fig, ax = plt.subplots(figsize=(8, 8)) fig.canvas.set_window_title('AV Swarm Simulator') plt.show() s = Sim(NUM_RL_CARS, MAP_FILES[args.task], save_video=args.save_video) returns = [] collisions = [] goals = [] for i in range(args.num_episodes): done = False ep_return = 0 obs = s.reset() # Do this BEFORE adding a manual or random car if args.control_car_type == "human": s.add_manual_car(fig) elif args.control_car_type == "random": s.add_random_car() obs = s.get_obs() if not args.nogui: s.render(ax=ax) plt.pause(0.01) while not done: obs, reward, done, info = s.step(get_car_actions(obs)) ep_return += reward if not args.nogui: s.render(ax=ax) plt.pause(0.01)