From a712961050c185022444d676eb8c38bd4131d9f6 Mon Sep 17 00:00:00 2001
From: spiglerg <spiglerg@gmail.com>
Date: Tue, 23 Apr 2019 12:24:29 +0200
Subject: [PATCH] important fixes to treesearch
---
examples/temporary_example.py | 29 +++++++++++++++++++++---
flatland/core/env_observation_builder.py | 26 ++++++++++++++++-----
2 files changed, 46 insertions(+), 9 deletions(-)
diff --git a/examples/temporary_example.py b/examples/temporary_example.py
index 02c282c..67d0fe6 100644
--- a/examples/temporary_example.py
+++ b/examples/temporary_example.py
@@ -17,7 +17,7 @@ transition_probability = [1.0, # empty cell - Case 0
0.5, # Case 5 - double slip
0.2, # Case 6 - symmetrical
0.0] # Case 7 - dead end
-
+"""
# Example generate a random rail
env = RailEnv(width=20,
height=20,
@@ -33,7 +33,7 @@ env.reset()
env_renderer = RenderTool(env)
env_renderer.renderEnv(show=True)
-
+"""
"""
# Example generate a rail given a manual specification,
# a map of tuples (cell_type, rotation)
@@ -52,12 +52,35 @@ env.agents_target[0] = [1, 1]
env.agents_direction[0] = 1
# TODO: watch out: if these variables are overridden, the obs_builder object has to be reset, too!
env.obs_builder.reset()
+"""
+
+
+specs = [[(0, 0), (0, 0), (0, 0), (0, 0), (7, 0), (0, 0)],
+ [(7, 270), (1, 90), (1, 90), (2, 270), (2, 0), (0, 0)],
+ [(0, 0), (0, 0), (0, 0), (2, 180), (2, 90), (7, 90)],
+ [(0, 0), (0, 0), (0, 0), (7, 180), (0, 0), (0, 0)]]
+
+env = RailEnv(width=6,
+ height=4,
+ rail_generator=rail_from_manual_specifications_generator(specs),
+ number_of_agents=1,
+ obs_builder_object=TreeObsForRailEnv(max_depth=2))
+
+handle = env.get_agent_handles()
+env.agents_position[0] = [1, 3]
+env.agents_target[0] = [1, 1]
+env.agents_direction[0] = 1
+# TODO: watch out: if these variables are overridden, the obs_builder object has to be reset, too!
+env.obs_builder.reset()
+
+
+
"""
env = RailEnv(width=7,
height=7,
rail_generator=random_rail_generator(cell_type_relative_proportion=transition_probability),
number_of_agents=2)
-
+"""
# Print the distance map of each cell to the target of the first agent
# for i in range(4):
# print(env.obs_builder.distance_map[0, :, :, i])
diff --git a/flatland/core/env_observation_builder.py b/flatland/core/env_observation_builder.py
index b0730d8..fd71bb9 100644
--- a/flatland/core/env_observation_builder.py
+++ b/flatland/core/env_observation_builder.py
@@ -169,10 +169,10 @@ class TreeObsForRailEnv(ObservationBuilder):
(new_cell[0], new_cell[1], (direction+2) % 4), direction)
if transitionValid and directionMatch:
- new_distance = min(self.distance_map[target_nr,
- new_cell[0], new_cell[1]], current_distance+1)
+ new_distance = min(self.distance_map[target_nr, new_cell[0], new_cell[1], direction],
+ current_distance+1)
neighbors.append((new_cell[0], new_cell[1], direction, new_distance))
- self.distance_map[target_nr, new_cell[0], new_cell[1]] = new_distance
+ self.distance_map[target_nr, new_cell[0], new_cell[1], direction] = new_distance
possible_directions = [0, 1, 2, 3]
if enforce_target_direction >= 0:
@@ -319,13 +319,15 @@ class TreeObsForRailEnv(ObservationBuilder):
exploring = True
last_isSwitch = False
last_isDeadEnd = False
- # TODO: last_isTerminal = False # wrong cell encountered
+ last_isTerminal = False # wrong cell encountered OR cycle encountered; either way, we don't want the agent
+ # to land here
last_isTarget = False
+ visited = set([position[0], position[1], direction])
+
other_agent_encountered = False
other_target_encountered = False
while exploring:
-
# #############################
# #############################
# Modify here to compute any useful data required to build the end node's features. This code is called
@@ -340,6 +342,10 @@ class TreeObsForRailEnv(ObservationBuilder):
# #############################
# #############################
+ if (position[0], position[1], direction) in visited:
+ last_isTerminal = True
+ break
+
# If the target node is encountered, pick that as node. Also, no further branching is possible.
if position[0] == self.env.agents_target[handle][0] and position[1] == self.env.agents_target[handle][1]:
last_isTarget = True
@@ -380,9 +386,11 @@ class TreeObsForRailEnv(ObservationBuilder):
elif num_transitions == 0:
# Wrong cell type, but let's cover it and treat it as a dead-end, just in case
- # TODO: last_isTerminal = True
+ last_isTerminal = True
break
+ visited.add((position[0], position[1], direction))
+
# `position' is either a terminal node or a switch
observation = []
@@ -398,6 +406,12 @@ class TreeObsForRailEnv(ObservationBuilder):
0,
0]
+ elif last_isTerminal:
+ observation = [0,
+ 1 if other_target_encountered else 0,
+ 1 if other_agent_encountered else 0,
+ 0,
+ np.inf]
else:
observation = [0,
1 if other_target_encountered else 0,
--
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