-            pufferlib.pytorch.layer_init(
-                nn.Linear(cnn_channels, cnn_channels))
+                nn.Linear(6, input_size)),
+            #nn.ReLU(),
+            #pufferlib.pytorch.layer_init(
+            #    nn.Linear(input_size, input_size))
         )
         max_road_objects = 7
         self.road_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
-                nn.Linear(max_road_objects, cnn_channels)),
-            nn.ReLU(),
+                nn.Linear(max_road_objects, input_size)),
+            #nn.ReLU(),
             
         )
         max_partner_objects = 7
         self.partner_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
-                nn.Linear(max_partner_objects, cnn_channels)),
-            nn.ReLU()
+                nn.Linear(max_partner_objects, input_size)),
+            #nn.ReLU()
         )
 
+        '''
         self.post_mask_road_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
-                nn.Linear(cnn_channels, cnn_channels)),
+                nn.Linear(input_size, input_size)),
         )
         self.post_mask_partner_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
-                nn.Linear(cnn_channels, cnn_channels)),
+                nn.Linear(input_size, input_size)),
         )
+        '''
         self.shared_embedding = nn.Sequential(
-            pufferlib.pytorch.layer_init(nn.Linear(3*cnn_channels,  hidden_size)),
+            nn.GELU(),
+            pufferlib.pytorch.layer_init(nn.Linear(3*input_size,  hidden_size)),
         )
         self.is_continuous = isinstance(env.single_action_space, pufferlib.spaces.Box)
 
@@ -478,10 +480,11 @@ def encode_observations(self, observations):
         ego_features = self.ego_encoder(ego_obs)
         partner_features, _ = self.partner_encoder(partner_objects).max(dim=1)
         road_features, _ = self.road_encoder(road_objects).max(dim=1)
-        partner_features_post_mask = self.post_mask_partner_encoder(partner_features)
-        road_features_post_mask = self.post_mask_road_encoder(road_features)
+        #partner_features_post_mask = self.post_mask_partner_encoder(partner_features)
+        #road_features_post_mask = self.post_mask_road_encoder(road_features)
         
-        concat_features = torch.cat([ego_features, road_features_post_mask, partner_features_post_mask], dim=1)
+        #concat_features = torch.cat([ego_features, road_features_post_mask, partner_features_post_mask], dim=1)
+        concat_features = torch.cat([ego_features, road_features, partner_features], dim=1)
         
         # Apply max pooling across concatenated features
         # Reshape to [batch, 3, hidden_size] to pool across the 3 modalities
@@ -490,7 +493,8 @@ def encode_observations(self, observations):
         # )[0]
         
         # Pass through shared embedding
-        embedding = F.relu(self.shared_embedding(concat_features))
+        #embedding = F.relu(self.shared_embedding(concat_features))
+        embedding = self.shared_embedding(concat_features)
         return embedding
     
     def decode_actions(self, flat_hidden):
@@ -498,9 +502,3 @@ def decode_actions(self, flat_hidden):
         action = torch.split(action, self.atn_dim, dim=1)
         value = self.value_fn(flat_hidden)
         return action, value
-        
-        
-        
-        
-        
-        

From 20aa442dc317ee525503c0f0c5a0e90141c5be6e Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Wed, 23 Apr 2025 02:07:04 +0000
Subject: [PATCH 104/112] dealing with dataset bugs

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |  3 +-
 pufferlib/ocean/gpudrive/gpudrive.h      | 93 ++++++++++++++----------
 pufferlib/ocean/gpudrive/gpudrive.py     | 28 ++++++-
 3 files changed, 80 insertions(+), 44 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index 6e00e6716d..89c4d2163b 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -34,6 +34,7 @@ cdef extern from "gpudrive.h":
         float goal_position_x;
         float goal_position_y;
         float goal_position_z;
+        int mark_as_expert;
         int collision_state;
         float x;
         float y;
@@ -216,7 +217,7 @@ cdef class CyGPUDrive:
             c_step(&self.envs[i])
 
     def render(self):
-        cdef GPUDrive* env = &self.envs[0]
+        cdef GPUDrive* env = &self.envs[211]
         if self.client == NULL:
             import os
             cwd = os.getcwd()
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 3bab41a88f..3c1b057e1c 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -158,6 +158,7 @@ struct Entity {
     float goal_position_x;
     float goal_position_y;
     float goal_position_z;
+    int mark_as_expert;
     int collision_state;
     float x;
     float y;
@@ -290,6 +291,7 @@ Entity* load_map_binary(const char* filename, GPUDrive* env) {
         fread(&entities[i].goal_position_x, sizeof(float), 1, file);
         fread(&entities[i].goal_position_y, sizeof(float), 1, file);
         fread(&entities[i].goal_position_z, sizeof(float), 1, file);
+        fread(&entities[i].mark_as_expert, sizeof(int), 1, file);
     }
     fclose(file);
     return entities;
@@ -330,28 +332,30 @@ void set_active_agents(GPUDrive* env){
     env->num_cars = 0;
     int active_agent_indices[MAX_CARS];
     int static_car_indices[MAX_CARS];
-    active_agent_indices[0] = env->num_objects-1;
-    env->active_agent_count = 1;
-    for(int i = 0; i < env->num_entities && env->num_cars < MAX_CARS; i++){
+    env->active_agent_count = 0;
+    for(int i = env->num_objects-1; i >= 0 && env->num_cars < MAX_CARS; i--){
         if(env->entities[i].type != 1) continue;
-        if(i == env->num_objects-1) continue;
-        int start_idx=0;
-        for(int j = 0; j<env->entities[i].array_size; j++){
-            if(env->entities[i].traj_valid[j] == 1 ){
-                start_idx = j;
+        if(env->entities[i].traj_valid[0] != 1) continue;
+        for(int j = 1; j < env->entities[i].array_size; j++){
+            if(env->entities[i].traj_valid[j] != 1) {
+                env->entities[i].goal_position_x = env->entities[i].traj_x[j-1];
+                env->entities[i].goal_position_y = env->entities[i].traj_y[j-1];
                 break;
             }
         }
-        if(start_idx !=0) continue;
         env->num_cars++;
-        float distance = relative_distance_2d(
-            env->entities[i].traj_x[start_idx],
-            env->entities[i].traj_y[start_idx],
-            env->entities[i].goal_position_x,
-            env->entities[i].goal_position_y);
+        float cos_heading = cosf(env->entities[i].traj_heading[0]);
+        float sin_heading = sinf(env->entities[i].traj_heading[0]);
+        float goal_x = env->entities[i].goal_position_x - env->entities[i].traj_x[0];
+        float goal_y = env->entities[i].goal_position_y - env->entities[i].traj_y[0];
+        // Rotate to ego vehicle's frame
+        float rel_goal_x = goal_x*cos_heading + goal_y*sin_heading;
+        float rel_goal_y = -goal_x*sin_heading + goal_y*cos_heading;
+        float distance_to_goal = relative_distance_2d(0, 0, rel_goal_x, rel_goal_y);
         env->entities[i].width *= 0.7f;
         env->entities[i].length *= 0.7f;
-        if(distance >= 2.0f){
+        if(distance_to_goal >= 2.0f && env->entities[i].mark_as_expert == 0){
+            printf("distance to goal: %f\n", distance_to_goal);
             active_agent_indices[env->active_agent_count] = i;
             env->active_agent_count++;
         } else {
@@ -565,12 +569,12 @@ void init(GPUDrive* env){
     env->human_agent_idx = 0;
     env->timestep = 0;
     env->entities = load_map_binary(env->map_name, env);
-    printf("entities loaded\n");
-    printf("num entities: %d\n", env->num_entities);
+    // printf("entities loaded\n");
+    // printf("num entities: %d\n", env->num_entities);
     env->dynamics_model = CLASSIC;
     set_active_agents(env);
     set_start_position(env);
-    printf("Active agents: %d\n", env->active_agent_count);
+    // printf("Active agents: %d\n", env->active_agent_count);
     env->logs = (Log*)calloc(env->active_agent_count, sizeof(Log));
     env->goal_reached = (char*)calloc(env->active_agent_count, sizeof(char));
     env->reached_goal_this_turn = (char*)calloc(env->active_agent_count, sizeof(char));
@@ -602,18 +606,18 @@ void free_initialized(GPUDrive* env){
 void allocate(GPUDrive* env){
     init(env);
     int max_obs = 6 + 7*(MAX_CARS - 1) + 7*MAX_ROAD_SEGMENT_OBSERVATIONS;
-    printf("max obs: %d\n", max_obs*env->active_agent_count);
-    printf("num cars: %d\n", env->num_cars);
-    printf("num static cars: %d\n", env->static_car_count);
-    printf("active agent count: %d\n", env->active_agent_count);
-    printf("num objects: %d\n", env->num_objects);
+    // printf("max obs: %d\n", max_obs*env->active_agent_count);
+    // printf("num cars: %d\n", env->num_cars);
+    // printf("num static cars: %d\n", env->static_car_count);
+    // printf("active agent count: %d\n", env->active_agent_count);
+    // printf("num objects: %d\n", env->num_objects);
     env->observations = (float*)calloc(env->active_agent_count*max_obs, sizeof(float));
     env->actions = (int*)calloc(env->active_agent_count*2, sizeof(int));
     env->rewards = (float*)calloc(env->active_agent_count, sizeof(float));
     env->masks = (unsigned char*)calloc(env->active_agent_count, sizeof(unsigned char));
     env->dones = (unsigned char*)calloc(env->active_agent_count, sizeof(unsigned char));
     env->log_buffer = allocate_logbuffer(LOG_BUFFER_SIZE);
-    printf("allocated\n");
+    // printf("allocated\n");
 }
 
 void free_allocated(GPUDrive* env){
@@ -873,11 +877,13 @@ void compute_observations(GPUDrive* env) {
         float sin_heading = sinf(ego_heading);
         float ego_speed = sqrtf(ego_entity->vx*ego_entity->vx + ego_entity->vy*ego_entity->vy);
         // Set goal distances
-        float goal_x = relative_distance(ego_entity->x, ego_entity->goal_position_x);
-        float goal_y = relative_distance(ego_entity->y, ego_entity->goal_position_y);
-        
-        obs[0] = normalize_value(goal_x, MIN_REL_GOAL_COORD, MAX_REL_GOAL_COORD);
-        obs[1] = normalize_value(goal_y, MIN_REL_GOAL_COORD, MAX_REL_GOAL_COORD);
+        float goal_x = ego_entity->goal_position_x - ego_entity->x;
+        float goal_y = ego_entity->goal_position_y - ego_entity->y;
+        // Rotate to ego vehicle's frame
+        float rel_goal_x = goal_x*cos_heading + goal_y*sin_heading;
+        float rel_goal_y = -goal_x*sin_heading + goal_y*cos_heading;
+        obs[0] = normalize_value(rel_goal_x, MIN_REL_GOAL_COORD, MAX_REL_GOAL_COORD);
+        obs[1] = normalize_value(rel_goal_y, MIN_REL_GOAL_COORD, MAX_REL_GOAL_COORD);
         obs[2] = ego_speed / MAX_SPEED;
         obs[3] = ego_entity->width / MAX_VEH_WIDTH;
         obs[4] = ego_entity->length / MAX_VEH_LEN;
@@ -1004,14 +1010,14 @@ void c_step(GPUDrive* env){
             } 
 	        else {
                 env->logs[i].score = 1.0f;
-		env->logs[i].dnf_rate = 0.0f;
+		        env->logs[i].dnf_rate = 0.0f;
+            }
+            int offroad = env->logs[i].offroad_rate;
+            int collided = env->logs[i].collision_rate;
+            int goal_reached = env->goal_reached[i];
+            if(!offroad && !collided && !goal_reached){
+                env->logs[i].dnf_rate = 1.0f;
             }
-	    int offroad = env->logs[i].offroad_rate;
-	    int collided = env->logs[i].collision_rate;
-	    int goal_reached = env->goal_reached[i];
-	    if(!offroad && !collided && !goal_reached){
-		    env->logs[i].dnf_rate = 1.0f;
-	    }
 
