def main(args):
try:
opts, args = getopt.getopt(args, "", ["sleep-for-animation=", ""])
except getopt.GetoptError as err:
print(str(err)) # will print something like "option -a not recognized"
sys.exit(2)
sleep_for_animation = True
for o, a in opts:
if o in ("--sleep-for-animation"):
sleep_for_animation = str2bool(a)
else:
assert False, "unhandled option"
# Initiate the Predictor
custom_predictor = ShortestPathPredictorForRailEnv(10)
# Pass the Predictor to the observation builder
custom_obs_builder = ObservePredictions(custom_predictor)
# Initiate Environment
env = RailEnv(width=10,
height=10,
rail_generator=complex_rail_generator(nr_start_goal=5,
nr_extra=1,
min_dist=8,
max_dist=99999,
seed=1),
schedule_generator=complex_schedule_generator(),
number_of_agents=3,
obs_builder_object=custom_obs_builder)
obs, info = env.reset()
env_renderer = RenderTool(env, gl="PILSVG")
# We render the initial step and show the obsered cells as colored boxes
env_renderer.render_env(show=True,
frames=True,
show_observations=True,
show_predictions=False)
action_dict = {}
for step in range(100):
for a in range(env.get_num_agents()):
action = np.random.randint(0, 5)
action_dict[a] = action
obs, all_rewards, done, _ = env.step(action_dict)
print("Rewards: ", all_rewards, " [done=", done, "]")
env_renderer.render_env(show=True,
frames=True,
show_observations=True,
show_predictions=False)
if sleep_for_animation:
time.sleep(0.5)
def main(args):
try:
opts, args = getopt.getopt(args, "", ["sleep-for-animation=", ""])
except getopt.GetoptError as err:
print(str(err)) # will print something like "option -a not recognized"
sys.exit(2)
sleep_for_animation = True
for o, a in opts:
if o in ("--sleep-for-animation"):
sleep_for_animation = str2bool(a)
else:
assert False, "unhandled option"
env = RailEnv(width=7,
height=7,
rail_generator=complex_rail_generator(nr_start_goal=10,
nr_extra=1,
min_dist=5,
max_dist=99999,
seed=1),
schedule_generator=complex_schedule_generator(),
number_of_agents=1,
obs_builder_object=SingleAgentNavigationObs())
obs, info = env.reset()
env_renderer = RenderTool(env)
env_renderer.render_env(show=True, frames=True, show_observations=True)
for step in range(100):
action = np.argmax(obs[0]) + 1
obs, all_rewards, done, _ = env.step({0: action})
print("Rewards: ", all_rewards, " [done=", done, "]")
env_renderer.render_env(show=True, frames=True, show_observations=True)
if sleep_for_animation:
time.sleep(0.1)
if done["__all__"]:
break
env_renderer.close_window()
def main(args):
try:
opts, args = getopt.getopt(args, "", ["sleep-for-animation=", ""])
except getopt.GetoptError as err:
print(str(err)) # will print something like "option -a not recognized"
sys.exit(2)
sleep_for_animation = True
for o, a in opts:
if o in ("--sleep-for-animation"):
sleep_for_animation = str2bool(a)
else:
assert False, "unhandled option"
test_envs_root = "./railway"
test_env_file_path = "testing_stuff.pkl"
test_env_file_path = os.path.join(
test_envs_root,
test_env_file_path
)
