class MobileAvoidance(EnvSpace):
def env_init(self):
self.env = CarEnv()
self.state = self.env.reset()
self.send_state_get_action(self.state)
self.var = 1
def on_predict_response(self, action):
self.var = self.var * 0.9995 if self.ep_use_step > cfg['DDPG'][
'memory_capacity'] else self.var
a = np.clip(np.random.normal(action, self.var), *self.env.action_bound)
next_state, reward, done, _ = self.env.step(action)
# print(next_state)
done = True if self.ep_use_step >= EP_MAXSTEP else done
self.send_train_get_action(self.state, action, reward, done,
next_state)
self.state = next_state
# print('self.env_name=',self.env_name)
if self.ep >= 30 and RENDER:
self.env.render()
if done:
self.state = self.env.reset()
self.send_state_get_action(self.state)
class Worker(object):
def __init__(self, wid):
self.wid = wid
self.env = CarEnv()
self.ppo = GLOBAL_PPO
def work(self):
global GLOBAL_EP, GLOBAL_RUNNING_R, GLOBAL_UPDATE_COUNTER
while not COORD.should_stop():
s = self.env.reset()
ep_r = 0
buffer_s, buffer_a, buffer_r = [], [], []
for t in range(EP_LEN):
if not ROLLING_EVENT.is_set(): # while global PPO is updating
ROLLING_EVENT.wait() # wait until PPO is updated
buffer_s, buffer_a, buffer_r = [], [], [
] # clear history buffer
a = self.ppo.choose_action(s)
s_, r, done = self.env.step(a)
buffer_s.append(s)
buffer_a.append(a)
buffer_r.append(r) # normalize reward, find to be useful
s = s_
ep_r += r
GLOBAL_UPDATE_COUNTER += 1 # count to minimum batch size
if t == EP_LEN - 1 or GLOBAL_UPDATE_COUNTER >= MIN_BATCH_SIZE or done == 1:
v_s_ = self.ppo.get_v(s_)
discounted_r = [] # compute discounted reward
for r in buffer_r[::-1]:
v_s_ = r + GAMMA * v_s_
discounted_r.append(v_s_)
discounted_r.reverse()
bs, ba, br = np.vstack(buffer_s), np.vstack(
buffer_a), np.array(discounted_r)[:, np.newaxis]
buffer_s, buffer_a, buffer_r = [], [], []
QUEUE.put(np.hstack((bs, ba, br)))
if GLOBAL_UPDATE_COUNTER >= MIN_BATCH_SIZE:
ROLLING_EVENT.clear() # stop collecting data
UPDATE_EVENT.set() # globalPPO update
if GLOBAL_EP >= EP_MAX: # stop training
COORD.request_stop()
break
if t == EP_LEN - 1 or done == 1:
break
# record reward changes, plot later
if len(GLOBAL_RUNNING_R) == 0: GLOBAL_RUNNING_R.append(ep_r)
else:
GLOBAL_RUNNING_R.append(GLOBAL_RUNNING_R[-1] * 0.9 +
ep_r * 0.1)
GLOBAL_EP += 1
print(
'{0:.1f}%'.format(GLOBAL_EP / EP_MAX * 100),
'|W%i' % self.wid,
'|Ep_r: %.2f' % ep_r,
)
def main():
global RADAR_MEM
data = open('radar.txt', 'w')
try:
car_env = CarEnv(port=2069)
sensors = car_env.sensor_list
car = car_env.vehicle_list[0]
car.set_autopilot(enabled=True)
for sensor in sensors:
if sensor.type_id == 'sensor.other.radar':
sensor.listen(lambda data: save_data(data, 0))
time.sleep(5)
while True:
for point in RADAR_MEM:
if len(RADAR_MEM) % 50 == 0:
RADAR_MEM = []
data.write('\n')
if point.size != 0:
stuff = str(str(point).replace('[', '')).replace(']', '')
print(stuff)
data.write(f"{stuff}|")
else:
pass
except (KeyboardInterrupt, SystemExit):
data.close()
car.destroy()
for sensor in sensors:
sensor.destroy()
sys.exit()
exit()
raise
def main():
with tf.Session() as sess:
env = CarEnv()
np.random.seed(1)
tf.set_random_seed(1)