             add_log(env->log_buffer, &env->logs[i]);
 	    }
@@ -1030,6 +1036,9 @@ void c_step(GPUDrive* env){
 	    }
         move_dynamics(env, i, agent_idx);
         // move_expert(env, env->actions, agent_idx);
+        // if(agent_idx == env->active_agent_indices[env->human_agent_idx]){
+        //     printf("trajectory x,y,heading: %f, %f, %f\n", env->entities[agent_idx].x, env->entities[agent_idx].y, env->entities[agent_idx].heading);
+        // }
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0 && env->goal_reached[i] == 0){
             if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){
@@ -1092,7 +1101,7 @@ Client* make_client(GPUDrive* env){
     client->camera.position = (Vector3){ 
         target_pos.x,           // Same X as target
         target_pos.y + 80.0f,   // 20 units above target
-        target_pos.z + 450.0f    // 20 units behind target
+        target_pos.z + 350.0f    // 20 units behind target
     };
     client->camera.target = target_pos;
     client->camera.up = (Vector3){ 0.0f, -1.0f, 0.0f };  // Y is up
@@ -1106,6 +1115,10 @@ void draw_agent_obs(GPUDrive* env, int agent_index){
     int max_obs = 6 + 7*(MAX_CARS - 1) + 7*MAX_ROAD_SEGMENT_OBSERVATIONS;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     float* agent_obs = &observations[agent_index][0];
+    // draw goal
+    float goal_x = reverse_normalize_value(agent_obs[0], MIN_REL_GOAL_COORD, MAX_REL_GOAL_COORD);
+    float goal_y = reverse_normalize_value(agent_obs[1], MIN_REL_GOAL_COORD, MAX_REL_GOAL_COORD);
+    DrawSphere((Vector3){goal_x, goal_y, 1}, 0.5f, RED);
     // First draw other agent observations
     int obs_idx = 6;  // Start after goal distances
     for(int j = 0; j < MAX_CARS - 1; j++) {
@@ -1141,7 +1154,7 @@ void draw_agent_obs(GPUDrive* env, int agent_index){
         Color lineColor = BLUE;  // Default color
         int entity_type = (int)agent_obs[entity_idx + 6];
         // Choose color based on entity type
-        if(entity_type != ROAD_EDGE){
+        if(entity_type+4 != ROAD_EDGE){
             continue;
         } 
         lineColor = BLACK;
@@ -1154,10 +1167,12 @@ void draw_agent_obs(GPUDrive* env, int agent_index){
         float segment_length = agent_obs[entity_idx + 2] * MAX_ROAD_SEGMENT_LENGTH;
         // Calculate endpoint using the relative angle directly
         // Calculate endpoint directly
+        float x_start = x_middle - segment_length*cosf(rel_angle);
+        float y_start = y_middle - segment_length*sinf(rel_angle);
         float x_end = x_middle + segment_length*cosf(rel_angle);
         float y_end = y_middle + segment_length*sinf(rel_angle);
         DrawLine3D((Vector3){0,0,0}, (Vector3){x_middle, y_middle, 1}, lineColor); 
-        DrawLine3D((Vector3){x_middle, y_middle, 1}, (Vector3){x_end, y_end, 1}, BLUE);
+        DrawLine3D((Vector3){x_start, y_start, 1}, (Vector3){x_end, y_end, 1}, BLUE);
     }
 }
 
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 337285fd12..926df208cf 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -155,13 +155,12 @@ def save_map_binary(map_data, output_file):
             # Write scalar fields
             f.write(struct.pack('f', float(obj.get('width', 0.0))))
             f.write(struct.pack('f', float(obj.get('length', 0.0))))
-            if(obj.get('length', 0.0) > 10):
-                print("length: ", obj.get('length', 0.0))
             f.write(struct.pack('f', float(obj.get('height', 0.0))))
             goal_pos = obj.get('goalPosition', {'x': 0, 'y': 0, 'z': 0})  # Get goalPosition object with default
             f.write(struct.pack('f', float(goal_pos.get('x', 0.0))))  # Get x value
             f.write(struct.pack('f', float(goal_pos.get('y', 0.0))))  # Get y value
             f.write(struct.pack('f', float(goal_pos.get('z', 0.0))))  # Get z value
+            f.write(struct.pack('i', obj.get('mark_as_expert', 0)))
         
         # Write roads
         for idx, road in enumerate(map_data.get('roads', [])):
@@ -203,7 +202,7 @@ def save_map_binary(map_data, output_file):
             f.write(struct.pack('f', float(goal_pos.get('x', 0.0))))  # Get x value
             f.write(struct.pack('f', float(goal_pos.get('y', 0.0))))  # Get y value
             f.write(struct.pack('f', float(goal_pos.get('z', 0.0))))  # Get z value
-
+            f.write(struct.pack('i', road.get('mark_as_expert', 0)))
 def load_map(map_name, binary_output=None):
     """Loads a JSON map and optionally saves it as binary"""
     with open(map_name, 'r') as f:
@@ -243,6 +242,27 @@ def process_all_maps():
         except Exception as e:
             print(f"Error processing {map_path.name}: {e}")
 
+def test_performance(timeout=10, atn_cache=1024, num_envs=256):
+    import time
+
+    env = GPUDrive(num_envs=num_envs)
+    env.reset()
+    tick = 0
+    num_agents = 1922
+    actions = np.stack([
+        np.random.randint(0, space.n + 1, (atn_cache, num_agents))
+        for space in env.single_action_space
+    ], axis=-1)
+
+    start = time.time()
+    while time.time() - start < timeout:
+        atn = actions[tick % atn_cache]         
+        env.step(atn)
+        tick += 1
+
+    print(f'SPS: {num_agents * tick / (time.time() - start)}')
+
+
 if __name__ == '__main__':
+    # test_performance()
     process_all_maps()
-

From 44eac32d09b9e87e7cd9dc99fcdc260d6726627e Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Wed, 23 Apr 2025 19:50:04 +0000
Subject: [PATCH 105/112] cleaned up dataset some more

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |  2 ++
 pufferlib/ocean/gpudrive/gpudrive.h      | 32 ++++++++++++++++++------
 pufferlib/ocean/gpudrive/gpudrive.py     |  6 ++---
 3 files changed, 30 insertions(+), 10 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index 89c4d2163b..2c7d3aaf8e 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -64,6 +64,8 @@ cdef extern from "gpudrive.h":
         int num_roads;
         int static_car_count;
         int* static_car_indices;
+        int expert_static_car_count;
+        int* expert_static_car_indices;
         int timestep;
         int dynamics_model;
         float* fake_data;
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 3c1b057e1c..05357282c6 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -214,6 +214,8 @@ struct GPUDrive {
     int num_roads;
     int static_car_count;
     int* static_car_indices;
+    int expert_static_car_count;
+    int* expert_static_car_indices;
     int timestep;
     int dynamics_model;
     float* fake_data;
@@ -330,19 +332,21 @@ void set_start_position(GPUDrive* env){
 void set_active_agents(GPUDrive* env){
     env->static_car_count = 0;
     env->num_cars = 0;
+    env->expert_static_car_count = 0;
     int active_agent_indices[MAX_CARS];
     int static_car_indices[MAX_CARS];
+    int expert_static_car_indices[MAX_CARS];
     env->active_agent_count = 0;
     for(int i = env->num_objects-1; i >= 0 && env->num_cars < MAX_CARS; i--){
         if(env->entities[i].type != 1) continue;
         if(env->entities[i].traj_valid[0] != 1) continue;
-        for(int j = 1; j < env->entities[i].array_size; j++){
+        /*for(int j = 1; j < env->entities[i].array_size; j++){
             if(env->entities[i].traj_valid[j] != 1) {
                 env->entities[i].goal_position_x = env->entities[i].traj_x[j-1];
                 env->entities[i].goal_position_y = env->entities[i].traj_y[j-1];
                 break;
             }
-        }
+        }*/
         env->num_cars++;
         float cos_heading = cosf(env->entities[i].traj_heading[0]);
         float sin_heading = sinf(env->entities[i].traj_heading[0]);
@@ -355,22 +359,30 @@ void set_active_agents(GPUDrive* env){
         env->entities[i].width *= 0.7f;
         env->entities[i].length *= 0.7f;
         if(distance_to_goal >= 2.0f && env->entities[i].mark_as_expert == 0){
-            printf("distance to goal: %f\n", distance_to_goal);
             active_agent_indices[env->active_agent_count] = i;
             env->active_agent_count++;
         } else {
             static_car_indices[env->static_car_count] = i;
             env->static_car_count++;
+            if(env->entities[i].mark_as_expert == 1){
+                expert_static_car_indices[env->expert_static_car_count] = i;
+                env->expert_static_car_count++;
+            }
         }
         
     }
     env->active_agent_indices = (int*)malloc(env->active_agent_count * sizeof(int));
     env->static_car_indices = (int*)malloc(env->static_car_count * sizeof(int));
+    env->expert_static_car_indices = (int*)malloc(env->expert_static_car_count * sizeof(int));
     for(int i=0;i<env->active_agent_count;i++){
         env->active_agent_indices[i] = active_agent_indices[i];
     };
     for(int i=0;i<env->static_car_count;i++){
         env->static_car_indices[i] = static_car_indices[i];
+        
+    }
+    for(int i=0;i<env->expert_static_car_count;i++){
+        env->expert_static_car_indices[i] = expert_static_car_indices[i];
     }
 }
 
