[WIP] Pragnay/driving behaviours eval by eugenevinitsky · Pull Request #391 · Emerge-Lab/PufferDrive

eugenevinitsky · 2026-04-07T22:48:21Z

No description provided.

…ring the log replay setting

…ng only the eval vecenvs active during evals, adding reopen mechanism for training vecenv, separate config file support for driving_behaviours_eval

… fix negative reward_condition values during eval

…cfgs

Copilot

Pull request overview

Adds a “driving behaviours” evaluation workflow for the Ocean Drive environment, primarily by running class-specific human-replay evals in subprocesses and optionally rendering per-class videos using INI overrides.

Changes:

Introduces driving-behaviour-class eval execution via subprocess (checkpoint-based) and associated config loading from an INI file.
Extends rendering/visualization to support --config INI overrides and human-replay rendering mode, plus improved logging and “render all maps” support.
Adds map conversion manifest output and tweaks Drive expert/static-agent selection for control_sdc_only.

Reviewed changes

Copilot reviewed 10 out of 11 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
pufferlib/vector.py	Joins worker processes after terminate during close.
pufferlib/utils.py	Adds subprocess runner for per-behaviour human-replay eval + wandb logging.
pufferlib/pufferl.py	Wires driving behaviours eval into training loop, adds config loading, improves render flow (auto map count, INI override).
pufferlib/ocean/drive/visualize.c	Adds INI-file parameter plumbed from `--config`; refactors output path logic and CLI flag naming.
pufferlib/ocean/drive/drive.py	Writes `manifest.json` for generated binaries.
pufferlib/ocean/drive/drive.h	Treats static agents as expert replay in `CONTROL_SDC_ONLY`.
pufferlib/ocean/drive/drive.c	Updates demo map path.
pufferlib/ocean/benchmark/evaluator.py	Adds `DrivingBehavioursEvaluator` helper class (in-process evaluator/config builder).
pufferlib/config/ocean/driving_behaviours_eval.ini	New driving behaviours eval class/reward configuration.
pufferlib/config/ocean/drive.ini	Enables behaviours eval + updates render defaults (auto num maps, human replay render).
.gitignore	Ignores all `*.mp4` outputs.

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Copilot · 2026-04-07T22:53:59Z

+        map_dir = class_cfg.get("map_dir", "")
+        if isinstance(map_dir, str):
+            map_dir = map_dir.strip('"')
+
+        # control_sdc_only needs exactly 1 agent per sub-env (map).
+        available_maps = len([f for f in os.listdir(map_dir) if f.endswith(".bin")]) if os.path.isdir(map_dir) else 1
+
+        cmd = [
+            sys.executable,
+            "-m",
+            "pufferlib.pufferl",
+            "eval",
+            config["env"],
+            "--load-model-path",
+            latest_cpt,
+            "--eval.wosac-realism-eval",
+            "False",
+            "--eval.human-replay-eval",
+            "True",
+            "--eval.human-replay-control-mode",
+            "control_sdc_only",
+            "--eval.map-dir",
+            map_dir,
+            # Load exactly the maps available in the eval set.
+            "--env.num-maps",
+            str(available_maps),
+            # One agent per map (control_sdc_only) avoids OOM and matches coverage.
+            "--eval.human-replay-num-agents",
+            str(available_maps),
+            "--env.resample-frequency",
+            "0",


map_dir can be empty/invalid, which makes available_maps fall back to 1 but still passes --eval.map-dir with an unusable path. Also, if the directory exists but has 0 .bin files, available_maps becomes 0 and you end up passing --env.num-maps 0 / --eval.human-replay-num-agents 0, which is likely to break eval. Consider validating map_dir (exists, contains at least one .bin) and skipping with a clear message when invalid.