state_dim = env.state_dim
action_dim = env.action_dim
action_bound = env.action_bound_high
actor = ActorNetwork(sess, state_dim, action_dim, action_bound, 0.001,
0.01, 64)
critic = CriticNetwork(sess, state_dim, action_dim, 0.001, 0.01, 0.9,
actor.get_num_trainable_vars())
action_noise = OrnsteinUhlenbeckActionNoise(mu=np.zeros(action_dim))
train(sess, env, actor, critic, action_noise)
class Worker(object):
def __init__(self, name, globalAC):
self.env = CarEnv()
self.name = name
self.AC = ACNet(name, globalAC)
def work(self):
global GLOBAL_RUNNING_R, GLOBAL_EP
total_step = 1
buffer_s, buffer_a, buffer_r = [], [], []
while not COORD.should_stop() and GLOBAL_EP < MAX_GLOBAL_EP:
s = self.env.reset()
ep_r = 0
for ep_t in range(MAX_EP_STEP):
# if self.name == 'W_0':
# self.env.render()
a = self.AC.choose_action(s)
s_, r, done = self.env.step(a)
if ep_t == MAX_EP_STEP - 1: done = True
ep_r += r
buffer_s.append(s)
buffer_a.append(a)
buffer_r.append(r)
if total_step % UPDATE_GLOBAL_ITER == 0 or done or ep_t == MAX_EP_STEP - 1: # update global and assign to local net
if done:
v_s_ = 0 # terminal
else:
v_s_ = SESS.run(self.AC.v,
{self.AC.s: s_[np.newaxis, :]})[0, 0]
buffer_v_target = []
for r in buffer_r[::-1]: # reverse buffer r
v_s_ = r + GAMMA * v_s_
buffer_v_target.append(v_s_)
buffer_v_target.reverse()
buffer_s, buffer_a, buffer_v_target = np.vstack(
buffer_s), np.vstack(buffer_a), np.vstack(
buffer_v_target)
feed_dict = {
self.AC.s: buffer_s,
self.AC.a_his: buffer_a,
self.AC.v_target: buffer_v_target,
}
test = self.AC.update_global(feed_dict)
buffer_s, buffer_a, buffer_r = [], [], []
self.AC.pull_global()
s = s_
total_step += 1
if done or ep_t == MAX_EP_STEP - 1:
if len(GLOBAL_RUNNING_R
) == 0: # record running episode reward
GLOBAL_RUNNING_R.append(ep_r)
else:
GLOBAL_RUNNING_R.append(0.9 * GLOBAL_RUNNING_R[-1] +
0.1 * ep_r)
print(
self.name,
"Ep:",
GLOBAL_EP,
"| Ep_r: %i" % GLOBAL_RUNNING_R[-1],
'| Var:',
test,
)
GLOBAL_EP += 1
break
tf.reset_default_graph()
MAX_GLOBAL_EP = 1000
MAX_EP_STEP = 100
UPDATE_GLOBAL_ITER = 5
N_WORKERS = multiprocessing.cpu_count()
LR_A = 1e-4 # learning rate for actor
LR_C = 2e-4 # learning rate for critic
GAMMA = 0.9 # reward discount
MODE = ['easy', 'hard']
n_model = 1
GLOBAL_NET_SCOPE = 'Global_Net'
ENTROPY_BETA = 0.01
GLOBAL_RUNNING_R = []
GLOBAL_EP = 0
env = CarEnv()
N_S = 2 + env.O_LC
N_A = 1
A_BOUND = env.action_bound
del env
class ACNet(object):
def __init__(self, scope, globalAC=None):
if scope == GLOBAL_NET_SCOPE: # get global network
with tf.variable_scope(scope):
self.s = tf.placeholder(tf.float32, [None, N_S], 'S')
self._build_net()
self.a_params = tf.get_collection(
tf.GraphKeys.TRAINABLE_VARIABLES, scope=scope + '/actor')
#################################
# setup
#################################
base_output_dir = 'run-out-' + time.strftime("%Y-%m-%d-%H-%M-%S")
os.makedirs(base_output_dir)
tensorboard_dir = base_output_dir + "/tensorboard/"
os.makedirs(tensorboard_dir)
summary_writer = tf.summary.create_file_writer(tensorboard_dir)
with summary_writer.as_default():
tf.summary.text('params', str(args), step=0)
State.setup(args)
environment = CarEnv(args)