@@ -601,6 +613,7 @@ void free_initialized(GPUDrive* env){
     free(env->neighbor_cache_entities);
     free(env->neighbor_cache_indices);
     free(env->static_car_indices);
+    free(env->expert_static_car_indices);
 }
 
 void allocate(GPUDrive* env){
@@ -780,6 +793,7 @@ int checkNeighbors(GPUDrive* env, float x, float y, int* entity_list, int max_si
 
 void collision_check(GPUDrive* env, int agent_idx) {
     Entity* agent = &env->entities[agent_idx];
+    if(agent->x == -10000.0f ) return;
     float half_length = agent->length/2.0f;
     float half_width = agent->width/2.0f;
     float cos_heading = cosf(agent->heading);
@@ -1022,7 +1036,14 @@ void c_step(GPUDrive* env){
             add_log(env->log_buffer, &env->logs[i]);
 	    }
 	    c_reset(env);
-    }// Process actions for all active agents
+    }
+    // Move statix experts
+    for (int i = 0; i < env->expert_static_car_count; i++) {
+        int expert_idx = env->expert_static_car_indices[i];
+        if(env->entities[expert_idx].x == -10000) continue;
+        move_expert(env, env->actions, expert_idx);
+    }
+    // Process actions for all active agents
     for(int i = 0; i < env->active_agent_count; i++){
         env->logs[i].score = 0.0f;
 	    env->logs[i].episode_length += 1;
@@ -1036,9 +1057,6 @@ void c_step(GPUDrive* env){
 	    }
         move_dynamics(env, i, agent_idx);
         // move_expert(env, env->actions, agent_idx);
-        // if(agent_idx == env->active_agent_indices[env->human_agent_idx]){
-        //     printf("trajectory x,y,heading: %f, %f, %f\n", env->entities[agent_idx].x, env->entities[agent_idx].y, env->entities[agent_idx].heading);
-        // }
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0 && env->goal_reached[i] == 0){
             if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index 926df208cf..a79fecb921 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -248,7 +248,7 @@ def test_performance(timeout=10, atn_cache=1024, num_envs=256):
     env = GPUDrive(num_envs=num_envs)
     env.reset()
     tick = 0
-    num_agents = 1922
+    num_agents = 1670
     actions = np.stack([
         np.random.randint(0, space.n + 1, (atn_cache, num_agents))
         for space in env.single_action_space
@@ -264,5 +264,5 @@ def test_performance(timeout=10, atn_cache=1024, num_envs=256):
 
 
 if __name__ == '__main__':
-    # test_performance()
-    process_all_maps()
+    test_performance()
+    #process_all_maps()

From 6978f5b4a76940d568e0bdebdb71c98c4e1640b3 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Wed, 23 Apr 2025 20:20:09 +0000
Subject: [PATCH 106/112] masking off and reward every step you are at goal
 range

---
 pufferlib/ocean/gpudrive/gpudrive.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 05357282c6..ce42a567d8 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -1050,7 +1050,7 @@ void c_step(GPUDrive* env){
         int agent_idx = env->active_agent_indices[i];
         env->entities[agent_idx].collision_state = 0;
         if(env->goal_reached[i]){
-            env->masks[i] = 0;
+            // env->masks[i] = 0;
             env->entities[agent_idx].x = -10000;
             env->entities[agent_idx].y = -10000;
             continue;
@@ -1077,12 +1077,12 @@ void c_step(GPUDrive* env){
                 env->entities[agent_idx].goal_position_x,
                 env->entities[agent_idx].goal_position_y);
         int reached_goal = distance_to_goal < 2.0f;
-        if(reached_goal && env->goal_reached[i] == 0){            
+        if(reached_goal){            
             env->rewards[i] += 1.0f;
 	        env->goal_reached[i] = 1;
 		    env->reached_goal_this_turn[i] = 1;
 	        env->logs[i].episode_return += 1.0f;
-            env->dones[i] = 1;
+            // env->dones[i] = 1;
             continue;
 	    }
     }

From 34d5b41f1a670023134d461a29a6784f27ac863a Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Wed, 23 Apr 2025 21:40:49 +0000
Subject: [PATCH 107/112] fix collision edge case

---
 pufferlib/ocean/gpudrive/gpudrive.c |  2 +-
 pufferlib/ocean/gpudrive/gpudrive.h | 16 +++++++++-------
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index 0089774260..28ff85544c 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -172,7 +172,7 @@ void performance_test() {
     GPUDrive env = {
         .dynamics_model = CLASSIC,
         .human_agent_idx = 0,
-	    .map_name = "resources/gpudrive/binaries/map_005.bin"
+	    .map_name = "resources/gpudrive/binaries/map_227.bin"
     };
     clock_t start_time, end_time;
     double cpu_time_used;
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index ce42a567d8..770b178da3 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -74,11 +74,13 @@ static const float offsets[4][2] = {
         {-1, -1}  // bottom-left
     };
 
-static const int collision_offsets[9][2] = {
-        {-1, -1}, {0, -1}, {1, -1},  // Top row
-        {-1,  0}, {0,  0}, {1,  0},  // Middle row (skip center)
-        {-1,  1}, {0,  1}, {1,  1}   // Bottom row
-    };
+static const int collision_offsets[25][2] = {
+    {-2, -2}, {-1, -2}, {0, -2}, {1, -2}, {2, -2},  // Top row
+    {-2, -1}, {-1, -1}, {0, -1}, {1, -1}, {2, -1},  // Second row
+    {-2,  0}, {-1,  0}, {0,  0}, {1,  0}, {2,  0},  // Middle row (including center)
+    {-2,  1}, {-1,  1}, {0,  1}, {1,  1}, {2,  1},  // Fourth row
+    {-2,  2}, {-1,  2}, {0,  2}, {1,  2}, {2,  2}   // Bottom row
+};
 #define LOG_BUFFER_SIZE 1024
 
 typedef struct Log Log;
@@ -805,8 +807,8 @@ void collision_check(GPUDrive* env, int agent_idx) {
     }
     int collided = 0;
     int car_collided_with_index = -1;
-    int entity_list[MAX_ENTITIES_PER_CELL*2*9];  // Array big enough for all neighboring cells
-    int list_size = checkNeighbors(env, agent->x, agent->y, entity_list, MAX_ENTITIES_PER_CELL*2*9, collision_offsets, 9);
+    int entity_list[MAX_ENTITIES_PER_CELL*2*25];  // Array big enough for all neighboring cells
+    int list_size = checkNeighbors(env, agent->x, agent->y, entity_list, MAX_ENTITIES_PER_CELL*2*25, collision_offsets, 25);
     for (int i = 0; i < list_size ; i+=2) {
         if(entity_list[i] == -1) continue;
         if(entity_list[i] == agent_idx) continue;

From a602f5996ea6bafe155898ff1b42c7e2d469f8c1 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Thu, 24 Apr 2025 19:10:14 +0000
Subject: [PATCH 108/112] render changes

---
 pufferlib/ocean/gpudrive/gpudrive.h | 132 +++++++++++++++++++++++-----
 1 file changed, 109 insertions(+), 23 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index ffea1a3c1b..35a910372d 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -1057,8 +1057,8 @@ void c_step(GPUDrive* env){
             env->entities[agent_idx].y = -10000;
             continue;
 	    }
-        move_dynamics(env, i, agent_idx);
-        //move_expert(env, env->actions, agent_idx);
+        // move_dynamics(env, i, agent_idx);
+        move_expert(env, env->actions, agent_idx);
         collision_check(env, agent_idx);
         if(env->entities[agent_idx].collision_state > 0 && env->goal_reached[i] == 0){
             if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){
@@ -1106,6 +1106,10 @@ struct Client {
     Vector3 camera_target;
     float camera_zoom;
     Camera3D camera;
+    Model cars[6]; 
+    int car_assignments[MAX_CARS];  // To keep car model assignments consistent per vehicle
+    Vector3 default_camera_position;
+    Vector3 default_camera_target;
 };
 
 Client* make_client(GPUDrive* env){
@@ -1116,7 +1120,15 @@ Client* make_client(GPUDrive* env){
     InitWindow(client->width, client->height, "PufferLib Ray GPU Drive");
     SetTargetFPS(60);
     client->puffers = LoadTexture("resources/puffers_128.png");
-    
+    client->cars[0] = LoadModel("resources/gpudrive/RedCar.glb");
+    client->cars[1] = LoadModel("resources/gpudrive/WhiteCar.glb");
+    client->cars[2] = LoadModel("resources/gpudrive/BlueCar.glb");
+    client->cars[3] = LoadModel("resources/gpudrive/YellowCar.glb");
+    client->cars[4] = LoadModel("resources/gpudrive/GreenCar.glb");
+    client->cars[5] = LoadModel("resources/gpudrive/GreyCar.glb");
+    for (int i = 0; i < MAX_CARS; i++) {
+        client->car_assignments[i] = rand() % 5;
+    }
     // Get initial target position from first active agent
     Vector3 target_pos = {
         env->entities[env->active_agent_indices[0]].x,
@@ -1126,12 +1138,14 @@ Client* make_client(GPUDrive* env){
     printf("target_pos: %f, %f, %f\n", target_pos.x, target_pos.y, target_pos.z);
     
     // Set up camera to look at target from above and behind
-    client->camera.position = (Vector3){ 
+    client->default_camera_position = (Vector3){ 
         target_pos.x,           // Same X as target
         target_pos.y + 120.0f,   // 20 units above target
         target_pos.z + 175.0f    // 20 units behind target
     };
-    client->camera.target = target_pos;
+    client->default_camera_target = target_pos;
+    client->camera.position = client->default_camera_position;
+    client->camera.target = client->default_camera_target;
     client->camera.up = (Vector3){ 0.0f, -1.0f, 0.0f };  // Y is up
     client->camera.fovy = 45.0f;
     client->camera.projection = CAMERA_PERSPECTIVE;
@@ -1140,6 +1154,13 @@ Client* make_client(GPUDrive* env){
 }
 
