Skip to content

Latest commit

 

History

History
806 lines (761 loc) · 63.1 KB

CHANGELOG.md

File metadata and controls

806 lines (761 loc) · 63.1 KB
Raw

Change Log

All notable changes to this project will be documented in this file.

This changelog is to adhere to the format given at keepachangelog and should maintain semantic versioning.

All text added must be human-readable.

Copy and pasting the git commit messages is NOT enough.

[Version] - XXXX-XX-XX

Added

Changed

Deprecated

Fixed

Removed

Security

[v2.0.1] - 2024-03-28

Fixed

  • Restored deprecated debug_log to benchmark runner.

[v2.0.0] - 2024-02-04

Added

  • Added a utility method SMARTS.prepare_observe_from() which allows safely adding sensors to vehicles.
  • The following methods now exist explicitly Vehicle.{add_sensor|detach_sensor|subscribed_to|sensor_property|}.
  • Resources loaded with load_yaml_config_with_substitution() now substitute in SMARTS configuration with single squiggle bracket ${} syntax. This is currently restricted to environment variable names prefixed with "SMARTS_". This extends to benchmark configuration and vehicle configuration.
  • Default vehicle definitions can be now modified using assets:default_vehicle_definitions_list/SMARTS_ASSSETS_DEFAULT_VEHICLE_DEFINITIONS_LIST or by providing a vehicle_definitions_list.yaml in the scenario. These vehicle types are related to the AgentInterface.vehicle_type attribute.
  • New CustomRender agent interface option added. This allows using glsl fragment scripts to generate images from camera textures and simulation buffers.
  • New ObfuscationMap agent interface option added. This uses the OccupancyGridMap to help generate an image of ground viewable area from the ego vehicle's perspective.
  • There is now a centralized TraCI server mananger that can be used to prevent port collisions. It can be run using python smarts.core.utils.sumo_server and the use of the server can be enabled with SMARTS_SUMO_TRACI_SERVE_MODE="central".

Changed

  • VehicleIndex.build_agent_vehicle() no longer has filename and surface_patches parameters.
  • The following modules have been renamed: envision.types -> envision.etypes, smarts.core.utils.logging -> smarts.core.utils.core_logging, smarts.core.utils.math -> smarts.core.utils.core_math, smarts.sstudio.types -> smarts.sstudio.sstypes. For compatibility reasons they can still be imported by their original module name.
  • Exposed traffic:traci_retries/SMARTS_TRAFFIC_TRACI_RETRIES to control how many times the SumoTrafficSimulation will try to restart when using default configuration.
  • rllib is now constrained as <=2.9,>2.4.
  • The examples/e12_rllib training examples {pg_example|pg_pbt_example}.py have been changed to {ppo_example|ppo_pbt_example}.py. Policy Gradients (PG) has been dropped in favor of the more well documented Proximal Policy Optimization (PPO).
  • Vehicles can now have sensors added to, overwritten, or replaced outright.
  • Logging is now improved to give information about sensor changes in the sensor manager.
    • Renamed vehicle.urdf to sedan.urdf.
  • Environment prefix is now configurable for custom smarts.core.config() calls.
  • Vehicle.build_agent_vehicle() argument vehicle_filepath now renamed to vehicle_dynamics_filepath.
  • Renamed MACOS pybullet gui utility from smarts.core.utils.bullet.BulletClient to smarts.core.utils.pybullet.BulletClientMACOS.
  • Vehicle.build_agent_vehicle() and Vehicle.build_social_vehicle() moved to VehicleIndex.
  • smarts.core.configuration.Configuration.get_settings() now uses the PyYAML default instead of forcefully casting to str.
  • Added AgentInterface.vehicle_class which allows selection of a dynamics vehicle from the vehicle definitions list file.
  • Waypoints now have a position property (which will eventually replace pos).
  • You must now implement act() for any agent inheriting from smarts.core.agent.Agent.
  • FunctionAgent is now no longer dynamically defined.
  • Vias.hit_via_points is now a property.
  • ViaPoint now has an attribute hit which determines if the point has been "collected".
  • Dependencies switched back to using - instead of _ (e.g. "camera-obs").

Deprecated

  • Module smarts.core.models is now deprecated in favour of smarts.assets.
  • Deprecated a few things related to vehicles in the Scenario class, including the vehicle_filepath, tire_parameters_filepath, and controller_parameters_filepath. The functionality is now handled through the vehicle definitions.
  • AgentInterface.vehicle_type is now deprecated with potential to be restored.

Fixed

  • The performance of SUMO roadmap queries using SumoRoadNetwork.{nearest_lanes|nearest_lane|offset_along_lane}() have been greatly improved for long lanes.
  • SumoTrafficSimulation gives clearer reasons as to why it failed to connect to the TraCI server.
  • Suppressed an issue where pybullet_utils.pybullet.BulletClient would cause an error because it was catching a non BaseException type.
  • Fixed a bug where smarts.core.vehicle_index.VehicleIndex.attach_sensors_to_vehicle() would pass a method instead of a PlanFrame to the generated vehicle SensorState.
  • Fixed an issue where AgentInterface.vehicle_type would not affect agent vehicles when attempting to take over an existing vehicle.
  • Fixed a case where newly created agent vehicles would have a constant "sedan" size instead of the size of AgentInterface.vehicle_type.
  • Fixed a case where if vehicles are replaced they would not respect controller and vehicle parameters.
  • Fixed an issue where RandomRoute would always give the same route across traffic groups in scenario studio.
  • Fixed an issue where SMARTS might not be explicitly destroyed in the ros_driver.
  • Fixed issue where SumoTrafficSimulation could get locked up on reset if a scenario had only 1 map but multiple scenario variations.
  • Fixed an issue where an out-of-scope method reference caused a pickling error.
  • Fixed an issue where the EnvisionDataFormatterArgs default would use a locally defined lambda and cause a serialization failure.
  • Fixed an issue where user configuration was being overridden.
  • Fixed a pkg_resources deprecation warning in python3.10 and up.
  • Fixed the envision camera to center on the map which was broken due to a change in the gltf metadata hierarchy.
  • Fixed an issue where you would need to install waymo in order to use any kind of dataset histories.
  • Fixed an issue where Pycharm would load smarts/sstudio/types as the integrated types module. See #2125.
  • Fixed an issue where the e12_rllib examples would use the wrong path for the default loop scenario.
  • Fixed an issue where the sensor state could be None when calling SMARTS.observe_from() on a non-ego vehicle. See #2133.
  • The via sensor and trip meter sensor now work without a mission.
  • Fixed a bug with VehicleIndex.attach_sensors_to_vehicle() that would generate an invalid plan.
  • Fixed a bug where vehicle sensor meta attributes would reference the wrong vehicle.
  • Resolved issue with road waypoints not showing waypoints if the horizon was larger than the start of the lane.
  • Fixed an issue where SMARTS.reset() would be unable to render cameras.
  • Squashed TraCI "retrying" stdout messages.

Removed

Security

[v1.4.0] - 2023-08-08

Added

  • SMARTS option smarts[examples] added for running SMARTS examples.

Changed

  • The following dependencies have been loosened: numpy, opencv, torch.
  • Clarified engine configuration location under logging.info instead of print.
  • ScenarioOrder enumeration values are now lower-case (e.g. scrambled instead of Scrambled).
  • EnvReturnMode, ScenarioOrder, and SumoOptions have been moved to smarts.env.configs.hiway_env_configs.
  • trimesh version has been loosened to trimesh>=3.9.29.

