def agent_spec():
return AgentSpec(
interface=AgentInterface(
road_waypoints=RoadWaypoints(40),
neighborhood_vehicles=NeighborhoodVehicles(
radius=max(MAP_WIDTH * MAP_RESOLUTION, MAP_HEIGHT * MAP_RESOLUTION)
* 0.5
),
drivable_area_grid_map=DrivableAreaGridMap(
width=MAP_WIDTH, height=MAP_HEIGHT, resolution=MAP_RESOLUTION
),
ogm=OGM(width=MAP_WIDTH, height=MAP_HEIGHT, resolution=MAP_RESOLUTION),
rgb=RGB(width=MAP_WIDTH, height=MAP_HEIGHT, resolution=MAP_RESOLUTION),
action=ActionSpaceType.Lane,
),
policy_builder=lambda: AgentPolicy.from_function(lambda _: "keep_lane"),
)
def action_adapter(model_action):
assert len(model_action) == 2
throttle = np.clip(model_action[0], 0, 1)
brake = np.abs(np.clip(model_action[0], -1, 0))
return np.asarray([throttle, brake, model_action[1]])
def info_adapter(reward, info):
return info
agent_interface = AgentInterface(
max_episode_steps=None,
waypoints=True,
# neighborhood < 60m
neighborhood_vehicles=NeighborhoodVehicles(radius=60),
# OGM within 64 * 0.25 = 16
ogm=OGM(64, 64, 0.25),
action=ActionSpaceType.Continuous,
)
agent_spec = AgentSpec(
interface=agent_interface,
observation_adapter=observation_adapter,
reward_adapter=reward_adapter,
action_adapter=action_adapter,
info_adapter=info_adapter,
)
def _make_rllib_config(config, mode="training"):
"""Generate agent configuration. `mode` can be `train` or 'evaluation', and the
only difference on the generated configuration is the agent info adapter.
"""
agent_config = config["agent"]
interface_config = config["interface"]
""" Parse the state configuration for agent """
state_config = agent_config["state"]
# initialize environment wrapper if the wrapper config is not None
wrapper_config = state_config.get("wrapper", {"name": "Simple"})
features_config = state_config["features"]
# only for one frame, not really an observation
frame_space = gym.spaces.Dict(common.subscribe_features(**features_config))
action_type = ActionSpaceType(agent_config["action"]["type"])
env_action_space = common.ActionSpace.from_type(action_type)
wrapper_cls = getattr(rllib_wrappers, wrapper_config["name"])
""" Parse policy configuration """
policy_obs_space = wrapper_cls.get_observation_space(
frame_space, wrapper_config)
policy_action_space = wrapper_cls.get_action_space(env_action_space,
wrapper_config)
observation_adapter = wrapper_cls.get_observation_adapter(
policy_obs_space,
feature_configs=features_config,
wrapper_config=wrapper_config)
action_adapter = wrapper_cls.get_action_adapter(action_type,
policy_action_space,
wrapper_config)
# policy observation space is related to the wrapper usage
policy_config = (
None,
policy_obs_space,
policy_action_space,
config["policy"].get(
"config", {"custom_preprocessor": wrapper_cls.get_preprocessor()}),
)
""" Parse agent interface configuration """
if interface_config.get("neighborhood_vehicles"):
interface_config["neighborhood_vehicles"] = NeighborhoodVehicles(
**interface_config["neighborhood_vehicles"])
if interface_config.get("waypoints"):
interface_config["waypoints"] = Waypoints(
**interface_config["waypoints"])
if interface_config.get("rgb"):
interface_config["rgb"] = RGB(**interface_config["rgb"])
if interface_config.get("ogm"):
interface_config["ogm"] = OGM(**interface_config["ogm"])
interface_config["action"] = ActionSpaceType(action_type)
""" Pack environment configuration """
config["run"]["config"].update({"env": wrapper_cls})
config["env_config"] = {
"custom_config": {
**wrapper_config,
"reward_adapter":
wrapper_cls.get_reward_adapter(observation_adapter),
"observation_adapter":
observation_adapter,
"action_adapter":
action_adapter,
"info_adapter":
metrics.agent_info_adapter if mode == "evaluation" else None,
"observation_space":
policy_obs_space,
"action_space":
policy_action_space,
},
}
config["agent"] = {"interface": AgentInterface(**interface_config)}
config["trainer"] = _get_trainer(**config["policy"]["trainer"])
config["policy"] = policy_config
print(format.pretty_dict(config))
return config
def _make_rllib_config(config, mode="train"):
""" Generate agent configuration. `mode` can be `train` or 'evaluation', and the
only difference on the generated configuration is the agent info adapter.
"""
agent = config["agent"]
state_config = agent["state"]
# initialize environment wrapper if the wrapper config is not None
wrapper_config = state_config["wrapper"]
wrapper = (
getattr(rllib_wrappers, wrapper_config["name"]) if wrapper_config else None
)
features = state_config["features"]
# only for one frame, not really an observation
frame_space = gym.spaces.Dict(common.subscribe_features(**features))
action_type = agent["action"]["type"]
action_space = common.ActionSpace.from_type(action_type)
# policy observation space is related to the wrapper usage
policy_obs_space = _get_policy_observation_space(
wrapper, frame_space, wrapper_config
)
policy_config = (
None,
policy_obs_space,
action_space,
config["policy"].get("config", {}),
)
interface = config["interface"]
if interface.get("neighborhood_vehicles"):
interface["neighborhood_vehicles"] = NeighborhoodVehicles(
**interface["neighborhood_vehicles"]
)
if interface.get("waypoints"):
interface["waypoints"] = Waypoints(**interface["waypoints"])
if interface.get("rgb"):
interface["rgb"] = RGB(**interface["rgb"])
if interface.get("ogm"):
interface["ogm"] = OGM(**interface["ogm"])
interface["action"] = ActionSpaceType(action_type)
adapter_type = "vanilla" if wrapper == rllib_wrappers.FrameStack else "single_frame"
agent_config = dict(
action_adapter=common.ActionAdapter.from_type(action_type),
info_adapter=metrics.agent_info_adapter
if mode == "evaluate"
else common.default_info_adapter,
)
adapter_type = (
"stack_frame" if wrapper == rllib_wrappers.FrameStack else "single_frame"
)
if agent.get("adapter_type", {}) != {}:
adapter_type = agent.get("adapter_type", {})
observation_adapter = common.get_observation_adapter(
frame_space, adapter_type, wrapper=wrapper, feature_configs=features
)
env_config = dict()
wrapper_config["parameters"] = {
"observation_adapter": observation_adapter,
"reward_adapter": common.get_reward_adapter(observation_adapter, adapter_type),
"base_env_cls": RLlibHiWayEnv,
}
env_config.update(**wrapper_config["parameters"])
config["run"]["config"].update({"env": wrapper})
config["env_config"] = env_config
config["agent"] = agent_config
config["interface"] = interface
config["trainer"] = _get_trainer(**config["policy"]["trainer"])
config["policy"] = policy_config
pprint.pprint(config)
return config