def run_configuration(argv):
# Uncomment one of the following default parameter filename definitions,
# depending on which GNN library you'd like to use.
# File with standard parameters for tf2_gnn use:
# param_filename = "examples/example_params/tfa_sac_gnn_tf2_gnn_default.json"
# File with standard parameters for spektral use:
param_filename = "examples/example_params/tfa_sac_gnn_spektral_default.json"
params = ParameterServer(filename=param_filename)
# NOTE: Modify these paths to specify your preferred path for checkpoints and summaries
# params["ML"]["BehaviorTFAAgents"]["CheckpointPath"] = "YOUR_PATH"
# params["ML"]["TFARunner"]["SummaryPath"] = "YOUR_PATH"
#viewer = MPViewer(
# params=params,
# x_range=[-35, 35],
# y_range=[-35, 35],
# follow_agent_id=True)
#viewer = VideoRenderer(
# renderer=viewer,
# world_step_time=0.2,
# fig_path="/your_path_here/training/video/")
# create environment
bp = ContinuousHighwayBlueprint(params,
number_of_senarios=2500,
random_seed=0)
observer = GraphObserver(params=params)
env = SingleAgentRuntime(blueprint=bp, observer=observer, render=False)
sac_agent = BehaviorGraphSACAgent(environment=env,
observer=observer,
params=params)
env.ml_behavior = sac_agent
runner = SACRunner(params=params, environment=env, agent=sac_agent)
if FLAGS.mode == "train":
runner.SetupSummaryWriter()
runner.Train()
elif FLAGS.mode == "visualize":
runner.Visualize(5)
elif FLAGS.mode == "evaluate":
runner.Evaluate()
def configurable_setup(params, num_scenarios, graph_sac=True):
"""Configurable GNN setup depending on a given filename
Args:
params: ParameterServer instance
Returns:
observer: GraphObserver instance
actor: ActorNetwork of BehaviorGraphSACAgent
"""
observer = GraphObserver(params=params)
bp = ContinuousHighwayBlueprint(params,
number_of_senarios=num_scenarios,
random_seed=0)
env = SingleAgentRuntime(blueprint=bp, observer=observer,
render=False)
if graph_sac:
# Get GNN SAC actor net
sac_agent = BehaviorGraphSACAgent(environment=env, observer=observer,
params=params)
else:
sac_agent = BehaviorSACAgent(environment=env, params=params)
actor = sac_agent._agent._actor_network
return observer, actor
def test_gnn_parameters(self):
params = ParameterServer()
params["ML"]["BehaviorGraphSACAgent"]["GNN"]["NumMpLayers"] = 4
params["ML"]["BehaviorGraphSACAgent"]["GNN"]["MpLayerNumUnits"] = 64
params["ML"]["BehaviorGraphSACAgent"]["GNN"]["message_calculation_class"] = "gnn_edge_mlp"
params["ML"]["BehaviorGraphSACAgent"]["GNN"]["global_exchange_mode"] = "mean"
gnn_library = GNNWrapper.SupportedLibrary.spektral
params["ML"]["BehaviorGraphSACAgent"]["GNN"]["Library"] = gnn_library
bp = ContinuousHighwayBlueprint(params, number_of_senarios=2500, random_seed=0)
observer = GraphObserver(params=params)
env = SingleAgentRuntime(blueprint=bp, observer=observer, render=False)
sac_agent = BehaviorGraphSACAgent(environment=env, observer=observer, params=params)
actor_gnn = sac_agent._agent._actor_network._gnn
critic_gnn = sac_agent._agent._critic_network_1._gnn
for gnn in [actor_gnn, critic_gnn]:
self.assertEqual(gnn._params["NumMpLayers"], 4)
self.assertEqual(gnn._params["MpLayerNumUnits"], 64)
self.assertEqual(gnn._params["message_calculation_class"], "gnn_edge_mlp")
self.assertEqual(gnn._params["global_exchange_mode"], "mean")
self.assertEqual(gnn._params["Library"], gnn_library)
def test_sac_graph_agent(self):
params = ParameterServer()
bp = ContinuousMergingBlueprint(params,
number_of_senarios=2500,
random_seed=0)
observer = GraphObserver(params=params)
env = SingleAgentRuntime(blueprint=bp, observer=observer, render=False)
sac_agent = BehaviorGraphSACAgent(environment=env,
observer=observer,
params=params)
env.ml_behavior = sac_agent
env.reset()
eval_id = env._scenario._eval_agent_ids[0]
self.assertEqual(env._world.agents[eval_id].behavior_model, sac_agent)
for _ in range(0, 5):
env._world.Step(0.2)
def __init__(self,
