Skip to content

Make Metrics More Interpretable #275

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
mpragnay wants to merge 3 commits into
base: 3.0
Choose a base branch
from
Draft

Make Metrics More Interpretable #275

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
9accaea
Updated, score, dnf_rate metrics
mpragnay Feb 2, 2026
cdaf531
Merge branch '3.0' into mpragnay/Make-Metrics-More-Interpretable
mpragnay Feb 2, 2026
e27f043
pre-commit fixes
mpragnay Feb 2, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
21 changes: 8 additions & 13 deletions pufferlib/ocean/drive/drive.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1039,25 +1039,20 @@ void add_log(Drive *env) {
float collisions_per_agent = env->logs[i].collisions_per_agent;
env->log.collisions_per_agent += collisions_per_agent;

float frac_goal_reached = e->goals_reached_this_episode / e->goals_sampled_this_episode;

// Update score, which is an aggregate measure whether the agent fully solved its task
// Note: When resampling goals, performance is relative to the number of goals sampled
float threshold = 0.99f; // Default threshold for 1 goal
if (e->goals_sampled_this_episode == 2.0f) {
threshold = 0.5f; // Require ≥50% completion for 2 goals
} else if (e->goals_sampled_this_episode < 5.0f) {
threshold = 0.8f; // Require ≥80% completion for 3-4 goals
} else {
threshold = 0.9f; // Require ≥90% completion for 5+ goals
int last_goal_reached = 0;
if (e->goals_reached_this_episode > 0) {
last_goal_reached = (e->goals_reached_this_episode + 1 >= e->goals_sampled_this_episode);
}

int collision_occurred =
(env->goal_behavior == GOAL_RESPAWN) ? e->collided_before_goal : env->logs[i].collision_rate;
if (frac_goal_reached > threshold && !collision_occurred) {
int collision_occurred = (env->goal_behavior == GOAL_RESPAWN)
? e->collided_before_goal
: (env->logs[i].collision_rate || env->logs[i].offroad_rate);
if (last_goal_reached && !collision_occurred) {
env->log.score += 1.0f;
}
if (!offroad && !collided && frac_goal_reached < 1.0f) {
if (!offroad && !collided && !last_goal_reached) {
env->log.dnf_rate += 1.0f;
}
int lane_aligned = env->logs[i].lane_alignment_rate;
Expand Down
Loading