Adding support to viz logs for all agents#449
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Pull request overview
Adds a new CONTROL_NONE control mode intended to enable full trajectory log replay visualization for all agents (including ego) by ignoring policy actions and replaying logged trajectories.
Changes:
- Added
CONTROL_NONE = 4in the C drive runtime and expanded “log replay” checks to include it. - Wired
"control_none"string → integer control mode indrive.py. - Updated
render_scenario.pyusage text to mention the new mode.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 4 comments.
| File | Description |
|---|---|
scripts/render_scenario.py |
Documents control_none as an option for visualization. |
pufferlib/ocean/drive/drive.py |
Maps "control_none" to control mode 4 and updates validation error text. |
pufferlib/ocean/drive/drive.h |
Defines CONTROL_NONE, treats it as replay for actor selection, and routes active agents through move_expert when enabled. |
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| // In REPLAY mode, determine which agents to control | ||
| bool is_log_replay = (env->control_mode == CONTROL_SDC_ONLY); | ||
| bool is_log_replay = (env->control_mode == CONTROL_SDC_ONLY || env->control_mode == CONTROL_NONE); | ||
| // In log-replay mode, no cap on actors | ||
| int max_agents = is_log_replay ? env->num_total_agents : env->num_max_agents; | ||
|
|
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| for (int i = 0; i < env->expert_static_agent_count; i++) { | ||
| int expert_idx = env->expert_static_agent_indices[i]; | ||
| move_expert(env, env->actions, expert_idx); | ||
| } | ||
| // Move active agents with policy actions | ||
| // Move active agents with policy actions (or expert log if CONTROL_NONE) | ||
| for (int i = 0; i < env->active_agent_count; i++) { | ||
| env->logs[i].score = 0.0f; | ||
| env->logs[i].episode_length += 1; | ||
| int agent_idx = env->active_agent_indices[i]; |
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| elif self.control_mode_str == "control_sdc_only": | ||
| self.control_mode = 3 | ||
| elif self.control_mode_str == "control_none": | ||
| self.control_mode = 4 | ||
| else: | ||
| raise ValueError( | ||
| "control_mode must be one of 'control_vehicles', 'control_agents', 'control_wosac', or " | ||
| f"'control_sdc_only'. Got: {self.control_mode_str}" | ||
| f"control_mode must be one of 'control_vehicles', 'control_agents', 'control_wosac', 'control_none', or 'control_sdc_only'. Got: {self.control_mode_str}" |
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| int agent_idx = env->active_agent_indices[i]; | ||
| move_dynamics(env, i, agent_idx); | ||
| // move_expert(env, env->actions, agent_idx); | ||
| if (env->control_mode == CONTROL_NONE) { | ||
| move_expert(env, env->actions, agent_idx); | ||
| } else { | ||
| move_dynamics(env, i, agent_idx); | ||
| } |
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Add control_none mode for full log replay visualization
Adds a new CONTROL_NONE control mode that replays all agents (including the ego vehicle) from logged trajectories, with no policy applied.
Previously, control_sdc_only only replayed non-ego agents while the ego was policy-controlled.
Changes:
move_dynamics when mode is CONTROL_NONE