Ak/i210 master merge

environment.yml

@@ -9,7 +9,7 @@ dependencies:
         - path.py
         - python-dateutil==2.7.3
         - pip>=18.0
-        - tensorflow==1.14.0
+        - tensorflow==1.15.2
         - setuptools==41.0.0
         - plotly==2.4.0
         - gym==0.14.0

examples/exp_configs/non_rl/highway_single.py

@@ -11,7 +11,7 @@
 from flow.core.params import VehicleParams
 from flow.core.params import SumoParams
 from flow.core.params import SumoLaneChangeParams
-from flow.core.rewards import miles_per_gallon, miles_per_megajoule
+from flow.core.rewards import instantaneous_mpg
 from flow.core.params import SumoCarFollowingParams
 from flow.networks import HighwayNetwork
 from flow.envs import TestEnv
@@ -147,10 +147,7 @@
         env.k.vehicle.get_speed(env.k.vehicle.get_ids()))),
     "avg_outflow": lambda env: np.nan_to_num(
         env.k.vehicle.get_outflow_rate(120)),
-    "miles_per_megajoule": lambda env: np.nan_to_num(
-        miles_per_megajoule(env, env.k.vehicle.get_ids(), gain=1.0)
-    ),
     "miles_per_gallon": lambda env: np.nan_to_num(
-        miles_per_gallon(env, env.k.vehicle.get_ids(), gain=1.0)
+        instantaneous_mpg(env, env.k.vehicle.get_ids(), gain=1.0)
     )
 }

examples/exp_configs/non_rl/i210_subnetwork.py

@@ -12,8 +12,7 @@
 from flow.core.params import VehicleParams
 from flow.core.params import InitialConfig
 from flow.core.params import InFlows
-from flow.core.rewards import miles_per_gallon
-from flow.core.rewards import miles_per_megajoule
+from flow.core.rewards import instantaneous_mpg
 from flow.networks import I210SubNetwork
 from flow.networks.i210_subnetwork import EDGES_DISTRIBUTION
 from flow.envs import TestEnv
@@ -211,8 +210,6 @@ def valid_ids(env, veh_ids):
         env.k.vehicle.get_speed(valid_ids(env, env.k.vehicle.get_ids())))),
     "avg_outflow": lambda env: np.nan_to_num(
         env.k.vehicle.get_outflow_rate(120)),
-    "mpg": lambda env: miles_per_gallon(
+    "mpg": lambda env: instantaneous_mpg(
         env,  valid_ids(env, env.k.vehicle.get_ids()), gain=1.0),
-    "mpj": lambda env: miles_per_megajoule(
-        env, valid_ids(env, env.k.vehicle.get_ids()), gain=1.0),
 }

examples/exp_configs/rl/multiagent/multiagent_i210.py

@@ -29,7 +29,8 @@
 # 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
+# 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

examples/train.py

@@ -17,7 +17,7 @@
 import pytz
 
 from flow.core.util import ensure_dir
-from flow.core.rewards import miles_per_gallon, miles_per_megajoule
+from flow.core.rewards import instantaneous_mpg
 from flow.utils.registry import env_constructor
 from flow.utils.rllib import FlowParamsEncoder, get_flow_params
 from flow.utils.registry import make_create_env
@@ -42,10 +42,6 @@ def parse_args(args):
         help='Name of the experiment configuration file, as located in '
              'exp_configs/rl/singleagent or exp_configs/rl/multiagent.')
 
