(WIP) do not merge - Add nightly speed runs to check how fast we can solve a single map

pufferlib/config/ocean/drive.ini

@@ -54,6 +54,10 @@ collision_behavior = 1
 offroad_behavior = 1
 ; Traffic light behavior - options: 0 - Ignore, 1 - Stop, 2 - Remove
 traffic_light_behavior = 1
+; Goal placement (gigaflow) - options: 0 - route (forward waypoints), 1 - random (anywhere on map)
+goal_placement = 0
+; Share static map geometry (roads/grid/lane-graph) across envs using the same map - 0 off, 1 on
+use_map_cache = 0
 ; Number of steps before reset
 scenario_length = 1280
 ; Frequency of resampling scenario (in steps), 0 to disable
@@ -270,6 +274,9 @@ eval.verify_coverage = true
 
 [eval.validation_replay]
 inherits = "validation_defaults"
+; declared explicitly (same as the inherited default) so it can be toggled from
+; the CLI, e.g. --eval.validation-replay.enabled 0
+enabled = true
 type = "multi_scenario"
 render = true
 render_backend = "triage_html"
@@ -298,6 +305,33 @@ env.resample_frequency = 500
 eval.render_num_scenarios = 8
 eval.render_max_steps = 300
 
+; Manual obs_html render of the single-agent speed-run task (Town02, one agent,
+; random goals anywhere, lights off). enabled=false so it never runs inline during
+; training; invoke standalone, e.g.:
+;   puffer eval puffer_drive --evaluator single_agent_obs --load-model-path <ckpt>
+[eval.single_agent_obs]
+inherits = "validation_gigaflow"
+enabled = false
+type = "multi_scenario"
+render = true
+render_backend = "obs_html"
+env.map_dir = "pufferlib/resources/drive/binaries/carla_town02"
+env.num_maps = 1
+env.num_agents = 8
+env.min_agents_per_env = 1
+env.max_agents_per_env = 1
+env.goal_placement = 1
+env.traffic_light_behavior = 0
+env.max_traffic_control_observations = 0
+env.num_target_waypoints = 1
+env.min_waypoint_spacing = 0
+env.max_waypoint_spacing = 1000000
+env.max_goal_position = 1000
+env.scenario_length = 1280
+eval.num_scenarios = 8
+eval.render_num_scenarios = 8
+eval.render_max_steps = 1280
+
 ; ---------------------------------------------------------------------------
 ; Driving-behaviour evaluation: nuPlan scenes labeled by scene type. Each
 ; behavior is one [eval.behaviors_*] section. All inherit from the template

pufferlib/ocean/drive/binding.c

@@ -1796,6 +1796,8 @@ static int my_init(Env *env, PyObject *args, PyObject *kwargs) {
     env->collision_behavior = (int) unpack(kwargs, "collision_behavior");
     env->offroad_behavior = (int) unpack(kwargs, "offroad_behavior");
     env->traffic_light_behavior = (int) unpack(kwargs, "traffic_light_behavior");
+    env->goal_placement = (int) unpack(kwargs, "goal_placement");
+    env->use_map_cache = (int) unpack(kwargs, "use_map_cache");
     env->emit_completed_episodes = (int) unpack(kwargs, "emit_completed_episodes");
     env->next_episode_index = 0;
     env->completed_episodes_count = 0;