Heterogeneous Highway-env for iPLAN
Our forked version of highway-env used in our paper:
More details could be found in the main page of highway-env and iPLAN.
Installation
pip install HighwayEnv-iPLAN
Major Changes
- Add two behavior-driven vehicle models,
DefensiveVehicleandAggressiveVehicleinvehicle/behavior.py. - Add multi-agent support for
Highwayscenario given inenvs/highway_env.py, modify theMultiAgentWrapperinvehicle/common/abstract.py. - Add three heterogeneous traffic scenarios,
HighwayEnvHetero,HighwayEnvHetero_HandHighwayEnvHetero_VHinenvs/highway_env.py, with vehicle ID broadcasting and different behavior-driven vehicles. - Add multi-agent support for visualization in
Highwayscenario that allows a camera following each agent and visualize their surroundings from their respective viewpoints.
Animation
The animation shows 5 such learning agents (Green) with their surroundings from their respective viewpoints. Behavior-driven vehicles in the environment include: Normal (Blue), Aggressive (Purple) and Defensive (Yellow). Vehicles terminate (Red) when colliding with other vehicles.
iPLAN in chaotic (hard) scenario of Heterogeneous Highway
(Num of agents succeed: 5, Avg. survival time: 90, Avg. speed: 21.81).
1 maintainer
Metadata
1 maintainer
Release files for Heterogeneous-Highway-Env 0.0.3
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