From 800f847f2b17e3d2fac6d116a2baea21295a9c83 Mon Sep 17 00:00:00 2001
From: Adrian Egli <adrian.egli@sbb.ch>
Date: Mon, 19 Oct 2020 15:48:23 +0200
Subject: [PATCH] .
---
run.py | 16 +-
.../dueling_double_dqn.cpython-36.pyc | Bin 16301 -> 0 bytes
src/agent/__pycache__/model.cpython-36.pyc | Bin 2216 -> 0 bytes
src/agent/dueling_double_dqn.py | 512 ------------
src/agent/model.py | 61 --
src/dead_lock_avoidance_agent.py | 116 ---
src/extra.py | 404 ----------
src/images/adrian_egli_decisions.png | Bin 50335 -> 0 bytes
src/images/adrian_egli_info.png | Bin 48981 -> 0 bytes
src/images/adrian_egli_ppo_training_done.png | Bin 56845 -> 0 bytes
src/images/adrian_egli_start.png | Bin 28024 -> 0 bytes
src/images/adrian_egli_target.png | Bin 31268 -> 0 bytes
src/observations.py | 736 ------------------
src/ppo/agent.py | 106 ---
src/ppo/model.py | 20 -
src/ppo/replay_memory.py | 53 --
src/shortest_Distance_walker.py | 69 --
utils/dead_lock_avoidance_agent.py | 51 +-
utils/shortest_Distance_walker.py | 6 +-
19 files changed, 44 insertions(+), 2106 deletions(-)
delete mode 100644 src/agent/__pycache__/dueling_double_dqn.cpython-36.pyc
delete mode 100644 src/agent/__pycache__/model.cpython-36.pyc
delete mode 100644 src/agent/dueling_double_dqn.py
delete mode 100644 src/agent/model.py
delete mode 100644 src/dead_lock_avoidance_agent.py
delete mode 100644 src/extra.py
delete mode 100644 src/images/adrian_egli_decisions.png
delete mode 100644 src/images/adrian_egli_info.png
delete mode 100644 src/images/adrian_egli_ppo_training_done.png
delete mode 100644 src/images/adrian_egli_start.png
delete mode 100644 src/images/adrian_egli_target.png
delete mode 100644 src/observations.py
delete mode 100644 src/ppo/agent.py
delete mode 100644 src/ppo/model.py
delete mode 100644 src/ppo/replay_memory.py
delete mode 100644 src/shortest_Distance_walker.py
diff --git a/run.py b/run.py
index d920c06..674ae41 100644
--- a/run.py
+++ b/run.py
@@ -3,13 +3,14 @@ import time
import numpy as np
from flatland.core.env_observation_builder import DummyObservationBuilder
from flatland.envs.agent_utils import RailAgentStatus
+from flatland.envs.rail_env import RailEnvActions
from flatland.evaluators.client import FlatlandRemoteClient
+from utils.dead_lock_avoidance_agent import DeadLockAvoidanceAgent
+
#####################################################################
# Instantiate a Remote Client
#####################################################################
-from src.dead_lock_avoidance_agent import DeadLockAvoidanceAgent
-from src.extra import Extra
remote_client = FlatlandRemoteClient()
@@ -24,11 +25,16 @@ remote_client = FlatlandRemoteClient()
# def my_controller_RL(extra: Extra, observation, info):
# return extra.rl_agent_act(observation, info)
-def my_controller(policy):
+def my_controller(policy, info):
policy.start_step()
actions = {}
+ # print("-------- act ------------")
for handle in range(policy.env.get_num_agents()):
- a = policy.act(handle, None, 0)
+ if info['action_required'][handle] and handle < policy.env._elapsed_steps:
+ a = policy.act(handle, None, 0)
+ else:
+ a = RailEnvActions.DO_NOTHING
+ agent = policy.env.agents[handle]
actions.update({handle: a})
policy.end_step()
return actions
@@ -136,7 +142,7 @@ while True:
# Compute the action for this step by using the previously
# defined controller
time_start = time.time()
- action = my_controller(policy)
+ action = my_controller(policy, info)
time_taken = time.time() - time_start
time_taken_by_controller.append(time_taken)
diff --git a/src/agent/__pycache__/dueling_double_dqn.cpython-36.pyc b/src/agent/__pycache__/dueling_double_dqn.cpython-36.pyc
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diff --git a/src/agent/dueling_double_dqn.py b/src/agent/dueling_double_dqn.py
deleted file mode 100644
index f08e176..0000000
--- a/src/agent/dueling_double_dqn.py
+++ /dev/null
@@ -1,512 +0,0 @@
-import torch
-import torch.optim as optim
-
-BUFFER_SIZE = int(1e5) # replay buffer size
-BATCH_SIZE = 512 # minibatch size
-GAMMA = 0.99 # discount factor 0.99
-TAU = 0.5e-3 # for soft update of target parameters
-LR = 0.5e-4 # learning rate 0.5e-4 works
-
-# how often to update the network
-UPDATE_EVERY = 20
-UPDATE_EVERY_FINAL = 10
-UPDATE_EVERY_AGENT_CANT_CHOOSE = 200
-
-
-double_dqn = True # If using double dqn algorithm
-input_channels = 5 # Number of Input channels
-
-device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
-device = torch.device("cpu")
-print(device)
-
-USE_OPTIMIZER = optim.Adam
-# USE_OPTIMIZER = optim.RMSprop
-print(USE_OPTIMIZER)
-
-
-class Agent:
- """Interacts with and learns from the environment."""
-
- def __init__(self, state_size, action_size, net_type, seed, double_dqn=True, input_channels=5):
- """Initialize an Agent object.
-
- Params
- ======
- state_size (int): dimension of each state
- action_size (int): dimension of each action
- seed (int): random seed
- """
- self.state_size = state_size
- self.action_size = action_size
- self.seed = random.seed(seed)
- self.version = net_type
- self.double_dqn = double_dqn
- # Q-Network
- if self.version == "Conv":
- self.qnetwork_local = QNetwork2(state_size, action_size, seed, input_channels).to(device)
- self.qnetwork_target = copy.deepcopy(self.qnetwork_local)
- else:
- self.qnetwork_local = QNetwork(state_size, action_size, seed).to(device)
- self.qnetwork_target = copy.deepcopy(self.qnetwork_local)
-
- self.optimizer = USE_OPTIMIZER(self.qnetwork_local.parameters(), lr=LR)
-
- # Replay memory
- self.memory = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE, seed)
- self.memory_final = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE, seed)
- self.memory_agent_can_not_choose = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE, seed)
-
- self.final_step = {}
-
- # Initialize time step (for updating every UPDATE_EVERY steps)
- self.t_step = 0
- self.t_step_final = 0
- self.t_step_agent_can_not_choose = 0
-
- def save(self, filename):
- torch.save(self.qnetwork_local.state_dict(), filename + ".local")
- torch.save(self.qnetwork_target.state_dict(), filename + ".target")
-
- def load(self, filename):
- if os.path.exists(filename + ".local"):
- self.qnetwork_local.load_state_dict(torch.load(filename + ".local"))
- print(filename + ".local -> ok")
- if os.path.exists(filename + ".target"):
- self.qnetwork_target.load_state_dict(torch.load(filename + ".target"))
- print(filename + ".target -> ok")
- self.optimizer = USE_OPTIMIZER(self.qnetwork_local.parameters(), lr=LR)
-
- def _update_model(self, switch=0):
- # Learn every UPDATE_EVERY time steps.
- # If enough samples are available in memory, get random subset and learn
- if switch == 0:
- self.t_step = (self.t_step + 1) % UPDATE_EVERY
- if self.t_step == 0:
- if len(self.memory) > BATCH_SIZE:
- experiences = self.memory.sample()
- self.learn(experiences, GAMMA)
- elif switch == 1:
- self.t_step_final = (self.t_step_final + 1) % UPDATE_EVERY_FINAL
- if self.t_step_final == 0:
- if len(self.memory_final) > BATCH_SIZE:
- experiences = self.memory_final.sample()
- self.learn(experiences, GAMMA)
- else:
- # If enough samples are available in memory_agent_can_not_choose, get random subset and learn
- self.t_step_agent_can_not_choose = (self.t_step_agent_can_not_choose + 1) % UPDATE_EVERY_AGENT_CANT_CHOOSE
- if self.t_step_agent_can_not_choose == 0:
- if len(self.memory_agent_can_not_choose) > BATCH_SIZE:
- experiences = self.memory_agent_can_not_choose.sample()
- self.learn(experiences, GAMMA)
-
- def step(self, state, action, reward, next_state, done):
- # Save experience in replay memory
- self.memory.add(state, action, reward, next_state, done)
- self._update_model(0)
-
- def step_agent_can_not_choose(self, state, action, reward, next_state, done):
- # Save experience in replay memory_agent_can_not_choose
- self.memory_agent_can_not_choose.add(state, action, reward, next_state, done)
- self._update_model(2)
-
- def add_final_step(self, agent_handle, state, action, reward, next_state, done):
- if self.final_step.get(agent_handle) is None:
- self.final_step.update({agent_handle: [state, action, reward, next_state, done]})
-
- def make_final_step(self, additional_reward=0):
- for _, item in self.final_step.items():
- state = item[0]
- action = item[1]
- reward = item[2] + additional_reward
- next_state = item[3]
- done = item[4]
- self.memory_final.add(state, action, reward, next_state, done)
- self._update_model(1)
- self._reset_final_step()
-
- def _reset_final_step(self):
- self.final_step = {}
-
- def act(self, state, eps=0.):
- """Returns actions for given state as per current policy.
-
- Params
- ======
- state (array_like): current state
- eps (float): epsilon, for epsilon-greedy action selection
- """
- state = torch.from_numpy(state).float().unsqueeze(0).to(device)
- self.qnetwork_local.eval()
- with torch.no_grad():
- action_values = self.qnetwork_local(state)
- self.qnetwork_local.train()
-
- # Epsilon-greedy action selection
- if random.random() > eps:
- return np.argmax(action_values.cpu().data.numpy())
- else:
- return random.choice(np.arange(self.action_size))
-
- def learn(self, experiences, gamma):
-
- """Update value parameters using given batch of experience tuples.
-
- Params
- ======
- experiences (Tuple[torch.Tensor]): tuple of (s, a, r, s', done) tuples
- gamma (float): discount factor
- """
- states, actions, rewards, next_states, dones = experiences
-
- # Get expected Q values from local model
- Q_expected = self.qnetwork_local(states).gather(1, actions)
-
- if self.double_dqn:
- # Double DQN
- q_best_action = self.qnetwork_local(next_states).max(1)[1]
- Q_targets_next = self.qnetwork_target(next_states).gather(1, q_best_action.unsqueeze(-1))
- else:
- # DQN
- Q_targets_next = self.qnetwork_target(next_states).detach().max(1)[0].unsqueeze(-1)
-
- # Compute Q targets for current states
-
- Q_targets = rewards + (gamma * Q_targets_next * (1 - dones))
-
- # Compute loss
- loss = F.mse_loss(Q_expected, Q_targets)
- # Minimize the loss
- self.optimizer.zero_grad()
- loss.backward()
- self.optimizer.step()
-
- # ------------------- update target network ------------------- #
- self.soft_update(self.qnetwork_local, self.qnetwork_target, TAU)
-
- def soft_update(self, local_model, target_model, tau):
- """Soft update model parameters.
