Codes uploaded

Author: bilalkabas

.gitignore

@@ -0,0 +1,3 @@
+*__pycache__*
+tb_logs
+saved_policy

config.yml

@@ -0,0 +1,6 @@
+# Modes: 1) depth, 2) single_rgb, 3) multi_rgb
+train_mode: "multi_rgb"
+test_mode: "multi_rgb"
+
+# Test types: 1) sequential, 2) random
+test_type: "random"

inference.py

@@ -0,0 +1,55 @@
+from cgi import test
+import os
+import gym
+import yaml
+
+from stable_baselines3 import PPO
+from stable_baselines3.common.monitor import Monitor
+from stable_baselines3.common.vec_env import DummyVecEnv, VecTransposeImage
+from scripts.network import NatureCNN
+
+
+# Load train environment configs
+with open('scripts/env_config.yml', 'r') as f:
+    env_config = yaml.safe_load(f)
+
+# Load inference configs
+with open('config.yml', 'r') as f:
+    config = yaml.safe_load(f)
+
+# Model name
+model_name = "best_model_" + config["test_mode"]
+
+# Determine input image shape
+image_shape = (50,50,1) if config["test_mode"]=="depth" else (50,50,3)
+
+# Create a DummyVecEnv
+env = DummyVecEnv([lambda: Monitor(
+    gym.make(
+        "scripts:test-env-v0", 
+        ip_address="127.0.0.1", 
+        image_shape=image_shape,
+        # Train and test envs shares same config for the test
+        env_config=env_config["TrainEnv"],          
+        input_mode=config["test_mode"],
+        test_mode=config["test_type"]
+    )
+)])
+
+# Wrap env as VecTransposeImage (Channel last to channel first)
+env = VecTransposeImage(env)
+
+policy_kwargs = dict(features_extractor_class=NatureCNN)
+
+# Load an existing model
+model = PPO.load(
+    env=env,
+    path=os.path.join("saved_policy", model_name),
+    policy_kwargs=policy_kwargs
+)
+
+# Run the trained policy
+obs = env.reset()
+for i in range(2300):
+    action, _ = model.predict(obs, deterministic=True)
+    obs, _, dones, info = env.step(action)

requirements.txt

@@ -0,0 +1,43 @@
+absl-py==0.14.1
+airsim==1.6.0
+cachetools==4.2.4
+certifi==2021.5.30
+charset-normalizer==2.0.6
+cloudpickle==2.0.0
+cycler==0.10.0
+google-auth==1.35.0
+google-auth-oauthlib==0.4.6
+grpcio==1.41.0
+gym==0.21.0
+idna==3.2
+kiwisolver==1.3.2
+Markdown==3.3.4
+matplotlib==3.4.3
+msgpack-python==0.5.6
+msgpack-rpc-python==0.4.1
+numpy==1.21.2
+oauthlib==3.1.1
+opencv-contrib-python==4.5.3.56
+pandas==1.3.3
+Pillow==8.3.2
+protobuf==3.18.1
+pyasn1==0.4.8
+pyasn1-modules==0.2.8
+pyparsing==2.4.7
+python-dateutil==2.8.2
+pytz==2021.3
+PyYAML==5.4.1
+requests==2.26.0
+requests-oauthlib==1.3.0
+rsa==4.7.2
+six==1.16.0
+stable-baselines3==1.2.0
+tensorboard==2.6.0
+tensorboard-data-server==0.6.1
+tensorboard-plugin-wit==1.8.0
+torch==1.9.1
+tornado==4.5.3
+typing-extensions==3.10.0.2
+urllib3==1.26.7
+Werkzeug==2.0.2
+wincertstore==0.2

scripts/__init__.py

@@ -0,0 +1,13 @@
+from .airsim_env import AirSimDroneEnv, TestEnv
+from gym.envs.registration import register
+
+
+# Register AirSim environment as a gym environment
+register(
+    id="airsim-env-v0", entry_point="scripts:AirSimDroneEnv",
+)
+
+# Register AirSim environment as a gym environment
+register(
+    id="test-env-v0", entry_point="scripts:TestEnv",
+)

scripts/airsim/__init__.py

@@ -0,0 +1,5 @@
+from .client import *
+from .utils import *
+from .types import *
+
+__version__ = "1.5.0"