From e325b143a75ba3f23a077a90337c05d5614aa888 Mon Sep 17 00:00:00 2001 From: raphajaner Date: Wed, 23 Oct 2024 17:59:13 +0200 Subject: [PATCH] full code release --- README.md | 22 +- configs/__init__.py | 0 configs/config.yaml | 40 + configs/env.yaml | 13 + configs/maps.yaml | 15 + configs/planner/ego.yaml | 8 + configs/planner/opponents.yaml | 6 + configs/planner/params/apf.yaml | 19 + configs/planner/params/disparity.yaml | 17 + configs/planner/params/dummy.yaml | 19 + configs/planner/params/ftg.yaml | 17 + configs/planner/params/ftg_plus.yaml | 17 + configs/planner/params/lattice.yaml | 7 + configs/planner/params/pure_pursuit.yaml | 7 + configs/planner/planner.yaml | 7 + configs/rl.yaml | 54 + configs/sim/reward.yaml | 14 + configs/sim/sim.yaml | 14 + configs/sim/vehicle_params.yaml | 21 + main.py | 25 + maps/Austin/Austin_DonkeySim_waypoints.txt | 1102 +++++++ maps/Austin/Austin_centerline.csv | 1103 +++++++ maps/Austin/Austin_centerline_vel.csv | 2085 +++++++++++++ maps/Austin/Austin_centerline_vel_newconv.csv | 2085 +++++++++++++ maps/Austin/Austin_map.png | Bin 0 -> 63480 bytes maps/Austin/Austin_map.yaml | 6 + maps/Austin/Austin_raceline.csv | 2037 ++++++++++++ .../BrandsHatch_DonkeySim_waypoints.txt | 781 +++++ maps/BrandsHatch/BrandsHatch_centerline.csv | 782 +++++ .../BrandsHatch_centerline_vel.csv | 1775 +++++++++++ .../BrandsHatch_centerline_vel_newconv.csv | 1775 +++++++++++ maps/BrandsHatch/BrandsHatch_map.png | Bin 0 -> 86768 bytes maps/BrandsHatch/BrandsHatch_map.yaml | 6 + maps/BrandsHatch/BrandsHatch_raceline.csv | 1759 +++++++++++ maps/Budapest/.~lock.Budapest_raceline.csv# | 1 + .../Budapest/Budapest_DonkeySim_waypoints.txt | 876 ++++++ maps/Budapest/Budapest_centerline.csv | 877 ++++++ maps/Budapest/Budapest_centerline_vel.csv | 2005 ++++++++++++ .../Budapest_centerline_vel_newconv.csv | 2005 ++++++++++++ maps/Budapest/Budapest_map.png | Bin 0 -> 83721 bytes maps/Budapest/Budapest_map.yaml | 6 + maps/Budapest/Budapest_map2.png | Bin 0 -> 4008854 bytes maps/Budapest/Budapest_map2.yaml | 6 + maps/Budapest/Budapest_raceline.csv | 1958 ++++++++++++ .../Catalunya_DonkeySim_waypoints.txt | 931 ++++++ maps/Catalunya/Catalunya_centerline.csv | 932 ++++++ maps/Catalunya/Catalunya_centerline_vel.csv | 2070 ++++++++++++ .../Catalunya_centerline_vel_newconv.csv | 2070 ++++++++++++ maps/Catalunya/Catalunya_map.png | Bin 0 -> 90639 bytes maps/Catalunya/Catalunya_map.yaml | 6 + maps/Catalunya/Catalunya_raceline.csv | 2024 ++++++++++++ .../Hockenheim_DonkeySim_waypoints.txt | 914 ++++++ maps/Hockenheim/Hockenheim_centerline.csv | 915 ++++++ maps/Hockenheim/Hockenheim_centerline_vel.csv | 1786 +++++++++++ .../Hockenheim_centerline_vel_newconv.csv | 1786 +++++++++++ maps/Hockenheim/Hockenheim_map.png | Bin 0 -> 67684 bytes maps/Hockenheim/Hockenheim_map.yaml | 6 + maps/Hockenheim/Hockenheim_raceline.csv | 1760 +++++++++++ maps/IMS/IMS_DonkeySim_waypoints.txt | 805 +++++ maps/IMS/IMS_centerline.csv | 806 +++++ maps/IMS/IMS_centerline_vel.csv | 1468 +++++++++ maps/IMS/IMS_centerline_vel_newconv.csv | 1468 +++++++++ maps/IMS/IMS_map.png | Bin 0 -> 61658 bytes maps/IMS/IMS_map.yaml | 6 + maps/IMS/IMS_raceline.csv | 1454 +++++++++ maps/LICENSE | 674 ++++ .../Melbourne_DonkeySim_waypoints.txt | 1060 +++++++ maps/Melbourne/Melbourne_centerline.csv | 1061 +++++++ maps/Melbourne/Melbourne_centerline_vel.csv | 2359 ++++++++++++++ .../Melbourne_centerline_vel_newconv.csv | 2359 ++++++++++++++ maps/Melbourne/Melbourne_map.png | Bin 0 -> 72257 bytes maps/Melbourne/Melbourne_map.yaml | 6 + maps/Melbourne/Melbourne_raceline.csv | 2328 ++++++++++++++ .../Mexico City_DonkeySim_waypoints.txt | 860 +++++ maps/MexicoCity/MexicoCity_centerline.csv | 861 +++++ maps/MexicoCity/MexicoCity_centerline_vel.csv | 1765 +++++++++++ .../MexicoCity_centerline_vel_newconv.csv | 1765 +++++++++++ maps/MexicoCity/MexicoCity_map.png | Bin 0 -> 57668 bytes maps/MexicoCity/MexicoCity_map.yaml | 6 + maps/MexicoCity/MexicoCity_raceline.csv | 1743 +++++++++++ .../Montreal/Montreal_DonkeySim_waypoints.txt | 872 ++++++ maps/Montreal/Montreal_centerline.csv | 873 ++++++ maps/Montreal/Montreal_centerline_vel.csv | 1405 +++++++++ .../Montreal_centerline_vel_newconv.csv | 1405 +++++++++ maps/Montreal/Montreal_map.png | Bin 0 -> 61094 bytes maps/Montreal/Montreal_map.yaml | 6 + maps/Monza/Monza_DonkeySim_waypoints.txt | 1159 +++++++ maps/Monza/Monza_centerline.csv | 1160 +++++++ maps/Monza/Monza_centerline_vel.csv | 2220 +++++++++++++ maps/Monza/Monza_centerline_vel_newconv.csv | 2220 +++++++++++++ maps/Monza/Monza_map.png | Bin 0 -> 64440 bytes maps/Monza/Monza_map.yaml | 6 + maps/Monza/Monza_raceline.csv | 2200 +++++++++++++ .../MoscowRaceway_DonkeySim_waypoints.txt | 813 +++++ .../MoscowRaceway_centerline.csv | 814 +++++ .../MoscowRaceway_centerline_vel.csv | 1595 ++++++++++ .../MoscowRaceway_centerline_vel_newconv.csv | 1595 ++++++++++ maps/MoscowRaceway/MoscowRaceway_map.png | Bin 0 -> 73169 bytes maps/MoscowRaceway/MoscowRaceway_map.yaml | 6 + maps/MoscowRaceway/MoscowRaceway_raceline.csv | 1549 +++++++++ .../Nuerburgring_DonkeySim_waypoints.txt | 1029 ++++++ maps/Nuerburgring/Nuerburgring_centerline.csv | 1030 ++++++ .../Nuerburgring_centerline_vel.csv | 2217 +++++++++++++ .../Nuerburgring_centerline_vel_newconv.csv | 2217 +++++++++++++ maps/Nuerburgring/Nuerburgring_map.png | Bin 0 -> 77974 bytes maps/Nuerburgring/Nuerburgring_map.yaml | 6 + maps/Nuerburgring/Nuerburgring_raceline.csv | 2174 +++++++++++++ .../Oschersleben_DonkeySim_waypoints.txt | 739 +++++ maps/Oschersleben/Oschersleben_centerline.csv | 740 +++++ .../Oschersleben_centerline_vel.csv | 1294 ++++++++ .../Oschersleben_centerline_vel_newconv.csv | 1294 ++++++++ maps/Oschersleben/Oschersleben_map.png | Bin 0 -> 62301 bytes maps/Oschersleben/Oschersleben_map.yaml | 6 + maps/Oschersleben/Oschersleben_raceline.csv | 1256 ++++++++ maps/Sakhir/Sakhir_DonkeySim_waypoints.txt | 1082 +++++++ maps/Sakhir/Sakhir_centerline.csv | 1083 +++++++ maps/Sakhir/Sakhir_centerline_vel.csv | 2194 +++++++++++++ maps/Sakhir/Sakhir_centerline_vel_newconv.csv | 2194 +++++++++++++ maps/Sakhir/Sakhir_map.png | Bin 0 -> 95683 bytes maps/Sakhir/Sakhir_map.yaml | 6 + maps/Sakhir/Sakhir_raceline.csv | 2172 +++++++++++++ .../SaoPaulo/SaoPaulo_DonkeySim_waypoints.txt | 862 +++++ maps/SaoPaulo/SaoPaulo_centerline.csv | 863 +++++ maps/SaoPaulo/SaoPaulo_centerline_vel.csv | 1713 ++++++++++ .../SaoPaulo_centerline_vel_newconv.csv | 1713 ++++++++++ maps/SaoPaulo/SaoPaulo_map.png | Bin 0 -> 92014 bytes maps/SaoPaulo/SaoPaulo_map.yaml | 6 + maps/SaoPaulo/SaoPaulo_raceline.csv | 1676 ++++++++++ maps/Sepang/Sepang_DonkeySim_waypoints.txt | 1108 +++++++ maps/Sepang/Sepang_centerline.csv | 1109 +++++++ maps/Sepang/Sepang_centerline_vel.csv | 2420 +++++++++++++++ maps/Sepang/Sepang_centerline_vel_newconv.csv | 2420 +++++++++++++++ maps/Sepang/Sepang_map.png | Bin 0 -> 80999 bytes maps/Sepang/Sepang_map.yaml | 6 + maps/Sepang/Sepang_raceline.csv | 2371 ++++++++++++++ .../Shanghai/Shanghai_DonkeySim_waypoints.txt | 1090 +++++++ maps/Shanghai/Shanghai_centerline.csv | 1091 +++++++ maps/Shanghai/Shanghai_centerline_vel.csv | 2470 +++++++++++++++ .../Shanghai_centerline_vel_newconv.csv | 2470 +++++++++++++++ maps/Shanghai/Shanghai_map.png | Bin 0 -> 95911 bytes maps/Shanghai/Shanghai_map.yaml | 6 + .../Silverstone_DonkeySim_waypoints.txt | 1178 +++++++ maps/Silverstone/Silverstone_centerline.csv | 1179 +++++++ .../Silverstone_centerline_vel.csv | 2279 ++++++++++++++ .../Silverstone_centerline_vel_newconv.csv | 2279 ++++++++++++++ maps/Silverstone/Silverstone_map.png | Bin 0 -> 78809 bytes maps/Silverstone/Silverstone_map.yaml | 6 + maps/Silverstone/Silverstone_raceline.csv | 2236 +++++++++++++ maps/Sochi/Sochi_DonkeySim_waypoints.txt | 1169 +++++++ maps/Sochi/Sochi_centerline.csv | 1170 +++++++ maps/Sochi/Sochi_centerline_vel.csv | 2299 ++++++++++++++ maps/Sochi/Sochi_centerline_vel_newconv.csv | 2299 ++++++++++++++ maps/Sochi/Sochi_map.png | Bin 0 -> 67193 bytes maps/Sochi/Sochi_map.yaml | 6 + maps/Sochi/Sochi_raceline.csv | 2275 ++++++++++++++ maps/Spa/Spa_DonkeySim_waypoints.txt | 1401 +++++++++ maps/Spa/Spa_centerline.csv | 1402 +++++++++ maps/Spa/Spa_centerline_vel.csv | 2762 +++++++++++++++++ maps/Spa/Spa_centerline_vel_newconv.csv | 2762 +++++++++++++++++ maps/Spa/Spa_map.png | Bin 0 -> 83074 bytes maps/Spa/Spa_map.yaml | 6 + maps/Spa/Spa_raceline.csv | 2714 ++++++++++++++++ .../Spielberg_DonkeySim_waypoints.txt | 864 ++++++ maps/Spielberg/Spielberg_centerline.csv | 865 ++++++ maps/Spielberg/Spielberg_centerline_vel.csv | 1705 ++++++++++ .../Spielberg_centerline_vel_newconv.csv | 1705 ++++++++++ maps/Spielberg/Spielberg_map.png | Bin 0 -> 62176 bytes maps/Spielberg/Spielberg_map.yaml | 6 + maps/Spielberg/Spielberg_raceline.csv | 1695 ++++++++++ .../YasMarina_DonkeySim_waypoints.txt | 1110 +++++++ maps/YasMarina/YasMarina_centerline.csv | 1111 +++++++ maps/YasMarina/YasMarina_centerline_vel.csv | 1962 ++++++++++++ .../YasMarina_centerline_vel_newconv.csv | 1962 ++++++++++++ maps/YasMarina/YasMarina_map.png | Bin 0 -> 69882 bytes maps/YasMarina/YasMarina_map.yaml | 6 + maps/YasMarina/YasMarina_raceline.csv | 1922 ++++++++++++ .../Zandvoort_DonkeySim_waypoints.txt | 864 ++++++ maps/Zandvoort/Zandvoort_centerline.csv | 865 ++++++ maps/Zandvoort/Zandvoort_centerline_vel.csv | 1929 ++++++++++++ .../Zandvoort_centerline_vel_newconv.csv | 1929 ++++++++++++ maps/Zandvoort/Zandvoort_map.png | Bin 0 -> 88351 bytes maps/Zandvoort/Zandvoort_map.yaml | 6 + maps/Zandvoort/Zandvoort_raceline.csv | 1883 +++++++++++ maps/convert.py | 87 + maps/make_vel_profile.py | 131 + planning/LICENSE | 336 ++ planning/dummy.py | 6 + planning/ftg/disparity_extender_planner.py | 74 + planning/ftg/ftg_planner.py | 71 + planning/ftg/ftg_plus_planner.py | 60 + planning/ftg/ftg_utils.py | 200 ++ planning/planner_base.py | 42 + planning/planner_wrapper.py | 238 ++ planning/potential_field/potential_field.py | 127 + .../potential_fields_planner.py | 298 ++ planning/pure_pursuit/pure_pursuit.py | 59 + racemop/__init__.py | 1 + racemop/agents/agents.py | 309 ++ racemop/agents/loss.py | 96 + racemop/agents/nn.py | 62 + racemop/agents/nn_blocks.py | 137 + racemop/agents/nn_utils.py | 146 + racemop/env_wrapper.py | 259 ++ racemop/evaluation.py | 417 +++ racemop/main.py | 438 +++ racemop/maker.py | 270 ++ simulator/LICENSE | 73 + simulator/f110_gym/__init__.py | 5 + simulator/f110_gym/envs/__init__.py | 5 + simulator/f110_gym/envs/base_classes.py | 579 ++++ simulator/f110_gym/envs/collision_models.py | 106 + simulator/f110_gym/envs/dynamic_models.py | 465 +++ simulator/f110_gym/envs/env_utils.py | 502 +++ simulator/f110_gym/envs/f110_env.py | 484 +++ simulator/f110_gym/envs/laser_models.py | 397 +++ simulator/f110_gym/envs/rendering.py | 672 ++++ simulator/f110_gym/envs/trackline.py | 183 ++ simulator/setup.py | 8 + 218 files changed, 186593 insertions(+), 12 deletions(-) create mode 100644 configs/__init__.py create mode 100644 configs/config.yaml create mode 100644 configs/env.yaml create mode 100644 configs/maps.yaml create mode 100644 configs/planner/ego.yaml create mode 100644 configs/planner/opponents.yaml create mode 100644 configs/planner/params/apf.yaml create mode 100644 configs/planner/params/disparity.yaml create mode 100644 configs/planner/params/dummy.yaml create mode 100644 configs/planner/params/ftg.yaml create mode 100644 configs/planner/params/ftg_plus.yaml create mode 100644 configs/planner/params/lattice.yaml create mode 100644 configs/planner/params/pure_pursuit.yaml create mode 100644 configs/planner/planner.yaml create mode 100644 configs/rl.yaml create mode 100644 configs/sim/reward.yaml create mode 100644 configs/sim/sim.yaml create mode 100644 configs/sim/vehicle_params.yaml create mode 100644 main.py create mode 100644 maps/Austin/Austin_DonkeySim_waypoints.txt create mode 100644 maps/Austin/Austin_centerline.csv create mode 100644 maps/Austin/Austin_centerline_vel.csv create mode 100644 maps/Austin/Austin_centerline_vel_newconv.csv create mode 100644 maps/Austin/Austin_map.png create mode 100644 maps/Austin/Austin_map.yaml create mode 100644 maps/Austin/Austin_raceline.csv create mode 100644 maps/BrandsHatch/BrandsHatch_DonkeySim_waypoints.txt create mode 100644 maps/BrandsHatch/BrandsHatch_centerline.csv create mode 100644 maps/BrandsHatch/BrandsHatch_centerline_vel.csv create mode 100644 maps/BrandsHatch/BrandsHatch_centerline_vel_newconv.csv create mode 100644 maps/BrandsHatch/BrandsHatch_map.png create mode 100644 maps/BrandsHatch/BrandsHatch_map.yaml create mode 100644 maps/BrandsHatch/BrandsHatch_raceline.csv create mode 100644 maps/Budapest/.~lock.Budapest_raceline.csv# create mode 100644 maps/Budapest/Budapest_DonkeySim_waypoints.txt create mode 100644 maps/Budapest/Budapest_centerline.csv create mode 100644 maps/Budapest/Budapest_centerline_vel.csv create mode 100644 maps/Budapest/Budapest_centerline_vel_newconv.csv create mode 100644 maps/Budapest/Budapest_map.png create mode 100644 maps/Budapest/Budapest_map.yaml create mode 100644 maps/Budapest/Budapest_map2.png create mode 100644 maps/Budapest/Budapest_map2.yaml create mode 100644 maps/Budapest/Budapest_raceline.csv create mode 100644 maps/Catalunya/Catalunya_DonkeySim_waypoints.txt create mode 100644 maps/Catalunya/Catalunya_centerline.csv create mode 100644 maps/Catalunya/Catalunya_centerline_vel.csv create mode 100644 maps/Catalunya/Catalunya_centerline_vel_newconv.csv create mode 100644 maps/Catalunya/Catalunya_map.png create mode 100644 maps/Catalunya/Catalunya_map.yaml create mode 100644 maps/Catalunya/Catalunya_raceline.csv create mode 100644 maps/Hockenheim/Hockenheim_DonkeySim_waypoints.txt create mode 100644 maps/Hockenheim/Hockenheim_centerline.csv create mode 100644 maps/Hockenheim/Hockenheim_centerline_vel.csv create mode 100644 maps/Hockenheim/Hockenheim_centerline_vel_newconv.csv