From 164be2699eb6f71c629b9b62ca7137c6af006be7 Mon Sep 17 00:00:00 2001
From: spiglerg <spiglerg@gmail.com>
Date: Fri, 19 Apr 2019 15:36:08 +0200
Subject: [PATCH] added possibility to specify cell types relative proportions
when generating random rails
---
examples/temporary_example.py | 27 +-
flatland/core/env_observation_builder.py | 10 +-
flatland/envs/rail_env.py | 446 ++++++++++++-----------
3 files changed, 257 insertions(+), 226 deletions(-)
diff --git a/examples/temporary_example.py b/examples/temporary_example.py
index 03b5ebd0..52927160 100644
--- a/examples/temporary_example.py
+++ b/examples/temporary_example.py
@@ -10,13 +10,34 @@ random.seed(1)
np.random.seed(1)
"""
+transition_probability = [1.0, # empty cell - Case 0
+ 3.0, # Case 1 - straight
+ 1.0, # Case 2 - simple switch
+ 3.0, # Case 3 - diamond drossing
+ 2.0, # Case 4 - single slip
+ 1.0, # Case 5 - double slip
+ 1.0, # Case 6 - symmetrical
+ 1.0] # Case 7 - dead end
+"""
+transition_probability = [1.0, # empty cell - Case 0
+ 1.0, # Case 1 - straight
+ 1.0, # Case 2 - simple switch
+ 1.0, # Case 3 - diamond drossing
+ 1.0, # Case 4 - single slip
+ 1.0, # Case 5 - double slip
+ 1.0, # Case 6 - symmetrical
+ 1.0] # Case 7 - dead end
+
# Example generate a random rail
-env = RailEnv(width=20, height=20, rail_generator=random_rail_generator, number_of_agents=10)
+env = RailEnv(width=20,
+ height=20,
+ rail_generator=random_rail_generator(cell_type_relative_proportion=transition_probability),
+ number_of_agents=10)
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)
@@ -26,7 +47,7 @@ specs = [[(0, 0), (0, 0), (0, 0), (0, 0), (7, 0), (0, 0)],
env = RailEnv(width=6,
height=2,
rail_generator=rail_from_manual_specifications_generator(specs),
- number_of_agents=2,
+ number_of_agents=1,
obs_builder_object=TreeObsForRailEnv(max_depth=2))
handle = env.get_agent_handles()
diff --git a/flatland/core/env_observation_builder.py b/flatland/core/env_observation_builder.py
index 24f213ab..cd8a5309 100644
--- a/flatland/core/env_observation_builder.py
+++ b/flatland/core/env_observation_builder.py
@@ -72,7 +72,7 @@ class TreeObsForRailEnv(ObservationBuilder):
# Update local lookup table for all agents' target locations
self.location_has_target = {}
for loc in self.env.agents_target:
- self.location_has_target[(loc[0],loc[1])] = 1
+ self.location_has_target[(loc[0], loc[1])] = 1
def _distance_map_walker(self, position, target_nr):
"""
@@ -292,8 +292,6 @@ class TreeObsForRailEnv(ObservationBuilder):
if position in self.location_has_target:
other_target_encountered = True
-
-
# #############################
# #############################
@@ -354,10 +352,8 @@ class TreeObsForRailEnv(ObservationBuilder):
0,
self.distance_map[handle, position[0], position[1], direction]]
-
# TODO:
-
# #############################
# #############################
@@ -368,9 +364,9 @@ class TreeObsForRailEnv(ObservationBuilder):
(branch_direction+2) % 4):
# Swap forward and back in case of dead-end, so that an agent can learn that going forward takes
# it back
- new_cell = self._new_position(position, (branch_direction+2)%4)
+ new_cell = self._new_position(position, (branch_direction+2) % 4)
- branch_observation = self._explore_branch(handle, new_cell, (branch_direction+2)%4, depth+1)
+ branch_observation = self._explore_branch(handle, new_cell, (branch_direction+2) % 4, depth+1)
observation = observation + branch_observation
elif last_isSwitch and self.env.rail.get_transition((position[0], position[1], direction),
diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index 8b34bf3d..1664c315 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -84,7 +84,7 @@ def generate_rail_from_list_of_manual_specifications(list_of_specifications)
"""
-def random_rail_generator(width, height, num_resets=0):
+def random_rail_generator(cell_type_relative_proportion=[1.0]*8):
"""
Dummy random level generator:
- fill in cells at random in [width-2, height-2]
@@ -116,234 +116,248 @@ def random_rail_generator(width, height, num_resets=0):
The matrix with the correct 16-bit bitmaps for each cell.
