├── .gitignore ├── README.md ├── agents ├── ddpg.py ├── dec_ddpg.py ├── dec_ddpg_runner.py ├── maddpg.py ├── maddpg_runner.py ├── nets │ ├── actor_network.py │ └── critic_network.py └── util.py ├── centralized_experiment.py ├── decentralized_experiment.py ├── envs ├── centralized_env.py ├── cont_environment.py └── scenarios │ ├── __init__.py │ ├── formation_w_coll_avoidance.py │ ├── formation_w_goal.py │ ├── simple_custom_vel.py │ └── simple_formation.py ├── experiments ├── ddpg │ └── formation_w_coll_avoidance │ │ ├── 101010 │ │ └── 2021-04-22_22-38-18 │ │ │ ├── average_goal_dist_ddpg.png │ │ │ ├── average_rel_dist_ddpg.png │ │ │ ├── average_traj_ddpg.png │ │ │ ├── avg_rewards.npy │ │ │ ├── images_average_1.gif │ │ │ ├── images_average_2.gif │ │ │ ├── images_last_1.gif │ │ │ ├── images_last_2.gif │ │ │ ├── images_overall_1.gif │ │ │ ├── images_overall_2.gif │ │ │ ├── info_average_1_1.png │ │ │ ├── info_average_1_2.png │ │ │ ├── info_average_1_3.png │ │ │ ├── info_average_2_1.png │ │ │ ├── info_average_2_2.png │ │ │ ├── info_average_2_3.png │ │ │ ├── info_last_1_1.png │ │ │ ├── info_last_1_2.png │ │ │ ├── info_last_1_3.png │ │ │ ├── info_last_2_1.png │ │ │ ├── info_last_2_2.png │ │ │ ├── info_last_2_3.png │ │ │ ├── info_overall_1_1.png │ │ │ ├── info_overall_1_2.png │ │ │ ├── info_overall_1_3.png │ │ │ ├── info_overall_2_1.png │ │ │ ├── info_overall_2_2.png │ │ │ ├── info_overall_2_3.png │ │ │ ├── rewards.npy │ │ │ └── train_data.png │ │ └── report │ │ └── 2021-04-21_21-49-28 │ │ ├── avg_rewards.npy │ │ ├── images_average_1.gif │ │ ├── images_average_2.gif │ │ ├── images_last_1.gif │ │ ├── images_last_2.gif │ │ ├── images_overall_1.gif │ │ ├── images_overall_2.gif │ │ ├── rewards.npy │ │ └── train_data.png ├── decddpg │ └── formation_w_coll_avoidance │ │ ├── 101010 │ │ └── 2021-04-22_22-40-50 │ │ │ ├── avg_rewards.npy │ │ │ ├── images_average_1.gif │ │ │ ├── images_average_2.gif │ │ │ ├── images_last_1.gif │ │ │ ├── images_last_2.gif │ │ │ ├── images_overall_1.gif │ │ │ ├── images_overall_2.gif │ │ │ ├── info_average_1_1.png │ │ │ ├── info_average_1_2.png │ │ │ ├── info_average_1_3.png │ │ │ ├── info_average_2_1.png │ │ │ ├── info_average_2_2.png │ │ │ ├── info_average_2_3.png │ │ │ ├── info_last_1_1.png │ │ │ ├── info_last_1_2.png │ │ │ ├── info_last_1_3.png │ │ │ ├── info_last_2_1.png │ │ │ ├── info_last_2_2.png │ │ │ ├── info_last_2_3.png │ │ │ ├── info_overall_1_1.png │ │ │ ├── info_overall_1_2.png │ │ │ ├── info_overall_1_3.png │ │ │ ├── info_overall_2_1.png │ │ │ ├── info_overall_2_2.png │ │ │ ├── info_overall_2_3.png │ │ │ ├── rewards.npy │ │ │ └── train_data.png │ │ └── report │ │ └── 2021-04-22_00-30-17 │ │ ├── avg_rewards.npy │ │ ├── images_average_1.gif │ │ ├── images_average_2.gif │ │ ├── images_last_1.gif │ │ ├── images_last_2.gif │ │ ├── images_overall_1.gif │ │ ├── images_overall_2.gif │ │ ├── rewards.npy │ │ └── train_data.png └── maddpg │ └── formation_w_coll_avoidance │ ├── 101010 │ └── 2021-04-22_20-00-14 │ │ ├── average_goal_dist_maddpg.png │ │ ├── average_rel_dist_maddpg.png │ │ ├── average_traj_maddpg.png │ │ ├── avg_rewards.npy │ │ ├── images_average_1.gif │ │ ├── images_average_2.gif │ │ ├── images_last_1.gif │ │ ├── images_last_2.gif │ │ ├── images_overall_1.gif │ │ ├── images_overall_2.gif │ │ ├── info_average_1_1.png │ │ ├── info_average_1_2.png │ │ ├── info_average_1_3.png │ │ ├── info_average_2_1.png │ │ ├── info_average_2_2.png │ │ ├── info_average_2_3.png │ │ ├── info_last_1_1.png │ │ ├── info_last_1_2.png │ │ ├── info_last_1_3.png │ │ ├── info_last_2_1.png │ │ ├── info_last_2_2.png │ │ ├── info_last_2_3.png │ │ ├── info_overall_1_1.png │ │ ├── info_overall_1_2.png │ │ ├── info_overall_1_3.png │ │ ├── info_overall_2_1.png │ │ ├── info_overall_2_2.png │ │ ├── info_overall_2_3.png │ │ ├── rewards.npy │ │ └── train_data.png │ └── report │ ├── 2021-04-21_21-48-36 │ ├── avg_rewards.npy │ ├── images_average_1.gif │ ├── images_average_2.gif │ ├── images_last_1.gif │ ├── images_last_2.gif │ ├── images_overall_1.gif │ ├── images_overall_2.gif │ ├── rewards.npy │ └── train_data.png │ └── 2021-04-22_19-36-15 │ ├── images_average_1.gif │ ├── images_average_2.gif │ ├── images_last_1.gif │ ├── images_last_2.gif │ ├── images_overall_1.gif │ ├── images_overall_2.gif │ ├── info_average_1_1.png │ ├── info_average_1_2.png │ ├── info_average_1_3.png │ ├── info_average_2_1.png │ ├── info_average_2_2.png │ ├── info_average_2_3.png │ ├── info_last_1_1.png │ ├── info_last_1_2.png │ ├── info_last_1_3.png │ ├── info_last_2_1.png │ ├── info_last_2_2.png │ ├── info_last_2_3.png │ ├── info_overall_1_1.png │ ├── info_overall_1_2.png │ ├── info_overall_1_3.png │ ├── info_overall_2_1.png │ ├── info_overall_2_2.png │ └── info_overall_2_3.png ├── img ├── info_average_2_1.png ├── info_average_2_2.png ├── info_average_2_3.png └── training_data.png ├── plot_training.py ├── requirements.txt ├── train_and_test └── util.py └── weights ├── ddpgformation_w_coll_avoidancereport ├── _actor_best.data-00000-of-00001 ├── _actor_best.index ├── _actor_best_average.data-00000-of-00001 ├── _actor_best_average.index ├── _critic_best.data-00000-of-00001 ├── _critic_best.index ├── _critic_best_average.data-00000-of-00001 ├── _critic_best_average.index ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── ddpgsimple_formation1000it1_vel_1_acc_2 ├── _actor_best.data-00000-of-00001 ├── _actor_best.index ├── _actor_best_average.data-00000-of-00001 ├── _actor_best_average.index ├── _critic_best.data-00000-of-00001 ├── _critic_best.index ├── _critic_best_average.data-00000-of-00001 ├── _critic_best_average.index ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── dec-ddpgformation_w_coll_avoidance1010100 ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── dec-ddpgformation_w_coll_avoidance1010101 ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── dec-ddpgformation_w_coll_avoidance1010102 ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── dec-ddpgformation_w_coll_avoidancereport0 ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── dec-ddpgformation_w_coll_avoidancereport1 ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── dec-ddpgformation_w_coll_avoidancereport2 ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgformation_w_coll_avoidance1010100 ├── _actor_best.data-00000-of-00001 ├── _actor_best.index ├── _actor_best_average.data-00000-of-00001 ├── _actor_best_average.index ├── _critic_best.data-00000-of-00001 ├── _critic_best.index ├── _critic_best_average.data-00000-of-00001 ├── _critic_best_average.index ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgformation_w_coll_avoidance1010101 ├── _actor_best.data-00000-of-00001 ├── _actor_best.index ├── _actor_best_average.data-00000-of-00001 ├── _actor_best_average.index ├── _critic_best.data-00000-of-00001 ├── _critic_best.index ├── _critic_best_average.data-00000-of-00001 ├── _critic_best_average.index ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgformation_w_coll_avoidance1010102 ├── _actor_best.data-00000-of-00001 ├── _actor_best.index ├── _actor_best_average.data-00000-of-00001 ├── _actor_best_average.index ├── _critic_best.data-00000-of-00001 ├── _critic_best.index ├── _critic_best_average.data-00000-of-00001 ├── _critic_best_average.index ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgformation_w_coll_avoidancereport0 ├── _actor_best.data-00000-of-00001 ├── _actor_best.index ├── _actor_best_average.data-00000-of-00001 ├── _actor_best_average.index ├── _critic_best.data-00000-of-00001 ├── _critic_best.index ├── _critic_best_average.data-00000-of-00001 ├── _critic_best_average.index ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgformation_w_coll_avoidancereport1 ├── _actor_best.data-00000-of-00001 ├── _actor_best.index ├── _actor_best_average.data-00000-of-00001 ├── _actor_best_average.index ├── _critic_best.data-00000-of-00001 ├── _critic_best.index ├── _critic_best_average.data-00000-of-00001 ├── _critic_best_average.index ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgformation_w_coll_avoidancereport2 ├── _actor_best.data-00000-of-00001 ├── _actor_best.index ├── _actor_best_average.data-00000-of-00001 ├── _actor_best_average.index ├── _critic_best.data-00000-of-00001 ├── _critic_best.index ├── _critic_best_average.data-00000-of-00001 ├── _critic_best_average.index ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgformation_w_goal0 ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgformation_w_goal1 ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgformation_w_goal1000it1_vel_1_acc_20 ├── _actor_best.data-00000-of-00001 ├── _actor_best.index ├── _actor_best_average.data-00000-of-00001 ├── _actor_best_average.index ├── _critic_best.data-00000-of-00001 ├── _critic_best.index ├── _critic_best_average.data-00000-of-00001 ├── _critic_best_average.index ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgformation_w_goal1000it1_vel_1_acc_21 ├── _actor_best.data-00000-of-00001 ├── _actor_best.index ├── _actor_best_average.data-00000-of-00001 ├── _actor_best_average.index ├── _critic_best.data-00000-of-00001 ├── _critic_best.index ├── _critic_best_average.data-00000-of-00001 ├── _critic_best_average.index ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgformation_w_goal1000it1_vel_1_acc_22 ├── _actor_best.data-00000-of-00001 ├── _actor_best.index ├── _actor_best_average.data-00000-of-00001 ├── _actor_best_average.index ├── _critic_best.data-00000-of-00001 ├── _critic_best.index ├── _critic_best_average.data-00000-of-00001 ├── _critic_best_average.index ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgformation_w_goal2 ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgsimple_formation0 ├── actor.data-00000-of-00001 ├── actor.index ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgsimple_formation1 ├── actor.data-00000-of-00001 ├── actor.index ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgsimple_formation1000it1_vel_1_acc_20 ├── _actor_best.data-00000-of-00001 ├── _actor_best.index ├── _actor_best_average.data-00000-of-00001 ├── _actor_best_average.index ├── _critic_best.data-00000-of-00001 ├── _critic_best.index ├── _critic_best_average.data-00000-of-00001 ├── _critic_best_average.index ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgsimple_formation1000it1_vel_1_acc_21 ├── _actor_best.data-00000-of-00001 ├── _actor_best.index ├── _actor_best_average.data-00000-of-00001 ├── _actor_best_average.index ├── _critic_best.data-00000-of-00001 ├── _critic_best.index ├── _critic_best_average.data-00000-of-00001 ├── _critic_best_average.index ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index ├── maddpgsimple_formation1000it1_vel_1_acc_22 ├── _actor_best.data-00000-of-00001 ├── _actor_best.index ├── _actor_best_average.data-00000-of-00001 ├── _actor_best_average.index ├── _critic_best.data-00000-of-00001 ├── _critic_best.index ├── _critic_best_average.data-00000-of-00001 ├── _critic_best_average.index ├── actor.data-00000-of-00001 ├── actor.index ├── checkpoint ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index └── maddpgsimple_formation2 ├── actor.data-00000-of-00001 ├── actor.index ├── critic.data-00000-of-00001 ├── critic.index ├── target_actor.data-00000-of-00001 ├── target_actor.index ├── target_critic.data-00000-of-00001 └── target_critic.index /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | pip-wheel-metadata/ 24 | share/python-wheels/ 25 | *.egg-info/ 26 | .installed.cfg 27 | *.egg 28 | MANIFEST 29 | 30 | # PyInstaller 31 | # Usually these files are written by a python script from a template 32 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 33 | *.manifest 34 | *.spec 35 | 36 | # Installer logs 37 | pip-log.txt 38 | pip-delete-this-directory.txt 39 | 40 | # Unit test / coverage reports 41 | htmlcov/ 42 | .tox/ 43 | .nox/ 44 | .coverage 45 | .coverage.* 46 | .cache 47 | nosetests.xml 48 | coverage.xml 49 | *.cover 50 | *.py,cover 51 | .hypothesis/ 52 | .pytest_cache/ 53 | 54 | # Translations 55 | *.mo 56 | *.pot 57 | 58 | # Django stuff: 59 | *.log 60 | local_settings.py 61 | db.sqlite3 62 | db.sqlite3-journal 63 | 64 | # Flask stuff: 65 | instance/ 66 | .webassets-cache 67 | 68 | # Scrapy stuff: 69 | .scrapy 70 | 71 | # Sphinx documentation 72 | docs/_build/ 73 | 74 | # PyBuilder 75 | target/ 76 | 77 | # Jupyter Notebook 78 | .ipynb_checkpoints 79 | 80 | # IPython 81 | profile_default/ 82 | ipython_config.py 83 | 84 | # pyenv 85 | .python-version 86 | 87 | # pipenv 88 | # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. 89 | # However, in case of collaboration, if having platform-specific dependencies or dependencies 90 | # having no cross-platform support, pipenv may install dependencies that don't work, or not 91 | # install all needed dependencies. 92 | #Pipfile.lock 93 | 94 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow 95 | __pypackages__/ 96 | 97 | # Celery stuff 98 | celerybeat-schedule 99 | celerybeat.pid 100 | 101 | # SageMath parsed files 102 | *.sage.py 103 | 104 | # Environments 105 | .env 106 | .venv 107 | env/ 108 | venv/ 109 | ENV/ 110 | env.bak/ 111 | venv.bak/ 112 | 113 | # Spyder project settings 114 | .spyderproject 115 | .spyproject 116 | 117 | # Rope project settings 118 | .ropeproject 119 | 120 | # mkdocs documentation 121 | /site 122 | 123 | # mypy 124 | .mypy_cache/ 125 | .dmypy.json 126 | dmypy.json 127 | 128 | # Pyre type checker 129 | .pyre/ 130 | -------------------------------------------------------------------------------- /agents/nets/actor_network.py: -------------------------------------------------------------------------------- 1 | import tensorflow as tf 2 | from tensorflow.keras.layers import Input, Dense, LSTM, BatchNormalization, Concatenate 3 | from tensorflow.keras.layers import Convolution2D, MaxPooling2D, Flatten, Reshape, Lambda 4 | from tensorflow.keras.layers import TimeDistributed 5 | 6 | # A very simple actor network implementations for testing 7 | def generate_actor_network( 8 | num_states, 9 | num_actions, 10 | actions_max 11 | ): 12 | 13 | initializer = tf.random_uniform_initializer(minval=-3e-3, maxval=3e-3) 14 | inputs = Input(shape=(num_states,)) 15 | 16 | out = Dense(256, activation="relu")(inputs) 17 | out = Dense(256, activation="relu")(out) 18 | outputs = Dense(num_actions, activation="tanh", kernel_initializer=initializer)(out) 19 | # Assumes the actions are equal in each direction 20 | outputs = outputs * actions_max 21 | model = tf.keras.Model(inputs, outputs) 22 | 23 | return model 24 | 25 | def generate_baseline_actor_network( 26 | num_float_states, 27 | shape_img_states, 28 | num_actions, 29 | actions_max 30 | ): 31 | 32 | # Initialize our output state to not make our gradient immediately disappear or explode 33 | initializer = tf.random_uniform_initializer(minval=-3e-3, maxval=3e-3) 34 | 35 | # Float state network - A simple dense network 36 | float_input = Input(shape=num_float_states) 37 | dense = Dense(64)(float_input) 38 | #dense = Dense(64)(dense) 39 | float_state_out = Dense(32)(dense) 40 | 41 | # We treat the inputs like a collection of floats 42 | img_input = Input(shape=shape_img_states) 43 | flatten = Flatten()(img_input) 44 | img_state_out = Dense(32)(flatten) 45 | 46 | concat = Concatenate()([float_state_out, img_state_out]) 47 | 48 | out = Dense(64, activation="relu")(concat) 49 | out = Dense(64, activation="relu")(out) 50 | outputs = Dense(num_actions, activation="tanh", kernel_initializer=initializer)(out) 51 | # Assumes the actions are equal in each direction 52 | outputs = outputs * actions_max 53 | model = tf.keras.Model([float_input, img_input], outputs) 54 | 55 | return model 56 | 57 | 58 | # A very simple actor network implementations for testing 59 | def generate_cnnlstm_actor_network( 60 | num_float_states, 61 | shape_img_states, 62 | num_actions, 63 | actions_max 64 | ): 65 | 66 | # Initialize our output state to not make our gradient immediately disappear or explode 67 | initializer = tf.random_uniform_initializer(minval=-3e-3, maxval=3e-3) 68 | 69 | # Float state network - A simple dense network 70 | float_input = Input(shape=num_float_states) 71 | dense = Dense(64)(float_input) 72 | #dense = Dense(64)(dense) 73 | float_state_out = Dense(32)(dense) 74 | 75 | # CNNLSTM for the