diff --git a/.gitignore b/.gitignore
index 53380c2c3e55ad35be1cb6e123ae67fb1ae22dd2..a206662474aac73cc18f10d9447e97adc498e338 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,6 +2,7 @@ __pycache__
.vscode
saved_agents
benchmarks
+baselines
workspace.code-workspace
tech_demo.py
*.png
diff --git a/carla_environment.py b/carla_environment.py
index e41164c6f43104bd8630b61b943e6602da9deec6..7edd56d3f9085fbdc1c300676edfcbd55a0a41be 100644
--- a/carla_environment.py
+++ b/carla_environment.py
@@ -47,7 +47,7 @@ class Camera:
camera_blueprint.set_attribute('image_size_x', f'{self.width}')
camera_blueprint.set_attribute('image_size_y', f'{self.height}')
camera_blueprint.set_attribute('fov', '95')
- camera_transform = carla.Transform(carla.Location(x=-3.0, z=2.2))
+ camera_transform = carla.Transform(carla.Location(x=-7.0, z=5.2), carla.Rotation(pitch=-20.0, yaw=0, roll=0.0))
self.sensor = world.world.spawn_actor(camera_blueprint, camera_transform, attach_to=world.player)
self.sensor.listen(lambda data: self.process_img(data))
@@ -87,6 +87,35 @@ class CollisionSensor:
intensity = math.sqrt(impulse.x**2 + impulse.y**2 + impulse.z**2)
# print(intensity)
+class ObstacleSensor:
+ sensor = None
+ parent = None
+ ZONES = 4
+ obstacle = []
+
+ def __init__(self, world, parent):
+ self.parent = parent
+ bp = world.get_blueprint_library().find('sensor.other.obstacle')
+ bp.set_attribute('distance', '10')
+ bp.set_attribute('hit_radius', '3')
+ print(bp.get_attribute('hit_radius'))
+ self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=parent, attachment_type=carla.AttachmentType.Rigid)
+ weak_self = weakref.ref(self)
+ self.sensor.listen(lambda event: ObstacleSensor._on_event(weak_self, event))
+
+ def _on_event(weak_self, event):
+ self = weak_self()
+ if not self:
+ return
+ self.collision = event
+ if not event.other_actor.type_id == 'static.road':
+ print(self.parent.get_location())
+ print(self.parent.get_velocity())
+ print(event.other_actor.type_id)
+ print(event.other_actor.transform)
+ print(event.distance)
+
+
class LidarSensor:
sensor = None
data = None
@@ -116,6 +145,7 @@ class World:
""" Wrapper for the carla environment, incl. player/vehicle """
player = None
collision_sensor = None
+ obstacle_sensor = None
lidar_sensor = None
world = None
blueprint_library = None
@@ -137,8 +167,7 @@ class World:
""" Remove and create new player/vehicle. """
self.destroy()
time.sleep(0.5)
- self.spawn_player()
- self.spawn_actors()
+ self.spawn_on_sidewalk()
def observation(self):
if self.player is not None:
@@ -148,26 +177,32 @@ class World:
else:
return [0,0,0]
- def spawn_player(self):
+ def spawn_player(self, transform):
""" Add a vehicle to the world. """
while self.player is None:
blueprint = random.choice(self.blueprint_library.filter('model3'))
- position = carla.Transform(carla.Location(x=-13, y=57.5, z=0.2), carla.Rotation(pitch=0.0, yaw=-180, roll=0.0))
+ position = transform
self.player = self.world.try_spawn_actor(blueprint, position)
start_location = self.player.get_location()
print(str(start_location))
self.collision_sensor = CollisionSensor(self.world, self.player)
- # self.lidar_sensor = LidarSensor(self.world, self.player)
- # start_location.x = 288.0
- # start_location.y = 55.0
- # self.player.set_location(start_location)
+ self.obstacle_sensor = ObstacleSensor(self.world, self.player)
+
+ def spawn_on_sidewalk(self):
+ position = carla.Transform(carla.Location(x=-13, y=57.5, z=0.2), carla.Rotation(pitch=0.0, yaw=-180, roll=0.0))
+ self.spawn_player(position)
+ self.spawn_actors(self.sidewalk_parking_cars_transforms())
- def spawn_actors(self):
- blueprint = random.choice(self.blueprint_library.filter('etron'))
+
+ def sidewalk_parking_cars_transforms(self):
transforms = []
transforms.append(carla.Transform(carla.Location(x=-19.2, y=54.5, z=0.2), carla.Rotation(pitch=0.0, yaw=-180, roll=0.0)))
transforms.append(carla.Transform(carla.Location(x=-14.3, y=54.7, z=0.2), carla.Rotation(pitch=0.0, yaw=-180, roll=0.0)))
transforms.append(carla.Transform(carla.Location(x=-37.3, y=53.7, z=0.2), carla.Rotation(pitch=0.0, yaw=-180, roll=0.0)))
+ return transforms
+
+ def spawn_actors(self, transforms):
+ blueprint = random.choice(self.blueprint_library.filter('etron'))
mass = carla.VehiclePhysicsControl(mass=900000.0)
for transform in transforms:
actor = self.world.try_spawn_actor(blueprint, transform)
@@ -187,6 +222,9 @@ class World:
if self.collision_sensor is not None:
self.collision_sensor.sensor.destroy()
self.collision_sensor = None
+ if self.obstacle_sensor is not None:
+ self.obstacle_sensor.sensor.destroy()
+ self.obstacle_sensor = None
def step(self, action):
@@ -204,35 +242,38 @@ class World:
pos = self.player.get_transform()
pos_diff = math.sqrt((target.location.x - pos.location.x)**2 + (target.location.y - pos.location.y)**2)
rot_diff = (target.rotation.yaw - pos.rotation.yaw)
- r = (-pos_diff / 10) + 1
+ velocity = self.player.get_velocity()
+ v = math.sqrt((velocity.x)**2 + (velocity.y)**2)
+
+ r = ((-pos_diff / 10) + 1) / 5
+
+ if v < 0.01:
+ r -= 0.5
+ if v > 15.0:
+ r -= 10
+
at_final_position = False
if pos_diff < 1.8:
if self.was_big_reward == False:
- r += 100
+ r += 50
self.was_big_reward = True
- if abs(rot_diff) < 5:
- r += 100
+ if abs(rot_diff) < 5 and v < 0.01:
at_final_position = True
else:
if self.was_big_reward == True:
self.was_big_reward = False
r -= 50
-
- velocity = self.player.get_velocity()
- v = math.sqrt((velocity.x)**2 + (velocity.y)**2)
- if v < 0.01:
- r -= 1
- if v > 15.0:
- r -= 10
+
done = False
- if at_final_position and v < 0.01:
+ if at_final_position :
print("Success")
+ r += 100
done = True
if self.collision_sensor.collision is not None:
r -= 250
done = True
if action == IDLE:
- r -= 1
+ r -= 0.3
return self.observation(), r, done, None
class ActionSpace:
@@ -260,6 +301,7 @@ class CarlaEnvironment:
if render:
self.allow_render = True
self.camera = Camera(self.world, camera_type='semantic_segmentation')
+ # self.camera = Camera(self.world, camera_type='rgb')
def reset(self):
self.world.reset()
@@ -288,7 +330,7 @@ if __name__ == "__main__":
ctrl = Controller()
cumulated_reward = 0
while ctrl.is_running():
- clock.tick(20)
+ clock.tick(5)
ctrl.on_update()
obs, reward, done, _ = env.step(ctrl.get_action(), render=True)
print(str(reward) + ' ' + str(done))
diff --git a/run_scripts/baselines.py b/run_scripts/baselines.py
new file mode 100644
index 0000000000000000000000000000000000000000..04f5ad7bcb2c22c2c0f7d5652ee4479012eb3118
--- /dev/null
+++ b/run_scripts/baselines.py
@@ -0,0 +1,47 @@
+import main
+import environment_wrapper as ew
+import gym
+from agents import DQAgent, QAgent
+import threading
+import copy
+import time
+
+start = time.time()
+
+c_32 = ew.Config()
+c_32.name = 'FirstLayerBase'
+c_32.render = False
+c_32.force_cpu = True
+c_32.env = gym.make('CartPole-v0')
+c_32.env_type = 'CartPole'
+c_32.net_layout = [32, 32]
+c_32.eps_decay = 0.9995
+c_32.learn_rate= 0.00075
+c_32.run_episodes = 350
+c_32.save_to = 'baselines/'
+
+
+c_64 = copy.deepcopy(c_32)
+c_64.net_layout = [64, 32]
+
+c_128 = copy.deepcopy(c_32)
+c_128.net_layout = [128, 32]
+
+c_256 = copy.deepcopy(c_32)
+c_256.net_layout = [256, 32]
+
+c_512 = copy.deepcopy(c_32)
+c_512.net_layout = [512, 32]
+
+c_1024 = copy.deepcopy(c_32)
+c_1024.net_layout = [1024, 32]
+
+conf = c_32
+
+conf.conf_to_name()
+conf.agent = QAgent(conf)
+main.run(conf)
+
+print('Took: ' + str(time.time() - start))
+
+print('Done')
\ No newline at end of file