WIP Optional ego-size inflation in control_sdc_only obs#475
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eugenevinitsky wants to merge 1 commit into
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WIP Optional ego-size inflation in control_sdc_only obs#475eugenevinitsky wants to merge 1 commit into
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Add env.ego_size_inflation (float fraction, default 0.0). When > 0 and control_mode == control_sdc_only, the SDC's own perceived length/width in its ego observation are scaled by (1 + ego_size_inflation); set 0.05 for +5%. Observation-only: actual sim_length/sim_width used for dynamics, collision, partner observations and rendering are unchanged. No-op in control_vehicles / control_agents / control_wosac. Plumbed through binding.c, drive.py (kwarg + attribute + C kwargs) and drive.ini (default 0.0, documented). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Pull request overview
Adds a new environment knob, env.ego_size_inflation, to optionally scale the SDC’s self-perceived length/width in its own ego observation (intended for control_sdc_only), without changing simulation dynamics/collision geometry.
Changes:
- Plumbs
ego_size_inflationfromDrive(...)(Python) through env init kwargs into the C engine. - Applies the inflation factor in
write_ego_obs()when writing the ego width/length observation features. - Exposes the new key in
pufferlib/config/ocean/drive.ini.
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| pufferlib/ocean/drive/drive.py | Adds ego_size_inflation parameter and forwards it into C init kwargs. |
| pufferlib/ocean/drive/drive.h | Stores the new env field and uses it to scale ego width/length observation features. |
| pufferlib/ocean/drive/binding.c | Unpacks ego_size_inflation from Python kwargs into the C env struct. |
| pufferlib/config/ocean/drive.ini | Documents and sets a default value for ego_size_inflation. |
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| if (env->ego_size_inflation > 0.0f && env->control_mode == CONTROL_SDC_ONLY) { | ||
| perceived_width *= (1.0f + env->ego_size_inflation); | ||
| perceived_length *= (1.0f + env->ego_size_inflation); | ||
| } |
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| # SDC perceives its own size inflated by this fraction in control_sdc_only obs | ||
| # (0 = off, 0.05 = +5%). Observation-only; sim dynamics/collision unchanged. | ||
| ego_size_inflation = 0.0 |
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Add env.ego_size_inflation (float fraction, default 0.0). When > 0 and control_mode == control_sdc_only, the SDC's own perceived length/width in its ego observation are scaled by (1 + ego_size_inflation); set 0.05 for +5%. Observation-only: actual sim_length/sim_width used for dynamics, collision, partner observations and rendering are unchanged. No-op in control_vehicles / control_agents / control_wosac.