image input 76 | # CNN Portion First 77 | img_input = Input(shape=shape_img_states) 78 | conv_2d = TimeDistributed(Convolution2D(3, (3, 3))) (img_input) 79 | max_pool = TimeDistributed(MaxPooling2D(pool_size=(2,2))) (conv_2d) 80 | #conv_2d = TimeDistributed(Convolution2D(3, (3, 3))) (max_pool) 81 | #max_pool = TimeDistributed(MaxPooling2D(pool_size=(2,2))) (conv_2d) 82 | flatten = TimeDistributed(Flatten())(max_pool) 83 | # LSTM Portion Now 84 | lstm = LSTM(units=32)(flatten) 85 | #lstm = LSTM(units=64)(lstm) 86 | img_state_out = Dense(32)(lstm) 87 | 88 | concat = Concatenate()([float_state_out, img_state_out]) 89 | 90 | out = Dense(64, activation="relu")(concat) 91 | out = Dense(64, activation="relu")(out) 92 | outputs = Dense(num_actions, activation="tanh", kernel_initializer=initializer)(out) 93 | # Assumes the actions are equal in each direction 94 | outputs = outputs * actions_max 95 | model = tf.keras.Model([float_input, img_input], outputs) 96 | 97 | return model 98 | 99 | -------------------------------------------------------------------------------- /agents/nets/critic_network.py: -------------------------------------------------------------------------------- 1 | import tensorflow as tf 2 | from tensorflow.keras.layers import Input, Dense, LSTM, BatchNormalization, Concatenate 3 | from tensorflow.keras.layers import Convolution2D, MaxPooling2D, Flatten, Reshape, Lambda 4 | from tensorflow.keras.layers import TimeDistributed 5 | 6 | # A very simple actor network implementations for testing 7 | def generate_critic_network( 8 | num_states, 9 | num_actions 10 | ): 11 | 12 | initializer = tf.random_uniform_initializer(minval=-3e-3, maxval=3e-3) 13 | 14 | # State as input 15 | state_input = tf.keras.layers.Input(shape=(num_states)) 16 | state_out = tf.keras.layers.Dense(16, activation="relu")(state_input) 17 | state_out = tf.keras.layers.Dense(32, activation="relu")(state_out) 18 | 19 | # Action as input 20 | action_input = tf.keras.layers.Input(shape=(num_actions)) 21 | action_out = tf.keras.layers.Dense(32, activation="relu")(action_input) 22 | 23 | # Both are passed through seperate layer before concatenating 24 | concat = tf.keras.layers.Concatenate()([state_out, action_out]) 25 | 26 | out = tf.keras.layers.Dense(128, activation="relu")(concat) 27 | out = tf.keras.layers.Dense(128, activation="relu")(out) 28 | outputs = tf.keras.layers.Dense(1)(out) 29 | 30 | # Outputs single value for given state-action 31 | model = tf.keras.Model([state_input, action_input], outputs) 32 | 33 | return model 34 | 35 | def generate_baseline_critic_network( 36 | num_float_states, 37 | shape_img_states, 38 | num_actions 39 | ): 40 | 41 | initializer = tf.random_uniform_initializer(minval=-3e-3, maxval=3e-3) 42 | 43 | # State as input 44 | state_float_input = Input(shape=num_float_states) 45 | state_out = Dense(16, activation="relu")(state_float_input) 46 | state_out = Dense(32, activation="relu")(state_out) 47 | 48 | # For a baseline, just use a dense network 49 | state_img_input = Input(shape=(shape_img_states)) 50 | flatten = Flatten()(state_img_input) 51 | img_state_out = Dense(32)(flatten) 52 | 53 | # Action as input 54 | action_input = Input(shape=(num_actions)) 55 | action_out = Dense(32, activation="relu")(action_input) 56 | 57 | # Both are passed through seperate layer before concatenating 58 | concat = Concatenate()([state_out, img_state_out, action_out]) 59 | 60 | out = Dense(64, activation="relu")(concat) 61 | out = Dense(64, activation="relu")(out) 62 | outputs = Dense(1)(out) 63 | 64 | # Outputs single value for given state-action 65 | model = tf.keras.Model([state_float_input, state_img_input, action_input], outputs) 66 | 67 | return model 68 | 69 | 70 | 71 | def generate_cnnlstm_critic_network( 72 | num_float_states, 73 | shape_img_states, 74 | num_actions 75 | ): 76 | 77 | initializer = tf.random_uniform_initializer(minval=-3e-3, maxval=3e-3) 78 | 79 | # State as input 80 | state_float_input = Input(shape=num_float_states) 81 | state_out = Dense(16, activation="relu")(state_float_input) 82 | state_out = Dense(32, activation="relu")(state_out) 83 | 84 | # CNNLSTM for the image input 85 | # CNN Portion First 86 | state_img_input = Input(shape=(shape_img_states)) 87 | conv_2d = TimeDistributed(Convolution2D(32, (3, 3))) (state_img_input) 88 | max_pool = TimeDistributed(MaxPooling2D(pool_size=(2,2))) (conv_2d) 89 | #conv_2d = TimeDistributed(Convolution2D(32, (3, 3)))(max_pool) 90 | #max_pool = TimeDistributed(MaxPooling2D(pool_size=(2,2))) (conv_2d) 91 | flatten = TimeDistributed(Flatten())(max_pool) 92 | # LSTM Portion Now 93 | lstm = LSTM(units=32)(flatten) 94 | #lstm = LSTM(units=64)(lstm) 95 | img_state_out = Dense(32)(lstm) 96 | 97 | # Action as input 98 | action_input = Input(shape=(num_actions)) 99 | action_out = Dense(32, activation="relu")(action_input) 100 | 101 | # Both are passed through seperate layer before concatenating 102 | concat = Concatenate()([state_out, img_state_out, action_out]) 103 | 104 | out = Dense(64, activation="relu")(concat) 105 | out = Dense(64, activation="relu")(out) 106 | outputs = Dense(1)(out) 107 | 108 | # Outputs single value for given state-action 109 | model = tf.keras.Model([state_float_input, state_img_input, action_input], outputs) 110 | 111 | return model 112 | 113 | -------------------------------------------------------------------------------- /agents/util.py: -------------------------------------------------------------------------------- 1 | # Adapted partiall from https://keras.io/examples/rl/ddpg_pendulum/ 2 | 3 | import numpy as np 4 | import random 5 | import tensorflow as tf 6 | 7 | 8 | class ReplayBuffer(object): 9 | 10 | def __init__(self, num_states, num_actions, num_agents=1, buffer_capacity=100000): 11 | # number of "experiences" to store at max 12 | self.buffer_capacity = buffer_capacity 13 | 14 | # its tells us num of times record() was called. 