Data used in this project can be downloaded from https://www.transtats.bts.gov/Fields.asp. The preprocessing of the data to create the custom gym environment is adapted from this paper https://ieeexplore.ieee.org/document/7411275.
import pandas as pd
from datetime import datetime, date, time, timedelta
import warnings
warnings.filterwarnings("ignore")
df = pd.read_csv('data.csv').drop('Unnamed: 24', axis=1)
df = df[(df.CANCELLED == 0) & (df.DIVERTED == 0)].drop(
['CANCELLED', 'DIVERTED'], axis=1)X1 is going to be Taxi Out time, our target
df['x1'] = df['TAXI_OUT']To be able to achieve the windowing described in the paper we will need to convert DEP_TIME and ARR_TIME into a python datetime object. We will also use the date from FL_DATE
def time_converter(in_):
in_date = in_[0]
in_time = in_[1]
in_time = str(in_time)
if '.' in in_time:
in_time = in_time[:-2]
while len(str(in_time)) < 4:
in_time = '0' + in_time
if in_time[:2] == '24':
in_time = '00' + in_time[2:]
time_ = time(int(in_time[:2]), int(in_time[2:4]), 0)
in_date = in_date.split('-')
date_ = date(int(in_date[0]), int(in_date[1]), int(in_date[2]))
return datetime.combine(date_, time_)
time_cols = ['CRS_DEP_TIME', 'DEP_TIME', 'WHEELS_OFF',
'WHEELS_ON', 'CRS_ARR_TIME', 'ARR_TIME', ]
for i, col in enumerate(time_cols):
df[col] = df[['FL_DATE', col]].apply(time_converter, axis=1)
print(f"{round(100*(i+1)/len(time_cols),2)}% done.")16.67% done.
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def get_bounds(in_time):
time_d = timedelta(minutes=20)
return (in_time - time_d), (in_time + time_d)
def window_func(TIME, variable, df):
lower_bound, upper_bound = get_bounds(TIME)
df_ = df[(df[variable] >= lower_bound) & (df[variable] <=
upper_bound)].copy()
count_airplanes = len(df_) - 1
return count_airplanes
def pct_tracker(to_be_done):
done = 0
count = 0
while True:
yield
done += 1
count += 1
if done > to_be_done:
done -= to_be_done
if (count >= to_be_done * 0.02):
count = 0
pct = round((float(done) / float(to_be_done)) * 100, 2)
print(f"{pct}% done.")
def track_progress(func=window_func, progress=pct_tracker(len(df))):
def call_func(*args, **kwargs):
progress.send(None)
return func(*args, **kwargs)
return call_func
def airplane_counter(func, variable, airport_type, list, add_cols=[]):
listy = []
sub_df = df.sort_values(by=[airport_type, variable])[
[airport_type, variable] + add_cols].copy()
for i, airport in enumerate(list):
x = sub_df[sub_df[airport_type] == airport].copy()
x['target'] = x[variable].apply(
track_progress(func), args=([variable, x]))
listy.append(x)
series = pd.concat(listy).sort_values(by=[airport_type, variable]).target
return series
df = df.sort_values(by=['ORIGIN', 'DEP_TIME']).copy()
origins = df.ORIGIN.unique().tolist()
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Similarly, we will calculate the number of arrival aircrafts sharing the runway with the aircraft being considered in the +-20 minutes window (x3)
df['x2'] = x2
df = df.sort_values(by=['DEST', 'ARR_TIME']).copy()
destinations = df.DEST.unique().tolist()
sub_df = df.sort_values(by=['DEST', 'ARR_TIME'])[
['DEST', 'ARR_TIME', 'ARR_DELAY']].copy()
dict_ = {dest: sub_df[sub_df['DEST'] == dest].copy() for dest in destinations}
def window_func_arr(in_):
ORIGIN, TIME = in_[0], in_[1]
lower_bound, upper_bound = get_bounds(TIME)
df = dict_[ORIGIN]
df_ = df[(df['ARR_TIME'] >= lower_bound) & (df['ARR_TIME'] <=
upper_bound)].copy()
count_airplanes = len(df_)
