From 1a9c8c2856d792e4533a75c70c821ff21d0ea3a7 Mon Sep 17 00:00:00 2001
From: Guillaume Mollard <guillaume.mollard2@gmail.com>
Date: Wed, 29 May 2019 10:18:31 +0200
Subject: [PATCH] addded global obs direction dependent
---
flatland/envs/observations.py | 106 +++++++++++++++++++++++++++++-----
1 file changed, 91 insertions(+), 15 deletions(-)
diff --git a/flatland/envs/observations.py b/flatland/envs/observations.py
index 96d91579..f5f70aa1 100644
--- a/flatland/envs/observations.py
+++ b/flatland/envs/observations.py
@@ -483,13 +483,12 @@ class GlobalObsForRailEnv(ObservationBuilder):
- transition map array with dimensions (env.height, env.width, 16),
assuming 16 bits encoding of transitions.
- - Three 2D arrays (map_height, map_width, 3) containing respectively the position of the given agent,
- the position of its target and the positions of the other agents 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.
- - A 3D array (map_height, map_width, 4) containing the one hot encoding of directions
+ - A 3D array (map_height, map_width, 8) with the 4 first channels containing the one hot encoding
+ of the direction of the given agent and the 4 second channels containing the positions
of the other agents at their position coordinates.
-
- - A 4 elements array with one of encoding of the direction of the agent of interest.
"""
def __init__(self):
@@ -516,30 +515,100 @@ class GlobalObsForRailEnv(ObservationBuilder):
# self.targets[target_pos] += 1
def get(self, handle):
- obs_map_state = np.zeros((self.env.height, self.env.width, 3))
- obs_other_agents_state = np.zeros((self.env.height, self.env.width, 4))
+ obs_targets = np.zeros((self.env.height, self.env.width, 2))
+ obs_agents_state = np.zeros((self.env.height, self.env.width, 8))
agents = self.env.agents
agent = agents[handle]
+ direction = np.zeros(4)
+ direction[agent.direction] = 1
agent_pos = agents[handle].position
- obs_map_state[agent_pos][0] += 1
- obs_map_state[agent.target][1] += 1
+ obs_agents_state[agent_pos][:4] = direction
+ obs_targets[agent.target][0] += 1
for i in range(len(agents)):
if i != handle: # TODO: handle used as index...?
agent2 = agents[i]
- obs_other_agents_state[agent2.position][agent2.direction] = 1
- obs_map_state[agent2.target][2] += 1
+ obs_agents_state[agent2.position][4 + agent2.direction] = 1
+ obs_targets[agent2.target][1] += 1
- direction = np.zeros(4)
- direction[agent.direction] = 1
+ return self.rail_obs, obs_agents_state, obs_targets
+
+
+class GlobalObsForRailEnvDirectionDependent(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, flipped in the direction of the agent
+ (the agent is always heding north on the flipped view).
+
+ - 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, also flipped depending on the agent's direction.
- return self.rail_obs, obs_map_state, obs_other_agents_state, direction
+ - A 3D array (map_height, map_width, 5) containing the one hot encoding of the direction of the other
+ agents at their position coordinates, and the last channel containing the position of the given agent.
+ """
+
+ def __init__(self):
+ self.observation_space = ()
+ super(GlobalObsForRailEnvDirectionDependent, self).__init__()
+
+ def _set_env(self, env):
+ super()._set_env(env)
+
+ self.observation_space = [4, self.env.height, self.env.width]
+
+ 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_transitions((i, j)))[2:]]
+ bitlist = [0] * (16 - len(bitlist)) + bitlist
+ self.rail_obs[i, j] = np.array(bitlist)
+ # self.rail_obs[i, j] = np.array(
+ # list(f'{self.env.rail.get_transitions((i, j)):016b}')).astype(int)
+
+ # self.targets = np.zeros(self.env.height, self.env.width)
+ # for target_pos in self.env.agents_target:
+ # self.targets[target_pos] += 1
+
+ def get(self, handle):
+ obs_targets = np.zeros((self.env.height, self.env.width, 2))
+ obs_agents_state = np.zeros((self.env.height, self.env.width, 5))
+ agents = self.env.agents
+ agent = agents[handle]
+ direction = agent.direction
+
+ idx = np.tile(np.arange(16), 2)
+
+ rail_obs = self.rail_obs[:, :, idx[direction * 4: direction * 4 + 16]]
+
+ if direction == 1:
+ rail_obs = np.flip(rail_obs, axis=1)
+ elif direction == 2:
+ rail_obs = np.flip(rail_obs)
+ elif direction == 3:
+ rail_obs = np.flip(rail_obs, axis=0)
+
+ agent_pos = agents[handle].position
+ obs_agents_state[agent_pos][0] = 1
+ obs_targets[agent.target][0] += 1
+
+ idx = np.tile(np.arange(4), 2)
+ for i in range(len(agents)):
+ if i != handle: # TODO: handle used as index...?
+ agent2 = agents[i]
+ obs_agents_state[agent2.position][1 + idx[4 + (agent2.direction - direction)]] = 1
+ obs_targets[agent2.target][1] += 1
+
+ return rail_obs, obs_agents_state, obs_targets
class LocalObsForRailEnv(ObservationBuilder):
"""
- Gives a global observation of the entire rail environment.
+ 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,
@@ -620,3 +689,10 @@ class LocalObsForRailEnv(ObservationBuilder):
return local_rail_obs, obs_map_state, obs_other_agents_state, direction
+
+# class LocalObsForRailEnvImproved(ObservationBuilder):
+# """
+# Returns a local observation around the given agent
+# """
+
+
--
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