- θ_target = τ*θ_local + (1 - τ)*θ_target
-
- Params
- ======
- local_model (PyTorch model): weights will be copied from
- target_model (PyTorch model): weights will be copied to
- tau (float): interpolation parameter
- """
- for target_param, local_param in zip(target_model.parameters(), local_model.parameters()):
- target_param.data.copy_(tau * local_param.data + (1.0 - tau) * target_param.data)
-
-
-class ReplayBuffer:
- """Fixed-size buffer to store experience tuples."""
-
- def __init__(self, action_size, buffer_size, batch_size, seed):
- """Initialize a ReplayBuffer object.
-
- Params
- ======
- action_size (int): dimension of each action
- buffer_size (int): maximum size of buffer
- batch_size (int): size of each training batch
- seed (int): random seed
- """
- self.action_size = action_size
- self.memory = deque(maxlen=buffer_size)
- self.batch_size = batch_size
- self.experience = namedtuple("Experience", field_names=["state", "action", "reward", "next_state", "done"])
- self.seed = random.seed(seed)
-
- def add(self, state, action, reward, next_state, done):
- """Add a new experience to memory."""
- e = self.experience(np.expand_dims(state, 0), action, reward, np.expand_dims(next_state, 0), done)
- self.memory.append(e)
-
- def sample(self):
- """Randomly sample a batch of experiences from memory."""
- experiences = random.sample(self.memory, k=self.batch_size)
-
- states = torch.from_numpy(self.__v_stack_impr([e.state for e in experiences if e is not None])) \
- .float().to(device)
- actions = torch.from_numpy(self.__v_stack_impr([e.action for e in experiences if e is not None])) \
- .long().to(device)
- rewards = torch.from_numpy(self.__v_stack_impr([e.reward for e in experiences if e is not None])) \
- .float().to(device)
- next_states = torch.from_numpy(self.__v_stack_impr([e.next_state for e in experiences if e is not None])) \
- .float().to(device)
- dones = torch.from_numpy(self.__v_stack_impr([e.done for e in experiences if e is not None]).astype(np.uint8)) \
- .float().to(device)
-
- return (states, actions, rewards, next_states, dones)
-
- def __len__(self):
- """Return the current size of internal memory."""
- return len(self.memory)
-
- def __v_stack_impr(self, states):
- sub_dim = len(states[0][0]) if isinstance(states[0], Iterable) else 1
- np_states = np.reshape(np.array(states), (len(states), sub_dim))
- return np_states
-
-
-import copy
-import os
-import random
-from collections import namedtuple, deque, Iterable
-
-import numpy as np
-import torch
-import torch.nn.functional as F
-import torch.optim as optim
-
-from src.agent.model import QNetwork2, QNetwork
-
-BUFFER_SIZE = int(1e5) # replay buffer size
-BATCH_SIZE = 512 # minibatch size
-GAMMA = 0.95 # discount factor 0.99
-TAU = 0.5e-4 # for soft update of target parameters
-LR = 0.5e-3 # learning rate 0.5e-4 works
-
-# how often to update the network
-UPDATE_EVERY = 40
-UPDATE_EVERY_FINAL = 1000
-UPDATE_EVERY_AGENT_CANT_CHOOSE = 200
-
-double_dqn = True # If using double dqn algorithm
-input_channels = 5 # Number of Input channels
-
-device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
-device = torch.device("cpu")
-print(device)
-
-USE_OPTIMIZER = optim.Adam
-# USE_OPTIMIZER = optim.RMSprop
-print(USE_OPTIMIZER)
-
-
-class Agent:
- """Interacts with and learns from the environment."""
-
- def __init__(self, state_size, action_size, net_type, seed, double_dqn=True, input_channels=5):
- """Initialize an Agent object.
-
- Params
- ======
- state_size (int): dimension of each state
- action_size (int): dimension of each action
- seed (int): random seed
- """
- self.state_size = state_size
- self.action_size = action_size
- self.seed = random.seed(seed)
- self.version = net_type
- self.double_dqn = double_dqn
- # Q-Network
- if self.version == "Conv":
- self.qnetwork_local = QNetwork2(state_size, action_size, seed, input_channels).to(device)
- self.qnetwork_target = copy.deepcopy(self.qnetwork_local)
- else:
- self.qnetwork_local = QNetwork(state_size, action_size, seed).to(device)
- self.qnetwork_target = copy.deepcopy(self.qnetwork_local)
-
- self.optimizer = USE_OPTIMIZER(self.qnetwork_local.parameters(), lr=LR)
-
- # Replay memory
- self.memory = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE, seed)
- self.memory_final = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE, seed)
- self.memory_agent_can_not_choose = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE, seed)
-
- self.final_step = {}
-
- # Initialize time step (for updating every UPDATE_EVERY steps)
- self.t_step = 0
- self.t_step_final = 0
- self.t_step_agent_can_not_choose = 0
-
- def save(self, filename):
- torch.save(self.qnetwork_local.state_dict(), filename + ".local")
- torch.save(self.qnetwork_target.state_dict(), filename + ".target")
-
- def load(self, filename):
- print("try to load: " + filename)
- if os.path.exists(filename + ".local"):
- self.qnetwork_local.load_state_dict(torch.load(filename + ".local"))
- print(filename + ".local -> ok")
- if os.path.exists(filename + ".target"):
- self.qnetwork_target.load_state_dict(torch.load(filename + ".target"))
- print(filename + ".target -> ok")
- self.optimizer = USE_OPTIMIZER(self.qnetwork_local.parameters(), lr=LR)
-
- def _update_model(self, switch=0):
- # Learn every UPDATE_EVERY time steps.
- # If enough samples are available in memory, get random subset and learn
- if switch == 0:
- self.t_step = (self.t_step + 1) % UPDATE_EVERY
- if self.t_step == 0:
- if len(self.memory) > BATCH_SIZE:
- experiences = self.memory.sample()
- self.learn(experiences, GAMMA)
- elif switch == 1:
- self.t_step_final = (self.t_step_final + 1) % UPDATE_EVERY_FINAL
- if self.t_step_final == 0:
- if len(self.memory_final) > BATCH_SIZE:
- experiences = self.memory_final.sample()
- self.learn(experiences, GAMMA)
- else:
- # If enough samples are available in memory_agent_can_not_choose, get random subset and learn
- self.t_step_agent_can_not_choose = (self.t_step_agent_can_not_choose + 1) % UPDATE_EVERY_AGENT_CANT_CHOOSE
- if self.t_step_agent_can_not_choose == 0:
- if len(self.memory_agent_can_not_choose) > BATCH_SIZE:
- experiences = self.memory_agent_can_not_choose.sample()
- self.learn(experiences, GAMMA)
-
- def step(self, state, action, reward, next_state, done):
- # Save experience in replay memory
- self.memory.add(state, action, reward, next_state, done)
- self._update_model(0)
-
- def step_agent_can_not_choose(self, state, action, reward, next_state, done):
- # Save experience in replay memory_agent_can_not_choose
- self.memory_agent_can_not_choose.add(state, action, reward, next_state, done)
- self._update_model(2)
-
- def add_final_step(self, agent_handle, state, action, reward, next_state, done):
- if self.final_step.get(agent_handle) is None:
- self.final_step.update({agent_handle: [state, action, reward, next_state, done]})
- return True
- else:
- return False
-
- def make_final_step(self, additional_reward=0):
- for _, item in self.final_step.items():
- state = item[0]
- action = item[1]
- reward = item[2] + additional_reward
- next_state = item[3]
- done = item[4]
- self.memory_final.add(state, action, reward, next_state, done)
- self._update_model(1)
- self._reset_final_step()
-
- def _reset_final_step(self):
- self.final_step = {}
-
- def act(self, state, eps=0.):
- """Returns actions for given state as per current policy.
-
- Params
- ======
- state (array_like): current state
- eps (float): epsilon, for epsilon-greedy action selection
- """
- state = torch.from_numpy(state).float().unsqueeze(0).to(device)
- self.qnetwork_local.eval()
- with torch.no_grad():
- action_values = self.qnetwork_local(state)
- self.qnetwork_local.train()
-
- # Epsilon-greedy action selection
- if random.random() > eps:
- return np.argmax(action_values.cpu().data.numpy()), False
- else:
- return random.choice(np.arange(self.action_size)), True
-
- def learn(self, experiences, gamma):
-
- """Update value parameters using given batch of experience tuples.
-
- Params
- ======
- experiences (Tuple[torch.Tensor]): tuple of (s, a, r, s', done) tuples
- gamma (float): discount factor
- """
- states, actions, rewards, next_states, dones = experiences
-
- # Get expected Q values from local model
- Q_expected = self.qnetwork_local(states).gather(1, actions)
-
- if self.double_dqn:
- # Double DQN
- q_best_action = self.qnetwork_local(next_states).max(1)[1]
- Q_targets_next = self.qnetwork_target(next_states).gather(1, q_best_action.unsqueeze(-1))
- else:
- # DQN
- Q_targets_next = self.qnetwork_target(next_states).detach().max(1)[0].unsqueeze(-1)
-
- # Compute Q targets for current states
-
- Q_targets = rewards + (gamma * Q_targets_next * (1 - dones))
-
- # Compute loss
- loss = F.mse_loss(Q_expected, Q_targets)
- # Minimize the loss
- self.optimizer.zero_grad()
- loss.backward()
- self.optimizer.step()
-
- # ------------------- update target network ------------------- #
- self.soft_update(self.qnetwork_local, self.qnetwork_target, TAU)
-
- def soft_update(self, local_model, target_model, tau):
- """Soft update model parameters.
- θ_target = τ*θ_local + (1 - τ)*θ_target
-
- Params
- ======
- local_model (PyTorch model): weights will be copied from
- target_model (PyTorch model): weights will be copied to
- tau (float): interpolation parameter
- """
- for target_param, local_param in zip(target_model.parameters(), local_model.parameters()):
- target_param.data.copy_(tau * local_param.data + (1.0 - tau) * target_param.data)
-
-
-class ReplayBuffer:
- """Fixed-size buffer to store experience tuples."""
-
- def __init__(self, action_size, buffer_size, batch_size, seed):
- """Initialize a ReplayBuffer object.
-
- Params
- ======
- action_size (int): dimension of each action
- buffer_size (int): maximum size of buffer
- batch_size (int): size of each training batch
- seed (int): random seed
- """
- self.action_size = action_size
- self.memory = deque(maxlen=buffer_size)
- self.batch_size = batch_size
- self.experience = namedtuple("Experience", field_names=["state", "action", "reward", "next_state", "done"])
- self.seed = random.seed(seed)
-
- def add(self, state, action, reward, next_state, done):
- """Add a new experience to memory."""
- e = self.experience(np.expand_dims(state, 0), action, reward, np.expand_dims(next_state, 0), done)
- self.memory.append(e)
-
- def sample(self):
- """Randomly sample a batch of experiences from memory."""
- experiences = random.sample(self.memory, k=self.batch_size)
-
- states = torch.from_numpy(self.__v_stack_impr([e.state for e in experiences if e is not None])) \
- .float().to(device)
- actions = torch.from_numpy(self.__v_stack_impr([e.action for e in experiences if e is not None])) \
- .long().to(device)
- rewards = torch.from_numpy(self.__v_stack_impr([e.reward for e in experiences if e is not None])) \
- .float().to(device)
- next_states = torch.from_numpy(self.__v_stack_impr([e.next_state for e in experiences if e is not None])) \
- .float().to(device)
- dones = torch.from_numpy(self.__v_stack_impr([e.done for e in experiences if e is not None]).astype(np.uint8)) \
- .float().to(device)
-
- return (states, actions, rewards, next_states, dones)
-
- def __len__(self):
- """Return the current size of internal memory."""