"""
- t_utils = RailEnvTransitions()
-
- transitions_templates_ = []
- for i in range(len(t_utils.transitions)-1): # don't include dead-ends
- all_transitions = 0
- for dir_ in range(4):
- trans = t_utils.get_transitions(t_utils.transitions[i], dir_)
- all_transitions |= (trans[0] << 3) | \
- (trans[1] << 2) | \
- (trans[2] << 1) | \
- (trans[3])
-
- template = [int(x) for x in bin(all_transitions)[2:]]
- template = [0]*(4-len(template)) + template
-
- # add all rotations
- for rot in [0, 90, 180, 270]:
- transitions_templates_.append((template,
- t_utils.rotate_transition(
- t_utils.transitions[i],
- rot)))
- template = [template[-1]]+template[:-1]
-
- def get_matching_templates(template):
- ret = []
- for i in range(len(transitions_templates_)):
- is_match = True
- for j in range(4):
- if template[j] >= 0 and \
- template[j] != transitions_templates_[i][0][j]:
- is_match = False
- break
- if is_match:
- ret.append(transitions_templates_[i][1])
- return ret
-
- MAX_INSERTIONS = (width-2) * (height-2) * 10
- MAX_ATTEMPTS_FROM_SCRATCH = 10
-
- attempt_number = 0
- while attempt_number < MAX_ATTEMPTS_FROM_SCRATCH:
- cells_to_fill = []
- rail = []
- for r in range(height):
- rail.append([None]*width)
- if r > 0 and r < height-1:
- cells_to_fill = cells_to_fill \
- + [(r, c) for c in range(1, width-1)]
-
- num_insertions = 0
- while num_insertions < MAX_INSERTIONS and len(cells_to_fill) > 0:
- cell = random.sample(cells_to_fill, 1)[0]
- cells_to_fill.remove(cell)
- row = cell[0]
- col = cell[1]
-
- # look at its neighbors and see what are the possible transitions
- # that can be chosen from, if any.
- valid_template = [-1, -1, -1, -1]
-
- for el in [(0, 2, (-1, 0)),
- (1, 3, (0, 1)),
- (2, 0, (1, 0)),
- (3, 1, (0, -1))]: # N, E, S, W
- neigh_trans = rail[row+el[2][0]][col+el[2][1]]
- if neigh_trans is not None:
- # select transition coming from facing direction el[1] and
- # moving to direction el[1]
- max_bit = 0
- for k in range(4):
- max_bit |= \
- t_utils.get_transition(neigh_trans, k, el[1])
-
- if max_bit:
- valid_template[el[0]] = 1
- else:
- valid_template[el[0]] = 0
-
- possible_cell_transitions = get_matching_templates(valid_template)
-
- if len(possible_cell_transitions) == 0: # NO VALID TRANSITIONS
- # no cell can be filled in without violating some transitions
- # can a dead-end solve the problem?
