diff --git a/main/_images/index_1_0.png b/main/_images/index_1_0.png index 39df791e0..d46988478 100644 Binary files a/main/_images/index_1_0.png and b/main/_images/index_1_0.png differ diff --git a/main/_images/index_2_0.png b/main/_images/index_2_0.png index c6d82684a..1c8d72433 100644 Binary files a/main/_images/index_2_0.png and b/main/_images/index_2_0.png differ diff --git a/main/_images/index_2_1.png b/main/_images/index_2_1.png index c01857bcb..a6950a51f 100644 Binary files a/main/_images/index_2_1.png and b/main/_images/index_2_1.png differ diff --git a/main/_images/index_2_2.png b/main/_images/index_2_2.png index 2d087d7d7..a4c727f87 100644 Binary files a/main/_images/index_2_2.png and b/main/_images/index_2_2.png differ diff --git a/main/_images/index_3_1.png b/main/_images/index_3_1.png index e9474e2f1..f8f08282d 100644 Binary files a/main/_images/index_3_1.png and b/main/_images/index_3_1.png differ diff --git a/main/_images/quickstart_0_0.png b/main/_images/quickstart_0_0.png index 444a7bd20..a60fd3c58 100644 Binary files a/main/_images/quickstart_0_0.png and b/main/_images/quickstart_0_0.png differ diff --git a/main/_images/quickstart_2_0.png b/main/_images/quickstart_2_0.png index fdb151330..10de74775 100644 Binary files a/main/_images/quickstart_2_0.png and b/main/_images/quickstart_2_0.png differ diff --git a/main/_modules/highway_env/envs/racetrack_env/index.html b/main/_modules/highway_env/envs/racetrack_env/index.html index dece2ff41..234ff19e2 100644 --- a/main/_modules/highway_env/envs/racetrack_env/index.html +++ b/main/_modules/highway_env/envs/racetrack_env/index.html @@ -349,6 +349,7 @@

Source code for highway_env.envs.racetrack_env

"screen_width": 600, "screen_height": 600, "centering_position": [0.5, 0.5], + "speed_limit": 10.0, } ) return config

@@ -720,7 +721,7 @@

Source code for highway_env.envs.racetrack_env

net = RoadNetwork() w = 5 w2 = 2 * w - default_speedlimit = self.config['speed_limit'] + default_speedlimit = self.config["speed_limit"] # Initialise First Lane lane = StraightLane( @@ -804,7 +805,7 @@

Source code for highway_env.envs.racetrack_env

) # 3 - Vertical Straight - delta_extension = -1. # Better join + delta_extension = -1.0 # Better join net.add_lane( "c", "d", @@ -963,7 +964,7 @@

Source code for highway_env.envs.racetrack_env

start6_3 = np.array( [ start6[0] + 2 * (start6_2[0] - start6[0]), - start6[1] + 2 * (start6_2[1] - start6[1]) + start6[1] + 2 * (start6_2[1] - start6[1]), ] ) end6_3 = np.array( @@ -1039,42 +1040,31 @@

Source code for highway_env.envs.racetrack_env

start8 = np.array( [ center7[0] + radii7 * np.cos(np.deg2rad(theta7_end)), - center7[1] + radii7 * np.sin(np.deg2rad(theta7_end)) + center7[1] + radii7 * np.sin(np.deg2rad(theta7_end)), ] ) start8_2 = np.array( [ center7[0] + (radii7 + w) * np.cos(np.deg2rad(theta7_end)), - center7[1] + (radii7 + w) * np.sin(np.deg2rad(theta7_end)) + center7[1] + (radii7 + w) * np.sin(np.deg2rad(theta7_end)), ] ) start8_3 = np.array( [ center7[0] + (radii7 + w2) * np.cos(np.deg2rad(theta7_end)), - center7[1] + (radii7 + w2) * np.sin(np.deg2rad(theta7_end)) + center7[1] + (radii7 + w2) * np.sin(np.deg2rad(theta7_end)), ] ) # We preemptively take section 9's radius to make a nice join. radii9 = 15 rad = np.deg2rad(30) - end8 = np.array( - [ - 42 - radii9 * np.cos(rad), - -radii9 - radii9 * np.sin(rad) - ] - ) + end8 = np.array([42 - radii9 * np.cos(rad), -radii9 - radii9 * np.sin(rad)]) end8_2 = np.array( - [ - 42 - (radii9 + w) * np.cos(rad), - -radii9 - (radii9 + w) * np.sin(rad) - ] + [42 - (radii9 + w) * np.cos(rad), -radii9 - (radii9 + w) * np.sin(rad)] ) end8_3 = np.array( - [ - 42 - (radii9 + w2) * np.cos(rad), - -radii9 - (radii9 + w2) * np.sin(rad) - ] + [42 - (radii9 + w2) * np.cos(rad), -radii9 - (radii9 + w2) * np.sin(rad)] ) net.add_lane( "h", diff --git a/main/multi_agent/index.html b/main/multi_agent/index.html index 3318f4e48..9393ba8ae 100644 --- a/main/multi_agent/index.html +++ b/main/multi_agent/index.html @@ -389,11 +389,11 @@

Change the observation space -
(array([[ 1.        ,  0.91318184,  0.5       ,  0.3125    ,  0.        ],
-       [ 1.        ,  0.11544301,  0.25      , -0.02543437,  0.        ],
-       [ 1.        ,  0.22261813, -0.25      , -0.03110871,  0.        ],
-       [ 1.        ,  0.3270241 ,  0.        , -0.02302041,  0.        ],
-       [ 1.        ,  0.43188447, -0.25      , -0.0419906 ,  0.        ]],
+
(array([[ 1.        ,  0.88032156,  0.25      ,  0.3125    ,  0.        ],
+       [ 1.        ,  0.1045897 ,  0.25      , -0.02273381,  0.        ],
+       [ 1.        ,  0.21680075,  0.5       , -0.03253054,  0.        ],
+       [ 1.        ,  0.32206044,  0.        , -0.02046749,  0.        ],
+       [ 1.        ,  0.4229503 , -0.25      , -0.01466024,  0.        ]],
       dtype=float32),)
 

 

diff --git a/main/observations/index.html b/main/observations/index.html
index 08d2b6b15..84fdb5af6 100644
--- a/main/observations/index.html
+++ b/main/observations/index.html
@@ -560,23 +560,23 @@ 
Example configuration
 
[[ 1.          1.          0.12        1.          0.          1.
    0.        ]
- [ 1.          0.22794725 -0.04       -0.07060054  0.          1.
+ [ 1.          0.20743251 -0.08       -0.15705425  0.          1.
    0.        ]
- [ 1.          0.4321962   0.         -0.06853787  0.          1.
+ [ 1.          0.44124636 -0.04       -0.09107018  0.          1.
    0.        ]
- [ 1.          0.62579334  0.         -0.17667502  0.          1.
+ [ 1.          0.6658481  -0.04       -0.14941241  0.          1.
    0.        ]
- [ 1.          0.8332374  -0.12       -0.14284132  0.          1.
+ [ 1.          0.8673913  -0.12       -0.13185754  0.          1.
    0.        ]
- [ 1.          1.         -0.08       -0.14444916  0.          1.
+ [ 1.          1.         -0.08       -0.07945715  0.          1.
    0.        ]
- [ 1.          1.         -0.08       -0.08991019  0.          1.
+ [ 1.          1.         -0.04       -0.09591775  0.          1.
    0.        ]
- [ 1.          1.         -0.04       -0.16280553  0.          1.
+ [ 1.          1.         -0.04       -0.06529592  0.          1.
    0.        ]
- [ 1.          1.         -0.12       -0.12067557  0.          1.
+ [ 1.          1.         -0.08       -0.08504029  0.          1.
    0.        ]
- [ 1.          1.         -0.12       -0.18811597  0.          1.
+ [ 1.          1.         -0.08       -0.06549818  0.          1.
    0.        ]
  [ 0.          0.          0.          0.          0.          0.
    0.        ]
diff --git a/main/searchindex.js b/main/searchindex.js
index 7da5bed56..84940b91f 100644
--- a/main/searchindex.js
+++ b/main/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"alltitles": {"404": [[0, null]], "API": [[1, "module-highway_env.envs.common.action"], [4, "module-highway_env.road.lane"], [5, "module-highway_env.road.regulation"], [6, "module-highway_env.road.road"], [7, "module-highway_env.vehicle.behavior"], [8, "module-highway_env.vehicle.controller"], [9, "module-highway_env.vehicle.kinematics"], [10, "api"], [12, "api"], [13, "api"], [14, "api"], [15, "api"], [16, "api"], [18, "module-highway_env.envs.common.graphics"], [21, "module-highway_env.__init__"], [23, "module-highway_env.envs.common.observation"]], "Actions": [[1, null]], "All the environments": [[24, "all-the-environments"]], "Behavior": [[7, null]], "Bibliography": [[2, null]], "Change the action space": [[22, "change-the-action-space"]], "Change the observation space": [[22, "change-the-observation-space"]], "Configuring an environment": [[24, "configuring-an-environment"]], "Continuous Actions": [[1, "continuous-actions"]], "Control": [[8, null]], "Create the scene": [[21, "create-the-scene"]], "Create the vehicles": [[21, "create-the-vehicles"]], "Default configuration": [[10, "default-configuration"], [12, "default-configuration"], [13, "default-configuration"], [14, "default-configuration"], [15, "default-configuration"], [16, "default-configuration"]], "Development version": [[20, "development-version"]], "Discrete Actions": [[1, "discrete-actions"]], "Discrete Meta-Actions": [[1, "discrete-meta-actions"]], "Dynamics": [[3, null]], "Example configuration": [[23, "example-configuration"], [23, "grayscale-example-configuration"], [23, "id4"], [23, "id5"], [23, "id6"]], "Examples on Google Colab": [[24, "examples-on-google-colab"]], "Faster variant": [[10, "faster-variant"]], "Frequently Asked Questions": [[17, null]], "Getting Started": [[24, null]], "Goal environments": [[25, "goal-environments"]], "Graphics": [[18, null]], "Grayscale Image": [[23, "grayscale-image"]], "Heading control": [[8, "heading-control"]], "Highway": [[10, null]], "How to cite this work?": [[19, "how-to-cite-this-work"]], "I try to train an agent using the Kinematics Observation and an MLP model, but the resulting policy is not optimal. Why?": [[17, "i-try-to-train-an-agent-using-the-kinematics-observation-and-an-mlp-model-but-the-resulting-policy-is-not-optimal-why"]], "Illustration of the stack mechanism": [[23, "illustration-of-the-stack-mechanism"]], "Increase the number of controlled vehicles": [[22, "increase-the-number-of-controlled-vehicles"]], "Installation": [[20, null]], "Intersection": [[12, null]], "Kinematics": [[9, null], [23, "kinematics"]], "Lane": [[4, null]], "Lateral Behavior": [[7, "lateral-behavior"]], "Lateral controller": [[8, "lateral-controller"]], "Lidar": [[23, "lidar"]], "Longitudinal Behavior": [[7, "longitudinal-behavior"]], "Longitudinal controller": [[8, "longitudinal-controller"]], "Make the environment configurable": [[21, "make-the-environment-configurable"]], "Make your own environment": [[21, null]], "Making an environment": [[24, "making-an-environment"]], "Manual control": [[1, "manual-control"]], "Merge": [[13, null]], "Most environments": [[25, "most-environments"]], "My videos are too fast / have a low framerate.": [[17, "my-videos-are-too-fast-have-a-low-framerate"]], "Observations": [[23, null]], "Occupancy grid": [[23, "occupancy-grid"]], "Page Not Found": [[0, "page-not-found"]], "Parking": [[14, null]], "Position control": [[8, "position-control"]], "Prerequisites": [[20, "prerequisites"]], "Profit": [[21, "profit"]], "Racetrack": [[15, null]], "Register the environment": [[21, "register-the-environment"]], "Rewards": [[25, null]], "Road": [[6, null]], "Road regulation": [[5, null]], "Roads": [[3, "roads"]], "Roundabout": [[16, null]], "Scene graphics": [[18, "scene-graphics"]], "Set up files": [[21, "set-up-files"]], "Stable release": [[20, "stable-release"]], "The Multi-Agent setting": [[22, null]], "The environments": [[11, null]], "Time to collision": [[23, "time-to-collision"]], "Training an agent": [[24, "training-an-agent"]], "Ubuntu": [[20, "ubuntu"]], "Usage": [[10, "usage"], [12, "usage"], [13, "usage"], [14, "usage"], [15, "usage"], [16, "usage"]], "User Guide": [[26, null]], "Vehicles": [[3, "vehicles"]], "Welcome to highway-env\u2019s documentation!": [[19, null]], "When I try to make an environment, I get an error gymnasium.error.NameNotFound: Environment highway doesn't exist.": [[17, "when-i-try-to-make-an-environment-i-get-an-error-gymnasium-error-namenotfound-environment-highway-doesn-t-exist"]], "Windows 10": [[20, "windows-10"]], "World surface": [[18, "world-surface"]], "Wrapping it up": [[22, "wrapping-it-up"]], "presence feature: one vehicle is close to the north, and one is farther to the east.": [[23, "id7"]], "the Lidar observation": [[23, "id9"]], "v_x feature: the north vehicle drives at the same speed as the ego-vehicle, and the east vehicle a bit slower": [[23, "id8"]]}, "docnames": ["404", "actions/index", "bibliography/index", "dynamics/index", "dynamics/road/lane", "dynamics/road/regulation", "dynamics/road/road", "dynamics/vehicle/behavior", "dynamics/vehicle/controller", "dynamics/vehicle/kinematics", "environments/highway", "environments/index", "environments/intersection", "environments/merge", "environments/parking", "environments/racetrack", "environments/roundabout", "faq", "graphics/index", "index", "installation", "make_your_own", "multi_agent", "observations/index", "quickstart", "rewards/index", "user_guide"], "envversion": {"sphinx": 62, "sphinx.domains.c": 3, "sphinx.domains.changeset": 1, "sphinx.domains.citation": 1, "sphinx.domains.cpp": 9, "sphinx.domains.index": 1, "sphinx.domains.javascript": 3, "sphinx.domains.math": 2, "sphinx.domains.python": 4, "sphinx.domains.rst": 2, "sphinx.domains.std": 2, "sphinx.ext.viewcode": 1, "sphinxcontrib.bibtex": 9}, "filenames": ["404.md", "actions/index.md", "bibliography/index.md", "dynamics/index.md", "dynamics/road/lane.md", "dynamics/road/regulation.md", "dynamics/road/road.md", "dynamics/vehicle/behavior.md", "dynamics/vehicle/controller.md", "dynamics/vehicle/kinematics.md", "environments/highway.md", "environments/index.md", "environments/intersection.md", "environments/merge.md", "environments/parking.md", "environments/racetrack.md", "environments/roundabout.md", "faq.md", "graphics/index.md", "index.md", "installation.md", "make_your_own.md", "multi_agent.md", "observations/index.md", "quickstart.md", "rewards/index.md", "user_guide.md"], "indexentries": {"_automatic_rendering() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._automatic_rendering", false]], "_info() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._info", false]], "_is_terminated() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._is_terminated", false]], "_is_truncated() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._is_truncated", false]], "_register_highway_envs() (in module highway_env.__init__)": [[21, "highway_env.__init__._register_highway_envs", false]], "_reset() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._reset", false]], "_reward() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._reward", false]], "_rewards() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._rewards", false]], "_simulate() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._simulate", false]], "abstractenv (class in highway_env.envs.common.abstract)": [[21, "highway_env.envs.common.abstract.AbstractEnv", false]], "abstractlane (class in highway_env.road.lane)": [[4, "highway_env.road.lane.AbstractLane", false]], "acc_max (highway_env.vehicle.behavior.idmvehicle attribute)": [[7, "highway_env.vehicle.behavior.IDMVehicle.ACC_MAX", false]], "acceleration() (highway_env.vehicle.behavior.idmvehicle method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.acceleration", false]], "acceleration() (highway_env.vehicle.behavior.linearvehicle method)": [[7, "highway_env.vehicle.behavior.LinearVehicle.acceleration", false]], "acceleration_range (highway_env.envs.common.action.continuousaction attribute)": [[1, "highway_env.envs.common.action.ContinuousAction.ACCELERATION_RANGE", false]], "act() (highway_env.envs.common.action.actiontype method)": [[1, "highway_env.envs.common.action.ActionType.act", false]], "act() (highway_env.envs.common.action.continuousaction method)": [[1, "highway_env.envs.common.action.ContinuousAction.act", false]], "act() (highway_env.envs.common.action.discreteaction method)": [[1, "highway_env.envs.common.action.DiscreteAction.act", false]], "act() (highway_env.envs.common.action.discretemetaaction method)": [[1, "highway_env.envs.common.action.DiscreteMetaAction.act", false]], "act() (highway_env.envs.common.action.multiagentaction method)": [[1, "highway_env.envs.common.action.MultiAgentAction.act", false]], "act() (highway_env.road.road.road method)": [[6, "highway_env.road.road.Road.act", false]], "act() (highway_env.vehicle.behavior.idmvehicle method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.act", false]], "act() (highway_env.vehicle.behavior.linearvehicle method)": [[7, "highway_env.vehicle.behavior.LinearVehicle.act", false]], "act() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.act", false]], "act() (highway_env.vehicle.controller.mdpvehicle method)": [[8, "highway_env.vehicle.controller.MDPVehicle.act", false]], "act() (highway_env.vehicle.kinematics.vehicle method)": [[9, "highway_env.vehicle.kinematics.Vehicle.act", false]], "actions_all (highway_env.envs.common.action.discretemetaaction attribute)": [[1, "highway_env.envs.common.action.DiscreteMetaAction.ACTIONS_ALL", false]], "actions_lat (highway_env.envs.common.action.discretemetaaction attribute)": [[1, "highway_env.envs.common.action.DiscreteMetaAction.ACTIONS_LAT", false]], "actions_longi (highway_env.envs.common.action.discretemetaaction attribute)": [[1, "highway_env.envs.common.action.DiscreteMetaAction.ACTIONS_LONGI", false]], "actiontype (class in highway_env.envs.common.action)": [[1, "highway_env.envs.common.action.ActionType", false]], "aggressivevehicle (class in highway_env.vehicle.behavior)": [[7, "highway_env.vehicle.behavior.AggressiveVehicle", false]], "blit_rotate() (highway_env.road.graphics.roadobjectgraphics static method)": [[18, "highway_env.road.graphics.RoadObjectGraphics.blit_rotate", false]], "change_lane_policy() (highway_env.vehicle.behavior.idmvehicle method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.change_lane_policy", false]], "change_vehicles() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.change_vehicles", false]], "circularlane (class in highway_env.road.lane)": [[4, "highway_env.road.lane.CircularLane", false]], "close() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.close", false]], "close() (highway_env.envs.common.graphics.envviewer method)": [[18, "highway_env.envs.common.graphics.EnvViewer.close", false]], "collect_data() (highway_env.vehicle.behavior.linearvehicle method)": [[7, "highway_env.vehicle.behavior.LinearVehicle.collect_data", false]], "comfort_acc_max (highway_env.vehicle.behavior.idmvehicle attribute)": [[7, "highway_env.vehicle.behavior.IDMVehicle.COMFORT_ACC_MAX", false]], "comfort_acc_min (highway_env.vehicle.behavior.idmvehicle attribute)": [[7, "highway_env.vehicle.behavior.IDMVehicle.COMFORT_ACC_MIN", false]], "compute_reward() (highway_env.envs.parking_env.parkingenv method)": [[14, "highway_env.envs.parking_env.ParkingEnv.compute_reward", false]], "continuous_curve() (highway_env.road.graphics.lanegraphics class method)": [[18, "highway_env.road.graphics.LaneGraphics.continuous_curve", false]], "continuous_line() (highway_env.road.graphics.lanegraphics class method)": [[18, "highway_env.road.graphics.LaneGraphics.continuous_line", false]], "continuousaction (class in highway_env.envs.common.action)": [[1, "highway_env.envs.common.action.ContinuousAction", false]], "controlled_vehicle (highway_env.envs.common.action.actiontype property)": [[1, "highway_env.envs.common.action.ActionType.controlled_vehicle", false]], "controlledvehicle (class in highway_env.vehicle.controller)": [[8, "highway_env.vehicle.controller.ControlledVehicle", false]], "create_from() (highway_env.vehicle.behavior.idmvehicle class method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.create_from", false]], "create_from() (highway_env.vehicle.controller.controlledvehicle class method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.create_from", false]], "create_from() (highway_env.vehicle.kinematics.vehicle class method)": [[9, "highway_env.vehicle.kinematics.Vehicle.create_from", false]], "create_random() (highway_env.vehicle.kinematics.vehicle class method)": [[9, "highway_env.vehicle.kinematics.Vehicle.create_random", false]], "default_config() (highway_env.envs.common.abstract.abstractenv class method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.default_config", false]], "default_config() (highway_env.envs.highway_env.highwayenv class method)": [[10, "highway_env.envs.highway_env.HighwayEnv.default_config", false]], "default_config() (highway_env.envs.intersection_env.intersectionenv class method)": [[12, "highway_env.envs.intersection_env.IntersectionEnv.default_config", false]], "default_config() (highway_env.envs.merge_env.mergeenv class method)": [[13, "highway_env.envs.merge_env.MergeEnv.default_config", false]], "default_config() (highway_env.envs.parking_env.parkingenv class method)": [[14, "highway_env.envs.parking_env.ParkingEnv.default_config", false]], "default_config() (highway_env.envs.racetrack_env.racetrackenv class method)": [[15, "highway_env.envs.racetrack_env.RacetrackEnv.default_config", false]], "default_config() (highway_env.envs.roundabout_env.roundaboutenv class method)": [[16, "highway_env.envs.roundabout_env.RoundaboutEnv.default_config", false]], "default_initial_speeds (highway_env.vehicle.kinematics.vehicle attribute)": [[9, "highway_env.vehicle.kinematics.Vehicle.DEFAULT_INITIAL_SPEEDS", false]], "defensivevehicle (class in highway_env.vehicle.behavior)": [[7, "highway_env.vehicle.behavior.DefensiveVehicle", false]], "define_spaces() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.define_spaces", false]], "define_spaces() (highway_env.envs.parking_env.parkingenv method)": [[14, "highway_env.envs.parking_env.ParkingEnv.define_spaces", false]], "delta (highway_env.vehicle.behavior.idmvehicle attribute)": [[7, "highway_env.vehicle.behavior.IDMVehicle.DELTA", false]], "delta_range (highway_env.vehicle.behavior.idmvehicle attribute)": [[7, "highway_env.vehicle.behavior.IDMVehicle.DELTA_RANGE", false]], "desired_gap() (highway_env.vehicle.behavior.idmvehicle method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.desired_gap", false]], "discreteaction (class in highway_env.envs.common.action)": [[1, "highway_env.envs.common.action.DiscreteAction", false]], "discretemetaaction (class in highway_env.envs.common.action)": [[1, "highway_env.envs.common.action.DiscreteMetaAction", false]], "display() (highway_env.envs.common.graphics.envviewer method)": [[18, "highway_env.envs.common.graphics.EnvViewer.display", false]], "display() (highway_env.road.graphics.lanegraphics class method)": [[18, "highway_env.road.graphics.LaneGraphics.display", false]], "display() (highway_env.road.graphics.roadgraphics static method)": [[18, "highway_env.road.graphics.RoadGraphics.display", false]], "display() (highway_env.road.graphics.roadobjectgraphics class method)": [[18, "highway_env.road.graphics.RoadObjectGraphics.display", false]], "display_road_objects() (highway_env.road.graphics.roadgraphics static method)": [[18, "highway_env.road.graphics.RoadGraphics.display_road_objects", false]], "display_traffic() (highway_env.road.graphics.roadgraphics static method)": [[18, "highway_env.road.graphics.RoadGraphics.display_traffic", false]], "distance() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.distance", false]], "distance_wanted (highway_env.vehicle.behavior.idmvehicle attribute)": [[7, "highway_env.vehicle.behavior.IDMVehicle.DISTANCE_WANTED", false]], "distance_with_heading() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.distance_with_heading", false]], "draw_stripes() (highway_env.road.graphics.lanegraphics class method)": [[18, "highway_env.road.graphics.LaneGraphics.draw_stripes", false]], "enforce_road_rules() (highway_env.road.regulation.regulatedroad method)": [[5, "highway_env.road.regulation.RegulatedRoad.enforce_road_rules", false]], "envviewer (class in highway_env.envs.common.graphics)": [[18, "highway_env.envs.common.graphics.EnvViewer", false]], "exitobservation (class in highway_env.envs.common.observation)": [[23, "highway_env.envs.common.observation.ExitObservation", false]], "fill_road_layer_by_cell() (highway_env.envs.common.observation.occupancygridobservation method)": [[23, "highway_env.envs.common.observation.OccupancyGridObservation.fill_road_layer_by_cell", false]], "fill_road_layer_by_lanes() (highway_env.envs.common.observation.occupancygridobservation method)": [[23, "highway_env.envs.common.observation.OccupancyGridObservation.fill_road_layer_by_lanes", false]], "follow_road() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.follow_road", false]], "from_config() (highway_env.road.lane.abstractlane class method)": [[4, "highway_env.road.lane.AbstractLane.from_config", false]], "from_config() (highway_env.road.lane.circularlane class method)": [[4, "highway_env.road.lane.CircularLane.from_config", false]], "from_config() (highway_env.road.lane.polylanefixedwidth class method)": [[4, "highway_env.road.lane.PolyLaneFixedWidth.from_config", false]], "from_config() (highway_env.road.lane.sinelane class method)": [[4, "highway_env.road.lane.SineLane.from_config", false]], "from_config() (highway_env.road.lane.straightlane class method)": [[4, "highway_env.road.lane.StraightLane.from_config", false]], "get_available_actions() (highway_env.envs.common.action.actiontype method)": [[1, "highway_env.envs.common.action.ActionType.get_available_actions", false]], "get_available_actions() (highway_env.envs.common.action.discretemetaaction method)": [[1, "highway_env.envs.common.action.DiscreteMetaAction.get_available_actions", false]], "get_available_actions() (highway_env.envs.common.action.multiagentaction method)": [[1, "highway_env.envs.common.action.MultiAgentAction.get_available_actions", false]], "get_image() (highway_env.envs.common.graphics.envviewer method)": [[18, "highway_env.envs.common.graphics.EnvViewer.get_image", false]], "get_routes_at_intersection() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.get_routes_at_intersection", false]], "grayscaleobservation (class in highway_env.envs.common.observation)": [[23, "highway_env.envs.common.observation.GrayscaleObservation", false]], "handle_event() (highway_env.road.graphics.worldsurface method)": [[18, "highway_env.road.graphics.WorldSurface.handle_event", false]], "handle_events() (highway_env.envs.common.graphics.envviewer method)": [[18, "highway_env.envs.common.graphics.EnvViewer.handle_events", false]], "heading_at() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.heading_at", false]], "heading_at() (highway_env.road.lane.circularlane method)": [[4, "highway_env.road.lane.CircularLane.heading_at", false]], "heading_at() (highway_env.road.lane.polylanefixedwidth method)": [[4, "highway_env.road.lane.PolyLaneFixedWidth.heading_at", false]], "heading_at() (highway_env.road.lane.sinelane method)": [[4, "highway_env.road.lane.SineLane.heading_at", false]], "heading_at() (highway_env.road.lane.straightlane method)": [[4, "highway_env.road.lane.StraightLane.heading_at", false]], "highway_env.__init__": [[21, "module-highway_env.__init__", false]], "highway_env.envs.common.abstract": [[21, "module-highway_env.envs.common.abstract", false]], "highway_env.envs.common.action": [[1, "module-highway_env.envs.common.action", false]], "highway_env.envs.common.graphics": [[18, "module-highway_env.envs.common.graphics", false]], "highway_env.envs.common.observation": [[23, "module-highway_env.envs.common.observation", false]], "highway_env.road.graphics": [[18, "module-highway_env.road.graphics", false]], "highway_env.road.lane": [[4, "module-highway_env.road.lane", false]], "highway_env.road.regulation": [[5, "module-highway_env.road.regulation", false]], "highway_env.road.road": [[6, "module-highway_env.road.road", false]], "highway_env.vehicle.behavior": [[7, "module-highway_env.vehicle.behavior", false]], "highway_env.vehicle.controller": [[8, "module-highway_env.vehicle.controller", false]], "highway_env.vehicle.graphics": [[18, "module-highway_env.vehicle.graphics", false]], "highway_env.vehicle.kinematics": [[9, "module-highway_env.vehicle.kinematics", false]], "highwayenv (class in highway_env.envs.highway_env)": [[10, "highway_env.envs.highway_env.HighwayEnv", false]], "history_size (highway_env.vehicle.kinematics.vehicle attribute)": [[9, "highway_env.vehicle.kinematics.Vehicle.HISTORY_SIZE", false]], "idmvehicle (class in highway_env.vehicle.behavior)": [[7, "highway_env.vehicle.behavior.IDMVehicle", false]], "index_to_speed() (highway_env.vehicle.controller.mdpvehicle method)": [[8, "highway_env.vehicle.controller.MDPVehicle.index_to_speed", false]], "intersectionenv (class in highway_env.envs.intersection_env)": [[12, "highway_env.envs.intersection_env.IntersectionEnv", false]], "is_reachable_from() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.is_reachable_from", false]], "is_visible() (highway_env.road.graphics.worldsurface method)": [[18, "highway_env.road.graphics.WorldSurface.is_visible", false]], "kinematicobservation (class in highway_env.envs.common.observation)": [[23, "highway_env.envs.common.observation.KinematicObservation", false]], "kinematicsgoalobservation (class in highway_env.envs.common.observation)": [[23, "highway_env.envs.common.observation.KinematicsGoalObservation", false]], "lanegraphics (class in highway_env.road.graphics)": [[18, "highway_env.road.graphics.LaneGraphics", false]], "length (highway_env.vehicle.kinematics.vehicle attribute)": [[9, "highway_env.vehicle.kinematics.Vehicle.LENGTH", false]], "linearvehicle (class in highway_env.vehicle.behavior)": [[7, "highway_env.vehicle.behavior.LinearVehicle", false]], "linetype (class in highway_env.road.lane)": [[4, "highway_env.road.lane.LineType", false]], "local_angle() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.local_angle", false]], "local_coordinates() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.local_coordinates", false]], "local_coordinates() (highway_env.road.lane.circularlane method)": [[4, "highway_env.road.lane.CircularLane.local_coordinates", false]], "local_coordinates() (highway_env.road.lane.polylanefixedwidth method)": [[4, "highway_env.road.lane.PolyLaneFixedWidth.local_coordinates", false]], "local_coordinates() (highway_env.road.lane.sinelane method)": [[4, "highway_env.road.lane.SineLane.local_coordinates", false]], "local_coordinates() (highway_env.road.lane.straightlane method)": [[4, "highway_env.road.lane.StraightLane.local_coordinates", false]], "max_speed (highway_env.vehicle.kinematics.vehicle attribute)": [[9, "highway_env.vehicle.kinematics.Vehicle.MAX_SPEED", false]], "mdpvehicle (class in highway_env.vehicle.controller)": [[8, "highway_env.vehicle.controller.MDPVehicle", false]], "mergeenv (class in highway_env.envs.merge_env)": [[13, "highway_env.envs.merge_env.MergeEnv", false]], "metaclass__ (highway_env.road.lane.abstractlane attribute)": [[4, "highway_env.road.lane.AbstractLane.metaclass__", false]], "min_speed (highway_env.vehicle.kinematics.vehicle attribute)": [[9, "highway_env.vehicle.kinematics.Vehicle.MIN_SPEED", false]], "mobil() (highway_env.vehicle.behavior.idmvehicle method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.mobil", false]], "module": [[1, "module-highway_env.envs.common.action", false], [4, "module-highway_env.road.lane", false], [5, "module-highway_env.road.regulation", false], [6, "module-highway_env.road.road", false], [7, "module-highway_env.vehicle.behavior", false], [8, "module-highway_env.vehicle.controller", false], [9, "module-highway_env.vehicle.kinematics", false], [18, "module-highway_env.envs.common.graphics", false], [18, "module-highway_env.road.graphics", false], [18, "module-highway_env.vehicle.graphics", false], [21, "module-highway_env.__init__", false], [21, "module-highway_env.envs.common.abstract", false], [23, "module-highway_env.envs.common.observation", false]], "move_display_window_to() (highway_env.road.graphics.worldsurface method)": [[18, "highway_env.road.graphics.WorldSurface.move_display_window_to", false]], "multiagentaction (class in highway_env.envs.common.action)": [[1, "highway_env.envs.common.action.MultiAgentAction", false]], "multiagentwrapper (class in highway_env.envs.common.abstract)": [[21, "highway_env.envs.common.abstract.MultiAgentWrapper", false]], "neighbour_vehicles() (highway_env.road.road.road method)": [[6, "highway_env.road.road.Road.neighbour_vehicles", false]], "normalize() (highway_env.envs.common.observation.occupancygridobservation method)": [[23, "highway_env.envs.common.observation.OccupancyGridObservation.normalize", false]], "normalize_obs() (highway_env.envs.common.observation.kinematicobservation method)": [[23, "highway_env.envs.common.observation.KinematicObservation.normalize_obs", false]], "observe() (highway_env.envs.common.observation.exitobservation method)": [[23, "highway_env.envs.common.observation.ExitObservation.observe", false]], "observe() (highway_env.envs.common.observation.grayscaleobservation method)": [[23, "highway_env.envs.common.observation.GrayscaleObservation.observe", false]], "observe() (highway_env.envs.common.observation.kinematicobservation method)": [[23, "highway_env.envs.common.observation.KinematicObservation.observe", false]], "observe() (highway_env.envs.common.observation.kinematicsgoalobservation method)": [[23, "highway_env.envs.common.observation.KinematicsGoalObservation.observe", false]], "observe() (highway_env.envs.common.observation.occupancygridobservation method)": [[23, "highway_env.envs.common.observation.OccupancyGridObservation.observe", false]], "occupancygridobservation (class in highway_env.envs.common.observation)": [[23, "highway_env.envs.common.observation.OccupancyGridObservation", false]], "on_lane() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.on_lane", false]], "parkingenv (class in highway_env.envs.parking_env)": [[14, "highway_env.envs.parking_env.ParkingEnv", false]], "perception_distance (highway_env.envs.common.abstract.abstractenv attribute)": [[21, "highway_env.envs.common.abstract.AbstractEnv.PERCEPTION_DISTANCE", false]], "pix() (highway_env.road.graphics.worldsurface method)": [[18, "highway_env.road.graphics.WorldSurface.pix", false]], "plan_route_to() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.plan_route_to", false]], "polylane (class in highway_env.road.lane)": [[4, "highway_env.road.lane.PolyLane", false]], "polylanefixedwidth (class in highway_env.road.lane)": [[4, "highway_env.road.lane.PolyLaneFixedWidth", false]], "pos2pix() (highway_env.road.graphics.worldsurface method)": [[18, "highway_env.road.graphics.WorldSurface.pos2pix", false]], "pos_to_index() (highway_env.envs.common.observation.occupancygridobservation method)": [[23, "highway_env.envs.common.observation.OccupancyGridObservation.pos_to_index", false]], "position() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.position", false]], "position() (highway_env.road.lane.circularlane method)": [[4, "highway_env.road.lane.CircularLane.position", false]], "position() (highway_env.road.lane.polylanefixedwidth method)": [[4, "highway_env.road.lane.PolyLaneFixedWidth.position", false]], "position() (highway_env.road.lane.sinelane method)": [[4, "highway_env.road.lane.SineLane.position", false]], "position() (highway_env.road.lane.straightlane method)": [[4, "highway_env.road.lane.StraightLane.position", false]], "predict_trajectory() (highway_env.vehicle.controller.mdpvehicle method)": [[8, "highway_env.vehicle.controller.MDPVehicle.predict_trajectory", false]], "predict_trajectory() (highway_env.vehicle.kinematics.vehicle method)": [[9, "highway_env.vehicle.kinematics.Vehicle.predict_trajectory", false]], "predict_trajectory_constant_speed() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.predict_trajectory_constant_speed", false]], "racetrackenv (class in highway_env.envs.racetrack_env)": [[15, "highway_env.envs.racetrack_env.RacetrackEnv", false]], "recover_from_stop() (highway_env.vehicle.behavior.idmvehicle method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.recover_from_stop", false]], "regulatedroad (class in highway_env.road.regulation)": [[5, "highway_env.road.regulation.RegulatedRoad", false]], "render() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.render", false]], "reset() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.reset", false]], "respect_priorities() (highway_env.road.regulation.regulatedroad static method)": [[5, "highway_env.road.regulation.RegulatedRoad.respect_priorities", false]], "road (class in highway_env.road.road)": [[6, "highway_env.road.road.Road", false]], "roadgraphics (class in highway_env.road.graphics)": [[18, "highway_env.road.graphics.RoadGraphics", false]], "roadobjectgraphics (class in highway_env.road.graphics)": [[18, "highway_env.road.graphics.RoadObjectGraphics", false]], "roundaboutenv (class in highway_env.envs.roundabout_env)": [[16, "highway_env.envs.roundabout_env.RoundaboutEnv", false]], "set_agent_action_sequence() (highway_env.envs.common.graphics.envviewer method)": [[18, "highway_env.envs.common.graphics.EnvViewer.set_agent_action_sequence", false]], "set_agent_display() (highway_env.envs.common.graphics.envviewer method)": [[18, "highway_env.envs.common.graphics.EnvViewer.set_agent_display", false]], "set_route_at_intersection() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.set_route_at_intersection", false]], "simplify() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.simplify", false]], "sinelane (class in highway_env.road.lane)": [[4, "highway_env.road.lane.SineLane", false]], "space() (highway_env.envs.common.action.actiontype method)": [[1, "highway_env.envs.common.action.ActionType.space", false]], "space() (highway_env.envs.common.action.continuousaction method)": [[1, "highway_env.envs.common.action.ContinuousAction.space", false]], "space() (highway_env.envs.common.action.discreteaction method)": [[1, "highway_env.envs.common.action.DiscreteAction.space", false]], "space() (highway_env.envs.common.action.discretemetaaction method)": [[1, "highway_env.envs.common.action.DiscreteMetaAction.space", false]], "space() (highway_env.envs.common.action.multiagentaction method)": [[1, "highway_env.envs.common.action.MultiAgentAction.space", false]], "space() (highway_env.envs.common.observation.grayscaleobservation method)": [[23, "highway_env.envs.common.observation.GrayscaleObservation.space", false]], "space() (highway_env.envs.common.observation.kinematicobservation method)": [[23, "highway_env.envs.common.observation.KinematicObservation.space", false]], "space() (highway_env.envs.common.observation.kinematicsgoalobservation method)": [[23, "highway_env.envs.common.observation.KinematicsGoalObservation.space", false]], "space() (highway_env.envs.common.observation.occupancygridobservation method)": [[23, "highway_env.envs.common.observation.OccupancyGridObservation.space", false]], "speed_control() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.speed_control", false]], "speed_to_index() (highway_env.vehicle.controller.mdpvehicle method)": [[8, "highway_env.vehicle.controller.MDPVehicle.speed_to_index", false]], "speed_to_index_default() (highway_env.vehicle.controller.mdpvehicle class method)": [[8, "highway_env.vehicle.controller.MDPVehicle.speed_to_index_default", false]], "steering_control() (highway_env.vehicle.behavior.linearvehicle method)": [[7, "highway_env.vehicle.behavior.LinearVehicle.steering_control", false]], "steering_control() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.steering_control", false]], "steering_features() (highway_env.vehicle.behavior.linearvehicle method)": [[7, "highway_env.vehicle.behavior.LinearVehicle.steering_features", false]], "steering_range (highway_env.envs.common.action.continuousaction attribute)": [[1, "highway_env.envs.common.action.ContinuousAction.STEERING_RANGE", false]], "step() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.step", false]], "step() (highway_env.envs.common.abstract.multiagentwrapper method)": [[21, "highway_env.envs.common.abstract.MultiAgentWrapper.step", false]], "step() (highway_env.envs.intersection_env.intersectionenv method)": [[12, "highway_env.envs.intersection_env.IntersectionEnv.step", false]], "step() (highway_env.road.regulation.regulatedroad method)": [[5, "highway_env.road.regulation.RegulatedRoad.step", false]], "step() (highway_env.road.road.road method)": [[6, "highway_env.road.road.Road.step", false]], "step() (highway_env.vehicle.behavior.idmvehicle method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.step", false]], "step() (highway_env.vehicle.kinematics.vehicle method)": [[9, "highway_env.vehicle.kinematics.Vehicle.step", false]], "straightlane (class in highway_env.road.lane)": [[4, "highway_env.road.lane.StraightLane", false]], "stripe_length (highway_env.road.graphics.lanegraphics attribute)": [[18, "highway_env.road.graphics.LaneGraphics.STRIPE_LENGTH", false]], "stripe_spacing (highway_env.road.graphics.lanegraphics attribute)": [[18, "highway_env.road.graphics.LaneGraphics.STRIPE_SPACING", false]], "stripe_width (highway_env.road.graphics.lanegraphics attribute)": [[18, "highway_env.road.graphics.LaneGraphics.STRIPE_WIDTH", false]], "striped_line() (highway_env.road.graphics.lanegraphics class method)": [[18, "highway_env.road.graphics.LaneGraphics.striped_line", false]], "target_speed (highway_env.vehicle.controller.controlledvehicle attribute)": [[8, "highway_env.vehicle.controller.ControlledVehicle.target_speed", false]], "time_wanted (highway_env.vehicle.behavior.idmvehicle attribute)": [[7, "highway_env.vehicle.behavior.IDMVehicle.TIME_WANTED", false]], "time_wanted (highway_env.vehicle.behavior.linearvehicle attribute)": [[7, "highway_env.vehicle.behavior.LinearVehicle.TIME_WANTED", false]], "to_config() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.to_config", false]], "to_config() (highway_env.road.lane.circularlane method)": [[4, "highway_env.road.lane.CircularLane.to_config", false]], "to_config() (highway_env.road.lane.polylane method)": [[4, "highway_env.road.lane.PolyLane.to_config", false]], "to_config() (highway_env.road.lane.polylanefixedwidth method)": [[4, "highway_env.road.lane.PolyLaneFixedWidth.to_config", false]], "to_config() (highway_env.road.lane.sinelane method)": [[4, "highway_env.road.lane.SineLane.to_config", false]], "to_config() (highway_env.road.lane.straightlane method)": [[4, "highway_env.road.lane.StraightLane.to_config", false]], "vec2pix() (highway_env.road.graphics.worldsurface method)": [[18, "highway_env.road.graphics.WorldSurface.vec2pix", false]], "vehicle (class in highway_env.vehicle.kinematics)": [[9, "highway_env.vehicle.kinematics.Vehicle", false]], "vehicle (highway_env.envs.common.abstract.abstractenv property)": [[21, "highway_env.envs.common.abstract.AbstractEnv.vehicle", false]], "vehicle_class (highway_env.envs.common.action.actiontype property)": [[1, "highway_env.envs.common.action.ActionType.vehicle_class", false]], "vehicle_class (highway_env.envs.common.action.continuousaction property)": [[1, "highway_env.envs.common.action.ContinuousAction.vehicle_class", false]], "vehicle_class (highway_env.envs.common.action.discretemetaaction property)": [[1, "highway_env.envs.common.action.DiscreteMetaAction.vehicle_class", false]], "vehicle_class (highway_env.envs.common.action.multiagentaction property)": [[1, "highway_env.envs.common.action.MultiAgentAction.vehicle_class", false]], "width (highway_env.vehicle.kinematics.vehicle attribute)": [[9, "highway_env.vehicle.kinematics.Vehicle.WIDTH", false]], "width_at() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.width_at", false]], "width_at() (highway_env.road.lane.circularlane method)": [[4, "highway_env.road.lane.CircularLane.width_at", false]], "width_at() (highway_env.road.lane.polylane method)": [[4, "highway_env.road.lane.PolyLane.width_at", false]], "width_at() (highway_env.road.lane.polylanefixedwidth method)": [[4, "highway_env.road.lane.PolyLaneFixedWidth.width_at", false]], "width_at() (highway_env.road.lane.straightlane method)": [[4, "highway_env.road.lane.StraightLane.width_at", false]], "window_position() (highway_env.envs.common.graphics.envviewer method)": [[18, "highway_env.envs.common.graphics.EnvViewer.window_position", false]], "worldsurface (class in highway_env.road.graphics)": [[18, "highway_env.road.graphics.WorldSurface", false]]}, "objects": {"highway_env": [[21, 0, 0, "-", "__init__"]], "highway_env.__init__": [[21, 1, 1, "", "_register_highway_envs"]], "highway_env.envs.common": [[21, 0, 0, "-", "abstract"], [1, 0, 0, "-", "action"], [18, 0, 0, "-", "graphics"], [23, 0, 0, "-", "observation"]], "highway_env.envs.common.abstract": [[21, 2, 1, "", "AbstractEnv"], [21, 2, 1, "", "MultiAgentWrapper"]], "highway_env.envs.common.abstract.AbstractEnv": [[21, 3, 1, "", "PERCEPTION_DISTANCE"], [21, 4, 1, "", "_automatic_rendering"], [21, 4, 1, "", "_info"], [21, 4, 1, "", "_is_terminated"], [21, 4, 1, "", "_is_truncated"], [21, 4, 1, "", "_reset"], [21, 4, 1, "", "_reward"], [21, 4, 1, "", "_rewards"], [21, 4, 1, "", "_simulate"], [21, 4, 1, "", "change_vehicles"], [21, 4, 1, "", "close"], [21, 4, 1, "", "default_config"], [21, 4, 1, "", "define_spaces"], [21, 4, 1, "", "render"], [21, 4, 1, "", "reset"], [21, 4, 1, "", "simplify"], [21, 4, 1, "", "step"], [21, 5, 1, "", "vehicle"]], "highway_env.envs.common.abstract.MultiAgentWrapper": [[21, 4, 1, "", "step"]], "highway_env.envs.common.action": [[1, 2, 1, "", "ActionType"], [1, 2, 1, "", "ContinuousAction"], [1, 2, 1, "", "DiscreteAction"], [1, 2, 1, "", "DiscreteMetaAction"], [1, 2, 1, "", "MultiAgentAction"]], "highway_env.envs.common.action.ActionType": [[1, 4, 1, "", "act"], [1, 5, 1, "", "controlled_vehicle"], [1, 4, 1, "", "get_available_actions"], [1, 4, 1, "", "space"], [1, 5, 1, "", "vehicle_class"]], "highway_env.envs.common.action.ContinuousAction": [[1, 3, 1, "", "ACCELERATION_RANGE"], [1, 3, 1, "", "STEERING_RANGE"], [1, 4, 1, "", "act"], [1, 4, 1, "", "space"], [1, 5, 1, "", "vehicle_class"]], "highway_env.envs.common.action.DiscreteAction": [[1, 4, 1, "", "act"], [1, 4, 1, "", "space"]], "highway_env.envs.common.action.DiscreteMetaAction": [[1, 3, 1, "", "ACTIONS_ALL"], [1, 3, 1, "", "ACTIONS_LAT"], [1, 3, 1, "", "ACTIONS_LONGI"], [1, 4, 1, "", "act"], [1, 4, 1, "", "get_available_actions"], [1, 4, 1, "", "space"], [1, 5, 1, "", "vehicle_class"]], "highway_env.envs.common.action.MultiAgentAction": [[1, 4, 1, "", "act"], [1, 4, 1, "", "get_available_actions"], [1, 4, 1, "", "space"], [1, 5, 1, "", "vehicle_class"]], "highway_env.envs.common.graphics": [[18, 2, 1, "", "EnvViewer"]], "highway_env.envs.common.graphics.EnvViewer": [[18, 4, 1, "", "close"], [18, 4, 1, "", "display"], [18, 4, 1, "", "get_image"], [18, 4, 1, "", "handle_events"], [18, 4, 1, "", "set_agent_action_sequence"], [18, 4, 1, "", "set_agent_display"], [18, 4, 1, "", "window_position"]], "highway_env.envs.common.observation": [[23, 2, 1, "", "ExitObservation"], [23, 2, 1, "", "GrayscaleObservation"], [23, 2, 1, "", "KinematicObservation"], [23, 2, 1, "", "KinematicsGoalObservation"], [23, 2, 1, "", "OccupancyGridObservation"]], "highway_env.envs.common.observation.ExitObservation": [[23, 4, 1, "", "observe"]], "highway_env.envs.common.observation.GrayscaleObservation": [[23, 4, 1, "", "observe"], [23, 4, 1, "", "space"]], "highway_env.envs.common.observation.KinematicObservation": [[23, 4, 1, "", "normalize_obs"], [23, 4, 1, "", "observe"], [23, 4, 1, "", "space"]], "highway_env.envs.common.observation.KinematicsGoalObservation": [[23, 4, 1, "", "observe"], [23, 4, 1, "", "space"]], "highway_env.envs.common.observation.OccupancyGridObservation": [[23, 4, 1, "", "fill_road_layer_by_cell"], [23, 4, 1, "", "fill_road_layer_by_lanes"], [23, 4, 1, "", "normalize"], [23, 4, 1, "", "observe"], [23, 4, 1, "", "pos_to_index"], [23, 4, 1, "", "space"]], "highway_env.envs.highway_env": [[10, 2, 1, "", "HighwayEnv"]], "highway_env.envs.highway_env.HighwayEnv": [[10, 4, 1, "", "default_config"]], "highway_env.envs.intersection_env": [[12, 2, 1, "", "IntersectionEnv"]], "highway_env.envs.intersection_env.IntersectionEnv": [[12, 4, 1, "", "default_config"], [12, 4, 1, "", "step"]], "highway_env.envs.merge_env": [[13, 2, 1, "", "MergeEnv"]], "highway_env.envs.merge_env.MergeEnv": [[13, 4, 1, "", "default_config"]], "highway_env.envs.parking_env": [[14, 2, 1, "", "ParkingEnv"]], "highway_env.envs.parking_env.ParkingEnv": [[14, 4, 1, "", "compute_reward"], [14, 4, 1, "", "default_config"], [14, 4, 1, "", "define_spaces"]], "highway_env.envs.racetrack_env": [[15, 2, 1, "", "RacetrackEnv"]], "highway_env.envs.racetrack_env.RacetrackEnv": [[15, 4, 1, "", "default_config"]], "highway_env.envs.roundabout_env": [[16, 2, 1, "", "RoundaboutEnv"]], "highway_env.envs.roundabout_env.RoundaboutEnv": [[16, 4, 1, "", "default_config"]], "highway_env.road": [[18, 0, 0, "-", "graphics"], [4, 0, 0, "-", "lane"], [5, 0, 0, "-", "regulation"], [6, 0, 0, "-", "road"]], "highway_env.road.graphics": [[18, 2, 1, "", "LaneGraphics"], [18, 2, 1, "", "RoadGraphics"], [18, 2, 1, "", "RoadObjectGraphics"], [18, 2, 1, "", "WorldSurface"]], "highway_env.road.graphics.LaneGraphics": [[18, 3, 1, "", "STRIPE_LENGTH"], [18, 3, 1, "", "STRIPE_SPACING"], [18, 3, 1, "", "STRIPE_WIDTH"], [18, 4, 1, "", "continuous_curve"], [18, 4, 1, "", "continuous_line"], [18, 4, 1, "", "display"], [18, 4, 1, "", "draw_stripes"], [18, 4, 1, "", "striped_line"]], "highway_env.road.graphics.RoadGraphics": [[18, 4, 1, "", "display"], [18, 4, 1, "", "display_road_objects"], [18, 4, 1, "", "display_traffic"]], "highway_env.road.graphics.RoadObjectGraphics": [[18, 4, 1, "", "blit_rotate"], [18, 4, 1, "", "display"]], "highway_env.road.graphics.WorldSurface": [[18, 4, 1, "", "handle_event"], [18, 4, 1, "", "is_visible"], [18, 4, 1, "", "move_display_window_to"], [18, 4, 1, "", "pix"], [18, 4, 1, "", "pos2pix"], [18, 4, 1, "", "vec2pix"]], "highway_env.road.lane": [[4, 2, 1, "", "AbstractLane"], [4, 2, 1, "", "CircularLane"], [4, 2, 1, "", "LineType"], [4, 2, 1, "", "PolyLane"], [4, 2, 1, "", "PolyLaneFixedWidth"], [4, 2, 1, "", "SineLane"], [4, 2, 1, "", "StraightLane"]], "highway_env.road.lane.AbstractLane": [[4, 4, 1, "", "distance"], [4, 4, 1, "", "distance_with_heading"], [4, 4, 1, "", "from_config"], [4, 4, 1, "", "heading_at"], [4, 4, 1, "", "is_reachable_from"], [4, 4, 1, "", "local_angle"], [4, 4, 1, "", "local_coordinates"], [4, 3, 1, "", "metaclass__"], [4, 4, 1, "", "on_lane"], [4, 4, 1, "", "position"], [4, 4, 1, "", "to_config"], [4, 4, 1, "", "width_at"]], "highway_env.road.lane.CircularLane": [[4, 4, 1, "", "from_config"], [4, 4, 1, "", "heading_at"], [4, 4, 1, "", "local_coordinates"], [4, 4, 1, "", "position"], [4, 4, 1, "", "to_config"], [4, 4, 1, "", "width_at"]], "highway_env.road.lane.PolyLane": [[4, 4, 1, "", "to_config"], [4, 4, 1, "", "width_at"]], "highway_env.road.lane.PolyLaneFixedWidth": [[4, 4, 1, "", "from_config"], [4, 4, 1, "", "heading_at"], [4, 4, 1, "", "local_coordinates"], [4, 4, 1, "", "position"], [4, 4, 1, "", "to_config"], [4, 4, 1, "", "width_at"]], "highway_env.road.lane.SineLane": [[4, 4, 1, "", "from_config"], [4, 4, 1, "", "heading_at"], [4, 4, 1, "", "local_coordinates"], [4, 4, 1, "", "position"], [4, 4, 1, "", "to_config"]], "highway_env.road.lane.StraightLane": [[4, 4, 1, "", "from_config"], [4, 4, 1, "", "heading_at"], [4, 4, 1, "", "local_coordinates"], [4, 4, 1, "", "position"], [4, 4, 1, "", "to_config"], [4, 4, 1, "", "width_at"]], "highway_env.road.regulation": [[5, 2, 1, "", "RegulatedRoad"]], "highway_env.road.regulation.RegulatedRoad": [[5, 4, 1, "", "enforce_road_rules"], [5, 4, 1, "", "respect_priorities"], [5, 4, 1, "", "step"]], "highway_env.road.road": [[6, 2, 1, "", "Road"]], "highway_env.road.road.Road": [[6, 4, 1, "", "act"], [6, 4, 1, "", "neighbour_vehicles"], [6, 4, 1, "", "step"]], "highway_env.vehicle": [[7, 0, 0, "-", "behavior"], [8, 0, 0, "-", "controller"], [18, 0, 0, "-", "graphics"], [9, 0, 0, "-", "kinematics"]], "highway_env.vehicle.behavior": [[7, 2, 1, "", "AggressiveVehicle"], [7, 2, 1, "", "DefensiveVehicle"], [7, 2, 1, "", "IDMVehicle"], [7, 2, 1, "", "LinearVehicle"]], "highway_env.vehicle.behavior.IDMVehicle": [[7, 3, 1, "", "ACC_MAX"], [7, 3, 1, "", "COMFORT_ACC_MAX"], [7, 3, 1, "", "COMFORT_ACC_MIN"], [7, 3, 1, "", "DELTA"], [7, 3, 1, "", "DELTA_RANGE"], [7, 3, 1, "", "DISTANCE_WANTED"], [7, 3, 1, "", "TIME_WANTED"], [7, 4, 1, "", "acceleration"], [7, 4, 1, "", "act"], [7, 4, 1, "", "change_lane_policy"], [7, 4, 1, "", "create_from"], [7, 4, 1, "", "desired_gap"], [7, 4, 1, "", "mobil"], [7, 4, 1, "", "recover_from_stop"], [7, 4, 1, "", "step"]], "highway_env.vehicle.behavior.LinearVehicle": [[7, 3, 1, "", "TIME_WANTED"], [7, 4, 1, "", "acceleration"], [7, 4, 1, "", "act"], [7, 4, 1, "", "collect_data"], [7, 4, 1, "", "steering_control"], [7, 4, 1, "", "steering_features"]], "highway_env.vehicle.controller": [[8, 2, 1, "", "ControlledVehicle"], [8, 2, 1, "", "MDPVehicle"]], "highway_env.vehicle.controller.ControlledVehicle": [[8, 4, 1, "", "act"], [8, 4, 1, "", "create_from"], [8, 4, 1, "", "follow_road"], [8, 4, 1, "", "get_routes_at_intersection"], [8, 4, 1, "", "plan_route_to"], [8, 4, 1, "", "predict_trajectory_constant_speed"], [8, 4, 1, "", "set_route_at_intersection"], [8, 4, 1, "", "speed_control"], [8, 4, 1, "", "steering_control"], [8, 3, 1, "", "target_speed"]], "highway_env.vehicle.controller.MDPVehicle": [[8, 4, 1, "", "act"], [8, 4, 1, "", "index_to_speed"], [8, 4, 1, "", "predict_trajectory"], [8, 4, 1, "", "speed_to_index"], [8, 4, 1, "", "speed_to_index_default"]], "highway_env.vehicle.kinematics": [[9, 2, 1, "", "Vehicle"]], "highway_env.vehicle.kinematics.Vehicle": [[9, 3, 1, "", "DEFAULT_INITIAL_SPEEDS"], [9, 3, 1, "", "HISTORY_SIZE"], [9, 3, 1, "", "LENGTH"], [9, 3, 1, "", "MAX_SPEED"], [9, 3, 1, "", "MIN_SPEED"], [9, 3, 1, "", "WIDTH"], [9, 4, 1, "", "act"], [9, 4, 1, "", "create_from"], [9, 4, 1, "", "create_random"], [9, 4, 1, "", "predict_trajectory"], [9, 4, 1, "", "step"]]}, "objnames": {"0": ["py", "module", "Python module"], "1": ["py", "function", "Python function"], "2": ["py", "class", "Python class"], "3": ["py", "attribute", "Python attribute"], "4": ["py", "method", "Python method"], "5": ["py", "property", "Python property"]}, "objtypes": {"0": "py:module", "1": "py:function", "2": "py:class", "3": "py:attribute", "4": "py:method", "5": "py:property"}, "terms": {"": [1, 5, 6, 7, 8, 9, 10, 12, 13, 16, 17, 18, 21, 22, 23, 24, 25], "0": [1, 4, 5, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 20, 21, 22, 23, 24, 25], "00593": 2, "01495": 2, "02302041": 22, "025": 23, "02543437": 22, "03110871": 22, "04": 23, "0419906": 22, "05": 23, "065": 23, "06853787": 23, "07060054": 23, "075": 23, "08": 23, "08991019": 23, "1": [1, 4, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 18, 22, 23, 24, 25], "10": [2, 7, 12, 23], "100": [12, 14, 23], "105": 23, "11": 16, "1140": 23, "11544301": 22, "12": 23, "1200x500": 23, "12067557": 23, "12250": 2, "128": 23, "13": [12, 23], "14": 24, "14284132": 23, "14444916": 23, "15": [2, 10, 12, 13, 14, 15, 16, 17, 18, 23, 24, 25], "150": [10, 13, 24], "15000": 24, "1612": 2, "16280553": 23, "17": [2, 24], "1707": 2, "172": 23, "17667502": 23, "18": [15, 23], "1805": 2, "1824": 2, "18811597": 23, "1911": 2, "1999": 2, "1d": [1, 7], "1m": 23, "1st": 9, "2": [1, 2, 7, 8, 9, 10, 20, 22, 23, 24], "20": [4, 10, 12, 23, 24], "200": [21, 24], "2000": 2, "2007": 2, "2008": 2, "2015": 2, "2017": 2, "2018": 19, "2019": [2, 24], "22": 23, "222": 23, "22261813": 22, "22794725": 23, "23": 9, "231": 15, "25": [9, 22, 23], "256": 24, "25m": 23, "25mn": 24, "27": 23, "2989": 23, "2d": [1, 4, 7], "2e4": 24, "3": [1, 7, 10, 12, 13, 15, 18, 20, 23, 24], "30": [9, 10, 24], "300": [14, 15], "3000": 22, "3125": 22, "3141": 2, "32": 24, "3270241": 22, "33": 18, "3d": 2, "4": [1, 7, 10, 15, 18, 23, 24], "40": [9, 10, 24], "43188447": 22, "4321962": 23, "480": 18, "5": [1, 7, 9, 10, 12, 13, 14, 15, 16, 20, 22, 23, 24], "50": [10, 18, 24], "518": 2, "529": 2, "533": 2, "54714144": 18, "5870": 23, "5e": 24, "6": [2, 7, 12, 16, 23], "600": [10, 12, 13, 14, 15, 16, 24], "62": 2, "62579334": 23, "64": 23, "640": 18, "640x480": [22, 23, 24], "675": 23, "7": [14, 15], "75": 23, "7540": 2, "7853981633974483": 1, "8": [2, 23, 24], "8332374": 23, "84": 23, "9": 23, "91318184": 22, "A": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 13, 14, 15, 18, 21, 22, 23, 24], "As": 22, "At": 8, "But": 12, "By": 18, "For": [1, 6, 7, 17, 22, 23, 24], "If": [1, 7, 8, 9, 16, 19, 21, 23], "In": [2, 7, 10, 13, 16, 17, 21, 22, 23, 25], "It": [6, 7, 8, 9, 12, 13, 14, 16], "Its": 18, "Of": 12, "On": 5, "That": 21, "The": [1, 2, 3, 4, 6, 7, 8, 9, 10, 12, 13, 15, 16, 18, 19, 20, 21, 23, 24, 25, 26], "Then": 1, "There": [3, 24], "These": [9, 21, 23], "To": [20, 21, 22], "Will": 21, "_": [7, 22, 23, 24, 25], "__init__": 21, "_automatic_rend": 21, "_c": 7, "_info": 21, "_is_termin": 21, "_is_trunc": 21, "_make_road": 21, "_n": 7, "_o": 7, "_r": 8, "_register_highway_env": 21, "_reset": 21, "_reward": [21, 25], "_simul": 21, "_state": 24, "_to": 8, "a_": 7, "a_c": 7, "a_n": 7, "a_o": 7, "ab": 7, "abbeel": 2, "abcmeta": 4, "abl": [1, 8, 17, 21], "about": [7, 17, 24], "abov": 1, "absolut": [12, 23], "abstract": [4, 21], "abstractenv": [1, 18, 21, 23], "abstractlan": [4, 6, 18], "acc_max": 7, "acceler": [1, 7, 8, 9, 14], "acceleration_rang": 1, "accept": 22, "access": [1, 13, 21, 24], "accord": 7, "achiev": [12, 14, 21], "achieved_go": 14, "act": [1, 6, 7, 8, 9], "action": [6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 18, 21, 24, 26], "action_1": 22, "action_2": 22, "action_config": [1, 22], "action_dur": [8, 9], "action_i": 22, "action_reward": 15, "action_spac": [1, 17, 21], "action_typ": [21, 23, 24], "actions_al": [1, 22], "actions_index": [23, 24], "actions_lat": 1, "actions_longi": 1, "actions_per_axi": 1, "actiontyp": 1, "actual": [1, 6, 17, 22], "ad": [12, 21], "add": [1, 21], "addit": 21, "address": [17, 25], "adequ": 25, "advanc": 2, "affect": 3, "after": [7, 22, 24], "against": 25, "agent": [1, 10, 12, 13, 14, 15, 18, 21, 23, 25, 26], "agent_displai": 18, "aggreg": 21, "aggressivevehicl": 7, "agre": 12, "alex": 2, "algorithm": 22, "alia": 4, "align": 23, "align_to_vehicle_ax": [15, 23], "all": [7, 12, 17, 21, 23], "allow": [1, 7, 8, 21], "along": [8, 18, 23], "alreadi": 23, "also": [6, 10, 13, 17, 18, 23, 24, 25], "altch": 2, "altern": 21, "alwai": [1, 18, 23], "amir": 2, "among": 8, "amplitud": 4, "an": [1, 5, 6, 7, 8, 9, 12, 18, 19, 21, 22, 23, 25], "anaconda": 20, "andr": 2, "andrea": 2, "andrei": 2, "andrychowicz": 2, "ang_": 23, "angl": [1, 4, 7, 8, 9, 18, 23], "angular": 23, "ani": [12, 14, 21, 23, 25], "anoth": 6, "ansgar": 2, "anticip": 8, "antonogl": 2, "api": 26, "appear": 9, "appli": [1, 8], "approach": [13, 16, 23], "appropri": [14, 25], "approxim": [4, 7], "apt": 20, "ar": [1, 3, 4, 5, 6, 7, 8, 9, 10, 18, 21, 22, 23, 24, 25], "arbitr": 5, "arc": 4, "architectur": [17, 24], "arcsin": 8, "area": [16, 18], "argu": 17, "arn": 2, "around": [4, 18, 23], "arrai": [7, 18, 22, 23], "arrow": 1, "arxiv": 2, "as_imag": [15, 23], "aspect": 25, "assign": 5, "associ": 21, "assum": [8, 23], "attent": [2, 24], "attribut": [5, 24], "author": 19, "automat": [1, 8, 16, 21], "autonom": [2, 19], "avail": [1, 10, 24], "avoid": [8, 10, 12, 13, 15, 16, 25], "awai": 23, "awr": [2, 24], "ax": [22, 23, 24], "ax1": 22, "ax2": 22, "axi": [1, 7, 8, 9, 23], "b": [7, 25], "b_": 7, "base": [1, 5, 7, 9, 24], "baselin": 24, "baselines3": 24, "batch_siz": 24, "beatti": 2, "becaus": [7, 17], "been": [21, 22, 25], "befor": [7, 22], "behav": [3, 5], "behavior": [3, 5, 10, 12, 13, 16, 21, 24], "behaviour": [5, 6, 7, 12, 18, 21, 25], "behind": [9, 23], "being": [7, 9, 25], "bellemar": 2, "benefici": 25, "beta": 9, "better": 24, "between": [4, 5, 7, 8, 9, 18, 23, 25], "beyond": 1, "bibtex": 19, "bicycl": [2, 9], "bin": 23, "blit_rot": 18, "block": 12, "bob": 2, "bolt": 19, "bool": [1, 4, 5, 6, 7, 12, 18, 21, 23], "both": [1, 4, 7, 22, 23], "bottom": 23, "bound": 25, "boundari": 1, "box": 1, "brake": [7, 9, 25], "brigitt": 2, "buffer_s": 24, "c": [7, 18, 23], "calcul": 9, "call": [8, 10, 12, 13, 14, 15, 16, 17, 18, 21], "callabl": [1, 18], "callback": 18, "can": [1, 4, 6, 7, 8, 10, 12, 13, 14, 15, 16, 17, 18, 19, 21, 22, 23, 24, 25], "canada": 2, "candid": 7, "captur": 21, "car": 2, "cartesian": [7, 8, 9], "cascad": 8, "case": [5, 6, 17, 23], "caus": 25, "cd": 22, "cell": 23, "center": [4, 7, 8, 9, 18, 23], "centering_posit": [10, 12, 13, 14, 15, 16, 18, 23, 24], "central": [4, 12, 22], "challeng": 25, "chang": [1, 2, 4, 7, 8, 16, 17, 21, 23, 24, 26], "change_lane_polici": 7, "change_vehicl": 21, "channel": [18, 23], "charl": 2, "check": [21, 23], "choic": [21, 25], "choos": [8, 25], "chosen": [7, 9, 18], "circl": 4, "circularlan": 4, "class": [1, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 21, 22, 23], "classif": 2, "classmethod": [4, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 21], "clip": [1, 23], "clockwis": 4, "close": [7, 17, 18, 21], "closest": [8, 23], "cmap": 23, "cnn": [17, 24], "co": [9, 25], "code": [17, 22], "coeffici": [7, 25], "collect": [7, 19, 23], "collect_data": 7, "collid": [10, 23], "collis": [5, 10, 12, 13, 15, 16, 25, 26], "collision_penalti": 25, "collision_reward": [10, 12, 15, 24], "color": 18, "column": 23, "com": [15, 18, 19, 20], "combin": 8, "come": [1, 12, 23], "comfort_acc_max": 7, "comfort_acc_min": 7, "command": [7, 8, 9], "common": [1, 18, 21, 22, 23], "complet": 9, "compon": 23, "compos": [3, 6, 25], "comput": [2, 4, 7, 8, 21], "compute_reward": 14, "condit": [14, 24], "confer": 2, "config": [1, 4, 10, 12, 13, 14, 15, 16, 18, 21, 22, 23, 24], "config_kei": 21, "configur": [1, 18, 22, 25, 26], "conflict": 5, "congest": 2, "consid": [6, 19, 23], "consist": [1, 2], "constant": [8, 21, 23], "constant_st": 9, "contain": [6, 21, 22, 23], "continu": [14, 15, 18, 26], "continuous_curv": 18, "continuous_lin": 18, "continuousact": [1, 14, 15], "contribut": [12, 19], "control": [2, 3, 7, 14, 15, 16, 21, 26], "controlled_vehicl": [1, 15, 22, 24], "controlledvehicl": [7, 8], "convent": [18, 25], "convers": [4, 23], "convert": [4, 8, 18, 23], "coordin": [4, 6, 18, 23], "copi": [7, 8, 9, 17, 21], "correspond": [1, 4, 8, 14, 17, 18, 21, 23], "cos_d": 23, "cos_h": [12, 14, 23], "could": [12, 22, 25], "cours": 12, "crash": [9, 16], "creat": [1, 4, 7, 8, 9, 18, 24, 26], "create_from": [7, 8, 9], "create_random": 9, "creation": 24, "credit": [14, 15], "cross": 24, "cruis": [1, 8], "current": [1, 6, 8, 9, 20, 21, 23, 25], "curv": [4, 24], "custom": 19, "customari": 23, "customis": [1, 23], "cut": 7, "d": [2, 7], "d_0": 7, "daan": 2, "data": [7, 21, 23], "datafram": 23, "david": 2, "deceler": 7, "decelr": 1, "decemb": 2, "decentr": 12, "decid": [6, 7, 22], "decis": [2, 7, 12, 19, 21], "dedic": 18, "deep": [2, 24, 25], "def": 22, "default": [1, 7, 8, 9, 18, 21, 23, 24], "default_config": [10, 12, 13, 14, 15, 16, 21], "default_initial_spe": 9, "default_width": 4, "defensivevehicl": 7, "defin": [1, 4, 6, 10, 12, 13, 14, 15, 16, 18, 21, 23, 24, 25], "define_spac": [14, 21], "definit": 1, "delta": [1, 7, 8, 9], "delta_": 8, "delta_rang": 7, "demi": 2, "demonstr": 24, "dens": [2, 12], "densiti": 9, "depend": [9, 17, 20, 21], "deriv": 8, "describ": [3, 4, 5, 6, 10, 17, 19, 21, 22, 23], "descript": [3, 19, 23, 24], "desir": [1, 7, 8, 14, 21, 23, 25], "desired_gap": 7, "desired_go": 14, "destin": [8, 12, 23, 25], "detail": [10, 19], "detect": 23, "determin": [4, 5], "determinist": [2, 24], "dev": 20, "df": 23, "dharshan": 2, "dict": [1, 4, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 21, 23, 24], "dictat": 7, "dictionari": [6, 21, 23, 24], "did": [12, 21], "differ": [7, 17, 23], "dimens": 18, "direct": [1, 7, 8, 9, 23], "directli": [1, 23, 24, 25], "dirk": 2, "disabl": 1, "disambigu": 23, "discret": [7, 8, 26], "discreteact": 1, "discretemetaact": [1, 10, 12, 13, 16, 22, 24], "discretis": 23, "dispatch": 22, "displai": [5, 6, 9, 16, 18], "display_road_object": 18, "display_traff": 18, "distanc": [4, 7, 18, 21, 23, 25], "distance_w": 7, "distance_with_head": 4, "distant": 21, "divid": 23, "do": [7, 17, 25], "doe": [7, 17, 24], "doesn": [6, 7], "doi": 2, "done": [1, 16, 17, 18, 22, 23, 24], "dot": [7, 8, 9], "doubl": 24, "dqn": [17, 22, 23, 24], "dqnagent": 22, "draw": 18, "draw_strip": 18, "drawn": 18, "drive": [2, 5, 6, 8, 9, 10, 13, 18, 19, 21, 24, 25], "driver": 7, "dt": [5, 6, 7, 8, 9], "dtype": 22, "duel": 24, "dummi": 22, "durat": [8, 9, 10, 12, 15, 16, 24], "dure": [7, 18], "dynam": [1, 5, 6, 7, 8, 9, 12, 21, 24, 26], "e": [1, 2, 17], "each": [1, 5, 6, 8, 9, 12, 17, 18, 22, 23], "earli": 25, "edg": [1, 6], "edouard": [2, 19], "effect": 24, "ego": [1, 7, 10, 12, 13, 14, 16, 18, 21, 25], "ego_attention_2h": 22, "ego_spac": 24, "ego_vehicl": 7, "either": 1, "eleur": [15, 19, 20, 22, 24], "els": [8, 23], "emerg": 25, "empir": 2, "enabl": [1, 23], "enable_lane_chang": 7, "encod": 23, "encourag": 25, "end": [4, 6, 8, 9, 12, 18, 21, 22], "end_phas": 4, "enforc": 5, "enforce_road_rul": 5, "ensur": 4, "entiti": [5, 6], "entri": 17, "entry_point": 21, "enumer": 23, "env": [1, 10, 12, 13, 14, 15, 16, 17, 18, 20, 21, 22, 23, 24], "env_multi_ag": 22, "environ": [1, 3, 10, 12, 13, 14, 15, 16, 18, 19, 22, 23, 26], "envview": 18, "episod": [12, 17, 21, 22, 24, 25], "episode_trigg": 17, "equal": 16, "equival": 1, "eras": 8, "errat": 9, "euclidean": 25, "evalu": 22, "even": [7, 18], "event": 18, "eventhandl": 1, "everi": [1, 3, 25], "exampl": [17, 21, 22], "except": 23, "execut": [1, 7, 12, 21, 22], "exist": [7, 8, 9, 21, 23], "exit": 23, "exit_env": 23, "exitobserv": 23, "expect": [12, 23, 25], "experi": [2, 22, 24], "expon": 7, "express": 16, "extens": 24, "f": 23, "fail": 12, "fals": [1, 4, 5, 6, 10, 12, 13, 14, 15, 16, 17, 18, 22, 23, 24], "faq": 24, "far": 22, "fast": [10, 16, 24], "faster": [1, 8, 23], "feasibl": 2, "featur": [7, 12, 14, 15, 25], "features_rang": [12, 23], "feel": 17, "few": 24, "fewer": 23, "ffmpeg": 20, "fidjeland": 2, "field": [21, 22, 23], "fig": 23, "figsiz": 23, "figur": [12, 22, 23, 24], "file": 26, "filip": 2, "fill": 23, "fill_road_layer_by_cel": 23, "fill_road_layer_by_lan": 23, "find": [5, 6, 8], "fine": 12, "first": [1, 5, 17, 18, 21, 22, 23], "fix": [4, 21, 23], "flag": 18, "flat": 23, "flatten": 12, "float": [1, 4, 5, 6, 7, 8, 9, 12, 14, 18, 21, 23], "float32": 22, "florent": 2, "flow": 16, "fluid": 2, "focu": 25, "follow": [1, 2, 6, 7, 8, 15, 16, 17, 18, 21, 23, 24], "follow_road": 8, "fong": 2, "forbid": 25, "forbidden": 4, "forward": [8, 9, 18], "found": [6, 25], "fp": 24, "frac": [7, 8, 9, 25], "frame": [4, 17, 18, 21, 23], "fran": 2, "free": 17, "freeli": 21, "frenet": 4, "frequenc": [7, 17, 18, 21], "friction": 1, "from": [4, 6, 7, 8, 9, 10, 14, 21, 22, 23, 24, 25], "from_config": 4, "front": [7, 8, 9, 25], "front_vehicl": 7, "full": [1, 24], "function": [21, 24, 25], "futur": [8, 9], "g": [2, 17], "gain": [7, 8], "gamma": 24, "gap": 7, "gather": 19, "gcc": 20, "gener": [2, 5, 6, 17, 21, 22, 25], "geometri": [4, 6, 21], "georg": 2, "geq": 7, "get": [1, 4, 8, 20, 22, 23], "get_available_act": 1, "get_cmap": 23, "get_imag": 18, "get_routes_at_intersect": 8, "git": 20, "github": [15, 19, 20], "give": [5, 6, 21, 23], "given": [4, 6, 7, 8, 9, 14, 17, 18, 21], "global": 4, "go": [4, 6], "goal": [14, 24, 26], "good": 12, "gradient_step": 24, "grai": 23, "graph": 6, "graphic": [20, 26], "grave": 2, "graviti": 9, "grayscal": [17, 26], "grayscaleobserv": 23, "green": 22, "grid": 26, "grid_siz": [15, 23], "grid_step": [15, 23], "guiba": 2, "guid": 19, "gym": [1, 10, 12, 13, 14, 15, 16, 17, 18, 21, 23], "gymnasium": [1, 18, 21, 22, 23, 24], "h": [18, 23], "ha": [4, 15, 16, 20, 21, 22, 23, 24, 25], "handl": [8, 16, 18], "handle_ev": 18, "handler": 8, "hao": 2, "happen": 12, "hard": 12, "hasn": 16, "hassabi": 2, "have": [6, 7, 14, 21, 25], "he": 15, "head": [4, 7, 9, 14, 23], "heading_at": 4, "heading_weight": 4, "height": 16, "helb": 2, "helen": 2, "henneck": 2, "her": 24, "here": [10, 17, 21, 22, 23, 24], "hermit": 4, "high": [8, 10, 13, 14], "high_speed_reward": [10, 24], "higher": 7, "highwai": [1, 11, 13, 15, 18, 20, 22, 23, 24], "highway_dqn": 24, "highway_env": [1, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 18, 21, 22, 23, 24], "highwayenv": 10, "hindsight": [2, 24], "histori": 9, "history_s": 9, "hm08": [2, 24], "hook": 21, "horizon": 23, "horizont": [7, 8, 9], "hot": 23, "how": [1, 3, 7, 22, 24], "howev": [5, 17, 24, 25], "howpublish": 19, "hren": 2, "http": [15, 18, 19, 20], "human": 2, "hz": [10, 13, 16, 17], "i": [1, 3, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 19, 21, 22, 24, 25], "id": [9, 21], "idea": [14, 15], "ideal": 12, "identifi": 6, "idl": [1, 23, 24], "idm": 7, "idmvehicl": [7, 10, 13, 16, 21, 24], "ieee": 2, "ignor": 1, "imag": [17, 18, 21, 24, 26], "image1": 20, "implement": [1, 4, 7, 8, 10, 12, 13, 14, 15, 16, 17, 18, 21, 22, 23, 24], "import": [1, 3, 17, 21, 22, 23, 24], "impos": 7, "improv": 24, "imshow": [22, 23, 24], "incent": 7, "includ": [1, 5, 6, 22], "include_obstacl": 23, "incom": 13, "incoming_vehicle_destin": 16, "increas": [7, 23, 26], "inde": 17, "index": [1, 6, 7, 8, 23], "index_to_spe": 8, "induc": 7, "info": [12, 14, 17, 21, 22, 23, 24], "inform": [2, 14, 17, 21, 23], "infrastructur": 6, "infti": 23, "inherit": 21, "initi": [4, 8, 9, 14, 15, 18, 21, 22], "initial_lane_id": 24, "initial_spac": 10, "initial_vehicle_count": 12, "inlin": [22, 23, 24], "input": [8, 9, 18], "insid": [21, 25], "instal": [17, 18, 21], "instanc": [1, 4, 6, 7, 8, 9, 23, 24], "instead": [17, 25], "int": [1, 4, 7, 8, 9, 12, 18, 21, 23, 24], "integ": 6, "integr": 9, "intellig": [2, 7], "interdisciplinari": 2, "intermedi": [17, 21], "intersect": [1, 5, 6, 8, 11, 24], "intersection_env": 12, "intersectionenv": [12, 22], "interv": 1, "invari": [17, 25], "invert": 8, "involv": 21, "ioanni": 2, "is_conflict_poss": 5, "is_reachable_from": 4, "is_vis": 18, "issu": 15, "iter": 23, "its": [1, 4, 6, 7, 8, 9, 16, 17, 22, 24], "itself": 20, "j": [2, 23], "jam": 7, "jean": 2, "joel": 2, "jojo": 14, "jona": 2, "josh": 2, "journal": 19, "json": [4, 22], "junction": 13, "k": [2, 16, 18], "k_": 8, "k_p": 8, "kaichun": 2, "kavukcuoglu": 2, "keep": [12, 25], "kei": [1, 16, 18, 23], "kest": 2, "kinemat": [1, 2, 3, 6, 8, 10, 12, 22, 24, 26], "kinematicobserv": 23, "kinematicsgo": 14, "kinematicsgoalobserv": 23, "king": 2, "known": 4, "korai": 2, "kp_a": 8, "kth07": [2, 7], "kumaran": 2, "kurtosi": 14, "kwarg": [1, 23], "l": [8, 9, 18, 23], "l1": 4, "lab": 6, "label": 1, "lambda": 17, "landmark": [5, 6], "lane": [1, 2, 3, 5, 6, 7, 8, 9, 10, 16, 17, 18, 21, 22, 23, 24], "lane_centering_cost": 15, "lane_change_max_braking_impos": 7, "lane_change_min_acc_gain": 7, "lane_change_reward": 24, "lane_from": 9, "lane_id": 9, "lane_index": [6, 7], "lane_left": 1, "lane_perception_dist": 23, "lane_point": 4, "lane_right": 1, "lane_to": 9, "lanegraph": 18, "laneindex": 6, "lanes_count": [10, 24], "laptop": 24, "larg": 23, "last": [9, 21, 23], "lat": [4, 8, 18], "lat_": 23, "later": [1, 4, 12, 15, 18, 23], "latest": 20, "layer": [1, 23], "layer_index": 23, "lead": [7, 23, 25], "learn": [2, 15, 24, 25], "learning_r": 24, "learning_start": 24, "lectur": 2, "left": [7, 8, 18, 22, 23], "left_boundary_point": 4, "legg": 2, "length": [9, 18], "leonida": 2, "leurent": [2, 19], "level": [1, 2, 4, 8, 17], "libavcodec": 20, "libavformat": 20, "libfreetype6": 20, "libportmidi": 20, "librari": 24, "libsdl": 20, "libsdl1": 20, "libsmpeg": 20, "libswscal": 20, "lidar": 26, "lidarobserv": 23, "light": 12, "like": 23, "line": [4, 8, 18], "line_typ": 4, "linear": [7, 8], "linearli": 10, "linearvehicl": 7, "linetyp": 4, "list": [1, 3, 4, 5, 6, 7, 8, 9, 17, 18, 21, 23, 24], "lm19": [2, 17, 24], "load": [21, 24], "local": [4, 6, 17, 18], "local_angl": 4, "local_coordin": 4, "locat": [18, 23], "long": 17, "long_": 23, "long_offset": 4, "longi": 4, "longitudin": [1, 4, 9, 12, 15, 16, 18, 23], "look": [6, 23], "lookahead": 8, "low": [1, 8], "lower": [7, 21], "lp": 14, "m": [1, 4, 7, 8, 9, 10, 16, 18, 21, 23], "machin": 2, "mai": [7, 23, 25], "main": [4, 13], "maintain": [7, 13], "make": [1, 2, 10, 12, 13, 14, 15, 16, 18, 19, 22, 23, 26], "maneuv": 7, "mani": [15, 18], "manual": [20, 21, 26], "manual_control": [1, 24], "map": [1, 10, 23], "marc": 2, "marcin": 2, "margin": [4, 18], "martin": 2, "matplotlib": [22, 23, 24], "matter": 12, "max": [23, 25], "max_i": 23, "max_spe": 9, "max_x": 23, "maxim": [1, 7], "maximum": [1, 7, 9, 21, 23, 25], "maximum_rang": 23, "mcgrew": 2, "mdpvehicl": 8, "meant": 21, "mechan": 1, "mercat": 2, "merg": [11, 24], "merge_env": 13, "mergeenv": 13, "meta": 26, "metaclass__": 4, "meter": 23, "method": [1, 4, 5, 7, 8, 9, 16, 21, 25], "mi": 2, "microscop": 2, "middl": 23, "might": 1, "min": [23, 25], "min_i": 23, "min_spe": 9, "min_x": 23, "minim": [1, 7], "minimum": [1, 7, 9, 25], "misc": 19, "mixer1": 20, "mk": [2, 25], "mlp": 24, "mlppolici": 24, "mnih": 2, "mo": 2, "mobil": [2, 7], "model": [2, 3, 7, 8, 9, 21, 22, 24], "modifi": [9, 21], "modul": [1, 21, 23], "modular": 21, "montreal": 2, "more": [7, 10, 12, 13, 14, 15, 16, 17, 21], "most": [1, 5, 22, 26], "move": [3, 9, 18, 23], "move_display_window_to": 18, "multi": [21, 26], "multiagentact": [1, 22], "multiagentobserv": 22, "multiagentwrapp": 21, "multilan": 10, "munir": 14, "muno": 2, "must": [1, 6, 14, 18, 20, 21, 22, 24, 25], "my": [12, 24], "n": 7, "name": [1, 23], "narrow": 25, "natur": [2, 23], "ncol": 23, "ndarrai": [1, 4, 7, 8, 9, 12, 14, 18, 21, 23], "nearbi": [7, 23], "nearest": 23, "need": [15, 17], "neg": 25, "negoti": [12, 13], "neighbour": [6, 10], "neighbour_vehicl": 6, "net_arch": 24, "network": [5, 6, 8, 21, 23], "neural": 2, "neurip": 2, "new": [4, 5, 6, 7, 8, 9, 17, 21], "next": [8, 12, 21, 23], "next_ob": 22, "next_obs_i": 22, "node": [6, 8, 9], "non": [4, 7, 8, 23], "none": [1, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 21, 23, 24], "norm": [14, 25], "normal": [14, 23, 25], "normalis": [4, 23], "normalize_ob": 23, "normalize_reward": [12, 24], "note": [2, 25], "notebook": 24, "novel": [2, 17], "now": [7, 13, 21, 22, 23], "np": [1, 4, 5, 6, 21], "np_random": [5, 6], "nrow": 22, "number": [5, 6, 9, 16, 18, 23, 24, 26], "numpi": 20, "nut": 19, "o": [7, 18], "o1": 12, "ob": [17, 21, 22, 23, 24], "object": [4, 5, 6, 7, 8, 9, 10, 13, 18, 21, 23], "object_": 18, "obs_i": 22, "observ": [1, 2, 10, 12, 13, 14, 15, 16, 21, 24, 25, 26], "observation_config": 22, "observation_factori": 23, "observation_shap": 23, "observe_intent": [12, 23], "obstacl": [5, 6, 23], "obtain": [6, 24], "occup": 26, "occupancygrid": [15, 23], "occupancygridobserv": 23, "off": 23, "offroad": 23, "offroad_termin": 24, "offscreen": 18, "offscreen_rend": [10, 13, 14, 15, 16, 24], "offset": [18, 23], "often": [12, 25], "oi": 2, "old": 7, "on_lan": 4, "on_road": 15, "onc": 21, "one": [7, 8, 9, 18, 22], "ongo": 21, "onli": [1, 7, 9, 21, 22, 24, 25], "onroad": 23, "opd": 24, "openai": 24, "optim": [21, 25], "optimist": 2, "option": [4, 19, 21], "order": [1, 9, 17, 22, 23, 25], "origin": 18, "origin_po": 18, "oscil": 4, "ostrovski": 2, "other": [5, 7, 8, 9, 10, 12, 15, 21, 22, 23], "other_valu": 21, "other_vehicl": 15, "other_vehicles_typ": [10, 13, 16, 24], "otherwis": 23, "output": [7, 17], "over": 23, "overal": 7, "overload": [10, 12, 13, 14, 15, 16, 21, 25], "overrid": 7, "overridden": 9, "overwritten": 21, "own": [7, 12, 22, 26], "p": [7, 8, 14, 25], "packag": 19, "page": [2, 24], "pair": [17, 21, 23], "paltchedandrean17": [2, 9], "param": [18, 23], "paramet": [1, 4, 5, 6, 7, 8, 9, 12, 14, 18, 21, 23, 25], "parametr": [4, 24], "parametris": 7, "park": [11, 23, 24, 25], "parking_env": 14, "parkingenv": 14, "part": [21, 23], "particular": 25, "pass": [16, 22, 23], "past": 17, "path": [21, 22], "penalti": 25, "per": 23, "perception_dist": 21, "perform": [1, 7, 8, 12, 21, 23, 24], "permut": 17, "perspect": 25, "peter": 2, "petersen": 2, "phase": 4, "philip": 2, "physic": [2, 3], "piec": 19, "pieter": 2, "pilot": 8, "pip": 20, "pix": 18, "pixel": 18, "place": [7, 8, 9, 23], "placehold": 23, "plan": [2, 8, 16, 24], "plan_route_to": 8, "plasma": 2, "pleas": 19, "plt": [22, 23, 24], "po": 18, "point": [1, 2, 4], "pointnet": 2, "polack": 2, "polici": [7, 21, 22, 24, 25], "policy_frequ": [10, 13, 14, 15, 16, 23, 24], "policy_kwarg": 24, "polit": 7, "polylan": 4, "polylanefixedwidth": 4, "polynomi": 4, "popul": [10, 21], "pos2pix": 18, "pos_to_index": 23, "posit": [4, 6, 7, 9, 14, 18, 23], "possibl": [16, 17, 25], "possibli": 7, "ppo": 17, "pprint": [22, 24], "practic": 25, "pre": 1, "preced": [6, 7], "predict": [5, 8, 9, 12, 22, 23, 24], "predict_trajectori": [8, 9], "predict_trajectory_constant_spe": 8, "predition_typ": 9, "prefer": 25, "presenc": [12, 15], "present": 21, "preserv": 21, "principl": 24, "print": 23, "priorit": 24, "prioriti": [4, 5], "prng": 21, "probabl": 17, "problem": 25, "process": [1, 2], "profit": 26, "progress": 25, "project": [6, 7, 19, 20, 25], "propag": 9, "properti": [1, 7, 8, 9, 21], "proport": 8, "provid": [4, 8, 17, 18, 19, 21, 24], "proxim": 14, "pseudo": 22, "psi": [8, 9, 25], "psi_": 8, "psi_g": 25, "psi_l": 8, "psi_r": 8, "pub": 6, "publish": 19, "pull": 21, "pulsat": 4, "purpos": [12, 19], "px": [10, 13, 16, 18], "py": [21, 22], "pygam": [16, 18, 20], "pyplot": [22, 23, 24], "python": [20, 21, 22], "python3": 20, "q": 24, "qi": 2, "qsmg17": [2, 17], "quantiz": 1, "quick": [19, 24], "quickli": 25, "quit": 12, "r": [2, 7, 8, 25], "racetrack": [11, 24], "racetrack_env": 15, "racetrackenv": 15, "rachel": 2, "rad": [1, 4, 7, 8], "radian": 23, "radiu": 4, "rai": 2, "ramp": 13, "random": [5, 6, 9, 24], "randomli": [7, 9], "randomst": [5, 6], "rang": [1, 7, 8, 9, 10, 23, 24, 25], "rate": 8, "rather": [1, 25], "ratio": 9, "reach": [7, 10, 14], "reachabl": [1, 4, 9], "real": 23, "real_time_rend": 24, "realist": [7, 25], "rear_vehicl": 7, "reason": [7, 12, 17], "receiv": 10, "recent": [5, 6], "recommend": 20, "record": [2, 5, 6, 17], "record_histori": [5, 6], "recordvideo": [17, 21], "recov": 7, "recover_from_stop": 7, "rectangl": [18, 23], "refer": [8, 21], "regist": [17, 26], "register_highway_env": [17, 21], "registr": 21, "regress": 7, "regul": 3, "regularli": 23, "regulatedroad": 5, "reinforc": [2, 24, 25], "reinstal": 21, "rel": 23, "relat": 2, "remov": 21, "render": [17, 18, 21, 22, 23, 24], "render_ag": [10, 13, 14, 15, 16, 24], "render_mod": [10, 12, 13, 14, 15, 16, 21, 22, 23, 24], "repeat": 9, "replac": 25, "replai": [2, 24], "repositori": [17, 19], "repres": [6, 9, 18, 23], "request": 21, "requir": [7, 20, 21], "research": 2, "reset": [1, 17, 18, 21, 22, 23, 24], "resolut": 23, "resolv": 5, "resp": 7, "respect": [1, 7, 8, 18, 25], "respect_prior": 5, "respons": 9, "result": [12, 24], "return": [1, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 21, 22, 23, 25], "reus": 17, "revers": 7, "review": 2, "revisit": 17, "reward": [10, 12, 13, 14, 17, 21, 22, 23, 24, 26], "reward_nam": 21, "reward_speed_rang": [10, 24], "reward_valu": 21, "rgb": [18, 23], "rgb_arrai": [22, 23, 24], "riedmil": 2, "right": [4, 5, 7, 8, 10, 18, 22, 23], "right_boundary_point": 4, "right_lane_reward": 24, "rightmost": 10, "risk": 25, "rl": [22, 24], "rlss": 24, "road": [1, 4, 7, 8, 9, 10, 12, 13, 18, 21, 23, 25, 26], "road_network": 6, "road_object": [5, 6], "roadgraph": 18, "roadnetwork": [3, 5, 6, 21], "roadobject": [6, 18], "roadobjectgraph": 18, "roadsurfac": 18, "robust": 25, "room": 13, "rotat": 18, "roundabout": [11, 18, 24], "roundabout_env": 16, "roundaboutenv": 16, "rout": [7, 8, 16], "row": 23, "rudimentari": 12, "rule": 5, "run": [16, 17, 21, 22, 24], "rusu": 2, "s2": [7, 8], "s_g": 25, "sadik": 2, "safe": [7, 13, 25], "safeti": 7, "sake": 22, "same": [7, 8, 9], "sampl": [1, 17, 21], "satisfi": 25, "save": [8, 9, 24], "sb3": [17, 24], "scalar": 21, "scale": [10, 12, 13, 14, 15, 16, 18, 23, 24, 25], "scene": [17, 23, 26], "schedul": 12, "schneider": 2, "scienc": 2, "screen": 18, "screen_height": [10, 12, 13, 14, 15, 16, 18, 24], "screen_width": [10, 12, 13, 14, 15, 16, 18, 24], "script": [22, 24], "search": 8, "second": [5, 6, 16, 21, 22], "section": 3, "sector": 23, "see": [15, 17, 21, 22, 23, 24, 25], "see_behind": 23, "seed": [21, 22, 24], "segment": 2, "self": [21, 22], "send": [17, 22], "sensit": 17, "separ": [1, 18], "sequenc": [4, 7, 8, 9, 18, 23], "serial": 4, "set": [1, 2, 4, 5, 6, 8, 14, 18, 23, 26], "set_agent_action_sequ": 18, "set_agent_displai": 18, "set_record_video_wrapp": 17, "set_route_at_intersect": 8, "set_titl": 22, "setpoint": 1, "setup": 21, "sever": [1, 7, 10, 12, 17, 21, 23, 24], "shane": 2, "shape": 23, "shift": 25, "should": [5, 6, 7, 17, 18, 21, 22, 23, 25], "show": [22, 23, 24], "show_rect": 18, "show_trajectori": [10, 13, 14, 15, 16, 24], "shuffl": 23, "side": [4, 10, 18], "silver": 2, "similarli": 1, "simpl": [7, 8, 12, 25], "simpli": 12, "simplifi": 21, "simul": [1, 2, 7, 8, 9, 12, 17, 18, 21, 23], "simulation_frequ": [10, 13, 14, 15, 16, 18, 24], "sin": [9, 25], "sin_d": 23, "sin_h": [12, 14, 23], "sinc": [12, 22, 23, 25], "sinelan": 4, "singl": [17, 21, 22, 25], "sinusoid": 4, "situat": 12, "size": [18, 22, 23, 24], "skill": 15, "slightli": 18, "slip": 9, "slower": [1, 8], "small": 23, "smaller": 16, "so": [1, 7, 13, 14, 17, 18, 21, 23], "social": [2, 24], "some": [1, 5, 8, 13, 25], "sometim": 12, "soon": 13, "sophist": 12, "sort": 23, "sourc": [1, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 21, 23], "south": 23, "southeast": 16, "space": [1, 7, 9, 14, 18, 21, 23, 26], "spawn": 9, "spawn_prob": 12, "specif": [10, 12, 13, 14, 15, 16, 18, 23], "specifi": [1, 8, 21, 25], "speed": [1, 7, 8, 9, 10, 13, 14, 21, 25], "speed_control": 8, "speed_limit": 4, "speed_rang": 1, "speed_to_index": 8, "speed_to_index_default": 8, "speedup": 10, "spike": 25, "sqrt": 7, "stabl": 24, "stable_baselines3": 24, "stack_siz": 23, "stackoverflow": 18, "stai": [10, 23], "standard": 22, "start": [4, 6, 9, 13, 18, 19], "start_phas": 4, "state": [2, 7, 8, 9, 17, 21, 22, 23, 25], "static": [5, 18], "statist": 2, "steer": [1, 7, 8, 9, 14], "steering_control": [7, 8], "steering_featur": 7, "steering_rang": 1, "step": [1, 5, 6, 7, 9, 12, 16, 17, 21, 22, 23, 24], "step_i": 23, "step_x": 23, "stig": 2, "still": [16, 21], "stop": [5, 7, 9], "store": [6, 7, 9], "str": [7, 8, 9, 10, 12, 13, 14, 15, 16, 21, 23], "straight": [4, 10, 23], "straightforward": 25, "straightlan": 4, "string": 6, "stripe": 18, "stripe_length": 18, "stripe_spac": 18, "stripe_width": 18, "striped_lin": 18, "stripes_count": 18, "struggl": 17, "stuck": 7, "su": 2, "sub": 17, "subclass": 1, "subplot": [22, 23], "subvers": 20, "sudo": 20, "suffer": 25, "suggest": [7, 17], "suitabl": 17, "sum": 23, "sum_i": 25, "supperted825": 15, "supplementari": [4, 14], "support": [7, 22], "surf": 18, "surfac": [7, 8, 9, 26], "switch": 8, "symposium": 2, "system": [2, 4, 9, 12, 18], "s\u00b2": 1, "t": [6, 7, 16, 23], "take": [1, 5, 7, 23, 24], "tan": 9, "target": [1, 5, 7, 8], "target_lane_index": [7, 8], "target_spe": [1, 7, 8], "target_update_interv": 24, "target_veloc": 7, "task": [10, 12, 13, 14, 16, 21, 24], "tend": 17, "tensorboard_log": 24, "term": [7, 25], "termin": [12, 21, 25], "test": [18, 24], "text": [7, 8, 25], "th": 7, "than": [1, 7, 17, 23, 25], "thank": [15, 18], "thei": [1, 5, 7, 13, 18, 23, 25], "them": [5, 18, 24, 25], "themselv": 21, "thh00": [2, 7], "thi": [1, 4, 7, 10, 12, 13, 16, 17, 20, 21, 22, 23, 24, 25], "thing": 12, "third": 2, "thirti": 2, "those": [8, 24], "though": 7, "three": 23, "throttl": [1, 8], "through": [1, 2, 3, 5, 8, 21, 25], "thu": [1, 17, 25], "tild": 7, "time": [3, 5, 7, 8, 16, 24, 25, 26], "time_w": 7, "timer": 7, "timestep": [5, 6, 7, 8, 9, 12, 21], "timetocollis": [13, 16, 23], "timetocollisionobserv": 23, "titl": [19, 22], "to_config": 4, "tobin": 2, "too": 12, "top": [1, 8, 23], "topic": 2, "topologi": [6, 21], "toward": 23, "track": [1, 8, 15], "traffic": [2, 12, 13, 16], "train": 22, "train_freq": 24, "trajectori": [2, 5, 6, 8, 9, 24, 25], "trajectory_timestep": [8, 9], "transform": 21, "transit": 22, "transpar": 18, "transport": 2, "treiber": 2, "trigger": 7, "trigonometr": 23, "true": [1, 4, 7, 10, 12, 13, 14, 15, 16, 17, 23, 24], "truncat": [12, 16, 17, 21, 22, 23, 24], "try": [5, 7], "ttf2": 20, "tupl": [1, 4, 6, 7, 8, 12, 18, 21, 22, 23], "turn": 8, "tutori": 24, "tv": 7, "two": [3, 5, 7, 8, 15, 17, 18, 22, 23, 25], "type": [1, 4, 10, 12, 13, 14, 15, 16, 21, 22, 23, 24], "typic": 17, "unavail": 1, "uncertain": 25, "under": 8, "underbrac": 7, "uniform": [1, 8, 23], "uniqu": 6, "unsaf": 7, "until": [5, 9, 12, 21], "unwrap": [17, 21, 22, 23, 24], "up": [12, 26], "updat": [8, 9, 18, 20, 22, 23], "upon": 1, "url": 19, "us": [1, 7, 8, 9, 14, 18, 19, 20, 21, 23, 24, 25], "user": 20, "usual": [5, 17], "v": [7, 8, 9, 23, 25], "v0": [1, 10, 12, 13, 14, 15, 16, 17, 18, 21, 22, 23, 24], "v1": 5, "v2": 5, "v_": [8, 25], "v_0": 7, "v_r": 8, "v_x": 25, "v_y": [23, 25], "valu": [1, 16, 21, 23, 24], "vanilla": 24, "variabl": 16, "variat": 8, "variou": 21, "vec": 18, "vec2pix": 18, "vector": [1, 21], "vehicl": [1, 2, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 18, 24, 25, 26], "vehicle_class": [1, 21], "vehicle_class_path": 21, "vehiclegraph": 18, "vehicles_count": [10, 12, 22, 23, 24], "vehicles_dens": 24, "veloc": [1, 5, 7, 8, 23, 25], "veness": 2, "verbos": 24, "verg": 14, "version": 22, "video": [21, 22, 24], "video_fold": 17, "viewer": [18, 21], "visibl": 18, "visual": 18, "visualis": 22, "volodymyr": 2, "vx": [12, 14, 23], "vy": [12, 14, 23], "w": [7, 18, 23, 25], "w_i": 25, "wa": [12, 14, 18], "wai": [4, 5, 12, 17, 24], "wait": 12, "waypoint": 23, "we": [14, 17, 18, 20, 21, 23, 25], "weight": [4, 7, 14, 23, 25], "welcom": [12, 21], "welind": 2, "west": 23, "what": [22, 23], "wheel": [7, 8, 9], "when": [5, 7, 8, 10], "where": [1, 6, 7, 8, 9, 14, 15, 21, 23, 25], "whether": [1, 4, 5, 6, 7, 18, 21, 23], "which": [1, 4, 5, 6, 7, 8, 12, 14, 17, 18, 20, 21, 22, 23, 24, 25], "while": [1, 9, 10, 13, 15, 16, 17, 21, 22, 24], "who": [4, 5], "whole": 21, "whose": [6, 7], "why": 7, "width": [4, 9, 16, 18], "width_at": 4, "wierstra": 2, "window": [16, 18], "window_posit": 18, "wish": 25, "within": 23, "without": 18, "wojciech": 2, "wolski": 2, "work": 17, "workshop": 2, "world": [4, 23, 26], "worldsurfac": 18, "would": [18, 23, 25], "wrap": [17, 21, 26], "wrapper": [17, 21], "write": 4, "written": 24, "wrong": 7, "x": [1, 4, 9, 12, 14, 18, 23, 25], "x15": 10, "x_g": 25, "x_i": 25, "y": [4, 9, 12, 14, 18, 20, 23, 25], "y_g": 25, "yaw": 8, "year": 19, "yield": [5, 8, 24, 25], "you": [17, 19, 21, 23], "your": 26, "your_env": 21, "yourenv": 21, "zaremba": 2, "zero": 23, "zip": 22, "zoom": 18, "\u00e7": 2, "\u00e9": 2}, "titles": ["404", "Actions", "Bibliography", "Dynamics", "Lane", "Road regulation", "Road", "Behavior", "Control", "Kinematics", "Highway", "The environments", "Intersection", "Merge", "Parking", "Racetrack", "Roundabout", "Frequently Asked Questions", "Graphics", "Welcome to highway-env\u2019s documentation!", "Installation", "Make your own environment", "The Multi-Agent setting", "Observations", "Getting Started", "Rewards", "User Guide"], "titleterms": {"": 19, "10": 20, "404": 0, "Not": 0, "The": [11, 22], "action": [1, 22], "agent": [17, 22, 24], "all": 24, "an": [17, 24], "api": [1, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 21, 23], "ar": 17, "ask": 17, "behavior": 7, "bibliographi": 2, "bit": 23, "chang": 22, "cite": 19, "close": 23, "colab": 24, "collis": 23, "configur": [10, 12, 13, 14, 15, 16, 21, 23, 24], "continu": 1, "control": [1, 8, 22], "creat": 21, "default": [10, 12, 13, 14, 15, 16], "develop": 20, "discret": 1, "document": 19, "doesn": 17, "drive": 23, "dynam": 3, "east": 23, "ego": 23, "env": 19, "environ": [11, 17, 21, 24, 25], "error": 17, "exampl": [23, 24], "exist": 17, "farther": 23, "fast": 17, "faster": 10, "featur": 23, "file": 21, "found": 0, "framer": 17, "frequent": 17, "get": [17, 24], "goal": 25, "googl": 24, "graphic": 18, "grayscal": 23, "grid": 23, "guid": 26, "gymnasium": 17, "have": 17, "head": 8, "highwai": [10, 17, 19], "how": 19, "i": [17, 23], "illustr": 23, "imag": 23, "increas": 22, "instal": 20, "intersect": 12, "kinemat": [9, 17, 23], "lane": 4, "later": [7, 8], "lidar": 23, "longitudin": [7, 8], "low": 17, "make": [17, 21, 24], "manual": 1, "mechan": 23, "merg": 13, "meta": 1, "mlp": 17, "model": 17, "most": 25, "multi": 22, "my": 17, "namenotfound": 17, "north": 23, "number": 22, "observ": [17, 22, 23], "occup": 23, "one": 23, "optim": 17, "own": 21, "page": 0, "park": 14, "polici": 17, "posit": 8, "prerequisit": 20, "presenc": 23, "profit": 21, "question": 17, "racetrack": 15, "regist": 21, "regul": 5, "releas": 20, "result": 17, "reward": 25, "road": [3, 5, 6], "roundabout": 16, "same": 23, "scene": [18, 21], "set": [21, 22], "slower": 23, "space": 22, "speed": 23, "stabl": 20, "stack": 23, "start": 24, "surfac": 18, "t": 17, "thi": 19, "time": 23, "too": 17, "train": [17, 24], "try": 17, "ubuntu": 20, "up": [21, 22], "us": 17, "usag": [10, 12, 13, 14, 15, 16], "user": 26, "v_x": 23, "variant": 10, "vehicl": [3, 21, 22, 23], "version": 20, "video": 17, "welcom": 19, "when": 17, "why": 17, "window": 20, "work": 19, "world": 18, "wrap": 22, "your": 21}})
\ No newline at end of file
+Search.setIndex({"alltitles": {"404": [[0, null]], "API": [[1, "module-highway_env.envs.common.action"], [4, "module-highway_env.road.lane"], [5, "module-highway_env.road.regulation"], [6, "module-highway_env.road.road"], [7, "module-highway_env.vehicle.behavior"], [8, "module-highway_env.vehicle.controller"], [9, "module-highway_env.vehicle.kinematics"], [10, "api"], [12, "api"], [13, "api"], [14, "api"], [15, "api"], [16, "api"], [18, "module-highway_env.envs.common.graphics"], [21, "module-highway_env.__init__"], [23, "module-highway_env.envs.common.observation"]], "Actions": [[1, null]], "All the environments": [[24, "all-the-environments"]], "Behavior": [[7, null]], "Bibliography": [[2, null]], "Change the action space": [[22, "change-the-action-space"]], "Change the observation space": [[22, "change-the-observation-space"]], "Configuring an environment": [[24, "configuring-an-environment"]], "Continuous Actions": [[1, "continuous-actions"]], "Control": [[8, null]], "Create the scene": [[21, "create-the-scene"]], "Create the vehicles": [[21, "create-the-vehicles"]], "Default configuration": [[10, "default-configuration"], [12, "default-configuration"], [13, "default-configuration"], [14, "default-configuration"], [15, "default-configuration"], [16, "default-configuration"]], "Development version": [[20, "development-version"]], "Discrete Actions": [[1, "discrete-actions"]], "Discrete Meta-Actions": [[1, "discrete-meta-actions"]], "Dynamics": [[3, null]], "Example configuration": [[23, "example-configuration"], [23, "grayscale-example-configuration"], [23, "id4"], [23, "id5"], [23, "id6"]], "Examples on Google Colab": [[24, "examples-on-google-colab"]], "Faster variant": [[10, "faster-variant"]], "Frequently Asked Questions": [[17, null]], "Getting Started": [[24, null]], "Goal environments": [[25, "goal-environments"]], "Graphics": [[18, null]], "Grayscale Image": [[23, "grayscale-image"]], "Heading control": [[8, "heading-control"]], "Highway": [[10, null]], "How to cite this work?": [[19, "how-to-cite-this-work"]], "I try to train an agent using the Kinematics Observation and an MLP model, but the resulting policy is not optimal. Why?": [[17, "i-try-to-train-an-agent-using-the-kinematics-observation-and-an-mlp-model-but-the-resulting-policy-is-not-optimal-why"]], "Illustration of the stack mechanism": [[23, "illustration-of-the-stack-mechanism"]], "Increase the number of controlled vehicles": [[22, "increase-the-number-of-controlled-vehicles"]], "Installation": [[20, null]], "Intersection": [[12, null]], "Kinematics": [[9, null], [23, "kinematics"]], "Lane": [[4, null]], "Lateral Behavior": [[7, "lateral-behavior"]], "Lateral controller": [[8, "lateral-controller"]], "Lidar": [[23, "lidar"]], "Longitudinal Behavior": [[7, "longitudinal-behavior"]], "Longitudinal controller": [[8, "longitudinal-controller"]], "Make the environment configurable": [[21, "make-the-environment-configurable"]], "Make your own environment": [[21, null]], "Making an environment": [[24, "making-an-environment"]], "Manual control": [[1, "manual-control"]], "Merge": [[13, null]], "Most environments": [[25, "most-environments"]], "My videos are too fast / have a low framerate.": [[17, "my-videos-are-too-fast-have-a-low-framerate"]], "Observations": [[23, null]], "Occupancy grid": [[23, "occupancy-grid"]], "Page Not Found": [[0, "page-not-found"]], "Parking": [[14, null]], "Position control": [[8, "position-control"]], "Prerequisites": [[20, "prerequisites"]], "Profit": [[21, "profit"]], "Racetrack": [[15, null]], "Register the environment": [[21, "register-the-environment"]], "Rewards": [[25, null]], "Road": [[6, null]], "Road regulation": [[5, null]], "Roads": [[3, "roads"]], "Roundabout": [[16, null]], "Scene graphics": [[18, "scene-graphics"]], "Set up files": [[21, "set-up-files"]], "Stable release": [[20, "stable-release"]], "The Multi-Agent setting": [[22, null]], "The environments": [[11, null]], "Time to collision": [[23, "time-to-collision"]], "Training an agent": [[24, "training-an-agent"]], "Ubuntu": [[20, "ubuntu"]], "Usage": [[10, "usage"], [12, "usage"], [13, "usage"], [14, "usage"], [15, "usage"], [16, "usage"]], "User Guide": [[26, null]], "Vehicles": [[3, "vehicles"]], "Welcome to highway-env\u2019s documentation!": [[19, null]], "When I try to make an environment, I get an error gymnasium.error.NameNotFound: Environment highway doesn't exist.": [[17, "when-i-try-to-make-an-environment-i-get-an-error-gymnasium-error-namenotfound-environment-highway-doesn-t-exist"]], "Windows 10": [[20, "windows-10"]], "World surface": [[18, "world-surface"]], "Wrapping it up": [[22, "wrapping-it-up"]], "presence feature: one vehicle is close to the north, and one is farther to the east.": [[23, "id7"]], "the Lidar observation": [[23, "id9"]], "v_x feature: the north vehicle drives at the same speed as the ego-vehicle, and the east vehicle a bit slower": [[23, "id8"]]}, "docnames": ["404", "actions/index", "bibliography/index", "dynamics/index", "dynamics/road/lane", "dynamics/road/regulation", "dynamics/road/road", "dynamics/vehicle/behavior", "dynamics/vehicle/controller", "dynamics/vehicle/kinematics", "environments/highway", "environments/index", "environments/intersection", "environments/merge", "environments/parking", "environments/racetrack", "environments/roundabout", "faq", "graphics/index", "index", "installation", "make_your_own", "multi_agent", "observations/index", "quickstart", "rewards/index", "user_guide"], "envversion": {"sphinx": 62, "sphinx.domains.c": 3, "sphinx.domains.changeset": 1, "sphinx.domains.citation": 1, "sphinx.domains.cpp": 9, "sphinx.domains.index": 1, "sphinx.domains.javascript": 3, "sphinx.domains.math": 2, "sphinx.domains.python": 4, "sphinx.domains.rst": 2, "sphinx.domains.std": 2, "sphinx.ext.viewcode": 1, "sphinxcontrib.bibtex": 9}, "filenames": ["404.md", "actions/index.md", "bibliography/index.md", "dynamics/index.md", "dynamics/road/lane.md", "dynamics/road/regulation.md", "dynamics/road/road.md", "dynamics/vehicle/behavior.md", "dynamics/vehicle/controller.md", "dynamics/vehicle/kinematics.md", "environments/highway.md", "environments/index.md", "environments/intersection.md", "environments/merge.md", "environments/parking.md", "environments/racetrack.md", "environments/roundabout.md", "faq.md", "graphics/index.md", "index.md", "installation.md", "make_your_own.md", "multi_agent.md", "observations/index.md", "quickstart.md", "rewards/index.md", "user_guide.md"], "indexentries": {"_automatic_rendering() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._automatic_rendering", false]], "_info() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._info", false]], "_is_terminated() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._is_terminated", false]], "_is_truncated() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._is_truncated", false]], "_register_highway_envs() (in module highway_env.__init__)": [[21, "highway_env.__init__._register_highway_envs", false]], "_reset() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._reset", false]], "_reward() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._reward", false]], "_rewards() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._rewards", false]], "_simulate() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv._simulate", false]], "abstractenv (class in highway_env.envs.common.abstract)": [[21, "highway_env.envs.common.abstract.AbstractEnv", false]], "abstractlane (class in highway_env.road.lane)": [[4, "highway_env.road.lane.AbstractLane", false]], "acc_max (highway_env.vehicle.behavior.idmvehicle attribute)": [[7, "highway_env.vehicle.behavior.IDMVehicle.ACC_MAX", false]], "acceleration() (highway_env.vehicle.behavior.idmvehicle method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.acceleration", false]], "acceleration() (highway_env.vehicle.behavior.linearvehicle method)": [[7, "highway_env.vehicle.behavior.LinearVehicle.acceleration", false]], "acceleration_range (highway_env.envs.common.action.continuousaction attribute)": [[1, "highway_env.envs.common.action.ContinuousAction.ACCELERATION_RANGE", false]], "act() (highway_env.envs.common.action.actiontype method)": [[1, "highway_env.envs.common.action.ActionType.act", false]], "act() (highway_env.envs.common.action.continuousaction method)": [[1, "highway_env.envs.common.action.ContinuousAction.act", false]], "act() (highway_env.envs.common.action.discreteaction method)": [[1, "highway_env.envs.common.action.DiscreteAction.act", false]], "act() (highway_env.envs.common.action.discretemetaaction method)": [[1, "highway_env.envs.common.action.DiscreteMetaAction.act", false]], "act() (highway_env.envs.common.action.multiagentaction method)": [[1, "highway_env.envs.common.action.MultiAgentAction.act", false]], "act() (highway_env.road.road.road method)": [[6, "highway_env.road.road.Road.act", false]], "act() (highway_env.vehicle.behavior.idmvehicle method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.act", false]], "act() (highway_env.vehicle.behavior.linearvehicle method)": [[7, "highway_env.vehicle.behavior.LinearVehicle.act", false]], "act() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.act", false]], "act() (highway_env.vehicle.controller.mdpvehicle method)": [[8, "highway_env.vehicle.controller.MDPVehicle.act", false]], "act() (highway_env.vehicle.kinematics.vehicle method)": [[9, "highway_env.vehicle.kinematics.Vehicle.act", false]], "actions_all (highway_env.envs.common.action.discretemetaaction attribute)": [[1, "highway_env.envs.common.action.DiscreteMetaAction.ACTIONS_ALL", false]], "actions_lat (highway_env.envs.common.action.discretemetaaction attribute)": [[1, "highway_env.envs.common.action.DiscreteMetaAction.ACTIONS_LAT", false]], "actions_longi (highway_env.envs.common.action.discretemetaaction attribute)": [[1, "highway_env.envs.common.action.DiscreteMetaAction.ACTIONS_LONGI", false]], "actiontype (class in highway_env.envs.common.action)": [[1, "highway_env.envs.common.action.ActionType", false]], "aggressivevehicle (class in highway_env.vehicle.behavior)": [[7, "highway_env.vehicle.behavior.AggressiveVehicle", false]], "blit_rotate() (highway_env.road.graphics.roadobjectgraphics static method)": [[18, "highway_env.road.graphics.RoadObjectGraphics.blit_rotate", false]], "change_lane_policy() (highway_env.vehicle.behavior.idmvehicle method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.change_lane_policy", false]], "change_vehicles() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.change_vehicles", false]], "circularlane (class in highway_env.road.lane)": [[4, "highway_env.road.lane.CircularLane", false]], "close() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.close", false]], "close() (highway_env.envs.common.graphics.envviewer method)": [[18, "highway_env.envs.common.graphics.EnvViewer.close", false]], "collect_data() (highway_env.vehicle.behavior.linearvehicle method)": [[7, "highway_env.vehicle.behavior.LinearVehicle.collect_data", false]], "comfort_acc_max (highway_env.vehicle.behavior.idmvehicle attribute)": [[7, "highway_env.vehicle.behavior.IDMVehicle.COMFORT_ACC_MAX", false]], "comfort_acc_min (highway_env.vehicle.behavior.idmvehicle attribute)": [[7, "highway_env.vehicle.behavior.IDMVehicle.COMFORT_ACC_MIN", false]], "compute_reward() (highway_env.envs.parking_env.parkingenv method)": [[14, "highway_env.envs.parking_env.ParkingEnv.compute_reward", false]], "continuous_curve() (highway_env.road.graphics.lanegraphics class method)": [[18, "highway_env.road.graphics.LaneGraphics.continuous_curve", false]], "continuous_line() (highway_env.road.graphics.lanegraphics class method)": [[18, "highway_env.road.graphics.LaneGraphics.continuous_line", false]], "continuousaction (class in highway_env.envs.common.action)": [[1, "highway_env.envs.common.action.ContinuousAction", false]], "controlled_vehicle (highway_env.envs.common.action.actiontype property)": [[1, "highway_env.envs.common.action.ActionType.controlled_vehicle", false]], "controlledvehicle (class in highway_env.vehicle.controller)": [[8, "highway_env.vehicle.controller.ControlledVehicle", false]], "create_from() (highway_env.vehicle.behavior.idmvehicle class method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.create_from", false]], "create_from() (highway_env.vehicle.controller.controlledvehicle class method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.create_from", false]], "create_from() (highway_env.vehicle.kinematics.vehicle class method)": [[9, "highway_env.vehicle.kinematics.Vehicle.create_from", false]], "create_random() (highway_env.vehicle.kinematics.vehicle class method)": [[9, "highway_env.vehicle.kinematics.Vehicle.create_random", false]], "default_config() (highway_env.envs.common.abstract.abstractenv class method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.default_config", false]], "default_config() (highway_env.envs.highway_env.highwayenv class method)": [[10, "highway_env.envs.highway_env.HighwayEnv.default_config", false]], "default_config() (highway_env.envs.intersection_env.intersectionenv class method)": [[12, "highway_env.envs.intersection_env.IntersectionEnv.default_config", false]], "default_config() (highway_env.envs.merge_env.mergeenv class method)": [[13, "highway_env.envs.merge_env.MergeEnv.default_config", false]], "default_config() (highway_env.envs.parking_env.parkingenv class method)": [[14, "highway_env.envs.parking_env.ParkingEnv.default_config", false]], "default_config() (highway_env.envs.racetrack_env.racetrackenv class method)": [[15, "highway_env.envs.racetrack_env.RacetrackEnv.default_config", false]], "default_config() (highway_env.envs.roundabout_env.roundaboutenv class method)": [[16, "highway_env.envs.roundabout_env.RoundaboutEnv.default_config", false]], "default_initial_speeds (highway_env.vehicle.kinematics.vehicle attribute)": [[9, "highway_env.vehicle.kinematics.Vehicle.DEFAULT_INITIAL_SPEEDS", false]], "defensivevehicle (class in highway_env.vehicle.behavior)": [[7, "highway_env.vehicle.behavior.DefensiveVehicle", false]], "define_spaces() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.define_spaces", false]], "define_spaces() (highway_env.envs.parking_env.parkingenv method)": [[14, "highway_env.envs.parking_env.ParkingEnv.define_spaces", false]], "delta (highway_env.vehicle.behavior.idmvehicle attribute)": [[7, "highway_env.vehicle.behavior.IDMVehicle.DELTA", false]], "delta_range (highway_env.vehicle.behavior.idmvehicle attribute)": [[7, "highway_env.vehicle.behavior.IDMVehicle.DELTA_RANGE", false]], "desired_gap() (highway_env.vehicle.behavior.idmvehicle method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.desired_gap", false]], "discreteaction (class in highway_env.envs.common.action)": [[1, "highway_env.envs.common.action.DiscreteAction", false]], "discretemetaaction (class in highway_env.envs.common.action)": [[1, "highway_env.envs.common.action.DiscreteMetaAction", false]], "display() (highway_env.envs.common.graphics.envviewer method)": [[18, "highway_env.envs.common.graphics.EnvViewer.display", false]], "display() (highway_env.road.graphics.lanegraphics class method)": [[18, "highway_env.road.graphics.LaneGraphics.display", false]], "display() (highway_env.road.graphics.roadgraphics static method)": [[18, "highway_env.road.graphics.RoadGraphics.display", false]], "display() (highway_env.road.graphics.roadobjectgraphics class method)": [[18, "highway_env.road.graphics.RoadObjectGraphics.display", false]], "display_road_objects() (highway_env.road.graphics.roadgraphics static method)": [[18, "highway_env.road.graphics.RoadGraphics.display_road_objects", false]], "display_traffic() (highway_env.road.graphics.roadgraphics static method)": [[18, "highway_env.road.graphics.RoadGraphics.display_traffic", false]], "distance() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.distance", false]], "distance_wanted (highway_env.vehicle.behavior.idmvehicle attribute)": [[7, "highway_env.vehicle.behavior.IDMVehicle.DISTANCE_WANTED", false]], "distance_with_heading() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.distance_with_heading", false]], "draw_stripes() (highway_env.road.graphics.lanegraphics class method)": [[18, "highway_env.road.graphics.LaneGraphics.draw_stripes", false]], "enforce_road_rules() (highway_env.road.regulation.regulatedroad method)": [[5, "highway_env.road.regulation.RegulatedRoad.enforce_road_rules", false]], "envviewer (class in highway_env.envs.common.graphics)": [[18, "highway_env.envs.common.graphics.EnvViewer", false]], "exitobservation (class in highway_env.envs.common.observation)": [[23, "highway_env.envs.common.observation.ExitObservation", false]], "fill_road_layer_by_cell() (highway_env.envs.common.observation.occupancygridobservation method)": [[23, "highway_env.envs.common.observation.OccupancyGridObservation.fill_road_layer_by_cell", false]], "fill_road_layer_by_lanes() (highway_env.envs.common.observation.occupancygridobservation method)": [[23, "highway_env.envs.common.observation.OccupancyGridObservation.fill_road_layer_by_lanes", false]], "follow_road() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.follow_road", false]], "from_config() (highway_env.road.lane.abstractlane class method)": [[4, "highway_env.road.lane.AbstractLane.from_config", false]], "from_config() (highway_env.road.lane.circularlane class method)": [[4, "highway_env.road.lane.CircularLane.from_config", false]], "from_config() (highway_env.road.lane.polylanefixedwidth class method)": [[4, "highway_env.road.lane.PolyLaneFixedWidth.from_config", false]], "from_config() (highway_env.road.lane.sinelane class method)": [[4, "highway_env.road.lane.SineLane.from_config", false]], "from_config() (highway_env.road.lane.straightlane class method)": [[4, "highway_env.road.lane.StraightLane.from_config", false]], "get_available_actions() (highway_env.envs.common.action.actiontype method)": [[1, "highway_env.envs.common.action.ActionType.get_available_actions", false]], "get_available_actions() (highway_env.envs.common.action.discretemetaaction method)": [[1, "highway_env.envs.common.action.DiscreteMetaAction.get_available_actions", false]], "get_available_actions() (highway_env.envs.common.action.multiagentaction method)": [[1, "highway_env.envs.common.action.MultiAgentAction.get_available_actions", false]], "get_image() (highway_env.envs.common.graphics.envviewer method)": [[18, "highway_env.envs.common.graphics.EnvViewer.get_image", false]], "get_routes_at_intersection() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.get_routes_at_intersection", false]], "grayscaleobservation (class in highway_env.envs.common.observation)": [[23, "highway_env.envs.common.observation.GrayscaleObservation", false]], "handle_event() (highway_env.road.graphics.worldsurface method)": [[18, "highway_env.road.graphics.WorldSurface.handle_event", false]], "handle_events() (highway_env.envs.common.graphics.envviewer method)": [[18, "highway_env.envs.common.graphics.EnvViewer.handle_events", false]], "heading_at() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.heading_at", false]], "heading_at() (highway_env.road.lane.circularlane method)": [[4, "highway_env.road.lane.CircularLane.heading_at", false]], "heading_at() (highway_env.road.lane.polylanefixedwidth method)": [[4, "highway_env.road.lane.PolyLaneFixedWidth.heading_at", false]], "heading_at() (highway_env.road.lane.sinelane method)": [[4, "highway_env.road.lane.SineLane.heading_at", false]], "heading_at() (highway_env.road.lane.straightlane method)": [[4, "highway_env.road.lane.StraightLane.heading_at", false]], "highway_env.__init__": [[21, "module-highway_env.__init__", false]], "highway_env.envs.common.abstract": [[21, "module-highway_env.envs.common.abstract", false]], "highway_env.envs.common.action": [[1, "module-highway_env.envs.common.action", false]], "highway_env.envs.common.graphics": [[18, "module-highway_env.envs.common.graphics", false]], "highway_env.envs.common.observation": [[23, "module-highway_env.envs.common.observation", false]], "highway_env.road.graphics": [[18, "module-highway_env.road.graphics", false]], "highway_env.road.lane": [[4, "module-highway_env.road.lane", false]], "highway_env.road.regulation": [[5, "module-highway_env.road.regulation", false]], "highway_env.road.road": [[6, "module-highway_env.road.road", false]], "highway_env.vehicle.behavior": [[7, "module-highway_env.vehicle.behavior", false]], "highway_env.vehicle.controller": [[8, "module-highway_env.vehicle.controller", false]], "highway_env.vehicle.graphics": [[18, "module-highway_env.vehicle.graphics", false]], "highway_env.vehicle.kinematics": [[9, "module-highway_env.vehicle.kinematics", false]], "highwayenv (class in highway_env.envs.highway_env)": [[10, "highway_env.envs.highway_env.HighwayEnv", false]], "history_size (highway_env.vehicle.kinematics.vehicle attribute)": [[9, "highway_env.vehicle.kinematics.Vehicle.HISTORY_SIZE", false]], "idmvehicle (class in highway_env.vehicle.behavior)": [[7, "highway_env.vehicle.behavior.IDMVehicle", false]], "index_to_speed() (highway_env.vehicle.controller.mdpvehicle method)": [[8, "highway_env.vehicle.controller.MDPVehicle.index_to_speed", false]], "intersectionenv (class in highway_env.envs.intersection_env)": [[12, "highway_env.envs.intersection_env.IntersectionEnv", false]], "is_reachable_from() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.is_reachable_from", false]], "is_visible() (highway_env.road.graphics.worldsurface method)": [[18, "highway_env.road.graphics.WorldSurface.is_visible", false]], "kinematicobservation (class in highway_env.envs.common.observation)": [[23, "highway_env.envs.common.observation.KinematicObservation", false]], "kinematicsgoalobservation (class in highway_env.envs.common.observation)": [[23, "highway_env.envs.common.observation.KinematicsGoalObservation", false]], "lanegraphics (class in highway_env.road.graphics)": [[18, "highway_env.road.graphics.LaneGraphics", false]], "length (highway_env.vehicle.kinematics.vehicle attribute)": [[9, "highway_env.vehicle.kinematics.Vehicle.LENGTH", false]], "linearvehicle (class in highway_env.vehicle.behavior)": [[7, "highway_env.vehicle.behavior.LinearVehicle", false]], "linetype (class in highway_env.road.lane)": [[4, "highway_env.road.lane.LineType", false]], "local_angle() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.local_angle", false]], "local_coordinates() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.local_coordinates", false]], "local_coordinates() (highway_env.road.lane.circularlane method)": [[4, "highway_env.road.lane.CircularLane.local_coordinates", false]], "local_coordinates() (highway_env.road.lane.polylanefixedwidth method)": [[4, "highway_env.road.lane.PolyLaneFixedWidth.local_coordinates", false]], "local_coordinates() (highway_env.road.lane.sinelane method)": [[4, "highway_env.road.lane.SineLane.local_coordinates", false]], "local_coordinates() (highway_env.road.lane.straightlane method)": [[4, "highway_env.road.lane.StraightLane.local_coordinates", false]], "max_speed (highway_env.vehicle.kinematics.vehicle attribute)": [[9, "highway_env.vehicle.kinematics.Vehicle.MAX_SPEED", false]], "mdpvehicle (class in highway_env.vehicle.controller)": [[8, "highway_env.vehicle.controller.MDPVehicle", false]], "mergeenv (class in highway_env.envs.merge_env)": [[13, "highway_env.envs.merge_env.MergeEnv", false]], "metaclass__ (highway_env.road.lane.abstractlane attribute)": [[4, "highway_env.road.lane.AbstractLane.metaclass__", false]], "min_speed (highway_env.vehicle.kinematics.vehicle attribute)": [[9, "highway_env.vehicle.kinematics.Vehicle.MIN_SPEED", false]], "mobil() (highway_env.vehicle.behavior.idmvehicle method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.mobil", false]], "module": [[1, "module-highway_env.envs.common.action", false], [4, "module-highway_env.road.lane", false], [5, "module-highway_env.road.regulation", false], [6, "module-highway_env.road.road", false], [7, "module-highway_env.vehicle.behavior", false], [8, "module-highway_env.vehicle.controller", false], [9, "module-highway_env.vehicle.kinematics", false], [18, "module-highway_env.envs.common.graphics", false], [18, "module-highway_env.road.graphics", false], [18, "module-highway_env.vehicle.graphics", false], [21, "module-highway_env.__init__", false], [21, "module-highway_env.envs.common.abstract", false], [23, "module-highway_env.envs.common.observation", false]], "move_display_window_to() (highway_env.road.graphics.worldsurface method)": [[18, "highway_env.road.graphics.WorldSurface.move_display_window_to", false]], "multiagentaction (class in highway_env.envs.common.action)": [[1, "highway_env.envs.common.action.MultiAgentAction", false]], "multiagentwrapper (class in highway_env.envs.common.abstract)": [[21, "highway_env.envs.common.abstract.MultiAgentWrapper", false]], "neighbour_vehicles() (highway_env.road.road.road method)": [[6, "highway_env.road.road.Road.neighbour_vehicles", false]], "normalize() (highway_env.envs.common.observation.occupancygridobservation method)": [[23, "highway_env.envs.common.observation.OccupancyGridObservation.normalize", false]], "normalize_obs() (highway_env.envs.common.observation.kinematicobservation method)": [[23, "highway_env.envs.common.observation.KinematicObservation.normalize_obs", false]], "observe() (highway_env.envs.common.observation.exitobservation method)": [[23, "highway_env.envs.common.observation.ExitObservation.observe", false]], "observe() (highway_env.envs.common.observation.grayscaleobservation method)": [[23, "highway_env.envs.common.observation.GrayscaleObservation.observe", false]], "observe() (highway_env.envs.common.observation.kinematicobservation method)": [[23, "highway_env.envs.common.observation.KinematicObservation.observe", false]], "observe() (highway_env.envs.common.observation.kinematicsgoalobservation method)": [[23, "highway_env.envs.common.observation.KinematicsGoalObservation.observe", false]], "observe() (highway_env.envs.common.observation.occupancygridobservation method)": [[23, "highway_env.envs.common.observation.OccupancyGridObservation.observe", false]], "occupancygridobservation (class in highway_env.envs.common.observation)": [[23, "highway_env.envs.common.observation.OccupancyGridObservation", false]], "on_lane() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.on_lane", false]], "parkingenv (class in highway_env.envs.parking_env)": [[14, "highway_env.envs.parking_env.ParkingEnv", false]], "perception_distance (highway_env.envs.common.abstract.abstractenv attribute)": [[21, "highway_env.envs.common.abstract.AbstractEnv.PERCEPTION_DISTANCE", false]], "pix() (highway_env.road.graphics.worldsurface method)": [[18, "highway_env.road.graphics.WorldSurface.pix", false]], "plan_route_to() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.plan_route_to", false]], "polylane (class in highway_env.road.lane)": [[4, "highway_env.road.lane.PolyLane", false]], "polylanefixedwidth (class in highway_env.road.lane)": [[4, "highway_env.road.lane.PolyLaneFixedWidth", false]], "pos2pix() (highway_env.road.graphics.worldsurface method)": [[18, "highway_env.road.graphics.WorldSurface.pos2pix", false]], "pos_to_index() (highway_env.envs.common.observation.occupancygridobservation method)": [[23, "highway_env.envs.common.observation.OccupancyGridObservation.pos_to_index", false]], "position() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.position", false]], "position() (highway_env.road.lane.circularlane method)": [[4, "highway_env.road.lane.CircularLane.position", false]], "position() (highway_env.road.lane.polylanefixedwidth method)": [[4, "highway_env.road.lane.PolyLaneFixedWidth.position", false]], "position() (highway_env.road.lane.sinelane method)": [[4, "highway_env.road.lane.SineLane.position", false]], "position() (highway_env.road.lane.straightlane method)": [[4, "highway_env.road.lane.StraightLane.position", false]], "predict_trajectory() (highway_env.vehicle.controller.mdpvehicle method)": [[8, "highway_env.vehicle.controller.MDPVehicle.predict_trajectory", false]], "predict_trajectory() (highway_env.vehicle.kinematics.vehicle method)": [[9, "highway_env.vehicle.kinematics.Vehicle.predict_trajectory", false]], "predict_trajectory_constant_speed() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.predict_trajectory_constant_speed", false]], "racetrackenv (class in highway_env.envs.racetrack_env)": [[15, "highway_env.envs.racetrack_env.RacetrackEnv", false]], "recover_from_stop() (highway_env.vehicle.behavior.idmvehicle method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.recover_from_stop", false]], "regulatedroad (class in highway_env.road.regulation)": [[5, "highway_env.road.regulation.RegulatedRoad", false]], "render() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.render", false]], "reset() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.reset", false]], "respect_priorities() (highway_env.road.regulation.regulatedroad static method)": [[5, "highway_env.road.regulation.RegulatedRoad.respect_priorities", false]], "road (class in highway_env.road.road)": [[6, "highway_env.road.road.Road", false]], "roadgraphics (class in highway_env.road.graphics)": [[18, "highway_env.road.graphics.RoadGraphics", false]], "roadobjectgraphics (class in highway_env.road.graphics)": [[18, "highway_env.road.graphics.RoadObjectGraphics", false]], "roundaboutenv (class in highway_env.envs.roundabout_env)": [[16, "highway_env.envs.roundabout_env.RoundaboutEnv", false]], "set_agent_action_sequence() (highway_env.envs.common.graphics.envviewer method)": [[18, "highway_env.envs.common.graphics.EnvViewer.set_agent_action_sequence", false]], "set_agent_display() (highway_env.envs.common.graphics.envviewer method)": [[18, "highway_env.envs.common.graphics.EnvViewer.set_agent_display", false]], "set_route_at_intersection() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.set_route_at_intersection", false]], "simplify() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.simplify", false]], "sinelane (class in highway_env.road.lane)": [[4, "highway_env.road.lane.SineLane", false]], "space() (highway_env.envs.common.action.actiontype method)": [[1, "highway_env.envs.common.action.ActionType.space", false]], "space() (highway_env.envs.common.action.continuousaction method)": [[1, "highway_env.envs.common.action.ContinuousAction.space", false]], "space() (highway_env.envs.common.action.discreteaction method)": [[1, "highway_env.envs.common.action.DiscreteAction.space", false]], "space() (highway_env.envs.common.action.discretemetaaction method)": [[1, "highway_env.envs.common.action.DiscreteMetaAction.space", false]], "space() (highway_env.envs.common.action.multiagentaction method)": [[1, "highway_env.envs.common.action.MultiAgentAction.space", false]], "space() (highway_env.envs.common.observation.grayscaleobservation method)": [[23, "highway_env.envs.common.observation.GrayscaleObservation.space", false]], "space() (highway_env.envs.common.observation.kinematicobservation method)": [[23, "highway_env.envs.common.observation.KinematicObservation.space", false]], "space() (highway_env.envs.common.observation.kinematicsgoalobservation method)": [[23, "highway_env.envs.common.observation.KinematicsGoalObservation.space", false]], "space() (highway_env.envs.common.observation.occupancygridobservation method)": [[23, "highway_env.envs.common.observation.OccupancyGridObservation.space", false]], "speed_control() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.speed_control", false]], "speed_to_index() (highway_env.vehicle.controller.mdpvehicle method)": [[8, "highway_env.vehicle.controller.MDPVehicle.speed_to_index", false]], "speed_to_index_default() (highway_env.vehicle.controller.mdpvehicle class method)": [[8, "highway_env.vehicle.controller.MDPVehicle.speed_to_index_default", false]], "steering_control() (highway_env.vehicle.behavior.linearvehicle method)": [[7, "highway_env.vehicle.behavior.LinearVehicle.steering_control", false]], "steering_control() (highway_env.vehicle.controller.controlledvehicle method)": [[8, "highway_env.vehicle.controller.ControlledVehicle.steering_control", false]], "steering_features() (highway_env.vehicle.behavior.linearvehicle method)": [[7, "highway_env.vehicle.behavior.LinearVehicle.steering_features", false]], "steering_range (highway_env.envs.common.action.continuousaction attribute)": [[1, "highway_env.envs.common.action.ContinuousAction.STEERING_RANGE", false]], "step() (highway_env.envs.common.abstract.abstractenv method)": [[21, "highway_env.envs.common.abstract.AbstractEnv.step", false]], "step() (highway_env.envs.common.abstract.multiagentwrapper method)": [[21, "highway_env.envs.common.abstract.MultiAgentWrapper.step", false]], "step() (highway_env.envs.intersection_env.intersectionenv