blueprint=None,
ml_behavior=None,
observer=None,
evaluator=None,
step_time=None,
viewer=None,
scenario_generator=None,
render=False,
max_col_rate=0.1,
behavior_model_pool=None,
ego_rule_based=None,
params=None):
SingleAgentRuntime.__init__(
self,
blueprint=blueprint,
ml_behavior=ml_behavior,
observer=observer,
evaluator=evaluator,
step_time=step_time,
viewer=viewer,
scenario_generator=scenario_generator,
render=render)
self._params = params or ParameterServer()
self._max_col_rate = params["ML"][
"MaxColRate",
"Max. collision rate allowed over all counterfactual worlds.", 0.1]
self._cf_simulation_steps = params["ML"][
"CfSimSteps",
"Simulation steps for the counterfactual worlds.", 5]
self._visualize_cf_worlds = params["ML"][
"VisualizeCfWorlds",
"Whether the counterfactual worlds are visualized.", False]
self._visualize_heatmap = params["ML"][
"VisualizeCfHeatmap",
"Whether the heatmap is being visualized.", False]
self._results_folder = params["ML"][
"ResultsFolder",
"Whether the heatmap is being visualized.", "./"]
self._logger = logging.getLogger()
self._behavior_model_pool = behavior_model_pool or []
self._ego_rule_based = ego_rule_based or BehaviorIDMLaneTracking(self._params)
self._tracer = Tracer()
if self._visualize_heatmap:
_, self._axs_heatmap = plt.subplots(1, 1, constrained_layout=True)
self._count = 0
self._cf_axs = {}
def test_tracing_bark_world(self):
params = ParameterServer()
bp = ContinuousHighwayBlueprint(params)
tracer = Tracer()
env = SingleAgentRuntime(blueprint=bp, render=False)
sac_agent = BehaviorSACAgent(environment=env, params=params)
env.ml_behavior = sac_agent
# NOTE: this also tests if a BARK agent is self-contained
env.ml_behavior.set_actions_externally = False
env.reset()
bark_world = env._world
for j in range(0, 2):
for i in range(0, 5):
bark_world.Step(0.2)
eval_dict = bark_world.Evaluate()
tracer.Trace(eval_dict, num_episode=j)
self.assertEqual(len(tracer._states), 10)
def test_nearest_observer(self):
params = ParameterServer()
bp = ContinuousHighwayBlueprint(params)
env = SingleAgentRuntime(blueprint=bp, render=True)
env.reset()
world = env._world
# under test
observer = NearestAgentsObserver(params)
eval_id = env._scenario._eval_agent_ids[0]
observed_world = world.Observe([eval_id])[0]
start_time = time.time()
observed_state = observer.Observe(observed_world)
end_time = time.time()
print(f"It took {end_time-start_time} seconds.")
print(observed_state, observer.observation_space.shape)
def run_configuration(argv):
""" Main """
params = ParameterServer(
filename="examples/example_params/tfa_generate_params.json")
# params = ParameterServer()
output_dir = params["GenerateExpertTrajectories"]["OutputDirectory"]
# create environment
blueprint = params["World"]["Blueprint"]
if blueprint == 'merging':
bp = ContinuousMergingBlueprint(params,
number_of_senarios=2500,
random_seed=0)
elif blueprint == 'highway':
bp = ContinuousHighwayBlueprint(params,
number_of_senarios=2500,
random_seed=0)
else:
raise ValueError(f'{blueprint} is no valid blueprint.')
env = SingleAgentRuntime(blueprint=bp, render=False)
sac_agent = BehaviorSACAgent(environment=env, params=params)
env.ml_behavior = sac_agent
runner = SACRunnerGenerator(params=params,
environment=env,
agent=sac_agent)
if FLAGS.mode == "train":
runner.SetupSummaryWriter()
runner.Train()
elif FLAGS.mode == "visualize":
runner.Visualize(params["Visualization"]["NumberOfEpisodes"])
elif FLAGS.mode == "generate":
expert_trajectories = runner.GenerateExpertTrajectories(
num_trajectories=params["GenerateExpertTrajectories"]
["NumberOfTrajectories"],
render=params["World"]["render"])
save_expert_trajectories(output_dir=output_dir,
expert_trajectories=expert_trajectories)
# store all used params of the training
# params.Save(os.path.join(Path.home(), "examples/example_params/tfa_params.json"))
sys.exit(0)
def setUp(self):
"""Setup
"""
self.params = ParameterServer(
