From 97a906fb61175233f3b75e87466bb0ae00bf4fca Mon Sep 17 00:00:00 2001
From: Guillaume Mollard <guillaume.mollard2@gmail.com>
Date: Fri, 17 May 2019 17:17:34 +0200
Subject: [PATCH] first implementation of local observation, need testing
---
flatland/envs/observations.py | 78 ++++++++++++++++++++++++++++++++++-
1 file changed, 77 insertions(+), 1 deletion(-)
diff --git a/flatland/envs/observations.py b/flatland/envs/observations.py
index 0fdec364..d8d532c5 100644
--- a/flatland/envs/observations.py
+++ b/flatland/envs/observations.py
@@ -482,7 +482,7 @@ class GlobalObsForRailEnv(ObservationBuilder):
the position of its target, the positions of the other agents and of
their target.
- - A 4 elements array with one of encoding of the direction.
+ - A 4 elements array with one hot encoding of the direction.
"""
def __init__(self):
@@ -518,3 +518,79 @@ class GlobalObsForRailEnv(ObservationBuilder):
direction[agent.direction] = 1
return self.rail_obs, obs, direction
+
+
+class LocalObsForRailEnv(ObservationBuilder):
+ """
+ Gives a global observation of the entire rail environment.
+ The observation is composed of the following elements:
+
+ - transition map array of the local environment around the given agent,
+ with dimensions (2*view_radius + 1, 2*view_radius + 1, 16),
+ assuming 16 bits encoding of transitions.
+
+ - Three 2D arrays containing respectively, if they are in the agent's vision range,
+ its target position, the positions of the other agents and of their target.
+
+ - A 4 elements array with one hot encoding of the direction.
+ """
+
+ def __init__(self, view_radius):
+ """
+ :param view_radius:
+ """
+ super(LocalObsForRailEnv, self).__init__()
+ self.view_radius = view_radius
+
+ 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.rail_obs = np.zeros((self.env.height + 2*self.view_radius,
+ self.env.width + 2*self.view_radius, 16))
+ for i in range(self.rail_obs.shape[0]):
+ for j in range(self.rail_obs.shape[1]):
+ self.rail_obs[i+self.view_radius, j+self.view_radius] = np.array(
+ list(f'{self.env.rail.get_transitions((i, j)):016b}')).astype(int)
+
+ def get(self, handle):
+ agents = self.env.agents
+ agent = agents[handle]
+
+ # left_offset = max(0, agent.position[1] - 1 - self.view_radius)
+ # right_offset = min(self.env.width, agent.position[1] + 1 + self.view_radius)
+ # top_offset = max(0, agent.position[0] - 1 - self.view_radius)
+ # bottom_offset = min(0, agent.position[0] + 1 + self.view_radius)
+
+ local_rail_obs = self.rail_obs[agent.position: agent.position+2*self.view_radius +1,
+ agent.position:agent.position+2*self.view_radius +1]
+
+ obs = np.zeros((3, 2*self.view_radius +1, 2*self.view_radius + 1))
+
+ def relative_pos(pos):
+ return [agent.position[0] - pos[0], agent.position[1] - pos[1]]
+
+ def is_in(rel_pos):
+ return abs(rel_pos) <= self.view_radius
+
+ target_rel_pos = relative_pos(agent.target)
+ if is_in(target_rel_pos):
+ obs[0][self.view_radius + 1 + np.array(target_rel_pos)] += 1
+
+ for i in range(len(agents)):
+ if i != handle: # TODO: handle used as index...?
+ agent2 = agents[i]
+
+ agent_2_rel_pos = relative_pos(agent2.position)
+ if is_in(agent_2_rel_pos):
+ obs[1][self.view_radius + 1 + np.array(agent_2_rel_pos)] += 1
+
+ target_rel_pos_2 = relative_pos(agent2.position)
+ if is_in(target_rel_pos_2):
+ obs[2][self.view_radius + 1 + np.array(target_rel_pos_2)] += 1
+
+ direction = np.zeros(4)
+ direction[agent.direction] = 1
+
+ return local_rail_obs, obs, direction
+
--
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