Getting Start with PGDrive

We provide a pre-trained RL agent to show the power of PGDrive. Please run the following script to watch its performance:

python -m pgdrive.examples.enjoy_expert

You can also manually control a vehicle with keyboard, please run:

python -m pgdrive.examples.enjoy_manual

To enjoy the process of generate map through our Block Incremental Generation (BIG) algorithm, you can also run:

python -m pgdrive.examples.render_big

Note that the above three scripts can not be run in headless machine.

You can verify the efficiency of PGDrive via running:

python -m pgdrive.examples.profile_pgdrive

You can also draw multiple maps in the top-down view via running:

python -m pgdrive.examples.draw_maps

Environment Usage

The usage of PGDrive is as same as other gym environments:

import pgdrive  # Import this package to register the environment!
import gym

env = gym.make("PGDrive-v0", config=dict(use_render=True))
env.reset()
for i in range(1000):
    obs, reward, done, info = env.step(env.action_space.sample())
    env.render()
    if done:
        env.reset()
env.close()

Any Reinforcement Learning algorithms and Imitation Learning algorithms are compatible with PGDrive.

Pre-defined Environments

Besides, we provide several environments for different purposes. The following table presents some predefined environment names. Please feel free to open an issue if you want to request some new environments.

Gym Environment Name	Random Seed Range	Number of Maps	Comments
PGDrive-test-v0	[0, 200)	200	Test set, not change for all experiments.
PGDrive-validation-v0	[200, 1000)	800	Validation set.
PGDrive-v0	[1000, 1100)	100	Default training setting, for quick start.
PGDrive-10envs-v0	[1000, 1100)	10	Training environment with 10 maps.
PGDrive-1000envs-v0	[1000, 1100)	1000	Training environment with 1000 maps.
PGDrive-training0-v0	[3000, 4000)	1000	First set of 1000 environments.
PGDrive-training1-v0	[5000, 6000)	1000	Second set of 1000 environments.
PGDrive-training2-v0	[7000, 8000)	1000	Thirds set of 1000 environments.
…			More map set can be added in response to the requests