filename="bark_ml/tests/py_library_tf2rl_tests/data/params.json")
bp = ContinuousMergingBlueprint(self.params,
number_of_senarios=10,
random_seed=0)
self.env = SingleAgentRuntime(blueprint=bp,
render=False)
def test_agent_and_runner(self):
params = ParameterServer()
bp = ContinuousHighwayBlueprint(params,
num_scenarios=10,
random_seed=0)
env = SingleAgentRuntime(blueprint=bp, render=False)
agent = BehaviorPPOAgent(environment=env, params=params)
# set agent
params["ML"]["PPORunner"]["NumberOfCollections"] = 2
params["ML"]["SACRunner"]["NumberOfCollections"] = 2
params["ML"]["TFARunner"]["EvaluationSteps"] = 2
env.ml_behavior = agent
self.assertEqual(env.ml_behavior.set_action_externally, False)
runner = PPORunner(params=params, environment=env, agent=agent)
runner.Train()
self.assertEqual(env.ml_behavior.set_action_externally, True)
runner.Run()
self.assertEqual(env.ml_behavior.set_action_externally, True)
def run_configuration(argv):
params = ParameterServer(
filename="examples/example_params/tfa_params.json")
# params = ParameterServer()
# NOTE: Modify these paths in order to save the checkpoints and summaries
# params["ML"]["BehaviorTFAAgents"]["CheckpointPath"] = "/Users/hart/Development/bark-ml/checkpoints_merging_nn/"
# params["ML"]["TFARunner"]["SummaryPath"] = "/Users/hart/Development/bark-ml/checkpoints_merging_nn/"
params["Visualization"]["Agents"]["Alpha"]["Other"] = 0.2
params["Visualization"]["Agents"]["Alpha"]["Controlled"] = 0.2
params["Visualization"]["Agents"]["Alpha"]["Controlled"] = 0.2
params["ML"]["VisualizeCfWorlds"] = False
params["ML"]["VisualizeCfHeatmap"] = True
params["World"]["remove_agents_out_of_map"] = False
viewer = MPViewer(params=params,
x_range=[-35, 35],
y_range=[-35, 35],
follow_agent_id=True)
# create environment
bp = ContinuousMergingBlueprint(params, num_scenarios=10000, random_seed=0)
env = SingleAgentRuntime(blueprint=bp, render=False, viewer=viewer)
# PPO-agent
# ppo_agent = BehaviorPPOAgent(environment=env,
# params=params)
# env.ml_behavior = ppo_agent
# runner = PPORunner(params=params,
# environment=env,
# agent=ppo_agent)
# SAC-agent
sac_agent = BehaviorSACAgent(environment=env, params=params)
env.ml_behavior = sac_agent
runner = SACRunner(params=params, environment=env, agent=sac_agent)
if FLAGS.mode == "train":
runner.SetupSummaryWriter()
runner.Train()
elif FLAGS.mode == "visualize":
runner.Run(num_episodes=50, render=True)
elif FLAGS.mode == "evaluate":
runner.Run(num_episodes=100, render=False)
def step(self, action):
"""perform the cf evaluation"""
# simulate counterfactual worlds
local_tracer = Tracer()
eval_id = self._scenario._eval_agent_ids[0]
self.St()
cf_worlds = self.GenerateCounterfactualWorlds()
for v in self._cf_axs.values():
v["count"] = 0
for i, cf_world in enumerate(cf_worlds):
cf_key = list(cf_world.keys())[0]
self.SimulateWorld(
cf_world[cf_key], local_tracer, N=self._cf_simulation_steps,
replaced_agent=cf_key, num_virtual_world=i)
self.Et()
# NOTE: this world would actually have the predicted traj.
gt_world = self.ReplaceBehaviorModel()
self.SimulateWorld(
gt_world, local_tracer, N=self._cf_simulation_steps,
replaced_agent="None", num_virtual_world="None")
# NOTE: outsource
hist = gt_world.agents[eval_id].history
traj = np.stack([x[0] for x in hist])
# self._viewer.drawTrajectory(traj, color='blue')
if self._visualize_heatmap:
self.DrawHeatmap(
local_tracer,
filename=self._results_folder + "cf_%03d" % self._count + "_heatmap")
# evaluate counterfactual worlds
trace = self.TraceCounterfactualWorldStats(local_tracer)
collision_rate = trace['collision']/len(self._behavior_model_pool)
print(collision_rate)
self._logger.info(
f"The counterfactual worlds have a collision" + \
f"-rate of {collision_rate:.3f}.")
# choose a policy
executed_learned_policy = 1
if collision_rate > self._max_col_rate:
executed_learned_policy = 0
self._logger.info(
f"Executing fallback model.")