- if valid_template.count(1) == 1:
- for k in range(4):
- if valid_template[k] == 1:
- rot = 0
- if k == 0:
- rot = 180
- elif k == 1:
- rot = 270
- elif k == 2:
+ def generator(width, height, num_resets=0):
+ t_utils = RailEnvTransitions()
+
+ transition_probability = cell_type_relative_proportion
+
+ transitions_templates_ = []
+ transition_probabilities = []
+ for i in range(len(t_utils.transitions)-1): # don't include dead-ends
+ all_transitions = 0
+ for dir_ in range(4):
+ trans = t_utils.get_transitions(t_utils.transitions[i], dir_)
+ all_transitions |= (trans[0] << 3) | \
+ (trans[1] << 2) | \
+ (trans[2] << 1) | \
+ (trans[3])
+
+ template = [int(x) for x in bin(all_transitions)[2:]]
+ template = [0]*(4-len(template)) + template
+
+ # add all rotations
+ for rot in [0, 90, 180, 270]:
+ transitions_templates_.append((template,
+ t_utils.rotate_transition(
+ t_utils.transitions[i],
+ rot)))
+ transition_probabilities.append(transition_probability[i])
+ template = [template[-1]]+template[:-1]
+
+ def get_matching_templates(template):
+ ret = []
+ for i in range(len(transitions_templates_)):
+ is_match = True
+ for j in range(4):
+ if template[j] >= 0 and \
+ template[j] != transitions_templates_[i][0][j]:
+ is_match = False
+ break
+ if is_match:
+ ret.append((transitions_templates_[i][1], transition_probabilities[i]))
+ return ret
+
+ MAX_INSERTIONS = (width-2) * (height-2) * 10
+ MAX_ATTEMPTS_FROM_SCRATCH = 10
+
+ attempt_number = 0
+ while attempt_number < MAX_ATTEMPTS_FROM_SCRATCH:
+ cells_to_fill = []
+ rail = []
+ for r in range(height):
+ rail.append([None]*width)
+ if r > 0 and r < height-1:
+ cells_to_fill = cells_to_fill \
+ + [(r, c) for c in range(1, width-1)]
+
+ num_insertions = 0
+ while num_insertions < MAX_INSERTIONS and len(cells_to_fill) > 0:
+ cell = random.sample(cells_to_fill, 1)[0]
+ cells_to_fill.remove(cell)
+ row = cell[0]
+ col = cell[1]
+
+ # look at its neighbors and see what are the possible transitions
+ # that can be chosen from, if any.
+ valid_template = [-1, -1, -1, -1]
+
+ for el in [(0, 2, (-1, 0)),
+ (1, 3, (0, 1)),
+ (2, 0, (1, 0)),
+ (3, 1, (0, -1))]: # N, E, S, W
+ neigh_trans = rail[row+el[2][0]][col+el[2][1]]
+ if neigh_trans is not None:
+ # select transition coming from facing direction el[1] and
+ # moving to direction el[1]
+ max_bit = 0
+ for k in range(4):
+ max_bit |= \
+ t_utils.get_transition(neigh_trans, k, el[1])
+
+ if max_bit:
+ valid_template[el[0]] = 1
+ else:
+ valid_template[el[0]] = 0
+
+ possible_cell_transitions = get_matching_templates(valid_template)
+
+ if len(possible_cell_transitions) == 0: # NO VALID TRANSITIONS
+ # no cell can be filled in without violating some transitions
+ # can a dead-end solve the problem?
+ if valid_template.count(1) == 1:
+ for k in range(4):
+ if valid_template[k] == 1:
rot = 0
- elif k == 3:
- rot = 90
+ if k == 0:
+ rot = 180
+ elif k == 1:
+ rot = 270
+ elif k == 2:
+ rot = 0
+ elif k == 3:
+ rot = 90
- rail[row][col] = t_utils.rotate_transition(
- int('0000000000100000', 2), rot)
+ rail[row][col] = t_utils.rotate_transition(
+ int('0000000000100000', 2), rot)
+ num_insertions += 1
+
+ break
+
+ else:
+ # can I get valid transitions by removing a single
+ # neighboring cell?
+ bestk = -1
+ besttrans = []
+ for k in range(4):
+ tmp_template = valid_template[:]
+ tmp_template[k] = -1
+ possible_cell_transitions = get_matching_templates(
+ tmp_template)
+ if len(possible_cell_transitions) > len(besttrans):
+ besttrans = possible_cell_transitions
+ bestk = k
+
+ if bestk >= 0:
+ # Replace the corresponding cell with None, append it
+ # to cells to fill, fill in a transition in the current
+ # cell.
