Terminate episode if sdc reaches goal in replay mode'#495
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riccardosavorgnan wants to merge 2 commits into
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Terminate episode if sdc reaches goal in replay mode'#495riccardosavorgnan wants to merge 2 commits into
riccardosavorgnan wants to merge 2 commits into
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| if (env->terminate_on_goal == 1 && env->simulation_mode == SIMULATION_REPLAY |
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it doesn't seem like it makes sense to gate this on CONTROL_SDC_ONLY?
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It can be extended to all of replay mode, with a criteria on when the episode should terminate. I can add a threshold of % of cars that have completed their goals to trigger it, but it will come with no guarantees on what's the best value for now.
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| if (env->terminate_on_goal == 1 && env->simulation_mode == SIMULATION_REPLAY |
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I think it would be fine for this to be on in both simulation modes?
eugenevinitsky
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Jun 27, 2026
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Approved but I recommend adding a test so no one else can break this feature on you
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When in replay mode and SDC control only it might be desirable to terminate the episode once the SDC reaches its goal. This PR implements that in drive.h, and it is controlled by a config parameter.