self._world.agents[eval_id].behavior_model = self._ego_rule_based
trace["executed_learned_policy"] = executed_learned_policy
self._tracer.Trace(trace)
self._count += 1
for fig in self._cf_axs.values():
for sub_ax in fig["ax"]:
sub_ax.clear()
return SingleAgentRuntime.step(self, action)
def test_tracer(self):
params = ParameterServer()
bp = ContinuousHighwayBlueprint(params)
tracer = Tracer()
env = SingleAgentRuntime(blueprint=bp, render=False)
for i in range(0, 2):
env.reset()
for _ in range(0, 10):
action = np.random.uniform(low=-0.1, high=0.1, size=(2, ))
data = (observed_next_state, reward, done,
info) = env.step(action)
tracer.Trace(data, num_episode=i)
# NOTE: test basic tracing
self.assertEqual(len(tracer._states), 20)
for i in range(0, 20):
self.assertEqual("is_terminal" in tracer._states[i].keys(), True)
self.assertEqual("reward" in tracer._states[i].keys(), True)
self.assertEqual("collision" in tracer._states[i].keys(), True)
self.assertEqual("drivable_area" in tracer._states[i].keys(), True)
self.assertEqual("goal_reached" in tracer._states[i].keys(), True)
self.assertEqual("step_count" in tracer._states[i].keys(), True)
# NOTE: test pandas magic
tracer.ConvertToDf()
# average collisions
print(
tracer.Query(key="collision",
group_by="num_episode",
agg_type="MEAN").mean())
# average reward
print(
tracer.Query(key="reward", group_by="num_episode",
agg_type="SUM").mean())
# NOTE: test reset
tracer.Reset()
self.assertEqual(len(tracer._states), 0)
self.assertEqual(tracer._df, None)
def test_agents(self):
params = ParameterServer()
params["ML"]["BaseAgent"]["NumSteps"] = 2
params["ML"]["BaseAgent"]["MaxEpisodeSteps"] = 2
bp = DiscreteHighwayBlueprint(params,
number_of_senarios=10,
random_seed=0)
env = SingleAgentRuntime(blueprint=bp, render=False)
# IQN Agent
# iqn_agent = IQNAgent(env=env, test_env=env, params=params)
# env.ml_behavior = iqn_agent
# self.assertEqual(env.ml_behavior.set_action_externally, False)
# iqn_agent.run()
# self.assertEqual(env.ml_behavior.set_action_externally, True)
# FQF Agent
fqf_agent = FQFAgent(env=env, params=params)
env.ml_behavior = fqf_agent
self.assertEqual(env.ml_behavior.set_action_externally, False)
fqf_agent.train()
self.assertEqual(env.ml_behavior.set_action_externally, True)
def run_configuration(argv):
params = ParameterServer()
# NOTE: Modify these paths to specify your preferred path for checkpoints and summaries
# params["ML"]["BehaviorTFAAgents"]["CheckpointPath"] = "/Users/hart/Development/bark-ml/checkpoints_merge_spektral_att2/"
# params["ML"]["TFARunner"]["SummaryPath"] = "/Users/hart/Development/bark-ml/checkpoints_merge_spektral_att2/"
#viewer = MPViewer(
# params=params,
# x_range=[-35, 35],
# y_range=[-35, 35],
# follow_agent_id=True)
#viewer = VideoRenderer(
# renderer=viewer,
# world_step_time=0.2,
# fig_path="/your_path_here/training/video/")
# create environment
bp = ContinuousMergingBlueprint(params, num_scenarios=2500, random_seed=0)
observer = GraphObserver(params=params)
env = SingleAgentRuntime(blueprint=bp, observer=observer, render=False)
sac_agent = BehaviorGraphSACAgent(environment=env,
observer=observer,
params=params,
init_gnn='init_interaction_network')
env.ml_behavior = sac_agent
runner = SACRunner(params=params, environment=env, agent=sac_agent)
if FLAGS.mode == "train":
runner.SetupSummaryWriter()
runner.Train()
elif FLAGS.mode == "visualize":
runner.Run(num_episodes=10, render=True)
elif FLAGS.mode == "evaluate":
runner.Run(num_episodes=250, render=False)
def test_general_evaluator(self):
params = ParameterServer()
bp = ContinuousSingleLaneBlueprint(params)
env = SingleAgentRuntime(blueprint=bp, render=True)
evaluator = GeneralEvaluator(params)
env._evaluator = evaluator
env.reset()
for _ in range(0, 4):
state, terminal, reward, info = env.step(np.array([0., 0.]))
print(terminal, reward)
def test_behavior_wrapping(self):
# create scenario
params = ParameterServer()
bp = DiscreteHighwayBlueprint(params,
number_of_senarios=10,
random_seed=0)
env = SingleAgentRuntime(blueprint=bp, render=False)
#env = gym.make("highway-v1", params=params)
ml_behaviors = []
# ml_behaviors.append(IQNAgent(env=env, test_env=env, params=params))
ml_behaviors.append(FQFAgent(env=env, params=params))
# ml_behaviors.append(QRDQNAgent(env=env, test_env=env, params=params))
for ml_behavior in ml_behaviors:
# set agent
env.ml_behavior = ml_behavior
env.reset()
action = np.random.randint(low=0, high=env.action_space.n)
observed_next_state, reward, done, info = env.step(action)
print(
f"Observed state: {observed_next_state}, Reward: {reward}, Done: {done}"
)
# action is set externally
ml_behavior._set_action_externally = True
agent_id = list(env._world.agents.keys())[0]
observed_world = env._world.Observe([agent_id])[0]
# do a random action and plan trajectory
action = np.random.randint(low=1, high=env.action_space.n)
ml_behavior.ActionToBehavior(action)
a = ml_behavior.Plan(0.2, observed_world)
# sample another different random action
another_action = action
while another_action == action:
another_action = np.random.randint(low=1,
high=env.action_space.n)
# plan trajectory for the another action
ml_behavior.ActionToBehavior(another_action)
b = ml_behavior.Plan(0.2, observed_world)
# the trajectory generated by two different actions shoould be different
self.assertEqual(np.any(np.not_equal(a, b)), True)
