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)