Deprecated

Fixed

  • The smarts package now works with python3.10 and python3.11.
  • Fixed an issue where default AgentInterface.events shared a reference.
  • Episode log now lists current value out of maximum rather than index.
  • Episode log now correctly shows all agent scores.
  • Added scipy back to dependencies to fix scenario building.
  • Fixed gymnasium floating type cast warnings in action conversion.

Removed

  • Removed previously deprecated SMARTS.timestep_sec attribute.

Security

[1.3.0] - 2023-07-11

Added

  • Added rllib/pg_example.py to demonstrate a simple integration with RLlib and tensorflow for policy training.
  • Added rllib/pg_pbt_example.py to demonstrate integration with ray.RLlib, tensorflow, and ray.tune for scheduled policy training.
  • Added engine configuration ray:num_cpus/SMARTS_RAY_NUM_CPUS which controls ray cpu usage (this overrides core:observation_workers when using core:sensor_parallelization=ray).
  • Added engine configuration ray:num_gpus/SMARTS_RAY_NUM_GPUS which controls ray gpu usage.

Changed

  • Updated smarts[ray] (ray==2.2) and smarts[rllib] (ray[rllib]==1.4) to use ray~=2.5.
  • Introduced tensorflow-probability to smarts[rllib].
  • Updated RLlibHiWayEnv to use the gymnasium interface.
  • Renamed rllib/rllib.py to rllib/pg_pbt_example.py.
  • Loosened constraint of gymnasium from ==0.27.0 to >=0.26.3.
  • Engine configuration of ray now affects the parallel benchmark runner.
  • Driving SMARTS benchmarks (scl benchmark run <benchmark_id>=driving_smarts_*) requirement ray<=2.2.0 bumped to ray<2.6.0.
  • LaneFollowingController now uses a different pole placement method to compute lateral/heading gains. Numerical behaviour is unchanged. Performance is slightly faster.
  • Upgraded Stable Baselines3 from v1.7.0 to v2.0.0, and switched to Gymnasium backend, in Drive and VehicleFollowing RL examples.
  • Changed all uses of gym to use gymnasium.
  • Changed gymnasium to be an optional dependency. Use pip install -e .[gymnasium] to install it.
  • Renamed the [gym] optional install to [gif_recorder].
  • Optimized events calculation to avoid redundant roadmap calls.

Deprecated

Fixed

  • Missing neighborhood vehicle state 'lane_id' is now added to the hiway-v1 formatted observations.
  • Fixed a regression where pybullet build time messages returned.
  • make format no longer complains about a broken ./baselines path.

Removed

  • Removed scl benchmark run --debug-log. The same setting can be configured with ray:log_to_driver or SMARTS_RAY_LOG_TO_DRIVER.
  • Removed TruncatedDistribution from scenario studio.
  • Removed scipy as a core package dependency.
  • Removed gym as a core package dependency.
  • Removed hiway-v0 env.
  • Removed Api021Reversion gym wrapper class.

Security

[1.2.0] # 2023-06-14

Added

  • visdom can now be configured through the engine.ini configuration file visdom:enabled, visdom:hostname, and visdom:port (environment variables SMARTS_VISDOM_ENABLED, SMARTS_VISDOM_HOSTNAME, SMARTS_VISDOM_PORT.)
  • Added an install extra that installs the requirements for all optional modules. Use pip install .[all].
  • Added Condition, ConditionRequires, ConditionState and various condition implementations to enable logical operations in scenarios.
  • Traffic lights are now rendered in Envision.
  • Traffic lights are now rendered in camera observations.
  • Interest vehicles now show up in Envision.
  • Seed of hiway-v1 env can be retrieved through a new property seed.
  • Added TrafficEngineActor to describe a scenario studio defined actor that is controlled by a traffic engine.
  • Docker images from now on out base from ubuntu:focal.
  • A new Docker image has been added for software rendering for use cases where there is no display and GPU.

Changed

  • Changed waypoints in sumo maps to use more incoming lanes into junctions.
  • Increased the cutoff radius for filtering out waypoints that are too far away in junctions in sumo maps.
  • Made SUMO dependencies optional. Use pip install -e .[sumo] to install them.
  • Made Envision dependencies optional. Use pip install -e .[envision] to install them.
  • Made Waymo dependencies optional. Use pip install -e .[waymo] to install them.
  • SumoTrafficSimulator now uses the last vehicle subscription update to back route_for_vehicle(). This means that the routes of vehicles can still be determined even if SumoTrafficSimulation disconnects.
  • Reward function in platoon RL example retrieves actor-of-interest from marked neighborhood vehicles.
  • dist_to_destination metric cost function computes the route distance and end point for vehicle of interest contained in social agents, SMARTS traffic provider, SUMO traffic provider, and traffic history provider.
  • sstudio generated scenario vehicle traffic IDs are now shortened.
  • TrapEntryTactic.wait_to_hijack_limit_s field now defaults to 0.
  • EntryTactic derived classes now contain condition to provide extra filtering of candidate actors.
  • EntryTactic derived classes now contain start_time.
  • info returned by hiway-v1 in reset() and step() methods are unified.
  • Changed instances of hiway-v0 and gym to use hiway-v1 and gymnasium, respectively.
  • RoadMap.Route now optionally stores the start and end lanes of the route.
  • hiway-v1 can now be configured for per-agent or environment reward(s), truncation(s), termination(s), and info(s) through environment_return_mode.
  • hiway-v1's observation_options no longer has an effect on the environment rewards, truncations, and terminations agent|environment style return mode.
  • DistToDestination metric is now computed by summing the (i) off-route distance driven by the vehicle from its last on-route position, and (ii) the distance to goal from the vehicle's last on-route position.
  • Steps metric is capped by scenario duration set in the scenario metadata.
  • Overall metric score is weighted by each agent's task difficulty.

Deprecated

  • visdom is set to be removed from the SMARTS object parameters.
  • Deprecated start_time on missions.

Fixed

  • Fixed implementations of RoadMap.waypoint_paths() to ensure that the result is never empty.
  • The routes of SumoTrafficSimulation traffic vehicles are now preserved to be passed over to other traffic simulators when the SumoTrafficSimulation disconnects.
  • SumoTrafficSimulation no longer reports that it manages vehicles when it is disconnected.
  • Fixed waypoints so that they will always be the length of the lookahead parameter, even in junctions.
  • Fixed an issue where a single waypoint would appear in off-route lanes for missions with a goal.
  • Fixed an issue where the off_route event would be incorrectly triggered when driving on overlapping lanes.
  • Fixed an underlying issue with the sensor manager where the sensors were not removed immediately.
  • Fixed an issue where warnings could be generated when an agent takes over an existing vehicle if the vehicle previously had sensors on it.
  • Fixed vehicle gap metric to consume ragged waypoints matrix.
  • Fixed an issue where making a deep copy of the vehicle index would cause the pybullet client to crash the simulation.

Removed

  • Removed the following dependencies from smarts: pandas, rich, twisted, sh.
  • Moved baselines/marl_benchmark from this repository to smarts-project/smarts-project.rl repository.
  • Removed intersection-v0 env and examples/rl/intersection as they are superseded by driving-smarts-v2023 env and examples/rl/drive, respectively.
  • Removed examples/rl/racing as base repository danijar/dreamerv2 is not updated anymore and this example will be superseded by examples/rl/drive.
  • Removed FrameStack environment wrapper.
  • Removed SMARTS.traffic_sim property.
  • Removed remote agent modules.
  • Removed protobuf as a core package dependency.