replay_memory = replay.ReplayMemory(base_output_dir, args)
dqn = dqn.DeepQNetwork(environment.get_num_actions(),
environment.get_state_size(), replay_memory,
base_output_dir, tensorboard_dir, args)
train_epsilon = args.epsilon #don't want to reset epsilon between epoch
start_time = datetime.datetime.now()
train_episodes = 0
eval_episodes = 0
episode_train_reward_list = []
episode_eval_reward_list = []
#################################
# stop handler
#################################
from car_env import CarEnv
import pygame
env = CarEnv()
state = env.reset()
close_screen = False
while True:
action = 4
for event in pygame.event.get():
if event.type == pygame.KEYDOWN and event.key == pygame.K_DOWN: action = 0
if event.type == pygame.KEYDOWN and event.key == pygame.K_RIGHT: action = 1
if event.type == pygame.KEYDOWN and event.key == pygame.K_UP: action = 2
if event.type == pygame.KEYDOWN and event.key == pygame.K_LEFT: action = 3
if event.type == pygame.QUIT:
close_screen = True
next_state, reward, done, info = env.step(action)
env.render()
if done or close_screen:
break
pygame.display.quit()
pygame.quit()
color = (255, 128, 0)
size = 5
pygame.draw.rect(screen, color,
pygame.Rect(env.x_target, env.y_target, size, size))
def draw_state(screen, env):
car_info = env.Car.get_info()
draw_car(screen, car_info)
draw_target(screen, env)
if __name__ == "__main__":
env = CarEnv()
agent = Agent()
pygame.init()
screen = pygame.display.set_mode((env.x_upper, env.y_upper))
clock = pygame.time.Clock()
done = False
while not env.is_done():
agent.step(env)
screen.fill((0, 0, 0)) # erase screen
draw_state(screen, env)
for event in pygame.event.get():
pass
pygame.display.flip() # refresh screen
import threading, queue
from car_env import CarEnv
tf.reset_default_graph()
EP_MAX = 1000
EP_LEN = 100
N_WORKER = 4 # parallel workers
GAMMA = 0.9 # reward discount factor
A_LR = 0.0001 # learning rate for actor
C_LR = 0.0005 # learning rate for critic
MIN_BATCH_SIZE = 64 # minimum batch size for updating PPO
UPDATE_STEP = 5 # loop update operation n-steps
EPSILON = 0.2 # Clipped surrogate objective
n_model = 1
env = CarEnv()
S_DIM = 2 + env.O_LC
A_DIM = 1
A_BOUND = env.action_bound[1]
class PPO(object):
def __init__(self):
self.sess = tf.Session()
self.tfs = tf.placeholder(tf.float32, [None, S_DIM], 'state')
# critic
l1 = tf.layers.dense(self.tfs, 100, tf.nn.relu)
self.v = tf.layers.dense(l1, 1)
self.tfdc_r = tf.placeholder(tf.float32, [None, 1], 'discounted_r')
MAX_EPISODES = 2000
MAX_EP_STEPS = 1000
LR_A = 1e-4 # learning rate for actor
LR_C = 1e-4 # learning rate for critic
GAMMA = 0.9 # reward discount
REPLACE_ITER_A = 800
REPLACE_ITER_C = 700
MEMORY_CAPACITY = 2000
BATCH_SIZE = 16
VAR_MIN = 0.1
RENDER = True
LOAD = True
DISCRETE_ACTION = False
env = CarEnv(discrete_action=DISCRETE_ACTION)
env2 = CarEnv(discrete_action=DISCRETE_ACTION, self_obstacle=True)
STATE_DIM = env.state_dim
ACTION_DIM = env.action_dim
ACTION_BOUND = env.action_bound
# all placeholder for tf
with tf.name_scope('S'):
S = tf.placeholder(tf.float32, shape=[None, STATE_DIM], name='s')
with tf.name_scope('R'):
R = tf.placeholder(tf.float32, [None, 1], name='r')
