From 437e6193a1277937b0de74923f829902bb1d7669 Mon Sep 17 00:00:00 2001
From: MLErik <baerenjesus@gmail.com>
Date: Wed, 2 Oct 2019 17:52:53 -0400
Subject: [PATCH] updated global observation to account for multiple agents
---
flatland/envs/observations.py | 9 ++++++---
1 file changed, 6 insertions(+), 3 deletions(-)
diff --git a/flatland/envs/observations.py b/flatland/envs/observations.py
index c23d4345..548c3e29 100644
--- a/flatland/envs/observations.py
+++ b/flatland/envs/observations.py
@@ -492,11 +492,12 @@ class GlobalObsForRailEnv(ObservationBuilder):
- transition map array with dimensions (env.height, env.width, 16),\
assuming 16 bits encoding of transitions.
- - A 3D array (map_height, map_width, 4) with
+ - A 3D array (map_height, map_width, 5) with
- first channel containing the agents position and direction
- second channel containing the other agents positions and diretion
- third channel containing agent/other agent malfunctions
- fourth channel containing agent/other agent fractional speeds
+ ' fifth channel containing number of agents in cell (only larger then one at start position)
- Two 2D arrays (map_height, map_width, 2) containing respectively the position of the given agent\
target and the positions of the other agents targets.
@@ -519,14 +520,16 @@ class GlobalObsForRailEnv(ObservationBuilder):
def get(self, handle: int = 0) -> (np.ndarray, np.ndarray, np.ndarray):
obs_targets = np.zeros((self.env.height, self.env.width, 2))
- obs_agents_state = np.zeros((self.env.height, self.env.width, 4)) - 1
-
+ obs_agents_state = np.zeros((self.env.height, self.env.width, 5)) - 1
+ obs_agents_state[0] -= 1 # Set all values to -1 to avoid confusion with orientation
+ obs_agents_state[1] -= 1 # Set all values to -1 to avoid confusion with orientation
agent = self.env.agents[handle]
obs_agents_state[agent.position][0] = agent.direction
obs_targets[agent.target][0] = 1
for i in range(len(self.env.agents)):
other_agent = self.env.agents[i]
+ obs_agents_state[other_agent.position][4] += 1
if i != handle:
obs_agents_state[other_agent.position][1] = other_agent.direction
obs_targets[other_agent.target][1] = 1
--
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