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Update drive.c demo to match 3.0_beta #339

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Update drive.c demo to match 3.0_beta #339

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35 changes: 28 additions & 7 deletions pufferlib/ocean/drive/drive.c
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@
#include "libgen.h"
#include "../env_config.h"
#include <string.h>
#include "../env_config.h"

// Use this test if the network changes to ensure that the forward pass
// matches the torch implementation to the 3rd or ideally 4th decimal place
Expand All @@ -21,7 +20,8 @@ void test_drivenet() {

// Weights* weights = load_weights("resources/drive/puffer_drive_weights.bin");
Weights *weights = load_weights("puffer_drive_weights.bin");
DriveNet *net = init_drivenet(weights, num_agents, CLASSIC);
int reward_conditioning = 0;
DriveNet *net = init_drivenet(weights, num_agents, CLASSIC, reward_conditioning);

forward(net, observations, actions);
for (int i = 0; i < num_agents * num_actions; i++) {
Expand All @@ -44,6 +44,9 @@ void demo() {
exit(1);
}

// Set different seed each time
srand(time(NULL));

// Note: Use below hardcoded settings for 2.0 demo purposes. Since the policy was
// trained with these exact settings, changing them may lead to
// weird behavior.
Expand All @@ -70,6 +73,15 @@ void demo() {
// .map_name = "resources/drive/map_town_02_carla.bin",
// };

AgentSpawnSettings spawn_settings = {
.max_agents_in_sim = conf.max_agents_per_env,
.min_w = conf.spawn_width_min,
.max_w = conf.spawn_width_max,
.min_l = conf.spawn_length_min,
.max_l = conf.spawn_length_max,
.h = conf.spawn_height,
};

Drive env = {
.human_agent_idx = 0,
.action_type = 0, // Demo doesn't support continuous action space
Expand All @@ -80,8 +92,10 @@ void demo() {
.reward_goal_post_respawn = conf.reward_goal_post_respawn,
.goal_radius = conf.goal_radius,
.goal_behavior = conf.goal_behavior,
.goal_target_distance = conf.goal_target_distance,
.goal_speed = conf.goal_speed,
.min_goal_distance = conf.min_goal_distance,
.max_goal_distance = conf.max_goal_distance,
.min_goal_speed = conf.min_goal_speed,
.max_goal_speed = conf.max_goal_speed,
.dt = conf.dt,
.episode_length = conf.episode_length,
.termination_mode = conf.termination_mode,
Expand All @@ -90,8 +104,15 @@ void demo() {
.init_steps = conf.init_steps,
.init_mode = conf.init_mode,
.control_mode = conf.control_mode,
.map_name = "resources/drive/binaries/carla/carla_3D/map_001.bin",
.spawn_settings = spawn_settings,
.map_name = "resources/drive/binaries/carla_2D/map_000.bin",
.reward_conditioning = conf.reward_conditioning,
};

if (conf.init_mode == INIT_VARIABLE_AGENT_NUMBER) {
env.num_agents = conf.min_agents_per_env + rand() % (conf.max_agents_per_env - conf.min_agents_per_env + 1);
}

allocate(&env);
if (env.active_agent_count == 0) {
fprintf(stderr, "Error: No active agents found in map '%s' with init_mode=%d. Cannot run demo.\n", env.map_name,
Expand All @@ -101,8 +122,8 @@ void demo() {
}
c_reset(&env);
c_render(&env);
Weights *weights = load_weights("resources/drive/puffer_drive_weights.bin");
DriveNet *net = init_drivenet(weights, env.active_agent_count, env.dynamics_model);
Weights *weights = load_weights("best_policy_with_reward_conditioning.bin");
DriveNet *net = init_drivenet(weights, env.active_agent_count, env.dynamics_model, env.reward_conditioning);

int accel_delta = 1;
int steer_delta = 2;
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