- return len(self.memory)
-
- def __v_stack_impr(self, states):
- sub_dim = len(states[0][0]) if isinstance(states[0], Iterable) else 1
- np_states = np.reshape(np.array(states), (len(states), sub_dim))
- return np_states
diff --git a/src/agent/model.py b/src/agent/model.py
deleted file mode 100644
index 70952e0..0000000
--- a/src/agent/model.py
+++ /dev/null
@@ -1,61 +0,0 @@
-import torch.nn as nn
-import torch.nn.functional as F
-
-
-class QNetwork(nn.Module):
- def __init__(self, state_size, action_size, seed, hidsize1=64, hidsize2=128):
- super(QNetwork, self).__init__()
-
- self.fc1_val = nn.Linear(state_size, hidsize1)
- self.fc2_val = nn.Linear(hidsize1, hidsize2)
- self.fc3_val = nn.Linear(hidsize2, 1)
-
- self.fc1_adv = nn.Linear(state_size, hidsize1)
- self.fc2_adv = nn.Linear(hidsize1, hidsize2)
- self.fc3_adv = nn.Linear(hidsize2, action_size)
-
- def forward(self, x):
- val = F.relu(self.fc1_val(x))
- val = F.relu(self.fc2_val(val))
- val = self.fc3_val(val)
-
- # advantage calculation
- adv = F.relu(self.fc1_adv(x))
- adv = F.relu(self.fc2_adv(adv))
- adv = self.fc3_adv(adv)
- return val + adv - adv.mean()
-
-
-class QNetwork2(nn.Module):
- def __init__(self, state_size, action_size, seed, input_channels, hidsize1=128, hidsize2=64):
- super(QNetwork2, self).__init__()
- self.conv1 = nn.Conv2d(input_channels, 16, kernel_size=3, stride=1)
- self.bn1 = nn.BatchNorm2d(16)
- self.conv2 = nn.Conv2d(16, 32, kernel_size=5, stride=3)
- self.bn2 = nn.BatchNorm2d(32)
- self.conv3 = nn.Conv2d(32, 64, kernel_size=5, stride=3)
- self.bn3 = nn.BatchNorm2d(64)
-
- self.fc1_val = nn.Linear(6400, hidsize1)
- self.fc2_val = nn.Linear(hidsize1, hidsize2)
- self.fc3_val = nn.Linear(hidsize2, 1)
-
- self.fc1_adv = nn.Linear(6400, hidsize1)
- self.fc2_adv = nn.Linear(hidsize1, hidsize2)
- self.fc3_adv = nn.Linear(hidsize2, action_size)
-
- def forward(self, x):
- x = F.relu(self.conv1(x))
- x = F.relu(self.conv2(x))
- x = F.relu(self.conv3(x))
-
- # value function approximation
- val = F.relu(self.fc1_val(x.view(x.size(0), -1)))
- val = F.relu(self.fc2_val(val))
- val = self.fc3_val(val)
-
- # advantage calculation
- adv = F.relu(self.fc1_adv(x.view(x.size(0), -1)))
- adv = F.relu(self.fc2_adv(adv))
- adv = self.fc3_adv(adv)
- return val + adv - adv.mean()
diff --git a/src/dead_lock_avoidance_agent.py b/src/dead_lock_avoidance_agent.py
deleted file mode 100644
index 43f1b4a..0000000
--- a/src/dead_lock_avoidance_agent.py
+++ /dev/null
@@ -1,116 +0,0 @@
-import matplotlib.pyplot as plt
-import numpy as np
-from flatland.envs.agent_utils import RailAgentStatus
-from flatland.envs.rail_env import RailEnv, RailEnvActions
-
-from reinforcement_learning.policy import Policy
-from utils.shortest_Distance_walker import ShortestDistanceWalker
-
-
-class MyWalker(ShortestDistanceWalker):
- def __init__(self, env: RailEnv, agent_positions):
- super().__init__(env)
- self.shortest_distance_agent_map = np.zeros((self.env.get_num_agents(),
- self.env.height,
- self.env.width),
- dtype=int) - 1
-
- self.agent_positions = agent_positions
-
- self.agent_map = {}
-
- def getData(self):
- return self.shortest_distance_agent_map
-
- def callback(self, handle, agent, position, direction, action):
- opp_a = self.agent_positions[position]
- if opp_a != -1 and opp_a != handle:
- d = self.agent_map.get(handle, [])
- d.append(opp_a)
- if self.env.agents[opp_a].direction != direction:
- self.agent_map.update({handle: d})
- self.shortest_distance_agent_map[(handle, position[0], position[1])] = direction
-
-
-class DeadLockAvoidanceAgent(Policy):
- def __init__(self, env: RailEnv, state_size, action_size):
- self.env = env
- self.action_size = action_size
- self.state_size = state_size
- self.memory = []
- self.loss = 0
- self.agent_can_move = {}
-
- def step(self, handle, state, action, reward, next_state, done):
- pass
-
- def act(self, handle, state, eps=0.):
- agent = self.env.agents[handle]
- #if handle > self.env._elapsed_steps:
- # return RailEnvActions.STOP_MOVING
- if agent.status == RailAgentStatus.ACTIVE:
- self.active_agent_cnt += 1
- #if agent.status > 20:
- # return RailEnvActions.STOP_MOVING
- check = self.agent_can_move.get(handle, None)
- if check is None:
- # print(handle, RailEnvActions.STOP_MOVING)
- return RailEnvActions.STOP_MOVING
-
- return check[3]
-
- def reset(self):
- pass
-
- def start_step(self):
- self.active_agent_cnt = 0
- self.shortest_distance_mapper()
-
- def end_step(self):
- # print("#A:", self.active_agent_cnt, "/", self.env.get_num_agents(),self.env._elapsed_steps)
- pass
-
- def get_actions(self):
- pass
-
- def shortest_distance_mapper(self):
-
- # build map with agent positions (only active agents)
- agent_positions = np.zeros((self.env.height, self.env.width), dtype=int) - 1
- for handle in range(self.env.get_num_agents()):
- agent = self.env.agents[handle]
- if agent.status <= RailAgentStatus.ACTIVE:
- if agent.position is not None:
- agent_positions[agent.position] = handle
-
- my_walker = MyWalker(self.env, agent_positions)
- for handle in range(self.env.get_num_agents()):
- agent = self.env.agents[handle]
- if agent.status <= RailAgentStatus.ACTIVE:
- my_walker.walk_to_target(handle)
- self.shortest_distance_agent_map = my_walker.getData()
-
- self.agent_can_move = {}
- agent_positions_map = np.clip(agent_positions + 1, 0, 1)
- for handle in range(self.env.get_num_agents()):
- opp_agents = my_walker.agent_map.get(handle, [])
- me = np.clip(self.shortest_distance_agent_map[handle] + 1, 0, 1)
- next_step_ok = True
- next_position, next_direction, action = my_walker.walk_one_step(handle)
- for opp_a in opp_agents:
- opp = np.clip(self.shortest_distance_agent_map[opp_a] + 1, 0, 1)
- delta = np.clip(me - opp - agent_positions_map, 0, 1)
- if (np.sum(delta) > 1):
- next_step_ok = False
- if next_step_ok:
- self.agent_can_move.update({handle: [next_position[0], next_position[1], next_direction, action]})
-
- if False:
- a = np.floor(np.sqrt(self.env.get_num_agents()))
- b = np.ceil(self.env.get_num_agents() / a)
- for handle in range(self.env.get_num_agents()):
- plt.subplot(a, b, handle + 1)
- plt.imshow(self.shortest_distance_agent_map[handle])
- # plt.colorbar()
- plt.show(block=False)
- plt.pause(0.001)
diff --git a/src/extra.py b/src/extra.py
deleted file mode 100644
index b70830f..0000000
--- a/src/extra.py
+++ /dev/null
@@ -1,404 +0,0 @@
-#
-# Author Adrian Egli
-#
-# This observation solves the FLATland challenge ROUND 1 - with agent's done 19.3%
-#
-# Training:
-# For the training of the PPO RL agent I showed 10k episodes - The episodes used for the training
-# consists of 1..20 agents on a 50x50 grid. Thus the RL agent has to learn to handle 1 upto 20 agents.
-#
-# - https://github.com/mitchellgoffpc/flatland-training
-# ./adrian_egli_ppo_training_done.png
-#
-# The key idea behind this observation is that agent's can not freely choose where they want.
