From 507f0e86309f6c24dd6e72777f1604c72188dc3e Mon Sep 17 00:00:00 2001
From: Guillaume Mollard <guillaume.mollard2@gmail.com>
Date: Tue, 11 Jun 2019 15:08:06 +0200
Subject: [PATCH] added simple conflict detection
---
RLLib_training/RailEnvRLLibWrapper.py | 134 ++++++++++++++++++++------
1 file changed, 102 insertions(+), 32 deletions(-)
diff --git a/RLLib_training/RailEnvRLLibWrapper.py b/RLLib_training/RailEnvRLLibWrapper.py
index 704bb12..f9643a8 100644
--- a/RLLib_training/RailEnvRLLibWrapper.py
+++ b/RLLib_training/RailEnvRLLibWrapper.py
@@ -1,39 +1,44 @@
from flatland.envs.rail_env import RailEnv
from ray.rllib.env.multi_agent_env import MultiAgentEnv
from flatland.envs.observations import TreeObsForRailEnv
-from flatland.envs.generators import random_rail_generator
from ray.rllib.utils.seed import seed as set_seed
from flatland.envs.generators import complex_rail_generator, random_rail_generator
import numpy as np
+from flatland.envs.predictions import DummyPredictorForRailEnv
class RailEnvRLLibWrapper(MultiAgentEnv):
def __init__(self, config):
- # width,
- # height,
- # rail_generator=random_rail_generator(),
- # number_of_agents=1,
- # obs_builder_object=TreeObsForRailEnv(max_depth=2)):
+
super(MultiAgentEnv, self).__init__()
if hasattr(config, "vector_index"):
vector_index = config.vector_index
else:
vector_index = 1
+ self.predefined_env = False
+
if config['rail_generator'] == "complex_rail_generator":
self.rail_generator = complex_rail_generator(nr_start_goal=config['number_of_agents'], min_dist=5,
nr_extra=config['nr_extra'], seed=config['seed'] * (1+vector_index))
- else:
- raise(Error)
+ elif config['rail_generator'] == "random_rail_generator":
self.rail_generator = random_rail_generator()
+ elif config['rail_generator'] == "load_env":
+ self.predefined_env = True
+
+ else:
+ raise(ValueError, f'Unknown rail generator: {config["rail_generator"]}')
set_seed(config['seed'] * (1+vector_index))
self.env = RailEnv(width=config["width"], height=config["height"],
number_of_agents=config["number_of_agents"],
- obs_builder_object=config['obs_builder'], rail_generator=self.rail_generator)
+ obs_builder_object=config['obs_builder'], rail_generator=self.rail_generator,
+ prediction_builder_object=DummyPredictorForRailEnv())
- # self.env.load('/home/guillaume/EPFL/Master_Thesis/flatland/baselines/torch_training/railway/complex_scene.pkl')
+ if self.predefined_env:
+ self.env.load(config['load_env_path'])
+ # '/home/guillaume/EPFL/Master_Thesis/flatland/baselines/torch_training/railway/complex_scene.pkl')
self.width = self.env.width
self.height = self.env.height
@@ -42,19 +47,47 @@ class RailEnvRLLibWrapper(MultiAgentEnv):
def reset(self):
self.agents_done = []
- obs = self.env.reset()
+ if self.predefined_env:
+ obs = self.env.reset(False, False)
+ else:
+ obs = self.env.reset()
+
+ predictions = self.env.predict()
+ pred_pos = np.concatenate([[x[:, 1:3]] for x in list(predictions.values())], axis=0)
+
o = dict()
-
-
- #for agent, _ in obs.items():
- #o[agent] = obs[agent]
- # one_hot_agent_encoding = np.zeros(len(self.env.agents))
- # one_hot_agent_encoding[agent] += 1
- # o[agent] = np.append(obs[agent], one_hot_agent_encoding)
-
- # o['agents'] = obs
- # obs[0] = [obs[0], np.ones((17, 17)) * 17]
- # obs['global_obs'] = np.ones((17, 17)) * 17
+
+ for i_agent in range(len(self.env.agents)):
+
+ # prediction of collision that will be added to the observation
+ # Allows to the agent to know which other train is is about to meet (maybe will come
+ # up with a priority order of trains).
