From 51c747b6b4efa36bf2e326dbb3c3751aaa23ba7b Mon Sep 17 00:00:00 2001
From: Guillaume Mollard <guillaume.mollard2@gmail.com>
Date: Mon, 20 May 2019 15:25:15 +0200
Subject: [PATCH] added direction of other agents in global observation
---
flatland/envs/observations.py | 27 ++++++++++++++++-----------
1 file changed, 16 insertions(+), 11 deletions(-)
diff --git a/flatland/envs/observations.py b/flatland/envs/observations.py
index fa77b58a..0fd94a4e 100644
--- a/flatland/envs/observations.py
+++ b/flatland/envs/observations.py
@@ -203,7 +203,7 @@ class TreeObsForRailEnv(ObservationBuilder):
num_transitions = np.count_nonzero(possible_transitions)
# Root node - current position
# observation = [0, 0, 0, 0, self.distance_map[handle, position[0], position[1], orientation]]
- observation = [0, 0, 0, 0, self.distance_map[(handle, *agent.position, agent.direction)]]
+ observation = [0, 0, 0, 0, self.distance_map[(handle, *agent.position,direc agent.direction)]]
root_observation = observation[:]
visited = set()
# Start from the current orientation, and see which transitions are available;
@@ -478,11 +478,15 @@ class GlobalObsForRailEnv(ObservationBuilder):
- transition map array with dimensions (env.height, env.width, 16),
assuming 16 bits encoding of transitions.
- - Four 2D arrays containing respectively the position of the given agent,
- the position of its target, the positions of the other agents and of
- their target.
+ - Three 2D arrays (map_height, map_width, 3) containing respectively the position of the given agent,
+ the position of its target and the positions of the other agents targets.
+
+ - A 3D array (map_height, map_width, 4) containing the one hot encoding of directions
+ of the other agents at their position coordinates.
+
+ - A 4 elements array with one of encoding of the direction of the agent of interest.
+
- - A 4 elements array with one of encoding of the direction.
"""
def __init__(self):
@@ -503,21 +507,22 @@ class GlobalObsForRailEnv(ObservationBuilder):
# self.targets[target_pos] += 1
def get(self, handle):
- obs = np.zeros((4, self.env.height, self.env.width))
+ obs_map_state = np.zeros((self.env.height, self.env.width, 3))
+ obs_other_agents_state = np.zeros((self.env.height, self.env.width, 4))
agents = self.env.agents
agent = agents[handle]
agent_pos = agents[handle].position
- obs[0][agent_pos] += 1
- obs[1][agent.target] += 1
+ obs_map_state[agent_pos][0] += 1
+ obs_map_state[agent.target][1] += 1
for i in range(len(agents)):
if i != handle: # TODO: handle used as index...?
agent2 = agents[i]
- obs[3][agent2.position] += 1
- obs[2][agent2.target] += 1
+ obs_other_agents_state[agent2.position][agent2.direction] = 1
+ obs_map_state[agent2.target][2] += 1
direction = np.zeros(4)
direction[agent.direction] = 1
- return self.rail_obs, obs, direction
+ return self.rail_obs, obs_map_state, obs_other_agents_state, direction
--
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