-#
-# ./images/adrian_egli_decisions.png
-# ./images/adrian_egli_info.png
-# ./images/adrian_egli_start.png
-# ./images/adrian_egli_target.png
-#
-# Private submission
-# http://gitlab.aicrowd.com/adrian_egli/neurips2020-flatland-starter-kit/issues/8
-
-import numpy as np
-from flatland.core.env_observation_builder import ObservationBuilder
-from flatland.core.grid.grid4_utils import get_new_position
-from flatland.envs.agent_utils import RailAgentStatus
-from flatland.envs.rail_env import RailEnvActions
-
-from src.ppo.agent import Agent
-
-
-# ------------------------------------- USE FAST_METHOD from FLATland master ------------------------------------------
-# Adrian Egli performance fix (the fast methods brings more than 50%)
-
-def fast_isclose(a, b, rtol):
- return (a < (b + rtol)) or (a < (b - rtol))
-
-
-def fast_clip(position: (int, int), min_value: (int, int), max_value: (int, int)) -> bool:
- return (
- max(min_value[0], min(position[0], max_value[0])),
- max(min_value[1], min(position[1], max_value[1]))
- )
-
-
-def fast_argmax(possible_transitions: (int, int, int, int)) -> bool:
- if possible_transitions[0] == 1:
- return 0
- if possible_transitions[1] == 1:
- return 1
- if possible_transitions[2] == 1:
- return 2
- return 3
-
-
-def fast_position_equal(pos_1: (int, int), pos_2: (int, int)) -> bool:
- return pos_1[0] == pos_2[0] and pos_1[1] == pos_2[1]
-
-
-def fast_count_nonzero(possible_transitions: (int, int, int, int)):
- return possible_transitions[0] + possible_transitions[1] + possible_transitions[2] + possible_transitions[3]
-
-
-# ------------------------------- END - USE FAST_METHOD from FLATland master ------------------------------------------
-
-class Extra(ObservationBuilder):
-
- def __init__(self, max_depth):
- self.max_depth = max_depth
- self.observation_dim = 26
- self.agent = None
- self.random_agent_starter = []
-
- def build_data(self):
- if self.env is not None:
- self.env.dev_obs_dict = {}
- self.switches = {}
- self.switches_neighbours = {}
- self.debug_render_list = []
- self.debug_render_path_list = []
- if self.env is not None:
- self.find_all_cell_where_agent_can_choose()
-
- def find_all_cell_where_agent_can_choose(self):
-
- switches = {}
- for h in range(self.env.height):
- for w in range(self.env.width):
- pos = (h, w)
- for dir in range(4):
- possible_transitions = self.env.rail.get_transitions(*pos, dir)
- num_transitions = fast_count_nonzero(possible_transitions)
- if num_transitions > 1:
- if pos not in switches.keys():
- switches.update({pos: [dir]})
- else:
- switches[pos].append(dir)
-
- switches_neighbours = {}
- for h in range(self.env.height):
- for w in range(self.env.width):
- # look one step forward
- for dir in range(4):
- pos = (h, w)
- possible_transitions = self.env.rail.get_transitions(*pos, dir)
- for d in range(4):
- if possible_transitions[d] == 1:
- new_cell = get_new_position(pos, d)
- if new_cell in switches.keys() and pos not in switches.keys():
- if pos not in switches_neighbours.keys():
- switches_neighbours.update({pos: [dir]})
- else:
- switches_neighbours[pos].append(dir)
-
- self.switches = switches
- self.switches_neighbours = switches_neighbours
-
- def check_agent_descision(self, position, direction):
- switches = self.switches
- switches_neighbours = self.switches_neighbours
- agents_on_switch = False
- agents_near_to_switch = False
- agents_near_to_switch_all = False
- if position in switches.keys():
- agents_on_switch = direction in switches[position]
-
- if position in switches_neighbours.keys():
- new_cell = get_new_position(position, direction)
- if new_cell in switches.keys():
- if not direction in switches[new_cell]:
- agents_near_to_switch = direction in switches_neighbours[position]
- else:
- agents_near_to_switch = direction in switches_neighbours[position]
-
- agents_near_to_switch_all = direction in switches_neighbours[position]
-
- return agents_on_switch, agents_near_to_switch, agents_near_to_switch_all
-
- def required_agent_descision(self):
- agents_can_choose = {}
- agents_on_switch = {}
- agents_near_to_switch = {}
- agents_near_to_switch_all = {}
- for a in range(self.env.get_num_agents()):
- ret_agents_on_switch, ret_agents_near_to_switch, ret_agents_near_to_switch_all = \
- self.check_agent_descision(
- self.env.agents[a].position,
- self.env.agents[a].direction)
- agents_on_switch.update({a: ret_agents_on_switch})
- ready_to_depart = self.env.agents[a].status == RailAgentStatus.READY_TO_DEPART
- agents_near_to_switch.update({a: (ret_agents_near_to_switch and not ready_to_depart)})
-
- agents_can_choose.update({a: agents_on_switch[a] or agents_near_to_switch[a]})
-
- agents_near_to_switch_all.update({a: (ret_agents_near_to_switch_all and not ready_to_depart)})
-
- return agents_can_choose, agents_on_switch, agents_near_to_switch, agents_near_to_switch_all
-
- def debug_render(self, env_renderer):
- agents_can_choose, agents_on_switch, agents_near_to_switch, agents_near_to_switch_all = \
- self.required_agent_descision()
- self.env.dev_obs_dict = {}
- for a in range(max(3, self.env.get_num_agents())):
- self.env.dev_obs_dict.update({a: []})
-
- selected_agent = None
- if agents_can_choose[0]:
- if self.env.agents[0].position is not None:
- self.debug_render_list.append(self.env.agents[0].position)
- else:
- self.debug_render_list.append(self.env.agents[0].initial_position)
-
- if self.env.agents[0].position is not None:
- self.debug_render_path_list.append(self.env.agents[0].position)
- else:
- self.debug_render_path_list.append(self.env.agents[0].initial_position)
-
- env_renderer.gl.agent_colors[0] = env_renderer.gl.rgb_s2i("FF0000")
- env_renderer.gl.agent_colors[1] = env_renderer.gl.rgb_s2i("666600")
- env_renderer.gl.agent_colors[2] = env_renderer.gl.rgb_s2i("006666")
- env_renderer.gl.agent_colors[3] = env_renderer.gl.rgb_s2i("550000")
-
- self.env.dev_obs_dict[0] = self.debug_render_list
- self.env.dev_obs_dict[1] = self.switches.keys()
- self.env.dev_obs_dict[2] = self.switches_neighbours.keys()
- self.env.dev_obs_dict[3] = self.debug_render_path_list
-
- def normalize_observation(self, obsData):
- return obsData
-
- def is_collision(self, obsData):
- return False
-
- def reset(self):
- self.build_data()
- return
-
- def fast_argmax(self, array):
- if array[0] == 1:
- return 0
- if array[1] == 1:
- return 1
- if array[2] == 1:
- return 2
- return 3
-
- def _explore(self, handle, new_position, new_direction, depth=0):
- has_opp_agent = 0
- has_same_agent = 0
- visited = []
-
- # stop exploring (max_depth reached)
- if depth >= self.max_depth:
- return has_opp_agent, has_same_agent, visited
-
- # max_explore_steps = 100
- cnt = 0
- while cnt < 100:
- cnt += 1
-
- visited.append(new_position)
- opp_a = self.env.agent_positions[new_position]
- if opp_a != -1 and opp_a != handle:
- if self.env.agents[opp_a].direction != new_direction:
- # opp agent found
- has_opp_agent = 1
- return has_opp_agent, has_same_agent, visited
- else:
- has_same_agent = 1
- return has_opp_agent, has_same_agent, visited
-
- # convert one-hot encoding to 0,1,2,3
- possible_transitions = self.env.rail.get_transitions(*new_position, new_direction)
- agents_on_switch, \
- agents_near_to_switch, \
- agents_near_to_switch_all = \
- self.check_agent_descision(new_position, new_direction)
- if agents_near_to_switch:
- return has_opp_agent, has_same_agent, visited
-
- if agents_on_switch:
- for dir_loop in range(4):
- if possible_transitions[dir_loop] == 1:
- hoa, hsa, v = self._explore(handle,
- get_new_position(new_position, dir_loop),
- dir_loop,
- depth + 1)
- visited.append(v)
- has_opp_agent = 0.5 * (has_opp_agent + hoa)
- has_same_agent = 0.5 * (has_same_agent + hsa)
- return has_opp_agent, has_same_agent, visited
- else:
- new_direction = fast_argmax(possible_transitions)
- new_position = get_new_position(new_position, new_direction)
- return has_opp_agent, has_same_agent, visited
-
- def get(self, handle):
- # all values are [0,1]
- # observation[0] : 1 path towards target (direction 0) / otherwise 0 -> path is longer or there is no path
- # observation[1] : 1 path towards target (direction 1) / otherwise 0 -> path is longer or there is no path
- # observation[2] : 1 path towards target (direction 2) / otherwise 0 -> path is longer or there is no path
- # observation[3] : 1 path towards target (direction 3) / otherwise 0 -> path is longer or there is no path
- # observation[4] : int(agent.status == RailAgentStatus.READY_TO_DEPART)
- # observation[5] : int(agent.status == RailAgentStatus.ACTIVE)
- # observation[6] : int(agent.status == RailAgentStatus.DONE or agent.status == RailAgentStatus.DONE_REMOVED)
- # observation[7] : current agent is located at a switch, where it can take a routing decision
- # observation[8] : current agent is located at a cell, where it has to take a stop-or-go decision
- # observation[9] : current agent is located one step before/after a switch
- # observation[10] : 1 if there is a path (track/branch) otherwise 0 (direction 0)
- # observation[11] : 1 if there is a path (track/branch) otherwise 0 (direction 1)
- # observation[12] : 1 if there is a path (track/branch) otherwise 0 (direction 2)
- # observation[13] : 1 if there is a path (track/branch) otherwise 0 (direction 3)
- # observation[14] : If there is a path with step (direction 0) and there is a agent with opposite direction -> 1
- # observation[15] : If there is a path with step (direction 1) and there is a agent with opposite direction -> 1
- # observation[16] : If there is a path with step (direction 2) and there is a agent with opposite direction -> 1
- # observation[17] : If there is a path with step (direction 3) and there is a agent with opposite direction -> 1
- # observation[18] : If there is a path with step (direction 0) and there is a agent with same direction -> 1
- # observation[19] : If there is a path with step (direction 1) and there is a agent with same direction -> 1
- # observation[20] : If there is a path with step (direction 2) and there is a agent with same direction -> 1
- # observation[21] : If there is a path with step (direction 3) and there is a agent with same direction -> 1
-
- observation = np.zeros(self.observation_dim)
- visited = []
- agent = self.env.agents[handle]
-
- agent_done = False
- if agent.status == RailAgentStatus.READY_TO_DEPART:
- agent_virtual_position = agent.initial_position
- observation[4] = 1
- elif agent.status == RailAgentStatus.ACTIVE:
- agent_virtual_position = agent.position
- observation[5] = 1
- else:
- observation[6] = 1
- agent_virtual_position = (-1, -1)
- agent_done = True
-
- if not agent_done:
- visited.append(agent_virtual_position)
- distance_map = self.env.distance_map.get()
- current_cell_dist = distance_map[handle,
- agent_virtual_position[0], agent_virtual_position[1],
- agent.direction]
- possible_transitions = self.env.rail.get_transitions(*agent_virtual_position, agent.direction)
- orientation = agent.direction
- if fast_count_nonzero(possible_transitions) == 1:
- orientation = np.argmax(possible_transitions)
-
- for dir_loop, branch_direction in enumerate([(orientation + i) % 4 for i in range(-1, 3)]):
- if possible_transitions[branch_direction]:
- new_position = get_new_position(agent_virtual_position, branch_direction)
-
- new_cell_dist = distance_map[handle,
- new_position[0], new_position[1],
- branch_direction]
- if not (np.math.isinf(new_cell_dist) and np.math.isinf(current_cell_dist)):
- observation[dir_loop] = int(new_cell_dist < current_cell_dist)
-
- has_opp_agent, has_same_agent, v = self._explore(handle, new_position, branch_direction)
- visited.append(v)
-
- observation[10 + dir_loop] = 1
- observation[14 + dir_loop] = has_opp_agent
- observation[18 + dir_loop] = has_same_agent
-
- opp_a = self.env.agent_positions[new_position]
- if opp_a != -1 and opp_a != handle:
- observation[22 + dir_loop] = 1
-
- agents_on_switch, \
- agents_near_to_switch, \
- agents_near_to_switch_all = \
- self.check_agent_descision(agent_virtual_position, agent.direction)
- observation[7] = int(agents_on_switch)
- observation[8] = int(agents_near_to_switch)
- observation[9] = int(agents_near_to_switch_all)
-
- self.env.dev_obs_dict.update({handle: visited})
-
- return observation
-
- def rl_agent_act_ADRIAN(self, observation, info, eps=0.0):
- self.loadAgent()
- action_dict = {}
- for a in range(self.env.get_num_agents()):
- if info['action_required'][a]:
- action_dict[a] = self.agent.act(observation[a], eps=eps)
- # action_dict[a] = np.random.randint(5)
- else:
- action_dict[a] = RailEnvActions.DO_NOTHING
-
- return action_dict
-
- def rl_agent_act(self, observation, info, eps=0.0):
- if len(self.random_agent_starter) != self.env.get_num_agents():
- self.random_agent_starter = np.random.random(self.env.get_num_agents()) * 1000.0
- self.loadAgent()
-
- action_dict = {}
- for a in range(self.env.get_num_agents()):
- if self.random_agent_starter[a] > self.env._elapsed_steps:
- action_dict[a] = RailEnvActions.STOP_MOVING
- elif info['action_required'][a]:
- action_dict[a] = self.agent.act(observation[a], eps=eps)
- # action_dict[a] = np.random.randint(5)
- else:
- action_dict[a] = RailEnvActions.DO_NOTHING
-
- return action_dict
-
- def rl_agent_act_ADRIAN_01(self, observation, info, eps=0.0):
- self.loadAgent()
- action_dict = {}
- active_cnt = 0
- for a in range(self.env.get_num_agents()):
- if active_cnt < 10 or self.env.agents[a].status == RailAgentStatus.ACTIVE:
- if observation[a][6] == 1:
- active_cnt += int(self.env.agents[a].status == RailAgentStatus.ACTIVE)
- action_dict[a] = RailEnvActions.STOP_MOVING
- else:
- active_cnt += int(self.env.agents[a].status < RailAgentStatus.DONE)
- if (observation[a][7] + observation[a][8] + observation[a][9] > 0) or \
- (self.env.agents[a].status < RailAgentStatus.ACTIVE):
- if info['action_required'][a]:
- action_dict[a] = self.agent.act(observation[a], eps=eps)
- # action_dict[a] = np.random.randint(5)
- else:
- action_dict[a] = RailEnvActions.MOVE_FORWARD
- else:
- action_dict[a] = RailEnvActions.MOVE_FORWARD
- else:
- action_dict[a] = RailEnvActions.STOP_MOVING
-
- return action_dict
-
- def loadAgent(self):
- if self.agent is not None:
- return
- self.state_size = self.env.obs_builder.observation_dim
- self.action_size = 5
- print("action_size: ", self.action_size)
- print("state_size: ", self.state_size)
- self.agent = Agent(self.state_size, self.action_size, 0)
- self.agent.load('./checkpoints/', 0, 1.0)
diff --git a/src/images/adrian_egli_decisions.png b/src/images/adrian_egli_decisions.png
deleted file mode 100644
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diff --git a/src/observations.py b/src/observations.py
deleted file mode 100644
index ce47e50..0000000
--- a/src/observations.py
+++ /dev/null
@@ -1,736 +0,0 @@
-"""
-Collection of environment-specific ObservationBuilder.
