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Introducing a single agent, multi-goal, four-ways intersection environment #699

Merged
merged 73 commits into from
Aug 20, 2024
Merged

Introducing a single agent, multi-goal, four-ways intersection environment #699

merged 73 commits into from
Aug 20, 2024

Commits on Apr 7, 2024

  1. better way to handle U turn in Intersection

    @pengzhenghao
    pengzhenghao committed Apr 7, 2024
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  2. INIT

    @pengzhenghao
    pengzhenghao committed Apr 7, 2024
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  3. Revert "better way to handle U turn in Intersection" 

    This reverts commit d9bf4bb.
    @pengzhenghao
    pengzhenghao committed Apr 7, 2024
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  4. add doc

    @pengzhenghao
    pengzhenghao committed Apr 7, 2024
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  5. fix bug

    @pengzhenghao
    pengzhenghao committed Apr 7, 2024
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  6. add docs

    @pengzhenghao
    pengzhenghao committed Apr 7, 2024
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  7. If navigation_module is set to None, remove navigation in StateObserv… 

    …ation. (I am not 100% sure if this is OK. Might cause error.)
    @pengzhenghao
    pengzhenghao committed Apr 7, 2024
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  8. WIP: Implementing a navigation/goal manager

    @pengzhenghao
    pengzhenghao committed Apr 7, 2024
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  9. Implemented goal / navigation managers

    @pengzhenghao
    pengzhenghao committed Apr 7, 2024
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Commits on Apr 8, 2024

  1. adding a U-turn intersection block

    @pengzhenghao
    pengzhenghao committed Apr 8, 2024
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  2. add assert in node_road_network

    @pengzhenghao
    pengzhenghao committed Apr 8, 2024
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  3. fix potential bug

    @pengzhenghao
    pengzhenghao committed Apr 8, 2024
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  4. Now the environment is running correctly! (but reset is broken)

    @pengzhenghao
    pengzhenghao committed Apr 8, 2024
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  5. introduce observation

    @pengzhenghao
    pengzhenghao committed Apr 8, 2024
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  6. format

    @pengzhenghao
    pengzhenghao committed Apr 8, 2024
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  7. add more docs

    @pengzhenghao
    pengzhenghao committed Apr 8, 2024
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Commits on Apr 17, 2024

  1. introduce a config to disable navigation arrows

    @pengzhenghao
    pengzhenghao committed Apr 17, 2024
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  2. minor

    @pengzhenghao
    pengzhenghao committed Apr 17, 2024
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  3. use varying dynamics agent in multi-goal env

    @pengzhenghao
    pengzhenghao committed Apr 17, 2024
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  4. support use a list of types to control PG map; allow set map=None to … 

    …disable shortcut config map.
    @pengzhenghao
    pengzhenghao committed Apr 17, 2024
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  5. allow change radius of the intersection; set accident_prob=1.0

    @pengzhenghao
    pengzhenghao committed Apr 17, 2024
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Commits on May 10, 2024

  1. 1) introduce goal-agnoistic info["obs/ego/*"], 2) rename keys in info… 

    … dict
    @pengzhenghao
    pengzhenghao committed May 10, 2024
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Commits on May 12, 2024

  1. optimize the reward structure, now: 

    ===== timestep 220 =====
route completion:
	route_completion/goals/default: 0.92
	route_completion/goals/go_straight: 0.50
	route_completion/goals/left_turn: 0.46
	route_completion/goals/right_turn: 0.92
	route_completion/goals/u_turn: 0.53

reward:
	reward/default_reward: 1.27
	reward/goal_agnostic_reward: 0.05
	reward/goals/default: 1.27
	reward/goals/go_straight: 0.14
	reward/goals/left_turn: 0.06
	reward/goals/right_turn: 1.27
	reward/goals/u_turn: 0.01
=======================
    @pengzhenghao
    pengzhenghao committed May 12, 2024
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Commits on May 13, 2024

  1. to follow setting, use lane_num=1

    @pengzhenghao
    pengzhenghao committed May 13, 2024
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  2. format, ready to launch SB3 td3

    @pengzhenghao
    pengzhenghao committed May 13, 2024
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  3. Remove varying dynamics

    @pengzhenghao
    pengzhenghao committed May 13, 2024
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  4. lane_num=1

    @pengzhenghao
    pengzhenghao committed May 13, 2024
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  5. allow do more visualization

    @pengzhenghao
    pengzhenghao committed May 13, 2024
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  6. add default arrive_dest

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    pengzhenghao committed May 13, 2024
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  7. add some comments

    @pengzhenghao
    pengzhenghao committed May 13, 2024
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  8. now we return full observation for different goals in info["obs/goals… 

    …/xxx"]
    @pengzhenghao
    pengzhenghao committed May 13, 2024
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  9. [DANGER] allow to generate sidewalk for "negative road". Not sure the… 

    … affect of this commit in other cases. Might need further check.
    @pengzhenghao
    pengzhenghao committed May 13, 2024
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  10. Add SIDEWALK to the side detector & the lane line detector.

