def main(scenarios, headless, seed): scenarios_iterator = Scenario.scenario_variations(scenarios, []) smarts = SMARTS( agent_interfaces={}, traffic_sim=None, envision=None if headless else Envision(), ) for _ in scenarios: scenario = next(scenarios_iterator) agent_missions = scenario.discover_missions_of_traffic_histories() for agent_id, mission in agent_missions.items(): agent_spec = AgentSpec( interface=AgentInterface.from_type(AgentType.LanerWithSpeed, max_episode_steps=None), agent_builder=KeepLaneAgent, agent_params=scenario.traffic_history_target_speed, ) agent = agent_spec.build_agent() # Take control of vehicle with corresponding agent_id smarts.switch_ego_agent({agent_id: agent_spec.interface}) # tell the traffic history provider to start traffic # at the point when this agent enters... traffic_history_provider = smarts.get_provider_by_type( TrafficHistoryProvider) assert traffic_history_provider traffic_history_provider.start_time = mission.start_time # agent vehicle will enter right away... modified_mission = replace(mission, start_time=0.0) scenario.set_ego_missions({agent_id: modified_mission}) observations = smarts.reset(scenario) dones = {agent_id: False} while not dones.get(agent_id, True): agent_obs = observations[agent_id] agent_action = agent.act(agent_obs) observations, rewards, dones, infos = smarts.step( {agent_id: agent_action}) smarts.destroy()
def main(scenarios, headless, seed): scenarios_iterator = Scenario.scenario_variations(scenarios, []) smarts = SMARTS( agent_interfaces={}, traffic_sim=SumoTrafficSimulation(headless=True, auto_start=True), envision=Envision(), ) for _ in scenarios: scenario = next(scenarios_iterator) agent_missions = scenario.discover_missions_of_traffic_histories() for agent_id, mission in agent_missions.items(): agent_spec = AgentSpec( interface=AgentInterface.from_type(AgentType.Laner, max_episode_steps=None), agent_builder=KeepLaneAgent, ) agent = agent_spec.build_agent() smarts.switch_ego_agent({agent_id: agent_spec.interface}) # required: get traffic_history_provider and set time offset traffic_history_provider = smarts.get_provider_by_type( TrafficHistoryProvider) assert traffic_history_provider traffic_history_provider.set_start_time(mission.start_time) modified_mission = replace(mission, start_time=0.0) scenario.set_ego_missions({agent_id: modified_mission}) observations = smarts.reset(scenario) dones = {agent_id: False} while not dones[agent_id]: agent_obs = observations[agent_id] agent_action = agent.act(agent_obs) observations, rewards, dones, infos = smarts.step( {agent_id: agent_action}) smarts.destroy()
def main( script: str, scenarios: Sequence[str], headless: bool, seed: int, vehicles_to_replace: int, episodes: int, ): assert vehicles_to_replace > 0 assert episodes > 0 logger = logging.getLogger(script) logger.setLevel(logging.INFO) logger.debug("initializing SMARTS") smarts = SMARTS( agent_interfaces={}, traffic_sim=None, envision=None if headless else Envision(), ) random_seed(seed) traffic_history_provider = smarts.get_provider_by_type( TrafficHistoryProvider) assert traffic_history_provider scenario_list = Scenario.get_scenario_list(scenarios) scenarios_iterator = Scenario.variations_for_all_scenario_roots( scenario_list, []) for scenario in scenarios_iterator: logger.debug("working on scenario {}".format(scenario.name)) veh_missions = scenario.discover_missions_of_traffic_histories() if not veh_missions: logger.warning("no vehicle missions found for scenario {}.".format( scenario.name)) continue veh_start_times = { v_id: mission.start_time for v_id, mission in veh_missions.items() } k = vehicles_to_replace if k > len(veh_missions): logger.warning( "vehicles_to_replace={} is greater than the number of vehicle missions ({})." .format(vehicles_to_replace, len(veh_missions))) k = len(veh_missions) # XXX replace with AgentSpec appropriate for IL model agent_spec = AgentSpec( interface=AgentInterface.from_type(AgentType.Imitation), agent_builder=ReplayCheckerAgent, agent_params=smarts.fixed_timestep_sec, ) for episode in range(episodes): logger.info(f"starting episode {episode}...") agentid_to_vehid = {} agent_interfaces = {} # Build the Agents for the to-be-hijacked vehicles # and gather their missions agents = {} dones = {} ego_missions = {} sample = {} if scenario.traffic_history.dataset_source == "Waymo": # For Waymo, we only hijack the vehicle that was autonomous in the dataset waymo_ego_id = scenario.traffic_history.ego_vehicle_id if waymo_ego_id is not None: assert ( k == 1 ), f"do not specify -k > 1 when just hijacking Waymo ego vehicle (it was {k})" veh_id = str(waymo_ego_id) sample = {veh_id} else: logger.warning( f"Waymo ego vehicle id not mentioned in the dataset. Hijacking a random vehicle." ) if not sample: # For other datasets, hijack a sample of the recorded vehicles # Pick k vehicle missions to hijack with agent # and figure out which one starts the earliest sample = scenario.traffic_history.random_overlapping_sample( veh_start_times, k) if len(sample) < k: logger.warning( f"Unable to choose {k} overlapping missions. allowing non-overlapping." ) leftover = set(veh_start_times.keys()) - sample sample.update(set(random.sample(leftover, k - len(sample)))) agent_spec.interface.max_episode_steps = max([ scenario.traffic_history.vehicle_final_exit_time(veh_id) / 0.1 for veh_id in sample ]) history_start_time = None logger.info(f"chose vehicles: {sample}") for veh_id in sample: agent_id = f"ego-agent-IL-{veh_id}" agentid_to_vehid[agent_id] = veh_id agent_interfaces[agent_id] = agent_spec.interface if (not history_start_time or veh_start_times[veh_id] < history_start_time): history_start_time = veh_start_times[veh_id] for agent_id in agent_interfaces.keys(): agent = agent_spec.build_agent() veh_id = agentid_to_vehid[agent_id] agent.load_data_for_vehicle(veh_id, scenario, history_start_time) agents[agent_id] = agent dones[agent_id] = False mission = veh_missions[veh_id] ego_missions[agent_id] = replace( mission, start_time=mission.start_time - history_start_time) # Tell the traffic history provider to start traffic # at the point when the earliest agent enters... traffic_history_provider.start_time = history_start_time # and all the other agents to offset their missions by this much too scenario.set_ego_missions(ego_missions) logger.info(f"offsetting sim_time by: {history_start_time}") # Take control of vehicles with corresponding agent_ids smarts.switch_ego_agents(agent_interfaces) # Finally start the simulation loop... logger.info(f"starting simulation loop...") observations = smarts.reset(scenario) while not all(done for done in dones.values()): actions = { agent_id: agents[agent_id].act(agent_obs) for agent_id, agent_obs in observations.items() } logger.debug("stepping @ sim_time={} for agents={}...".format( smarts.elapsed_sim_time, list(observations.keys()))) observations, rewards, dones, infos = smarts.step(actions) for agent_id in agents.keys(): if dones.get(agent_id, False): if not observations[agent_id].events.reached_goal: logger.warning( "agent_id={} exited @ sim_time={}".format( agent_id, smarts.elapsed_sim_time)) logger.warning(" ... with {}".format( observations[agent_id].events)) else: logger.info( "agent_id={} reached goal @ sim_time={}". format(agent_id, smarts.elapsed_sim_time)) logger.debug(" ... with {}".format( observations[agent_id].events)) del observations[agent_id] smarts.destroy()