diff --git a/flatland/core/transitions.py b/flatland/core/transitions.py
index 29b57c40faf567e6a9aa4b679df6af6fcf0909ba..5049c23bff3667a08375fee270a8867ca013c467 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 8ed455cac857d292b1f63f6edfbfd4a68f4adf8e..a4903853bab30d185293892010c714d050f63439 100644
--- a/flatland/envs/observations.py
+++ b/flatland/envs/observations.py
@@ -28,7 +28,7 @@ class TreeObsForRailEnv(ObservationBuilder):
for i in range(self.max_depth + 1):
size += pow4
pow4 *= 4
- self.observation_dim = 8
+ self.observation_dim = 9
self.observation_space = [size * self.observation_dim]
self.location_has_agent = {}
self.location_has_agent_direction = {}
@@ -223,24 +223,29 @@ class TreeObsForRailEnv(ObservationBuilder):
#3: if another agent is detected the distance in number of cells from current agent position is stored.
- #4: This feature stores the distance in number of cells to the next branching store (current node)
+ #4: possible conflict detected
+ tot_dist = Other agent predicts to pass along this cell at the same time as the agent, we store the
+ distance in number of cells from current agent position
- #5: minimum distance from node to the agent's target given the direction of the agent if this path is chosen
+ 0 = No other agent reserve the same cell at similar time
+
+ #5: if an not usable switch (for agent) is detected we store the distance.
+
+ #6: This feature stores the distance in number of cells to the next branching (current node)
- #6: agent in the same direction
+ #7: minimum distance from node to the agent's target given the direction of the agent if this path is chosen
+
+ #8: agent in the same direction
n = number of agents present same direction
(possible future use: number of other agents in the same direction in this branch)
0 = no agent present same direction
- #7: agent in the opposite drection
+ #9: agent in the opposite drection
n = number of agents present other direction than myself (so conflict)
(possible future use: number of other agents in other direction in this branch, ie. number of conflicts)
0 = no agent present other direction than myself
- #8: possible conflict detected
- 1 = Other agent predicts to pass along this cell at the same time as the agent
- 0 = No other agent reserve the same cell at similar time
Missing/padding nodes are filled in with -inf (truncated).
@@ -261,7 +266,7 @@ class TreeObsForRailEnv(ObservationBuilder):
num_transitions = np.count_nonzero(possible_transitions)
# Root node - current position
- observation = [0, 0, 0, 0, self.distance_map[(handle, *agent.position, agent.direction)], 0, 0, 0]
+ observation = [0, 0, 0, 0, 0, 0, self.distance_map[(handle, *agent.position, agent.direction)], 0, 0]
root_observation = observation[:]
visited = set()
@@ -278,7 +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:
@@ -294,6 +299,8 @@ class TreeObsForRailEnv(ObservationBuilder):
def _explore_branch(self, handle, position, direction, root_observation, tot_dist, depth):
"""
Utility function to compute tree-based observations.
+ We walk along the branch and collect the information documented in the get() function.
+ If there is a branching point a new node is created and each possible branch is explored.
"""
# [Recursive branch opened]
if depth >= self.max_depth + 1:
@@ -313,9 +320,11 @@ class TreeObsForRailEnv(ObservationBuilder):
own_target_encountered = np.inf
other_agent_encountered = np.inf
other_target_encountered = np.inf
+ potential_conflict = np.inf
+ unusable_switch = np.inf
other_agent_same_direction = 0
other_agent_opposite_direction = 0
- potential_conflict = 0
+
num_steps = 1
while exploring:
# #############################
@@ -323,8 +332,8 @@ class TreeObsForRailEnv(ObservationBuilder):
# Modify here to compute any useful data required to build the end node's features. This code is called
# for each cell visited between the previous branching node and the next switch / target / dead-end.
if position in self.location_has_agent:
- if num_steps < other_agent_encountered:
- other_agent_encountered = num_steps
+ if tot_dist < other_agent_encountered:
+ other_agent_encountered = tot_dist
if self.location_has_agent_direction[position] == direction:
# Cummulate the number of agents on branch with same direction
@@ -342,31 +351,32 @@ 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]]:
- potential_conflict = 1
+ 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]]:
- potential_conflict = 1
+ 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]]:
- potential_conflict = 1
+ 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:
- if num_steps < other_target_encountered:
- other_target_encountered = num_steps
+ if tot_dist < other_target_encountered:
+ other_target_encountered = tot_dist
if position == agent.target:
- if num_steps < own_target_encountered:
- own_target_encountered = num_steps
+ if tot_dist < own_target_encountered:
+ own_target_encountered = tot_dist
# #############################
# #############################
@@ -382,8 +392,13 @@ class TreeObsForRailEnv(ObservationBuilder):
break
cell_transitions = self.env.rail.get_transitions((*position, direction))
+ total_transitions = bin(self.env.rail.get_transitions(position)).count("1")
num_transitions = np.count_nonzero(cell_transitions)
exploring = False
+ # Detect Switches that can only be used by other agents.
+ if total_transitions > 2 > num_transitions:
+ unusable_switch = tot_dist
+
if num_transitions == 1:
# Check if dead-end, or if we can go forward along direction
nbits = 0
@@ -422,72 +437,40 @@ 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,
+ observation = [own_target_encountered,
other_target_encountered,
other_agent_encountered,
- root_observation[3] + num_steps,
+ potential_conflict,
+ unusable_switch,
+ tot_dist,
0,
other_agent_same_direction,
other_agent_opposite_direction
]
elif last_isTerminal:
- observation = [0,
+ observation = [own_target_encountered,
other_target_encountered,
other_agent_encountered,
+ potential_conflict,
+ unusable_switch,
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,
- other_target_encountered,
- other_agent_encountered,
- root_observation[3] + num_steps,
- 0,
- other_agent_same_direction,
- other_agent_opposite_direction,
- potential_conflict
- ]
-
- elif last_isTerminal:
- observation = [own_target_encountered,
- other_target_encountered,
- other_agent_encountered,
- np.inf,
- np.inf,
- other_agent_same_direction,
- other_agent_opposite_direction,
- potential_conflict
- ]
else:
observation = [own_target_encountered,
other_target_encountered,
other_agent_encountered,
- root_observation[3] + num_steps,
+ potential_conflict,
+ unusable_switch,
+ tot_dist,
self.distance_map[handle, position[0], position[1], direction],
other_agent_same_direction,
other_agent_opposite_direction,
- potential_conflict
]
# #############################
# #############################
@@ -531,7 +514,7 @@ class TreeObsForRailEnv(ObservationBuilder):
return observation, visited
- def util_print_obs_subtree(self, tree, num_features_per_node=8, prompt='', current_depth=0):
+ def util_print_obs_subtree(self, tree, num_features_per_node=9, prompt='', current_depth=0):
"""
Utility function to pretty-print tree observations returned by this object.
"""
diff --git a/flatland/envs/predictions.py b/flatland/envs/predictions.py
index 654f5490da875afe746d516892a773308b466589..d471596bba9e6128ea14f78bd8b625d321c255fe 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/flatland/utils/rendertools.py b/flatland/utils/rendertools.py
index 7932aacafe5c67e188afa9f52a90ec47f73ff8da..537d8be832e706f2ec48a89ec006a8fc96806724 100644
--- a/flatland/utils/rendertools.py
+++ b/flatland/utils/rendertools.py
@@ -38,7 +38,7 @@ class RenderTool(object):
gTheta = np.linspace(0, np.pi / 2, 5)
gArc = array([np.cos(gTheta), np.sin(gTheta)]).T # from [1,0] to [0,1]
- def __init__(self, env, gl="PILSVG", jupyter=False, agentRenderVariant=AgentRenderVariant.AGENT_SHOWS_OPTIONS):
+ def __init__(self, env, gl="PILSVG", jupyter=False, agentRenderVariant=AgentRenderVariant.ONE_STEP_BEHIND):
self.env = env
self.iFrame = 0
self.time1 = time.time()
diff --git a/notebooks/Scene_Editor.ipynb b/notebooks/Scene_Editor.ipynb
index a36b4e159a75edd2d18a5f7ed42ec41dbc5b9515..64bbad77d3a9b63caea062795cd0ab8f0cce72f3 100644
--- a/notebooks/Scene_Editor.ipynb
+++ b/notebooks/Scene_Editor.ipynb
@@ -70,7 +70,7 @@
{
"data": {
"application/vnd.jupyter.widget-view+json": {
- "model_id": "4153480c3fbe4fd9864a4d52b416477c",
+ "model_id": "0b92e7084e37450cbfb3855dc3a58543",
"version_major": 2,
"version_minor": 0
},
diff --git a/tests/test_flatland_envs_predictions.py b/tests/test_flatland_envs_predictions.py
index 16850672c1f5a479f1cf86ca3e3f6c547c4a4ca7..c5514bd09b296796c93cb4586c5640eb05569164 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)