Security

[1.1.0] # 2023-04-28

Added

  • Added an actor capture manager interface, ActorCaptureManager, which describes a manager that handles the change of control of actors. Operations in an actor manager step should not cause conflict in the simulation.
  • Added a new entry tactic, IdEntryTactic, which provides the scenario the ability to select a specific actor for an agent to take over.
  • Registered a new chase-via-points-agent-v0 agent in agent zoo, which can effectively chase via points across different road sections by using the waypoints.
  • Added new driving-smarts-v2023 benchmark consisting of new (i) driving-smarts-v2023 env and (ii) platoon-v0 env.
  • Added baseline example, consisting of training, inference, and zoo agent registration, for the platooning task in Driving SMARTS 2023.3 benchmark.
  • Documented the challenge objective, desired inference code structure, and use of baseline example, for Driving SMARTS 2023.3 benchmark, i.e., platooning task.
  • Added a new scenario consisting of merge-exit map, sumo lead vehicle, and traffic, for the vehicle-following task.
  • Added a SensorManager which manages placing sensors on actors in the simulations.
  • The VehicleState now has the bounding_box_points property to get the vehicle minimum bounding box as a set of points.
  • Added engine configuration options for core:debug, core:observation_workers, and core:reset_retries.
  • Explained in the docs that agents may spawn at different times in multiagent scenarios.
  • Added RaySensorResolver as an alternative parallel resolver.
  • Added [ray] option for smarts package. This currently conflicts with [rllib].
  • Added engine observation_workers configuration which can be used to configure the number of parallel sensor workers: 0 runs the sensors on the local thread, >=1 runs using the multiprocessing backing.
  • Added engine sensor_parallelization configuration of sensor parallelization backing, options ("mp"|"ray"): "mp" python multiprocessing, "ray" ray worker backing.
  • Added engine reset_retries configuration engine retries before the simulator will raise an error on reset.
  • Introduced new comfort cost function in metric module.
  • Introduced new gap-between-vehicles cost function in metric module.
  • Added baseline example, consisting of training, inference, and zoo agent registration, for the driving and turning tasks in Driving SMARTS 2023.1 and 2023.2 benchmarks, respectively. It uses RelativeTargetPose action space.
  • Documented the challenge objective, desired inference code structure, and use of baseline example, for Driving SMARTS 2023.1 (i.e., basic motion planning) and 2023.2 (i.e, turns) benchmarks.
  • Added an env wrapper for constraining the relative target pose action range.
  • Added a specialised metric formula module for Driving SMARTS 2023.1 and 2023.2 benchmark.

Changed

  • The trap manager, TrapManager, is now a subclass of ActorCaptureManager.
  • Considering lane-change time ranges between 3s and 6s, assuming a speed of 13.89m/s, the via sensor lane acquisition range was increased from 40m to 80m, for better driving ability.
  • The AgentType.Full now includes road_waypoints, accelerometer, and lane_positions.
  • ActionSpaceType has been moved from controller to its own file.
  • VehicleState has been moved to its own file.
  • Sensors are no longer added and configured in the agent_manager. They are instead managed in the sensor_manager.
  • Renamed all terminology relating to actor to owner in VehicleIndex.
  • Renamed all terminology relating to shadow actor to shadower in VehicleIndex.
  • Collision has been moved from smarts.core.observations to smarts.core.vehicle_state.
  • The trap manager, TrapManager, is now a subclass of ActorCaptureManager.
  • Considering lane-change time ranges between 3s and 6s, assuming a speed of 13.89m/s, the via sensor lane acquisition range was increased from 40m to 80m, for better driving ability.
  • Modified naming of benchmark used in NeurIPS 2022 from driving-smarts-competition-env to driving-smarts-v2022.
  • Social agent actor vehicles are now exactly named the same as the name of the actor.
  • Sstudio generated scenario vehicle traffic ids are now shortened.
  • ChaseViaPoints zoo agent uses unconstrained path change command, instead of being constrained to [-1, 0, +1] path change commands used previously.
  • Made the metrics module configurable by supplying parameters through a Params class.
  • Neighborhood vehicles which should be excluded from the dist_to_obstacles cost function can be specified through Params. This would be useful in certain tasks, like the vehicle-following task where the distance to the lead vehicle should not be included in the computation of the dist_to_obstacles cost function.
  • Unified the computation of dist_to_destination (previously known as completion) and steps (i.e., time taken) as functions inside the cost functions module, instead of computing them separately in a different module.
  • In the metrics module, the records which is the raw metrics data and the scoring which is the formula to compute the final results are now separated to provided greater flexibility for applying metrics to different environments.
  • Benchmark listing may specify specialised metric formula for each benchmark.
  • Changed benchmark_runner_v0.py to only average records across scenarios that share the same environment. Records are not averaged across different environments, because the scoring formula may differ in different environments.
  • Renamed GapBetweenVehicles cost to VehicleGap cost in metric module.
  • Camera metadata now uses radians instead of degrees.
  • The Panda3d implementation of Renderer has been extracted from the interface and moved to smarts.p3d.
  • Made all metrics as functions to be minimised, except the overall score which is to be maximised.
  • Driving SMARTS 2023.3 benchmark and the metrics module now uses actor_of_interest_re_filter from scenario metadata to identify the lead vehicle.
  • Included RelativeTargetPose action space to the set of allowed action spaces in platoon-v0 env.
  • Collision.collidee_id now gives the vehicle id rather than the name of the owner of the vehicle (usually the agent id.) Collision.collidee_owner_id now provides the id of the controlling agent (or other controlling entity in the future.) This is because 1) collidee_id should refer to the body and 2) in most cases the owner name would be None.
  • Entry tactics now use conditions to determine when they should capture an actor.

Deprecated

Fixed

  • Fixed issues related to waypoints in junctions on Argoverse maps. Waypoints will now be generated for all paths leading through the lane(s) the vehicle is on.
  • Fixed an issue where Argoverse scenarios with a Mission would not run properly.
  • Trip.actor field is now effective. Previously actor had no effect.
  • Fixed an issue where building sumo scenarios would sometimes stall.
  • VehicleIndex no longer segfaults when attempting to repr() it.
  • Fixed issues related to waypoints in SUMO maps. Waypoints in junctions should now return all possible paths through the junction.
  • Fixed CI tests for metrics.
  • Fixed traffic_histories_to_observations script.
  • Fixed an issue where the actor states and vehicle states were not synchronized after simulation vehicle updates resulting in different values from the simulation frame.
  • Minor fix in regular expression compilation of actor_of_interest_re_filter from scenario metadata.
  • Fixed acceleration and jerk computation in comfort metric, by ignoring vehicle position jitters smaller than a threshold.
  • Fixed an issue in Envision where vehicle debug info would not update correctly.

Removed

  • Removed the deprecated waymo_browser utility.
  • Removed camera observation created_at attribute from metadata to make observation completely reproducible.
  • Removed cached_property as a dependency.