15 | self.buffer_counter = 0 16 | 17 | # instead of list of tuples as the exp.replay concept go 18 | # we use different np.arrays for each tuple element 19 | self.state_buffer = np.zeros((self.buffer_capacity, num_states)) 20 | self.action_buffer = np.zeros((self.buffer_capacity, num_actions)) 21 | self.reward_buffer = np.zeros((self.buffer_capacity, num_agents)) 22 | self.next_state_buffer = np.zeros((self.buffer_capacity, num_states)) 23 | self.done_buffer = np.zeros((self.buffer_capacity, num_agents)) 24 | 25 | # takes (s,a,r,s') obervation tuple as input 26 | def add(self, obs_tuple): 27 | # set index to zero if buffer_capacity is exceeded, 28 | # replacing old records 29 | index = self.buffer_counter % self.buffer_capacity 30 | 31 | self.state_buffer[index] = obs_tuple[0] 32 | self.action_buffer[index] = obs_tuple[1] 33 | self.reward_buffer[index] = obs_tuple[2] 34 | self.next_state_buffer[index] = obs_tuple[3] 35 | self.done_buffer[index] = obs_tuple[4] 36 | 37 | self.buffer_counter += 1 38 | 39 | def sample_batch(self, batch_size=64): 40 | # Get sampling range 41 | record_range = min(self.buffer_counter, self.buffer_capacity) 42 | # Randomly sample indices 43 | batch_indices = np.random.choice(record_range, batch_size) 44 | 45 | # Convert to tensors 46 | state_batch = tf.convert_to_tensor(self.state_buffer[batch_indices]) 47 | action_batch = tf.convert_to_tensor(self.action_buffer[batch_indices]) 48 | reward_batch = tf.convert_to_tensor(self.reward_buffer[batch_indices]) 49 | reward_batch = tf.cast(reward_batch, dtype=tf.float32) 50 | next_state_batch = tf.convert_to_tensor(self.next_state_buffer[batch_indices]) 51 | done_batch = tf.convert_to_tensor(self.done_buffer[batch_indices]) 52 | 53 | return (state_batch, action_batch, reward_batch, next_state_batch, done_batch) 54 | 55 | def clear(self): 56 | self._buffer.clear() 57 | 58 | 59 | # Class for Ornstein-Uhlenbeck Process 60 | class OUNoise(object): 61 | def __init__(self, mean, std_dev, theta=0.15, dt=1e-2): 62 | self._theta = theta 63 | self._mean = mean 64 | self._std_dev = std_dev 65 | self._dt = dt 66 | self.clear() 67 | 68 | def __call__(self): 69 | x = ( self._x_prev + 70 | self._theta * (self._mean - self._x_prev) * self._dt + 71 | self._std_dev * np.sqrt(self._dt) * np.random.normal(size=self._mean.shape) 72 | ) 73 | self._x_prev = x 74 | return x 75 | 76 | def clear(self): 77 | self._x_prev = np.zeros_like(self._mean) 78 | 79 | -------------------------------------------------------------------------------- /centralized_experiment.py: -------------------------------------------------------------------------------- 1 | from agents import ddpg 2 | from envs.centralized_env import CentralizedEnvWrapper 3 | from train_and_test.util import * 4 | import argparse 5 | 6 | parser = argparse.ArgumentParser(description='File to run experiments for som scenario with a centralized agent.') 7 | parser.add_argument('--scenario', dest='scenario_name', default='formation_w_coll_avoidance', 8 | help='Name of the scenario we want to run: formation_w_coll_avoidance, formation_w_goal or simple_formation') 9 | 10 | parser.add_argument('--num_eps', dest='num_eps', default=1000, 11 | help='Number of episodes to train for.', type=int) 12 | 13 | parser.add_argument('--save_images', dest='images', default='True', 14 | help='True to save images and gifs, anything else not to.') 15 | 16 | parser.add_argument('--save_models', dest='save_model', default='True', 17 | help='True to save models, anything not to.') 18 | 19 | parser.add_argument('--load_models', dest='load_model', default='False', 20 | help='True to load models, anything else not to.') 21 | 22 | parser.add_argument('--train', dest='train', default='True', 23 | help='True to train models, anything else not to.') 24 | 25 | parser.add_argument('--save_suffix', dest='save_suffix', default="", 26 | help='Suffix for saving the file.') 27 | 28 | parser.add_argument('--load_suffix', dest='load_suffix', default="", 29 | help='Suffix for loading the file.') 30 | 31 | 32 | args = parser.parse_args() 33 | 34 | # Start Experiment 35 | # Experiment path 36 | if args.images=='True': 37 | dir = generate_path("./experiments/" + "/ddpg/" + args.scenario_name + "/" + args.save_suffix) 38 | 39 | # Create the DDPG agent and the centralized environment 40 | env = CentralizedEnvWrapper(make_env(args.scenario_name)) 41 | agent = ddpg.DDPGAgent(env) 42 | 43 | # Load a trained model with the given path 44 | if args.load_model=='True': 45 | agent.load_models(suffix=args.scenario_name + args.load_suffix) 46 | 47 | num_episodes = args.num_eps 48 | num_steps = 300 49 | 50 | # Train the agent 51 | if args.train=='True': 52 | print("Training Model") 53 | rewards, avg_rewards, info = agent.train(num_episodes=num_episodes, num_steps=num_steps) 54 | 55 | # Save the model if specified 56 | if args.save_model=='True': 57 | agent.save_models(suffix=args.scenario_name+args.save_suffix) 