Drive with trained agents
You can take manual control of an agent in the simulator by holding LEFT SHIFT and using the keyboard controls. When you’re in control, the action values displayed on screen will turn yellow.
Local rendering
To launch an interactive renderer, first build:
bash scripts/build_ocean.sh drive local
then launch:
./drive
This will run demo() with an existing model checkpoint.
Controls
General:
- LEFT SHIFT + Arrow Keys/WASD - Take manual control
- SPACE - First-person camera view
- Mouse Drag - Pan camera
- Mouse Wheel - Zoom
Classic dynamics model
- SHIFT + UP/W - Increase acceleration
- SHIFT + DOWN/S - Decrease acceleration (brake)
- SHIFT + LEFT/A - Steer left
- SHIFT + RIGHT/D - Steer right
Each key press increments or decrements the action level. For example, tapping W multiple times increases acceleration from neutral (index 3) → 5 → 6 (maximum acceleration). We assume no friction, so releasing all keys maintains constant speed and heading.
Jerk dynamics model
- SHIFT + UP/W - Accelerate (+4.0 m/s³ jerk)
- SHIFT + DOWN/S - Brake (-15.0 m/s³ jerk)
- SHIFT + LEFT/A - Turn left (+4.0 m/s³ lateral jerk)
- SHIFT + RIGHT/D - Turn right (-4.0 m/s³ lateral jerk)
Actions are applied directly when keys are pressed. Pressing W always applies +4.0 m/s³ longitudinal jerk, regardless of how long the key is held.