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训练新版

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huangfu
2026-02-06 14:13:55 +08:00
parent ceb6648a31
commit 0f9f080e77
17 changed files with 233 additions and 159 deletions
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104
Env/expert_replay_env.py
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@@ -97,7 +97,7 @@ class ExpertReplayEnv(MultiAgentScenarioEnv):
# We covered most of it.
self._spawn_controlled_agents()
self._spawn_background_vehicles() # Initial spawn for background
self._spawn_all_background_vehicles_at_init()
# Ensure SDC/ego is moved to the correct initial expert state.
if self.replay_sdc:
@@ -114,87 +114,33 @@ class ExpertReplayEnv(MultiAgentScenarioEnv):
return self._get_all_obs()
def _spawn_background_vehicles(self):
# Spawn static/background vehicles
# Since they are static, we might just spawn them once if their show_time is 0
# But Waymo tracks have valid bits, they might appear/disappear.
# For optimization, if they are truly static (never move), we just spawn them when show_time matches.
# We need to track spawned background vehicles to remove them if they become invalid?
# Since we defined them as "static", they probably stay put.
# But validity might change (e.g. late spawn).
# For simplicity in this step, let's just iterate and spawn if time matches
def _spawn_all_background_vehicles_at_init(self):
"""Spawn all static background vehicles once at reset (no show_time filter; no removal by valid)."""
for sid, car in self.background_vehicles.items():
if car['show_time'] == self.round:
# Spawn as a Traffic Vehicle (not PolicyVehicle), or just a static object?
# Using DefaultVehicle is fine, but don't add to controlled_agents
# Check duplication
bg_id = f"bg_{car['id']}"
# if bg_id in self.engine.obj_to_id: # obj_to_id might not be available in all versions
if bg_id in self.engine.agent_manager.active_agents:
continue
vehicle_config = {}
if 'length' in car and 'width' in car:
vehicle_config = {
"length": car['length'],
"width": car['width']
}
v = self.engine.spawn_object(
DefaultVehicle,
name=bg_id,
vehicle_config=vehicle_config,
position=car['begin'],
heading=car['heading']
)
# Set color to grey/dark to indicate background
v.set_velocity([0, 0])
# Maybe set color? MetaDrive vehicles random color.
# v.set_color(...) if supported
# Register as an active object but NOT controlled agent
# The engine manages it.
# CRITICAL: We need it in self.engine.agent_manager.active_agents for Observation?
# If we want it to be seen by Lidar/Observation, it needs to be an "agent" or "traffic".
# DefaultVehicle spawned this way is just an object.
# We should add it to traffic manager? Or just leave it as object?
# MultiAgentScenarioEnv._get_all_obs iterates self.engine.agent_manager.active_agents
# If we want it in observation, we must add it to active_agents OR iterate over all objects.
# Adding to active_agents is easier for compatibility.
self.engine.agent_manager.active_agents[bg_id] = v
# Store valid mask to remove it later if needed?
v.valid_mask = car['valid']
v.start_t = car['show_time']
bg_id = f"bg_{car['id']}"
if bg_id in self.engine.agent_manager.active_agents:
continue
vehicle_config = {}
if 'length' in car and 'width' in car:
vehicle_config = {
"length": car['length'],
"width": car['width']
}
v = self.engine.spawn_object(
DefaultVehicle,
name=bg_id,
vehicle_config=vehicle_config,
position=car['begin'],
heading=car['heading']
)
v.set_velocity([0, 0])
self.engine.agent_manager.active_agents[bg_id] = v
v.valid_mask = car.get('valid')
v.start_t = car['show_time']
def _update_background_vehicles(self):
# Remove background vehicles if they become invalid
# Or spawn new ones
self._spawn_background_vehicles()
# Check validity for existing
to_remove = []
objects_to_clear = []
for aid, v in self.engine.agent_manager.active_agents.items():
if aid.startswith("bg_"):
# Check validity
if hasattr(v, 'valid_mask'):
curr_step = self.round
if curr_step >= len(v.valid_mask) or not v.valid_mask[curr_step]:
to_remove.append(aid)
objects_to_clear.append(v)
for aid in to_remove:
self.engine.agent_manager.active_agents.pop(aid, None)
if objects_to_clear:
self.engine.clear_objects([v.id for v in objects_to_clear])
# Static vehicles are spawned once at init and never removed (no spawn/remove by show_time or valid).
pass
def _spawn_controlled_agents(self):
for car in self.car_birth_info_list: