feature(xcy): add Metadrive Env and its SEZ configs (#192)

* feature(xcy): add meta drive env

* polish(xcy):change config

* feature(xcy):change metadrive version

* polish(xcy):polish the config and comments

---------

Co-authored-by: 蒲源 <48008469+puyuan1996@users.noreply.github.com>

requirements-build.txt

@@ -1,4 +1,4 @@
 cython>=0.29
 build>=0.7.0
 auditwheel>=4
-numpy>=1.22.4
+numpy>=1.21.6

requirements-doc.txt

@@ -8,7 +8,7 @@ plantumlcli>=0.0.4
 packaging
 sphinx-multiversion~=0.2.4
 where~=1.0.2
-numpy>=1.22.4,<2
+numpy>=1.19,<2
 easydict>=1.7,<2
 scikit-learn>=0.24.2
 nbsphinx>=0.8.8

requirements-test.txt

@@ -11,6 +11,6 @@ pytest-benchmark~=3.4.0
 testtools>=2
 hbutils>=0.6.13
 setuptools<=59.5.0
-numpy>=1.22.4
+numpy>=1.21.6
 easydict>=1.7,<2
 swig >= 4.1.1

requirements.txt

@@ -1,5 +1,6 @@
 DI-engine>=0.4.7
 gymnasium[atari]
+moviepy
 numpy>=1.22.4
 pympler
 minigrid

zoo/metadrive/config/metadrive_sampled_efficientzero_config.py

@@ -0,0 +1,103 @@
+from easydict import EasyDict
+
+# ==============================================================
+# begin of the most frequently changed config specified by the user
+# ==============================================================
+continuous_action_space = True
+K = 20
+collector_env_num = 8
+n_episode = 8
+evaluator_env_num = 3
+num_simulations = 50
+update_per_collect = 200
+batch_size = 64
+max_env_step = int(1e6)
+reanalyze_ratio = 0.
+# ==============================================================
+# end of the most frequently changed config specified by the user
+# ==============================================================
+
+metadrive_sampled_efficientzero_config = dict(
+    exp_name=
+    f'data_sez_ctree/sez_metadrive_old{K}_ns{num_simulations}_upc{update_per_collect}_rr{reanalyze_ratio}_seed0',
+    env=dict(
+        env_name='MetaDrive',
+        continuous=True,
+        obs_shape = [5, 84, 84],
+        manually_discretization=False,
+        collector_env_num=collector_env_num,
+        evaluator_env_num=evaluator_env_num,
+        n_evaluator_episode=evaluator_env_num,
+        manager=dict(shared_memory=False, ),
+        metadrive=dict(
+            use_render=False,
+            traffic_density=0.20,  # Density of vehicles occupying the roads, range in [0,1]
+            map='XSOS',  # Int or string: an easy way to fill map_config
+            horizon=4000,  # Max step number
+            driving_reward=1.0,  # Reward to encourage agent to move forward.
+            speed_reward=0.1,  # Reward to encourage agent to drive at a high speed
+            use_lateral_reward=False,  # reward for lane keeping
+            out_of_road_penalty=40.0,  # Penalty to discourage driving out of road
+            crash_vehicle_penalty=40.0,  # Penalty to discourage collision
+            decision_repeat=10,  # Reciprocal of decision frequency
+            out_of_route_done=True,  # Game over if driving out of road
+        ),
+
+    ),
+    policy=dict(
+        model=dict(
+            observation_shape=[5, 84, 84],
+            action_space_size=2,
+            continuous_action_space=continuous_action_space,
+            num_of_sampled_actions=K,
+            sigma_type='conditioned',
+            model_type='conv',  # options={'mlp', 'conv'}
+            lstm_hidden_size=128,
+            latent_state_dim=128,
+            downsample = True,
+            image_channel=5,
+        ),
+        cuda=True,
+        env_type='not_board_games',
+        game_segment_length=50,
+        update_per_collect=update_per_collect,
+        batch_size=batch_size,
+        optim_type='Adam',
+        lr_piecewise_constant_decay=False,
+        learning_rate=0.003,
+        # NOTE: for continuous gaussian policy, we use the policy_entropy_loss as in the original Sampled MuZero paper.
+        policy_entropy_loss_weight=5e-3,
+        num_simulations=num_simulations,
+        reanalyze_ratio=reanalyze_ratio,
+        n_episode=n_episode,
+        eval_freq=int(2000),
+        replay_buffer_size=int(1e6),  # the size/capacity of replay_buffer, in the terms of transitions.
+        collector_env_num=collector_env_num,
+        evaluator_env_num=evaluator_env_num,
+    ),
+)
+metadrive_sampled_efficientzero_config = EasyDict(metadrive_sampled_efficientzero_config)
+main_config = metadrive_sampled_efficientzero_config
+
+metadrive_sampled_efficientzero_create_config = dict(
+    env=dict(
+        type='metadrive_lightzero',
+        import_names=['zoo.metadrive.env.metadrive_env'],
+    ),
+    env_manager=dict(type='subprocess'),
+    policy=dict(
+        type='sampled_efficientzero',
+        import_names=['lzero.policy.sampled_efficientzero'],
+    ),
+    collector=dict(
+        type='episode_muzero',
+        get_train_sample=True,
+        import_names=['lzero.worker.muzero_collector'],
+    )
+)
+metadrive_sampled_efficientzero_create_config = EasyDict(metadrive_sampled_efficientzero_create_config)
+create_config = metadrive_sampled_efficientzero_create_config
+if __name__ == "__main__":
+
+    from lzero.entry import train_muzero
+    train_muzero([main_config, create_config], seed=0, max_env_step=max_env_step)