Merge pull request #1 from julia-bel/dev

Partially implemented pipelines and tests

.gitignore

@@ -0,0 +1,161 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+*.pt

.gitmodules

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+[submodule "pogema"]
+	path = pogema
+	url = https://github.com/AIRI-Institute/pogema.git

README.md

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+# Multi-Agent Pathfinding in POGEMA with G2RL 
+Implementation of the [G2RL](https://ieeexplore.ieee.org/abstract/document/9205217) [1] approach in the [POGEMA](https://github.com/AIRI-Institute/pogema) environment.
+
+## Basic Concepts
+**Problem**: MAPF  
+**Environment**: 2D grid with static obstacles and dynamic agents  
+**Agent actions**: wait, up, down, left, right  
+**Local observations**: free cells, static obstacles, dynamic agents  
+**Global guidance**: the shortest traversable path considering all static obstacles  
+**Objective**: minimize the overall number of steps and avoid conflicts  
+
+## Code Implementation
+Partially based on the [repo](https://github.com/Tushar-ml/G2RL-Path-Planning.git).  
+Installation:
+
+```
+pip install -r requirements.txt
+pip install .
+```
+
+## Train & Test
+[Notebook](notebooks/train&test.ipynb) with simple examples of training and testing implementations.
+
+## Demonstration
+![Demo](renders/test.svg)
+
+## References
+[1] B. Wang, Z. Liu, Q. Li, and A. Prorok, "Mobile robot path planning in
+dynamic environments through globally guided reinforcement learning,"
+IEEE Robot. Autom. Lett., vol. 5, no. 4, pp. 6932–6939, Oct. 2020.

data/default_statistics.csv

@@ -0,0 +1,19 @@
+map,num_agents,max_steps,density,size,start,final,done,detour_percentage,moving_cost
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+random,3,180,,48,"[[25, 22], [17, 13], [22, 39]]","[[28, 26], [32, 16], [46, 32]]",2,0.0,1.1200716845878138
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+random,12,120,,48,"[[25, 22], [17, 13], [22, 39], [32, 36], [38, 29], [3, 19], [38, 39], [15, 2], [6, 42], [11, 41], [39, 47], [35, 35]]","[[28, 26], [32, 16], [46, 32], [28, 19], [33, 30], [46, 21], [39, 41], [29, 22], [45, 44], [1, 0], [8, 7], [6, 6]]",9,1.9157088122605366,1.137862533771267
+random,12,180,,48,"[[25, 22], [17, 13], [22, 39], [32, 36], [38, 29], [3, 19], [38, 39], [15, 2], [6, 42], [11, 41], [39, 47], [35, 35]]","[[28, 26], [32, 16], [46, 32], [28, 19], [33, 30], [46, 21], [39, 41], [29, 22], [45, 44], [1, 0], [8, 7], [6, 6]]",9,1.9157088122605366,1.137862533771267
+even,3,60,,48,"[[32, 25], [46, 10], [12, 4]]","[[6, 41], [45, 11], [28, 32]]",2,0.0,1.0
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+even,12,120,,48,"[[32, 25], [46, 10], [12, 4], [0, 1], [32, 9], [39, 11], [42, 4], [24, 11], [39, 10], [8, 0], [8, 24], [27, 1]]","[[6, 41], [45, 11], [28, 32], [33, 24], [23, 38], [28, 26], [18, 0], [34, 27], [39, 43], [16, 8], [34, 18], [26, 43]]",10,3.5812104562104556,1.0468396734844103
+even,12,180,,48,"[[32, 25], [46, 10], [12, 4], [0, 1], [32, 9], [39, 11], [42, 4], [24, 11], [39, 10], [8, 0], [8, 24], [27, 1]]","[[6, 41], [45, 11], [28, 32], [33, 24], [23, 38], [28, 26], [18, 0], [34, 27], [39, 43], [16, 8], [34, 18], [26, 43]]",10,3.5812104562104556,1.0468396734844103

g2rl/__init__.py

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+from g2rl.environment import G2RLEnv
+from g2rl.agent import G2RLAgent, DDQNAgent
+from g2rl.network import CRNNModel
+from g2rl.metrics import moving_cost, detour_percentage
+from g2rl.train import train