Speed up end-to-end training: 220K -> 320K on RTX 4080 by reducing # road points (score maintained) (#177)

* 220K -> 320K.

* Reward bug fix.

* Minor.

Author: daphne-cornelisse

pufferlib/config/ocean/drive.ini

@@ -25,7 +25,7 @@ action_type = discrete
 ; Options: classic, jerk
 dynamics_model = classic
 reward_vehicle_collision = -0.5
-reward_offroad_collision = -0.2
+reward_offroad_collision = -0.5
 reward_ade = 0.0
 dt = 0.1
 reward_goal = 1.0
@@ -53,7 +53,7 @@ init_mode = "create_all_valid"
 
 [train]
 seed=42
-total_timesteps = 2_000_000_000
+total_timesteps = 2_500_000_000
 ; learning_rate = 0.02
 ; gamma = 0.985
 anneal_lr = True

pufferlib/ocean/drive/drive.h

@@ -69,7 +69,7 @@
        // gridmap, diagonal poly-lines -> sqrt(2), include diagonal ends -> 2
 
 // Observation constants
-#define MAX_ROAD_SEGMENT_OBSERVATIONS 200
+#define MAX_ROAD_SEGMENT_OBSERVATIONS 128
 #define MAX_AGENTS 32
 #define STOP_AGENT 1
 #define REMOVE_AGENT 2
@@ -2257,12 +2257,12 @@ void c_step(Drive *env) {
 
         if (collision_state > 0) {
             if (collision_state == VEHICLE_COLLISION) {
-                env->rewards[i] = env->reward_vehicle_collision;
+                env->rewards[i] += env->reward_vehicle_collision;
                 env->logs[i].episode_return += env->reward_vehicle_collision;
                 env->logs[i].collision_rate = 1.0f;
                 env->logs[i].avg_collisions_per_agent += 1.0f;
             } else if (collision_state == OFFROAD) {
-                env->rewards[i] = env->reward_offroad_collision;
+                env->rewards[i] += env->reward_offroad_collision;
                 env->logs[i].offroad_rate = 1.0f;
                 env->logs[i].episode_return += env->reward_offroad_collision;
                 env->logs[i].avg_offroad_per_agent += 1.0f;

pufferlib/pufferl.py

@@ -1370,18 +1370,14 @@ def ensure_drive_binary():
     binary is always up-to-date with the latest code changes.
     """
     if os.path.exists("./visualize"):
-        print("Removing existing visualize binary...")
         os.remove("./visualize")
 
-    print("Building visualize binary...")
     try:
         result = subprocess.run(
             ["bash", "scripts/build_ocean.sh", "visualize", "local"], capture_output=True, text=True, timeout=300
         )
 
-        if result.returncode == 0:
-            print("Successfully built visualize binary")
-        else:
+        if result.returncode != 0:
             print(f"Build failed: {result.stderr}")
             raise RuntimeError("Failed to build visualize binary for rendering")
     except subprocess.TimeoutExpired: