From 96f670b38e8d8b4ce039960755102e7e6e26f82c Mon Sep 17 00:00:00 2001
From: Erik Nygren <erik.nygren@sbb.ch>
Date: Thu, 4 Jul 2019 16:29:01 -0400
Subject: [PATCH] Major update to shortest path predictor major update and
bugfix for collision detection
---
flatland/core/transitions.py | 2 +-
flatland/envs/observations.py | 60 ++++++-------------------
flatland/envs/predictions.py | 14 ++----
tests/test_flatland_envs_predictions.py | 28 ------------
4 files changed, 17 insertions(+), 87 deletions(-)
diff --git a/flatland/core/transitions.py b/flatland/core/transitions.py
index 29b57c4..5049c23 100644
--- a/flatland/core/transitions.py
+++ b/flatland/core/transitions.py
@@ -12,7 +12,7 @@ class Transitions:
Generic class that implements checks to control whether a
certain transition is allowed (agent facing a direction
- `orientation' and moving into direction `direction')
+ `orientation' and moving into direction `orientation')
"""
def get_type(self):
diff --git a/flatland/envs/observations.py b/flatland/envs/observations.py
index 8222115..a490385 100644
--- a/flatland/envs/observations.py
+++ b/flatland/envs/observations.py
@@ -283,7 +283,7 @@ 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, 0, 1)
+ self._explore_branch(handle, new_cell, branch_direction, root_observation, 1, 1)
observation = observation + branch_observation
visited = visited.union(branch_visited)
else:
@@ -351,22 +351,23 @@ class TreeObsForRailEnv(ObservationBuilder):
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]] and tot_dist < potential_conflict:
+ if int_position in np.delete(self.predicted_pos[tot_dist], handle, 0):
+ conflicting_agent = np.where(self.predicted_pos[tot_dist] == int_position)
+ for ca in conflicting_agent[0]:
+
+ if direction != self.predicted_dir[tot_dist][ca] and tot_dist < potential_conflict:
potential_conflict = tot_dist
# Look for opposing paths at distance num_step-1
- elif int_position in np.delete(self.predicted_pos[pre_step], handle):
+ elif int_position in np.delete(self.predicted_pos[pre_step], handle, 0):
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]] and tot_dist < potential_conflict:
+ for ca in conflicting_agent[0]:
+ if direction != self.predicted_dir[pre_step][ca] and tot_dist < potential_conflict:
potential_conflict = tot_dist
# 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]] and tot_dist < potential_conflict:
+ elif int_position in np.delete(self.predicted_pos[post_step], handle, 0):
+ conflicting_agent = np.where(self.predicted_pos[post_step] == int_position)
+ for ca in conflicting_agent[0]:
+ if direction != self.predicted_dir[post_step][ca] and tot_dist < potential_conflict:
potential_conflict = tot_dist
if position in self.location_has_target and position != agent.target:
@@ -436,41 +437,6 @@ class TreeObsForRailEnv(ObservationBuilder):
# #############################
# #############################
# Modify here to append new / different features for each visited cell!
- """
- other_agent_same_direction = \
- 1 if position in self.location_has_agent and self.location_has_agent_direction[position] == direction else 0
- other_agent_opposite_direction = \
- 1 if position in self.location_has_agent and self.location_has_agent_direction[position] != direction else 0
-
- if last_isTarget:
- observation = [0,
- other_target_encountered,
- other_agent_encountered,
- root_observation[3] + num_steps,
- 0,
- other_agent_same_direction,
- other_agent_opposite_direction
- ]
-
- elif last_isTerminal:
- observation = [0,
- other_target_encountered,
- other_agent_encountered,
- np.inf,
- np.inf,
- other_agent_same_direction,
- other_agent_opposite_direction
- ]
- else:
- observation = [0,
- other_target_encountered,
- other_agent_encountered,
- root_observation[3] + num_steps,
- self.distance_map[handle, position[0], position[1], direction],
- other_agent_same_direction,
- other_agent_opposite_direction
- ]
- """
if last_isTarget:
observation = [own_target_encountered,
diff --git a/flatland/envs/predictions.py b/flatland/envs/predictions.py
index 654f549..d471596 100644
--- a/flatland/envs/predictions.py
+++ b/flatland/envs/predictions.py
@@ -142,7 +142,8 @@ class ShortestPathPredictorForRailEnv(PredictionBuilder):
min_dist = np.inf
for direction in range(4):
if cell_transitions[direction] == 1:
- target_dist = distance_map[agent.handle, agent.position[0], agent.position[1], direction]
+ neighbour_cell = get_new_position(agent.position, direction)
+ target_dist = distance_map[agent.handle, neighbour_cell[0], neighbour_cell[1], direction]
if target_dist < min_dist:
min_dist = target_dist
new_direction = direction
@@ -150,21 +151,12 @@ class ShortestPathPredictorForRailEnv(PredictionBuilder):
else:
raise Exception("No transition possible {}".format(cell_transitions))
- # which action to take for the transition?
- action = None
- for _action in [RailEnvActions.MOVE_FORWARD, RailEnvActions.MOVE_RIGHT, RailEnvActions.MOVE_LEFT]:
- _, _, _new_direction, _new_position, _ = self.env._check_action_on_agent(_action, agent)
- if np.array_equal(_new_position, new_position):
- action = _action
- break
- assert action is not None
-
# update the agent's position and direction
agent.position = new_position
agent.direction = new_direction
# prediction is ready
- prediction[index] = [index, *new_position, new_direction, action]
+ prediction[index] = [index, *new_position, new_direction, 0]
prediction_dict[agent.handle] = prediction
# cleanup: reset initial position
diff --git a/tests/test_flatland_envs_predictions.py b/tests/test_flatland_envs_predictions.py
index 1685067..c5514bd 100644
--- a/tests/test_flatland_envs_predictions.py
+++ b/tests/test_flatland_envs_predictions.py
@@ -9,7 +9,6 @@ from flatland.envs.generators import rail_from_GridTransitionMap_generator
from flatland.envs.observations import TreeObsForRailEnv
from flatland.envs.predictions import DummyPredictorForRailEnv, ShortestPathPredictorForRailEnv
from flatland.envs.rail_env import RailEnv
-from flatland.envs.rail_env import RailEnvActions
from flatland.utils.rendertools import RenderTool
"""Test predictions for `flatland` package."""
@@ -187,7 +186,6 @@ def test_shortest_path_predictor(rendering=False):
positions = np.array(list(map(lambda prediction: [*prediction[1:3]], predictions[0])))
directions = np.array(list(map(lambda prediction: [prediction[3]], predictions[0])))
time_offsets = np.array(list(map(lambda prediction: [prediction[0]], predictions[0])))
- actions = np.array(list(map(lambda prediction: [prediction[4]], predictions[0])))
expected_positions = [
[5, 6],
@@ -260,35 +258,9 @@ def test_shortest_path_predictor(rendering=False):
[20.],
])
- expected_actions = np.array([
- [RailEnvActions.DO_NOTHING], # next [5,6]
- [RailEnvActions.MOVE_FORWARD], # next [4,6]
- [RailEnvActions.MOVE_FORWARD], # next [3,6]
- [RailEnvActions.MOVE_RIGHT], # next [3,7]
- [RailEnvActions.MOVE_FORWARD], # next [3,8]
- [RailEnvActions.MOVE_FORWARD], # next [3,9]
- [RailEnvActions.STOP_MOVING], # at [3,9] == target
- [RailEnvActions.STOP_MOVING],
- [RailEnvActions.STOP_MOVING],
- [RailEnvActions.STOP_MOVING],
- [RailEnvActions.STOP_MOVING],
- [RailEnvActions.STOP_MOVING],
- [RailEnvActions.STOP_MOVING],
- [RailEnvActions.STOP_MOVING],
- [RailEnvActions.STOP_MOVING],
- [RailEnvActions.STOP_MOVING],
- [RailEnvActions.STOP_MOVING],
- [RailEnvActions.STOP_MOVING],
- [RailEnvActions.STOP_MOVING],
- [RailEnvActions.STOP_MOVING],
- [RailEnvActions.STOP_MOVING],
- ])
-
assert np.array_equal(positions, expected_positions), \
"positions {}, expected {}".format(positions, expected_positions)
assert np.array_equal(directions, expected_directions), \
"directions {}, expected {}".format(directions, expected_directions)
assert np.array_equal(time_offsets, expected_time_offsets), \
"time_offsets {}, expected {}".format(time_offsets, expected_time_offsets)
- assert np.array_equal(actions, expected_actions), \
- "actions {}, expected {}".format(actions, expected_actions)
--
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