with tf.name_scope('S_'):
S_ = tf.placeholder(tf.float32, shape=[None, STATE_DIM], name='s_')
class Actor(object):
sys.version_info.minor,
'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
except IndexError:
print("Failed to find carla's .egg directory")
import carla
from carla import *
from car_env import CarEnv
import random
import time
run = False
PORT = 2069
IMG_WIDTH = 640
IMG_HEIGHT = 480
spawn = CarEnv(port=2069) # <-- Remove when not testing :D
spawn.vehicle_list[0].set_autopilot(enabled=True)
#black = np.zeros(shape=(IMG_HEIGHT, IMG_WIDTH,3))
CAMERA_MEM = None# --> stores current frame received from cameras - inits as empty (None)
def processImage(data, folder):
global CAMERA_MEM
i = np.array(data.raw_data)
i2 = np.reshape(i, (IMG_HEIGHT, IMG_WIDTH, 4))
i3 = i2[:, :, :3]
CAMERA_MEM = i3
data.save_to_disk(f'{folder}/%06d.png' % data.frame)
print(dir(data))
print(type(CAMERA_MEM))
# return i3/255.0
def main():
try:
global RADAR_MEM
car_env = CarEnv(port=2069)
car = car_env.vehicle_list[0]
sensors = car_env.sensor_list
car.set_autopilot(enabled=True)
HFOV = (car_env.hfov*math.pi)/180
VFOV = (car_env.vfov*math.pi)/180
for sensor in sensors:
if sensor.type_id == 'sensor.other.radar':
sensor.listen(lambda data: parse_data(data))
clock.tick(60)
pygame.init()
display = (1280, 720)
pygame.display.set_mode(display, DOUBLEBUF|OPENGL)
gluPerspective(120, (display[0]/display[1]), 0.1, 200.0)
glRotate(0, 0, 0, 0)
glTranslatef(0.0, 0.0, -3)
while True:
events = pygame.event.get() keys = pygame.key.get_pressed()
pressed_mouse = pygame.mouse.get_pressed()
for event in events:
if event.type == pygame.QUIT:
pygame.quit()
exit()
if event.type == pygame.MOUSEBUTTONDOWN:
if event.button == 4: # wheel rolled up
glScaled(1.10, 1.10, 1.10)
if event.button == 5: # wheel rolled down
glScaled(0.9, 0.9, 0.9)
if pressed_mouse[1]:
ms = pygame.mouse.get_rel()
glRotate(2, ms[1], ms[0], 0)
if pressed_mouse[2]:
ms = pygame.mouse.get_rel()
glTranslatef(ms[0]/100, -1 * ms[1]/100, 0)
if keys[pygame.K_UP]:
glRotate(0.1, -1, 0, 0)
if keys[pygame.K_DOWN]:
glRotate(0.1, 1, 0, 0)
if keys[pygame.K_LEFT]:
glRotate(0.1, 0, -1, 0)
if keys[pygame.K_RIGHT]:
glRotate(0.1, 0, 1, 0)
if keys[pygame.K_s]:
glTranslatef(0.0, 0.0, -1)
if keys[pygame.K_w]:
glTranslatef(0.0, 0.0, 1)
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT)
Render()
pygame.display.flip()
if len(RADAR_MEM) >= car_env.radartick:
RADAR_MEM = []
except (KeyboardInterrupt, SystemExit):
car.destroy()
for sensor in sensors:
sensor.destroy()
pygame.quit()
sys.exit()
exit()
def __init__(self, name, globalAC):
self.env = CarEnv()
self.name = name
self.AC = ACNet(name, globalAC)
def __init__(self, wid):
self.wid = wid
self.env = CarEnv()
self.ppo = GLOBAL_PPO
MAX_EPISODES = 500 # 最大 episode
MAX_EP_STEPS = 600 # 最大步数设置
LR_A = 1e-4 # learning rate for actor
LR_C = 1e-4 # learning rate for critic
GAMMA = 0.9 # reward discount
REPLACE_ITER_A = 800
REPLACE_ITER_C = 700
MEMORY_CAPACITY = 2000 #记忆容量
BATCH_SIZE = 16
VAR_MIN = 0.1
RENDER = True #开启窗口
LOAD = False #重新训练,不载入之前训练过的
DISCRETE_ACTION = False
env = CarEnv(discrete_action=DISCRETE_ACTION)