 void draw_agent_obs(GPUDrive* env, int agent_index){
+    Vector3 triangle_top = {0.0f, 1.732f, 8.0f};     // Top point (moved up by half the height)
+    Vector3 triangle_left = {-2.0f, -1.732f, 8.0f};  // Left point (moved up by half the height)
+    Vector3 triangle_right = {2.0f, -1.732f, 8.0f};  // Right point (moved up by half the height)
+    DrawTriangle3D(triangle_top, triangle_left, triangle_right, PUFF_CYAN);
+    if(!IsKeyDown(KEY_LEFT_SHIFT)){
+        return;
+    }
     int max_obs = 6 + 7*(MAX_CARS - 1) + 7*MAX_ROAD_SEGMENT_OBSERVATIONS;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     float* agent_obs = &observations[agent_index][0];
@@ -1166,10 +1187,36 @@ void draw_agent_obs(GPUDrive* env, int agent_index){
         float theta_y = agent_obs[obs_idx + 5];
         float partner_angle = atan2f(theta_y, theta_x);
         // draw an arrow above the car pointing in the direction that the partner is going
-        float arrow_length = 10.0f;
+        float arrow_length = 7.5f;
         float arrow_x = x + arrow_length*cosf(partner_angle);
         float arrow_y = y + arrow_length*sinf(partner_angle);
-        DrawLine3D((Vector3){x, y, 1}, (Vector3){arrow_x, arrow_y, 1}, PUFF_CYAN);
+        DrawLine3D((Vector3){x, y, 1}, (Vector3){arrow_x, arrow_y, 1}, PUFF_WHITE);
+        // Calculate perpendicular offsets for arrow head
+        float arrow_size = 2.0f;  // Size of the arrow head
+        float dx = arrow_x - x;
+        float dy = arrow_y - y;
+        float length = sqrtf(dx*dx + dy*dy);
+        if (length > 0) {
+            // Normalize direction vector
+            dx /= length;
+            dy /= length;
+            
+            // Calculate perpendicular vector
+            float px = -dy * arrow_size;
+            float py = dx * arrow_size;
+            
+            // Draw the two lines forming the arrow head
+            DrawLine3D(
+                (Vector3){arrow_x, arrow_y, 1},
+                (Vector3){arrow_x - dx*arrow_size + px, arrow_y - dy*arrow_size + py, 1},
+                PUFF_WHITE
+            );
+            DrawLine3D(
+                (Vector3){arrow_x, arrow_y, 1},
+                (Vector3){arrow_x - dx*arrow_size - px, arrow_y - dy*arrow_size - py, 1},
+                PUFF_WHITE
+            );
+        }
         obs_idx += 7;  // Move to next agent observation (7 values per agent)
     }
     // Then draw map observations
@@ -1200,6 +1247,7 @@ void draw_agent_obs(GPUDrive* env, int agent_index){
         float x_end = x_middle + segment_length*cosf(rel_angle);
         float y_end = y_middle + segment_length*sinf(rel_angle);
         DrawLine3D((Vector3){0,0,0}, (Vector3){x_middle, y_middle, 1}, lineColor); 
+        DrawCube((Vector3){x_middle, y_middle, 1}, 0.5f, 0.5f, 0.5f, lineColor);
         DrawLine3D((Vector3){x_start, y_start, 1}, (Vector3){x_end, y_end, 1}, BLUE);
     }
 }
@@ -1209,6 +1257,7 @@ void c_render(Client* client, GPUDrive* env) {
     BeginDrawing();
     ClearBackground(PUFF_BACKGROUND);
     BeginMode3D(client->camera);
+    
     // Draw a grid to help with orientation
     // DrawGrid(20, 1.0f);
     DrawLine3D((Vector3){env->map_corners[0], env->map_corners[1], 0}, (Vector3){env->map_corners[2], env->map_corners[1], 0}, PUFF_CYAN);
@@ -1260,8 +1309,9 @@ void c_render(Client* client, GPUDrive* env) {
             // Determine color based on active status and other conditions
             Color object_color = PUFF_BACKGROUND2;  // Default color for non-active vehicles
             Color outline_color = PUFF_CYAN;
+            Model car_model = client->cars[5];
             if(is_active_agent){
-                object_color = PUFF_CYAN;  // Active agents are blue
+                car_model = client->cars[client->car_assignments[i]];
             }
             if(agent_index == env->human_agent_idx){
                 object_color = PUFF_CYAN;
@@ -1275,10 +1325,43 @@ void c_render(Client* client, GPUDrive* env) {
                 draw_agent_obs(env, agent_index);
             }
             // Draw cube for cars static and active
-            DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color);
-            DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, outline_color);
+            // Calculate scale factors based on desired size and model dimensions
+            
+            BoundingBox bounds = GetModelBoundingBox(car_model);
+            Vector3 model_size = {
+                bounds.max.x - bounds.min.x,
+                bounds.max.y - bounds.min.y,
+                bounds.max.z - bounds.min.z
+            };
+            Vector3 scale = {
+                size.x / model_size.x,
+                size.y / model_size.y,
+                size.z / model_size.z
+            };
+            DrawModelEx(car_model, (Vector3){0, 0, 0}, (Vector3){1, 0, 0}, 90.0f, scale, WHITE);
             rlPopMatrix();
+            // FPV Camera Control
+            if(IsKeyDown(KEY_LEFT_CONTROL) && env->human_agent_idx== agent_index){
+                Vector3 position = (Vector3){
+                    env->entities[env->active_agent_indices[env->human_agent_idx]].x,
+                    env->entities[env->active_agent_indices[env->human_agent_idx]].y,
+                    1
+                };
+                Vector3 camera_position = (Vector3){
+                        position.x-5,
+                        position.y-5,
+                        position.z + 25
+                };
+                client->camera.position = camera_position;
+                client->camera.target = position;
+                client->camera.up = (Vector3){0, 1, 0};
+                client->camera.fovy = 45.0f;
+                client->camera.projection = CAMERA_PERSPECTIVE;
+            } else {
+                client->camera.up = (Vector3){ 0.0f, -1.0f, 0.0f };  // Y is up
+            }
             // Draw goal position for active agents
+
             if(!is_active_agent || env->entities[i].valid == 0) {
                 continue;
             }
@@ -1306,7 +1389,7 @@ void c_render(Client* client, GPUDrive* env) {
             Color lineColor = GRAY;
             if (env->entities[i].type == ROAD_LANE) lineColor = GRAY;
             else if (env->entities[i].type == ROAD_LINE) lineColor = BLUE;
-            else if (env->entities[i].type == ROAD_EDGE) lineColor = PUFF_CYAN;
+            else if (env->entities[i].type == ROAD_EDGE) lineColor = WHITE;
             else if (env->entities[i].type == DRIVEWAY) lineColor = RED;
             if(env->entities[i].type != ROAD_EDGE){
                 continue;
@@ -1319,18 +1402,18 @@ void c_render(Client* client, GPUDrive* env) {
         }
     }
     // Draw grid cells using the stored bounds
-    float grid_start_x = env->map_corners[0];
-    float grid_start_y = env->map_corners[1];
-    for(int i = 0; i < env->grid_cols; i++) {
-        for(int j = 0; j < env->grid_rows; j++) {
-            float x = grid_start_x + i*GRID_CELL_SIZE;
-            float y = grid_start_y + j*GRID_CELL_SIZE;
-            // int index = i * env->grid_rows + j;
-            DrawCubeWires(
-                (Vector3){x + GRID_CELL_SIZE/2, y + GRID_CELL_SIZE/2, 1}, 
-                GRID_CELL_SIZE, GRID_CELL_SIZE, 0.1f, PUFF_BACKGROUND2);
-        }
-    }
+    // float grid_start_x = env->map_corners[0];
+    // float grid_start_y = env->map_corners[1];
+    // for(int i = 0; i < env->grid_cols; i++) {
+    //     for(int j = 0; j < env->grid_rows; j++) {
+    //         float x = grid_start_x + i*GRID_CELL_SIZE;
+    //         float y = grid_start_y + j*GRID_CELL_SIZE;
+    //         // int index = i * env->grid_rows + j;
+    //         DrawCubeWires(
+    //             (Vector3){x + GRID_CELL_SIZE/2, y + GRID_CELL_SIZE/2, 1}, 
+    //             GRID_CELL_SIZE, GRID_CELL_SIZE, 0.1f, PUFF_BACKGROUND2);
+    //     }
+    // }
     EndMode3D();
     // Draw debug info
     DrawText(TextFormat("Camera Position: (%.2f, %.2f, %.2f)", 
@@ -1358,6 +1441,9 @@ void c_render(Client* client, GPUDrive* env) {
 }
 
 void close_client(Client* client){
+    for (int i = 0; i < 5; i++) {
+        UnloadModel(client->cars[i]);
+    }
     CloseWindow();
     free(client);
 }

From 322b1d34d29971cc794d88ef9ee4d52f5ea824f8 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Fri, 25 Apr 2025 14:05:05 +0000
Subject: [PATCH 109/112] in progress render improvements

---
 config/ocean/gpudrive.ini           | 36 ++++++++++++++---------------
 pufferlib/ocean/gpudrive/gpudrive.h | 36 ++++++++++++++---------------
 2 files changed, 35 insertions(+), 37 deletions(-)

diff --git a/config/ocean/gpudrive.ini b/config/ocean/gpudrive.ini
index 56a273ba0b..a3e94bdf29 100644
--- a/config/ocean/gpudrive.ini
+++ b/config/ocean/gpudrive.ini
@@ -6,17 +6,17 @@ rnn_name = Recurrent
 vec = multiprocessing
 
 [policy]
-input_size = 256
-hidden_size = 256
+input_size = 64
+hidden_size = 128
 
 [rnn]
-input_size = 256
-hidden_size = 256
+input_size = 64
+hidden_size = 128
 
 [env]
 num_envs = 256
-reward_vehicle_collision = -0.25
-reward_offroad_collision = -0.25
+reward_vehicle_collision = -0.75
+reward_offroad_collision = -0.75
 
 [train]
 total_timesteps = 250_000_000
@@ -26,16 +26,16 @@ num_workers = 2
 num_envs = 2
 env_batch_size = 1
 
-[sweep.env.reward_vehicle_collision]
-distribution = uniform
-min = -1.0
-max = -0.25
-mean = -0.5
-scale = auto 
+#[sweep.env.reward_vehicle_collision]
+#distribution = uniform
+#min = -1.0
+#max = -0.25
+#mean = -0.5
+#scale = auto 
 
-[sweep.env.reward_offroad_collision]
-distribution = uniform
-min = -1.0
-max = -0.25
-mean = -0.5
-scale = auto
+#[sweep.env.reward_offroad_collision]
+#distribution = uniform
+#min = -1.0
+#max = -0.25
+#mean = -0.5
+#scale = auto
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 35a910372d..9e11f2d669 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -1052,7 +1052,7 @@ void c_step(GPUDrive* env){
         int agent_idx = env->active_agent_indices[i];
         env->entities[agent_idx].collision_state = 0;
         if(env->goal_reached[i]){
-            // env->masks[i] = 0;
+            env->masks[i] = 0;
             env->entities[agent_idx].x = -10000;
             env->entities[agent_idx].y = -10000;
             continue;
@@ -1084,7 +1084,7 @@ void c_step(GPUDrive* env){
 	        env->goal_reached[i] = 1;
 		    env->reached_goal_this_turn[i] = 1;
 	        env->logs[i].episode_return += 1.0f;
-            // env->dones[i] = 1;
+            env->dones[i] = 1;
             continue;
 	    }
     }
@@ -1127,7 +1127,7 @@ Client* make_client(GPUDrive* env){
     client->cars[4] = LoadModel("resources/gpudrive/GreenCar.glb");
     client->cars[5] = LoadModel("resources/gpudrive/GreyCar.glb");
     for (int i = 0; i < MAX_CARS; i++) {
-        client->car_assignments[i] = rand() % 5;
+        client->car_assignments[i] = (rand() % 4) + 1;
     }
     // Get initial target position from first active agent
     Vector3 target_pos = {
@@ -1311,14 +1311,14 @@ void c_render(Client* client, GPUDrive* env) {
             Color outline_color = PUFF_CYAN;
             Model car_model = client->cars[5];
             if(is_active_agent){
-                car_model = client->cars[client->car_assignments[i]];
+                car_model = client->cars[client->car_assignments[i %64]];
             }
             if(agent_index == env->human_agent_idx){
                 object_color = PUFF_CYAN;
                 outline_color = PUFF_WHITE;
             }
             if(is_active_agent && env->entities[i].collision_state > 0) {
-                object_color = RED;  // Collided agent
+                car_model = client->cars[0];  // Collided agent
             }
             // Draw obs for human selected agent
             if(agent_index == env->human_agent_idx && env->goal_reached[agent_index] == 0) {
@@ -1342,23 +1342,21 @@ void c_render(Client* client, GPUDrive* env) {
             rlPopMatrix();
             // FPV Camera Control
             if(IsKeyDown(KEY_LEFT_CONTROL) && env->human_agent_idx== agent_index){
-                Vector3 position = (Vector3){
-                    env->entities[env->active_agent_indices[env->human_agent_idx]].x,
-                    env->entities[env->active_agent_indices[env->human_agent_idx]].y,
-                    1
-                };
+                
                 Vector3 camera_position = (Vector3){
-                        position.x-5,
-                        position.y-5,
-                        position.z + 25
+                        position.x - (25.0f * cosf(heading)),
+                        position.y - (25.0f * sinf(heading)),
+                        position.z + 15
+                };
+
+                Vector3 camera_target = (Vector3){
+                    position.x + 40.0f * cosf(heading),
+                    position.y + 40.0f * sinf(heading),
+                    position.z - 5.0f
                 };
                 client->camera.position = camera_position;
-                client->camera.target = position;
-                client->camera.up = (Vector3){0, 1, 0};
-                client->camera.fovy = 45.0f;
-                client->camera.projection = CAMERA_PERSPECTIVE;
-            } else {
-                client->camera.up = (Vector3){ 0.0f, -1.0f, 0.0f };  // Y is up
+                client->camera.target = camera_target;
+                client->camera.up = (Vector3){0, 0, 1};
             }
             // Draw goal position for active agents
 