# action will be calculated within the Plan(..) fct.
ml_behavior._set_action_externally = False
a = ml_behavior.Plan(0.2, observed_world)
b = ml_behavior.Plan(0.2, observed_world)
last_action = ml_behavior.GetLastAction()
self.assertTrue(isinstance(last_action, float))
# same trajectory for same state
np.testing.assert_array_equal(a, b)
def setUp(self):
"""
setup
"""
self.params = ParameterServer(
filename=os.path.join(os.path.dirname(__file__),
"gail_data/params/gail_params_bark.json"))
local_params = self.params["ML"]["GAILRunner"]["tf2rl"]
# creating the dirs for logging if they are not present already:
for key in ['logdir', 'model_dir', 'expert_path_dir']:
local_params[key] = os.path.join(Path.home(), local_params[key])
if not os.path.exists(local_params[key]):
os.makedirs(local_params[key])
# create environment
self.bp = ContinuousMergingBlueprint(self.params,
number_of_senarios=500,
random_seed=0)
self.env = SingleAgentRuntime(blueprint=self.bp, render=False)
# wrapped environment for compatibility with tf2rl
self.wrapped_env = TF2RLWrapper(self.env)
# Dummy expert trajectories:
self.expert_trajs = {
'obses': np.zeros((10, 16)),
'next_obses': np.ones((10, 16)),
'acts': 2 * np.ones((10, 2))
}
# create agent and runner:
self.agent = BehaviorGAILAgent(environment=self.wrapped_env,
params=self.params)
self.env.ml_behavior = self.agent
self.runner = GAILRunner(environment=self.wrapped_env,
agent=self.agent,
params=self.params,
expert_trajs=self.expert_trajs)
def test_configurable_blueprint(self):
params = ParameterServer(
filename="bark_ml/tests/data/highway_merge_configurable.json")
# continuous model
ml_behavior = BehaviorContinuousML(params=params)
bp = ConfigurableScenarioBlueprint(params=params,
ml_behavior=ml_behavior)
env = SingleAgentRuntime(blueprint=bp, render=False)
# agent
sac_agent = BehaviorSACAgent(environment=env, params=params)
env.ml_behavior = sac_agent
# test run
env.reset()
for _ in range(0, 5):
action = np.random.randint(low=0, high=3)
observed_next_state, reward, done, info = env.step(action)
def _configurable_setup(self, params_filename):
"""Configurable GNN setup depending on a given filename
Args:
params_filename: str, corresponds to path of params file
Returns:
params: ParameterServer instance
observer: GraphObserver instance
actor: ActorNetwork of BehaviorGraphSACAgent
"""
params = ParameterServer(filename=params_filename)
observer = GraphObserver(params=params)
bp = ContinuousHighwayBlueprint(params,
number_of_senarios=2,
random_seed=0)
env = SingleAgentRuntime(blueprint=bp, observer=observer, render=False)
# Get GNN SAC actor net
sac_agent = BehaviorGraphSACAgent(environment=env,
observer=observer,
params=params)
actor = sac_agent._agent._actor_network
return params, observer, actor
def test_behavior_wrapping(self):
# create scenario
params = ParameterServer()
bp = ContinuousHighwayBlueprint(params,
number_of_senarios=10,
random_seed=0)
env = SingleAgentRuntime(blueprint=bp, render=True)
ml_behaviors = []
ml_behaviors.append(BehaviorPPOAgent(environment=env, params=params))
ml_behaviors.append(BehaviorSACAgent(environment=env, params=params))
for ml_behavior in ml_behaviors:
# set agent
env.ml_behavior = ml_behavior
env.reset()
done = False
while done is False:
action = np.random.uniform(low=-0.1, high=0.1, size=(2, ))
observed_next_state, reward, done, info = env.step(action)
print(
f"Observed state: {observed_next_state}, Reward: {reward}, Done: {done}"
)
def test_behavior_wrapping(self):
# create scenario
params = ParameterServer()
bp = ContinuousHighwayBlueprint(params,
num_scenarios=10,
random_seed=0)
env = SingleAgentRuntime(blueprint=bp, render=False)
ml_behaviors = []
ml_behaviors.append(BehaviorPPOAgent(environment=env, params=params))
ml_behaviors.append(BehaviorSACAgent(environment=env, params=params))
for ml_behavior in ml_behaviors:
# set agent
env.ml_behavior = ml_behavior
env.reset()
done = False
while done is False:
action = np.random.uniform(low=-0.1, high=0.1, size=(2, ))
observed_next_state, reward, done, info = env.step(action)
print(
f"Observed state: {observed_next_state}, Reward: {reward}, Done: {done}"
)
# action is set externally
ml_behavior._set_action_externally = True
agent_id = list(env._world.agents.keys())[0]
observed_world = env._world.Observe([agent_id])[0]
action = np.random.uniform(low=-0.1, high=0.1, size=(2, ))
ml_behavior.ActionToBehavior(action)
a = ml_behavior.Plan(0.2, observed_world)
action = np.random.uniform(low=-0.1, high=0.1, size=(2, ))
ml_behavior.ActionToBehavior(action)
b = ml_behavior.Plan(0.2, observed_world)
self.assertEqual(np.any(np.not_equal(a, b)), True)
