feat: OpenCDA-MARL v1.0.0 - Multi-Agent RL framework - #3

Merged

lgcyaxi merged 65 commits into

mainfrom

Jan 30, 2026

Commits on Nov 16, 2025

fix(cosim): add SUMO_HOME config and fix CoScenarioManager initialization
lgcyaxi
committed
c04be7e
feat(sumo-marl): implement SUMO pre-training with CARLA fine-tuning pipeline
lgcyaxi
committed
ca4fb05

Commits on Nov 17, 2025

fix(sumo): improve vtype mapping and SUMO GUI auto-start
lgcyaxi
committed
e7e68f0
refactor(sumo): relocate SUMO assets to opencda_marl and improve integration
lgcyaxi
committed
d274d11
fix(marl): improve SUMO integration and agent ID handling
lgcyaxi
committed
5e153fe
feat(sumo): integrate MARLTrafficManager with SUMO adapter layer
lgcyaxi
committed
2016e39
fix(sumo): improve network topology and intersection center detection
lgcyaxi
committed
d5af896

Commits on Nov 18, 2025

Commits on Nov 25, 2025

Commits on Nov 26, 2025

feat(marl): add learning quality metrics for RA-L paper
lgcyaxi
committed
5cbf11f
feat(marl): add traffic performance metrics for RA-L paper
lgcyaxi
committed
c9a2e8a
perf(marl): fix training slowdown with O(1) replay buffer and memory optimizations
lgcyaxi
committed
f15edb3
fix(marl): clean up TensorBoard metrics and fix max_speed tracking
lgcyaxi
committed
dbb83e8
Add CARLA world reset manager to prevent training slowdown
lgcyaxi
committed
4656c57
Add exploration noise decay to TD3 algorithm
lgcyaxi
committed
84b736b
Enhance MARL with 44D state, TTC and progress rewards
lgcyaxi
committed
7a2c30c
Add stop penalty and target speed metrics for MARL
lgcyaxi
committed
7136f80
Override run_step to apply RL target speed in MARLAgent
lgcyaxi
committed
d822adc
Improve TD3 actor stability and metrics handling
lgcyaxi
committed
39b7557
Add MARL-specific PID controller and improve speed control
lgcyaxi
committed
ae409bd

Commits on Nov 27, 2025

Remove MARL-specific actuation module and update related code
lgcyaxi
committed
8efcec9
Update vehicle_adapter.py
lgcyaxi
committed
3491496
Fix speed unit consistency and PID control bugs
lgcyaxi
committed
5b1569a
Improve throughput calculation and waypoint updates
lgcyaxi
committed
3f415e0
Update TD3 checkpoint and improve waypoint handling
lgcyaxi
committed
90ad420
Env: Ubuntu
JiahaoTang
committed
b37e286

Commits on Nov 28, 2025

Add script to fix Open3D TensorBoard plugin issue
lgcyaxi
committed
2f4ead9

Commits on Dec 1, 2025

Improve training and evaluation mode handling
lgcyaxi
committed
1652ba8

Commits on Dec 2, 2025

Add near-miss tracking and paper experiment configs
lgcyaxi
committed
56585ba
Refactor MARL configs and add agent-specific YAMLs
lgcyaxi
committed
0671332
Add TTC violation rate metric and update configs
lgcyaxi
committed
838e4fa
Update fix_tensorboard_open3d.py
JiahaoTang
committed
8faf65d
Enhance TD3 exploration and safety reward logic
lgcyaxi
committed
cae13a1
Add improvement metrics and episode length tracking
lgcyaxi
committed
5519a14
Update traffic config and recordings, remove TD3 checkpoints
lgcyaxi
committed
fbb9fc2

Commits on Dec 3, 2025

Refactor sensor cleanup and update MARL reward logic
lgcyaxi
committed
ba412bd
Add MAPPO algorithm and rollout buffer
lgcyaxi
committed
94ba6b7
Add MAPPO feature config and extraction support
lgcyaxi
committed
a5b1302

Commits on Dec 4, 2025

Improve safe cleanup of vehicles and sensors to prevent crashes
lgcyaxi
committed
73fb56f
Update world_reset_manager.py
lgcyaxi
committed
b8ce971
Add stop method to MARLCollisionSensor and improve sensor shutdown
lgcyaxi
committed
1b2d93e
Improve sensor and vehicle destruction sequence
lgcyaxi
committed
71721f9
Refactor MARL safety manager for proper sensor cleanup
lgcyaxi
committed
f689b9c
Update localization_manager.py
lgcyaxi
committed
337ba25

Commits on Dec 5, 2025

Add SAC and simple TD3 algorithms with 8D state configs
lgcyaxi
committed
38591b7

Commits on Dec 6, 2025

Simplify sensor cleanup to fix streaming client errors
lgcyaxi
committed
55f8502
Update vehicle_adapter.py
lgcyaxi
committed
086fcbd

Commits on Dec 10, 2025

Update configs and improve CARLA cleanup logic
lgcyaxi
committed
95bd617

Commits on Dec 11, 2025

Update MARL config files for training and stability
lgcyaxi
committed
cc6dbb8
Add timeout tracking to metrics and evaluation
lgcyaxi
committed
72df00b

Commits on Dec 14, 2025

Update checkpoint handling and add latest model files
lgcyaxi
committed
6034f33

Commits on Dec 15, 2025

Enhance evaluation plots with timeout stats and update config
lgcyaxi
committed
5302a6a
Add TD3 43D and simple v3 configs, rename 44D config
lgcyaxi
committed
93bf3fa
Update td3_simple_v3.yaml
lgcyaxi
committed
8ce6198

Commits on Dec 17, 2025

Add TD3 v4 config, update v3, and refactor buffers
lgcyaxi
committed
2c24be9

Commits on Jan 30, 2026

docs: clean up
lgcyaxi
committed
b2687a7
docs: updated documentation to latest
lgcyaxi
committed
7706032
docs: finalize v1.0.0 release documentation
lgcyaxi
committed
7147795
Update about.md
lgcyaxi
committed
fd50f5d