From f5f841f512a9ee38073377140628fb5599877f7b Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Fri, 25 Apr 2025 18:53:17 +0000
Subject: [PATCH 110/112] rendering improvements

---
 pufferlib/ocean/gpudrive/gpudrive.h        | 174 +++++++++++++++++----
 pufferlib/resources/gpudrive/BlueCar.glb   | Bin 0 -> 239892 bytes
 pufferlib/resources/gpudrive/GreenCar.glb  | Bin 0 -> 239896 bytes
 pufferlib/resources/gpudrive/GreyCar.glb   | Bin 0 -> 239892 bytes
 pufferlib/resources/gpudrive/RedCar.glb    | Bin 0 -> 239876 bytes
 pufferlib/resources/gpudrive/WhiteCar.glb  | Bin 0 -> 239892 bytes
 pufferlib/resources/gpudrive/YellowCar.glb | Bin 0 -> 239876 bytes
 7 files changed, 141 insertions(+), 33 deletions(-)
 create mode 100644 pufferlib/resources/gpudrive/BlueCar.glb
 create mode 100644 pufferlib/resources/gpudrive/GreenCar.glb
 create mode 100644 pufferlib/resources/gpudrive/GreyCar.glb
 create mode 100644 pufferlib/resources/gpudrive/RedCar.glb
 create mode 100644 pufferlib/resources/gpudrive/WhiteCar.glb
 create mode 100644 pufferlib/resources/gpudrive/YellowCar.glb

diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 9e11f2d669..6b96312107 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -45,7 +45,7 @@
 #define SLOTS_PER_CELL (MAX_ENTITIES_PER_CELL*2 + 1)
 
 // Max road segment observation entities
-#define MAX_ROAD_SEGMENT_OBSERVATIONS 64
+#define MAX_ROAD_SEGMENT_OBSERVATIONS 100
 #define MAX_CARS 64
 // Observation Space Constants
 #define MAX_SPEED 100.0f
@@ -1130,18 +1130,20 @@ Client* make_client(GPUDrive* env){
         client->car_assignments[i] = (rand() % 4) + 1;
     }
     // Get initial target position from first active agent
+    float map_center_x = (env->map_corners[0] + env->map_corners[2]) / 2.0f;
+    float map_center_y = (env->map_corners[1] + env->map_corners[3]) / 2.0f;
     Vector3 target_pos = {
-        env->entities[env->active_agent_indices[0]].x,
-        env->entities[env->active_agent_indices[0]].y,  // Y is up
-        env->entities[env->active_agent_indices[0]].z   // Z is depth
+        map_center_x,
+        map_center_y,  // Y is up
+        1   // Z is depth
     };
     printf("target_pos: %f, %f, %f\n", target_pos.x, target_pos.y, target_pos.z);
     
     // Set up camera to look at target from above and behind
     client->default_camera_position = (Vector3){ 
-        target_pos.x,           // Same X as target
-        target_pos.y + 120.0f,   // 20 units above target
-        target_pos.z + 175.0f    // 20 units behind target
+        map_center_x,           // Same X as target
+        map_center_y + 120.0f,   // 20 units above target
+        1 + 175.0f    // 20 units behind target
     };
     client->default_camera_target = target_pos;
     client->camera.position = client->default_camera_position;
@@ -1154,10 +1156,31 @@ Client* make_client(GPUDrive* env){
 }
 
 void draw_agent_obs(GPUDrive* env, int agent_index){
-    Vector3 triangle_top = {0.0f, 1.732f, 8.0f};     // Top point (moved up by half the height)
-    Vector3 triangle_left = {-2.0f, -1.732f, 8.0f};  // Left point (moved up by half the height)
-    Vector3 triangle_right = {2.0f, -1.732f, 8.0f};  // Right point (moved up by half the height)
-    DrawTriangle3D(triangle_top, triangle_left, triangle_right, PUFF_CYAN);
+    // Diamond dimensions
+    float diamond_height = 3.0f;    // Total height of diamond
+    float diamond_width = 1.5f;     // Width of diamond
+    float diamond_z = 8.0f;         // Base Z position
+    
+    // Define diamond points
+    Vector3 top_point = (Vector3){0.0f, 0.0f, diamond_z + diamond_height/2};     // Top point
+    Vector3 bottom_point = (Vector3){0.0f, 0.0f, diamond_z - diamond_height/2};  // Bottom point
+    Vector3 front_point = (Vector3){0.0f, diamond_width/2, diamond_z};           // Front point
+    Vector3 back_point = (Vector3){0.0f, -diamond_width/2, diamond_z};           // Back point
+    Vector3 left_point = (Vector3){-diamond_width/2, 0.0f, diamond_z};           // Left point
+    Vector3 right_point = (Vector3){diamond_width/2, 0.0f, diamond_z};           // Right point
+    
+    // Draw the diamond faces
+    // Top pyramid
+    DrawTriangle3D(top_point, front_point, right_point, PUFF_CYAN);    // Front-right face
+    DrawTriangle3D(top_point, right_point, back_point, PUFF_CYAN);     // Back-right face
+    DrawTriangle3D(top_point, back_point, left_point, PUFF_CYAN);      // Back-left face
+    DrawTriangle3D(top_point, left_point, front_point, PUFF_CYAN);     // Front-left face
+    
+    // Bottom pyramid
+    DrawTriangle3D(bottom_point, right_point, front_point, PUFF_CYAN); // Front-right face
+    DrawTriangle3D(bottom_point, back_point, right_point, PUFF_CYAN);  // Back-right face
+    DrawTriangle3D(bottom_point, left_point, back_point, PUFF_CYAN);   // Back-left face
+    DrawTriangle3D(bottom_point, front_point, left_point, PUFF_CYAN);  // Front-left face
     if(!IsKeyDown(KEY_LEFT_SHIFT)){
         return;
     }
@@ -1255,7 +1278,8 @@ void draw_agent_obs(GPUDrive* env, int agent_index){
 
 void c_render(Client* client, GPUDrive* env) {
     BeginDrawing();
-    ClearBackground(PUFF_BACKGROUND);
+    Color road = (Color){35, 35, 37, 255};
+    ClearBackground(road);
     BeginMode3D(client->camera);
     
     // Draw a grid to help with orientation
@@ -1342,7 +1366,9 @@ void c_render(Client* client, GPUDrive* env) {
             rlPopMatrix();
             // FPV Camera Control
             if(IsKeyDown(KEY_LEFT_CONTROL) && env->human_agent_idx== agent_index){
-                
+                if(env->goal_reached[agent_index] == 1){
+                    env->human_agent_idx = rand() % env->active_agent_count;
+                }
                 Vector3 camera_position = (Vector3){
                         position.x - (25.0f * cosf(heading)),
                         position.y - (25.0f * sinf(heading)),
@@ -1358,16 +1384,23 @@ void c_render(Client* client, GPUDrive* env) {
                 client->camera.target = camera_target;
                 client->camera.up = (Vector3){0, 0, 1};
             }
+            if(IsKeyReleased(KEY_LEFT_CONTROL)){
+                client->camera.position = client->default_camera_position;
+                client->camera.target = client->default_camera_target;
+                client->camera.up = (Vector3){0, 0, 1};
+            }
             // Draw goal position for active agents
 
             if(!is_active_agent || env->entities[i].valid == 0) {
                 continue;
             }
-            DrawSphere((Vector3){
-                env->entities[i].goal_position_x,
-                env->entities[i].goal_position_y,
-                1
-            }, 0.5f, DARKGREEN);
+            if(!IsKeyDown(KEY_LEFT_SHIFT)){
+                DrawSphere((Vector3){
+                    env->entities[i].goal_position_x,
+                    env->entities[i].goal_position_y,
+                    1
+                }, 0.5f, DARKGREEN);
+            }
         }
         // Draw road elements
         if(env->entities[i].type <=3 && env->entities[i].type >= 7){
@@ -1393,25 +1426,100 @@ void c_render(Client* client, GPUDrive* env) {
                 continue;
             }
             if(!IsKeyDown(KEY_LEFT_SHIFT)){
-                DrawLine3D(start, end, lineColor);
-                DrawCube(start, 0.5f, 0.5f, 0.5f, lineColor);
-                DrawCube(end, 0.5f, 0.5f, 0.5f, lineColor);
+                Color CURB_TOP = (Color){220, 220, 220, 255};      // Top surface - lightest
+                Color CURB_SIDE = (Color){180, 180, 180, 255};     // Side faces - medium
+                Color CURB_BOTTOM = (Color){160, 160, 160, 255};
+                                // Calculate curb dimensions
+                float curb_height = 0.5f;  // Height of the curb
+                float curb_width = 0.3f;   // Width/thickness of the curb
+                
+                // Calculate direction vector between start and end
+                Vector3 direction = {
+                    end.x - start.x,
+                    end.y - start.y,
+                    0.0f
+                };
+                
+                // Calculate length of the segment
+                float length = sqrtf(direction.x * direction.x + direction.y * direction.y);
+                
+                // Normalize direction vector
+                Vector3 normalized_dir = {
+                    direction.x / length,
+                    direction.y / length,
+                    0.0f
+                };
+                
+                // Calculate perpendicular vector for width
+                Vector3 perpendicular = {
+                    -normalized_dir.y,
+                    normalized_dir.x,
+                    0.0f
+                };
+                
+                // Calculate the four bottom corners of the curb
+                Vector3 b1 = {
+                    start.x - perpendicular.x * curb_width/2,
+                    start.y - perpendicular.y * curb_width/2,
+                    start.z
+                };
+                Vector3 b2 = {
+                    start.x + perpendicular.x * curb_width/2,
+                    start.y + perpendicular.y * curb_width/2,
+                    start.z
+                };
+                Vector3 b3 = {
+                    end.x + perpendicular.x * curb_width/2,
+                    end.y + perpendicular.y * curb_width/2,
+                    end.z
+                };
+                Vector3 b4 = {
+                    end.x - perpendicular.x * curb_width/2,
+                    end.y - perpendicular.y * curb_width/2,
+                    end.z
+                };
+                
+                // Draw the curb faces
+                // Bottom face
+                DrawTriangle3D(b1, b2, b3, CURB_BOTTOM);
+                DrawTriangle3D(b1, b3, b4, CURB_BOTTOM);
+                
+                // Top face (raised by curb_height)
+                Vector3 t1 = {b1.x, b1.y, b1.z + curb_height};
+                Vector3 t2 = {b2.x, b2.y, b2.z + curb_height};
+                Vector3 t3 = {b3.x, b3.y, b3.z + curb_height};
+                Vector3 t4 = {b4.x, b4.y, b4.z + curb_height};
+                DrawTriangle3D(t1, t3, t2, CURB_TOP);
+                DrawTriangle3D(t1, t4, t3, CURB_TOP);
+                
+                // Side faces
+                DrawTriangle3D(b1, t1, b2, CURB_SIDE);
+                DrawTriangle3D(t1, t2, b2, CURB_SIDE);
+                DrawTriangle3D(b2, t2, b3, CURB_SIDE);
+                DrawTriangle3D(t2, t3, b3, CURB_SIDE);
+                DrawTriangle3D(b3, t3, b4, CURB_SIDE);
+                DrawTriangle3D(t3, t4, b4, CURB_SIDE);
+                DrawTriangle3D(b4, t4, b1, CURB_SIDE);
+                DrawTriangle3D(t4, t1, b1, CURB_SIDE);
+                // DrawLine3D(start, end, lineColor);
+                // DrawCube(start, 0.5f, 0.5f, 0.5f, lineColor);
+                // DrawCube(end, 0.5f, 0.5f, 0.5f, lineColor);
             }
         }
     }
     // Draw grid cells using the stored bounds
-    // float grid_start_x = env->map_corners[0];
-    // float grid_start_y = env->map_corners[1];
-    // for(int i = 0; i < env->grid_cols; i++) {
-    //     for(int j = 0; j < env->grid_rows; j++) {
-    //         float x = grid_start_x + i*GRID_CELL_SIZE;
-    //         float y = grid_start_y + j*GRID_CELL_SIZE;
-    //         // int index = i * env->grid_rows + j;
-    //         DrawCubeWires(
-    //             (Vector3){x + GRID_CELL_SIZE/2, y + GRID_CELL_SIZE/2, 1}, 
-    //             GRID_CELL_SIZE, GRID_CELL_SIZE, 0.1f, PUFF_BACKGROUND2);
-    //     }
-    // }
+    float grid_start_x = env->map_corners[0];
+    float grid_start_y = env->map_corners[1];
+    for(int i = 0; i < env->grid_cols; i++) {
+        for(int j = 0; j < env->grid_rows; j++) {
+            float x = grid_start_x + i*GRID_CELL_SIZE;
+            float y = grid_start_y + j*GRID_CELL_SIZE;
+            // int index = i * env->grid_rows + j;
+            DrawCubeWires(
+                (Vector3){x + GRID_CELL_SIZE/2, y + GRID_CELL_SIZE/2, 1}, 
+                GRID_CELL_SIZE, GRID_CELL_SIZE, 0.1f, PUFF_BACKGROUND2);
+        }
+    }
     EndMode3D();
     // Draw debug info
     DrawText(TextFormat("Camera Position: (%.2f, %.2f, %.2f)", 
diff --git a/pufferlib/resources/gpudrive/BlueCar.glb b/pufferlib/resources/gpudrive/BlueCar.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1f9ab06513e2e2d5b7cb7672bd140fc96d07b6d6
GIT binary patch
literal 239892
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diff --git a/pufferlib/resources/gpudrive/WhiteCar.glb b/pufferlib/resources/gpudrive/WhiteCar.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4475db8575849118f4b5f2d8d4c970e9c66053d2
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HcmV?d00001


From 436cd3d17a3a0ad2e4f4e24ec498bf996e4eee51 Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Mon, 5 May 2025 16:07:57 +0000
Subject: [PATCH 111/112] exact obs as gpudrive og

---
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx | 48 ++++++++++++-------
 pufferlib/ocean/gpudrive/gpudrive.c      |  8 ++--
 pufferlib/ocean/gpudrive/gpudrive.h      | 59 +++++++++++-------------
 pufferlib/ocean/gpudrive/gpudrive.py     | 12 ++---
 pufferlib/ocean/torch.py                 | 31 ++++++++-----
 5 files changed, 88 insertions(+), 70 deletions(-)

diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index 2c7d3aaf8e..edf6ba4a4f 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -1,4 +1,5 @@
-from libc.stdlib cimport calloc, free
+from libc.stdlib cimport calloc, malloc, free
+from libc.string cimport strcpy
 import numpy as np
 cdef extern from "gpudrive.h":
     int LOG_BUFFER_SIZE
@@ -179,47 +180,62 @@ cdef class CyGPUDrive:
 
         self.client = NULL
         self.num_envs = num_envs
-        self.envs = <GPUDrive*> calloc(num_envs, sizeof(GPUDrive))
+        cdef int num_clones
+        num_clones = 8
+        self.envs = <GPUDrive*> calloc(num_envs*num_clones, sizeof(GPUDrive))
         self.agent_offsets = <int*> calloc(num_envs + 1, sizeof(int))
         self.logs = allocate_logbuffer(LOG_BUFFER_SIZE)
         cdef int i
         for i in range(num_envs + 1):
             self.agent_offsets[i] = offsets[i]
         cdef int inc
-        for i in range(num_envs):
-            inc = self.agent_offsets[i]
-            print(inc)
-            map_file = f"resources/gpudrive/binaries/map_{i:03d}.bin".encode('utf-8')
+        cdef int index
+        cdef int total_envs
+        total_envs = num_envs * num_clones
+        cdef int total_agents
+        total_agents = self.agent_offsets[num_envs]
+        cdef char* c_map_file
+        for i in range(total_envs):
+            env_index = i % num_envs
+            clone_index = i // num_envs
+            inc = self.agent_offsets[env_index]
+            count = self.agent_offsets[env_index+1] - self.agent_offsets[env_index]
+            clone_agent_offset = clone_index * total_agents + inc
+            print("Env Index: ", env_index)
+            print("Increment: ", inc)
+            print("clone_agent_offset: ", clone_agent_offset)
+            map_file = f"resources/gpudrive/binaries/map_{env_index:03d}.bin".encode('utf-8')
+            c_map_file = <char*>malloc(len(map_file) + 1)
+            strcpy(c_map_file, map_file)
             print("cython map_name", map_file)
             self.envs[i] = GPUDrive(
-                observations=&observations[inc, 0],
-                actions=&actions[inc,0],
-                rewards=&rewards[inc],
-                masks=&masks[inc],
-                dones=&terminals[inc],
+                observations=&observations[clone_agent_offset, 0],
+                actions=&actions[clone_agent_offset,0],
+                rewards=&rewards[clone_agent_offset],
+                masks=&masks[clone_agent_offset],
+                dones=&terminals[clone_agent_offset],
                 log_buffer=self.logs,
                 human_agent_idx=human_agent_idx,
                 reward_vehicle_collision=reward_vehicle_collision,
                 reward_offroad_collision=reward_offroad_collision,
-                map_name = map_file
+                map_name = c_map_file
             )
-            print("init")
             init(&self.envs[i])
             self.client = NULL
 
 
     def reset(self):
         cdef int i
-        for i in range(self.num_envs):
+        for i in range(self.num_envs*8):
             c_reset(&self.envs[i])
 
     def step(self):
         cdef int i
-        for i in range(self.num_envs):
+        for i in range(self.num_envs*8):
             c_step(&self.envs[i])
 
     def render(self):
-        cdef GPUDrive* env = &self.envs[211]
+        cdef GPUDrive* env = &self.envs[11]
         if self.client == NULL:
             import os
             cwd = os.getcwd()
diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index 28ff85544c..2b32921576 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -102,7 +102,7 @@ void demo() {
         .human_agent_idx = 0,
         .reward_vehicle_collision = -0.1f,
         .reward_offroad_collision = -0.1f,
-	    .map_name = "resources/gpudrive/binaries/map_227.bin"
+	    .map_name = "resources/gpudrive/binaries/map_006.bin"
     };
     allocate(&env);
     c_reset(&env);
@@ -172,7 +172,7 @@ void performance_test() {
     GPUDrive env = {
         .dynamics_model = CLASSIC,
         .human_agent_idx = 0,
-	    .map_name = "resources/gpudrive/binaries/map_227.bin"
+	    .map_name = "resources/gpudrive/binaries/map_065.bin"
     };
     clock_t start_time, end_time;
     double cpu_time_used;
@@ -205,7 +205,7 @@ void performance_test() {
 }
 
 int main() {
-    // demo();
-    performance_test();
+    demo();
+    // performance_test();
     return 0;
 }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 770b178da3..219de81441 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -45,7 +45,7 @@
 #define SLOTS_PER_CELL (MAX_ENTITIES_PER_CELL*2 + 1)
 