Security

[1.0.11] # 2023-04-02

Added

Changed

  • Moved benchmark scenarios into SMARTS/scenarios folder.
  • Simplified the scenario loading code in driving_smarts benchmark.
  • The "hiway-v1" environment now uses ScenarioOrder configuration rather than a boolean.

Deprecated

Fixed

  • Fix case where heading source attribute could be undefined.
  • Updated interaction aware motion prediciton zoo agent to work with smarts.
  • Edge dividers no longer flow through intersections in Argoverse 2 maps.

Removed

Security

[1.0.10] # 2023-03-27

Added

  • Added vehicle of interest coloring through scenario studio. This lets the scenario color vehicles that match a certain pattern of vehicle id.
  • SMARTS now provides remove_provider to remove a provider from the simulation. Use carefully.

Changed

Deprecated

Fixed

  • Fixed "rl/racing" numpy incompatibility.
  • Fixed an issue with SUMO maps where waypoints in junctions would not return all possible paths.
  • Fixed an issue in Argoverse maps where adjacent lanes would sometimes not be grouped in the same road.

Removed

Security

[1.0.9] # 2023-03-20

Added

  • Added support for the Argoverse 2 Motion Forecasting Dataset (see scenarios/argoverse)
  • Added waymo_open_dataset as a module at the SMARTS repo level, to be able to load waymo scenarios without any external packages

Changed

  • Changed the lanepoint_spacing setting in MapSpec to be non-optional. Lanepoints are now generated lazily when waypoints are used.

Deprecated

Fixed

Removed

  • Removed waymo-open-dataset-tf-2-4-0 package as a dependency

Security

[1.0.8] # 2023-03-10

Added

  • Agent manager now has add_and_emit_social_agent to generate a new social agent that is immediately in control of a vehicle.

Changed

  • Changed the minimum supported Python version from 3.7 to 3.8

Deprecated

Fixed

  • Fixed hiway-v1 environment to use "render_modes" instead of "render.modes".
  • Fixed an issue with SMARTS where the social vehicles started instantly regardless of what mission start time they were given.
  • Missing waypoint paths 'lane_id' is now added to the hiway-v1 formatted observations.
  • Engine config utility now properly evaluates [Ff]alse as False when using a bool cast.

Removed

Security

[1.0.7] # 2023-03-04

Added

  • Added objective, scenario description, and trained agent performance, to the Driving Smarts 2022 benchmark documentation.

Changed

  • Unique id suffix is removed from vehicle name while building agent vehicle in VehicleIndex.build_agent_vehicle() function.

Deprecated

Fixed

  • Missing neighborhood vehicle ids are now added to the highway-v1 formatted observations.
  • Stopped agent providers from removing social agents when they have no actor.
  • Using trip in sstudio traffic generation no longer causes a durouter error.
  • Chassis collision AABB first pass now has an additional 0.05m tolerance to identify axis aligned collisions that would previously be missed.
  • Agent to mission padding warning now occurs when there are less missions than agents rather than when there are the same number of agents as missions.
  • Agent manager should no longer de-synchronize vehicle ids with the vehicle index.

Removed

Security

[1.0.6] # 2023-02-26

Added

  • Added a math utility for generating combination groups out of two sequences with unique index use per group. This is intended for use to generate the combinations needed to give a unique agent-mission set per reset.
  • Added basic tests for hiway-v1 resetting and unformatted observations and actions.
  • Added "steps_completed" to observation formatter.

Fixed

  • Ensured that hiwayenv.reset provides unique agent-mission sets per reset.
  • Fixed an issue where sstudio.types.Via was not hashable.

[1.0.5] # 2023-02-19

Added

  • Added a zoo agent, named Control-and-Supervised-Learning, from NeurIPS 2022 submission. This zoo agent runs in benchmark driving_smarts==0.0.
  • Added a zoo agent, named Discrete Soft Actor Critic, from NeurIPS 2022 submission. This zoo agent runs in benchmark driving_smarts==0.0.
  • Added basic tests for hiway-v1 resetting and unformatted observations and actions.
  • Added actor_ids as a provider interface to check the actors that the provider is currently in charge of.

Changed

  • HiWayEnvV1 derived environments now allow an explicit scenario through reset(options["scenario"]).
  • HiWayEnvV1 derived environments now allow an explicit simulation start time through reset(options["start_time"]).
  • Exposed smarts as a property on HiWayEnvV1.
  • Made the heading input relative to the current heading in RelativeTargetPose action space.

Deprecated

Fixed

  • Issue where a 0 length lane caused envision to crash.
  • Fixed an issue where Feature.type_specific_info was calling a non-existant method.

Removed

Security

[1.0.4] # 2023-02-10

Added

  • Engine configuration utility that uses the following locations to allow configuration of the SMARTS engine. The engine consumes the configuration files from the following locations in the following priority: ./engine.ini, ~/.smarts/engine.ini, $GLOBAL_USER/smarts/engine.ini, and ${PYTHON_ENV}/lib/${PYTHON_VERSION}/site-packages/smarts/engine.ini.
  • Added map source uri as map_source inside of hiway-v1 reset info to indicate what the current map is on reset.
  • Added NGSIM documentation.
  • Added a zoo agent, named Interaction-Aware Motion Prediction, from NeurIPS2022 submission. This zoo agent runs in benchmark driving_smarts==0.0.
  • Added Agent Zoo documentation in ReadTheDocs.

Changed

  • Made changes in the docs to reflect master branch as the main development branch.
  • Enabled supplying agent locator directly to benchmark runner and removed the need for an intermediary config file. Updated benchmark docs to reflect this.
  • Individualised the agent instances in the benchmark_runner_v0.py.
  • Made driving_smarts_competition_v0 env configurable through supply of AgentInterface.
  • Observation of driving_smarts_competition_v0 env was fixed to be of type ObservationOptions.unformatted.

Deprecated

Fixed

  • Fixed an exit error that occurs when envision attempts to close down.
  • Clarified the actions for ActionSpaceType.Continuous and ActionSpaceType.ActuatorDynamic in their respective docstrings.
  • Excluded from wheel any scenario build files in pattern smarts/**/build/**/*.xml.
  • Fixed an unintended regression in the metrics.

Removed

  • Removed duplicated smarts.env.gymnasium.action_conversion module.

Security

[1.0.3] 2023-02-04

Added

  • Added action formatting option to hiway-v0.
  • Introduced debug: serial: bool option to driving smarts benchmark config.

Changed

  • Moved action and observation conversions from smarts.env.gymnasium.utils to smarts.env.utils.

Fixed

  • Fixed an issue where termination while envision is enabled but not connected would cause a flurry of broken pipe errors.
  • Fixed an issue where activating visdom would cause errors.
  • Fixed an issue where metrics break down with unformatted observations.
  • Fixed an issue where hiway-v1 would cause an exception when using "unformatted" observations.
  • Unformatted actions and observations in hiway-v0 provide None rather than an incorrect space.

[1.0.2] 2023-01-27

Added

  • The hiway-v1 environment can now be configured to provide an "unformatted" observation.

Changed

  • Scenario paths is no longer manually supplied to Envision server while setup. Scenario paths are automatically sent to Envision server from SMARTS during simulation startup phase.
  • Updated "hiway-v1" with gymnasium action spaces using new ActionsSpaceFormatter utility.

Fixed

  • Fixed an issue where a sensor detach call when a bubble vehicle exits a bubble could cause a program crash.
  • Fixed issue with "hiway-v0" where "agent_interfaces" was not populated.
  • Add missing distance_travelled to the hiway-v1 observations.