-    parser.add_argument(
-        'exp_title', type=str,
-        help='Name of experiment that results will be stored in')
-
     # optional input parameters
     parser.add_argument(
         '--rl_trainer', type=str, default="rllib",
@@ -76,14 +72,18 @@ def parse_args(args):
     parser.add_argument(
         '--rollout_size', type=int, default=1000,
         help='How many steps are in a training batch.')
-    parser.add_argument('--use_s3', action='store_true', help='If true, upload results to s3')
+    parser.add_argument('--use_s3', action='store_true', default=False,
+                        help='If true, upload results to s3')
     parser.add_argument('--local_mode', action='store_true', default=False,
                         help='If true only 1 CPU will be used')
     parser.add_argument('--render', action='store_true', default=False,
                         help='If true, we render the display')
     parser.add_argument(
         '--checkpoint_path', type=str, default=None,
         help='Directory with checkpoint to restore training from.')
+    parser.add_argument(
+        '--exp_title', type=str, default=None,
+        help='Name of experiment that results will be stored in')
     parser.add_argument('--multi_node', action='store_true',
                         help='Set to true if this will be run in cluster mode.'
                              'Relevant for rllib')
@@ -147,7 +147,7 @@ def setup_exps_rllib(flow_params,
         number of CPUs to run the experiment over
     n_rollouts : int
         number of rollouts per training iteration
-    flags:
+    flags : TODO
         custom arguments
     policy_graphs : dict, optional
         TODO
@@ -243,8 +243,7 @@ def on_episode_start(info):
         episode.user_data["avg_speed"] = []
         episode.user_data["avg_speed_avs"] = []
         episode.user_data["avg_energy"] = []
-        episode.user_data["avg_mpg"] = []
-        episode.user_data["avg_mpj"] = []
+        episode.user_data["inst_mpg"] = []
         episode.user_data["num_cars"] = []
         episode.user_data["avg_accel_human"] = []
         episode.user_data["avg_accel_avs"] = []
@@ -275,8 +274,7 @@ def on_episode_step(info):
         av_speed = np.mean([speed for speed in env.k.vehicle.get_speed(rl_ids) if speed >= 0])
         if not np.isnan(av_speed):
             episode.user_data["avg_speed_avs"].append(av_speed)
-        episode.user_data["avg_mpg"].append(miles_per_gallon(env, veh_ids, gain=1.0))
-        episode.user_data["avg_mpj"].append(miles_per_megajoule(env, veh_ids, gain=1.0))
+        episode.user_data["inst_mpg"].append(instantaneous_mpg(env, veh_ids, gain=1.0))
         episode.user_data["num_cars"].append(len(env.k.vehicle.get_ids()))
         episode.user_data["avg_accel_human"].append(np.nan_to_num(np.mean(
             [np.abs((env.k.vehicle.get_speed(veh_id) - env.k.vehicle.get_previous_speed(veh_id))/env.sim_step) for
@@ -295,8 +293,7 @@ def on_episode_end(info):
         episode.custom_metrics["avg_speed_avs"] = avg_speed_avs
         episode.custom_metrics["avg_accel_avs"] = np.mean(episode.user_data["avg_accel_avs"])
         episode.custom_metrics["avg_energy_per_veh"] = np.mean(episode.user_data["avg_energy"])
-        episode.custom_metrics["avg_mpg_per_veh"] = np.mean(episode.user_data["avg_mpg"])
-        episode.custom_metrics["avg_mpj_per_veh"] = np.mean(episode.user_data["avg_mpj"])
+        episode.custom_metrics["avg_mpg_per_veh"] = np.mean(episode.user_data["inst_mpg"])
         episode.custom_metrics["num_cars"] = np.mean(episode.user_data["num_cars"])
 
     def on_train_result(info):
@@ -361,7 +358,7 @@ def trial_str_creator(trial):
         ray.init()
     exp_dict = {
         "run_or_experiment": alg_run,
-        "name": flags.exp_title,
+        "name": flags.exp_title or flow_params['exp_tag'],
         "config": config,
         "checkpoint_freq": flags.checkpoint_freq,
         "checkpoint_at_end": True,
@@ -373,9 +370,9 @@ def trial_str_creator(trial):
     }
     date = datetime.now(tz=pytz.utc)
     date = date.astimezone(pytz.timezone('US/Pacific')).strftime("%m-%d-%Y")
-    s3_string = "s3://i210.experiments/i210/" \
-                + date + '/' + flags.exp_title
     if flags.use_s3:
+        s3_string = "s3://i210.experiments/i210/" \
+                    + date + '/' + flags.exp_title
         exp_dict['upload_dir'] = s3_string
     tune.run(**exp_dict, queue_trials=False, raise_on_failed_trial=False)
 

flow/controllers/base_controller.py

@@ -38,6 +38,8 @@ class BaseController(metaclass=ABCMeta):
         List of failsafes which can be "instantaneous", "safe_velocity",
         "feasible_accel", or "obey_speed_limit". The order of applying the
         falsafes will be based on the order in the list.
+    display_warnings : bool
+        Flag for toggling on/off printing failsafe warnings to screen.
     noise : double
         variance of the gaussian from which to sample a noisy acceleration
     """
@@ -47,6 +49,7 @@ def __init__(self,
                  car_following_params,
                  delay=0,
                  fail_safe=None,
+                 display_warnings=False,
                  noise=0):
         """Instantiate the base class for acceleration behavior."""
         self.veh_id = veh_id
@@ -59,17 +62,27 @@ def __init__(self,
 