    @pengzhenghao
    pengzhenghao committed May 13, 2024
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  11. use 240line for sidedetector, remove vehicle/lane detector

    @pengzhenghao
    pengzhenghao committed May 13, 2024
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  12. fix a bug

    @pengzhenghao
    pengzhenghao committed May 13, 2024
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Commits on May 14, 2024

  1. Fix a severe bug that messes up observation

    @pengzhenghao
    pengzhenghao committed May 14, 2024
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  2. introduce a penalty for wrong way

    @pengzhenghao
    pengzhenghao committed May 14, 2024
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  3. When draw the line to next checkpoint, also draw the line from next c… 

    …kpt to next next ckpt.
    @pengzhenghao
    pengzhenghao committed May 14, 2024
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  4. Add crash_sidewalk_penalty for MetaDrive env, default crash_sidewalk_… 

    …penalty=0
    @pengzhenghao
    pengzhenghao committed May 14, 2024
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  5. Set on_continuous_line_done=False for multigoal env

    @pengzhenghao
    pengzhenghao committed May 14, 2024
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  6. Add config "out_of_road_done" for MDEnv

    @pengzhenghao
    pengzhenghao committed May 14, 2024
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  7. Remove U turn

    @pengzhenghao
    pengzhenghao committed May 14, 2024
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  8. Set out_of_road_done=False

    @pengzhenghao
    pengzhenghao committed May 14, 2024
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  9. Add penalty for out_of_route (this might be helpful in multigoal sett… 

    …ing)
    @pengzhenghao
    pengzhenghao committed May 14, 2024
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  10. Change reward scheme

    @pengzhenghao
    pengzhenghao committed May 14, 2024
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  11. Change radius to 12

    @pengzhenghao
    pengzhenghao committed May 14, 2024
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  12. remove goal_agnostic_reward

    @pengzhenghao
    pengzhenghao committed May 14, 2024
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  13. add GOAL_DEPENDENT_STATE

    @pengzhenghao
    pengzhenghao committed May 14, 2024
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  14. up

    @pengzhenghao
    pengzhenghao committed May 14, 2024
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  15. change obs

    @pengzhenghao
    pengzhenghao committed May 14, 2024
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Commits on May 16, 2024

  1. Add some randomness in map

    @pengzhenghao
    pengzhenghao committed May 16, 2024
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  2. enable U turn

    @pengzhenghao
    pengzhenghao committed May 16, 2024
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Commits on Jun 28, 2024

  1. WIP: Now support conventional RL env

    @pengzhenghao
    pengzhenghao committed Jun 28, 2024
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  2. fix bug

    @pengzhenghao
    pengzhenghao committed Jun 28, 2024
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Commits on Jul 5, 2024

  1. Fix a bug and use Customize Observation

    @pengzhenghao
    pengzhenghao committed Jul 5, 2024
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  2. Better handle lidars' configs

    @pengzhenghao
    pengzhenghao committed Jul 5, 2024
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Commits on Jul 6, 2024

  1. Remove those hyper diff from MetaDriveEnv

    @pengzhenghao
    pengzhenghao committed Jul 6, 2024
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  2. Merge branch 'refs/heads/main' into multigoal 

    # Conflicts:
#	metadrive/component/vehicle/base_vehicle.py
    @pengzhenghao
    pengzhenghao committed Jul 6, 2024
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  3. fix

    @pengzhenghao
    pengzhenghao committed Jul 6, 2024
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Commits on Jul 12, 2024

  1. Fix

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    pengzhenghao committed Jul 12, 2024
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Commits on Aug 7, 2024

  1. Merge branch 'main' into multigoal

    @pengzhenghao
    pengzhenghao committed Aug 7, 2024
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Commits on Aug 8, 2024

  1. format

    @pengzhenghao
    pengzhenghao committed Aug 8, 2024
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  2. remove a file

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    pengzhenghao committed Aug 8, 2024
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  3. Add an example notebook for multigoalintersection

    @pengzhenghao
    pengzhenghao committed Aug 8, 2024
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  4. Setup FFpmeg in CI to support video gen in docs

    @pengzhenghao
    pengzhenghao committed Aug 8, 2024
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  5. minor

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    pengzhenghao committed Aug 8, 2024
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  6. minor

    @pengzhenghao
    pengzhenghao committed Aug 8, 2024
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  7. Add docs

    @pengzhenghao
    pengzhenghao committed Aug 8, 2024
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  8. Fix test

    @pengzhenghao
    pengzhenghao committed Aug 8, 2024
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  9. format

    @pengzhenghao
    pengzhenghao committed Aug 8, 2024
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  10. try fix ffmpeg

    @pengzhenghao
    pengzhenghao committed Aug 8, 2024
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Commits on Aug 20, 2024

  1. Merge branch 'main' into multigoal

    @pengzhenghao
    pengzhenghao committed Aug 20, 2024
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  2. Fix test

    @pengzhenghao
    pengzhenghao committed Aug 20, 2024
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