Goal-system rewrite: direct goal sampling (replaces Path/Waypoint)#512
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vcharraut wants to merge 20 commits into
Open
Goal-system rewrite: direct goal sampling (replaces Path/Waypoint)#512vcharraut wants to merge 20 commits into
vcharraut wants to merge 20 commits into
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Pure identifier renames ahead of the goal-system rewrite, so the
functional PR is reviewable on its own. Behavior is unchanged: builds
clean and passes the existing 3.0 golden rollout + unit tests.
current_route_index -> current_route_idx
MAX_TARGET_WAYPOINTS -> MAX_GOALS
goal_positions_{xyz} -> list_goal_{xyz}
goal_position_{xyz} -> current_goal_{xyz}
num_target_waypoints -> num_goals
{min,max}_waypoint_spacing -> {min,max}_goal_spacing
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Removes the Path/Waypoint densification layer (struct Path, struct Waypoint, MAX_NUM_WP_PATH, build_path, closest-waypoint tracking, path_progression) and samples goals directly along the route or map. - New generation/regen pipeline: chain_goals, commit_goals, generate_new_goals_from_route/_from_map, roll_goals, route_point_at_distance, compute_new_route. - goal_regen_mode (finite|rolling), goal_source (route|map) replace target_type / goal_on_lane. - Lane-graph GPS distance: LaneGraph.lane_to_graph_idx + obs_goal_lane_distance obs flag. - gt_goal_* ground-truth goal pin for replay; goal reward via point-to-segment distance. - Golden rollout/smoke data regenerated (behavior changed by design). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Closed
…n road observation
| # Town10HD map diameter (~260m) so goals can land anywhere on the network. | ||
| env.num_goals: 1 | ||
| env.goal_on_lane: False | ||
| env.goal_source: "map" |
| } | ||
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| // Build reverse lookup road-element idx -> graph idx. lane_ids[g] holds road-element | ||
| // indices (binary is reindexed so road id == array idx, drive.h:1003). |
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drive.h:1003 is probably not a good pointer
| const float seg_dx = wp_b.x - wp_a.x; | ||
| const float seg_dy = wp_b.y - wp_a.y; | ||
| const float seg_len_sq = seg_dx * seg_dx + seg_dy * seg_dy; | ||
| for (int pass = 0; pass < 2; pass++) { |
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would appreciate a comment at the top of here I think, it's not immediately obvious to me the logic of this method though I am digging into it before approving
| ; in front of the agent). False: scatter each goal at a uniformly random | ||
| ; drivable point anywhere on the map. | ||
| goal_on_lane = True | ||
| ; --- Goal --- |
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I think we need to update the target definitions in the validation set
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| // GT source spaces num_goals goals along the logged trajectory. They carry no lane (list_goal_lane | ||
| // = -1, so no GPS lane-distance) and every coordinate is finite. current_goal_idx starts at 0 but | ||
| // may already have advanced if the agent spawns inside the first goal's radius (metrics run in reset). |
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hmm, can we not assign a lane to the expert goal points?
eugenevinitsky
approved these changes
Jul 15, 2026
eugenevinitsky
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eugenevinitsky
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So as not to block, going to suggest that we merge. Please squash so that we can revert easily if it causes a regression.
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What
Rewrites the target/waypoint system into a direct goal abstraction. Stacked on top of the rename PR (#), so this diff is functional-only.
Path/Waypointdensification layer:struct Path,struct Waypoint,MAX_NUM_WP_PATH(200-pt buffer),build_path,get_closest_waypoint_index_on_path,path_progression,closest_path_idx_wp,num_waypoints_reached.chain_goals,commit_goals,generate_new_goals_from_route,generate_new_goals_from_map,roll_goals,route_point_at_distance,compute_new_route.target_type(static/dynamic) ->goal_regen_mode(finite/rolling);goal_on_lane->goal_source(route/map); newobs_goal_lane_distanceflag.LaneGraph.lane_to_graph_idx+ normalized distance-to-goal-lane on lane obs rows.gt_goal_*ground-truth goal pin for replay; goal reward via point-to-segment distance.🤖 Generated with Claude Code