58 | 59 | # Run the agents with the last policy, the best overall policy, and the best average policy based on episodic reward 60 | states_last_1, episodic_reward_last_1, info_last_1, images_last_1 = agent.run_episode(num_steps, waitTime = 0,mode='rgb_array') 61 | states_last_2, episodic_reward_last_2, info_last_2, images_last_2 = agent.run_episode(num_steps, waitTime = 0,mode='rgb_array') 62 | states_overall_1, episodic_reward_overall_1, info_last_overall_1, images_overall_1 = agent.run_episode(num_steps, waitTime = 0, mode='rgb_array', policy_param='best_overall') 63 | states_overall_2, episodic_reward_overall_2, info_last_overall_2, images_overall_2 = agent.run_episode(num_steps, waitTime = 0, mode='rgb_array', policy_param='best_overall') 64 | states_average_1, episodic_reward_average_1, info_last_average_1, images_average_1 = agent.run_episode(num_steps, waitTime = 0, mode='rgb_array', policy_param='best_average') 65 | states_average_2, episodic_reward_average_2, info_last_average_2, images_average_2 = agent.run_episode(num_steps, waitTime = 0, mode='rgb_array', policy_param='best_average') 66 | env.close() 67 | 68 | # Save the gifs from our runs 69 | if args.images=='True': 70 | save_render(dir + "/images_last_1.gif", images_last_1) 71 | save_render(dir + "/images_last_2.gif", images_last_2) 72 | save_render(dir + "/images_overall_1.gif", images_overall_1) 73 | save_render(dir + "/images_overall_2.gif", images_overall_2) 74 | save_render(dir + "/images_average_1.gif", images_average_1) 75 | save_render(dir + "/images_average_2.gif", images_average_2) 76 | 77 | # Plot training data 78 | if ((args.train=='True') & (args.images=='True')): 79 | np.save(dir+'rewards', rewards) 80 | np.save(dir+'avg_rewards', avg_rewards) 81 | plot_train_data(rewards, avg_rewards, path=dir+'train_data.png') 82 | 83 | # Plot information on the agent behaviour 84 | if args.images=='True': 85 | plot_episode_data(args.scenario_name, info_last_1, path=dir, file_name = 'info_last_1') 86 | plot_episode_data(args.scenario_name, info_last_2, path=dir, file_name = 'info_last_2') 87 | plot_episode_data(args.scenario_name, info_last_overall_1, path=dir, file_name = 'info_overall_1') 88 | plot_episode_data(args.scenario_name, info_last_overall_2, path=dir, file_name = 'info_overall_2') 89 | plot_episode_data(args.scenario_name, info_last_average_1, path=dir, file_name = 'info_average_1') 90 | plot_episode_data(args.scenario_name, info_last_average_2, path=dir, file_name = 'info_average_2') 91 | 92 | plt.show() 93 | 94 | 95 | 96 | -------------------------------------------------------------------------------- /envs/centralized_env.py: -------------------------------------------------------------------------------- 1 | import gym 2 | from gym import spaces 3 | from gym.envs.registration import EnvSpec 4 | import numpy as np 5 | from envs.cont_environment import ContMultiAgentEnv 6 | 7 | 8 | class CentralizedEnvWrapper(): 9 | 10 | def __init__(self, env): 11 | self.env = env 12 | # We assume that each observation space is identical 13 | num_obs = len(env.observation_space) 14 | single_obs = env.observation_space[0].shape[0] 15 | total_obs = single_obs*num_obs 16 | #shape = (*single_obs_shape, num_obs,) 17 | lows = np.reshape(np.array([a.low for a in env.observation_space]), (total_obs,)) 18 | highs = np.reshape(np.array([a.high for a in env.observation_space]), (total_obs,)) 19 | self.observation_space = spaces.Box(lows, highs)#, shape=shape) 20 | 21 | self.num_agents = len(env.action_space) 22 | self.acts_per_agent = env.action_space[0].shape[0] 23 | total_acts = self.num_agents*self.acts_per_agent 24 | act_lows = np.reshape(np.array([a.low for a in env.action_space]), (total_acts,)) 25 | act_highs = np.reshape(np.array([a.high for a in env.action_space]), (total_acts,)) 26 | self.action_space = spaces.Box(act_lows, act_highs)#, shape=shape) 27 | 28 | # Multiple observations into a single one 29 | def join_lists(self, lists): 30 | out_list = [] 31 | for list in lists: 32 | out_list.extend(list) 33 | return out_list 34 | 35 | # ONe list of actions into N sets of actions for N agents 36 | def split_actions(self, actions): 37 | out_actions = [] 38 | for i in range(self.num_agents): 39 | agent_acts = actions[0][i*self.acts_per_agent:(i + 1)*self.acts_per_agent] 40 | out_actions.append(agent_acts) 41 | return out_actions 42 | 43 | def reset(self): 44 | states = self.env.reset() 45 | return self.join_lists(states) 46 | 47 | def step(self, action): 48 | split_acts = self.split_actions(action) 49 | state, reward, done, info = self.env.step(split_acts) 50 | state = self.join_lists(state) 51 | # Use the sum as we are centralized 52 | reward = np.sum(reward) 53 | done = done[0] 54 | 55 | return state, reward, done, info 56 | 57 | def render(self, mode='human'): 58 | results = self.env.render(mode) 59 | return results 60 | 61 | def close(self): 62 | for i in range(len(self.env.viewers)): 63 | self.env.viewers[i].close() 64 | self.env.close() 65 | 66 | def sample(self): 67 | return [np.array(self.action_space.sample())] 68 | -------------------------------------------------------------------------------- /envs/scenarios/__init__.py: -------------------------------------------------------------------------------- 1 | import imp 2 | import os.path as osp 3 | 4 | 5 | def load(name): 6 | pathname = osp.join(osp.dirname(__file__), name) 7 | return imp.load_source('', pathname) 8 | -------------------------------------------------------------------------------- /envs/scenarios/formation_w_goal.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | from multiagent.core import World, Agent, Landmark 3 | from multiagent.scenario import BaseScenario 4 | 5 | class Scenario(BaseScenario): 6 | def make_world(self): 7 | world = World() 8 | num_agents = 3 9 | # add agents 10 | world.agents = [Agent() for i in range(num_agents)] 11 | for i, agent in enumerate(world.agents): 12 | agent.name = 'agent %d' % i 13 | agent.collide = False 14 | agent.silent = True 15 | agent.max_speed = 1.0 # None 16 | agent.accel = 2.0#standard is none but later used as 5 17 | 18 | # Add obstacles 19 | world.landmarks = [Landmark()] 20 | 21 | # make initial conditions 22 | self.goal_dist = 1.0 23 | self.reset_world(world) 24 | return world 25 | 26 | def reset_world(self, world): 27 | 28 | for i, landmark in enumerate(world.landmarks): 29 | landmark.color = np.array([0.1, 0.1, 0.1]) 30 | landmark.color[1] += 0.8 31 | landmark.index = i 32 | 33 | # Set a random goal position 34 | self.goal_pos = np.random.uniform(-3, +3, world.dim_p) 35 | 36 | world.landmarks[0].state.p_pos = self.goal_pos 37 | world.landmarks[0].state.p_vel = np.zeros(world.dim_p) 38 | 39 | # set random initial states 40 | for agent in world.agents: 41 | agent.color = np.array([0.25,0.25,0.25]) 42 | agent.state.p_pos = np.random.uniform(-1,+1, world.dim_p) 43 | agent.state.p_vel = np.zeros(world.dim_p) 44 | agent.state.c = np.zeros(world.dim_c) 45 | 46 | 47 | def rel_pos_cost(self, pos1, pos2): 48 | # Distance is the l1 Norm 49 | dist = np.linalg.norm(pos1 - pos2) 50 | # Cost is 0 at specified distance, larger otherwise 51 | cost = -abs(dist-self.goal_dist)#max(-abs((dist - self.goal_dist)/(dist)), -1.0) 52 | return cost 53 | 54 | def reward(self, agent, world): 55 | total_cost = 0.0 56 | # Accumulate costs from each agent to each other agent 57 | for other in world.agents: 58 | if agent != other: 59 | total_cost += self.rel_pos_cost(agent.state.p_pos, other.state.p_pos) 60 | 61 | # distance for cost from goal pos 62 | dist_from_goal = np.linalg.norm(agent.state.p_pos - self.goal_pos) 63 | 64 | total_cost -= dist_from_goal 65 | 66 | # Add a cost for movement 67 | total_cost -= np.sum(abs(agent.state.p_vel)) 68 | return total_cost 69 | 70 | # Our observation include every agents velocity and our current positions 71 | def observation(self, agent, world): 72 | obs = agent.state.p_vel 73 | obs = np.append(obs, self.goal_dist) 74 | for other in world.agents: 75 | if agent != other: 76 | rel_pos = (agent.state.p_pos - other.state.p_pos) 77 | obs = np.concatenate([obs, rel_pos, other.state.p_vel]) 78 | 79 | rel_goal = agent.state.p_pos - self.goal_pos 80 | obs = np.concatenate([obs, rel_goal]) 81 | 82 | return obs 83 | 84 | def info(self,agent, world): 85 | return self.goal_pos 86 | 87 | # In this scenario, we only go terminal if there is a collision 88 | def done(self, agent, world): 89 | return False 90 | 91 | 92 | -------------------------------------------------------------------------------- /envs/scenarios/simple_custom_vel.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | from multiagent.core import World, Agent, Landmark 3 | from multiagent.scenario import BaseScenario 4 | 5 | class Scenario(BaseScenario): 6 | def make_world(self): 7 | world = World() 8 | # add agents 9 | world.agents = [Agent() for i in range(1)] 10 | for i, agent in enumerate(world.agents): 11 | agent.name = 'agent %d' % i 12 | agent.max_speed = 1.0 # None 13 | agent.accel = 0.5#standard is none but later used as 5 14 | agent.collide = False 15 | agent.silent = True 16 | # add landmarks 17 | world.landmarks = [Landmark() for i in range(1)] 18 | for i, landmark in enumerate(world.landmarks): 19 | landmark.name = 'landmark %d' % i 20 | landmark.collide = False 21 | landmark.movable = False 22 | # make initial conditions 23 | self.reset_world(world) 24 | return world 25 | 26 | def reset_world(self, world): 27 | # random properties for agents 28 | for i, agent in enumerate(world.agents): 29 | agent.color = np.array([0.25,0.25,0.25]) 30 | # random properties for landmarks 31 | for i, landmark in enumerate(world.landmarks): 32 | landmark.color = np.array([0.75,0.75,0.75]) 33 | world.landmarks[0].color = np.array([0.75,0.25,0.25]) 34 | # set random initial states 35 | for agent in world.agents: 36 | agent.state.p_pos = np.random.uniform(-1,+1, world.dim_p) 37 | agent.state.p_vel = np.zeros(world.dim_p) 38 | agent.state.c = np.zeros(world.dim_c) 39 | for i, landmark in enumerate(world.landmarks): 40 | landmark.state.p_pos = np.random.uniform(-1,+1, world.dim_p) 41 | landmark.state.p_vel = np.zeros(world.dim_p) 42 | 43 | def reward(self, agent, world): 44 | dist2 = np.sum(np.square(agent.state.p_pos - world.landmarks[0].state.p_pos)) 45 | return -dist2 46 | 47 | def observation(self, agent, world): 48 | # get positions of all entities in this agent's reference frame 49 | entity_pos = [] 50 | for entity in world.landmarks: 51 | entity_pos.append(entity.state.p_pos - agent.state.p_pos) 52 | return np.concatenate([agent.state.p_vel] + entity_pos) 53 | 54 | def done(self, agent, world): 55 | return False 56 | -------------------------------------------------------------------------------- /envs/scenarios/simple_formation.