# action will be calculated within the Plan(..) fct.
a = ml_behavior.Plan(0.2, observed_world)
b = ml_behavior.Plan(0.2, observed_world)
np.testing.assert_array_equal(a, b)
from bark_ml.observers.nearest_state_observer import NearestAgentsObserver
from bark_ml.environments.blueprints import DiscreteMergingBlueprint
# create scenario
if not os.path.exists("examples"):
logging.info("changing directory")
os.chdir("diadem_dqn.runfiles/bark_ml")
bark_params = ParameterServer(
filename="examples/example_params/diadem_params.json")
bp = DiscreteMergingBlueprint(bark_params,
number_of_senarios=100,
random_seed=0)
observer = NearestAgentsObserver(bark_params)
runtime = SingleAgentRuntime(blueprint=bp, observer=observer, render=True)
def run_dqn_algorithm(parameter_files):
exp_dir = "tmp_exp_dir"
diadem_params = Params(filename=parameter_files)
config_logging(console=True)
environment = DiademBarkEnvironment(runtime=runtime)
context = AgentContext(environment=environment,
datamanager=None,
preprocessor=None,
optimizer=tf.train.AdamOptimizer,
summary_service=PandasSummary())
agent = AgentManager(params=diadem_params, context=context)
exp = Experiment(params=diadem_params['experiment'],
def __init__(self, *args, **kwargs):
SingleAgentRuntime.__init__(self, *args, **kwargs)
def __init__(self, params=ParameterServer(), render=False):
discrete_merging_bp = DiscreteIntersectionBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=discrete_merging_bp,
render=render)
def __init__(self):
params = ParameterServer()
cont_merging_bp = ContinuousIntersectionBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=cont_merging_bp,
render=True)
def __init__(self, params=ParameterServer(), render=False):
discrete_highway_bp = DiscreteHighwayBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=discrete_highway_bp,
render=render)
class PyGraphObserverTests(unittest.TestCase):
"""Observer tests"""
def _get_observation(self, observer, world, eval_id):
observed_world = world.Observe([eval_id])[0]
observation = observer.Observe(observed_world)
return observation, observed_world
def setUp(self):
"""Setting up the test-case."""
params = ParameterServer()
bp = ContinuousHighwayBlueprint(params, random_seed=0)
self.env = SingleAgentRuntime(blueprint=bp, render=False)
self.env.reset()
self.world = self.env._world
self.observer = GraphObserver(params)
self.eval_id = self.env._scenario._eval_agent_ids[0]
def test_parameter_server_usage(self):
expected_num_agents = 15
expected_visibility_radius = 100
params = ParameterServer()
params["ML"]["GraphObserver"]["AgentLimit"] = expected_num_agents
params["ML"]["GraphObserver"]["VisibilityRadius"] = expected_visibility_radius
params["ML"]["GraphObserver"]["NormalizationEnabled"] = True
observer = GraphObserver(params=params)
self.assertEqual(observer._num_agents, expected_num_agents)
self.assertEqual(observer._visibility_radius, expected_visibility_radius)
# self.assertTrue(observer._add_self_loops)
self.assertTrue(observer._normalize_observations)
def test_request_subset_of_available_node_features(self):
params = ParameterServer()
requested_features = GraphObserver.available_node_attributes()[0:5]
params["ML"]["GraphObserver"]["EnabledNodeFeatures"] = requested_features
observer = GraphObserver(params=params)
self.assertEqual(
observer._enabled_node_attribute_keys,
requested_features)
def test_request_subset_of_available_edge_features(self):
params = ParameterServer()
requested_features = GraphObserver.available_edge_attributes()[0:2]
params["ML"]["GraphObserver"]["EnabledEdgeFeatures"] = requested_features
observer = GraphObserver(params=params)
self.assertEqual(
observer._enabled_edge_attribute_keys,
requested_features)
def test_request_partially_invalid_node_features(self):