return count_airplanes
df['x3'] = df[['ORIGIN', 'DEP_TIME']].apply(
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-we will calculate the average taxi out time for each airoprt (x4)
-We will also define a function to check if the flight is or is not during peak time (x5)
-we will take (x6) to be air time and we will take (x7) to be taxi in
def is_peak(dep_time):
dep_time = dep_time.time()
if (dep_time >= time(4, 0) and (dep_time <= time(16, 0))):
return 1
else:
return 2
dict_averages={origin: df[df.ORIGIN == origin]
['TAXI_OUT'].mean() for origin in origins}
def avg_taxi_out(origin, dict=dict_averages):
return dict[origin]
df['x4']=df.ORIGIN.apply(avg_taxi_out)
df['x5']=df.DEP_TIME.apply(is_peak)
df['x6']=df.AIR_TIME
df['x7']=df.TAXI_IN
df.to_csv('snapshot.csv', index=False)-we will define x* as the number of late aircrafts sharing the runway with the aircraft being considered in the time window
def late_to_leave(TIME, variable, df):
lower_bound, upper_bound=get_bounds(TIME)
df_=df[(df[variable] >= lower_bound) & (df[variable] <=
upper_bound) & ((df['DEP_DELAY'] < -15) | (df['DEP_DELAY'] > 15))].copy()
count_airplanes=len(df_)
return count_airplanes
x8=airplane_counter(late_to_leave, 'DEP_TIME', 'ORIGIN',
origins, add_cols=['DEP_DELAY'])
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x9 is the number of late arriving aircrafts on the runway in the time window
def late_to_arrive(in_):
ORIGIN, TIME=in_[0], in_[1]
lower_bound, upper_bound=get_bounds(TIME)
df=dict_[ORIGIN]
df_=df[(df['ARR_TIME'] >= lower_bound) & (df['ARR_TIME'] <=
upper_bound) & ((df['ARR_DELAY'] < -15) | (df['ARR_DELAY'] > 15))].copy()
count_airplanes=len(df_)
return count_airplanes
df['x9']=df[['ORIGIN', 'DEP_TIME']].apply(
track_progress(late_to_arrive), axis=1)
df[['ORIGIN', 'DEP_TIME'] +
['x' + str(i) for i in range(1, 10)]].to_csv('variables.csv', index=False)
work_df=df[['ORIGIN', 'DEP_TIME'] +
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Finally we will discretize the target value (taxi out time). our target x1 is going to be descritized into 5 bins
work_df['DEP_TIME']=pd.to_datetime(work_df['DEP_TIME'])
work_df=pd.read_csv('./env/data/variables.csv')
print('non discretized environment variables')
work_df.iloc[:10,:]non discretized environment variables
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| ORIGIN | DEP_TIME | x1 | x2 | x3 | x4 | x5 | x6 | x7 | x8 | x9 | |
|---|---|---|---|---|---|---|---|---|---|---|---|
| 0 | SFB | 2019-04-01 06:58:00 | 15.0 | 7 | 0 | 13.801970 | 1 | 127.0 | 4.0 | 6 | 0 |
| 1 | CLT | 2019-04-01 09:46:00 | 27.0 | 33 | 28 | 21.445305 | 1 | 68.0 | 5.0 | 9 | 21 |
| 2 | DTW | 2019-04-01 10:09:00 | 18.0 | 39 | 16 | 17.244655 | 1 | 62.0 | 4.0 | 13 | 15 |
| 3 | ATL | 2019-04-01 10:39:00 | 11.0 | 58 | 42 | 15.761485 | 1 | 95.0 | 3.0 | 18 | 22 |
| 4 | PHL | 2019-04-01 12:47:00 | 14.0 | 22 | 9 | 21.666012 | 1 | 15.0 | 4.0 | 3 | 4 |
| 5 | SFB | 2019-04-01 12:13:00 | 13.0 | 1 | 3 | 13.801970 | 1 | 120.0 | 4.0 | 1 | 1 |
| 6 | ORD | 2019-04-01 13:56:00 | 33.0 | 65 | 44 | 21.773309 | 1 | 84.0 | 5.0 | 20 | 20 |
| 7 | DTW | 2019-04-01 15:40:00 | 21.0 | 42 | 22 | 17.244655 | 1 | 61.0 | 3.0 | 9 | 13 |
| 8 | ATL | 2019-04-01 15:49:00 | 15.0 | 37 | 53 | 15.761485 | 1 | 100.0 | 4.0 | 10 | 12 |
| 9 | CLT | 2019-04-01 16:24:00 | 19.0 | 52 | 19 | 21.445305 | 2 | 74.0 | 6.0 | 7 | 10 |
We will make a custom gym environment from this data following the code examples in their github.
