Code Structure in URBAN-SIM

URBAN-SIM is organized to support extensibility, debugging, and algorithmic innovation. This section introduces core components of the codebase and their intended roles in the simulation and learning pipeline.

Code Modules

• Environment: Spawning and simulation for learning
• Learning Module
• Primitives Module
• UrbanScene: Scenario Construction

Module Overview

• envs Defines environment logic, including abstract base classes and wrappers for RL training. See: Environment: Spawning and simulation for learning

• learning Contains RL algorithm implementations and training entry points. See: Learning Module

• primitives Encapsulates reusable low-level capabilities such as locomotion, navigation heuristics, and robot configurations. See: Primitives Module

• scene Manages scene layout, asset placement, and scenario configuration for environments. See: UrbanScene: Scenario Construction

• utils General utility functions and wrappers used across modules, such as logging, parsing, and random seeds.

Developer Notes

The project follows a component-based architecture, where environments, robot actions, assets, and reward logic are independently modularized. Developers can subclass and register custom components for rapid experimentation.

New modules can be added under urbansim/ and integrated via entry-point registries.