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cleanup to the multi-agent trainer (#971)
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- make the multi-agent trainer pretty
- fix minor bug in Experiment.py where gen_emission had to be set or else it errored out
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@AboudyKreidieh
AboudyKreidieh authored Jun 18, 2020
1 parent 0253fb1 commit 5ac9828
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259 changes: 111 additions & 148 deletions examples/exp_configs/rl/multiagent/multiagent_i210.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,51 +18,70 @@
from flow.core.params import InFlows
from flow.core.params import VehicleParams
from flow.core.params import SumoParams
from flow.core.params import SumoCarFollowingParams
from flow.core.params import SumoLaneChangeParams
from flow.core.rewards import energy_consumption
from flow.envs.multiagent.i210 import I210MultiEnv, ADDITIONAL_ENV_PARAMS
from flow.utils.registry import make_create_env
from flow.networks.i210_subnetwork import I210SubNetwork, EDGES_DISTRIBUTION

# SET UP PARAMETERS FOR THE SIMULATION
WANT_GHOST_CELL = True
# WANT_DOWNSTREAM_BOUNDARY = True
# =========================================================================== #
# Specify some configurable constants. #
# =========================================================================== #

# whether to include the downstream slow-down edge in the network as well as a ghost cell at the upstream edge
WANT_BOUNDARY_CONDITIONS = True
# whether to include vehicles on the on-ramp
ON_RAMP = False
# the inflow rate of vehicles (in veh/hr)
INFLOW_RATE = 2050
# the speed of inflowing vehicles from the main edge (in m/s)
INFLOW_SPEED = 25.5
# fraction of vehicles that are RL vehicles. 0.10 corresponds to 10%
PENETRATION_RATE = 0.10
V_DES = 7.0
HORIZON = 1000
# desired speed of the vehicles in the network
V_DES = 5.0
# horizon over which to run the env
HORIZON = 1500
# steps to run before follower-stopper is allowed to take control
WARMUP_STEPS = 600

inflow_rate = 2050
inflow_speed = 25.5

accel_data = (IDMController, {'a': 1.3, 'b': 2.0, 'noise': 0.3})

VEH_PER_HOUR_BASE_119257914 = 10800
VEH_PER_HOUR_BASE_27414345 = 321
VEH_PER_HOUR_BASE_27414342 = 421

if WANT_GHOST_CELL:
from flow.networks.i210_subnetwork_ghost_cell import I210SubNetworkGhostCell, EDGES_DISTRIBUTION

edges_distribution = EDGES_DISTRIBUTION
highway_start_edge = 'ghost0'
# whether to turn off the fail safes for the human-driven vehicles
ALLOW_COLLISIONS = False

# =========================================================================== #
# Specify the path to the network template. #
# =========================================================================== #

if WANT_BOUNDARY_CONDITIONS:
NET_TEMPLATE = os.path.join(
config.PROJECT_PATH,
"examples/exp_configs/templates/sumo/i210_with_ghost_cell_with_"
"downstream.xml")
else:
from flow.networks.i210_subnetwork import I210SubNetwork, EDGES_DISTRIBUTION
edges_distribution = EDGES_DISTRIBUTION
highway_start_edge = "119257914"
NET_TEMPLATE = os.path.join(
config.PROJECT_PATH,
"examples/exp_configs/templates/sumo/test2.net.xml")
edges_distribution = EDGES_DISTRIBUTION.copy()

# =========================================================================== #
# Set up parameters for the environment. #
# =========================================================================== #

# SET UP PARAMETERS FOR THE ENVIRONMENT
additional_env_params = ADDITIONAL_ENV_PARAMS.copy()
additional_env_params.update({
'max_accel': 2.6,
'max_decel': 4.5,
# configure the observation space. Look at the I210MultiEnv class for more info.

# configure the observation space. Look at the I210MultiEnv class for more
# info.
'lead_obs': True,
# whether to add in a reward for the speed of nearby vehicles
"local_reward": True,
# whether to use the MPG reward. Otherwise, defaults to a target velocity reward
# whether to use the MPG reward. Otherwise, defaults to a target velocity
# reward
"mpg_reward": False,
# whether to use the MPJ reward. Otherwise, defaults to a target velocity reward
# whether to use the MPJ reward. Otherwise, defaults to a target velocity
# reward
"mpj_reward": False,
# how many vehicles to look back for the MPG reward
"look_back_length": 1,
Expand All @@ -74,7 +93,8 @@
# which edges we shouldn't apply control on
"no_control_edges": ["ghost0", "119257908#3"],

# whether to add a slight reward for opening up a gap that will be annealed out N iterations in
# whether to add a slight reward for opening up a gap that will be annealed
# out N iterations in
"headway_curriculum": False,
# how many timesteps to anneal the headway curriculum over
"headway_curriculum_iters": 100,
Expand All @@ -96,144 +116,85 @@
"penalize_accel": True
})

# CREATE VEHICLE TYPES AND INFLOWS
# no vehicles in the network
vehicles = VehicleParams()

inflow = InFlows()
# =========================================================================== #
# Specify vehicle-specific information and inflows. #
# =========================================================================== #

# create the base vehicle types that will be used for inflows
vehicles = VehicleParams()
if ON_RAMP:
vehicles.add(
"human",
num_vehicles=0,
color="white",
routing_controller=(I210Router, {}),
acceleration_controller=(IDMController, {
'a': 1.3,
'b': 2.0,
'noise': 0.3
}),
car_following_params=SumoCarFollowingParams(
speed_mode=19 if ALLOW_COLLISIONS else 'right_of_way'
),
lane_change_params=SumoLaneChangeParams(
lane_change_mode="strategic",
),
acceleration_controller=accel_data,
routing_controller=(I210Router, {})
)
if PENETRATION_RATE > 0.0:
vehicles.add(
"av",
num_vehicles=0,
color="red",
acceleration_controller=(RLController, {}),
routing_controller=(I210Router, {})
)

# inflow.add(
# veh_type="human",
# edge=highway_start_edge,
# vehs_per_hour=inflow_rate,
# departLane="best",
# departSpeed=inflow_speed)

lane_list = ['0', '1', '2', '3', '4']

for lane in lane_list:
inflow.add(
veh_type="human",
edge=highway_start_edge,
vehs_per_hour=int(inflow_rate * (1 - PENETRATION_RATE)),
departLane=lane,
departSpeed=inflow_speed)
else:
vehicles.add(
"human",
num_vehicles=0,
acceleration_controller=(IDMController, {
'a': 1.3,
'b': 2.0,
'noise': 0.3
}),
car_following_params=SumoCarFollowingParams(
speed_mode=19 if ALLOW_COLLISIONS else 'right_of_way'
),
lane_change_params=SumoLaneChangeParams(
lane_change_mode="strategic",
),
)
vehicles.add(
"av",
num_vehicles=0,
acceleration_controller=(RLController, {}),
)

inflow = InFlows()
for lane in [0, 1, 2, 3, 4]:
# Add the inflows from the main highway.
inflow.add(
veh_type="human",
edge="27414345",
vehs_per_hour=int(500 * (1 - PENETRATION_RATE)),
departLane="random",
departSpeed=10)
edge="119257914",
vehs_per_hour=int(INFLOW_RATE * (1 - PENETRATION_RATE)),
departLane=lane,
departSpeed=INFLOW_SPEED)
inflow.add(
veh_type="human",
edge="27414342#0",
vehs_per_hour=int(500 * (1 - PENETRATION_RATE)),
departLane="random",
departSpeed=10)

if PENETRATION_RATE > 0.0:
for lane in lane_list:
inflow.add(
veh_type="av",
edge=highway_start_edge,
vehs_per_hour=int(inflow_rate * PENETRATION_RATE),
departLane=lane,
departSpeed=inflow_speed)

veh_type="av",
edge="119257914",
vehs_per_hour=int(INFLOW_RATE * PENETRATION_RATE),
departLane=lane,
departSpeed=INFLOW_SPEED)