Copilot · 2026-04-07T22:53:59Z

+    available_maps = len([f for f in os.listdir(map_dir) if f.endswith(".bin")])
+    if num_maps == "auto" or num_maps > available_maps:
+        print(f"Generating videos for all {available_maps} maps in {map_dir}")
+        num_maps = available_maps


num_maps can be a string when render() is called with a programmatic args dict (e.g., '5'). The condition num_maps > available_maps will then raise TypeError. Consider normalizing num_maps early (e.g., if it’s a digit string, cast to int) and rejecting other non-"auto" strings with a helpful error.

Copilot · 2026-04-07T22:53:59Z

+    char policy_base[256];
+    strcpy(policy_base, policy_name);
+    *strrchr(policy_base, '.') = '\0';

-        char map[256];
-        strcpy(map, basename((char *)map_name));
-        *strrchr(map, '.') = '\0';
+    char map[256];
+    strcpy(map, basename((char *)map_name));
+    *strrchr(map, '.') = '\0';

-        char video_dir[256];
-        sprintf(video_dir, "%s/video", policy_base);
-        char mkdir_cmd[512];
-        snprintf(mkdir_cmd, sizeof(mkdir_cmd), "mkdir -p \"%s\"", video_dir);
-        system(mkdir_cmd);
+    char video_dir[256];
+    sprintf(video_dir, "%s/video", policy_base);
+    char mkdir_cmd[512];
+    snprintf(mkdir_cmd, sizeof(mkdir_cmd), "mkdir -p \"%s\"", video_dir);
+    system(mkdir_cmd);


policy_base and map are derived via *strrchr(..., '.') = '\0' without checking that strrchr returned non-NULL. If policy_name or map_name lacks an extension, this will dereference NULL and crash. Also, the strcpy/sprintf calls here can overflow the fixed 256-byte buffers with long paths. Please add NULL checks and use bounded copies/formatting (e.g., snprintf) to avoid crashes/overflows.

Copilot · 2026-04-07T22:54:00Z

+    char video_dir[256];
+    sprintf(video_dir, "%s/video", policy_base);
+    char mkdir_cmd[512];
+    snprintf(mkdir_cmd, sizeof(mkdir_cmd), "mkdir -p \"%s\"", video_dir);
+    system(mkdir_cmd);


system("mkdir -p ...") is run using policy_base derived from the user-supplied --policy-name path. This introduces command-injection risk (e.g., quotes/metacharacters in the path) and is now executed even when --output-* paths are provided. Prefer creating the directory via mkdir(2)/filesystem APIs (and only when you actually need the auto-generated output paths).

Copilot · 2026-04-07T22:54:00Z


+import copy
+import traceback
+import gc


gc is imported at module scope but not referenced anywhere in this file (no gc.* usage). If linting is enabled, this will fail; otherwise it’s still extra noise. Please remove it or use it where intended.

Suggested change

import gc

Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

…ours_eval

Expert agents had position and heading set from logs but velocities were never updated, leaving sim_vx/sim_vy stale. This affected speed-based metrics, collision penalties, and partner observations. Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

wandb_prefix with '/' (e.g. 'driving_behaviours/lane_change') created nonexistent subdirectory paths for ffmpeg output, causing SIGPIPE (141). Replace '/' with '_' for file paths. Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

Runs gpu_heartbeat.py in background during training. Monitors GPU utilization via nvidia-smi and performs matrix multiplications when utilization drops below 65%, preventing the cluster scheduler from reclaiming idle GPUs. Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

The & was breaking the && chain, causing torchrun to run outside the singularity container (exit 127). Now capture heartbeat PID and kill it on training exit. Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

The bash -c + & interaction causes the training command to not run. Reverting to launch without heartbeat for now. Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

Reads driving_behaviours_eval.ini for per-class map dirs and reward conditioning values, generates a temp INI with pinned reward bounds, and runs the visualize binary for each map. Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