 // Max road segment observation entities
-#define MAX_ROAD_SEGMENT_OBSERVATIONS 64
+#define MAX_ROAD_SEGMENT_OBSERVATIONS 200
 #define MAX_CARS 64
 // Observation Space Constants
 #define MAX_SPEED 100.0f
@@ -342,13 +342,6 @@ void set_active_agents(GPUDrive* env){
     for(int i = env->num_objects-1; i >= 0 && env->num_cars < MAX_CARS; i--){
         if(env->entities[i].type != 1) continue;
         if(env->entities[i].traj_valid[0] != 1) continue;
-        /*for(int j = 1; j < env->entities[i].array_size; j++){
-            if(env->entities[i].traj_valid[j] != 1) {
-                env->entities[i].goal_position_x = env->entities[i].traj_x[j-1];
-                env->entities[i].goal_position_y = env->entities[i].traj_y[j-1];
-                break;
-            }
-        }*/
         env->num_cars++;
         float cos_heading = cosf(env->entities[i].traj_heading[0]);
         float sin_heading = sinf(env->entities[i].traj_heading[0]);
@@ -466,7 +459,7 @@ void init_grid_map(GPUDrive* env){
     env->grid_cells = (int*)calloc(grid_cell_count*SLOTS_PER_CELL, sizeof(int));
     // Populate grid cells
     for(int i = 0; i < env->num_entities; i++){
-        if(env->entities[i].type == ROAD_EDGE){
+        if(env->entities[i].type > 3 && env->entities[i].type < 7){
             for(int j = 0; j < env->entities[i].array_size - 1; j++){
                 float x_center = (env->entities[i].traj_x[j] + env->entities[i].traj_x[j+1]) / 2;
                 float y_center = (env->entities[i].traj_y[j] + env->entities[i].traj_y[j+1]) / 2;
@@ -814,6 +807,7 @@ void collision_check(GPUDrive* env, int agent_idx) {
         if(entity_list[i] == agent_idx) continue;
         Entity* entity;
         entity = &env->entities[entity_list[i]];
+        if(entity->type != ROAD_EDGE) continue;
         int geometry_idx = entity_list[i + 1];
         float start[2] = {entity->traj_x[geometry_idx], entity->traj_y[geometry_idx]};
         float end[2] = {entity->traj_x[geometry_idx + 1], entity->traj_y[geometry_idx + 1]};
@@ -942,17 +936,9 @@ void compute_observations(GPUDrive* env) {
             cars_seen++;
             obs_idx += 7;  // Move to next observation slot
         }
-        for(int j = cars_seen; j < MAX_CARS - 1; j++){
-            obs[obs_idx] = 0;
-            obs[obs_idx + 1] = 0;
-            obs[obs_idx + 2] = 0;
-            obs[obs_idx + 3] = 0;
-            obs[obs_idx + 4] = 0;
-            obs[obs_idx + 5] = 0;
-            obs[obs_idx + 6] = 0;
-            obs_idx += 7;
-	    }
-	
+        int remaining_partner_obs = (MAX_CARS - 1 - cars_seen) * 7;
+        memset(&obs[obs_idx], 0, remaining_partner_obs * sizeof(float));
+        obs_idx += remaining_partner_obs;
         // map observations
         int entity_list[MAX_ROAD_SEGMENT_OBSERVATIONS*2];  // Array big enough for all neighboring cells
         int grid_idx = getGridIndex(env, ego_entity->x, ego_entity->y);
@@ -1052,7 +1038,7 @@ void c_step(GPUDrive* env){
         int agent_idx = env->active_agent_indices[i];
         env->entities[agent_idx].collision_state = 0;
         if(env->goal_reached[i]){
-            // env->masks[i] = 0;
+            env->masks[i] = 0;
             env->entities[agent_idx].x = -10000;
             env->entities[agent_idx].y = -10000;
             continue;
@@ -1079,12 +1065,12 @@ void c_step(GPUDrive* env){
                 env->entities[agent_idx].goal_position_x,
                 env->entities[agent_idx].goal_position_y);
         int reached_goal = distance_to_goal < 2.0f;
-        if(reached_goal){            
+        if(reached_goal && env->goal_reached[i] == 0){            
             env->rewards[i] += 1.0f;
 	        env->goal_reached[i] = 1;
 		    env->reached_goal_this_turn[i] = 1;
 	        env->logs[i].episode_return += 1.0f;
-            // env->dones[i] = 1;
+            env->dones[i] = 1;
             continue;
 	    }
     }
@@ -1132,10 +1118,13 @@ Client* make_client(GPUDrive* env){
 }
 
 void draw_agent_obs(GPUDrive* env, int agent_index){
+    if(!IsKeyDown(KEY_LEFT_SHIFT)){
+        return;
+    }
     int max_obs = 6 + 7*(MAX_CARS - 1) + 7*MAX_ROAD_SEGMENT_OBSERVATIONS;
     float (*observations)[max_obs] = (float(*)[max_obs])env->observations;
     float* agent_obs = &observations[agent_index][0];
-    // draw goal
+        // draw goal
     float goal_x = reverse_normalize_value(agent_obs[0], MIN_REL_GOAL_COORD, MAX_REL_GOAL_COORD);
     float goal_y = reverse_normalize_value(agent_obs[1], MIN_REL_GOAL_COORD, MAX_REL_GOAL_COORD);
     DrawSphere((Vector3){goal_x, goal_y, 1}, 0.5f, RED);
@@ -1174,9 +1163,9 @@ void draw_agent_obs(GPUDrive* env, int agent_index){
         Color lineColor = BLUE;  // Default color
         int entity_type = (int)agent_obs[entity_idx + 6];
         // Choose color based on entity type
-        if(entity_type+4 != ROAD_EDGE){
-            continue;
-        } 
+        // if(entity_type+4 != ROAD_EDGE){
+        //     continue;
+        // } 
         lineColor = BLACK;
         // For road segments, draw line between start and end points
         float x_middle = reverse_normalize_value(agent_obs[entity_idx], MIN_RG_COORD, MAX_RG_COORD);
@@ -1191,6 +1180,9 @@ void draw_agent_obs(GPUDrive* env, int agent_index){
         float y_start = y_middle - segment_length*sinf(rel_angle);
         float x_end = x_middle + segment_length*cosf(rel_angle);
         float y_end = y_middle + segment_length*sinf(rel_angle);
+        if(entity_type+4== ROAD_EDGE){
+            lineColor = PINK;
+        }
         DrawLine3D((Vector3){0,0,0}, (Vector3){x_middle, y_middle, 1}, lineColor); 
         DrawLine3D((Vector3){x_start, y_start, 1}, (Vector3){x_end, y_end, 1}, BLUE);
     }
@@ -1298,13 +1290,16 @@ void c_render(Client* client, GPUDrive* env) {
             else if (env->entities[i].type == ROAD_LINE) lineColor = BLUE;
             else if (env->entities[i].type == ROAD_EDGE) lineColor = BLACK;
             else if (env->entities[i].type == DRIVEWAY) lineColor = RED;
-            if(env->entities[i].type != ROAD_EDGE){
-                continue;
-            }
+            else if (env->entities[i].type == CROSSWALK) lineColor = GREEN;
+            // if(env->entities[i].type != ROAD_EDGE){
+            //     continue;
+            // }
             if(!IsKeyDown(KEY_LEFT_SHIFT)){
                 DrawLine3D(start, end, lineColor);
-                DrawSphere(start, 0.5f, lineColor);
-                DrawSphere(end, 0.5f, lineColor);
+                if(env->entities[i].type == ROAD_EDGE){
+                    DrawSphere(start, 0.5f, lineColor);
+                    DrawSphere(end, 0.5f, lineColor);
+                }
             }
         }
     }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index a79fecb921..efa889e167 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -20,7 +20,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         self.report_interval = report_interval
         print("Num envs: ", num_envs)
         
-        self.num_obs = 6 + 63*7 + 64*7
+        self.num_obs = 6 + 63*7 + 200*7
         self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1,
             shape=(self.num_obs,), dtype=np.float32)
         self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13])
@@ -28,7 +28,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1,
         total_agents, agent_offsets =CyGPUDrive.get_total_agent_count(
             num_envs, human_agent_idx, reward_vehicle_collision, reward_offroad_collision)
         
-        self.num_agents = total_agents
+        self.num_agents = total_agents * 8
         print("Num agents: ", self.num_agents)
         super().__init__(buf=buf)
         self.c_envs = CyGPUDrive(self.observations, self.actions, self.rewards, self.masks,
@@ -167,7 +167,7 @@ def save_map_binary(map_data, output_file):
             geometry = road.get('geometry', [])
             road_type = road.get('map_element_id', 0)
             # breakpoint()
-            if(len(geometry) > 10 and road_type >= 14 and road_type <=16):
+            if(len(geometry) > 10 and road_type <=16):
                 geometry = simplify_polyline(geometry, .1)
             size = len(geometry)
             # breakpoint()
@@ -242,13 +242,13 @@ def process_all_maps():
         except Exception as e:
             print(f"Error processing {map_path.name}: {e}")
 
-def test_performance(timeout=10, atn_cache=1024, num_envs=256):
+def test_performance(timeout=10, atn_cache=1024, num_envs=75):
     import time
 
     env = GPUDrive(num_envs=num_envs)
     env.reset()
     tick = 0
-    num_agents = 1670
+    num_agents = 3968
     actions = np.stack([
         np.random.randint(0, space.n + 1, (atn_cache, num_agents))
         for space in env.single_action_space
@@ -265,4 +265,4 @@ def test_performance(timeout=10, atn_cache=1024, num_envs=256):
 
 if __name__ == '__main__':
     test_performance()
-    #process_all_maps()
+    # process_all_maps()
diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py
index d37cd22c71..bf059e0bb5 100644
--- a/pufferlib/ocean/torch.py
+++ b/pufferlib/ocean/torch.py
@@ -421,22 +421,25 @@ def __init__(self, env, input_size=128, hidden_size=128, **kwargs):
         self.ego_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(6, input_size)),
-            #nn.ReLU(),
-            #pufferlib.pytorch.layer_init(
-            #    nn.Linear(input_size, input_size))
+            nn.ReLU(),
+            pufferlib.pytorch.layer_init(
+               nn.Linear(input_size, input_size))
         )
-        max_road_objects = 7
+        max_road_objects = 13
         self.road_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(max_road_objects, input_size)),
-            #nn.ReLU(),
-            
+            nn.ReLU(),
+            pufferlib.pytorch.layer_init(
+               nn.Linear(input_size, input_size))
         )
         max_partner_objects = 7
         self.partner_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(max_partner_objects, input_size)),
-            #nn.ReLU()
+            nn.ReLU(),
+            pufferlib.pytorch.layer_init(
+               nn.Linear(input_size, input_size))
         )
 
         '''
@@ -450,7 +453,7 @@ def __init__(self, env, input_size=128, hidden_size=128, **kwargs):
         )
         '''
         self.shared_embedding = nn.Sequential(
-            nn.GELU(),
+            # nn.GELU(),
             pufferlib.pytorch.layer_init(nn.Linear(3*input_size,  hidden_size)),
         )
         self.is_continuous = isinstance(env.single_action_space, pufferlib.spaces.Box)
@@ -469,13 +472,17 @@ def forward(self, observations):
     def encode_observations(self, observations):
         ego_dim = 6
         partner_dim = 63 * 7
-        road_dim = 64*7
+        road_dim = 200*7
         ego_obs = observations[:, :ego_dim]
         partner_obs = observations[:, ego_dim:ego_dim+partner_dim]
         road_obs = observations[:, ego_dim+partner_dim:ego_dim+partner_dim+road_dim]
         
         partner_objects = partner_obs.view(-1, 63, 7)
-        road_objects = road_obs.view(-1, 64, 7)
+        road_objects = road_obs.view(-1, 200, 7)
+        road_continuous = road_objects[:, :, :6]  # First 6 features
+        road_categorical = road_objects[:, :, 6]
+        road_onehot = F.one_hot(road_categorical.long(), num_classes=7)  # Shape: [batch, 200, 7]
+        road_objects = torch.cat([road_continuous, road_onehot], dim=2)
 
         ego_features = self.ego_encoder(ego_obs)
         partner_features, _ = self.partner_encoder(partner_objects).max(dim=1)
@@ -493,8 +500,8 @@ def encode_observations(self, observations):
         # )[0]
         
         # Pass through shared embedding
-        #embedding = F.relu(self.shared_embedding(concat_features))
-        embedding = self.shared_embedding(concat_features)
+        embedding = F.relu(self.shared_embedding(concat_features))
+        # embedding = self.shared_embedding(concat_features)
         return embedding
     
     def decode_actions(self, flat_hidden):

From 8b93bb84cbf5ca37ab2b51ba77cb655a8b509b5d Mon Sep 17 00:00:00 2001
From: Spencer Cheng <spenccheng@gmail.com>
Date: Tue, 6 May 2025 13:56:43 +0000
Subject: [PATCH 112/112] setting up baselines