x_dim = 7
y_dim = 7
n_agents = 4
stochastic_data = {'prop_malfunction': 0.05, # Percentage of defective agents
'malfunction_rate': 100, # Rate of malfunction occurence
'min_duration': 20, # Minimal duration of malfunction
'max_duration': 50 # Max duration of malfunction
}
# Different agent types (trains) with different speeds.
speed_ration_map = {1.: 0.25, # Fast passenger train
1. / 2.: 0.25, # Fast freight train
1. / 3.: 0.25, # Slow commuter train
1. / 4.: 0.25} # Slow freight train
# env = RailEnv(width=1, height=1, rail_generator=rail_from_file(test_env_file_path),
# schedule_generator=schedule_from_file(test_env_file_path),
# #malfunction_generator_and_process_data=malfunction_from_file(test_env_file_path),
# obs_builder_object=MultipleAgentNavigationObs(max_depth=2, predictor=ShortestPathPredictorForRailEnv(30)))
#
# #env.number_of_agents = n_agents
# n_agents = env.number_of_agents
env = RailEnv(width=x_dim,
height=y_dim,
rail_generator=complex_rail_generator(nr_start_goal=10, nr_extra=1, min_dist=6, max_dist=99999,seed=1),
# sparse_rail_generator(max_num_cities=3,
# # Number of cities in map (where train stations are)
# seed=1, # Random seed
# grid_mode=False,
# max_rails_between_cities=2,
# max_rails_in_city=3),
schedule_generator=complex_schedule_generator(speed_ration_map),
number_of_agents=n_agents,
malfunction_generator_and_process_data=malfunction_from_params(stochastic_data),
#
# env = RailEnv(width=7, height=7,
# rail_generator=complex_rail_generator(nr_start_goal=10, nr_extra=1, min_dist=5, max_dist=99999,
# seed=1), schedule_generator=complex_schedule_generator(),
# number_of_agents=n_agents,
obs_builder_object=MultipleAgentNavigationObs(max_depth=2, predictor=ShortestPathPredictorForRailEnv(30)))
max_steps = int(4 * 2 * (20 + env.height + env.width))
obs, info = env.reset(regenerate_rail=True,
regenerate_schedule=True,
random_seed=random_seed)
env_renderer = RenderTool(env, gl="PILSVG")
env_renderer.render_env(show=True, frames=True, show_observations=True)
# Reset score and done
score = 0
env_done = 0
step = 0
for step in range(max_steps):
action_dict = {}
for i in range(n_agents):
if not obs:
action_dict.update({i: 2})
elif obs[i] is not None:
action = np.argmax(obs[i][1:4]) + 1
action_dict.update({i: action})
obs, all_rewards, done, _ = env.step(action_dict)
print("Rewards: ", all_rewards, " [done=", done, "]")
for a in range(env.get_num_agents()):
score += all_rewards[a] / env.get_num_agents()
env_renderer.render_env(show=True, frames=True, show_observations=True)
if sleep_for_animation:
time.sleep(0.5)
if done["__all__"]:
break
# Collection information about training
tasks_finished = 0
for current_agent in env.agents:
if current_agent.status == RailAgentStatus.DONE_REMOVED:
tasks_finished += 1
done_window = tasks_finished / max(1, env.get_num_agents())
scores_window = score / max_steps
print(
'\rTraining {} Agents on ({},{}).\t Steps {}\t Average Score: {:.3f}\tDones: {:.2f}%\t'.format(
env.get_num_agents(), x_dim, y_dim,
step,
np.mean(scores_window),
100 * np.mean(done_window)), end=" ")
tasks_finished = 0
for current_agent in env.agents:
if current_agent.status == RailAgentStatus.DONE_REMOVED:
tasks_finished += 1
done_window = tasks_finished / max(1, env.get_num_agents())
scores_window = score / max_steps
print(
'\rTraining {} Agents on ({},{}).\t Total Steps {}\t Average Score: {:.3f}\tDones: {:.2f}%\t'.format(
env.get_num_agents(), x_dim, y_dim,
step,
np.mean(scores_window),
100 * np.mean(done_window)), end=" ")
env_renderer.close_window()
def main(args):
try:
opts, args = getopt.getopt(args, "", ["sleep-for-animation=", ""])
except getopt.GetoptError as err:
print(str(err)) # will print something like "option -a not recognized"
sys.exit(2)
sleep_for_animation = True
for o, a in opts:
if o in ("--sleep-for-animation"):
sleep_for_animation = str2bool(a)
else:
assert False, "unhandled option"
test_envs_root = f"./test-envs/Test_{test_env_no}"
test_env_file_path = f"Level_{level_no}.pkl"
test_env_file_path = os.path.join(
test_envs_root,
test_env_file_path
)