+ replace_row = row - 1
+ replace_col = col
+ if bestk == 1:
+ replace_row = row
+ replace_col = col + 1
+ elif bestk == 2:
+ replace_row = row + 1
+ replace_col = col
+ elif bestk == 3:
+ replace_row = row
+ replace_col = col - 1
+
+ cells_to_fill.append((replace_row, replace_col))
+ rail[replace_row][replace_col] = None
+
+ possible_transitions, possible_probabilities = zip(*besttrans)
+ possible_probabilities = \
+ np.exp(possible_probabilities) / sum(np.exp(possible_probabilities))
+
+ rail[row][col] = np.random.choice(possible_transitions,
+ p=possible_probabilities)
num_insertions += 1
- break
+ else:
+ print('WARNING: still nothing!')
+ rail[row][col] = int('0000000000000000', 2)
+ num_insertions += 1
+ pass
else:
- # can I get valid transitions by removing a single
- # neighboring cell?
- bestk = -1
- besttrans = []
- for k in range(4):
- tmp_template = valid_template[:]
- tmp_template[k] = -1
- possible_cell_transitions = get_matching_templates(
- tmp_template)
- if len(possible_cell_transitions) > len(besttrans):
- besttrans = possible_cell_transitions
- bestk = k
-
- if bestk >= 0:
- # Replace the corresponding cell with None, append it
- # to cells to fill, fill in a transition in the current
- # cell.
- replace_row = row - 1
- replace_col = col
- if bestk == 1:
- replace_row = row
- replace_col = col + 1
- elif bestk == 2:
- replace_row = row + 1
- replace_col = col
- elif bestk == 3:
- replace_row = row
- replace_col = col - 1
+ possible_transitions, possible_probabilities = zip(*possible_cell_transitions)
+ possible_probabilities = np.exp(possible_probabilities) / sum(np.exp(possible_probabilities))
- cells_to_fill.append((replace_row, replace_col))
- rail[replace_row][replace_col] = None
+ rail[row][col] = np.random.choice(possible_transitions,
+ p=possible_probabilities)
+ num_insertions += 1
- rail[row][col] = random.sample(
- besttrans, 1)[0]
- num_insertions += 1
+ if num_insertions == MAX_INSERTIONS:
+ # Failed to generate a valid level; try again for a number of times
+ attempt_number += 1
+ else:
+ break
- else:
- print('WARNING: still nothing!')
- rail[row][col] = int('0000000000000000', 2)
- num_insertions += 1
- pass
+ if attempt_number == MAX_ATTEMPTS_FROM_SCRATCH:
+ print('ERROR: failed to generate level')
+ # Finally pad the border of the map with dead-ends to avoid border issues;
+ # at most 1 transition in the neigh cell
+ for r in range(height):
+ # Check for transitions coming from [r][1] to WEST
+ max_bit = 0
+ neigh_trans = rail[r][1]
+ if neigh_trans is not None:
+ for k in range(4):
+ neigh_trans_from_direction = (neigh_trans >> ((3-k) * 4)) \
+ & (2**4-1)
+ max_bit = max_bit | (neigh_trans_from_direction & 1)
+ if max_bit:
+ rail[r][0] = t_utils.rotate_transition(
+ int('0000000000100000', 2), 270)
else:
- rail[row][col] = random.sample(
- possible_cell_transitions, 1)[0]
- num_insertions += 1
-
- if num_insertions == MAX_INSERTIONS:
- # Failed to generate a valid level; try again for a number of times
- attempt_number += 1
- else:
- break
-
- if attempt_number == MAX_ATTEMPTS_FROM_SCRATCH:
- print('ERROR: failed to generate level')
-
- # Finally pad the border of the map with dead-ends to avoid border issues;
- # at most 1 transition in the neigh cell
- for r in range(height):
- # Check for transitions coming from [r][1] to WEST
- max_bit = 0
- neigh_trans = rail[r][1]
- if neigh_trans is not None:
- for k in range(4):
- neigh_trans_from_direction = (neigh_trans >> ((3-k) * 4)) \
- & (2**4-1)