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | from multiagent.core import World, Agent, Landmark 3 | from multiagent.scenario import BaseScenario 4 | 5 | class Scenario(BaseScenario): 6 | def make_world(self): 7 | world = World() 8 | # add agents 9 | world.agents = [Agent() for i in range(3)] 10 | for i, agent in enumerate(world.agents): 11 | agent.name = 'agent %d' % i 12 | agent.collide = False 13 | agent.silent = True 14 | agent.max_speed = 1.0 # None 15 | agent.accel = 2.0 #standard is none but later used as 5 16 | # make initial conditions 17 | self.goal_dist = 1.0 18 | self.reset_world(world) 19 | return world 20 | 21 | def reset_world(self, world): 22 | # random properties for agents 23 | for i, agent in enumerate(world.agents): 24 | agent.color = np.array([0.25,0.25,0.25]) 25 | # set random initial states 26 | for agent in world.agents: 27 | agent.state.p_pos = np.random.uniform(-1,+1, world.dim_p) 28 | agent.state.p_vel = np.zeros(world.dim_p) 29 | agent.state.c = np.zeros(world.dim_c) 30 | 31 | def rel_pos_cost(self, pos1, pos2): 32 | # Distance is the l1 Norm 33 | dist = np.linalg.norm(pos1 - pos2) 34 | # Cost is 0 at specified distance, larger otherwise 35 | cost = -abs(dist - self.goal_dist) #max(-abs((dist - self.goal_dist)/(dist)), -1.0) 36 | return cost 37 | 38 | def reward(self, agent, world): 39 | total_cost = 0.0 40 | # Accumulate costs from each agent to each other agent 41 | for other in world.agents: 42 | if agent != other: 43 | total_cost += self.rel_pos_cost(agent.state.p_pos, other.state.p_pos) 44 | 45 | # Add a cost for movement 46 | total_cost -= np.sum(abs(agent.state.p_vel)) 47 | 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-------------------------------------------------------------------------------- /plot_training.py: -------------------------------------------------------------------------------- 1 | from agents import dec_ddpg_runner 2 | from agents import maddpg_runner 3 | from train_and_test.util import * 4 | import argparse 5 | 6 | parser = argparse.ArgumentParser(description='File to plot training data.') 7 | 8 | parser.add_argument('--avg-files', dest='avg_file_paths', nargs='+', default=["experiments/maddpg/formation_w_coll_avoidance/101010/2021-04-22_20-00-14/avg_rewards.npy", "experiments/ddpg/formation_w_coll_avoidance/101010/2021-04-22_22-38-18/avg_rewards.npy", "experiments/decddpg/formation_w_coll_avoidance/101010/2021-04-22_22-40-50/avg_rewards.npy"], 9 | help='Files which hold the average training data') 10 | parser.add_argument('--labels', dest='labels', nargs='+', default=["MADDPG", "DDPG", "Dec-DDPG" ], 11 | help='Labels for the training data.') 12 | 13 | parser.add_argument('--episodic-files', dest='ep_file_paths', nargs='+', default=["experiments/maddpg/formation_w_coll_avoidance/101010/2021-04-22_20-00-14/rewards.npy", "experiments/ddpg/formation_w_coll_avoidance/101010/2021-04-22_22-38-18/rewards.npy", "experiments/decddpg/formation_w_coll_avoidance/101010/2021-04-22_22-40-50/rewards.npy"], 14 | help='Files which hold the episodic training data.') 15 | 16 | 17 | args = parser.parse_args() 18 | 19 | plt.axhline(y=0, color='r', linestyle='--') 20 | 21 | cmap = plt.cm.get_cmap('hsv', len(args.avg_file_paths) + 1) 22 | 23 | for i in range(len(args.avg_file_paths)): 24 | colour = cmap(i) 25 | avg_data = np.load(args.avg_file_paths[i]) 26 | plt.plot(avg_data, label=args.labels[i], c=colour) 27 | 28 | if len(args.avg_file_paths)==len(args.ep_file_paths): 29 | ep_data = np.load(args.ep_file_paths[i]) 30 | plt.plot(ep_data, alpha=0.4, c=colour) 31 | 32 | 33 | plt.legend(loc='lower left') 34 | plt.title('Training Curve') 35 | plt.xlabel('Episode') 36 | plt.ylabel('Reward') 37 | 38 | plt.show() 39 | 40 | 41 | 42 | -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | absl-py==0.11.0 2 | astunparse==1.6.3 3 | cachetools==4.2.1 4 | certifi==2020.12.5 5 | chardet==4.0.0 6 | cloudpickle==1.6.0 7 | cycler==0.10.0 8 | decorator==4.4.2 9 | dm-tree==0.1.5 10 | flatbuffers==1.12 11 | future==0.18.2 12 | gast==0.3.3 13 | google-auth==1.27.1 14 | google-auth-oauthlib==0.4.3 15 | google-pasta==0.2.0 16 | grpcio==1.32.0 17 | gym==0.18.0 18 | h5py==2.10.0 19 | idna==2.10 20 | imageio==2.9.0 21 | importlib-metadata==3.7.2 22 | Keras-Preprocessing==1.1.2 23 | kiwisolver==1.3.1 24 | Markdown==3.3.4 25 | matplotlib==3.3.4 26 | -e git+https://github.com/openai/multiagent-particle-envs.git@69ee7f85811c77ee651722bc3c332677b2195da1#egg=multiagent 27 | numpy==1.19.5 28 | numpy-stl==2.15.1 29 | oauthlib==3.1.0 30 | opt-einsum==3.3.0 31 | Pillow==7.2.0 32 | protobuf==3.15.5 33 | pyasn1==0.4.8 34 | pyasn1-modules==0.2.8 35 | pyglet==1.5.0 36 | pyparsing==2.4.7 37 | python-dateutil==2.8.1 38 | python-utils==2.5.6 39 | requests==2.25.1 40 | requests-oauthlib==1.3.0 41 | rsa==4.7.2 42 | scipy==1.5.4 43 | six==1.15.0 44 | tensorboard==2.4.1 45 | tensorboard-plugin-wit==1.8.0 46 | tensorflow==2.4.1 47 | tensorflow-estimator==2.4.0 48 | tensorflow-probability==0.12.1 49 | termcolor==1.1.0 50 | tqdm==4.59.0 51 | typing-extensions==3.7.4.3 52 | urllib3==1.26.3 53 | Werkzeug==1.0.1 54 | wrapt==1.12.1 55 | zipp==3.4.1 56 | -------------------------------------------------------------------------------- /weights/ddpgformation_w_coll_avoidancereport/_actor_best.data-00000-of-00001: -------------------------------------------------------------------------------- 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