We will use comments inside the code below to document.
import random
import gym
from gym import spaces
import numpy as np
from datetime import datetime, timedelta
class ontime_dataset_env(gym.Env):
metadata = {'render.modes': ['human']}
def __init__(self, df):
super(ontime_dataset_env, self).__init__()
self.df = df
# getting the maximum of each variable because variables have to be bound between 0 and 1
self.max_x2 = max(df['x2'])
self.max_x3 = max(df['x3'])
self.max_x4 = max(df['x4'])
self.max_x5 = max(df['x5'])
self.max_x6 = max(df['x6'])
self.max_x7 = max(df['x7'])
self.max_x8 = max(df['x8'])
self.max_x9 = max(df['x9'])
self.prev_time_step = datetime.strptime(
'2019-03-30 23:45:01', '%Y-%m-%d %H:%M:%S')
n_actions = 5
#defining action space, we are going to discritize our actions into 5 bins
self.action_space = spaces.Discrete(n_actions)
#defining observation space
self.observation_space = spaces.Box(
low=0, high=1, shape=(8,), dtype=np.float16)
def _next_observation(self):
# construct the state (observation) for every step, the state will include all the airplains in a window of 15 minutes and we will pad the resulting array with zeros to reach a uniform shape
obs = np.array([
self.df.loc[self.current_step: self.current_step
+ timedelta(minutes=15), 'x1'].values,
self.df.loc[self.current_step: self.current_step
+ timedelta(minutes=15), 'x2'].values / self.max_x2,
self.df.loc[self.current_step: self.current_step
+ timedelta(minutes=15), 'x3'].values / self.max_x3,
self.df.loc[self.current_step: self.current_step
+ timedelta(minutes=15), 'x4'].values / self.max_x4,
self.df.loc[self.current_step: self.current_step
+ timedelta(minutes=15), 'x5'].values / self.max_x5,
self.df.loc[self.current_step: self.current_step
+ timedelta(minutes=15), 'x6'].values / self.max_x6,
self.df.loc[self.current_step: self.current_step
+ timedelta(minutes=15), 'x7'].values / self.max_x7,
self.df.loc[self.current_step: self.current_step
+ timedelta(minutes=15), 'x8'].values / self.max_x8,
self.df.loc[self.current_step: self.current_step
+ timedelta(minutes=15), 'x9'].values / self.max_x9
])
#fetch next row until the window is done then get next window
if self.prev_time_step != self.current_step:
self.row_idx = 0
self.input_length = obs.shape[1]
obs = obs[:, self.row_idx]
self.prev_time_step = self.current_step
return obs
def _take_action(self, action):
# choose a random action
current_dep_latency = random.randint(0, 4)
def step(self, action):
# Execute one time step within the environment
self._take_action(action)
obs = self._next_observation()
#if we get to the end of the dataset while taking a step, we return to the begining
#calculating the reward, it will be one for each correct lable and -1* abs(true_label - predicted_label)/4 for each incorrect label
reward = np.absolute(obs[0] - action)*-1/4
if reward == 0:
reward = 1
self.row_idx += 1
# we will end each episode when we have trained on each row within a 15 minutes window, also if we randomly chose a starting ppoint in the last 15 minutes of the dataset we will be reset to the begining
done = False if self.row_idx < self.input_length else True
if done:
self.current_step = self.current_step = self.df.iloc[random.randint(0, len(self.df.loc[:, 'x2'].values) - 6)].name
if self.current_step > datetime.strptime('2019-04-30 23:45:01', '%Y-%m-%d %H:%M:%S'):
self.current_step = datetime.strptime(
'2019-04-01 00:00:00', '%Y-%m-%d %H:%M:%S')
return obs, reward, done, {}
def reset(self):
# Set the current step to a random point within the data frame
self.current_step = self.df.iloc[random.randint(
0, len(self.df.loc[:, 'x2'].values) - 6)].name
return self._next_observation()
def render(self, mode='human', close=False):
passOur model is based on stable-baselines PGM model, it's also built on the code available in their github.