params = ParameterServer()
requested_features =\
GraphObserver.available_node_attributes()[0:5] + ['invalid']
params["ML"]["GraphObserver"]["EnabledNodeFeatures"] = requested_features
observer = GraphObserver(params=params)
# remove invalid feature from expected list
requested_features.pop(-1)
self.assertEqual(
observer._enabled_node_attribute_keys,
requested_features)
def test_request_partially_invalid_edge_features(self):
params = ParameterServer()
requested_features =\
GraphObserver.available_edge_attributes()[0:2] + ['invalid']
params["ML"]["GraphObserver"]["EnabledEdgeFeatures"] = requested_features
observer = GraphObserver(params=params)
# remove invalid feature from expected list
requested_features.pop(-1)
self.assertEqual(
observer._enabled_edge_attribute_keys,
requested_features)
def test_observe_with_self_loops(self):
num_agents = 4
params = ParameterServer()
params["ML"]["GraphObserver"]["AgentLimit"] = num_agents
params["ML"]["GraphObserver"]["SelfLoops"] = True
observer = GraphObserver(params=params)
obs, _ = self._get_observation(observer, self.world, self.eval_id)
obs = tf.expand_dims(obs, 0) # add a batch dimension
_, adjacency, _ = GraphObserver.graph(obs, graph_dims=observer.graph_dimensions)
adjacency_list_diagonal = (tf.linalg.tensor_diag_part(adjacency[0]))
# assert ones on the diagonal of the adjacency matrix
tf.assert_equal(adjacency_list_diagonal, tf.ones(num_agents))
def test_observe_without_self_loops(self):
num_agents = 4
params = ParameterServer()
params["ML"]["GraphObserver"]["AgentLimit"] = num_agents
params["ML"]["GraphObserver"]["SelfLoops"] = False
observer = GraphObserver(params=params)
obs, _ = self._get_observation(observer, self.world, self.eval_id)
obs = tf.expand_dims(obs, 0) # add a batch dimension
_, adjacency, _ = GraphObserver.graph(obs, graph_dims=observer.graph_dimensions)
adjacency_list_diagonal = (tf.linalg.tensor_diag_part(adjacency[0]))
# assert zeros on the diagonal of the adjacency matrix
tf.assert_equal(adjacency_list_diagonal, tf.zeros(num_agents))
def test_observation_conforms_to_spec(self):
"""
Verify that the observation returned by the observer
is valid with respect to its defined observation space.
"""
num_agents = 4
params = ParameterServer()
params["ML"]["GraphObserver"]["AgentLimit"] = num_agents
observer = GraphObserver(params=params)
obs, _ = self._get_observation(observer, self.world, self.eval_id)
self.assertTrue(observer.observation_space.contains(obs))
# additionally check that the adjacency list is binary, since
# this can't be enforced by the observation space currently
adj_start_idx = num_agents * observer.feature_len
adj_end_idx = adj_start_idx + num_agents ** 2
adj_list = obs[adj_start_idx : adj_end_idx]
for element in adj_list: self.assertIn(element, [0, 1])
def test_observed_agents_selection(self):
agent_limit = 10
params = ParameterServer()
params["ML"]["GraphObserver"]["AgentLimit"] = agent_limit
observer = GraphObserver(params=params)
obs, obs_world = self._get_observation(
observer=observer,
world=self.world,
eval_id=self.eval_id)
obs = tf.expand_dims(obs, 0) # add a batch dimension
nodes, _, _ = GraphObserver.graph(obs, graph_dims=observer.graph_dimensions)
nodes = nodes[0] # remove batch dim
ego_node = nodes[0]
ego_node_pos = Point2d(
ego_node[0].numpy(), # x coordinate
ego_node[1].numpy()) # y coordinate
# verify that the nodes are ordered by
# ascending distance to the ego node
max_distance_to_ego = 0
for node in nodes:
pos = Point2d(
node[0].numpy(), # x coordinate
node[1].numpy()) # y coordinate
distance_to_ego = Distance(pos, ego_node_pos)
self.assertGreaterEqual(distance_to_ego, max_distance_to_ego,
msg='Nodes are not sorted by distance relative to '\
+ 'the ego node in ascending order.')