create mode 100644 maps/Hockenheim/Hockenheim_map.png create mode 100644 maps/Hockenheim/Hockenheim_map.yaml create mode 100644 maps/Hockenheim/Hockenheim_raceline.csv create mode 100644 maps/IMS/IMS_DonkeySim_waypoints.txt create mode 100644 maps/IMS/IMS_centerline.csv create mode 100644 maps/IMS/IMS_centerline_vel.csv create mode 100644 maps/IMS/IMS_centerline_vel_newconv.csv create mode 100644 maps/IMS/IMS_map.png create mode 100644 maps/IMS/IMS_map.yaml create mode 100644 maps/IMS/IMS_raceline.csv create mode 100644 maps/LICENSE create mode 100644 maps/Melbourne/Melbourne_DonkeySim_waypoints.txt create mode 100644 maps/Melbourne/Melbourne_centerline.csv create mode 100644 maps/Melbourne/Melbourne_centerline_vel.csv create mode 100644 maps/Melbourne/Melbourne_centerline_vel_newconv.csv create mode 100644 maps/Melbourne/Melbourne_map.png create mode 100644 maps/Melbourne/Melbourne_map.yaml create mode 100644 maps/Melbourne/Melbourne_raceline.csv create mode 100644 maps/MexicoCity/Mexico City_DonkeySim_waypoints.txt create mode 100644 maps/MexicoCity/MexicoCity_centerline.csv create mode 100644 maps/MexicoCity/MexicoCity_centerline_vel.csv create mode 100644 maps/MexicoCity/MexicoCity_centerline_vel_newconv.csv create mode 100644 maps/MexicoCity/MexicoCity_map.png create mode 100644 maps/MexicoCity/MexicoCity_map.yaml create mode 100644 maps/MexicoCity/MexicoCity_raceline.csv create mode 100644 maps/Montreal/Montreal_DonkeySim_waypoints.txt create mode 100644 maps/Montreal/Montreal_centerline.csv create mode 100644 maps/Montreal/Montreal_centerline_vel.csv create mode 100644 maps/Montreal/Montreal_centerline_vel_newconv.csv create mode 100644 maps/Montreal/Montreal_map.png create mode 100644 maps/Montreal/Montreal_map.yaml create mode 100644 maps/Monza/Monza_DonkeySim_waypoints.txt create mode 100644 maps/Monza/Monza_centerline.csv create mode 100644 maps/Monza/Monza_centerline_vel.csv create mode 100644 maps/Monza/Monza_centerline_vel_newconv.csv create mode 100644 maps/Monza/Monza_map.png create mode 100644 maps/Monza/Monza_map.yaml create mode 100644 maps/Monza/Monza_raceline.csv create mode 100644 maps/MoscowRaceway/MoscowRaceway_DonkeySim_waypoints.txt create mode 100644 maps/MoscowRaceway/MoscowRaceway_centerline.csv create mode 100644 maps/MoscowRaceway/MoscowRaceway_centerline_vel.csv create mode 100644 maps/MoscowRaceway/MoscowRaceway_centerline_vel_newconv.csv create mode 100644 maps/MoscowRaceway/MoscowRaceway_map.png create mode 100644 maps/MoscowRaceway/MoscowRaceway_map.yaml create mode 100644 maps/MoscowRaceway/MoscowRaceway_raceline.csv create mode 100644 maps/Nuerburgring/Nuerburgring_DonkeySim_waypoints.txt create mode 100644 maps/Nuerburgring/Nuerburgring_centerline.csv create mode 100644 maps/Nuerburgring/Nuerburgring_centerline_vel.csv create mode 100644 maps/Nuerburgring/Nuerburgring_centerline_vel_newconv.csv create mode 100644 maps/Nuerburgring/Nuerburgring_map.png create mode 100644 maps/Nuerburgring/Nuerburgring_map.yaml create mode 100644 maps/Nuerburgring/Nuerburgring_raceline.csv create mode 100644 maps/Oschersleben/Oschersleben_DonkeySim_waypoints.txt create mode 100644 maps/Oschersleben/Oschersleben_centerline.csv create mode 100644 maps/Oschersleben/Oschersleben_centerline_vel.csv create mode 100644 maps/Oschersleben/Oschersleben_centerline_vel_newconv.csv create mode 100644 maps/Oschersleben/Oschersleben_map.png create mode 100644 maps/Oschersleben/Oschersleben_map.yaml create mode 100644 maps/Oschersleben/Oschersleben_raceline.csv create mode 100644 maps/Sakhir/Sakhir_DonkeySim_waypoints.txt create mode 100644 maps/Sakhir/Sakhir_centerline.csv create mode 100644 maps/Sakhir/Sakhir_centerline_vel.csv create mode 100644 maps/Sakhir/Sakhir_centerline_vel_newconv.csv create mode 100644 maps/Sakhir/Sakhir_map.png create mode 100644 maps/Sakhir/Sakhir_map.yaml create mode 100644 maps/Sakhir/Sakhir_raceline.csv create mode 100644 maps/SaoPaulo/SaoPaulo_DonkeySim_waypoints.txt create mode 100644 maps/SaoPaulo/SaoPaulo_centerline.csv create mode 100644 maps/SaoPaulo/SaoPaulo_centerline_vel.csv create mode 100644 maps/SaoPaulo/SaoPaulo_centerline_vel_newconv.csv create mode 100644 maps/SaoPaulo/SaoPaulo_map.png create mode 100644 maps/SaoPaulo/SaoPaulo_map.yaml create mode 100644 maps/SaoPaulo/SaoPaulo_raceline.csv create mode 100644 maps/Sepang/Sepang_DonkeySim_waypoints.txt create mode 100644 maps/Sepang/Sepang_centerline.csv create mode 100644 maps/Sepang/Sepang_centerline_vel.csv create mode 100644 maps/Sepang/Sepang_centerline_vel_newconv.csv create mode 100644 maps/Sepang/Sepang_map.png