---
 config/ocean/gpudrive.ini                | 32 ++++-------
 pufferlib/ocean/gpudrive/cy_gpudrive.pyx |  2 +
 pufferlib/ocean/gpudrive/gpudrive.c      |  6 +-
 pufferlib/ocean/gpudrive/gpudrive.h      | 70 ++++++++++++++++++++----
 pufferlib/ocean/gpudrive/gpudrive.py     |  4 +-
 pufferlib/ocean/torch.py                 | 20 +++----
 6 files changed, 88 insertions(+), 46 deletions(-)

diff --git a/config/ocean/gpudrive.ini b/config/ocean/gpudrive.ini
index 37cd297a31..d0f014ddc5 100644
--- a/config/ocean/gpudrive.ini
+++ b/config/ocean/gpudrive.ini
@@ -6,33 +6,23 @@ rnn_name = Recurrent
 vec = multiprocessing
 
 [policy]
-input_size = 256
-hidden_size = 256
+input_size = 64
+hidden_size = 128
 
 [rnn]
-input_size = 256
-hidden_size = 256
+input_size = 64
+hidden_size = 128
 
 [env]
-num_envs = 256
-reward_vehicle_collision = -0.25
-reward_offroad_collision = -0.25
+num_envs = 75
+reward_vehicle_collision = -0.75
+reward_offroad_collision = -0.75
 
 [train]
-total_timesteps = 250_000_000
-#bptt_horizon = 16
-#ent_coef = 0.001
-#learning_rate = 0.0025
-#batch_size = 524288
-#minibatch_size = 32768
-#gae_lambda = 0.95
-#gamma = 0.99
-#max_grad_norm = 0.5
-#update_epochs = 1
-#vf_coef = 2
-learning_rate = 0.01
-num_workers = 4
-num_envs = 4
+total_timesteps = 500_000_000
+learning_rate = 0.0003
+num_workers = 2
+num_envs = 2
 env_batch_size = 1
 anneal_lr = False
 
diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
index edf6ba4a4f..9f782f1e2d 100644
--- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
+++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx
@@ -83,6 +83,8 @@ cdef extern from "gpudrive.h":
         float reward_offroad_collision;
         char* map_name;
         char* reached_goal_this_turn;
+        float world_mean_x;
+        float world_mean_y;
 
     ctypedef struct Client
 
diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c
index 2b32921576..7df3ba8a72 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.c
+++ b/pufferlib/ocean/gpudrive/gpudrive.c
@@ -102,7 +102,7 @@ void demo() {
         .human_agent_idx = 0,
         .reward_vehicle_collision = -0.1f,
         .reward_offroad_collision = -0.1f,
-	    .map_name = "resources/gpudrive/binaries/map_006.bin"
+	    .map_name = "resources/gpudrive/binaries/map_003.bin"
     };
     allocate(&env);
     c_reset(&env);
@@ -205,7 +205,7 @@ void performance_test() {
 }
 
 int main() {
-    demo();
-    // performance_test();
+    // demo();
+    performance_test();
     return 0;
 }
diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h
index 219de81441..d10c10a4ff 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.h
+++ b/pufferlib/ocean/gpudrive/gpudrive.h
@@ -234,6 +234,8 @@ struct GPUDrive {
     float reward_offroad_collision;
     char* map_name;
     char* reached_goal_this_turn;
+    float world_mean_x;
+    float world_mean_y;
 };
 
 Entity* load_map_binary(const char* filename, GPUDrive* env) {
@@ -333,13 +335,14 @@ void set_start_position(GPUDrive* env){
 
 void set_active_agents(GPUDrive* env){
     env->static_car_count = 0;
-    env->num_cars = 0;
+    env->num_cars = 1;
     env->expert_static_car_count = 0;
     int active_agent_indices[MAX_CARS];
     int static_car_indices[MAX_CARS];
     int expert_static_car_indices[MAX_CARS];
-    env->active_agent_count = 0;
-    for(int i = env->num_objects-1; i >= 0 && env->num_cars < MAX_CARS; i--){
+    env->active_agent_count = 1;
+    active_agent_indices[0] = env->num_objects-1;
+    for(int i = 0; i < env->num_objects && env->num_cars < MAX_CARS; i++){
         if(env->entities[i].type != 1) continue;
         if(env->entities[i].traj_valid[0] != 1) continue;
         env->num_cars++;
@@ -353,6 +356,7 @@ void set_active_agents(GPUDrive* env){
         float distance_to_goal = relative_distance_2d(0, 0, rel_goal_x, rel_goal_y);
         env->entities[i].width *= 0.7f;
         env->entities[i].length *= 0.7f;
+        
         if(distance_to_goal >= 2.0f && env->entities[i].mark_as_expert == 0){
             active_agent_indices[env->active_agent_count] = i;
             env->active_agent_count++;
@@ -364,7 +368,6 @@ void set_active_agents(GPUDrive* env){
                 env->expert_static_car_count++;
             }
         }
-        
     }
     env->active_agent_indices = (int*)malloc(env->active_agent_count * sizeof(int));
     env->static_car_indices = (int*)malloc(env->static_car_count * sizeof(int));
@@ -572,6 +575,46 @@ int get_neighbor_cache_entities(GPUDrive* env, int cell_idx, int* entities, int
     return pairs;
 }
 
+void set_means(GPUDrive* env) {
+    float mean_x = 0.0f;
+    float mean_y = 0.0f;
+    int64_t point_count = 0;
+
+    // Compute single mean for all entities (vehicles and roads)
+    for (int i = 0; i < env->num_entities; i++) {
+        if (env->entities[i].type == VEHICLE) {
+            for (int j = 0; j < env->entities[i].array_size; j++) {
+                // Assume a validity flag exists (e.g., valid[j]); adjust if not available
+                if (env->entities[i].traj_valid[j]) { // Add validity check if applicable
+                    point_count++;
+                    mean_x += (env->entities[i].traj_x[j] - mean_x) / point_count;
+                    mean_y += (env->entities[i].traj_y[j] - mean_y) / point_count;
+                }
+            }
+        } else if (env->entities[i].type >= 4) {
+            for (int j = 0; j < env->entities[i].array_size; j++) {
+                point_count++;
+                mean_x += (env->entities[i].traj_x[j] - mean_x) / point_count;
+                mean_y += (env->entities[i].traj_y[j] - mean_y) / point_count;
+            }
+        }
+    }
+    env->world_mean_x = mean_x;
+    env->world_mean_y = mean_y;
+    for (int i = 0; i < env->num_entities; i++) {
+        if (env->entities[i].type == VEHICLE || env->entities[i].type >= 4) {
+            for (int j = 0; j < env->entities[i].array_size; j++) {
+                if(env->entities[i].traj_x[j] == -10000) continue;
+                env->entities[i].traj_x[j] -= mean_x;
+                env->entities[i].traj_y[j] -= mean_y;
+            }
+            env->entities[i].goal_position_x -= mean_x;
+            env->entities[i].goal_position_y -= mean_y;
+        }
+    }
+    
+}
+
 void init(GPUDrive* env){
     env->human_agent_idx = 0;
     env->timestep = 0;
@@ -579,6 +622,8 @@ void init(GPUDrive* env){
     // printf("entities loaded\n");
     // printf("num entities: %d\n", env->num_entities);
     env->dynamics_model = CLASSIC;
+    set_means(env);
+    printf("world mean: %f, %f\n", env->world_mean_x, env->world_mean_y);
     set_active_agents(env);
     set_start_position(env);
     // printf("Active agents: %d\n", env->active_agent_count);
@@ -1096,10 +1141,15 @@ Client* make_client(GPUDrive* env){
     client->puffers = LoadTexture("resources/puffers_128.png");
     
     // Get initial target position from first active agent
+    // Vector3 target_pos = {
+    //     env->entities[env->active_agent_indices[0]].x,
+    //     env->entities[env->active_agent_indices[0]].y,
+    //     env->entities[env->active_agent_indices[0]].z
+    // };
     Vector3 target_pos = {
-        env->entities[env->active_agent_indices[0]].x,
-        env->entities[env->active_agent_indices[0]].y,  // Y is up
-        env->entities[env->active_agent_indices[0]].z   // Z is depth
+        0,
+        0,
+        0
     };
     printf("target_pos: %f, %f, %f\n", target_pos.x, target_pos.y, target_pos.z);
     
@@ -1291,9 +1341,9 @@ void c_render(Client* client, GPUDrive* env) {
             else if (env->entities[i].type == ROAD_EDGE) lineColor = BLACK;
             else if (env->entities[i].type == DRIVEWAY) lineColor = RED;
             else if (env->entities[i].type == CROSSWALK) lineColor = GREEN;
-            // if(env->entities[i].type != ROAD_EDGE){
-            //     continue;
-            // }
+            if(env->entities[i].type < 4){
+                continue;
+            }
             if(!IsKeyDown(KEY_LEFT_SHIFT)){
                 DrawLine3D(start, end, lineColor);
                 if(env->entities[i].type == ROAD_EDGE){
diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py
index efa889e167..94380c38cd 100644
--- a/pufferlib/ocean/gpudrive/gpudrive.py
+++ b/pufferlib/ocean/gpudrive/gpudrive.py
@@ -264,5 +264,5 @@ def test_performance(timeout=10, atn_cache=1024, num_envs=75):
 
 
 if __name__ == '__main__':
-    test_performance()
-    # process_all_maps()
+    # test_performance()
+    process_all_maps()
diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py
index bf059e0bb5..ef3be36b8c 100644
--- a/pufferlib/ocean/torch.py
+++ b/pufferlib/ocean/torch.py
@@ -421,25 +421,25 @@ def __init__(self, env, input_size=128, hidden_size=128, **kwargs):
         self.ego_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(6, input_size)),
-            nn.ReLU(),
-            pufferlib.pytorch.layer_init(
-               nn.Linear(input_size, input_size))
+            # nn.ReLU(),
+            # pufferlib.pytorch.layer_init(
+            #    nn.Linear(input_size, input_size))
         )
         max_road_objects = 13
         self.road_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(max_road_objects, input_size)),
-            nn.ReLU(),
-            pufferlib.pytorch.layer_init(
-               nn.Linear(input_size, input_size))
+            # nn.ReLU(),
+            # pufferlib.pytorch.layer_init(
+            #    nn.Linear(input_size, input_size))
         )
         max_partner_objects = 7
         self.partner_encoder = nn.Sequential(
             pufferlib.pytorch.layer_init(
                 nn.Linear(max_partner_objects, input_size)),
-            nn.ReLU(),
-            pufferlib.pytorch.layer_init(
-               nn.Linear(input_size, input_size))
+            # nn.ReLU(),
+            # pufferlib.pytorch.layer_init(
+            #    nn.Linear(input_size, input_size))
         )
 
         '''
@@ -453,7 +453,7 @@ def __init__(self, env, input_size=128, hidden_size=128, **kwargs):
         )
         '''
         self.shared_embedding = nn.Sequential(
-            # nn.GELU(),
+            nn.GELU(),
             pufferlib.pytorch.layer_init(nn.Linear(3*input_size,  hidden_size)),
         )
         self.is_continuous = isinstance(env.single_action_space, pufferlib.spaces.Box)