import tensorflow as tf
gpus = tf.config.experimental.list_physical_devices('GPU')
tf.config.experimental.set_memory_growth(gpus[0], True)
from tensorflow import keras
from keras.layers import Dense, Activation, Input, Flatten
from keras.models import Model, load_model
from keras.optimizers import Adam
import keras.backend as K
import numpy as np
class Agent(object):
def __init__(self, ALPHA, GAMMA=0.99, n_actions=5, layer1_size=16, layer2_size=16, layer3_size=16, input_dims=9, fname='model.h5'):
self.GAMMA = GAMMA
self.lr = ALPHA
self.G = 0
self.input_dims = input_dims
self.fc1_dims = layer1_size
self.fc2_dims = layer2_size
self.fc3_dims = layer3_size
self.n_actions = n_actions
self.state_memory = []
self.action_memory = []
self.reward_memory = []
self.policy, self.predict = self.build_policy_network()
self.action_space = [i for i in range(n_actions)]
self.model_file = fname
#this is the function that will define the policy agent and and will make predictions
def build_policy_network(self):
input = Input(shape=(self.input_dims,))
advantages = Input(shape=[1])
dense1 = Dense(self.fc1_dims, activation='relu')(input)
dense2 = Dense(self.fc2_dims, activation='relu')(dense1)
dense3 = Dense(self.fc3_dims, activation='relu')(dense2)
probs = Dense(self.n_actions, activation='softmax')(dense3)
def custom_loss(y_true, y_predict):
out = K.clip(y_predict, 1e-8, 1 - 1e-8)
log_lik = y_true * K.log(out)
return K.sum(-log_lik * advantages)
policy = Model(input=[input, advantages], output=[probs])
policy.compile(optimizer=Adam(lr=self.lr), loss=custom_loss)
predict = Model(input=[input], output=[probs])
return policy, predict
#we will choose an actiom for each observation within the batch by making a random choice weighted by the probabilities predicted by our model
def choose_action(self, observation):
state = observation[np.newaxis, :]
probabilities = self.predict.predict(state)[0]
action = np.random.choice(self.action_space, p=probabilities)
return action
#this is a helper function that stores the history of the model
def store_transition(self, observation, action, reward):
self.state_memory.append(observation)
self.action_memory.append(action)
self.reward_memory.append(reward)
# this is the main driver function that we will call to train the agent
def learn(self):
state_memory = np.array(self.state_memory)
action_memory = np.array(self.action_memory)
reward_memory = np.array(self.reward_memory)
actions = np.zeros([len(action_memory), self.n_actions])
actions[np.arange(len(action_memory)), action_memory] = 1
# calculating the gain
G = np.zeros_like(reward_memory)
for t in range(len(reward_memory)):
G_sum = 0
discount = 1
for k in range(t, len(reward_memory)):
G_sum += reward_memory[k]*discount
discount *= self.GAMMA
G[t] = G_sum
mean = np.mean(G)
std = np.std(G) if np.std(G) > 0 else 1
self.G = (G-mean)/std
#calculating the cost
cost = self.policy.train_on_batch([state_memory, self.G], actions)
#resetting memory
self.state_memory = []
self.action_memory = []
self.reward_memory = []
#helper function to save and load the model
def save_model(self):
self.policy.save(self.model_file)
def load_model(self):
self.policy = load_model(self.model_file)Using TensorFlow backend.
import gym
import pandas as pd
import numpy as np
from sklearn.preprocessing import KBinsDiscretizer
df = pd.read_csv('./env/data/variables.csv')
df['Date'] = pd.to_datetime(df['Date'])
df = df.set_index('Date')
discretizer = KBinsDiscretizer(n_bins=5, encode='ordinal')
df['x1'] = discretizer.fit_transform(
df['x1'].to_numpy().reshape(-1, 1))
env = ontime_dataset_env(df)env.reset()array([1. , 0.03448276, 0.02380952, 0.58825559, 0.5 ,
0.05890805, 0.0221519 , 0. , 0.01724138])
env.step(4)(array([4. , 0.14942529, 0.70238095, 0.61140748, 0.5 ,
0.16954023, 0.00949367, 0.1 , 0.15517241]),
1,
False,
{})
env.step(4)(array([0. , 0.11494253, 0.27380952, 0.68524502, 1. ,
0.27011494, 0.01265823, 0.03333333, 0.13793103]),
-1.0,
False,
{})
Now that we are satisfied that our custom environment is working, we will start training the model.
Unfortunately no matter what hyper parameters were used, this model was not able to be trained on this dataset effectively.
