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__init__.py
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__init__.py
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import gym
import os
from d4rl import offline_env
from gym.envs.registration import register
from copy import deepcopy
import flow
import flow.envs
from flow.networks.ring import RingNetwork
from flow.core.params import NetParams, VehicleParams, EnvParams, InFlows
from flow.core.params import SumoLaneChangeParams, SumoCarFollowingParams
from flow.networks.ring import ADDITIONAL_NET_PARAMS
from flow.controllers.car_following_models import IDMController
from flow.controllers.routing_controllers import ContinuousRouter
from flow.controllers import SimCarFollowingController, SimLaneChangeController
from flow.controllers import RLController
from flow.core.params import InitialConfig
from flow.core.params import TrafficLightParams
from flow.envs.ring.accel import AccelEnv
from flow.core.params import SumoParams
from flow.utils.registry import make_create_env
from flow.envs import WaveAttenuationPOEnv
from flow.envs import BayBridgeEnv, TrafficLightGridPOEnv
import d4rl.flow.traffic_light_grid as traffic_light_grid
import d4rl.flow.merge as merge
import d4rl.flow.bottleneck as bottleneck
def flow_register(flow_params, render=None, **kwargs):
exp_tag = flow_params["exp_tag"]
env_params = flow_params['env']
net_params = flow_params['net']
env_class = flow_params['env_name']
initial_config = flow_params.get('initial', InitialConfig())
traffic_lights = flow_params.get("tls", TrafficLightParams())
sim_params = deepcopy(flow_params['sim'])
vehicles = deepcopy(flow_params['veh'])
sim_params.render = render or sim_params.render
if isinstance(flow_params["network"], str):
print("""Passing of strings for network will be deprecated.
Please pass the Network instance instead.""")
module = __import__("flow.networks", fromlist=[flow_params["network"]])
network_class = getattr(module, flow_params["network"])
else:
network_class = flow_params["network"]
network = network_class(
name=exp_tag,
vehicles=vehicles,
net_params=net_params,
initial_config=initial_config,
traffic_lights=traffic_lights,
)
flow_env = env_class(
env_params= env_params,
sim_params= sim_params,
network= network,
simulator= flow_params['simulator']
)
env = offline_env.OfflineEnvWrapper(flow_env,
**kwargs
)
return env
def ring_env(render='drgb'):
name = "ring"
network_name = RingNetwork
env_name = WaveAttenuationPOEnv
net_params = NetParams(additional_params=ADDITIONAL_NET_PARAMS)
initial_config = InitialConfig(spacing="uniform", shuffle=False)
vehicles = VehicleParams()
vehicles.add("human",
acceleration_controller=(IDMController, {}),
routing_controller=(ContinuousRouter, {}),
num_vehicles=21)
vehicles.add(veh_id="rl",
acceleration_controller=(RLController, {}),
routing_controller=(ContinuousRouter, {}),
num_vehicles=1)
sim_params = SumoParams(sim_step=0.5, render=render, save_render=True)
HORIZON=100
env_params = EnvParams(
# length of one rollout
horizon=HORIZON,
additional_params={
# maximum acceleration of autonomous vehicles
"max_accel": 1,
# maximum deceleration of autonomous vehicles
"max_decel": 1,
# bounds on the ranges of ring road lengths the autonomous vehicle
# is trained on
"ring_length": [220, 270],
},
)
flow_params = dict(
exp_tag=name,
env_name=env_name,
network=network_name,
simulator='traci',
sim=sim_params,
env=env_params,
net=net_params,
veh=vehicles,
initial=initial_config
)
return flow_params
RING_RANDOM_SCORE = -165.22
RING_EXPERT_SCORE = 24.42
register(
id='flow-ring-v0',
entry_point='d4rl.flow:flow_register',
max_episode_steps=500,
kwargs={
'flow_params': ring_env(render=False),
'dataset_url': None,
'ref_min_score': RING_RANDOM_SCORE,
'ref_max_score': RING_EXPERT_SCORE
}
)
register(
id='flow-ring-render-v0',
entry_point='d4rl.flow:flow_register',
max_episode_steps=500,
kwargs={
'flow_params': ring_env(render='drgb'),
'dataset_url': None,
'ref_min_score': RING_RANDOM_SCORE,
'ref_max_score': RING_EXPERT_SCORE
}
)
register(
id='flow-ring-random-v0',
entry_point='d4rl.flow:flow_register',
max_episode_steps=500,
kwargs={
'flow_params': ring_env(render=False),
'dataset_url':'http://rail.eecs.berkeley.edu/datasets/offline_rl/flow/flow-ring-v0-random.hdf5',
'ref_min_score': RING_RANDOM_SCORE,
'ref_max_score': RING_EXPERT_SCORE
}
)
register(
id='flow-ring-controller-v0',
entry_point='d4rl.flow:flow_register',
max_episode_steps=500,
kwargs={
'flow_params': ring_env(render=False),
'dataset_url':'http://rail.eecs.berkeley.edu/datasets/offline_rl/flow/flow-ring-v0-idm.hdf5',
'ref_min_score': RING_RANDOM_SCORE,
'ref_max_score': RING_EXPERT_SCORE
}
)
MERGE_RANDOM_SCORE = 118.67993
MERGE_EXPERT_SCORE = 330.03179
register(
id='flow-merge-v0',
entry_point='d4rl.flow:flow_register',
max_episode_steps=750,
kwargs={
'flow_params': merge.gen_env(render=False),
'dataset_url': None,
'ref_min_score': MERGE_RANDOM_SCORE,
'ref_max_score': MERGE_EXPERT_SCORE
}
)
register(
id='flow-merge-render-v0',
entry_point='d4rl.flow:flow_register',
max_episode_steps=750,
kwargs={
'flow_params': merge.gen_env(render='drgb'),
'dataset_url': None,
'ref_min_score': MERGE_RANDOM_SCORE,
'ref_max_score': MERGE_EXPERT_SCORE
}
)
register(
id='flow-merge-random-v0',
entry_point='d4rl.flow:flow_register',
max_episode_steps=750,
kwargs={
'flow_params': merge.gen_env(render=False),
'dataset_url':'http://rail.eecs.berkeley.edu/datasets/offline_rl/flow/flow-merge-v0-random.hdf5',
'ref_min_score': MERGE_RANDOM_SCORE,
'ref_max_score': MERGE_EXPERT_SCORE
}
)
register(
id='flow-merge-controller-v0',
entry_point='d4rl.flow:flow_register',
max_episode_steps=750,
kwargs={
'flow_params': merge.gen_env(render=False),
'dataset_url':'http://rail.eecs.berkeley.edu/datasets/offline_rl/flow/flow-merge-v0-idm.hdf5',
'ref_min_score': MERGE_RANDOM_SCORE,
'ref_max_score': MERGE_EXPERT_SCORE
}
)