From 9890abf53056a3b117d103a9aa7bddb0a31cebea Mon Sep 17 00:00:00 2001
From: Erik Nygren <erik.nygren@sbb.ch>
Date: Thu, 13 Jun 2019 23:25:22 +0200
Subject: [PATCH] added new prediction which follows shortest path updated test
to handle new predictor
---
examples/training_example.py | 4 +-
flatland/envs/observations.py | 2 +-
flatland/envs/predictions.py | 91 +++++++++++++++++++++++++++-
tests/test_env_prediction_builder.py | 2 +-
4 files changed, 94 insertions(+), 5 deletions(-)
diff --git a/examples/training_example.py b/examples/training_example.py
index c785804..78336b9 100644
--- a/examples/training_example.py
+++ b/examples/training_example.py
@@ -2,7 +2,7 @@ import numpy as np
from flatland.envs.generators import complex_rail_generator
from flatland.envs.observations import TreeObsForRailEnv
-from flatland.envs.predictions import DummyPredictorForRailEnv
+from flatland.envs.predictions import ShortestPathPredictorForRailEnv
from flatland.envs.rail_env import RailEnv
np.random.seed(1)
@@ -11,7 +11,7 @@ np.random.seed(1)
# Training on simple small tasks is the best way to get familiar with the environment
#
-TreeObservation = TreeObsForRailEnv(max_depth=2, predictor=DummyPredictorForRailEnv())
+TreeObservation = TreeObsForRailEnv(max_depth=2, predictor=ShortestPathPredictorForRailEnv())
env = RailEnv(width=20,
height=20,
rail_generator=complex_rail_generator(nr_start_goal=10, nr_extra=1, min_dist=8, max_dist=99999, seed=0),
diff --git a/flatland/envs/observations.py b/flatland/envs/observations.py
index 4fa0e09..885a966 100644
--- a/flatland/envs/observations.py
+++ b/flatland/envs/observations.py
@@ -177,7 +177,7 @@ class TreeObsForRailEnv(ObservationBuilder):
if self.predictor:
self.predicted_pos = {}
self.predicted_dir = {}
- self.predictions = self.predictor.get()
+ self.predictions = self.predictor.get(self.distance_map)
for t in range(len(self.predictions[0])):
pos_list = []
diff --git a/flatland/envs/predictions.py b/flatland/envs/predictions.py
index f7dec07..988594e 100644
--- a/flatland/envs/predictions.py
+++ b/flatland/envs/predictions.py
@@ -16,7 +16,7 @@ class DummyPredictorForRailEnv(PredictionBuilder):
The prediction acts as if no other agent is in the environment and always takes the forward action.
"""
- def get(self, handle=None):
+ def get(self, distancemap, handle=None):
"""
Called whenever predict is called on the environment.
@@ -72,3 +72,92 @@ class DummyPredictorForRailEnv(PredictionBuilder):
agent.position = _agent_initial_position
agent.direction = _agent_initial_direction
return prediction_dict
+
+
+class ShortestPathPredictorForRailEnv(PredictionBuilder):
+ """
+ DummyPredictorForRailEnv object.
+
+ This object returns predictions for agents in the RailEnv environment.
+ The prediction acts as if no other agent is in the environment and always takes the forward action.
+ """
+
+ def get(self, distancemap, handle=None):
+ """
+ Called whenever predict is called on the environment.
+
+ Parameters
+ -------
+ handle : int (optional)
+ Handle of the agent for which to compute the observation vector.
+
+ Returns
+ -------
+ function
+ Returns a dictionary index by the agent handle and for each agent a vector of 5 elements:
+ - time_offset
+ - position axis 0
+ - position axis 1
+ - direction
+ - action taken to come here
+ """
+ agents = self.env.agents
+ if handle:
+ agents = [self.env.agents[handle]]
+
+ prediction_dict = {}
+ agent_idx = 0
+ for agent in agents:
+ action_priorities = [RailEnvActions.MOVE_FORWARD, RailEnvActions.MOVE_LEFT, RailEnvActions.MOVE_RIGHT]
+ _agent_initial_position = agent.position
+ _agent_initial_direction = agent.direction
+ prediction = np.zeros(shape=(self.max_depth + 1, 5))
+ prediction[0] = [0, _agent_initial_position[0], _agent_initial_position[1], _agent_initial_direction, 0]
+ for index in range(1, self.max_depth + 1):
+ action_done = False
+ # if we're at the target, stop moving...
+ if agent.position == agent.target:
+ prediction[index] = [index, agent.target[0], agent.target[1], agent.direction,
+ RailEnvActions.STOP_MOVING]
+
+ continue
+ # Take shortest possible path
+ cell_transitions = self.env.rail.get_transitions((*agent.position, agent.direction))
+
+ if np.sum(cell_transitions) == 1:
+ new_direction = np.argmax(cell_transitions)
+ new_position = self._new_position(agent.position, new_direction)
+ else:
+ for direct in range(4):
+ min_dist = np.inf
+ target_dist = distancemap[agent_idx, agent.position[0], agent.position[1], direct]
+ if target_dist < min_dist:
+ min_dist = target_dist
+ new_direction = direct
+ new_position = self._new_position(agent.position, new_direction)
+
+ agent.position = new_position
+ agent.direction = new_direction
+ prediction[index] = [index, new_position[0], new_position[1], new_direction, 0]
+ action_done = True
+ if not action_done:
+ raise Exception("Cannot move further. Something is wrong")
+ prediction_dict[agent.handle] = prediction
+ agent.position = _agent_initial_position
+ agent.direction = _agent_initial_direction
+ agent_idx += 1
+
+ return prediction_dict
+
+ def _new_position(self, position, movement):
+ """
+ Utility function that converts a compass movement over a 2D grid to new positions (r, c).
+ """
+ if movement == 0: # NORTH
+ return (position[0] - 1, position[1])
+ elif movement == 1: # EAST
+ return (position[0], position[1] + 1)
+ elif movement == 2: # SOUTH
+ return (position[0] + 1, position[1])
+ elif movement == 3: # WEST
+ return (position[0], position[1] - 1)
diff --git a/tests/test_env_prediction_builder.py b/tests/test_env_prediction_builder.py
index cb7d26d..5f5cea3 100644
--- a/tests/test_env_prediction_builder.py
+++ b/tests/test_env_prediction_builder.py
@@ -74,7 +74,7 @@ def test_predictions():
env.agents[0].direction = 0
env.agents[0].target = (3., 0.)
- predictions = env.obs_builder.predictor.get()
+ predictions = env.obs_builder.predictor.get(None)
positions = np.array(list(map(lambda prediction: [prediction[1], prediction[2]], 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])))
--
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