Refactor viz tool & Add DMv2 InfoWrapper

.pre-commit-config.yaml

@@ -46,8 +46,3 @@ repos:
     hooks:
       - id: yapf
         args: ["--style", "{column_limit: 150, align_closing_bracket_with_visual_indent: true, dedent_closing_brackets: true}"]
-
-  - repo: https://github.com/executablebooks/mdformat
-    rev: 0.7.17
-    hooks:
-      - id: mdformat

README.md

@@ -35,7 +35,7 @@ Unleash the power of **imagination** and **generalization** of world models for
 > - **July 2024:** Uploaded all the task checkpoints to [HuggingFace](https://huggingface.co/ucd-dare/CarDreamer/tree/main)
 > - **May 2024** Released [arXiv preprint](https://arxiv.org/abs/2405.09111).
 
-## **Can world model based self-supervised reinforcement learning train autonomous driving agents via imagination of traffic dynamics? The answer is YES!**
+## **Can world model based reinforcement learning train autonomous driving agents via imagination of traffic dynamics? The answer is YES!**
 
 Integrating the high-fidelity CARLA simulator with world models, we are able to train a world model that not only learns complex environment dynamics but also have an agent interact with the neural network "simulator" to learn to drive.
 

car_dreamer/carla_follow_env.py

@@ -191,4 +191,4 @@ def get_terminal_conditions(self):
         if dist > terminal_config.terminal_dist:
             info["terminal_dist"] = True
 
-        return info
+        return info

car_dreamer/configs/common.yaml

@@ -1,6 +1,5 @@
 env:
   eval: False
-  require_carry: False
 
   world:
     carla_port: 2000

car_dreamer/configs/tasks.yaml

@@ -437,4 +437,4 @@ carla_follow:
     encoder.cnn_keys: "birdeye_wpt"
     decoder.cnn_keys: "birdeye_wpt"
     decoder.cnn_kernels: [5, 5, 5, 6, 6]
-    train.log_keys_video: [birdeye_wpt]
+    train.log_keys_video: [birdeye_wpt]

car_dreamer/toolkit/carla_manager/utils.py

@@ -15,8 +15,10 @@ class Command(Enum):
     Left = "Left"
     Right = "Right"
 
+
 class FollowDirections(Enum):
     """Enumeration for the follow task directions"""
+
     STRAIGHT = 0
     RIGHT_TURN = 1
     LEFT_TURN = 2