- max_bit = max_bit | (neigh_trans_from_direction & 1)
- if max_bit:
- rail[r][0] = t_utils.rotate_transition(
- int('0000000000100000', 2), 270)
- else:
- rail[r][0] = int('0000000000000000', 2)
-
- # Check for transitions coming from [r][-2] to EAST
- max_bit = 0
- neigh_trans = rail[r][-2]
- if neigh_trans is not None:
- for k in range(4):
- neigh_trans_from_direction = (neigh_trans >> ((3-k) * 4)) \
- & (2**4-1)
- max_bit = max_bit | (neigh_trans_from_direction & (1 << 2))
- if max_bit:
- rail[r][-1] = t_utils.rotate_transition(int('0000000000100000', 2),
- 90)
- else:
- rail[r][-1] = int('0000000000000000', 2)
-
- for c in range(width):
- # Check for transitions coming from [1][c] to NORTH
- max_bit = 0
- neigh_trans = rail[1][c]
- if neigh_trans is not None:
- for k in range(4):
- neigh_trans_from_direction = (neigh_trans >> ((3-k) * 4)) \
- & (2**4-1)
- max_bit = max_bit | (neigh_trans_from_direction & (1 << 3))
- if max_bit:
- rail[0][c] = int('0000000000100000', 2)
- else:
- rail[0][c] = int('0000000000000000', 2)
-
- # Check for transitions coming from [-2][c] to SOUTH
- max_bit = 0
- neigh_trans = rail[-2][c]
- if neigh_trans is not None:
- for k in range(4):
- neigh_trans_from_direction = (neigh_trans >> ((3-k) * 4)) \
- & (2**4-1)
- max_bit = max_bit | (neigh_trans_from_direction & (1 << 1))
- if max_bit:
- rail[-1][c] = t_utils.rotate_transition(
- int('0000000000100000', 2), 180)
- else:
- rail[-1][c] = int('0000000000000000', 2)
-
- # For display only, wrong levels
- for r in range(height):
+ rail[r][0] = int('0000000000000000', 2)
+
+ # Check for transitions coming from [r][-2] to EAST
+ max_bit = 0
+ neigh_trans = rail[r][-2]
+ if neigh_trans is not None:
+ for k in range(4):
+ neigh_trans_from_direction = (neigh_trans >> ((3-k) * 4)) \
+ & (2**4-1)
+ max_bit = max_bit | (neigh_trans_from_direction & (1 << 2))
+ if max_bit:
+ rail[r][-1] = t_utils.rotate_transition(int('0000000000100000', 2),
+ 90)
+ else:
+ rail[r][-1] = int('0000000000000000', 2)
+
for c in range(width):
- if rail[r][c] is None:
- rail[r][c] = int('0000000000000000', 2)
+ # Check for transitions coming from [1][c] to NORTH
+ max_bit = 0
+ neigh_trans = rail[1][c]
+ if neigh_trans is not None:
+ for k in range(4):
+ neigh_trans_from_direction = (neigh_trans >> ((3-k) * 4)) \
+ & (2**4-1)
+ max_bit = max_bit | (neigh_trans_from_direction & (1 << 3))
+ if max_bit:
+ rail[0][c] = int('0000000000100000', 2)
+ else:
+ rail[0][c] = int('0000000000000000', 2)
+
+ # Check for transitions coming from [-2][c] to SOUTH
+ max_bit = 0
+ neigh_trans = rail[-2][c]
+ if neigh_trans is not None:
+ for k in range(4):
+ neigh_trans_from_direction = (neigh_trans >> ((3-k) * 4)) \
+ & (2**4-1)
+ max_bit = max_bit | (neigh_trans_from_direction & (1 << 1))
+ if max_bit:
+ rail[-1][c] = t_utils.rotate_transition(
+ int('0000000000100000', 2), 180)
+ else:
+ rail[-1][c] = int('0000000000000000', 2)
+
+ # For display only, wrong levels
+ for r in range(height):
+ for c in range(width):
+ if rail[r][c] is None:
+ rail[r][c] = int('0000000000000000', 2)
+
+ tmp_rail = np.asarray(rail, dtype=np.uint16)
+ return_rail = GridTransitionMap(width=width, height=height, transitions=t_utils)
+ return_rail.grid = tmp_rail
+ return return_rail
- tmp_rail = np.asarray(rail, dtype=np.uint16)
- return_rail = GridTransitionMap(width=width, height=height, transitions=t_utils)
- return_rail.grid = tmp_rail
- return return_rail
+ return generator
class RailEnv(Environment):
--
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