From ff2ea11da7abccddd42b5dd7920e7875dc3304af Mon Sep 17 00:00:00 2001
From: Erik Nygren <erik.nygren@sbb.ch>
Date: Sat, 15 Jun 2019 13:06:26 +0200
Subject: [PATCH] updated how distance from agent is measured to detect
conflicts!
---
flatland/envs/observations.py | 55 +++++++++++++++++++----------------
1 file changed, 30 insertions(+), 25 deletions(-)
diff --git a/flatland/envs/observations.py b/flatland/envs/observations.py
index 931fabc7..007f6939 100644
--- a/flatland/envs/observations.py
+++ b/flatland/envs/observations.py
@@ -273,7 +273,7 @@ class TreeObsForRailEnv(ObservationBuilder):
if possible_transitions[branch_direction]:
new_cell = self._new_position(agent.position, branch_direction)
branch_observation, branch_visited = \
- self._explore_branch(handle, new_cell, branch_direction, root_observation, 1)
+ self._explore_branch(handle, new_cell, branch_direction, root_observation, 0, 1)
observation = observation + branch_observation
visited = visited.union(branch_visited)
else:
@@ -286,7 +286,7 @@ class TreeObsForRailEnv(ObservationBuilder):
self.env.dev_obs_dict[handle] = visited
return observation
- def _explore_branch(self, handle, position, direction, root_observation, depth):
+ def _explore_branch(self, handle, position, direction, root_observation, tot_dist, depth):
"""
Utility function to compute tree-based observations.
"""
@@ -332,26 +332,31 @@ class TreeObsForRailEnv(ObservationBuilder):
# Register possible conflict
if self.predictor and num_steps < self.max_prediction_depth:
int_position = coordinate_to_position(self.env.width, [position])
- pre_step = max(0, num_steps - 1)
- post_step = min(self.max_prediction_depth - 1, num_steps + 1)
- # Look for opposing paths at distance num_step
- if int_position in np.delete(self.predicted_pos[num_steps], handle):
- conflicting_agent = np.where(np.delete(self.predicted_pos[num_steps], handle) == int_position)
- for ca in conflicting_agent:
- if direction != self.predicted_dir[num_steps][ca[0]]:
- potential_conflict = 1
- # Look for opposing paths at distance num_step-1
- elif int_position in np.delete(self.predicted_pos[pre_step], handle):
- conflicting_agent = np.where(self.predicted_pos[pre_step] == int_position)
- for ca in conflicting_agent:
- if direction != self.predicted_dir[pre_step][ca[0]]:
- potential_conflict = 1
- # Look for opposing paths at distance num_step+1
- elif int_position in np.delete(self.predicted_pos[post_step], handle):
- conflicting_agent = np.where(np.delete(self.predicted_pos[post_step], handle) == int_position)
- for ca in conflicting_agent:
- if direction != self.predicted_dir[post_step][ca[0]]:
- potential_conflict = 1
+ if tot_dist < self.max_prediction_depth:
+ pre_step = max(0, tot_dist - 1)
+ post_step = min(self.max_prediction_depth - 1, tot_dist + 1)
+
+ # Look for opposing paths at distance num_step
+ if int_position in np.delete(self.predicted_pos[tot_dist], handle):
+ conflicting_agent = np.where(np.delete(self.predicted_pos[tot_dist], handle) == int_position)
+ for ca in conflicting_agent:
+ if direction != self.predicted_dir[tot_dist][ca[0]]:
+ potential_conflict = 1
+ # print("Potential Conflict",position,handle,ca[0],tot_dist,depth)
+ # Look for opposing paths at distance num_step-1
+ elif int_position in np.delete(self.predicted_pos[pre_step], handle):
+ conflicting_agent = np.where(self.predicted_pos[pre_step] == int_position)
+ for ca in conflicting_agent:
+ if direction != self.predicted_dir[pre_step][ca[0]]:
+ potential_conflict = 1
+ # print("Potential Conflict", position,handle,ca[0],pre_step,depth)
+ # Look for opposing paths at distance num_step+1
+ elif int_position in np.delete(self.predicted_pos[post_step], handle):
+ conflicting_agent = np.where(np.delete(self.predicted_pos[post_step], handle) == int_position)
+ for ca in conflicting_agent:
+ if direction != self.predicted_dir[post_step][ca[0]]:
+ potential_conflict = 1
+ # print("Potential Conflict", position,handle,ca[0],post_step,depth)
if position in self.location_has_target and position != agent.target:
if num_steps < other_target_encountered:
@@ -395,7 +400,7 @@ class TreeObsForRailEnv(ObservationBuilder):
direction = np.argmax(cell_transitions)
position = self._new_position(position, direction)
num_steps += 1
-
+ tot_dist += 1
elif num_transitions > 0:
# Switch detected
last_isSwitch = True
@@ -499,7 +504,7 @@ class TreeObsForRailEnv(ObservationBuilder):
branch_observation, branch_visited = self._explore_branch(handle,
new_cell,
(branch_direction + 2) % 4,
- new_root_observation,
+ new_root_observation, tot_dist + 1,
depth + 1)
observation = observation + branch_observation
if len(branch_visited) != 0:
@@ -509,7 +514,7 @@ class TreeObsForRailEnv(ObservationBuilder):
branch_observation, branch_visited = self._explore_branch(handle,
new_cell,
branch_direction,
- new_root_observation,
+ new_root_observation, tot_dist + 1,
depth + 1)
observation = observation + branch_observation
if len(branch_visited) != 0:
--
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