         # longitudinal failsafe used by the vehicle
         if isinstance(fail_safe, str):
-            self.fail_safe = [fail_safe]
+            failsafe_list = [fail_safe]
         elif isinstance(fail_safe, list) or fail_safe is None:
-            self.fail_safe = fail_safe
+            failsafe_list = fail_safe
         else:
-            print(
-                "==========================================================\n"
-                "WARNING: fail_safe should be string or list of strings. \n"
-                "Set fal_safe to None\n"
-                "==========================================================\n"
-            )
-            self.fail_safe = None
+            raise ValueError("fail_safe should be string or list of strings. Setting fail_safe to None\n")
+
+        failsafe_map = {
+            'instantaneous': self.get_safe_action_instantaneous,
+            'safe_velocity': self.get_safe_velocity_action,
+            'feasible_accel': lambda _, accel: self.get_feasible_action(accel),
+            'obey_speed_limit': self.get_obey_speed_limit_action
+        }
+        self.failsafes = []
+        if failsafe_list:
+            for check in failsafe_list:
+                if check in failsafe_map:
+                    self.failsafes.append(failsafe_map.get(check))
+                else:
+                    raise ValueError('Skipping {}, as it is not a valid failsafe.'.format(check))
+
+        self.display_warnings = display_warnings
 
         self.max_accel = car_following_params.controller_params['accel']
         # max deaccel should always be a positive
@@ -103,11 +116,11 @@ def get_action(self, env):
         float
             the modified form of the acceleration
         """
-        # clear the current stored accel_no_noise_no_failsafe of this vehicle None
-        env.k.vehicle.update_accel_no_noise_no_failsafe(self.veh_id, None)
-        env.k.vehicle.update_accel_no_noise_with_failsafe(self.veh_id, None)
-        env.k.vehicle.update_accel_with_noise_no_failsafe(self.veh_id, None)
-        env.k.vehicle.update_accel_with_noise_with_failsafe(self.veh_id, None)
+        # clear the current stored accels of this vehicle to None
+        env.k.vehicle.update_accel(self.veh_id, None, noise=False, failsafe=False)
+        env.k.vehicle.update_accel(self.veh_id, None, noise=False, failsafe=True)
+        env.k.vehicle.update_accel(self.veh_id, None, noise=True, failsafe=False)
+        env.k.vehicle.update_accel(self.veh_id, None, noise=True, failsafe=True)
 
         # this is to avoid abrupt decelerations when a vehicle has just entered
         # a network and it's data is still not subscribed
@@ -128,45 +141,24 @@ def get_action(self, env):
 
         # store the acceleration without noise to each vehicle
         # run fail safe if requested
-        env.k.vehicle.update_accel_no_noise_no_failsafe(self.veh_id, accel)
+        env.k.vehicle.update_accel(self.veh_id, accel, noise=False, failsafe=False)
         accel_no_noise_with_failsafe = accel
 
-        if self.fail_safe is not None:
-            for check in self.fail_safe:
-                if check == 'instantaneous':
-                    accel_no_noise_with_failsafe = self.get_safe_action_instantaneous(
-                        env, accel_no_noise_with_failsafe)
-                elif check == 'safe_velocity':
-                    accel_no_noise_with_failsafe = self.get_safe_velocity_action(
-                        env, accel_no_noise_with_failsafe)
-                elif check == 'feasible_accel':
-                    accel_no_noise_with_failsafe = self.get_feasible_action(
-                        accel_no_noise_with_failsafe)
-                elif check == 'obey_speed_limit':
-                    accel_no_noise_with_failsafe = self.get_obey_speed_limit_action(
-                        env, accel_no_noise_with_failsafe)
-
-        env.k.vehicle.update_accel_no_noise_with_failsafe(
-            self.veh_id, accel_no_noise_with_failsafe)
+        for failsafe in self.failsafes:
+            accel_no_noise_with_failsafe = failsafe(env, accel_no_noise_with_failsafe)
+
+        env.k.vehicle.update_accel(self.veh_id, accel_no_noise_with_failsafe, noise=False, failsafe=True)
 