[1.0.1] 2023-01-24

Fixed

  • Fixed issue where Driving SMARTS benchmark only did 2 evaluations per scenario instead of 50.
  • Removed unclosed file warnings from benchmark output.

[1.0.0] 2023-01-22

Added

  • Exposed .glb file metadata through the scenario Scenario.map_glb_metadata attribute.
  • Added single vehicle Trip into type.
  • Added new video record ultility using moviepy.
  • Added distance check between bubble and vehicle to avoid generating unnecessary cursors.
  • Added ConfigurableZone for Zone object to types which enable users to build bubble by providing coordinates of the polygon.
  • Added "SMARTS Performance Diagnostic" development tool for evaluating the simulation performance.
  • Added a "All Simulation" button on the header of Envision and made small-windowed simulation(s) in the "All Simulations" page clickable to maximize.
  • An env wrapper Metrics is introduced to compute agents' performance metrics.
  • Extracted TraciConn to the SMARTS utilities as a simplified utility to help with connecting to TraCI.
  • Added HiWayV1 gymansium environment to smarts. This can be referenced through gymnasium as smarts.env:hiway-v1.
  • Added scl benchmark run and scl benchmark list for running and listing benchmarks.
  • Added the "driving_smarts" benchmark as a feature of the new scl benchmark suite.
  • Added smarts.benchmark module which deals with running benchmarks.
    • Added smarts.core.entrypoints.benchmark_runner_v0 which is the initial benchmark fully integrated into smarts.
  • Added documentation with benchmark information.

Deprecated

Changed

  • Minimum SUMO version allowed by SumoTrafficSimulation is now 1.10.0.
  • The ProviderManager interface now uses a string id for removal of an actor instead of an actor state.
  • Renamed many fields of the smarts.core.agent_interface.AgentInterface dataclass: lidar -> lidar_point_cloud, waypoints -> waypoint_paths, rgb -> top_down_rgb, neighborhood_vehicles -> neighborhood_vehicle_states, and ogm -> occupancy_grid_map.
  • Renamed smarts.core.provider.Provider's action_spaces to actions.
  • Moved VehicleObservation, EgoVehicleObservation, Observation, RoadWaypoints, GridMapMetadata, TopDownRGB, OccupancyGridMap, DrivableAreaGridMap, ViaPoint, Vias, SignalObservation, and Collision from smarts.core.sensors to smarts.core.observations. They are now all typed NamedTuples.
  • Renamed GridMapMetadata field camera_pos to camera_position.

Removed

  • Removed all of PyMarl contents, including related interface adapter, environments, and tests.
  • Removed ray usage example.
  • Moved ULTRA from huawei-noah/SMARTS to smarts-project/smarts-project.rl repository.
  • Removed observation_adapter, reward_adapter, and info_adapter, from hiway_env.
  • Removed action_space field from the smarts.core.agent_interface.AgentInterface dataclass.

Fixed

  • Updated the RL example racing to use smarts[camera_obs]==0.7.0rc0 and continuous flowing traffic scenario. Simplified the racing RL example folder structure.
  • Envision "near realtime" mode bugfix
  • Corrected an issue where traffic lights in SUMO traffic simulation could be empty and cause a termination of the simulation.
  • Fixed an issue where vehicles could cause SMARTS to terminate from being in multiple providers.
  • Fixed an issue where sumo_traffic_simulation would disconnect on a non-terminal exception.
  • SMARTS now aggressively attempts to connect to a SUMO process as long as the SUMO process remains alive.
  • SUMO traffic simulation route_for_vehicle had semantic errors and now works again.
  • SUMO is now supported up to version 1.15.0. Versions of SUMO 1.13.0 and onward are forced to reset rather than reload because of errors with hot resetting versions starting with 1.13.0.

Security

[0.7.0rc0] 2022-10-31

Added

  • Added a basic background traffic ("social vehicle") provider as an alternative to the SUMO traffic simulator. This can be selected using the new "engine" argument to Traffic in Scenario Studio.
  • Added a multi-scenario-v0 environment which can build any of the following scenario, namely, 1_to_2lane_left_turn_c, 1_to_2lane_left_turn_t, 3lane_merge_multi_agent, 3lane_merge_single_agent, 3lane_cruise_multi_agent, 3lane_cruise_single_agent, 3lane_cut_in, and 3lane_overtake. Additional scenarios can also be built by supplying the paths to the scenario directories.
  • Added ego's mission details into the FormatObs wrapper.
  • Added SmartsLaneChangingModel and SmartsJunctionModel to types available for use with the new smarts traffic engine within Scenario Studio.
  • Added option to AgentInterface to include traffic signals (lights) in EgoVehicleObservation objects.
  • Added the ability to hover over vehicles and roadmap elements in Envision to see debug info.

Deprecated

  • Deprecated a few things related to traffic in the Scenario class, including the route argument to the Scenario initializer, the route, route_filepath and route_files_enabled properties, and the discover_routes() static method. In general, the notion of "route" (singular) here is being replaced with "traffic_specs" (plural) that allow for specifying traffic controlled by the SMARTS engine as well as Sumo.
  • waymo_browser.py has been deprecated in favour of the scl waymo command line tools.

Changed

  • Add lane_offset to Waypoint class and lane_postion to both EgoVehicleObservation and VehicleObservation classes to expose the reference-line (a.k.a. Frenet) coordinate system.
  • Traffic history vehicles can now be hijacked within a bubble. They will be relinquished to the SMARTS background traffic provider upon exiting the bubble.
  • Changed the name of the Imitation action space to Direct.
  • Removed endless_traffic option from SumoTrafficSimulator and instead added repeat_route to Flow type in Scenario Studio.
  • Renamed examples/observation_collection_for_imitation_learning.py to examples/traffic_histories_to_observations.py.
  • Renamed examples/history_vehicles_replacement_for_imitation_learning.py to examples/traffic_histories_vehicle_replacement.py.
  • SumoTrafficSimulation will now try to hand-off the vehicles it controls to the new SMARTS background traffic provider by default if the Sumo provider crashes.
  • SMARTS now gives an error about a suspected lack of junction edges in sumo maps on loading of them.
  • Scenario build artifacts are now cached and built incrementally, meaning that subsequent builds (without the clean option) will only build the artifacts that depend on the changed DSL objects
  • All build artifacts are now in a local build/ directory in each scenario's directory
  • The allow_offset_map option has been removed. This must now be set in a MapSpec object in the scenario.py if this option is needed
  • All scenarios must have a scenario.py, and must call gen_scenario(), rather than the individual gen_ functions, which are now private

Removed

  • Removed support for deprecated json-based and YAML formats for traffic histories.
  • Removed time and distance to collision values from FormatObs wrapper as the current implementation's correctness was in doubt.