-"""
-import collections
-from typing import Optional, List, Dict, Tuple
-
-import numpy as np
-from flatland.core.env import Environment
-from flatland.core.env_observation_builder import ObservationBuilder
-from flatland.core.env_prediction_builder import PredictionBuilder
-from flatland.core.grid.grid4_utils import get_new_position
-from flatland.core.grid.grid_utils import coordinate_to_position
-from flatland.envs.agent_utils import RailAgentStatus, EnvAgent
-from flatland.utils.ordered_set import OrderedSet
-
-
-class MyTreeObsForRailEnv(ObservationBuilder):
- """
- TreeObsForRailEnv object.
-
- This object returns observation vectors for agents in the RailEnv environment.
- The information is local to each agent and exploits the graph structure of the rail
- network to simplify the representation of the state of the environment for each agent.
-
- For details about the features in the tree observation see the get() function.
- """
- Node = collections.namedtuple('Node', 'dist_min_to_target '
- 'target_encountered '
- 'num_agents_same_direction '
- 'num_agents_opposite_direction '
- 'childs')
-
- tree_explored_actions_char = ['L', 'F', 'R', 'B']
-
- def __init__(self, max_depth: int, predictor: PredictionBuilder = None):
- super().__init__()
- self.max_depth = max_depth
- self.observation_dim = 2
- self.location_has_agent = {}
- self.predictor = predictor
- self.location_has_target = None
-
- self.switches_list = {}
- self.switches_neighbours_list = []
- self.check_agent_descision = None
-
- def reset(self):
- self.location_has_target = {tuple(agent.target): 1 for agent in self.env.agents}
-
- def set_switch_and_pre_switch(self, switch_list, pre_switch_list, check_agent_descision):
- self.switches_list = switch_list
- self.switches_neighbours_list = pre_switch_list
- self.check_agent_descision = check_agent_descision
-
- def get_many(self, handles: Optional[List[int]] = None) -> Dict[int, Node]:
- """
- Called whenever an observation has to be computed for the `env` environment, for each agent with handle
- in the `handles` list.
- """
-
- if handles is None:
- handles = []
- if self.predictor:
- self.max_prediction_depth = 0
- self.predicted_pos = {}
- self.predicted_dir = {}
- self.predictions = self.predictor.get()
- if self.predictions:
- for t in range(self.predictor.max_depth + 1):
- pos_list = []
- dir_list = []
- for a in handles:
- if self.predictions[a] is None:
- continue
- pos_list.append(self.predictions[a][t][1:3])
- dir_list.append(self.predictions[a][t][3])
- self.predicted_pos.update({t: coordinate_to_position(self.env.width, pos_list)})
- self.predicted_dir.update({t: dir_list})
- self.max_prediction_depth = len(self.predicted_pos)
- # Update local lookup table for all agents' positions
- # ignore other agents not in the grid (only status active and done)
-
- self.location_has_agent = {}
- self.location_has_agent_direction = {}
- self.location_has_agent_speed = {}
- self.location_has_agent_malfunction = {}
- self.location_has_agent_ready_to_depart = {}
-
- for _agent in self.env.agents:
- if _agent.status in [RailAgentStatus.ACTIVE, RailAgentStatus.DONE] and \
- _agent.position:
- self.location_has_agent[tuple(_agent.position)] = 1
- self.location_has_agent_direction[tuple(_agent.position)] = _agent.direction
- self.location_has_agent_speed[tuple(_agent.position)] = _agent.speed_data['speed']
- self.location_has_agent_malfunction[tuple(_agent.position)] = _agent.malfunction_data[
- 'malfunction']
-
- if _agent.status in [RailAgentStatus.READY_TO_DEPART] and \
- _agent.initial_position:
- self.location_has_agent_ready_to_depart[tuple(_agent.initial_position)] = \
- self.location_has_agent_ready_to_depart.get(tuple(_agent.initial_position), 0) + 1
-
- observations = super().get_many(handles)
-
- return observations
-
- def get(self, handle: int = 0) -> Node:
- """
- Computes the current observation for agent `handle` in env
-
- The observation vector is composed of 4 sequential parts, corresponding to data from the up to 4 possible
- movements in a RailEnv (up to because only a subset of possible transitions are allowed in RailEnv).
- The possible movements are sorted relative to the current orientation of the agent, rather than NESW as for
- the transitions. The order is::
-
- [data from 'left'] + [data from 'forward'] + [data from 'right'] + [data from 'back']
-
- Each branch data is organized as::
-
- [root node information] +
- [recursive branch data from 'left'] +
- [... from 'forward'] +
- [... from 'right] +
- [... from 'back']
-
- Each node information is composed of 9 features:
-
- #1:
- if own target lies on the explored branch the current distance from the agent in number of cells is stored.
-
- #2:
- if another agents target is detected the distance in number of cells from the agents current location\
- is stored
-
- #3:
- if another agent is detected the distance in number of cells from current agent position is stored.
-
- #4:
- possible conflict detected
- tot_dist = Other agent predicts to pass along this cell at the same time as the agent, we store the \
- distance in number of cells from current agent position
-
- 0 = No other agent reserve the same cell at similar time
-
- #5:
- if an not usable switch (for agent) is detected we store the distance.
-
- #6:
- This feature stores the distance in number of cells to the next branching (current node)
-
- #7:
- minimum distance from node to the agent's target given the direction of the agent if this path is chosen
-
- #8:
- agent in the same direction
- n = number of agents present same direction \
- (possible future use: number of other agents in the same direction in this branch)
- 0 = no agent present same direction
-
- #9:
- agent in the opposite direction
- n = number of agents present other direction than myself (so conflict) \
- (possible future use: number of other agents in other direction in this branch, ie. number of conflicts)
- 0 = no agent present other direction than myself
-
- #10:
- malfunctioning/blokcing agents
- n = number of time steps the oberved agent remains blocked
-
- #11:
- slowest observed speed of an agent in same direction
- 1 if no agent is observed
-
- min_fractional speed otherwise
- #12:
- number of agents ready to depart but no yet active
-
- Missing/padding nodes are filled in with -inf (truncated).
- Missing values in present node are filled in with +inf (truncated).
-
-
- In case of the root node, the values are [0, 0, 0, 0, distance from agent to target, own malfunction, own speed]
- In case the target node is reached, the values are [0, 0, 0, 0, 0].
- """
-
- if handle > len(self.env.agents):
- print("ERROR: obs _get - handle ", handle, " len(agents)", len(self.env.agents))
- agent = self.env.agents[handle] # TODO: handle being treated as index
-
- if agent.status == RailAgentStatus.READY_TO_DEPART:
- agent_virtual_position = agent.initial_position
- elif agent.status == RailAgentStatus.ACTIVE:
- agent_virtual_position = agent.position
- elif agent.status == RailAgentStatus.DONE:
- agent_virtual_position = agent.target
- else:
- return None
-
- possible_transitions = self.env.rail.get_transitions(*agent_virtual_position, agent.direction)
- num_transitions = np.count_nonzero(possible_transitions)
-
- # Here information about the agent itself is stored
- distance_map = self.env.distance_map.get()
-
- root_node_observation = MyTreeObsForRailEnv.Node(dist_min_to_target=distance_map[
- (handle, *agent_virtual_position,
- agent.direction)],
- target_encountered=0,
- num_agents_same_direction=0,
- num_agents_opposite_direction=0,
- childs={})
-
- visited = OrderedSet()
-
- # Start from the current orientation, and see which transitions are available;
- # organize them as [left, forward, right, back], relative to the current orientation
- # If only one transition is possible, the tree is oriented with this transition as the forward branch.
- orientation = agent.direction
-
- if num_transitions == 1:
- orientation = np.argmax(possible_transitions)
-
- for i, branch_direction in enumerate([(orientation + i) % 4 for i in range(-1, 3)]):
- if possible_transitions[branch_direction]:
- new_cell = get_new_position(agent_virtual_position, branch_direction)
-
- branch_observation, branch_visited = \
- self._explore_branch(handle, new_cell, branch_direction, 1, 1)
- root_node_observation.childs[self.tree_explored_actions_char[i]] = branch_observation
-
- visited |= branch_visited
- else:
- # add cells filled with infinity if no transition is possible
- root_node_observation.childs[self.tree_explored_actions_char[i]] = -np.inf
- self.env.dev_obs_dict[handle] = visited
-
- return root_node_observation
-
- def _explore_branch(self, handle, position, direction, tot_dist, depth):
- """
- Utility function to compute tree-based observations.
- We walk along the branch and collect the information documented in the get() function.
- If there is a branching point a new node is created and each possible branch is explored.
- """
-
- # [Recursive branch opened]
- if depth >= self.max_depth + 1:
- return [], []
-
- # Continue along direction until next switch or
- # until no transitions are possible along the current direction (i.e., dead-ends)
- # We treat dead-ends as nodes, instead of going back, to avoid loops
- exploring = True
-
- visited = OrderedSet()
- agent = self.env.agents[handle]
-
- other_agent_opposite_direction = 0
- other_agent_same_direction = 0
-
- dist_min_to_target = self.env.distance_map.get()[handle, position[0], position[1], direction]
-
- last_is_dead_end = False
- last_is_a_decision_cell = False
- target_encountered = 0
-
- cnt = 0
- while exploring:
-
- dist_min_to_target = min(dist_min_to_target, self.env.distance_map.get()[handle, position[0], position[1],
- direction])
-
- if agent.target == position:
- target_encountered = 1
-
- new_direction_me = direction
- new_cell_me = position
- a = self.env.agent_positions[new_cell_me]
- if a != -1 and a != handle:
- opp_agent = self.env.agents[a]
- # look one step forward
- # opp_possible_transitions = self.env.rail.get_transitions(*opp_agent.position, opp_agent.direction)
- if opp_agent.direction != new_direction_me: # opp_possible_transitions[new_direction_me] == 0:
- other_agent_opposite_direction += 1
- else:
- other_agent_same_direction += 1
-
- # #############################
- # #############################
- if (position[0], position[1], direction) in visited:
- break
- visited.add((position[0], position[1], direction))
-
- # If the target node is encountered, pick that as node. Also, no further branching is possible.
- if np.array_equal(position, self.env.agents[handle].target):
- last_is_target = True
- break
-
- exploring = False
-
- # Check number of possible transitions for agent and total number of transitions in cell (type)
- possible_transitions = self.env.rail.get_transitions(*position, direction)
- num_transitions = np.count_nonzero(possible_transitions)
- # cell_transitions = self.env.rail.get_transitions(*position, direction)
- transition_bit = bin(self.env.rail.get_full_transitions(*position))
- total_transitions = transition_bit.count("1")
-
- if num_transitions == 1:
- # Check if dead-end, or if we can go forward along direction
- nbits = total_transitions
- if nbits == 1:
- # Dead-end!
- last_is_dead_end = True
-
- if self.check_agent_descision is not None:
- ret_agents_on_switch, ret_agents_near_to_switch, agents_near_to_switch_all = \
- self.check_agent_descision(position,
- direction,
- self.switches_list,
- self.switches_neighbours_list)
- if ret_agents_on_switch:
- last_is_a_decision_cell = True
- break
-
- exploring = True
- # convert one-hot encoding to 0,1,2,3
- cell_transitions = self.env.rail.get_transitions(*position, direction)
- direction = np.argmax(cell_transitions)
- position = get_new_position(position, direction)
-
- cnt += 1
- if cnt > 1000:
- exploring = False
-
- # #############################
- # #############################
- # Modify here to append new / different features for each visited cell!
-
- node = MyTreeObsForRailEnv.Node(dist_min_to_target=dist_min_to_target,
- target_encountered=target_encountered,
- num_agents_opposite_direction=other_agent_opposite_direction,
- num_agents_same_direction=other_agent_same_direction,
- childs={})
-
- # #############################
- # #############################
- # Start from the current orientation, and see which transitions are available;
- # organize them as [left, forward, right, back], relative to the current orientation
- # Get the possible transitions
- possible_transitions = self.env.rail.get_transitions(*position, direction)
-
- for i, branch_direction in enumerate([(direction + 4 + i) % 4 for i in range(-1, 3)]):
- if last_is_dead_end and self.env.rail.get_transition((*position, direction),
- (branch_direction + 2) % 4):
- # Swap forward and back in case of dead-end, so that an agent can learn that going forward takes
- # it back
- new_cell = get_new_position(position, (branch_direction + 2) % 4)
- branch_observation, branch_visited = self._explore_branch(handle,
- new_cell,
- (branch_direction + 2) % 4,
- tot_dist + 1,
- depth + 1)
- node.childs[self.tree_explored_actions_char[i]] = branch_observation
- if len(branch_visited) != 0:
- visited |= branch_visited
- elif last_is_a_decision_cell and possible_transitions[branch_direction]:
- new_cell = get_new_position(position, branch_direction)
- branch_observation, branch_visited = self._explore_branch(handle,
- new_cell,
- branch_direction,
- tot_dist + 1,
- depth + 1)
- node.childs[self.tree_explored_actions_char[i]] = branch_observation
- if len(branch_visited) != 0:
- visited |= branch_visited
- else:
- # no exploring possible, add just cells with infinity
- node.childs[self.tree_explored_actions_char[i]] = -np.inf
-
- if depth == self.max_depth:
- node.childs.clear()
- return node, visited
-
- def util_print_obs_subtree(self, tree: Node):
- """
- Utility function to print tree observations returned by this object.
- """
- self.print_node_features(tree, "root", "")
- for direction in self.tree_explored_actions_char:
- self.print_subtree(tree.childs[direction], direction, "\t")
-
- @staticmethod
- def print_node_features(node: Node, label, indent):
- print(indent, "Direction ", label, ": ", node.num_agents_same_direction,
- ", ", node.num_agents_opposite_direction)
-
- def print_subtree(self, node, label, indent):
- if node == -np.inf or not node:
- print(indent, "Direction ", label, ": -np.inf")
- return
-
- self.print_node_features(node, label, indent)
-
- if not node.childs:
- return
-
- for direction in self.tree_explored_actions_char:
- self.print_subtree(node.childs[direction], direction, indent + "\t")
-
- def set_env(self, env: Environment):
- super().set_env(env)
- if self.predictor:
- self.predictor.set_env(self.env)
-
- def _reverse_dir(self, direction):
- return int((direction + 2) % 4)
-
-
-class GlobalObsForRailEnv(ObservationBuilder):
- """
- Gives a global observation of the entire rail environment.
- The observation is composed of the following elements:
-
- - transition map array with dimensions (env.height, env.width, 16),\
- assuming 16 bits encoding of transitions.
-
- - obs_agents_state: A 3D array (map_height, map_width, 5) with
- - first channel containing the agents position and direction
- - second channel containing the other agents positions and direction
- - third channel containing agent/other agent malfunctions
- - fourth channel containing agent/other agent fractional speeds
- - fifth channel containing number of other agents ready to depart
-
- - obs_targets: Two 2D arrays (map_height, map_width, 2) containing respectively the position of the given agent\
- target and the positions of the other agents targets (flag only, no counter!).
- """
-
- def __init__(self):
- super(GlobalObsForRailEnv, self).__init__()
-
- def set_env(self, env: Environment):
- super().set_env(env)
-
- def reset(self):
- self.rail_obs = np.zeros((self.env.height, self.env.width, 16))
- for i in range(self.rail_obs.shape[0]):
- for j in range(self.rail_obs.shape[1]):
- bitlist = [int(digit) for digit in bin(self.env.rail.get_full_transitions(i, j))[2:]]
- bitlist = [0] * (16 - len(bitlist)) + bitlist
- self.rail_obs[i, j] = np.array(bitlist)
-
- def get(self, handle: int = 0) -> (np.ndarray, np.ndarray, np.ndarray):
-
- agent = self.env.agents[handle]
- if agent.status == RailAgentStatus.READY_TO_DEPART:
- agent_virtual_position = agent.initial_position
- elif agent.status == RailAgentStatus.ACTIVE:
- agent_virtual_position = agent.position
- elif agent.status == RailAgentStatus.DONE:
- agent_virtual_position = agent.target
- else:
- return None
-
- obs_targets = np.zeros((self.env.height, self.env.width, 2))
- obs_agents_state = np.zeros((self.env.height, self.env.width, 5)) - 1
-
- # TODO can we do this more elegantly?
- # for r in range(self.env.height):
- # for c in range(self.env.width):
- # obs_agents_state[(r, c)][4] = 0
- obs_agents_state[:, :, 4] = 0
-
- obs_agents_state[agent_virtual_position][0] = agent.direction
- obs_targets[agent.target][0] = 1
-
- for i in range(len(self.env.agents)):
- other_agent: EnvAgent = self.env.agents[i]
-
- # ignore other agents not in the grid any more
- if other_agent.status == RailAgentStatus.DONE_REMOVED:
- continue
-
- obs_targets[other_agent.target][1] = 1
-
- # second to fourth channel only if in the grid
- if other_agent.position is not None:
- # second channel only for other agents
- if i != handle:
- obs_agents_state[other_agent.position][1] = other_agent.direction
- obs_agents_state[other_agent.position][2] = other_agent.malfunction_data['malfunction']
- obs_agents_state[other_agent.position][3] = other_agent.speed_data['speed']
- # fifth channel: all ready to depart on this position
- if other_agent.status == RailAgentStatus.READY_TO_DEPART:
- obs_agents_state[other_agent.initial_position][4] += 1
- return self.rail_obs, obs_agents_state, obs_targets
-
-
-class LocalObsForRailEnv(ObservationBuilder):
- """
- !!!!!!WARNING!!! THIS IS DEPRACTED AND NOT UPDATED TO FLATLAND 2.0!!!!!
- Gives a local observation of the rail environment around the agent.
- The observation is composed of the following elements:
-
- - transition map array of the local environment around the given agent, \
- with dimensions (view_height,2*view_width+1, 16), \
- assuming 16 bits encoding of transitions.
-
- - Two 2D arrays (view_height,2*view_width+1, 2) containing respectively, \
- if they are in the agent's vision range, its target position, the positions of the other targets.
-
- - A 2D array (view_height,2*view_width+1, 4) containing the one hot encoding of directions \
- of the other agents at their position coordinates, if they are in the agent's vision range.
-
- - A 4 elements array with one hot encoding of the direction.
-
- Use the parameters view_width and view_height to define the rectangular view of the agent.
- The center parameters moves the agent along the height axis of this rectangle. If it is 0 the agent only has
- observation in front of it.
-
- .. deprecated:: 2.0.0
- """
-
- def __init__(self, view_width, view_height, center):
-
- super(LocalObsForRailEnv, self).__init__()
- self.view_width = view_width
- self.view_height = view_height
- self.center = center
- self.max_padding = max(self.view_width, self.view_height - self.center)
-
- def reset(self):
- # We build the transition map with a view_radius empty cells expansion on each side.
- # This helps to collect the local transition map view when the agent is close to a border.
- self.max_padding = max(self.view_width, self.view_height)
- self.rail_obs = np.zeros((self.env.height,
- self.env.width, 16))
- for i in range(self.env.height):
- for j in range(self.env.width):
- bitlist = [int(digit) for digit in bin(self.env.rail.get_full_transitions(i, j))[2:]]
- bitlist = [0] * (16 - len(bitlist)) + bitlist
- self.rail_obs[i, j] = np.array(bitlist)
-
- def get(self, handle: int = 0) -> (np.ndarray, np.ndarray, np.ndarray, np.ndarray):
- agents = self.env.agents
- agent = agents[handle]
-
- # Correct agents position for padding
- # agent_rel_pos[0] = agent.position[0] + self.max_padding
- # agent_rel_pos[1] = agent.position[1] + self.max_padding
-
- # Collect visible cells as set to be plotted
- visited, rel_coords = self.field_of_view(agent.position, agent.direction, )
- local_rail_obs = None
-
- # Add the visible cells to the observed cells
- self.env.dev_obs_dict[handle] = set(visited)
-
- # Locate observed agents and their coresponding targets
- local_rail_obs = np.zeros((self.view_height, 2 * self.view_width + 1, 16))
- obs_map_state = np.zeros((self.view_height, 2 * self.view_width + 1, 2))
- obs_other_agents_state = np.zeros((self.view_height, 2 * self.view_width + 1, 4))
- _idx = 0
- for pos in visited:
- curr_rel_coord = rel_coords[_idx]
- local_rail_obs[curr_rel_coord[0], curr_rel_coord[1], :] = self.rail_obs[pos[0], pos[1], :]
- if pos == agent.target:
- obs_map_state[curr_rel_coord[0], curr_rel_coord[1], 0] = 1
- else:
- for tmp_agent in agents:
- if pos == tmp_agent.target:
- obs_map_state[curr_rel_coord[0], curr_rel_coord[1], 1] = 1
- if pos != agent.position:
- for tmp_agent in agents:
- if pos == tmp_agent.position:
- obs_other_agents_state[curr_rel_coord[0], curr_rel_coord[1], :] = np.identity(4)[
- tmp_agent.direction]
-
- _idx += 1
-
- direction = np.identity(4)[agent.direction]
- return local_rail_obs, obs_map_state, obs_other_agents_state, direction
-
- def get_many(self, handles: Optional[List[int]] = None) -> Dict[
- int, Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]]:
- """
- Called whenever an observation has to be computed for the `env` environment, for each agent with handle
- in the `handles` list.