# Add the inflows from the on-ramps.
if ON_RAMP:
inflow.add(
veh_type="av",
veh_type="human",
edge="27414345",
vehs_per_hour=int(500 * PENETRATION_RATE),
vehs_per_hour=int(500 * (1 - PENETRATION_RATE)),
departLane="random",
departSpeed=10)
inflow.add(
veh_type="av",
veh_type="human",
edge="27414342#0",
vehs_per_hour=int(500 * PENETRATION_RATE),
vehs_per_hour=int(500 * (1 - PENETRATION_RATE)),
departLane="random",
departSpeed=10)

else:
# create the base vehicle type that will be used for inflows
vehicles.add(
"human",
num_vehicles=0,
lane_change_params=SumoLaneChangeParams(
lane_change_mode="strategic",
),
acceleration_controller=accel_data,
)
if PENETRATION_RATE > 0.0:
vehicles.add(
"av",
color="red",
num_vehicles=0,
acceleration_controller=(RLController, {}),
)

# If you want to turn off the fail safes uncomment this:

# vehicles.add(
# 'human',
# num_vehicles=0,
# lane_change_params=SumoLaneChangeParams(
# lane_change_mode='strategic',
# ),
# acceleration_controller=accel_data,
# car_following_params=SumoCarFollowingParams(speed_mode='19')
# )

lane_list = ['0', '1', '2', '3', '4']

for lane in lane_list:
inflow.add(
veh_type="human",
edge=highway_start_edge,
vehs_per_hour=int(inflow_rate * (1 - PENETRATION_RATE)),
departLane=lane,
departSpeed=inflow_speed)

if PENETRATION_RATE > 0.0:
for lane in lane_list:
inflow.add(
veh_type="av",
edge=highway_start_edge,
vehs_per_hour=int(inflow_rate * PENETRATION_RATE),
departLane=lane,
departSpeed=inflow_speed)


network_xml_file = "examples/exp_configs/templates/sumo/i210_with_ghost_cell_with_downstream.xml"

# network_xml_file = "examples/exp_configs/templates/sumo/i210_with_congestion.xml"

NET_TEMPLATE = os.path.join(config.PROJECT_PATH, network_xml_file)

if WANT_GHOST_CELL:
network = I210SubNetworkGhostCell
else:
network = I210SubNetwork
# =========================================================================== #
# Generate the flow_params dict with all relevant simulation information. #
# =========================================================================== #

flow_params = dict(
# name of the experiment
Expand All @@ -243,7 +204,7 @@
env_name=I210MultiEnv,

# name of the network class the experiment is running on
network=network,
network=I210SubNetwork,

# simulator that is used by the experiment
simulator='traci',
Expand Down Expand Up @@ -274,7 +235,7 @@
template=NET_TEMPLATE,
additional_params={
"on_ramp": ON_RAMP,
"ghost_edge": WANT_GHOST_CELL
"ghost_edge": WANT_BOUNDARY_CONDITIONS
}
),

Expand All @@ -289,14 +250,16 @@
),
)

# SET UP RLLIB MULTI-AGENT FEATURES
# =========================================================================== #
# Set up rllib multi-agent features. #
# =========================================================================== #

create_env, env_name = make_create_env(params=flow_params, version=0)

# register as rllib env
register_env(env_name, create_env)

# multiagent configuration
# multi-agent configuration
test_env = create_env()
obs_space = test_env.observation_space
act_space = test_env.action_space
Expand Down
7 changes: 4 additions & 3 deletions flow/core/experiment.py
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Original file line number Diff line number Diff line change
Expand Up @@ -164,8 +164,9 @@ def rl_actions(*_):
metadata['is_baseline'].append(str(is_baseline))

dir_path = self.env.sim_params.emission_path
trajectory_table_path = os.path.join(dir_path, '{}.csv'.format(source_id))
metadata_table_path = os.path.join(dir_path, '{}_METADATA.csv'.format(source_id))
if not dir_path is None:
trajectory_table_path = os.path.join(dir_path, '{}.csv'.format(source_id))
metadata_table_path = os.path.join(dir_path, '{}_METADATA.csv'.format(source_id))

for i in range(num_runs):
ret = 0
Expand All @@ -189,7 +190,7 @@ def rl_actions(*_):
extra_info["run_id"].extend(['run_{}'.format(i)] * len(veh_ids))

# write to disk every 100 steps
if convert_to_csv and self.env.simulator == "traci" and j % 100 == 0:
if convert_to_csv and self.env.simulator == "traci" and j % 100 == 0 and not dir_path is None:
write_dict_to_csv(trajectory_table_path, extra_info, not j)
extra_info.clear()

Expand Down

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