…gnay/driving_behaviours_eval

…oal radius Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

…ours_eval

eugenevinitsky · 2026-04-10T01:22:15Z

+    # Write manifest.json mapping each bin to its source JSON
+    manifest = {}
+    for i, map_path, binary_path, *_ in tasks:
+        _, _, success, _ = results[i]
+        if success:
+            manifest[f"map_{i:03d}.bin"] = map_path.name
+    manifest_path = binary_dir / "manifest.json"
+    with open(manifest_path, "w") as f:
+        json.dump(manifest, f, indent=2)
+    print(f"Wrote manifest to {manifest_path} ({len(manifest)} entries)")


@mpragnay really nice touch

…dn't be in PR Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

eugenevinitsky · 2026-04-10T03:14:55Z

+        from pufferlib.pufferl import load_config
+
+        original_argv = sys.argv
+        sys.argv = ["pufferl"]


What is this supposed to do?

Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

…y eval from subprocess for driving behaviours eval mode

mpragnay added 9 commits April 6, 2026 15:33

Fixed puffer render mode for log replay setting, some fixes for rende…

2dcb107

…ring the log replay setting

Add default manifest.json when building map binaries

d978227

Added driving behaviours eval, memory efficient implementation, keepi…

a838e0c

…ng only the eval vecenvs active during evals, adding reopen mechanism for training vecenv, separate config file support for driving_behaviours_eval

Add driving behaviours eval config file

a29e714

Driving behaviours eval in subprocess

632fcc5

Fix subprocess args to use the correct map_dir with correct num_maps,…

3fba62f

… fix negative reward_condition values during eval

Merge branch '3.0' into pragnay/driving_behaviours_eval

c91c669

Fixing renders on a per class basis

80dff96

Pass render cfg correctly, not working still need to look at all the …

efebf1d

…cfgs

Copilot AI review requested due to automatic review settings April 7, 2026 22:48

Copilot started reviewing on behalf of eugenevinitsky April 7, 2026 22:49 View session

Copilot AI reviewed Apr 7, 2026

View reviewed changes

mpragnay and others added 16 commits April 7, 2026 19:10

Add class binaries, remove class bins from gitignore

73f6eaf

Enable render_eval for all driving behaviour scenarios

5fe75e5

Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

Merge remote-tracking branch 'origin/3.0' into pragnay/driving_behavi…

2f124e2

…ours_eval

Revert heartbeat from submit_cluster — needs more debugging

4c3b43f

The bash -c + & interaction causes the training command to not run. Reverting to launch without heartbeat for now. Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

10x velocity reward coefficient: 2.5e-3 -> 2.5e-2

ae64373

Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

Merge remote-tracking branch 'origin/ev/fix-expert-velocity' into pra…

1fac4f9

…gnay/driving_behaviours_eval

Update behavior eval reward values: softer collision/offroad, wider g…

7f484f9

…oal radius Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

Revert drive.c map path to 3.0 default

8994942

Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

Merge remote-tracking branch 'origin/3.0' into pragnay/driving_behavi…

2e2879c

…ours_eval

revert a reward change

30a025a

eugenevinitsky commented Apr 10, 2026

View reviewed changes

put the driving behaviors eval init back to where it should be

6ca63cb

Revert [render] section to 3.0 defaults — local dev preferences shoul…

970dcf5

…dn't be in PR Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

eugenevinitsky commented Apr 10, 2026

View reviewed changes

eugenevinitsky and others added 7 commits April 10, 2026 10:31

Add trailing newlines to manifest.json files for pre-commit

c807f6a

Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

Merge branch '3.0' into pragnay/driving_behaviours_eval

98ec822

Post merge fixes and alignment with new renders, invoking human repla…

b1da1c1

…y eval from subprocess for driving behaviours eval mode

Fixing human replay eval invoking during driving behaviours eval

96bf636

Make episode_len configurable

11d8095

Merge branch '3.0' into pragnay/driving_behaviours_eval

2e0ef69

Fix output unpack errors for driving_behaviours_eval

3e77d2a

Provide feedback

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[WIP] Pragnay/driving behaviours eval#391

[WIP] Pragnay/driving behaviours eval#391
eugenevinitsky wants to merge 34 commits into3.0from
pragnay/driving_behaviours_eval

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