- """
-
- return super().get_many(handles)
-
- def field_of_view(self, position, direction, state=None):
- # Compute the local field of view for an agent in the environment
- data_collection = False
- if state is not None:
- temp_visible_data = np.zeros(shape=(self.view_height, 2 * self.view_width + 1, 16))
- data_collection = True
- if direction == 0:
- origin = (position[0] + self.center, position[1] - self.view_width)
- elif direction == 1:
- origin = (position[0] - self.view_width, position[1] - self.center)
- elif direction == 2:
- origin = (position[0] - self.center, position[1] + self.view_width)
- else:
- origin = (position[0] + self.view_width, position[1] + self.center)
- visible = list()
- rel_coords = list()
- for h in range(self.view_height):
- for w in range(2 * self.view_width + 1):
- if direction == 0:
- if 0 <= origin[0] - h < self.env.height and 0 <= origin[1] + w < self.env.width:
- visible.append((origin[0] - h, origin[1] + w))
- rel_coords.append((h, w))
- # if data_collection:
- # temp_visible_data[h, w, :] = state[origin[0] - h, origin[1] + w, :]
- elif direction == 1:
- if 0 <= origin[0] + w < self.env.height and 0 <= origin[1] + h < self.env.width:
- visible.append((origin[0] + w, origin[1] + h))
- rel_coords.append((h, w))
- # if data_collection:
- # temp_visible_data[h, w, :] = state[origin[0] + w, origin[1] + h, :]
- elif direction == 2:
- if 0 <= origin[0] + h < self.env.height and 0 <= origin[1] - w < self.env.width:
- visible.append((origin[0] + h, origin[1] - w))
- rel_coords.append((h, w))
- # if data_collection:
- # temp_visible_data[h, w, :] = state[origin[0] + h, origin[1] - w, :]
- else:
- if 0 <= origin[0] - w < self.env.height and 0 <= origin[1] - h < self.env.width:
- visible.append((origin[0] - w, origin[1] - h))
- rel_coords.append((h, w))
- # if data_collection:
- # temp_visible_data[h, w, :] = state[origin[0] - w, origin[1] - h, :]
- if data_collection:
- return temp_visible_data
- else:
- return visible, rel_coords
-
-
-def _split_node_into_feature_groups(node: MyTreeObsForRailEnv.Node, dist_min_to_target: int) -> (np.ndarray, np.ndarray,
- np.ndarray):
- data = np.zeros(2)
-
- data[0] = 2.0 * int(node.num_agents_opposite_direction > 0) - 1.0
- # data[1] = 2.0 * int(node.num_agents_same_direction > 0) - 1.0
- data[1] = 2.0 * int(node.target_encountered > 0) - 1.0
-
- return data
-
-
-def _split_subtree_into_feature_groups(node: MyTreeObsForRailEnv.Node, dist_min_to_target: int,
- current_tree_depth: int,
- max_tree_depth: int) -> (
- np.ndarray, np.ndarray, np.ndarray):
- if node == -np.inf:
- remaining_depth = max_tree_depth - current_tree_depth
- # reference: https://stackoverflow.com/questions/515214/total-number-of-nodes-in-a-tree-data-structure
- num_remaining_nodes = int((4 ** (remaining_depth + 1) - 1) / (4 - 1))
- return [0] * num_remaining_nodes * 2
-
- data = _split_node_into_feature_groups(node, dist_min_to_target)
-
- if not node.childs:
- return data
-
- for direction in MyTreeObsForRailEnv.tree_explored_actions_char:
- sub_data = _split_subtree_into_feature_groups(node.childs[direction],
- node.dist_min_to_target,
- current_tree_depth + 1,
- max_tree_depth)
- data = np.concatenate((data, sub_data))
- return data
-
-
-def split_tree_into_feature_groups(tree: MyTreeObsForRailEnv.Node, max_tree_depth: int) -> (
- np.ndarray, np.ndarray, np.ndarray):
- """
- This function splits the tree into three difference arrays of values
- """
- data = _split_node_into_feature_groups(tree, 1000000.0)
-
- for direction in MyTreeObsForRailEnv.tree_explored_actions_char:
- sub_data = _split_subtree_into_feature_groups(tree.childs[direction],
- 1000000.0,
- 1,
- max_tree_depth)
- data = np.concatenate((data, sub_data))
-
- return data
-
-
-def normalize_observation(observation: MyTreeObsForRailEnv.Node, tree_depth: int):
- """
- This function normalizes the observation used by the RL algorithm
- """
- data = split_tree_into_feature_groups(observation, tree_depth)
- normalized_obs = data
-
- # navigate_info
- navigate_info = np.zeros(4)
- action_info = np.zeros(4)
- np.seterr(all='raise')
- try:
- dm = observation.dist_min_to_target
- if observation.childs['L'] != -np.inf:
- navigate_info[0] = dm - observation.childs['L'].dist_min_to_target
- action_info[0] = 1
- if observation.childs['F'] != -np.inf:
- navigate_info[1] = dm - observation.childs['F'].dist_min_to_target
- action_info[1] = 1
- if observation.childs['R'] != -np.inf:
- navigate_info[2] = dm - observation.childs['R'].dist_min_to_target
- action_info[2] = 1
- if observation.childs['B'] != -np.inf:
- navigate_info[3] = dm - observation.childs['B'].dist_min_to_target
- action_info[3] = 1
- except:
- navigate_info = np.ones(4)
- normalized_obs = np.zeros(len(normalized_obs))
-
- # navigate_info_2 = np.copy(navigate_info)
- # max_v = np.max(navigate_info_2)
- # navigate_info_2 = navigate_info_2 / max_v
- # navigate_info_2[navigate_info_2 < 1] = -1
-
- max_v = np.max(navigate_info)
- navigate_info = navigate_info / max_v
- navigate_info[navigate_info < 0] = -1
- # navigate_info[abs(navigate_info) < 1] = 0
- # normalized_obs = navigate_info
-
- # navigate_info = np.concatenate((navigate_info, action_info))
- normalized_obs = np.concatenate((navigate_info, normalized_obs))
- # normalized_obs = np.concatenate((navigate_info, navigate_info_2))
- # print(normalized_obs)
- return normalized_obs
diff --git a/src/ppo/agent.py b/src/ppo/agent.py
deleted file mode 100644
index 86b210a..0000000
--- a/src/ppo/agent.py
+++ /dev/null
@@ -1,106 +0,0 @@
-import pickle
-
-import torch
-# from model import PolicyNetwork
-# from replay_memory import Episode, ReplayBuffer
-from torch.distributions.categorical import Categorical
-
-from src.ppo.model import PolicyNetwork
-from src.ppo.replay_memory import Episode, ReplayBuffer
-
-BUFFER_SIZE = 32_000
-BATCH_SIZE = 4096
-GAMMA = 0.98
-LR = 0.5e-4
-CLIP_FACTOR = .005
-UPDATE_EVERY = 30
-
-device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
-print("device:", device)
-
-
-class Agent:
- def __init__(self, state_size, action_size, num_agents):
- self.policy = PolicyNetwork(state_size, action_size).to(device)
- self.old_policy = PolicyNetwork(state_size, action_size).to(device)
- self.optimizer = torch.optim.Adam(self.policy.parameters(), lr=LR)
-
- self.episodes = [Episode() for _ in range(num_agents)]
- self.memory = ReplayBuffer(BUFFER_SIZE)
- self.t_step = 0
-
- def reset(self):
- self.finished = [False] * len(self.episodes)
-
- # Decide on an action to take in the environment
-
- def act(self, state, eps=None):
- self.policy.eval()
- with torch.no_grad():
- output = self.policy(torch.from_numpy(state).float().unsqueeze(0).to(device))
- return Categorical(output).sample().item()
-
- # Record the results of the agent's action and update the model
-
- def step(self, handle, state, action, next_state, agent_done, episode_done, collision):
- if not self.finished[handle]:
- if agent_done:
- reward = 1
- elif collision:
- reward = -.5
- else:
- reward = 0
-
- # Push experience into Episode memory
- self.episodes[handle].push(state, action, reward, next_state, agent_done or episode_done)
-
- # When we finish the episode, discount rewards and push the experience into replay memory
- if agent_done or episode_done:
- self.episodes[handle].discount_rewards(GAMMA)
- self.memory.push_episode(self.episodes[handle])
- self.episodes[handle].reset()
- self.finished[handle] = True
-
- # Perform a gradient update every UPDATE_EVERY time steps
- self.t_step = (self.t_step + 1) % UPDATE_EVERY
- if self.t_step == 0 and len(self.memory) > BATCH_SIZE * 4:
- self.learn(*self.memory.sample(BATCH_SIZE, device))
-
- def learn(self, states, actions, rewards, next_state, done):
- self.policy.train()
-
- responsible_outputs = torch.gather(self.policy(states), 1, actions)
- old_responsible_outputs = torch.gather(self.old_policy(states), 1, actions).detach()
-
- # rewards = rewards - rewards.mean()
- ratio = responsible_outputs / (old_responsible_outputs + 1e-5)
- clamped_ratio = torch.clamp(ratio, 1. - CLIP_FACTOR, 1. + CLIP_FACTOR)
- loss = -torch.min(ratio * rewards, clamped_ratio * rewards).mean()
-
- # Compute loss and perform a gradient step
- self.old_policy.load_state_dict(self.policy.state_dict())
- self.optimizer.zero_grad()
- loss.backward()
- self.optimizer.step()
-
- # Checkpointing methods
-
- def save(self, path, *data):
- torch.save(self.policy.state_dict(), path / 'ppo/model_checkpoint.policy')
- torch.save(self.optimizer.state_dict(), path / 'ppo/model_checkpoint.optimizer')
- with open(path / 'ppo/model_checkpoint.meta', 'wb') as file:
- pickle.dump(data, file)
-
- def load(self, path, *defaults):
- try:
- print("Loading model from checkpoint...")
- print(path + 'ppo/model_checkpoint.policy')
- self.policy.load_state_dict(
- torch.load(path + 'ppo/model_checkpoint.policy', map_location=torch.device('cpu')))
- self.optimizer.load_state_dict(
- torch.load(path + 'ppo/model_checkpoint.optimizer', map_location=torch.device('cpu')))
- with open(path + 'ppo/model_checkpoint.meta', 'rb') as file:
- return pickle.load(file)
- except:
- print("No checkpoint file was found")
- return defaults
diff --git a/src/ppo/model.py b/src/ppo/model.py
deleted file mode 100644
index 51b86ff..0000000
--- a/src/ppo/model.py
+++ /dev/null
@@ -1,20 +0,0 @@
-import torch.nn as nn
-import torch.nn.functional as F
-
-
-class PolicyNetwork(nn.Module):
- def __init__(self, state_size, action_size, hidsize1=128, hidsize2=128, hidsize3=32):
- super().__init__()
- self.fc1 = nn.Linear(state_size, hidsize1)
- self.fc2 = nn.Linear(hidsize1, hidsize2)
- # self.fc3 = nn.Linear(hidsize2, hidsize3)
- self.output = nn.Linear(hidsize2, action_size)
- self.softmax = nn.Softmax(dim=1)
- self.bn0 = nn.BatchNorm1d(state_size, affine=False)
-
- def forward(self, inputs):
- x = self.bn0(inputs.float())
- x = F.relu(self.fc1(x))
- x = F.relu(self.fc2(x))
- # x = F.relu(self.fc3(x))
- return self.softmax(self.output(x))
diff --git a/src/ppo/replay_memory.py b/src/ppo/replay_memory.py
deleted file mode 100644
index 3e6619b..0000000
--- a/src/ppo/replay_memory.py
+++ /dev/null
@@ -1,53 +0,0 @@
-import torch
-import random
-import numpy as np
-from collections import namedtuple, deque, Iterable
-
-
-Transition = namedtuple("Experience", ("state", "action", "reward", "next_state", "done"))
-
-
-class Episode:
- memory = []
-
- def reset(self):
- self.memory = []
-
- def push(self, *args):
- self.memory.append(tuple(args))
-
- def discount_rewards(self, gamma):
- running_add = 0.
- for i, (state, action, reward, *rest) in list(enumerate(self.memory))[::-1]:
- running_add = running_add * gamma + reward
- self.memory[i] = (state, action, running_add, *rest)
-
-
-class ReplayBuffer:
- def __init__(self, buffer_size):
- self.memory = deque(maxlen=buffer_size)
-
- def push(self, state, action, reward, next_state, done):
- self.memory.append(Transition(np.expand_dims(state, 0), action, reward, np.expand_dims(next_state, 0), done))
-
- def push_episode(self, episode):
- for step in episode.memory:
- self.push(*step)
-
- def sample(self, batch_size, device):
- experiences = random.sample(self.memory, k=batch_size)
-
- states = torch.from_numpy(self.stack([e.state for e in experiences])).float().to(device)
- actions = torch.from_numpy(self.stack([e.action for e in experiences])).long().to(device)
- rewards = torch.from_numpy(self.stack([e.reward for e in experiences])).float().to(device)
- next_states = torch.from_numpy(self.stack([e.next_state for e in experiences])).float().to(device)
- dones = torch.from_numpy(self.stack([e.done for e in experiences]).astype(np.uint8)).float().to(device)
-
- return states, actions, rewards, next_states, dones
-
- def stack(self, states):
- sub_dims = states[0].shape[1:] if isinstance(states[0], Iterable) else [1]
- return np.reshape(np.array(states), (len(states), *sub_dims))
-
- def __len__(self):
- return len(self.memory)
diff --git a/src/shortest_Distance_walker.py b/src/shortest_Distance_walker.py
deleted file mode 100644
index d69ebcb..0000000
--- a/src/shortest_Distance_walker.py
+++ /dev/null
@@ -1,69 +0,0 @@
-import numpy as np
-from flatland.core.grid.grid4_utils import get_new_position
-from flatland.envs.rail_env import RailEnv, RailEnvActions
-from flatland.envs.rail_env import fast_count_nonzero, fast_argmax
-
-
-class ShortestDistanceWalker:
- def __init__(self, env: RailEnv):
- self.env = env
-
- def walk(self, handle, position, direction):
- possible_transitions = self.env.rail.get_transitions(*position, direction)
- num_transitions = fast_count_nonzero(possible_transitions)
- if num_transitions == 1:
- new_direction = fast_argmax(possible_transitions)
- new_position = get_new_position(position, new_direction)
- dist = self.env.distance_map.get()[handle, new_position[0], new_position[1], new_direction]
- return new_position, new_direction, dist, RailEnvActions.MOVE_FORWARD
- else:
- min_distances = []
- positions = []
- directions = []
- for new_direction in [(direction + i) % 4 for i in range(-1, 2)]:
- if possible_transitions[new_direction]:
- new_position = get_new_position(position, new_direction)
- min_distances.append(
- self.env.distance_map.get()[handle, new_position[0], new_position[1], new_direction])
- positions.append(new_position)
- directions.append(new_direction)
- else:
- min_distances.append(np.inf)
- positions.append(None)
- directions.append(None)
-
- a = np.argmin(min_distances)
- return positions[a], directions[a], min_distances[a], a + 1
-
- def callback(self, handle, agent, position, direction, action):
- pass
-
- def walk_to_target(self, handle):
- agent = self.env.agents[handle]
- if agent.position is not None:
- position = agent.position
- else:
- position = agent.initial_position
- direction = agent.direction
- while (position != agent.target):
- position, direction, dist, action = self.walk(handle, position, direction)
- if position is None:
- break
- self.callback(handle, agent, position, direction, action)
-
- def callback_one_step(self, handle, agent, position, direction, action):
- pass
-
- def walk_one_step(self, handle):
- agent = self.env.agents[handle]
- if agent.position is not None:
- position = agent.position
- else:
- position = agent.initial_position
- direction = agent.direction
- if (position != agent.target):
- new_position, new_direction, dist, action = self.walk(handle, position, direction)
- if new_position is None:
- return position, direction, RailEnvActions.STOP_MOVING
- self.callback_one_step(handle, agent, new_position, new_direction, action)
- return new_position, new_direction, action
diff --git a/utils/dead_lock_avoidance_agent.py b/utils/dead_lock_avoidance_agent.py
index 43f1b4a..382959a 100644
--- a/utils/dead_lock_avoidance_agent.py
+++ b/utils/dead_lock_avoidance_agent.py
@@ -15,21 +15,33 @@ class MyWalker(ShortestDistanceWalker):
self.env.width),
dtype=int) - 1
+ self.full_shortest_distance_agent_map = np.zeros((self.env.get_num_agents(),
+ self.env.height,
+ self.env.width),
+ dtype=int) - 1
+
self.agent_positions = agent_positions
self.agent_map = {}
+ def get_action(self, handle, min_distances):
+ return np.argmin(min_distances)
+
def getData(self):
- return self.shortest_distance_agent_map
+ return self.shortest_distance_agent_map, self.full_shortest_distance_agent_map
def callback(self, handle, agent, position, direction, action):
opp_a = self.agent_positions[position]
if opp_a != -1 and opp_a != handle:
- d = self.agent_map.get(handle, [])
- d.append(opp_a)
if self.env.agents[opp_a].direction != direction:
+ d = self.agent_map.get(handle, [])
+ if opp_a not in d:
+ d.append(opp_a)
self.agent_map.update({handle: d})
- self.shortest_distance_agent_map[(handle, position[0], position[1])] = direction
+ d = self.agent_map.get(handle, [])
+ if len(d) == 0:
+ self.shortest_distance_agent_map[(handle, position[0], position[1])] = 1
+ self.full_shortest_distance_agent_map[(handle, position[0], position[1])] = 1
class DeadLockAvoidanceAgent(Policy):
@@ -45,16 +57,9 @@ class DeadLockAvoidanceAgent(Policy):
pass
def act(self, handle, state, eps=0.):
- agent = self.env.agents[handle]
- #if handle > self.env._elapsed_steps:
- # return RailEnvActions.STOP_MOVING
- if agent.status == RailAgentStatus.ACTIVE:
- self.active_agent_cnt += 1
- #if agent.status > 20:
- # return RailEnvActions.STOP_MOVING
+ # agent = self.env.agents[handle]
check = self.agent_can_move.get(handle, None)
if check is None:
- # print(handle, RailEnvActions.STOP_MOVING)
return RailEnvActions.STOP_MOVING
return check[3]
@@ -63,11 +68,9 @@ class DeadLockAvoidanceAgent(Policy):
pass
def start_step(self):
- self.active_agent_cnt = 0
self.shortest_distance_mapper()
def end_step(self):
- # print("#A:", self.active_agent_cnt, "/", self.env.get_num_agents(),self.env._elapsed_steps)
pass
def get_actions(self):
@@ -79,7 +82,7 @@ class DeadLockAvoidanceAgent(Policy):
agent_positions = np.zeros((self.env.height, self.env.width), dtype=int) - 1
for handle in range(self.env.get_num_agents()):
agent = self.env.agents[handle]
- if agent.status <= RailAgentStatus.ACTIVE:
+ if agent.status == RailAgentStatus.ACTIVE:
if agent.position is not None:
agent_positions[agent.position] = handle
@@ -88,20 +91,22 @@ class DeadLockAvoidanceAgent(Policy):
agent = self.env.agents[handle]
if agent.status <= RailAgentStatus.ACTIVE:
my_walker.walk_to_target(handle)
- self.shortest_distance_agent_map = my_walker.getData()
+ shortest_distance_agent_map, full_shortest_distance_agent_map = my_walker.getData()
self.agent_can_move = {}
- agent_positions_map = np.clip(agent_positions + 1, 0, 1)
+ agent_positions_map = (agent_positions > -1).astype(int)
for handle in range(self.env.get_num_agents()):
opp_agents = my_walker.agent_map.get(handle, [])
- me = np.clip(self.shortest_distance_agent_map[handle] + 1, 0, 1)
+ me = shortest_distance_agent_map[handle]
+ delta = me
next_step_ok = True
next_position, next_direction, action = my_walker.walk_one_step(handle)
for opp_a in opp_agents:
- opp = np.clip(self.shortest_distance_agent_map[opp_a] + 1, 0, 1)
- delta = np.clip(me - opp - agent_positions_map, 0, 1)
- if (np.sum(delta) > 1):
+ opp = full_shortest_distance_agent_map[opp_a]
+ delta = (delta - opp - agent_positions_map > 0).astype(int)
+ if (np.sum(delta) < 3):
next_step_ok = False
+
if next_step_ok:
self.agent_can_move.update({handle: [next_position[0], next_position[1], next_direction, action]})
@@ -110,7 +115,7 @@ class DeadLockAvoidanceAgent(Policy):
b = np.ceil(self.env.get_num_agents() / a)
for handle in range(self.env.get_num_agents()):
plt.subplot(a, b, handle + 1)
- plt.imshow(self.shortest_distance_agent_map[handle])
+ plt.imshow(shortest_distance_agent_map[handle])
# plt.colorbar()
plt.show(block=False)
- plt.pause(0.001)
+ plt.pause(0.01)
diff --git a/utils/shortest_Distance_walker.py b/utils/shortest_Distance_walker.py
index d69ebcb..bd1d5b3 100644
--- a/utils/shortest_Distance_walker.py
+++ b/utils/shortest_Distance_walker.py
@@ -14,6 +14,7 @@ class ShortestDistanceWalker:
if num_transitions == 1:
new_direction = fast_argmax(possible_transitions)
new_position = get_new_position(position, new_direction)
+
dist = self.env.distance_map.get()[handle, new_position[0], new_position[1], new_direction]
return new_position, new_direction, dist, RailEnvActions.MOVE_FORWARD
else:
@@ -32,9 +33,12 @@ class ShortestDistanceWalker:
positions.append(None)
directions.append(None)
- a = np.argmin(min_distances)
+ a = self.get_action(handle, min_distances)
return positions[a], directions[a], min_distances[a], a + 1
+ def get_action(self, handle, min_distances):
+ return np.argmin(min_distances)
+
def callback(self, handle, agent, position, direction, action):
pass
--
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