From 7ca1ed3b05e9d0ef189e4f114a84ce676b6e7e99 Mon Sep 17 00:00:00 2001
From: MLErik <baerenjesus@gmail.com>
Date: Sat, 17 Aug 2019 11:12:05 -0400
Subject: [PATCH] Fixed invalid transitions: now all nodes are valid All
starting positions are valid. Check for feasibility of map is not yet done.
---
examples/training_example.py | 2 +-
flatland/core/transition_map.py | 56 +++++++++++++++++++
flatland/envs/generators.py | 39 +++++++++----
...test_flatland_env_sparse_rail_generator.py | 11 ++--
4 files changed, 89 insertions(+), 19 deletions(-)
diff --git a/examples/training_example.py b/examples/training_example.py
index c038e7b4..60dc455f 100644
--- a/examples/training_example.py
+++ b/examples/training_example.py
@@ -77,7 +77,7 @@ for trials in range(1, n_trials + 1):
score = 0
# Run episode
- for step in range(100):
+ for step in range(500):
# Chose an action for each agent in the environment
for a in range(env.get_num_agents()):
action = agent.act(obs[a])
diff --git a/flatland/core/transition_map.py b/flatland/core/transition_map.py
index 5e0f6cd7..018c8cd5 100644
--- a/flatland/core/transition_map.py
+++ b/flatland/core/transition_map.py
@@ -350,4 +350,60 @@ class GridTransitionMap(TransitionMap):
return True
+ def fix_neighbours(self, rcPos, check_this_cell=False):
+ """
+ Check validity of cell at rcPos = tuple(row, column)
+ Checks that:
+ - surrounding cells have inbound transitions for all the
+ outbound transitions of this cell.
+
+ These are NOT checked - see transition.is_valid:
+ - all transitions have the mirror transitions (N->E <=> W->S)
+ - Reverse transitions (N -> S) only exist for a dead-end
+ - a cell contains either no dead-ends or exactly one
+
+ Returns: True (valid) or False (invalid)
+ """
+ cell_transition = self.grid[tuple(rcPos)]
+
+ if check_this_cell:
+ if not self.transitions.is_valid(cell_transition):
+ return False
+
+ gDir2dRC = self.transitions.gDir2dRC # [[-1,0] = N, [0,1]=E, etc]
+ grcPos = array(rcPos)
+ grcMax = self.grid.shape
+
+ binTrans = self.get_full_transitions(*rcPos) # 16bit integer - all trans in/out
+ lnBinTrans = array([binTrans >> 8, binTrans & 0xff], dtype=np.uint8) # 2 x uint8
+ g2binTrans = np.unpackbits(lnBinTrans).reshape(4, 4) # 4x4 x uint8 binary(0,1)
+ gDirOut = g2binTrans.any(axis=0) # outbound directions as boolean array (4)
+ giDirOut = np.argwhere(gDirOut)[:, 0] # valid outbound directions as array of int
+
+ # loop over available outbound directions (indices) for rcPos
+ for iDirOut in giDirOut:
+ gdRC = gDir2dRC[iDirOut] # row,col increment
+ gPos2 = grcPos + gdRC # next cell in that direction
+
+ # Check the adjacent cell is within bounds
+ # if not, then this transition is invalid!
+ if np.any(gPos2 < 0):
+ return False
+ if np.any(gPos2 >= grcMax):
+ return False
+
+ # Get the transitions out of gPos2, using iDirOut as the inbound direction
+ # if there are no available transitions, ie (0,0,0,0), then rcPos is invalid
+ t4Trans2 = self.get_transitions(*gPos2, iDirOut)
+ if any(t4Trans2):
+ continue
+ else:
+ self.set_transition((gPos2[0], gPos2[1], iDirOut), mirror(iDirOut), 1)
+ return False
+
+ return True
+
+
+def mirror(dir):