create mode 100644 maps/Sepang/Sepang_map.yaml create mode 100644 maps/Sepang/Sepang_raceline.csv create mode 100644 maps/Shanghai/Shanghai_DonkeySim_waypoints.txt create mode 100644 maps/Shanghai/Shanghai_centerline.csv create mode 100644 maps/Shanghai/Shanghai_centerline_vel.csv create mode 100644 maps/Shanghai/Shanghai_centerline_vel_newconv.csv create mode 100644 maps/Shanghai/Shanghai_map.png create mode 100644 maps/Shanghai/Shanghai_map.yaml create mode 100644 maps/Silverstone/Silverstone_DonkeySim_waypoints.txt create mode 100644 maps/Silverstone/Silverstone_centerline.csv create mode 100644 maps/Silverstone/Silverstone_centerline_vel.csv create mode 100644 maps/Silverstone/Silverstone_centerline_vel_newconv.csv create mode 100644 maps/Silverstone/Silverstone_map.png create mode 100644 maps/Silverstone/Silverstone_map.yaml create mode 100644 maps/Silverstone/Silverstone_raceline.csv create mode 100644 maps/Sochi/Sochi_DonkeySim_waypoints.txt create mode 100644 maps/Sochi/Sochi_centerline.csv create mode 100644 maps/Sochi/Sochi_centerline_vel.csv create mode 100644 maps/Sochi/Sochi_centerline_vel_newconv.csv create mode 100644 maps/Sochi/Sochi_map.png create mode 100644 maps/Sochi/Sochi_map.yaml create mode 100644 maps/Sochi/Sochi_raceline.csv create mode 100644 maps/Spa/Spa_DonkeySim_waypoints.txt create mode 100644 maps/Spa/Spa_centerline.csv create mode 100644 maps/Spa/Spa_centerline_vel.csv create mode 100644 maps/Spa/Spa_centerline_vel_newconv.csv create mode 100644 maps/Spa/Spa_map.png create mode 100644 maps/Spa/Spa_map.yaml create mode 100644 maps/Spa/Spa_raceline.csv create mode 100644 maps/Spielberg/Spielberg_DonkeySim_waypoints.txt create mode 100644 maps/Spielberg/Spielberg_centerline.csv create mode 100644 maps/Spielberg/Spielberg_centerline_vel.csv create mode 100644 maps/Spielberg/Spielberg_centerline_vel_newconv.csv create mode 100644 maps/Spielberg/Spielberg_map.png create mode 100644 maps/Spielberg/Spielberg_map.yaml create mode 100644 maps/Spielberg/Spielberg_raceline.csv create mode 100644 maps/YasMarina/YasMarina_DonkeySim_waypoints.txt create mode 100644 maps/YasMarina/YasMarina_centerline.csv create mode 100644 maps/YasMarina/YasMarina_centerline_vel.csv create mode 100644 maps/YasMarina/YasMarina_centerline_vel_newconv.csv create mode 100644 maps/YasMarina/YasMarina_map.png create mode 100644 maps/YasMarina/YasMarina_map.yaml create mode 100644 maps/YasMarina/YasMarina_raceline.csv create mode 100644 maps/Zandvoort/Zandvoort_DonkeySim_waypoints.txt create mode 100644 maps/Zandvoort/Zandvoort_centerline.csv create mode 100644 maps/Zandvoort/Zandvoort_centerline_vel.csv create mode 100644 maps/Zandvoort/Zandvoort_centerline_vel_newconv.csv create mode 100644 maps/Zandvoort/Zandvoort_map.png create mode 100644 maps/Zandvoort/Zandvoort_map.yaml create mode 100644 maps/Zandvoort/Zandvoort_raceline.csv create mode 100644 maps/convert.py create mode 100644 maps/make_vel_profile.py create mode 100644 planning/LICENSE create mode 100644 planning/dummy.py create mode 100644 planning/ftg/disparity_extender_planner.py create mode 100644 planning/ftg/ftg_planner.py create mode 100644 planning/ftg/ftg_plus_planner.py create mode 100644 planning/ftg/ftg_utils.py create mode 100644 planning/planner_base.py create mode 100644 planning/planner_wrapper.py create mode 100644 planning/potential_field/potential_field.py create mode 100644 planning/potential_field/potential_fields_planner.py create mode 100644 planning/pure_pursuit/pure_pursuit.py create mode 100644 racemop/__init__.py create mode 100644 racemop/agents/agents.py create mode 100644 racemop/agents/loss.py create mode 100644 racemop/agents/nn.py create mode 100644 racemop/agents/nn_blocks.py create mode 100644 racemop/agents/nn_utils.py create mode 100644 racemop/env_wrapper.py create mode 100644 racemop/evaluation.py create mode 100644 racemop/main.py create mode 100644 racemop/maker.py create mode 100644 simulator/LICENSE create mode 100644 simulator/f110_gym/__init__.py create mode 100644 simulator/f110_gym/envs/__init__.py create mode 100644 simulator/f110_gym/envs/base_classes.py create mode 100644 simulator/f110_gym/envs/collision_models.py create mode 100644 simulator/f110_gym/envs/dynamic_models.py create mode 100644 simulator/f110_gym/envs/env_utils.py create mode 100644 simulator/f110_gym/envs/f110_env.py create mode 100644 simulator/f110_gym/envs/laser_models.py create mode 100644 simulator/f110_gym/envs/rendering.py create mode 100644 simulator/f110_gym/envs/trackline.py create mode 100644 simulator/setup.py diff --git a/README.md b/README.md index 