x_dim = 35
y_dim = 35
n_agents = 10
stochastic_data = {'prop_malfunction': 0.05, # Percentage of defective agents
'malfunction_rate': 100, # Rate of malfunction occurence
'min_duration': 2, # Minimal duration of malfunction
'max_duration': 5 # Max duration of malfunction
}
# Different agent types (trains) with different speeds.
speed_ration_map = {1.: 0.25, # Fast passenger train
1. / 2.: 0.25, # Fast freight train
1. / 3.: 0.25, # Slow commuter train
1. / 4.: 0.25} # Slow freight train
env = RailEnv(width=x_dim,
height=y_dim,
#rail_generator=complex_rail_generator(nr_start_goal=10, nr_extra=1, min_dist=6, max_dist=99999,seed=1),
rail_generator=sparse_rail_generator(max_num_cities=3,
# Number of cities in map (where train stations are)
seed=1, # Random seed
grid_mode=False,
max_rails_between_cities=2,
max_rails_in_city=3),
#schedule_generator=complex_schedule_generator(speed_ration_map),
schedule_generator=sparse_schedule_generator(speed_ration_map),
number_of_agents=n_agents,
malfunction_generator_and_process_data=malfunction_from_params(stochastic_data),
obs_builder_object=MultipleAgentNavigationObs(max_depth=2, predictor=ShortestPathPredictorForRailEnv(30)))
# print(f"Testing Environment: {test_env_file_path} with seed: {random_seed}")
# env = RailEnv(width=1, height=1, rail_generator=rail_from_file(test_env_file_path),
# schedule_generator=schedule_from_file(test_env_file_path),
# malfunction_generator_and_process_data=malfunction_from_file(test_env_file_path),
# obs_builder_object=MultipleAgentNavigationObs(max_depth=2, predictor=ShortestPathPredictorForRailEnv(30)))
obs, info = env.reset(regenerate_rail=True,
regenerate_schedule=True,
activate_agents=False,
random_seed=random_seed)
n_agents = env.get_num_agents()
x_dim, y_dim = env.width,env.height
max_steps = int(4 * 2 * (20 + env.height + env.width))
env_renderer = RenderTool(env, gl="PILSVG")
env_renderer.render_env(show=True, frames=True, show_observations=True)
# Reset score and done
score = 0
env_done = 0
step = 0
for step in range(max_steps):
for i in range(n_agents):
if obs[i] is not None:
observations, prediction_data, prediction_pos = obs[i]
break
action_dict = {}
next_shortest_actions = 2*np.ones(n_agents)
next_next_shortest_actions = 2*np.ones(n_agents)
agent_conflicts = np.zeros((n_agents,n_agents))
agent_conflicts_count = np.zeros((n_agents, n_agents))
minDist = -1 *np.ones(n_agents)
incDiff1 = -1 * np.ones(n_agents)
incDiff2 = -1 * np.ones(n_agents)
malfunc = np.zeros(n_agents)
speed = np.ones(n_agents)
pos_frac = np.ones(n_agents)
agent_num_conflicts = []
vals = []
counts = []
counter = np.zeros(n_agents)
for i in range(30):
pos = prediction_pos[i]
val, count = np.unique(pos, return_counts=True)
if(val[0] == -1):
val = val[1:]
count = count[1:]
vals.append(val)
counts.append(count)
for j,curVal in enumerate(val):
#curVal = vals[i]
curCount = count[j]
if curCount > 1:
idxs = np.argwhere(pos == curVal)
lsIdx = [int(x) for x in idxs]
combs = list(combinations(lsIdx,2))
for k,comb in enumerate(combs):
counter[comb[0]] += 1
counter[comb[1]] += 1
agent_conflicts_count[comb[0], comb[1]] = (counter[comb[0]] + counter[comb[1]])/2
if agent_conflicts[comb[0], comb[1]] == 0:
agent_conflicts[comb[0], comb[1]] = i
else:
agent_conflicts[comb[0], comb[1]] = min(i, agent_conflicts[comb[0], comb[1]])
for i in range(n_agents):
agent_num_conflicts.append(sum(agent_conflicts[i,:]))
if not obs or obs is None or obs[i] is None:
action_dict.update({i: 2})
elif obs[i][0] is not None:
shortest_action = np.argmax(obs[i][0][1:4]) + 1
next_shortest_action = np.argmax(obs[i][0][5:7]) + 1
next_next_shortest_action = np.argmax(obs[i][0][8:10]) + 1
next_shortest_actions[i] = next_shortest_action
next_next_shortest_actions[i] = next_next_shortest_action
malfunc[i] = obs[i][0][-3]
speed[i] = obs[i][0][-2]
pos_frac[i] = obs[i][0][-1]
minDist[i] = obs[i][0][0]
incDiff1[i] = obs[i][0][-5]
incDiff2[i] = obs[i][0][-4]
action_dict.update({i: shortest_action})
else:
action_dict.update({i: 2})
mal_agents = (np.array(-1))
for i in range(n_agents):
if agent_num_conflicts[i] > 0:
mal_agents = np.where(malfunc > 0)
for i,mal_agent in enumerate(mal_agents[0]):
if mal_agent is None:
break
conflict_agents = np.where(agent_conflicts[:,int(mal_agent)]>0)
for j,cur_conflict_agent in enumerate(conflict_agents[0]):
cur_conflict_agent = int(cur_conflict_agent)
steps_conflict = agent_conflicts[cur_conflict_agent, mal_agent]
if steps_conflict <= 3:
if incDiff1[cur_conflict_agent] == -1:
if int(minDist[cur_conflict_agent]) >= 5:
action_dict.update({cur_conflict_agent: 4})
elif agent_conflicts_count[cur_conflict_agent,mal_agent] > 1:
action_dict.update({cur_conflict_agent: 4})
elif minDist[cur_conflict_agent] > incDiff1[cur_conflict_agent]:
action_dict.update({cur_conflict_agent: 4})
else:
action_dict.update({cur_conflict_agent: next_shortest_actions[cur_conflict_agent]})
obs, all_rewards, done, _ = env.step(action_dict)
print("Rewards: ", all_rewards, " [done=", done, "]")
for a in range(env.get_num_agents()):
score += all_rewards[a] / env.get_num_agents()
env_renderer.render_env(show=True, frames=True, show_observations=True)
if sleep_for_animation:
time.sleep(0.5)
if done["__all__"]:
break
# Collection information about training
tasks_finished = 0
for current_agent in env.agents:
if current_agent.status == RailAgentStatus.DONE_REMOVED:
tasks_finished += 1
done_window = tasks_finished / max(1, env.get_num_agents())
scores_window = score / max_steps
print(
'\rTraining {} Agents on ({},{}).\t Steps {}\t Average Score: {:.3f}\tDones: {:.2f}%\t'.format(
env.get_num_agents(), x_dim, y_dim,
step,
np.mean(scores_window),
100 * np.mean(done_window)), end=" ")
tasks_finished = 0
for current_agent in env.agents:
if current_agent.status == RailAgentStatus.DONE_REMOVED:
tasks_finished += 1
done_window = tasks_finished / max(1, env.get_num_agents())
scores_window = score / max_steps
print(
'\rTraining {} Agents on ({},{}).\t Total Steps {}\t Average Score: {:.3f}\tDones: {:.2f}%\t'.format(
env.get_num_agents(), x_dim, y_dim,
step,
np.mean(scores_window),
100 * np.mean(done_window)), end=" ")
env_renderer.close_window()
def main(args):
try:
opts, args = getopt.getopt(args, "", ["sleep-for-animation=", ""])
except getopt.GetoptError as err:
print(str(err)) # will print something like "option -a not recognized"
sys.exit(2)
sleep_for_animation = True
for o, a in opts:
if o in ("--sleep-for-animation"):
sleep_for_animation = str2bool(a)
else:
assert False, "unhandled option"
test_envs_root = f"./test-envs/Test_{test_env_no}"
test_env_file_path = f"Level_{level_no}.pkl"
test_env_file_path = os.path.join(
test_envs_root,
test_env_file_path
)
print(f"Testing Environment: {test_env_file_path} with seed: {random_seed}")
env = RailEnv(width=1, height=1, rail_generator=rail_from_file(test_env_file_path),
schedule_generator=schedule_from_file(test_env_file_path),
malfunction_generator_and_process_data=malfunction_from_file(test_env_file_path),
obs_builder_object=MultipleAgentNavigationObs(max_depth=2, predictor=ShortestPathPredictorForRailEnv(30)))
max_steps = int(4 * 2 * (20 + env.height + env.width))
obs, info = env.reset(regenerate_rail=True,
regenerate_schedule=True,
activate_agents=False,
random_seed=random_seed)
env_renderer = RenderTool(env, gl="PILSVG")
env_renderer.render_env(show=True, frames=True, show_observations=True)
n_agents = env.get_num_agents()
x_dim, y_dim = env.width,env.height
# Reset score and done
score = 0
env_done = 0
step = 0
for step in range(max_steps):
action_dict = {}
for i in range(n_agents):
if not obs:
action_dict.update({i: 2})
elif obs[i] is not None:
action = np.argmax(obs[i][1:4]) + 1
action_dict.update({i: action})
obs, all_rewards, done, _ = env.step(action_dict)
print("Rewards: ", all_rewards, " [done=", done, "]")
for a in range(env.get_num_agents()):
score += all_rewards[a] / env.get_num_agents()
env_renderer.render_env(show=True, frames=True, show_observations=True)
if sleep_for_animation:
time.sleep(0.5)
if done["__all__"]:
break
# Collection information about training
tasks_finished = 0
for current_agent in env.agents:
if current_agent.status == RailAgentStatus.DONE_REMOVED:
tasks_finished += 1
done_window = tasks_finished / max(1, env.get_num_agents())
scores_window = score / max_steps
print(
'\rTraining {} Agents on ({},{}).\t Steps {}\t Average Score: {:.3f}\tDones: {:.2f}%\t'.format(
n_agents, x_dim, y_dim,
step,
np.mean(scores_window),
100 * np.mean(done_window)), end=" ")
tasks_finished = 0
for current_agent in env.agents:
if current_agent.status == RailAgentStatus.DONE_REMOVED:
tasks_finished += 1
done_window = tasks_finished / max(1, env.get_num_agents())
scores_window = score / max_steps
print(
'\rTraining {} Agents on ({},{}).\t Total Steps {}\t Average Score: {:.3f}\tDones: {:.2f}%\t'.format(
n_agents, x_dim, y_dim,
step,
np.mean(scores_window),
100 * np.mean(done_window)), end=" ")
env_renderer.close_window()
def main(args):
try:
opts, args = getopt.getopt(args, "", ["sleep-for-animation=", ""])
except getopt.GetoptError as err:
print(str(err)) # will print something like "option -a not recognized"
sys.exit(2)
sleep_for_animation = True
for o, a in opts:
if o in ("--sleep-for-animation"):
sleep_for_animation = str2bool(a)
else:
assert False, "unhandled option"
batch_builder = SampleBatchBuilder() # or MultiAgentSampleBatchBuilder
writer = JsonWriter("./out/")
# Setting these 2 parameters to True can slow down training
visuals = False
sleep_for_animation = False
if visuals:
from flatland.utils.rendertools import RenderTool
max_depth = 30
tree_depth = 2
trial_start = 100
n_trials = 999
start = 0
columns = [
'Agents', 'X_DIM', 'Y_DIM', 'TRIAL_NO', 'REWARD', 'NORMALIZED_REWARD',
'DONE_RATIO', 'STEPS', 'ACTION_PROB'
]
df_all_results = pd.DataFrame(columns=columns)
for trials in range(trial_start, n_trials + 1):
env_file = f"envs-100-999/envs/Level_{trials}.pkl"
# env_file = f"../env_configs/round_1-small/Test_0/Level_{trials}.mpk"
# file = f"../env_configs/actions-small/Test_0/Level_{trials}.mpk"
file = f"envs-100-999/actions/envs/Level_{trials}.json"
if not os.path.isfile(env_file) or not os.path.isfile(file):
print("Missing file!", env_file, file)
continue
step = 0
obs_builder_object = TreeObsForRailEnv(
max_depth=tree_depth,
predictor=ShortestPathPredictorForRailEnv(max_depth))
env = RailEnv(
width=1,
height=1,
rail_generator=rail_from_file(env_file),
schedule_generator=schedule_from_file(env_file),
malfunction_generator_and_process_data=malfunction_from_file(
env_file),
obs_builder_object=obs_builder_object)
obs, info = env.reset(regenerate_rail=True,
regenerate_schedule=True,
activate_agents=False,
random_seed=1001)
with open(file, "r") as files:
expert_actions = json.load(files)
n_agents = env.get_num_agents()
x_dim, y_dim = env.width, env.height
agent_obs = [None] * n_agents
agent_obs_buffer = [None] * n_agents
done = dict()
done["__all__"] = False
if imitate:
agent_action_buffer = list(expert_actions[step].values())
else:
# , p=[0.2, 0, 0.5]) # [0] * n_agents
agent_action_buffer = np.random.choice(5, n_agents, replace=True)
update_values = [False] * n_agents
max_steps = int(4 * 2 * (20 + env.height + env.width))
action_size = 5 # 3
# And some variables to keep track of the progress
action_dict = dict()
scores_window = deque(maxlen=100)
reward_window = deque(maxlen=100)
done_window = deque(maxlen=100)
action_prob = [0] * action_size
# agent = Agent(state_size, action_size)
if visuals:
env_renderer = RenderTool(env, gl="PILSVG")
env_renderer.render_env(show=True,
frames=True,
show_observations=True)
for a in range(n_agents):
if obs[a]:
agent_obs[a] = normalize_observation(obs[a],
tree_depth,
observation_radius=10)
agent_obs_buffer[a] = agent_obs[a].copy()
# Reset score and done
score = 0
agent_action_buffer = np.zeros(n_agents)
# prev_action = np.zeros_like(envs.action_space.sample())
prev_reward = np.zeros(n_agents)
for step in range(max_steps):
for a in range(n_agents):
if info['action_required'][a]:
if imitate:
if step < len(expert_actions):
action = expert_actions[step][str(a)]
else:
action = 0
else:
action = 0
action_prob[action] += 1
update_values[a] = True
else:
update_values[a] = False
action = 0
action_dict.update({a: action})
next_obs, all_rewards, done, info = env.step(action_dict)
for a in range(n_agents):
if next_obs[a] is not None:
agent_obs[a] = normalize_observation(next_obs[a],
tree_depth,
observation_radius=10)
# Only update the values when we are done or when an action
# was taken and thus relevant information is present
if update_values[a] or done[a]:
start += 1
batch_builder.add_values(
t=step,
eps_id=trials,
agent_index=0,
obs=agent_obs_buffer[a],
actions=action_dict[a],
action_prob=1.0, # put the true action probability
rewards=all_rewards[a],
prev_actions=agent_action_buffer[a],
prev_rewards=prev_reward[a],
dones=done[a],
infos=info['action_required'][a],
new_obs=agent_obs[a])
agent_obs_buffer[a] = agent_obs[a].copy()
agent_action_buffer[a] = action_dict[a]
prev_reward[a] = all_rewards[a]
score += all_rewards[a] # / envs.get_num_agents()
if visuals:
env_renderer.render_env(show=True,
frames=True,
show_observations=True)
if sleep_for_animation:
time.sleep(0.5)
if done["__all__"] or step > max_steps:
writer.write(batch_builder.build_and_reset())
break
# Collection information about training
if step % 100 == 0:
tasks_finished = 0
for current_agent in env.agents:
if current_agent.status == RailAgentStatus.DONE_REMOVED:
tasks_finished += 1
print(
'\rTrial No {} Training {} Agents on ({},{}).\t Steps {}\t Reward: {:.3f}\t Normalized Reward: {:.3f}\tDones: {:.2f}%\t'
.format(
trials, env.get_num_agents(), x_dim, y_dim, step,
score, score / (max_steps + n_agents), 100 * np.mean(
tasks_finished / max(1, env.get_num_agents()))),
end=" ")
tasks_finished = 0
for current_agent in env.agents:
if current_agent.status == RailAgentStatus.DONE_REMOVED:
tasks_finished += 1
done_window.append(tasks_finished / max(1, env.get_num_agents()))
reward_window.append(score)
scores_window.append(score / (max_steps + n_agents))
data = [[
n_agents, x_dim, y_dim, trials,
np.mean(reward_window),
np.mean(scores_window), 100 * np.mean(done_window), step,
action_prob / np.sum(action_prob)
]]
df_cur = pd.DataFrame(data, columns=columns)
df_all_results = pd.concat([df_all_results, df_cur])
if imitate:
df_all_results.to_csv(
f'TreeImitationLearning_DQN_TrainingResults.csv', index=False)
print(
'\rTrial No {} Training {} Agents on ({},{}).\t Total Steps {}\t Reward: {:.3f}\t Normalized Reward: {:.3f}\tDones: {:.2f}%\t'
.format(trials, env.get_num_agents(), x_dim, y_dim, step,
np.mean(reward_window), np.mean(scores_window),
100 * np.mean(done_window)))
if visuals:
env_renderer.close_window()
gc.collect()
