diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index 435571c8216026b02e7ec4633ace2dcd85c15e4e..ead879a860d514ccb4233e9919257e459a7ab56c 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -467,6 +467,7 @@ class RailEnv(Environment):
_action_stored = True
if not _action_stored:
+
# If the agent cannot move due to an invalid transition, we set its state to not moving
self.rewards_dict[i_agent] += self.invalid_action_penalty
self.rewards_dict[i_agent] += self.stop_penalty
diff --git a/tests/test_multi_speed.py b/tests/test_multi_speed.py
index 57c0430d630615d02785545d0b54f3e9980c54d4..b0f274ba4c4b5453140fcc50bc6137e39e8e4f04 100644
--- a/tests/test_multi_speed.py
+++ b/tests/test_multi_speed.py
@@ -93,8 +93,7 @@ def test_multi_speed_init():
old_pos[i_agent] = env.agents[i_agent].position
-# TODO test invalid actions!
-def test_multispeed_actions_no_malfunction_no_blocking(rendering=True):
+def test_multispeed_actions_no_malfunction_no_blocking():
"""Test that actions are correctly performed on cell exit for a single agent."""
rail, rail_map = make_simple_rail()
env = RailEnv(width=rail_map.shape[1],
@@ -195,7 +194,7 @@ def test_multispeed_actions_no_malfunction_no_blocking(rendering=True):
run_replay_config(env, [test_config])
-def test_multispeed_actions_no_malfunction_blocking(rendering=True):
+def test_multispeed_actions_no_malfunction_blocking():
"""The second agent blocks the first because it is slower."""
rail, rail_map = make_simple_rail()
env = RailEnv(width=rail_map.shape[1],
@@ -377,7 +376,7 @@ def test_multispeed_actions_no_malfunction_blocking(rendering=True):
run_replay_config(env, test_configs)
-def test_multispeed_actions_malfunction_no_blocking(rendering=True):
+def test_multispeed_actions_malfunction_no_blocking():
"""Test on a single agent whether action on cell exit work correctly despite malfunction."""
rail, rail_map = make_simple_rail()
env = RailEnv(width=rail_map.shape[1],
@@ -509,3 +508,86 @@ def test_multispeed_actions_malfunction_no_blocking(rendering=True):
speed=0.5
)
run_replay_config(env, [test_config])
+
+
+# TODO invalid action penalty seems only given when forward is not possible - is this the intended behaviour?
+def test_multispeed_actions_no_malfunction_invalid_actions():
+ """Test that actions are correctly performed on cell exit for a single agent."""
+ rail, rail_map = make_simple_rail()
+ env = RailEnv(width=rail_map.shape[1],
+ height=rail_map.shape[0],
+ rail_generator=rail_from_grid_transition_map(rail),
+ schedule_generator=random_schedule_generator(),
+ number_of_agents=1,
+ obs_builder_object=TreeObsForRailEnv(max_depth=2, predictor=ShortestPathPredictorForRailEnv()),
+ )
+
+ set_penalties_for_replay(env)
+ test_config = ReplayConfig(
+ replay=[
+ Replay(
+ position=(3, 9), # east dead-end
+ direction=Grid4TransitionsEnum.EAST,
+ action=RailEnvActions.MOVE_LEFT,
+ reward=env.start_penalty + env.step_penalty * 0.5 # auto-correction left to forward without penalty!
+ ),
+ Replay(
+ position=(3, 9),
+ direction=Grid4TransitionsEnum.EAST,
+ action=None,
+ reward=env.step_penalty * 0.5 # running at speed 0.5
+ ),
+ Replay(
+ position=(3, 8),
+ direction=Grid4TransitionsEnum.WEST,
+ action=RailEnvActions.MOVE_FORWARD,
+ reward=env.step_penalty * 0.5 # running at speed 0.5
+ ),
+ Replay(
+ position=(3, 8),
+ direction=Grid4TransitionsEnum.WEST,
+ action=None,
+ reward=env.step_penalty * 0.5 # running at speed 0.5
+ ),
+ Replay(
+ position=(3, 7),
+ direction=Grid4TransitionsEnum.WEST,
+ action=RailEnvActions.MOVE_FORWARD,
+ reward=env.step_penalty * 0.5 # running at speed 0.5
+ ),
+ Replay(
+ position=(3, 7),
+ direction=Grid4TransitionsEnum.WEST,
+ action=None,
+ reward=env.step_penalty * 0.5 # running at speed 0.5
+ ),
+ Replay(
+ position=(3, 6),
+ direction=Grid4TransitionsEnum.WEST,
+ action=RailEnvActions.MOVE_RIGHT,
+ reward=env.step_penalty * 0.5 # wrong action is corrected to forward without penalty!
+ ),
+ Replay(
+ position=(3, 6),
+ direction=Grid4TransitionsEnum.WEST,
+ action=None,
+ reward=env.step_penalty * 0.5 # running at speed 0.5
+ ),
+ Replay(
+ position=(3, 5),
+ direction=Grid4TransitionsEnum.WEST,
+ action=RailEnvActions.MOVE_RIGHT,
+ reward=env.step_penalty * 0.5 # wrong action is corrected to forward without penalty!
+ ), Replay(
+ position=(3, 5),
+ direction=Grid4TransitionsEnum.WEST,
+ action=None,
+ reward=env.step_penalty * 0.5 # running at speed 0.5
+ ),
+
+ ],
+ target=(3, 0), # west dead-end
+ speed=0.5
+ )
+
+ run_replay_config(env, [test_config])
diff --git a/tests/test_utils.py b/tests/test_utils.py
index 5821cd05604aa79b0b55a73136161b49e847f01e..903120d868aa65833e7c2393ddfcc821c26da4f6 100644
--- a/tests/test_utils.py
+++ b/tests/test_utils.py
@@ -1,6 +1,7 @@
"""Test Utils."""
from typing import List, Tuple, Optional
+import numpy as np
from attr import attrs, attrib
from flatland.core.grid.grid4 import Grid4TransitionsEnum
@@ -28,9 +29,10 @@ class ReplayConfig(object):
# ensure that env is working correctly with start/stop/invalidaction penalty different from 0
def set_penalties_for_replay(env: RailEnv):
- env.step_penalty = 13
- env.stop_penalty = 19
- env.invalid_action_penalty = 29
+ env.step_penalty = -7
+ env.start_penalty = -13
+ env.stop_penalty = -19
+ env.invalid_action_penalty = -29
def run_replay_config(env: RailEnv, test_configs: List[ReplayConfig], rendering: bool = False):
@@ -74,8 +76,9 @@ def run_replay_config(env: RailEnv, test_configs: List[ReplayConfig], rendering:
agent.speed_data['speed'] = test_config.speed
def _assert(a, actual, expected, msg):
- assert actual == expected, "[{}] agent {} {}: actual={}, expected={}".format(step, a, msg, actual,
- expected)
+ assert np.allclose(actual, expected), "[{}] agent {} {}: actual={}, expected={}".format(step, a, msg,
+ actual,
+ expected)
action_dict = {}
@@ -100,10 +103,11 @@ def run_replay_config(env: RailEnv, test_configs: List[ReplayConfig], rendering:
_assert(a, agent.malfunction_data['malfunction'], replay.malfunction, 'malfunction')
_, rewards_dict, _, info_dict = env.step(action_dict)
+ if rendering:
+ renderer.render_env(show=True, show_observations=True)
for a, test_config in enumerate(test_configs):
replay = test_config.replay[step]
_assert(a, rewards_dict[a], replay.reward, 'reward')
- if rendering:
- renderer.render_env(show=True, show_observations=True)
+