38ae20a..1ae45b7 100644 --- a/README.md +++ b/README.md @@ -12,18 +12,14 @@ This repository is the official implementation of the [paper](https://scholar.go > [Manabu Tsukada](https://scholar.google.com/citations?user=GSfYxPIAAAAJ&hl=en), > and [Marco Caccamo](https://scholar.google.com/citations?user=Jbo1MqwAAAAJ&hl=en&oi=ao). -The paper is under review for possible publication. If you find our work useful, please consider [citing](#reference) it. - -**Note**: The full code will be made available after publication. +Presented at: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Replicated real-world racetracks. - Replicated real-world racetracks. + Replicated real-world racetracks.

- - ## Table of contents - [Background](#background) - [Install](#install) @@ -78,13 +74,13 @@ RaceMOP demonstrates superior handling over existing mapless planners while gene ``` ## Usage ### Inference -You can start evaluation the provided agent by running the following command: +You can start evaluating the provided agent by running the following command: ```bash python main.py ``` The use of your GPU can be avoided by running: ```bash -python main.py cuda=cpu +python main.py device=cpu ``` ### Rendering Rendering can be enabled by setting running: @@ -93,7 +89,7 @@ python main.py render=True ``` Since this will launch windows for all 12 maps, we recommend selecting a specific map for evaluation: ```bash -python main.py render=True maps.maps_train=[Catalunya] maps.maps_test=[] +python main.py mode=inference render=True maps.maps_train=[Catalunya] maps.maps_test=[] ``` ### Others @@ -109,12 +105,14 @@ Most of the code is documented with *automatically* generated docstrings, please If you find our work useful, please consider citing our paper: ```bibtex -@article{trumpp2024racemop, +@inproceedings{trumpp2024racemop, title={RaceMOP: Mapless online path planning for multi-agent autonomous racing using residual policy learning}, author={Trumpp, Raphael and Javanmardi, Ehsan and Nakazato, Jin and Tsukada, Manabu and Caccamo, Marco}, - journal={arXiv preprint arXiv:2403.07129}, - year={2024} + booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, + year={2024}, + organization={IEEE} } + ``` ## License diff --git a/configs/__init__.py b/configs/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/configs/config.yaml b/configs/config.yaml new file mode 100644 index 0000000..8d00e8e --- /dev/null +++ b/configs/config.yaml @@ -0,0 +1,40 @@ +# Standard Config +defaults: + - maps@maps + - rl@rl + - env@env + - planner: planner + - sim: sim + - _self_ +# Run settings +mode: training # [ training, inference, baseline ] +benchmark: false +async_env: true +render: false +wandb: true +# Cuda settings +compile_torch: true +cuda_allow_tf32: true +torch_deterministic: false +device: cuda:0 +# Evaluation settings +eval_freq: 50 +eval_n_eps: 10 +eval_n_parallel_envs: 2 +sample_mode: false +safety_controller: false +# Inference loading model from wandb +wandb_model: + alias: latest + name: race_car-649yfd1r +# Others +exp_name: raceMOP +seed: 1 +notes: +hydra: + job_logging: + formatters: + simple: + format: '%(message)s' + + diff --git a/configs/env.yaml b/configs/env.yaml new file mode 100644 index 0000000..5a4bfa0 --- /dev/null +++ b/configs/env.yaml @@ -0,0 +1,13 @@ +frame_cat: + use: true + n: 35 + skip_slicing: 4 # n = ceil(n / (skip_slicing + 1)), e.g., ceil(5 / (1 + 1)) = 3, ceil(5 / (2 + 1)) = 2 +wrapper: + normalize_obs: true + lidar_downsample_filter: true + clip_obs: [ -100, 100 ] + normalize_rew: true + clip_rew: [ -100, 100 ] + block_updates: true + block_after_n_updates: 0.2 # block after x * total_updates +reduce_scan_freq_by_2: false \ No newline at end of file diff --git a/configs/maps.yaml b/configs/maps.yaml new file mode 100644 index 0000000..75243d0 --- /dev/null +++ b/configs/maps.yaml @@ -0,0 +1,15 @@ +maps_train: [ + Catalunya, Nuerburgring, MoscowRaceway, Hockenheim, Sepang, Budapest, Spielberg, Sakhir +] +maps_test: [ + SaoPaulo, BrandsHatch, Melbourne, MexicoCity +] +map_path: './maps/' +map_ext: '.png' +wpt_delim: ';' +wpt_rowskip: 3 +wpt_xind: 1 +wpt_yind: 2 +wpt_thind: 3 +wpt_vind: 5 +wpt_kappa: 4 \ No newline at end of file diff --git a/configs/planner/ego.yaml b/configs/planner/ego.yaml new file mode 100644 index 0000000..82ded05 --- /dev/null +++ b/configs/planner/ego.yaml @@ -0,0 +1,8 @@ +defaults: + - params: apf # pure_pursuit / ftg_plus + - _self_ +params: + do_plot: false + wpts_type: center # 'race' or 'center' + + diff --git a/configs/planner/opponents.yaml b/configs/planner/opponents.yaml new file mode 100644 index 0000000..8fb8bd8 --- /dev/null +++ b/configs/planner/opponents.yaml @@ -0,0 +1,6 @@ +defaults: + - params: pure_pursuit # pure_pursuit / ftg_plus + - _self_ +params: + vgain: [ 0.8, 0.75, 0.7 ] + wpts_type: race \ No newline at end of file diff --git a/configs/planner/params/apf.yaml b/configs/planner/params/apf.yaml new file mode 100644 index 0000000..22c3dc4 --- /dev/null +++ b/configs/planner/params/apf.yaml @@ -0,0 +1,19 @@ +type: apf +vgain: [ 1.0 ] +tlad: 1.2 +n_next_points: 150 +skip_next_points: 5 +vmax: None +wpts_type: center # 'race' or 'center' +# Specific params for each planner +rr: 8.0 +k_att: 1000.0 +k_rep: 50.0 +max_iters: 20 +step_size: 0.1 +goal_threshold: 0.2 +target_l: 10.0 +lookahead_distance: 1.0 +do_plot: false +#angle_incre: 0.00435 +#angle_min: -2.35 \ No newline at end of file diff --git a/configs/planner/params/disparity.yaml b/configs/planner/params/disparity.yaml new file mode 100644 index 0000000..eaec034 --- /dev/null +++ b/configs/planner/params/disparity.yaml @@ -0,0 +1,17 @@ +type: disparity # 'mpc' / 'pure_pursuit' / 'apf' / 'lattice' +vgain: [ 1.0 ] # 1.3, 0.6 +tlad: 1.2 # 0.82461887897713965 +n_next_points: 150 +skip_next_points: 5 +vmax: None +wpts_type: center # 'race' or 'center' +do_plot: false +# params +window_size: 10 +safe_thres: 3.0 # 2.0 +danger_thres: 3.0 # 1.5 #0.8 +rb: 100 +P: 0.6 # P gain for steering +max_gap_length: 600 +min_gap_length: 20 +safe_vgain: 1.2 \ No newline at end of file diff --git a/configs/planner/params/dummy.yaml b/configs/planner/params/dummy.yaml new file mode 100644 index 0000000..b422023 --- /dev/null +++ b/configs/planner/params/dummy.yaml @@ -0,0 +1,19 @@ +type: dummy +vgain: [ 1.0 ] +#tlad: 1.2 +#n_next_points: 150 +#skip_next_points: 5 +#vmax: None +#wpts_type: center # 'race' or 'center' +## Specific params for each planner +#rr: 8.0 +#k_att: 1000.0 +#k_rep: 50.0 +#max_iters: 20 +#step_size: 0.1 +#goal_threshold: 0.2 +#target_l: 10.0 +#lookahead_distance: 1.0 +#do_plot: false +##angle_incre: 0.00435 +##angle_min: -2.35 \ No newline at end of file diff --git a/configs/planner/params/ftg.yaml b/configs/planner/params/ftg.yaml new file mode 100644 index 0000000..73e6210 --- /dev/null +++ b/configs/planner/params/ftg.yaml @@ -0,0 +1,17 @@ +type: ftg # 'mpc' / 'pure_pursuit' / 'apf' / 'lattice' +vgain: [ 1.0 ] # 1.3, 0.6 +tlad: 1.2 # 0.82461887897713965 +n_next_points: 150 +skip_next_points: 5 +vmax: None +wpts_type: center # 'race' or 'center' +do_plot: false +# params +window_size: 10 +safe_thres: 3.0 # 2.0 +danger_thres: 2.0 # 1.5 #0.8 +rb: 100 +P: 0.3 # P gain for steering +max_gap_length: 500 +min_gap_length: 30 +safe_vgain: 1.0 \ No newline at end of file diff --git a/configs/planner/params/ftg_plus.yaml b/configs/planner/params/ftg_plus.yaml new file mode 100644 index 0000000..e0772df --- /dev/null +++ b/configs/planner/params/ftg_plus.yaml @@ -0,0 +1,17 @@ +type: ftg_plus # 'mpc' / 'pure_pursuit' / 'apf' / 'lattice' +vgain: [ 1.0 ] # 1.3, 0.6 +tlad: 1.2 # 0.82461887897713965 +n_next_points: 150 +skip_next_points: 5 +vmax: None +wpts_type: center # 'race' or 'center' +do_plot: false +# params +window_size: 10 +safe_thres: 2.0 # 2.0 # Must be meet for finding gaps +danger_thres: 0.5 # 1.5 #0.8 # Set to zero +rb: 100 +P: 0.3 #6 #0.6 # P gain for steering +max_gap_length: 290 +min_gap_length: 30 +safe_vgain: 1.2 \ No newline at end of file diff --git a/configs/planner/params/lattice.yaml b/configs/planner/params/lattice.yaml new file mode 100644 index 0000000..1d99c3c --- /dev/null +++ b/configs/planner/params/lattice.yaml @@ -0,0 +1,7 @@ +type: lattice # 'mpc' / 'pure_pursuit' / 'apf' / 'lattice' +vgain: [ 1.0 ] # 1.3, 0.6 +tlad: 1.2 # 0.82461887897713965 # 1.2 # +n_next_points: 150 +skip_next_points: 5 +vmax: None +wpts_type: race # 'race' or 'center' diff --git a/configs/planner/params/pure_pursuit.yaml b/configs/planner/params/pure_pursuit.yaml new file mode 100644 index 0000000..52c5cb4 --- /dev/null +++ b/configs/planner/params/pure_pursuit.yaml @@ -0,0 +1,7 @@ +type: pure_pursuit +vgain: [ 1.0 ] # 1.3, 0.6 +tlad: 0.82461887897713965 # 1.2 +n_next_points: 150 +skip_next_points: 5 +vmax: None +wpts_type: center # 'race' or 'center' \ No newline at end of file diff --git a/configs/planner/planner.yaml b/configs/planner/planner.yaml new file mode 100644 index 0000000..5c68222 --- /dev/null +++ b/configs/planner/planner.yaml @@ -0,0 +1,7 @@ +defaults: + - ego@ego + - opponents@opponents + - _self_ + + + diff --git a/configs/rl.yaml b/configs/rl.yaml new file mode 100644 index 0000000..06b072b --- /dev/null +++ b/configs/rl.yaml @@ -0,0 +1,54 @@ +total_timesteps: 30e6 # total timesteps of the experiments +learning_rate: 1e-4 # the learning rate of the optimizer +warm_up_learning_rate: 3e-4 +num_envs: 128 # the number of parallel game environments +num_steps: 4096 # the number of steps to run in each environment per policy rollout +anneal_lr: true # Toggle learning rate annealing for policy and value networks +anneal_lr_factor: 0.0 # eta_min = lr * factor +gamma: 0.99 # the discount factor gamma +gae_lambda: 0.95 # the lambda for the general advantage estimation +num_minibatches: 1024 # the number of mini-batches +update_epochs: 7 # the K epochs to update the policy +norm_adv: True # Toggles advantages normalization +clip_coef: 0.1 # the surrogate clipping coefficient +clip_vloss: true # Toggles whether to use a clipped loss for the value function, as per the paper. +ent_coef: 0.0 # coefficient of the entropy +vf_coef: 0.5 # 0.5 # coefficient of the value function +max_grad_norm: 1.0 # 0.5 # the maximum norm for the gradient clipping +target_kl: null # 0.01 the target KL divergence threshold +distribution: TruncatedNormal # ['TanhNormal', 'TruncatedNormal', 'Normal'] distribution to use for the actor's head -> TanhNormal is bounded [-1, 1] +combine_before_dist: true +init_logstd: [ -0.7, -0.7 ] +upscale_tanh: 5.0 +tanh_loc: false +pre_tanh_loc: false +scale_action: [ 0.5, 0.5 ] +hidden_out_dim: 64 +state_dim: 8 +weight_decay: 0 +rpo_alpha: 0.05 +pretrain: false +critic_pretrain: 0.0 +critic_safe_exploration: false +all_frames_history: true # use also the stacked frames for the feature vector and not only for the lidar +lstm: + use: false + hidden_size: 64 + num_layers: 1 + num_sub_minibatches: 8 +obs_keys: [ + aaa_scans, + prev_action, + linear_vels_x, + linear_vels_y, + slip_angle, + action_planner, + yaw_rate, + acc_x, + steering_angle + # 'ang_vels_z', + # 'acc_y', + # 'progress', + # 'safe_velocity', + # 'lookahead_points_relative', +] diff --git a/configs/sim/reward.yaml b/configs/sim/reward.yaml new file mode 100644 index 0000000..379e99a --- /dev/null +++ b/configs/sim/reward.yaml @@ -0,0 +1,14 @@ +reward: + step: 0.0 + collision: -5.0 + long_vel: 0.0 + lat_vel: -0.0 + scaling: 1.0 + action_change: -0.002 + yaw_change: -0.0 + overtaking: 0.0 + safe_distance_to_obstacles: -0.0 + distance_threshold: 0.0 + safe_velocity: 0.0 + progress: 0.1 + traveled_distance: 0.0 diff --git a/configs/sim/sim.yaml b/configs/sim/sim.yaml new file mode 100644 index 0000000..a19cea5 --- /dev/null +++ b/configs/sim/sim.yaml @@ -0,0 +1,14 @@ +defaults: + - vehicle_params + - reward +render_mode: human_fast # [ human, human_fast, None ] +controller_dt: 0.02 +dt: 0.01 +start_pose_mode: random # [ first, sequential, random ] +n_agents: 3 +start_positions: + n_clusters: 30 + line_type: race # 'race' / 'center' + kappa_threshold: 10.0 #0.5 + dynamic_reset: true + n_split: 2 \ No newline at end of file diff --git a/configs/sim/vehicle_params.yaml b/configs/sim/vehicle_params.yaml new file mode 100644 index 0000000..4b5c154 --- /dev/null +++ b/configs/sim/vehicle_params.yaml @@ -0,0 +1,21 @@ +vehicle_params: + mu: 0.8 + C_Sf: 4.718 + C_Sr: 5.4562 + lf: 0.15875 + lr: 0.17145 + h: 0.074 + m: 3.47 + I: 0.04712 + s_min: -0.4189 + s_max: 0.4189 + sv_min: -3.2 + sv_max: 3.2 + v_switch: 7.319 + a_max: 7.51 + v_min: 0.0 # -5.0 + v_max: 8.0 + width: 0.27 + length: 0.51 + fov_deg: 270 + lidar_points: 1080 \ No newline at end of file diff --git a/main.py b/main.py new file mode 100644 index 0000000..ec4a9b6 --- /dev/null +++ b/main.py @@ -0,0 +1,25 @@ +# Copyright (C) 2023 Raphael Trumpp +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . +import logging +import warnings +import matplotlib.style as mplstyle +from racemop import main + +logging.getLogger("jax._src.xla_bridge").addFilter(logging.Filter("No GPU/TPU found, falling back to CPU.")) +warnings.filterwarnings('ignore', message='') +mplstyle.use('fast') + +if __name__ == "__main__": + main() diff --git a/maps/Austin/Austin_DonkeySim_waypoints.txt b/maps/Austin/Austin_DonkeySim_waypoints.txt new file mode 100644 index 0000000..0af6215 --- /dev/null +++ b/maps/Austin/Austin_DonkeySim_waypoints.txt @@ -0,0 +1,1102 @@ +8.654911723553377,0.0,29.235454131109783 +8.95873319176155,0.0,29.003335228748018 +9.262548314758753,0.0,28.771209904726952 +9.56636076206458,0.0,28.53908205791116 +9.870174356095282,0.0,28.306955969406854 +10.173992613473809,0.0,28.07483561452691 +10.477817445408277,0.0,27.842722904479462 +10.781648622553721,0.0,27.610617609919537 +11.085485839116838,0.0,27.37851950150216 +11.389328942200974,0.0,27.146428349882353 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