+ return (dir + 2) % 4
# TODO: improvement override __getitem__ and __setitem__ (cell contents, not transitions?)
diff --git a/flatland/envs/generators.py b/flatland/envs/generators.py
index 2441e3e7..a0eb7ca7 100644
--- a/flatland/envs/generators.py
+++ b/flatland/envs/generators.py
@@ -841,8 +841,8 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
to_close = True
tries = 0
while to_close:
- x_tmp = 1 + np.random.randint(height - 1)
- y_tmp = 1 + np.random.randint(width - 1)
+ x_tmp = 1 + np.random.randint(height - 2)
+ y_tmp = 1 + np.random.randint(width - 2)
to_close = False
for node_pos in node_positions:
if distance_on_rail((x_tmp, y_tmp), node_pos) < min_node_dist:
@@ -871,8 +871,6 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
available_nodes = available_nodes[np.argsort(node_dist)]
# Set number of neighboring nodes
- # np.random.randint(1, max_neigbours)
-
if len(available_nodes) >= num_neighb:
connected_neighb_idx = available_nodes[
0:2] # np.random.choice(available_nodes, num_neighb, replace=False)
@@ -887,6 +885,8 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
node_stack.pop(0)
# Place train stations close to the node
+ # We currently place them uniformly distirbuted among all cities
+
train_stations = [[] for i in range(num_cities)]
for station in range(num_trainstations):
@@ -911,6 +911,11 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
new_path = connect_from_nodes(rail_trans, rail_array, node_positions[trainstation_node],
(station_x, station_y))
+ # Fix all nodes with illegal transition maps
+ for current_node in node_positions:
+ if not grid_map.cell_neighbours_valid(current_node):
+ grid_map.fix_neighbours(current_node)
+
# Generate start and target node directory for all agents.
# Assure that start and target are not in the same node
agent_start_targets_nodes = []
@@ -924,20 +929,24 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
# Assign agents to slots
for agent_idx in range(num_agents):
- av_start_nodes = [idx for idx, val in enumerate(node_available_start) if val > 0]
- av_target_nodes = [idx for idx, val in enumerate(node_available_target) if val > 0]
- start_node = np.random.choice(av_start_nodes)
- target_node = np.random.choice(av_target_nodes)
+ avail_start_nodes = [idx for idx, val in enumerate(node_available_start) if val > 0]
+ avail_target_nodes = [idx for idx, val in enumerate(node_available_target) if val > 0]
+ start_node = np.random.choice(avail_start_nodes)
+ target_node = np.random.choice(avail_target_nodes)
+ tries = 0
while target_node == start_node:
- target_node = np.random.choice(av_target_nodes)
+ target_node = np.random.choice(avail_target_nodes)
+ tries += 1
+ # Test again with new start node if no pair is found (This code needs to be improved)
+ if tries > 10:
+ start_node = np.random.choice(avail_start_nodes)
+
node_available_start[start_node] -= 1
node_available_target[target_node] -= 1
- print(node_available_target, node_available_start)
agent_start_targets_nodes.append((start_node, target_node))
# Place agents and targets within available train stations
-
agents_position = []
agents_target = []
agents_direction = []
@@ -956,7 +965,13 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
start = train_stations[current_start_node][start_station_idx]
agents_position.append((start[0], start[1]))
agents_target.append((target[0], target[1]))
- agents_direction.append(0)
+
+ # Orient the agent correctly
+ for orientation in range(4):
+ transitions = grid_map.get_transitions(start[0], start[1], orientation)
+ if any(transitions) > 0:
+ agents_direction.append(orientation)
+ continue
agent_idx += 1
return grid_map, agents_position, agents_direction, agents_target, [1.0] * len(agents_position)
diff --git a/tests/test_flatland_env_sparse_rail_generator.py b/tests/test_flatland_env_sparse_rail_generator.py
index abb03528..34e6c2b4 100644
--- a/tests/test_flatland_env_sparse_rail_generator.py
+++ b/tests/test_flatland_env_sparse_rail_generator.py
@@ -23,23 +23,22 @@ def test_realistic_rail_generator():
env_renderer.close_window()
def test_sparse_rail_generator():
-
- env = RailEnv(width=50,
+ env = RailEnv(width=20,
height=50,
rail_generator=sparse_rail_generator(num_cities=10, # Number of cities in map
num_intersections=3, # Number of interesections in map
- num_trainstations=30, # Number of possible start/targets on map
+ num_trainstations=10, # Number of possible start/targets on map
min_node_dist=10, # Minimal distance of nodes
node_radius=2, # Proximity of stations to city center
num_neighb=4, # Number of connections to other cities
seed=15, # Random seed
),
- number_of_agents=20,
+ number_of_agents=1,
obs_builder_object=GlobalObsForRailEnv())
# reset to initialize agents_static
env_renderer = RenderTool(env, gl="PILSVG", )
env_renderer.render_env(show=True, show_observations=True, show_predictions=False)
- time.sleep(2)
+ time.sleep(20)
env_renderer.gl.save_image("flatalnd_2_0.png")
- time.sleep(100)
+ time.sleep(1)
--
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