Fixed

  • Fixed bug where yaw_rate was always reported as 0.0 (Issue #1481).
  • Modified FrameStack wrapper to support agents which start at a later time in the simulation.
  • Truncated all waypoint paths returned by FormatObs wrapper to be of the same length. Previously, variable waypoint-path lengths caused inhomogenous shape error in numpy array.
  • Fixed a bug where traffic providers would leak across instances due to the (awful design decision of python) reference types defaults in arguments sharing across instances.
  • Fixed minor bugs causing some Waymo maps not to load properly.
  • Fixed a bug where Vehicle.bounding_box was mirrored over Y causing on shoulder events to fire inappropriately.
  • Fixed an issue where the ego and neighbour vehicle observation was returning None for the nearby lane_id, lane_index, and road_id. These now default to constants off_lane, -1, and off_road respectively.
  • Fixed a bug where bubble agents would stick around and to try to get observations even after being disassociated from a vehicle.
  • Fixed a bug with the TripMeterSensor that was not using a unit direction vector to calculate trip distance against current route.
  • Fixed issues with Envision. The playback bar and realtime mode now work as expected.
  • Fixed a bug where traffic history vehicles would not get traffic signal observations
  • Fixed a bug where envision would not work in some versions of python due to nuances of importlib.resource.path().
  • Fixed an issue with incorrect vehicle sizes in Envision.

[0.6.1] 2022-08-02

Added

  • Added standard intersection environment, intersection-v0, for reinforcement learning where agents have to make an unprotected left turn in the presence of traffic.
  • Added an online RL example for solving the intersection-v0 environment, using PPO algorithm from Stable Baselines3 library. An accompanying Colab example is also provided.

Changed

  • Updated license to 2022 version.
  • SMARTS reset now has a start time option which will skip simulation.
  • Since gym.Space does not support dataclass, StdObs type is changed from a dataclass to a dictionary.

Removed

  • Old Stable Baselines3 based example is removed in favour of the new online RL example developed using Stable Baselines3 library.

Fixed

  • Additional case added for avoiding off-route if merging early into a lane.
  • Unpack utility now unpacks dataclass attributes.
  • Trap manager now uses elapsed sim time rather than step delta to associate with time.

[0.6.1rc1] 2022-04-18

Added

  • Added example scenario for importing the NGSIM peachtree dataset.
  • Added example scenario for importing the INTERACTION merging dataset

Deprecated

  • Using .yml files to specify traffic history datasets have been deprecated in favor of using sstudio.types.TrafficHistoryDataset objects.

Fixed

  • Gracefully handle EndlessGoal missions in the MaRL benchmark. Relative goal distance with EndlessGoal will be now always be 0.
  • Restore rl-agent to working order. Version incremented to 1.1.0.
  • Update rl-agent wheel.
  • Do not auto-shift maps for a scenario that has traffic history.
  • Fixed Issue #1321 such that numpy's sliding_window_view() is no longer needed for NGSIM traffic histories.
  • Fixed NGSIM traffic history import bugs (see Issues #1354 and #1402).

[0.6.1rc0] 2022-04-16

Added

  • Added smarts/waymo/waymo_browser.py, a text-based utility to explore and export scenarios from the Waymo Motion dataset to SMARTS scenarios.
  • Added get_vehicle_start_time() method for scenarios with traffic history data. See Issue #1210.
  • Added sb3 reinforcement-learning example. An ego agent is trained using PPO algorithm from Stable Baselines3 library, to drive as far and as fast as possible in heavy traffic, without colliding or going off-road.
  • Added FormatObs wrapper which converts SMARTS observations to gym-compliant RL-friendly vectorized observations and returns StdObs.
  • Added Pose.as_position2d() method which converts the pose to an [x,y] position array.
  • Added EventConfiguration dataclass in the agent interface to allow users to configure the conditions in which events are triggered
  • Extended the RoadMap API to support Waymo map format in smarts/core/waymo_map.py.
  • Added scenarios for "importing" the i80 and us101 NGSIM trajectory history datasets
  • Added an observation adapter that makes the observation ego-centric: smarts.core.utils.ego_centric_observation_adapter.
  • Added math utility world_position_from_ego_frame which allows converting from an ego frame to world frame.
  • Added math utility wrap_value which constrains a float between a min and max by wrapping around every time the value exceeds max or falls below min.
  • Added ego-centric adapter utility smarts.core.utils.adapters.ego_centric_adapters.get_egocentric_adapters(action_space) which provides an ego-centric pair of observation and action adapters that are used together to provide an ego-centric interface.

Changed

  • If more than one qualifying map file exists in a the map_spec.source folder, get_road_map() in default_map_builder.py will prefer to return the default files (map.net.xml or map.xodr) if they exist.
  • Moved the smarts_ros ROS node from the examples area into the smarts.ros module so that it can be distributed with SMARTS packages.
  • Use Process to replace Thread to speed up the scl scenario build-all --clean <scenario_dir> runtime.
  • Modified the repository's front page to be more informative and better organised.
  • Added an option to Scenario.scenario_variations() to make the iterator not yield a cycle.

Deprecated

  • Moved the AgentSpec class out of smarts.core.agent to smarts.zoo.agent_spec.

Fixed

  • Fixed a secondary exception that the SumoTrafficSimulation will throw when attempting to close a TraCI connection that is closed by an error.
  • Ensure that smarts.core.coordinates.Pose attribute position is an [x, y, z] numpy array, and attribute orientation is a quaternion length 4 numpy array.
  • Update social vehicle pose in Bullet when no active agents are present.
  • Fix suppression of stderr and stdout on ipython platforms via suppress_output(..).

Removed

  • Removed the unconditional import of Renderer from smarts/core/vehicle.py to make Panda3D optional dependency regression. See Issue #1310.

Security

[0.6.0] 2022-03-28

Added

  • Added get_vehicle_start_time() method for scenarios with traffic history data. See Issue #1210.
  • Added sb3 reinforcement-learning example. An ego agent is trained using PPO algorithm from Stable Baselines3 library, to drive as far and as fast as possible in heavy traffic, without colliding or going off-road.
  • Added FormatObs wrapper which converts SMARTS observations to gym-compliant RL-friendly vectorized observations and returns StdObs.
  • Added Pose.as_position2d() method which converts the pose to an [x,y] position array.
  • Added EventConfiguration dataclass in the agent interface to allow users to configure the conditions in which events are triggered
  • Added scenarios for "importing" the i80 and us101 NGSIM trajectory history datasets

Changed

  • If more than one qualifying map file exists in a the map_spec.source folder, get_road_map() in default_map_builder.py will prefer to return the default files (map.net.xml or map.xodr) if they exist.
  • Moved the smarts_ros ROS node from the examples area into the smarts.ros module so that it can be distributed with SMARTS packages.
  • Use Process to replace Thread to speed up the scl scenario build-all --clean <scenario_dir> runtime.
  • Modified the repository's front page to be more informative and better organised.

Deprecated

  • Moved the AgentSpec class out of smarts.core.agent to smarts.zoo.agent_spec.

Fixed

  • Fixed a secondary exception that the SumoTrafficSimulation will throw when attempting to close a TraCI connection that is closed by an error.
  • Ensure that smarts.core.coordinates.Pose attribute position is an [x, y, z] numpy array, and attribute orientation is a quaternion length 4 numpy array.
  • Update social vehicle pose in Bullet when no active agents are present.
  • Document missing action space type ActionSpaceType.TargetPose.

Removed

  • Removed the unconditional import of Renderer from smarts/core/vehicle.py to make Panda3D optional dependency regression. See Issue #1310.

Security

[0.5.1.post1] 2022-03-11

Fixed

  • Fixed an issue involving relative imports in examples/rllib/rllib.py.
  • Fixed an issue with uncapped opencv causing an error within ray.rllib.
  • Fixed a longstanding issue that did not allow camera observations unless you had windowing.