         # add noise to the accelerations, if requested
         if self.accel_noise > 0:
             accel += np.sqrt(env.sim_step) * np.random.normal(0, self.accel_noise)
-        env.k.vehicle.update_accel_with_noise_no_failsafe(self.veh_id, accel)
+        env.k.vehicle.update_accel(self.veh_id, accel, noise=True, failsafe=False)
 
         # run the fail-safes, if requested
-        if self.fail_safe is not None:
-            for check in self.fail_safe:
-                if check == 'instantaneous':
-                    accel = self.get_safe_action_instantaneous(env, accel)
-                elif check == 'safe_velocity':
-                    accel = self.get_safe_velocity_action(env, accel)
-                elif check == 'feasible_accel':
-                    accel = self.get_feasible_action(accel)
-                elif check == 'obey_speed_limit':
-                    accel = self.get_obey_speed_limit_action(env, accel)
-
-        env.k.vehicle.update_accel_with_noise_with_failsafe(self.veh_id, accel)
+        for failsafe in self.failsafes:
+            accel = failsafe(env, accel)
+
+        env.k.vehicle.update_accel(self.veh_id, accel, noise=True, failsafe=True)
         return accel
 
     def get_safe_action_instantaneous(self, env, action):
@@ -212,11 +204,12 @@ def get_safe_action_instantaneous(self, env, action):
                 # if the vehicle will crash into the vehicle ahead of it in the
                 # next time step (assuming the vehicle ahead of it is not
                 # moving), then stop immediately
-                print(
-                    "=====================================\n"
-                    "Vehicle {} is about to crash. Instantaneous acceleration "
-                    "clipping applied.\n"
-                    "=====================================".format(self.veh_id))
+                if self.display_warnings:
+                    print(
+                        "=====================================\n"
+                        "Vehicle {} is about to crash. Instantaneous acceleration "
+                        "clipping applied.\n"
+                        "=====================================".format(self.veh_id))
 
                 return -this_vel / sim_step
             else:
@@ -296,11 +289,12 @@ def safe_velocity(self, env):
         # edge_speed_limit = env.k.network.speed_limit(this_edge)
 
         if this_vel > v_safe:
-            print(
-                "=====================================\n"
-                "Speed of vehicle {} is greater than safe speed. Safe velocity "
-                "clipping applied.\n"
-                "=====================================".format(self.veh_id))
+            if self.display_warnings:
+                print(
+                    "=====================================\n"
+                    "Speed of vehicle {} is greater than safe speed. Safe velocity "
+                    "clipping applied.\n"
+                    "=====================================".format(self.veh_id))
 
         return v_safe
 
@@ -333,11 +327,12 @@ def get_obey_speed_limit_action(self, env, action):
 
         if this_vel + action * sim_step > edge_speed_limit:
             if edge_speed_limit > 0:
-                print(
-                    "=====================================\n"
-                    "Speed of vehicle {} is greater than speed limit. Obey "
-                    "speed limit clipping applied.\n"
-                    "=====================================".format(self.veh_id))
+                if self.display_warnings:
+                    print(
+                        "=====================================\n"
+                        "Speed of vehicle {} is greater than speed limit. Obey "
+                        "speed limit clipping applied.\n"
+                        "=====================================".format(self.veh_id))
                 return (edge_speed_limit - this_vel) / sim_step
             else:
                 return -this_vel / sim_step
@@ -365,19 +360,21 @@ def get_feasible_action(self, action):
         if action > self.max_accel:
             action = self.max_accel
 
-            print(
-                "=====================================\n"
-                "Acceleration of vehicle {} is greater than the max "
-                "acceleration. Feasible acceleration clipping applied.\n"
-                "=====================================".format(self.veh_id))
+            if self.display_warnings:
+                print(
+                    "=====================================\n"
+                    "Acceleration of vehicle {} is greater than the max "
+                    "acceleration. Feasible acceleration clipping applied.\n"
+                    "=====================================".format(self.veh_id))
 
         if action < -self.max_deaccel:
             action = -self.max_deaccel
 
-            print(
-                "=====================================\n"
-                "Deceleration of vehicle {} is greater than the max "
-                "deceleration. Feasible acceleration clipping applied.\n"
-                "=====================================".format(self.veh_id))
+            if self.display_warnings:
+                print(
+                    "=====================================\n"
+                    "Deceleration of vehicle {} is greater than the max "
+                    "deceleration. Feasible acceleration clipping applied.\n"
+                    "=====================================".format(self.veh_id))
 
         return action