STATE_DIM = env.state_dim
ACTION_DIM = env.action_dim
ACTION_BOUND = env.action_bound
# all placeholder for tf
with tf.name_scope('S'):
S = tf.placeholder(tf.float32, shape=[None, STATE_DIM], name='s')
with tf.name_scope('R'):
R = tf.placeholder(tf.float32, [None, 1], name='r')
with tf.name_scope('S_'):
S_ = tf.placeholder(tf.float32, shape=[None, STATE_DIM], name='s_')
class Actor(object): # Actor 函数网络
def __init__(self, sess, action_dim, action_bound, learning_rate, t_replace_iter):
for steps in range(MAX_EP_STEPS):
if RENDER: env.render()
# Put Your Code Here
if done:
agent.append_data(ep_steps=steps)
break
if __name__ == '__main__':
global agent, ep, TEST
env = CarEnv(map_set=0)
agent = DQN(
n_input=env.n_sensor,
n_output=env.n_actions,
gamma=0.96,
beta=0.3,
memory_size=2000,
batch_size=32,
epsilon=0.8,
epsilon_decay=0.996,
epsilon_min=0.02,
show=True,
)
agent._build_net()
'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
except IndexError:
print("Failed to find carla's .egg directory")
import carla
from carla import *
import random
parser = argparse.ArgumentParser(description='loads a model and runs it')
parser.add_argument('model', metavar='-m', type=str, nargs='?', help='directory to get model')
args = parser.parse_args()
# Some variables
IMAGE_MEM = []
car_env = CarEnv(port=2069)
car = car_env.vehicle
sensors = car_env.sensor_list
SCL = 4
img_h = int(car_env.im_height/SCL)
img_w = int(car_env.im_width/SCL)
def clean():
car_env.destroy()
sys.exit()
def processimg(data, sensorID):
i = np.array(data.raw_data)
i2 = np.reshape(i, (img_h*SCL, img_w*SCL, 4))
default=0.1,
help="epsilon with decay doesn't fall below epsilon min")
parser.add_argument("--tensorboard-logging-freq",
type=int,
default=300,
help="save training statistics once every X steps")
args = parser.parse_args()
print('Arguments: ', (args))
baseOutputDir = 'run-out-' + time.strftime("%Y-%m-%d-%H-%M-%S")
os.makedirs(baseOutputDir)
State.setup(args)
environment = CarEnv(args, baseOutputDir)
dqn = dqn.DeepQNetwork(environment.getNumActions(), baseOutputDir, args)
replayMemory = replay.ReplayMemory(args)
stop = False
def stop_handler():
global stop
while not stop:
user_input = input()
if user_input == 'q':
print("Stopping...")
stop = True
def env_init(self):
self.env = CarEnv()
self.state = self.env.reset()
self.send_state_get_action(self.state)
self.var = 1
tf.set_random_seed(1)
MAX_EPISODES = 4000
MAX_EP_STEPS = 800
LR_A = 1e-4 # learning rate for actor
LR_C = 1e-4 # learning rate for critic
GAMMA = 0.98 # reward discount
REPLACE_ITER_A = 800
REPLACE_ITER_C = 700
MEMORY_CAPACITY = 4000
BATCH_SIZE = 16
VAR_MIN = 0.02
RENDER = False
LOAD = False
carn = 1
env = CarEnv(False, carn)
STATE_DIM = env.state_dim + 3
ACTION_DIM = env.action_dim
ACTION_BOUND = env.action_bound
# all placeholder for tf
with tf.name_scope('S'):
S = tf.placeholder(tf.float32, shape=[None, STATE_DIM], name='s')
with tf.name_scope('R'):
R = tf.placeholder(tf.float32, [None, 1], name='r')
with tf.name_scope('S_'):
S_ = tf.placeholder(tf.float32, shape=[None, STATE_DIM], name='s_')
class Actor(object):
def __init__(self, sess, action_dim, action_bound, learning_rate,