agent = Agent(ALPHA=0.001, GAMMA=0.99, n_actions=5,
layer1_size=32, layer2_size=16,
layer3_size=8, fname='model.h5')
env = ontime_dataset_env(df)
score_history = []
n_episodes = 2500
for i in range(n_episodes):
done = False
score = 0
observation = env.reset()
while not done:
action = agent.choose_action(observation)
observation_, reward, done, info = env.step(action)
agent.store_transition(observation, action, reward)
observation = observation_
score += reward
score_history.append(score)
agent.learn()
print('episode', i, 'score %.1f' % score, 'average_score %.1f' %
np.mean(score_history[-100:]))
agent.save_model()/home/mostafakm/miniconda3/lib/python3.7/site-packages/ipykernel_launcher.py:43: UserWarning: Update your `Model` call to the Keras 2 API: `Model(inputs=[<tf.Tenso..., outputs=[<tf.Tenso...)`
/home/mostafakm/miniconda3/lib/python3.7/site-packages/ipykernel_launcher.py:45: UserWarning: Update your `Model` call to the Keras 2 API: `Model(inputs=[<tf.Tenso..., outputs=[<tf.Tenso...)`
episode 0 score -45.2 average_score -45.2
episode 1 score -80.0 average_score -62.6
episode 2 score -71.5 average_score -65.6
episode 3 score -32.5 average_score -57.3
episode 4 score -51.8 average_score -56.2
episode 5 score -74.5 average_score -59.2
episode 6 score -65.8 average_score -60.2
episode 7 score -41.0 average_score -57.8
episode 8 score -85.8 average_score -60.9
episode 9 score -86.5 average_score -63.5
episode 10 score -123.0 average_score -68.9
episode 11 score -65.5 average_score -68.6
episode 12 score -71.5 average_score -68.8
episode 13 score -62.5 average_score -68.4
episode 14 score -88.2 average_score -69.7
episode 15 score -41.0 average_score -67.9
episode 16 score -90.5 average_score -69.2
episode 17 score -46.5 average_score -68.0
episode 18 score -65.2 average_score -67.8
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Below is the same model defined above, just edited to take the new input shapes from Gym's LunarLander-v2 environment. the model was able to be trained on this environment and was able to get positive rewards.
from gym_model.Agent import GymAgent
from gym_model.gym_env import run_modelUsing TensorFlow backend.
run_model()/home/mostafakm/Documents/School/Practical Data Science/Assignment 7/gym_model/Agent.py:41: UserWarning: Update your `Model` call to the Keras 2 API: `Model(inputs=[<tf.Tenso..., outputs=[<tf.Tenso...)`
policy = Model(input=[input, advantages], output=[probs])
/home/mostafakm/Documents/School/Practical Data Science/Assignment 7/gym_model/Agent.py:43: UserWarning: Update your `Model` call to the Keras 2 API: `Model(inputs=[<tf.Tenso..., outputs=[<tf.Tenso...)`
predict = Model(input=[input], output=[probs])
episode 0 score -321.2 average_score -321.2
episode 1 score -111.1 average_score -216.1
episode 2 score -157.6 average_score -196.6
episode 3 score -222.1 average_score -203.0
episode 4 score -142.3 average_score -190.8
episode 5 score -291.4 average_score -207.6
episode 6 score -25.4 average_score -181.6
episode 7 score -28.4 average_score -162.4
episode 8 score -261.0 average_score -173.4
episode 9 score -103.2 average_score -166.4
episode 10 score -10.5 average_score -152.2
episode 11 score -153.5 average_score -152.3
episode 12 score -287.2 average_score -162.7
episode 13 score -168.1 average_score -163.1
episode 14 score -300.6 average_score -172.2
episode 15 score -225.9 average_score -175.6
episode 16 score -133.4 average_score -173.1
episode 17 score -141.5 average_score -171.4
episode 18 score -143.3 average_score -169.9
episode 19 score -109.8 average_score -166.9
episode 20 score -149.8 average_score -166.1
episode 21 score -106.6 average_score -163.4
episode 22 score -72.3 average_score -159.4
episode 23 score -170.1 average_score -159.8
episode 24 score -161.9 average_score -159.9
episode 25 score -295.5 average_score -165.1
episode 26 score -199.0 average_score -166.4
episode 27 score -181.8 average_score -166.9
episode 28 score -178.7 average_score -167.3
episode 29 score -46.8 average_score -163.3
episode 30 score 11.9 average_score -157.7
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episode 32 score -90.4 average_score -154.9
episode 33 score -312.2 average_score -159.6
episode 34 score -297.6 average_score -163.5
episode 35 score 38.0 average_score -157.9
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episode 243 score -83.1 average_score -136.6
episode 244 score -9.9 average_score -136.0
episode 245 score -78.1 average_score -135.5
episode 246 score -108.2 average_score -133.4
episode 247 score -44.0 average_score -133.1
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episode 249 score -103.0 average_score -134.1
episode 250 score -86.5 average_score -133.7
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episode 252 score -142.3 average_score -134.0
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episode 255 score -88.1 average_score -136.4
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After assignment 6, this is my second attempt to apply the approach outlined the paper "Reinforcement Learning for Taxi-out Time Prediction: An improved Q-learning Approach, to predict taxi-out time on the on-time dataset.
In assignment 6, i used deep q-learning and in this assignment I tried PGM. both attempts did not yield significant results. I'm lead to believe that this dataset might not be the best candidate for the RL approach.