[0.5.1] 2022-01-25

Added

  • Added get_vehicle_start_time() method for scenarios with traffic history data. See Issue #1210.

Changed

  • If more than one qualifying map file exists in a the map_spec.source folder, get_road_map() in default_map_builder.py will prefer to return the default files (map.net.xml or map.xodr) if they exist.
  • Moved the smarts_ros ROS node from the examples area into the smarts.ros module so that it can be distributed with SMARTS packages.
  • Use Process to replace Thread to speed up the scl scenario build-all --clean <scenario_dir> runtime.

Deprecated

Fixed

  • Fixed a secondary exception that the SumoTrafficSimulation will throw when attempting to close a TraCI connection that is closed by an error.

Removed

Security

[0.5.0] - 2022-01-07

Added

  • Added Minimum FrameRate tests to measure the fps for smart.step() method. See Issue #455.
  • Added a ROS wrapper/driver example to wrap SMARTS in a ROS (v1) node.
  • Added the ability to pass an optional time_delta_since_last_step to SMARTS' step() function to support variable timesteps for co-simulation.
  • Added step_count and elapsed_sim_time to the Observation class. See PR #974 and Issues #884 and #918.
  • Added dt to Observation class to inform users of the observations of the variable timestep.
  • Added the ability to externally update SMARTS state via a new privileged-access ExternalProvider.
  • Allow specifying "-latest" as a version suffix for zoo locator strings.
  • Added Base CI and dependencies requirement tests for the "darwin" platform (MacOS).
  • Extended Imitation Learning codebase to allow importing traffic histories from the Waymo motion dataset and replay in a SMARTS simulation. See PR #1060.
  • Added options for dealing with noise when inferring headings while importing traffic history data. See PR #1219.
  • Added ros extension rule to setup.py.
  • Added a script to allow users to hijack history vehicles dynamically through a trigger event. See PR #1088.
  • Added a -y option to utils/setup/install_deps.sh to accept installation by default. See issue #1081.
  • Added ParallelEnv class and a corresponding example to simulate multiple SMARTS environments in parallel, with synchronous or asynchronous episodes.
  • Added smarts.core.utils.import_utils to help with the dynamic import of modules.
  • Added single_agent env wrapper and unit test. The wrapper converts a single-agent SMARTS environment's step and reset output to be compliant with gym spaces.
  • Added rgb_image env wrapper and unit test. The wrapper filters SMARTS environment observation and returns only top-down RGB image as observation.
  • Extended the RoadMap API to support OpenDRIVE map format in smarts/core/opendrive_road_network.py. Added 3 new scenarios with OpenDRIVE maps. See PR #1186.
  • Added a "ReplayAgent" wrapper to allow users to rerun an agent previously run by saving its configurations and inputs. See Issue #971.
  • Added smarts.core.provider.ProviderRecoveryFlags as flags to determine how SMARTS should handle failures in providers. They are as follows:
    • NOT_REQUIRED: Not needed for the current step. Error causes skip of provider if it should recover but cannot or should not recover.
    • EPISODE_REQUIRED: Needed for the current episode. Results in episode ending if it should recover but cannot or should not recover.
    • EXPERIMENT_REQUIRED: Needed for the experiment. Results in exception if it should recover but cannot or should not recover.
    • ATTEMPT_RECOVERY: Provider should attempt to recover from the exception or disconnection.
  • Added recovery options for providers in smarts.core.provider.Provider. These include:
    • Add recover() method to providers to attempt to recover from errors and disconnection.
    • Add connected property to providers to check if the provider is still connected.
  • Added recovery options to smarts.core.smarts.SMARTS.add_provider()
    • Add recovery_flags argument to configure the recovery options if the provider disconnects or throws an exception.
  • Added driving_in_traffic reinforcement learning example. An ego agent is trained using DreamerV2 to drive as far and as fast as possible in heavy traffic, without colliding or going off-road.
  • Added smarts.core.smarts.SMARTSDestroyedError which describes use of a destroyed SMARTS instance.

Changed

  • test-requirements github action job renamed to check-requirements-change and only checks for requirements changes without failing.
  • Moved examples tests to examples and used relative imports to fix a module collision with aiohttp's examples module.
  • Made changes to log sections of the scenario step in smarts.py to help evaluate smarts performance problems. See Issue #661.
  • Introducted RoadMap class to abstract away from SumoRoadNetwork and allow for (eventually) supporting other map formats. See Issue #830 and PR #1048. This had multiple cascading ripple effects (especially on Waypoint generation and caching, Missions/Plans/Routes and road/lane-related sensors). These include:
    • Removed the AgentBehavior class and the agent_behavior parameter to AgentInterface.
    • Moved the definition of Waypoint from smarts.core.mission_planner to smarts.core.road_map.
    • Moved the definition of Mission and Goal classes from smarts.core.scenario to smarts.core.plan.
    • Added MapSpec to the SStudio DSL types and introduced a simple builder pattern for creating RoadMap objects.
  • Changed the type hint for EgoVehicleObservation: it returns a numpy array (and always has).
  • Raised a warning message for building scenarios without map.net.xml file. See PR #1161.
  • Updated smarts/env/hiway_env.py to support OpenDRIVE maps so that the SMARTS object is instantiated without the SUMO traffic provider and social agents. See PR #1215.
  • Public SMARTS methods will throw smarts.core.smarts.SMARTSDestroyedError if SMARTS.destroy() has previously been called on the SMARTS instance.

Fixed

  • Fix lane vector for the unique cases of lane offset >= lane's length. See PR #1173.
  • Logic fixes to the _snap_internal_holes and _snap_external_holes methods in smarts.core.sumo_road_network.py for crude geometry holes of sumo road map. Re-adjusted the entry position of vehicles in smarts.sstudio.genhistories.py to avoid false positive events. See PR #992.
  • Prevent test_notebook.ipynb cells from timing out by increasing time to unlimited using /metadata/execution/timeout=65536 within the notebook for regular uses, and pytest call with --nb-exec-timeout 65536 option for tests. See for more details: "https://jupyterbook.org/content/execute.html#setting-execution-timeout" and "https://pytest-notebook.readthedocs.io/en/latest/user_guide/tutorial_intro.html#pytest-fixture".
  • Stop multiprocessing.queues.Queue from throwing an error by importing multiprocessing.queues in envision/utils/multiprocessing_queue.py.
  • Prevent vehicle insertion on top of ignored social vehicles when the TrapManager defaults to emitting a vehicle for the ego to control. See PR #1043
  • Prevent TrapManagerfrom trapping vehicles in Bubble airlocks. See Issue #1064.
  • Social-agent-buffer is instantiated only if the scenario requires social agents
  • Mapped Polygon object output of Route.geometry() to sequence of coordinates.
  • Updated deprecated Shapely functionality.
  • Fixed the type of position (pose) fields emitted to envision to match the existing type hints of tuple.
  • Properly detect whether waypoint is present in mission route, while computing distance travelled by agents with missions in TripMeterSensor.
  • Fixed test_notebook timeout by setting pytest --nb-exec-timeout 65536.

Deprecated

  • The timestep_sec property of SMARTS is being deprecated in favor of fixed_timesep_sec for clarity since we are adding the ability to have variable time steps.