max_distance_to_ego = distance_to_ego
def test_observation_to_graph_conversion(self):
params = ParameterServer()
params["ML"]["GraphObserver"]["SelfLoops"] = False
graph_observer = GraphObserver(params=params)
num_nodes = 5
num_features = 5
num_edge_features = 4
node_features = np.random.random_sample((num_nodes, num_features))
edge_features = np.random.random_sample((num_nodes, num_nodes, num_edge_features))
# note that edges are bidirectional, the
# the matrix is symmetric
adjacency_list = [
[0, 1, 1, 1, 0], # 1 connects with 2, 3, 4
[1, 0, 1, 1, 0], # 2 connects with 3, 4
[1, 1, 0, 1, 0], # 3 connects with 4
[1, 1, 1, 0, 0], # 4 has no links
[0, 0, 0, 0, 0] # empty slot -> all zeros
]
observation = np.array(node_features)
observation = np.append(observation, adjacency_list)
observation = np.append(observation, edge_features)
observation = observation.reshape(-1)
observations = np.array([observation, observation])
self.assertEqual(observations.shape, (2, 150))
expected_nodes = tf.constant([node_features, node_features])
expected_edge_features = tf.constant([edge_features, edge_features])
graph_dims = (num_nodes, num_features, num_edge_features)
nodes, edges, edge_features = graph_observer.graph(observations, graph_dims)
self.assertTrue(tf.reduce_all(tf.equal(nodes, expected_nodes)))
self.assertTrue(tf.reduce_all(tf.equal(edge_features, expected_edge_features)))
observations = np.array([observation, observation, observation])
# in dense mode, the nodes of all graphs are in a single list
expected_nodes = tf.constant([node_features, node_features, node_features])
expected_nodes = tf.reshape(expected_nodes, [-1, num_features])
# the edges encoded in the adjacency list above
expected_dense_edges = tf.constant([
# graph 1
[0, 1], [0, 2], [0, 3],
[1, 0], [1, 2], [1, 3],
[2, 0], [2, 1], [2, 3],
[3, 0], [3, 1], [3, 2],
# graph 2
[5, 6], [5, 7], [5, 8],
[6, 5], [6, 7], [6, 8],
[7, 5], [7, 6], [7, 8],
[8, 5], [8, 6], [8, 7],
# graph 3
[10, 11], [10, 12], [10, 13],
[11, 10], [11, 12], [11, 13],
[12, 10], [12, 11], [12, 13],
[13, 10], [13, 11], [13, 12]
], dtype=tf.int32)
expected_node_to_graph_map = tf.constant([
0, 0, 0, 0, 0,
1, 1, 1, 1, 1,
2, 2, 2, 2, 2
])
observations = tf.convert_to_tensor(observations)
print(observations)
nodes, edges, node_to_graph_map, E =\
GraphObserver.graph(observations, graph_dims, dense=True)
self.assertTrue(tf.reduce_all(tf.equal(nodes, expected_nodes)))
self.assertTrue(tf.reduce_all(tf.equal(edges, expected_dense_edges)))
# self.assertTrue(tf.reduce_all(
# tf.equal(node_to_graph_map, expected_node_to_graph_map)))
def test_agent_pruning(self):
"""
Verify that the observer correctly handles the case where
there are less agents in the world than set as the limit.
tl;dr: check that all entries of the node features,
adjacency matrix, and edge features not corresponding to
actually existing agents are zeros.
"""
num_agents = 25
params = ParameterServer()
params["ML"]["GraphObserver"]["AgentLimit"] = num_agents
observer = GraphObserver(params=params)
obs, world = self._get_observation(observer, self.world, self.eval_id)
obs = tf.expand_dims(obs, 0) # add a batch dimension
nodes, adjacency_matrix, edge_features = GraphObserver.graph(
observations=obs,
graph_dims=observer.graph_dimensions)
self.assertEqual(nodes.shape, [1, num_agents, observer.feature_len])
expected_num_agents = len(world.agents)
# nodes that do not represent agents, but are contained
# to fill up the required observation space.
expected_n_fill_up_nodes = num_agents - expected_num_agents
fill_up_nodes = nodes[0, expected_num_agents:]
self.assertEqual(
fill_up_nodes.shape,
[expected_n_fill_up_nodes, observer.feature_len])
# verify that entries for non-existing agents are all zeros
self.assertEqual(tf.reduce_sum(fill_up_nodes), 0)
# the equivalent for edges: verify that for each zero entry
# in the adjacency matrix, the corresponding edge feature
# vector is a zero vector of correct length.
zero_indices = tf.where(tf.equal(adjacency_matrix, 0))
fill_up_edge_features = tf.gather_nd(edge_features, zero_indices)
edge_feature_len = observer.graph_dimensions[2]
zero_edge_feature_vectors = tf.zeros(
[zero_indices.shape[0], edge_feature_len])
self.assertTrue(tf.reduce_all(tf.equal(
fill_up_edge_features,
zero_edge_feature_vectors)))
def __init__(self):
params = ParameterServer()
cont_highway_bp = ContinuousHighwayBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=cont_highway_bp,
render=True)
# bp = DiscreteHighwayBlueprint(params,
# number_of_senarios=10,
# random_seed=0)
# arguments that are additionally set in the runtime
# overwrite the ones of the blueprint
# e.g. we can change observer to the cpp observer
observer = NearestObserver(params)
# viewer = MPViewer(params=params,
# x_range=[-35, 35],
# y_range=[-35, 35],
# follow_agent_id=True)
# viewer = VideoRenderer(renderer=viewer,
# world_step_time=0.2,
# fig_path="/Users/hart/2020/bark-ml/video/")
env = SingleAgentRuntime(blueprint=bp,
observer=observer,
render=True)
# gym interface
env.reset()
done = False
while done is False:
action = np.random.uniform(
low=np.array([-0.5, -0.02]), high=np.array([0.5, 0.02]), size=(2, ))
observed_next_state, reward, done, info = env.step(action)
print(f"Observed state: {observed_next_state}, Action: {action}, Reward: {reward}, Done: {done}")
# viewer.export_video(
# filename="/Users/hart/2020/bark-ml/video/video", remove_image_dir=False)