From 53c34f901e571f13cb00843e876f2af46f2031bc Mon Sep 17 00:00:00 2001
From: Erik Nygren <erik.nygren@sbb.ch>
Date: Thu, 16 May 2019 18:25:44 +0200
Subject: [PATCH] fixed bugs in get() funciton in observation_builder
---
examples/training_navigation.py | 16 ++++++++--------
flatland/envs/observations.py | 3 ++-
flatland/envs/rail_env.py | 4 ++--
3 files changed, 12 insertions(+), 11 deletions(-)
diff --git a/examples/training_navigation.py b/examples/training_navigation.py
index 4a21ad11..ec19ff20 100644
--- a/examples/training_navigation.py
+++ b/examples/training_navigation.py
@@ -24,18 +24,17 @@ transition_probability = [15, # empty cell - Case 0
1] # Case 2b (10) - simple switch mirrored
# Example generate a random rail
-
+"""
env = RailEnv(width=10,
height=10,
rail_generator=random_rail_generator(cell_type_relative_proportion=transition_probability),
- number_of_agents=1)
+ number_of_agents=5)
"""
env = RailEnv(width=15,
height=15,
- rail_generator=complex_rail_generator(nr_start_goal=10, min_dist=5, max_dist=99999, seed=0),
+ rail_generator=complex_rail_generator(nr_start_goal=3, min_dist=5, max_dist=99999, seed=0),
number_of_agents=3)
"""
-"""
env = RailEnv(width=20,
height=20,
rail_generator=rail_from_list_of_saved_GridTransitionMap_generator(
@@ -117,12 +116,14 @@ def norm_obs_clip(obs, clip_min=-1, clip_max=1):
for trials in range(1, n_trials + 1):
# Reset environment
- obs, dev_obs = env.reset()
- env.dev_obs_dict = dev_obs
+ obs = env.reset()
+
final_obs = obs.copy()
final_obs_next = obs.copy()
+
for a in range(env.get_num_agents()):
data, distance = env.obs_builder.split_tree(tree=np.array(obs[a]), num_features_per_node=5, current_depth=0)
+
data = norm_obs_clip(data)
distance = norm_obs_clip(distance)
obs[a] = np.concatenate((data, distance))
@@ -150,8 +151,7 @@ for trials in range(1, n_trials + 1):
action_dict.update({a: action})
# Environment step
- (next_obs, dev_obs), all_rewards, done, _ = env.step(action_dict)
- env.dev_obs_dict = dev_obs
+ next_obs, all_rewards, done, _ = env.step(action_dict)
for a in range(env.get_num_agents()):
data, distance = env.obs_builder.split_tree(tree=np.array(next_obs[a]), num_features_per_node=5,
current_depth=0)
diff --git a/flatland/envs/observations.py b/flatland/envs/observations.py
index dba5faf9..b097b5df 100644
--- a/flatland/envs/observations.py
+++ b/flatland/envs/observations.py
@@ -229,7 +229,8 @@ class TreeObsForRailEnv(ObservationBuilder):
num_cells_to_fill_in += pow4
pow4 *= 4
observation = observation + [-np.inf, -np.inf, -np.inf, -np.inf, -np.inf] * num_cells_to_fill_in
- return observation, visited
+ self.env.dev_obs_dict[handle] = visited
+ return observation
def _explore_branch(self, handle, position, direction, root_observation, depth):
"""
diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index 640eb5c5..118ebf4d 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -318,8 +318,8 @@ class RailEnv(Environment):
self.debug_obs_dict = {}
# for handle in self.agents_handles:
for iAgent in range(self.get_num_agents()):
- self.obs_dict[iAgent], self.debug_obs_dict[iAgent] = self.obs_builder.get(iAgent)
- return self.obs_dict, self.debug_obs_dict
+ self.obs_dict[iAgent] = self.obs_builder.get(iAgent)
+ return self.obs_dict
def render(self):
# TODO:
--
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