Removed

  • Remove ray_multi_instance example when running make sanity-test
  • Removed deprecated fields from AgentSpec: policy_builder, policy_params, and perform_self_test.
  • Removed deprecated class AgentPolicy from agent.py.
  • Removed route_waypoints attribute from smarts.core.sensors.RoadWaypoints.

[0.4.18] - 2021-07-22

Added

  • Dockerfile for headless machines.
  • Singularity definition file and instructions to build/run singularity containers.
  • Support multiple outgoing edges from SUMO maps.
  • Added a Cross RL Social Agent in zoo/policies as a concrete training examples. See PR #700.
  • Made Ray and its module Ray[rllib] optional as a requirement/dependency to setup SMARTS. See Issue #917.

Fixed

  • Suppress messages in docker containers from missing /dev/input folder.
  • When code runs on headless machine, panda3d will fallback to using p3headlessgl option to render images without requiring X11.
  • Fix the case where mapping a blank repository to the docker container /src directory via -v $SMARTS_REPO/src as directed in the README will cause scl and other commands to not work.
  • Fix case where multiple outgoing edges could cause non-determinism.

[0.4.17] - 2021-07-02

Added

  • Added ActionSpace.Imitation and a controller to support it. See Issue #844.
  • Added a TraverseGoal goal for imitation learning agents. See Issue #848.
  • Added README_pypi.md to update to the general user installation PyPI instructions. See Issue #828.
  • Added a new utility experiment file cli/run.py to replace the context given by supervisord.conf. See PR #911.
  • Added scl zoo install command to install zoo policy agents at the specified paths. See Issue #603.
  • Added a FrameStack wrapper which returns stacked observations for each agent.

Changed

  • history_vehicles_replacement_for_imitation_learning.py now uses new Imitation action space. See Issue #844.
  • Updated and removed some package versions to ensure that Python3.8 is supported by SMARTS. See issue #266.
  • Refactored Waypoints into LanePoints (static, map-based) and Waypoints (dynamic). See Issue #829.
  • Vehicles with a BoxChassis can now use an AccelerometerSensor too.
  • When importing NGSIM history data, vehicle speeds are recomputed.
  • Allow custom sizes for agent vehicles in history traffic missions.
  • Refactored the top level of the SMARTS module to make it easier to navigate the project and understand its structure. See issue #776.
  • Made Panda3D and its modules optional as a requirement/dependencies to setup SMARTS. See Issue #883.
  • Updated the Tensorflow version to 2.2.1 for rl-agent and bump up its version to 1.0. See Issue #211.
  • Made Ray and its module Ray[rllib] optional as a requirement/dependency to setup SMARTS. See Issue #917.
  • Added an error if a SMARTS instance reaches program exit without a manual del of the instance or a call to SMARTS.destroy().

Fixed

  • Allow for non-dynamic action spaces to have action controllers. See PR #854.
  • Fix a minor bug in sensors.py which triggered wrong_way event when the vehicle goes into an intersection. See Issue #846.
  • Limited the number of workers SMARTS will use to establish remote agents so as to lower memory footprint.
  • Patched a restart of SUMO every 50 resets to avoid rampant memory growth.
  • Fix bugs in AccelerometerSensor. See PR #878.
  • Ensure that yaw_rate is always a scalar in EgoVehicleObservation.
  • Fix the internal holes created at sharp turns due to crude map geometry. See issue #900.
  • Fixed an args count error caused by websocket.on_close() sending a variable number of args.
  • Fixed the multi-instance display of envision. See Issue #784.
  • Caught abrupt terminate signals, in order to shutdown zoo manager and zoo workers.
  • Include tire model in package by moving tire_parameters.yaml from ./examples/tools to ./smarts/core/models. See Issue #1140
  • Fixed an issue where SMARTS.destroy() would still cause SMARTS.__del__() to throw an error at program exit.

Removed

  • Removed pview from make as it refers to .egg file artifacts that we no longer keep around.
  • Removed supervisord.conf and supervisor from dependencies and requirements. See Issue #802.

[0.4.16] - 2021-05-11

Added

  • Added sanity-test script and asked new users to run sanity-test instead of make test to ease the setup process
  • Added on_shoulder as part of events in observation returned from each step of simulation
  • Added description of map creation and how to modify the map to allow users to create their own traffic routes in docs
  • Added reference to SMARTS paper in front page of docs
  • Only create Renderer on demand if vehicles are using camera-based sensors. See issue #725.
  • Added glb models for pedestrians and motorcycles
  • Added near realtime mode and uncapped mode in Envision
  • Added --allow-offset-map option for scl scenario build to prevent auto-shifting of Sumo road networks
  • Added options in DoneCriteria to trigger ego agent to be done based on other agent's done situation

Changed

  • Refactored SMARTS class to not inherit from Panda3D's ShowBase; it's aggregated instead. See issue #597.
  • Updated imitation learning examples.

Fixed

  • Fixed the bug of events such as off_road not registering in observation when off_road is set to false in DoneCriteria
  • Fixed Sumo road network offset bug for shifted maps. See issue #716.
  • Fixed traffic generation offset bug for shifted maps. See issue #790.
  • Fixed bugs in traffic history and changed interface to it. See issue #732.
  • Update ego_open_agent to use the package instead of the zoo directory version.
  • Quieted error logs generated by failed Envision connections as well as noisy pybullet log messages. See issue #819.
  • Removed all coverage files created during make test. See issue #826.
  • Removed scenarios and examples modules from pip installation. See issue #833.

[0.4.15] - 2021-03-18

Added

  • This CHANGELOG as a change log to help keep track of changes in the SMARTS project that can get easily lost.
  • Hosted Documentation on readthedocs and pointed to the smarts paper and useful parts of the documentation in the README.
  • Running imitation learning will now create a cached history_mission.pkl file in scenario folder that stores the missions for all agents.
  • Added ijson as a dependency.
  • Added cached-property as a dependency.

Changed

  • Lowered CPU cost of waypoint generation. This will result in a small increase in memory usage.
  • Set the number of processes used in make test to ignore 2 CPUs if possible.
  • Use the dummy OpEn agent (open-agent version 0.0.0) for all examples.
  • Improved performance by removing unused traffic light functionality.
  • Limit the memory use of traffic histories by incrementally loading the traffic history file with a worker process.

Fixed

  • In order to avoid precision issues in our coordinates with big floating point numbers, we now initially shift road networks (maps) that are offset back to the origin using netconvert. We adapt Sumo vehicle positions to take this into account to allow Sumo to continue using the original coordinate system. See Issue #325. This fix will require all scenarios to be rebuilt (scl scenario build-all --clean ./scenarios).
  • Cleanly close down the traffic history provider thread. See PR #665.
  • Improved the disposal of a SMARTS instance. See issue #378.
  • Envision now resumes from current frame after un-pausing.
  • Skipped generation of cut-in waypoints if they are further off-road than SMARTS currently supports to avoid process crash.
  • Fix envision error 15 by cleanly shutting down the envision worker process.

[Format] - 2021-03-12

Added

– Describe any new features that have been added since the last version was released.

Changed

– Note any changes to the software’s existing functionality.

Deprecated

– Note any features that were once stable but are no longer and have thus been scheduled for removal.

Fixed

– List any bugs or errors that have been fixed in a change.

Removed

– Note any features that have been deleted and removed from the software.

Security

– Invite users to upgrade and avoid fixed software vulnerabilities.

[Version] - XXXX-XX-XX

Added

Changed

Deprecated

Fixed

Removed

Security