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184
Env/verify_observation.py
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184
Env/verify_observation.py
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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"""
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简单验证脚本：检查车辆是否正确获取观测空间
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用法：python verify_observations.py
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"""
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import argparse
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from scenario_env import MultiAgentScenarioEnv
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from replay_policy import ReplayPolicy
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from metadrive.engine.asset_loader import AssetLoader
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import numpy as np
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def verify_observations(data_dir, scenario_id=0):
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"""
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验证观测空间是否正确获取
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Args:
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data_dir: 数据目录
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scenario_id: 场景ID
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"""
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print("=" * 60)
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print("观测空间验证工具")
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print("=" * 60)
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# 创建环境
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env = MultiAgentScenarioEnv(
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config={
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"data_directory": AssetLoader.file_path(data_dir, "exp_filtered", unix_style=False),
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"is_multi_agent": True,
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"horizon": 300,
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"use_render": False, # 不渲染，加速运行
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"sequential_seed": True,
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"reactive_traffic": False,
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"manual_control": False,
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"filter_offroad_vehicles": True,
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"lane_tolerance": 3.0,
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"replay_mode": True,
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"debug": True, # 启用调试以查看详细信息
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"specific_scenario_id": scenario_id,
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"use_scenario_duration": True,
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},
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agent2policy=None
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)
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# 重置环境
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print(f"\n加载场景 {scenario_id}...")
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obs = env.reset(seed=scenario_id)
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# 输出基本信息
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print(f"\n场景信息:")
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print(f" - 可控车辆数: {len(env.controlled_agents)}")
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print(f" - 观测数量: {len(obs)}")
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print(f" - 场景时长: {env.scenario_max_duration} 步")
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print(f" - 车辆生成列表长度: {len(env.car_birth_info_list)}")
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print(f" - 当前回合数 (round): {env.round}")
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# 检查车辆生成信息
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if len(env.car_birth_info_list) > 0:
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print(f"\n车辆生成信息分析:")
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show_times = [car['show_time'] for car in env.car_birth_info_list]
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print(f" - show_time 分布: min={min(show_times)}, max={max(show_times)}")
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print(f" - show_time == 0 的车辆数: {sum(1 for st in show_times if st == 0)}")
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print(f" - 前5个车辆的 show_time: {show_times[:5]}")
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else:
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print(f"\n⚠️ 警告: 车辆生成列表为空！可能原因:")
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print(f" 1. 所有车辆都被车道过滤移除")
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print(f" 2. 所有车辆都被类型过滤移除")
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print(f" 3. 场景数据中没有有效车辆")
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# 验证观测空间
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print(f"\n" + "=" * 60)
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print("观测空间验证")
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print("=" * 60)
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if len(obs) == 0:
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print("❌ 错误：没有获取到任何观测！")
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env.close()
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return False
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# 检查第一个观测
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first_obs = obs[0]
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print(f"\n第一个车辆的观测:")
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print(f" - 观测类型: {type(first_obs)}")
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print(f" - 观测维度: {len(first_obs)}")
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# 详细解析观测
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if isinstance(first_obs, (list, np.ndarray)):
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obs_array = np.array(first_obs)
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print(f" - 观测形状: {obs_array.shape}")
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print(f" - 数据类型: {obs_array.dtype}")
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print(f"\n观测内容分解:")
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# 新观测划分（与 Env/scenario_env._get_all_obs 对齐）：
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# [x, y] (2) + [vx, vy] (2) + heading (1)
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# + nearest vehicles info (10 vehicles * 4 = 40)
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# + side_lidar (10) + lane_line_lidar (10)
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# + traffic_light (1) + destination (2)
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lidar_len = 40
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side_len = 10
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lane_len = 10
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pos_slice = slice(0, 2)
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vel_slice = slice(2, 4)
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heading_idx = 4
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lidar_slice = slice(5, 5 + lidar_len)
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side_slice = slice(lidar_slice.stop, lidar_slice.stop + side_len)
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lane_slice = slice(side_slice.stop, side_slice.stop + lane_len)
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tl_idx = lane_slice.stop
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dest_slice = slice(tl_idx + 1, tl_idx + 3)
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print(f" 位置 (x, y): {obs_array[pos_slice]}")
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print(f" 速度 (vx, vy): {obs_array[vel_slice]}")
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print(f" 航向角: {obs_array[heading_idx]:.3f} 弧度")
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print(f" 最近车辆信息: {len(obs_array[lidar_slice])} 维 (10辆*4: 相对x/相对y/相对vx/相对vy)")
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print(f" 侧向检测: {len(obs_array[side_slice])} 个点")
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print(f" 车道线检测: {len(obs_array[lane_slice])} 个点")
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print(f" 交通灯状态: {obs_array[tl_idx]}")
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print(f" 目的地 (x, y): {obs_array[dest_slice]}")
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# 检查数据有效性
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print(f"\n数据有效性检查:")
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has_nan = np.isnan(obs_array).any()
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has_inf = np.isinf(obs_array).any()
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if has_nan:
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print(f" ❌ 观测包含 NaN 值！")
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else:
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print(f" ✅ 无 NaN 值")
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if has_inf:
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print(f" ❌ 观测包含 Inf 值！")
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else:
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print(f" ✅ 无 Inf 值")
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# 检查最近车辆信息数据（40维）
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lidar_data = obs_array[lidar_slice]
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lidar_min = np.min(lidar_data)
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lidar_max = np.max(lidar_data)
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print(f"\n 最近车辆特征范围: [{lidar_min:.2f}, {lidar_max:.2f}]")
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if lidar_max > 0:
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print(f" ✅ 存在非零最近车辆特征")
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else:
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print(f" ⚠️ 最近车辆特征全零（可能无邻车或距离过远）")
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# 运行几步，验证观测持续有效
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print(f"\n" + "=" * 60)
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print("多步运行验证（前 5 步）")
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print("=" * 60)
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for step in range(5):
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# 空动作
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actions = {aid: [0.0, 0.0] for aid in env.controlled_agents}
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obs, rewards, dones, infos = env.step(actions)
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print(f"\nStep {step + 1}:")
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print(f" - 活跃车辆数: {len(env.controlled_agents)}")
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print(f" - 观测数量: {len(obs)}")
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if len(obs) > 0:
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sample_obs = np.array(obs[0])
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print(f" - 第一辆车位置: ({sample_obs[0]:.2f}, {sample_obs[1]:.2f})")
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print(f" - 数据有效: {'✅' if not (np.isnan(sample_obs).any() or np.isinf(sample_obs).any()) else '❌'}")
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if dones["__all__"]:
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print(f" - 场景结束")
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break
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env.close()
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print(f"\n" + "=" * 60)
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print("✅ 验证完成！观测空间正常工作")
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print("=" * 60)
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return True
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description="验证观测空间")
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parser.add_argument("--data_dir", type=str, default="/home/huangfukk/mdsn", help="数据目录")
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parser.add_argument("--scenario_id", type=int, default=0, help="场景ID")
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args = parser.parse_args()
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verify_observations(args.data_dir, args.scenario_id)
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