+ pred_obs = np.zeros((len(predictions[0]), len(self.env.agents)))
+
+ for time_offset in range(len(predictions[0])):
+
+ # We consider a time window of t-1; t+1 to find a collision
+ collision_window = list(range(max(time_offset - 1, 0), min(time_offset + 2, len(predictions[0]))))
+
+ coord_agent = pred_pos[i_agent, time_offset, 0] + 1000*pred_pos[i_agent, time_offset, 1]
+
+ # x coordinates of all other train in the time window
+ x_coord_other_agents = pred_pos[list(range(i_agent)) + list(range(i_agent+1, len(self.env.agents)))][
+ :, collision_window, 0]
+
+ # y coordinates of all other train in the time window
+ y_coord_other_agents = pred_pos[list(range(i_agent)) + list(range(i_agent + 1, len(self.env.agents)))][
+ :, collision_window, 1]
+
+ coord_other_agents = x_coord_other_agents + 1000*y_coord_other_agents
+
+ # collision_info here contains the index of the agent colliding with the current agent
+ for collision_info in np.argwhere(coord_agent == coord_other_agents)[:, 0]:
+ pred_obs[time_offset, collision_info + 1*(collision_info >= i_agent)] = 1
+
+ agent_id_one_hot = np.zeros(len(self.env.agents))
+ agent_id_one_hot[i_agent] = 1
+ o[i_agent] = [obs[i_agent], agent_id_one_hot, pred_obs]
self.rail = self.env.rail
@@ -72,16 +105,53 @@ class RailEnvRLLibWrapper(MultiAgentEnv):
o = dict()
# print(self.agents_done)
# print(dones)
- for agent, done in dones.items():
- if agent not in self.agents_done:
- if agent != '__all__':
- # o[agent] = obs[agent]
- #one_hot_agent_encoding = np.zeros(len(self.env.agents))
- #one_hot_agent_encoding[agent] += 1
- o[agent] = obs[agent]#np.append(obs[agent], one_hot_agent_encoding)
- r[agent] = rewards[agent]
-
- d[agent] = dones[agent]
+
+ for i_agent in range(len(self.env.agents)):
+ if i_agent not in self.agents_done:
+ # prediction of collision that will be added to the observation
+ # Allows to the agent to know which other train is is about to meet (maybe will come
+ # up with a priority order of trains).
+ pred_obs = np.zeros((len(predictions[0]), len(self.env.agents)))
+
+ for time_offset in range(len(predictions[0])):
+
+ # We consider a time window of t-1; t+1 to find a collision
+ collision_window = list(range(max(time_offset - 1, 0), min(time_offset + 2, len(predictions[0]))))
+
+ coord_agent = pred_pos[i_agent, time_offset, 0] + 1000*pred_pos[i_agent, time_offset, 1]
+
+ # x coordinates of all other train in the time window
+ x_coord_other_agents = pred_pos[list(range(i_agent)) + list(range(i_agent+1, len(self.env.agents)))][
+ :, collision_window, 0]
+
+ # y coordinates of all other train in the time window
+ y_coord_other_agents = pred_pos[list(range(i_agent)) + list(range(i_agent + 1, len(self.env.agents)))][
+ :, collision_window, 1]
+
+ coord_other_agents = x_coord_other_agents + 1000*y_coord_other_agents
+
+ # collision_info here contains the index of the agent colliding with the current agent
+ for collision_info in np.argwhere(coord_agent == coord_other_agents)[:, 0]:
+ pred_obs[time_offset, collision_info + 1*(collision_info >= i_agent)] = 1
+
+ agent_id_one_hot = np.zeros(len(self.env.agents))
+ agent_id_one_hot[i_agent] = 1
+ o[i_agent] = [obs[i_agent], agent_id_one_hot, pred_obs]
+ r[i_agent] = rewards[i_agent]
+ d[i_agent] = dones[i_agent]
+
+ d['__all__'] = dones['__all__']
+
+ # for agent, done in dones.items():
+ # if agent not in self.agents_done:
+ # if agent != '__all__':
+ # # o[agent] = obs[agent]
+ # #one_hot_agent_encoding = np.zeros(len(self.env.agents))
+ # #one_hot_agent_encoding[agent] += 1
+ # o[agent] = obs[agent]#np.append(obs[agent], one_hot_agent_encoding)
+ #
+ #
+ # d[agent] = dones[agent]
for agent, done in dones.items():
if done and agent != '__all__':
--
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