method)": [[12, "highway_env.envs.intersection_env.IntersectionEnv.step", false]], "step() (highway_env.road.regulation.regulatedroad method)": [[5, "highway_env.road.regulation.RegulatedRoad.step", false]], "step() (highway_env.road.road.road method)": [[6, "highway_env.road.road.Road.step", false]], "step() (highway_env.vehicle.behavior.idmvehicle method)": [[7, "highway_env.vehicle.behavior.IDMVehicle.step", false]], "step() (highway_env.vehicle.kinematics.vehicle method)": [[9, "highway_env.vehicle.kinematics.Vehicle.step", false]], "straightlane (class in highway_env.road.lane)": [[4, "highway_env.road.lane.StraightLane", false]], "stripe_length (highway_env.road.graphics.lanegraphics attribute)": [[18, "highway_env.road.graphics.LaneGraphics.STRIPE_LENGTH", false]], "stripe_spacing (highway_env.road.graphics.lanegraphics attribute)": [[18, "highway_env.road.graphics.LaneGraphics.STRIPE_SPACING", false]], "stripe_width (highway_env.road.graphics.lanegraphics attribute)": [[18, "highway_env.road.graphics.LaneGraphics.STRIPE_WIDTH", false]], "striped_line() (highway_env.road.graphics.lanegraphics class method)": [[18, "highway_env.road.graphics.LaneGraphics.striped_line", false]], "target_speed (highway_env.vehicle.controller.controlledvehicle attribute)": [[8, "highway_env.vehicle.controller.ControlledVehicle.target_speed", false]], "time_wanted (highway_env.vehicle.behavior.idmvehicle attribute)": [[7, "highway_env.vehicle.behavior.IDMVehicle.TIME_WANTED", false]], "time_wanted (highway_env.vehicle.behavior.linearvehicle attribute)": [[7, "highway_env.vehicle.behavior.LinearVehicle.TIME_WANTED", false]], "to_config() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.to_config", false]], "to_config() (highway_env.road.lane.circularlane method)": [[4, "highway_env.road.lane.CircularLane.to_config", false]], "to_config() (highway_env.road.lane.polylane method)": [[4, "highway_env.road.lane.PolyLane.to_config", false]], "to_config() (highway_env.road.lane.polylanefixedwidth method)": [[4, "highway_env.road.lane.PolyLaneFixedWidth.to_config", false]], "to_config() (highway_env.road.lane.sinelane method)": [[4, "highway_env.road.lane.SineLane.to_config", false]], "to_config() (highway_env.road.lane.straightlane method)": [[4, "highway_env.road.lane.StraightLane.to_config", false]], "vec2pix() (highway_env.road.graphics.worldsurface method)": [[18, "highway_env.road.graphics.WorldSurface.vec2pix", false]], "vehicle (class in highway_env.vehicle.kinematics)": [[9, "highway_env.vehicle.kinematics.Vehicle", false]], "vehicle (highway_env.envs.common.abstract.abstractenv property)": [[21, "highway_env.envs.common.abstract.AbstractEnv.vehicle", false]], "vehicle_class (highway_env.envs.common.action.actiontype property)": [[1, "highway_env.envs.common.action.ActionType.vehicle_class", false]], "vehicle_class (highway_env.envs.common.action.continuousaction property)": [[1, "highway_env.envs.common.action.ContinuousAction.vehicle_class", false]], "vehicle_class (highway_env.envs.common.action.discretemetaaction property)": [[1, "highway_env.envs.common.action.DiscreteMetaAction.vehicle_class", false]], "vehicle_class (highway_env.envs.common.action.multiagentaction property)": [[1, "highway_env.envs.common.action.MultiAgentAction.vehicle_class", false]], "width (highway_env.vehicle.kinematics.vehicle attribute)": [[9, "highway_env.vehicle.kinematics.Vehicle.WIDTH", false]], "width_at() (highway_env.road.lane.abstractlane method)": [[4, "highway_env.road.lane.AbstractLane.width_at", false]], "width_at() (highway_env.road.lane.circularlane method)": [[4, "highway_env.road.lane.CircularLane.width_at", false]], "width_at() (highway_env.road.lane.polylane method)": [[4, "highway_env.road.lane.PolyLane.width_at", false]], "width_at() (highway_env.road.lane.polylanefixedwidth method)": [[4, "highway_env.road.lane.PolyLaneFixedWidth.width_at", false]], "width_at() (highway_env.road.lane.straightlane method)": [[4, "highway_env.road.lane.StraightLane.width_at", false]], "window_position() (highway_env.envs.common.graphics.envviewer method)": [[18, "highway_env.envs.common.graphics.EnvViewer.window_position", false]], "worldsurface (class in highway_env.road.graphics)": [[18, "highway_env.road.graphics.WorldSurface", false]]}, "objects": {"highway_env": [[21, 0, 0, "-", "__init__"]], "highway_env.__init__": [[21, 1, 1, "", "_register_highway_envs"]], "highway_env.envs.common": [[21, 0, 0, "-", "abstract"], [1, 0, 0, "-", "action"], [18, 0, 0, "-", "graphics"], [23, 0, 0, "-", "observation"]], "highway_env.envs.common.abstract": [[21, 2, 1, "", "AbstractEnv"], [21, 2, 1, "", "MultiAgentWrapper"]], "highway_env.envs.common.abstract.AbstractEnv": [[21, 3, 1, "", "PERCEPTION_DISTANCE"], [21, 4, 1, "", "_automatic_rendering"], [21, 4, 1, "", "_info"], [21, 4, 1, "", "_is_terminated"], [21, 4, 1, "", "_is_truncated"], [21, 4, 1, "", "_reset"], [21, 4, 1, "", "_reward"], [21, 4, 1, "", "_rewards"], [21, 4, 1, "", "_simulate"], [21, 4, 1, "", "change_vehicles"], [21, 4, 1, "", "close"], [21, 4, 1, "", "default_config"], [21, 4, 1, "", "define_spaces"], [21, 4, 1, "", "render"], [21, 4, 1, "", "reset"], [21, 4, 1, "", "simplify"], [21, 4, 1, "", "step"], [21, 5, 1, "", "vehicle"]], "highway_env.envs.common.abstract.MultiAgentWrapper": [[21, 4, 1, "", "step"]], "highway_env.envs.common.action": [[1, 2, 1, "", "ActionType"], [1, 2, 1, "", "ContinuousAction"], [1, 2, 1, "", "DiscreteAction"], [1, 2, 1, "", "DiscreteMetaAction"], [1, 2, 1, "", "MultiAgentAction"]], "highway_env.envs.common.action.ActionType": [[1, 4, 1, "", "act"], [1, 5, 1, "", "controlled_vehicle"], [1, 4, 1, "", "get_available_actions"], [1, 4, 1, "", "space"], [1, 5, 1, "", "vehicle_class"]], "highway_env.envs.common.action.ContinuousAction": [[1, 3, 1, "", "ACCELERATION_RANGE"], [1, 3, 1, "", "STEERING_RANGE"], [1, 4, 1, "", "act"], [1, 4, 1, "", "space"], [1, 5, 1, "", "vehicle_class"]], "highway_env.envs.common.action.DiscreteAction": [[1, 4, 1, "", "act"], [1, 4, 1, "", "space"]], "highway_env.envs.common.action.DiscreteMetaAction": [[1, 3, 1, "", "ACTIONS_ALL"], [1, 3, 1, "", "ACTIONS_LAT"], [1, 3, 1, "", "ACTIONS_LONGI"], [1, 4, 1, "", "act"], [1, 4, 1, "", "get_available_actions"], [1, 4, 1, "", "space"], [1, 5, 1, "", "vehicle_class"]], "highway_env.envs.common.action.MultiAgentAction": [[1, 4, 1, "", "act"], [1, 4, 1, "", "get_available_actions"], [1, 4, 1, "", "space"], [1, 5, 1, "", "vehicle_class"]], "highway_env.envs.common.graphics": [[18, 2, 1, "", "EnvViewer"]], "highway_env.envs.common.graphics.EnvViewer": [[18, 4, 1, "", "close"], [18, 4, 1, "", "display"], [18, 4, 1, "", "get_image"], [18, 4, 1, "", "handle_events"], [18, 4, 1, "", "set_agent_action_sequence"], [18, 4, 1, "", "set_agent_display"], [18, 4, 1, "", "window_position"]], "highway_env.envs.common.observation": [[23, 2, 1, "", "ExitObservation"], [23, 2, 1, "", "GrayscaleObservation"], [23, 2, 1, "", "KinematicObservation"], [23, 2, 1, "", "KinematicsGoalObservation"], [23, 2, 1, "", "OccupancyGridObservation"]], "highway_env.envs.common.observation.ExitObservation": [[23, 4, 1, "", "observe"]], "highway_env.envs.common.observation.GrayscaleObservation": [[23, 4, 1, "", "observe"], [23, 4, 1, "", "space"]], "highway_env.envs.common.observation.KinematicObservation": [[23, 4, 1, "", "normalize_obs"], [23, 4, 1, "", "observe"], [23, 4, 1, "", "space"]], "highway_env.envs.common.observation.KinematicsGoalObservation": [[23, 4, 1, "", "observe"], [23, 4, 1, "", "space"]], "highway_env.envs.common.observation.OccupancyGridObservation": [[23, 4, 1, "", "fill_road_layer_by_cell"], [23, 4, 1, "", "fill_road_layer_by_lanes"], [23, 4, 1, "", "normalize"], [23, 4, 1, "", "observe"], [23, 4, 1, "", "pos_to_index"], [23, 4, 1, "", "space"]], "highway_env.envs.highway_env": [[10, 2, 1, "", "HighwayEnv"]], "highway_env.envs.highway_env.HighwayEnv": [[10, 4, 1, "", "default_config"]], "highway_env.envs.intersection_env": [[12, 2, 1, "", "IntersectionEnv"]], "highway_env.envs.intersection_env.IntersectionEnv": [[12, 4, 1, "", "default_config"], [12, 4, 1, "", "step"]], "highway_env.envs.merge_env": [[13, 2, 1, "", "MergeEnv"]], "highway_env.envs.merge_env.MergeEnv": [[13, 4, 1, "", "default_config"]], "highway_env.envs.parking_env": [[14, 2, 1, "", "ParkingEnv"]], "highway_env.envs.parking_env.ParkingEnv": [[14, 4, 1, "", "compute_reward"], [14, 4, 1, "", "default_config"], [14, 4, 1, "", "define_spaces"]], "highway_env.envs.racetrack_env": [[15, 2, 1, "", "RacetrackEnv"]], "highway_env.envs.racetrack_env.RacetrackEnv": [[15, 4, 1, "", "default_config"]], "highway_env.envs.roundabout_env": [[16, 2, 1, "", "RoundaboutEnv"]], "highway_env.envs.roundabout_env.RoundaboutEnv": [[16, 4, 1, "", "default_config"]], "highway_env.road": [[18, 0, 0, "-", "graphics"], [4, 0, 0, "-", "lane"], [5, 0, 0, "-", "regulation"], [6, 0, 0, "-", "road"]], "highway_env.road.graphics": [[18, 2, 1, "", "LaneGraphics"], [18, 2, 1, "", "RoadGraphics"], [18, 2, 1, "", "RoadObjectGraphics"], [18, 2, 1, "", "WorldSurface"]], "highway_env.road.graphics.LaneGraphics": [[18, 3, 1, "", "STRIPE_LENGTH"], [18, 3, 1, "", "STRIPE_SPACING"], [18, 3, 1, "", "STRIPE_WIDTH"], [18, 4, 1, "", "continuous_curve"], [18, 4, 1, "", "continuous_line"], [18, 4, 1, "", "display"], [18, 4, 1, "", "draw_stripes"], [18, 4, 1, "", "striped_line"]], "highway_env.road.graphics.RoadGraphics": [[18, 4, 1, "", "display"], [18, 4, 1, "", "display_road_objects"], [18, 4, 1, "", "display_traffic"]], "highway_env.road.graphics.RoadObjectGraphics": [[18, 4, 1, "", "blit_rotate"], [18, 4, 1, "", "display"]], "highway_env.road.graphics.WorldSurface": [[18, 4, 1, "", "handle_event"], [18, 4, 1, "", "is_visible"], [18, 4, 1, "", "move_display_window_to"], [18, 4, 1, "", "pix"], [18, 4, 1, "", "pos2pix"], [18, 4, 1, "", "vec2pix"]], "highway_env.road.lane": [[4, 2, 1, "", "AbstractLane"], [4, 2, 1, "", "CircularLane"], [4, 2, 1, "", "LineType"], [4, 2, 1, "", "PolyLane"], [4, 2, 1, "", "PolyLaneFixedWidth"], [4, 2, 1, "", "SineLane"], [4, 2, 1, "", "StraightLane"]], "highway_env.road.lane.AbstractLane": [[4, 4, 1, "", "distance"], [4, 4, 1, "", "distance_with_heading"], [4, 4, 1, "", "from_config"], [4, 4, 1, "", "heading_at"], [4, 4, 1, "", "is_reachable_from"], [4, 4, 1, "", "local_angle"], [4, 4, 1, "", "local_coordinates"], [4, 3, 1, "", "metaclass__"], [4, 4, 1, "", "on_lane"], [4, 4, 1, "", "position"], [4, 4, 1, "", "to_config"], [4, 4, 1, "", "width_at"]], "highway_env.road.lane.CircularLane": [[4, 4, 1, "", "from_config"], [4, 4, 1, "", "heading_at"], [4, 4, 1, "", "local_coordinates"], [4, 4, 1, "", "position"], [4, 4, 1, "", "to_config"], [4, 4, 1, "", "width_at"]], "highway_env.road.lane.PolyLane": [[4, 4, 1, "", "to_config"], [4, 4, 1, "", "width_at"]], "highway_env.road.lane.PolyLaneFixedWidth": [[4, 4, 1, "", "from_config"], [4, 4, 1, "", "heading_at"], [4, 4, 1, "", "local_coordinates"], [4, 4, 1, "", "position"], [4, 4, 1, "", "to_config"], [4, 4, 1, "", "width_at"]], "highway_env.road.lane.SineLane": [[4, 4, 1, "", "from_config"], [4, 4, 1, "", "heading_at"], [4, 4, 1, "", "local_coordinates"], [4, 4, 1, "", "position"], [4, 4, 1, "", "to_config"]], "highway_env.road.lane.StraightLane": [[4, 4, 1, "", "from_config"], [4, 4, 1, "", "heading_at"], [4, 4, 1, "", "local_coordinates"], [4, 4, 1, "", "position"], [4, 4, 1, "", "to_config"], [4, 4, 1, "", "width_at"]], "highway_env.road.regulation": [[5, 2, 1, "", "RegulatedRoad"]], "highway_env.road.regulation.RegulatedRoad": [[5, 4, 1, "", "enforce_road_rules"], [5, 4, 1, "", "respect_priorities"], [5, 4, 1, "", "step"]], "highway_env.road.road": [[6, 2, 1, "", "Road"]], "highway_env.road.road.Road": [[6, 4, 1, "", "act"], [6, 4, 1, "", "neighbour_vehicles"], [6, 4, 1, "", "step"]], "highway_env.vehicle": [[7, 0, 0, "-", "behavior"], [8, 0, 0, "-", "controller"], [18, 0, 0, "-", "graphics"], [9, 0, 0, "-", "kinematics"]], "highway_env.vehicle.behavior": [[7, 2, 1, "", "AggressiveVehicle"], [7, 2, 1, "", "DefensiveVehicle"], [7, 2, 1, "", "IDMVehicle"], [7, 2, 1, "", "LinearVehicle"]], "highway_env.vehicle.behavior.IDMVehicle": [[7, 3, 1, "", "ACC_MAX"], [7, 3, 1, "", "COMFORT_ACC_MAX"], [7, 3, 1, "", "COMFORT_ACC_MIN"], [7, 3, 1, "", "DELTA"], [7, 3, 1, "", "DELTA_RANGE"], [7, 3, 1, "", "DISTANCE_WANTED"], [7, 3, 1, "", "TIME_WANTED"], [7, 4, 1, "", "acceleration"], [7, 4, 1, "", "act"], [7, 4, 1, "", "change_lane_policy"], [7, 4, 1, "", "create_from"], [7, 4, 1, "", "desired_gap"], [7, 4, 1, "", "mobil"], [7, 4, 1, "", "recover_from_stop"], [7, 4, 1, "", "step"]], "highway_env.vehicle.behavior.LinearVehicle": [[7, 3, 1, "", "TIME_WANTED"], [7, 4, 1, "", "acceleration"], [7, 4, 1, "", "act"], [7, 4, 1, "", "collect_data"], [7, 4, 1, "", "steering_control"], [7, 4, 1, "", "steering_features"]], "highway_env.vehicle.controller": [[8, 2, 1, "", "ControlledVehicle"], [8, 2, 1, "", "MDPVehicle"]], "highway_env.vehicle.controller.ControlledVehicle": [[8, 4, 1, "", "act"], [8, 4, 1, "", "create_from"], [8, 4, 1, "", "follow_road"], [8, 4, 1, "", "get_routes_at_intersection"], [8, 4, 1, "", "plan_route_to"], [8, 4, 1, "", "predict_trajectory_constant_speed"], [8, 4, 1, "", "set_route_at_intersection"], [8, 4, 1, "", "speed_control"], [8, 4, 1, "", "steering_control"], [8, 3, 1, "", "target_speed"]], "highway_env.vehicle.controller.MDPVehicle": [[8, 4, 1, "", "act"], [8, 4, 1, "", "index_to_speed"], [8, 4, 1, "", "predict_trajectory"], [8, 4, 1, "", "speed_to_index"], [8, 4, 1, "", "speed_to_index_default"]], "highway_env.vehicle.kinematics": [[9, 2, 1, "", "Vehicle"]], "highway_env.vehicle.kinematics.Vehicle": [[9, 3, 1, "", "DEFAULT_INITIAL_SPEEDS"], [9, 3, 1, "", "HISTORY_SIZE"], [9, 3, 1, "", "LENGTH"], [9, 3, 1, "", "MAX_SPEED"], [9, 3, 1, "", "MIN_SPEED"], [9, 3, 1, "", "WIDTH"], [9, 4, 1, "", "act"], [9, 4, 1, "", "create_from"], [9, 4, 1, "", "create_random"], [9, 4, 1, "", "predict_trajectory"], [9, 4, 1, "", "step"]]}, "objnames": {"0": ["py", "module", "Python module"], "1": ["py", "function", "Python function"], "2": ["py", "class", "Python class"], "3": ["py", "attribute", "Python attribute"], "4": ["py", "method", "Python method"], "5": ["py", "property", "Python property"]}, "objtypes": {"0": "py:module", "1": "py:function", "2": "py:class", "3": "py:attribute", "4": "py:method", "5": "py:property"}, "terms": {"": [1, 5, 6, 7, 8, 9, 10, 12, 13, 16, 17, 18, 21, 22, 23, 24, 25], "0": [1, 4, 5, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 20, 21, 22, 23, 24, 25], "00593": 2, "01466024": 22, "01495": 2, "02046749": 22, "02273381": 22, "025": 23, "03253054": 22, "04": 23, "05": 23, "065": 23, "06529592": 23, "06549818": 23, "075": 23, "07945715": 23, "08": 23, "08504029": 23, "09107018": 23, "09591775": 23, "1": [1, 4, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 18, 22, 23, 24, 25], "10": [2, 7, 12, 23], "100": [12, 14, 23], "1045897": 22, "105": 23, "11": 16, "1140": 23, "12": 23, "1200x500": 23, "12250": 2, "128": 23, "13": [12, 23], "13185754": 23, "14": 24, "14941241": 23, "15": [2, 10, 12, 13, 14, 15, 16, 17, 18, 23, 24, 25], "150": [10, 13, 24], "15000": 24, "15705425": 23, "1612": 2, "17": [2, 24], "1707": 2, "172": 23, "18": [15, 23], "1805": 2, "1824": 2, "1911": 2, "1999": 2, "1d": [1, 7], "1m": 23, "1st": 9, "2": [1, 2, 7, 8, 9, 10, 20, 22, 23, 24], "20": [4, 10, 12, 23, 24], "200": [21, 24], "2000": 2, "2007": 2, "2008": 2, "2015": 2, "2017": 2, "2018": 19, "2019": [2, 24], "20743251": 23, "21680075": 22, "22": 23, "222": 23, "23": 9, "231": 15, "25": [9, 22, 23], "256": 24, "25m": 23, "25mn": 24, "27": 23, "2989": 23, "2d": [1, 4, 7], "2e4": 24, "3": [1, 7, 10, 12, 13, 15, 18, 20, 23, 24], "30": [9, 10, 24], "300": [14, 15], "3000": 22, "3125": 22, "3141": 2, "32": 24, "32206044": 22, "33": 18, "3d": 2, "4": [1, 7, 10, 15, 18, 23, 24], "40": [9, 10, 24], "4229503": 22, "44124636": 23, "480": 18, "5": [1, 7, 9, 10, 12, 13, 14, 15, 16, 20, 22, 23, 24], "50": [10, 18, 24], "518": 2, "529": 2, "533": 2, "54714144": 18, "5870": 23, "5e": 24, "6": [2, 7, 12, 16, 23], "600": [10, 12, 13, 14, 15, 16, 24], "62": 2, "64": 23, "640": 18, "640x480": [22, 23, 24], "6658481": 23, "675": 23, "7": [14, 15], "75": 23, "7540": 2, "7853981633974483": 1, "8": [2, 23, 24], "84": 23, "8673913": 23, "88032156": 22, "9": 23, "A": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 13, 14, 15, 18, 21, 22, 23, 24], "As": 22, "At": 8, "But": 12, "By": 18, "For": [1, 6, 7, 17, 22, 23, 24], "If": [1, 7, 8, 9, 16, 19, 21, 23], "In": [2, 7, 10, 13, 16, 17, 21, 22, 23, 25], "It": [6, 7, 8, 9, 12, 13, 14, 16], "Its": 18, "Of": 12, "On": 5, "That": 21, "The": [1, 2, 3, 4, 6, 7, 8, 9, 10, 12, 13, 15, 16, 18, 19, 20, 21, 23, 24, 25, 26], "Then": 1, "There": [3, 24], "These": [9, 21, 23], "To": [20, 21, 22], "Will": 21, "_": [7, 22, 23, 24, 25], "__init__": 21, "_automatic_rend": 21, "_c": 7, "_info": 21, "_is_termin": 21, "_is_trunc": 21, "_make_road": 21, "_n": 7, "_o": 7, "_r": 8, "_register_highway_env": 21, "_reset": 21, "_reward": [21, 25], "_simul": 21, "_state": 24, "_to": 8, "a_": 7, "a_c": 7, "a_n": 7, "a_o": 7, "ab": 7, "abbeel": 2, "abcmeta": 4, "abl": [1, 8, 17, 21], "about": [7, 17, 24], "abov": 1, "absolut": [12, 23], "abstract": [4, 21], "abstractenv": [1, 18, 21, 23], "abstractlan": [4, 6, 18], "acc_max": 7, "acceler": [1, 7, 8, 9, 14], "acceleration_rang": 1, "accept": 22, "access": [1, 13, 21, 24], "accord": 7, "achiev": [12, 14, 21], "achieved_go": 14, "act": [1, 6, 7, 8, 9], "action": [6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 18, 21, 24, 26], "action_1": 22, "action_2": 22, "action_config": [1, 22], "action_dur": [8, 9], "action_i": 22, "action_reward": 15, "action_spac": [1, 17, 21], "action_typ": [21, 23, 24], "actions_al": [1, 22], "actions_index": [23, 24], "actions_lat": 1, "actions_longi": 1, "actions_per_axi": 1, "actiontyp": 1, "actual": [1, 6, 17, 22], "ad": [12, 21], "add": [1, 21], "addit": 21, "address": [17, 25], "adequ": 25, "advanc": 2, "affect": 3, "after": [7, 22, 24], "against": 25, "agent": [1, 10, 12, 13, 14, 15, 18, 21, 23, 25, 26], "agent_displai": 18, "aggreg": 21, "aggressivevehicl": 7, "agre": 12, "alex": 2, "algorithm": 22, "alia": 4, "align": 23, "align_to_vehicle_ax": [15, 23], "all": [7, 12, 17, 21, 23], "allow": [1, 7, 8, 21], "along": [8, 18, 23], "alreadi": 23, "also": [6, 10, 13, 17, 18, 23, 24, 25], "altch": 2, "altern": 21, "alwai": [1, 18, 23], "amir": 2, "among": 8, "amplitud": 4, "an": [1, 5, 6, 7, 8, 9, 12, 18, 19, 21, 22, 23, 25], "anaconda": 20, "andr": 2, "andrea": 2, "andrei": 2, "andrychowicz": 2, "ang_": 23, "angl": [1, 4, 7, 8, 9, 18, 23], "angular": 23, "ani": [12, 14, 21, 23, 25], "anoth": 6, "ansgar": 2, "anticip": 8, "antonogl": 2, "api": 26, "appear": 9, "appli": [1, 8], "approach": [13, 16, 23], "appropri": [14, 25], "approxim": [4, 7], "apt": 20, "ar": [1, 3, 4, 5, 6, 7, 8, 9, 10, 18, 21, 22, 23, 24, 25], "arbitr": 5, "arc": 4, "architectur": [17, 24], "arcsin": 8, "area": [16, 18], "argu": 17, "arn": 2, "around": [4, 18, 23], "arrai": [7, 18, 22, 23], "arrow": 1, "arxiv": 2, "as_imag": [15, 23], "aspect": 25, "assign": 5, "associ": 21, "assum": [8, 23], "attent": [2, 24], "attribut": [5, 24], "author": 19, "automat": [1, 8, 16, 21], "autonom": [2, 19], "avail": [1, 10, 24], "avoid": [8, 10, 12, 13, 15, 16, 25], "awai": 23, "awr": [2, 24], "ax": [22, 23, 24], "ax1": 22, "ax2": 22, "axi": [1, 7, 8, 9, 23], "b": [7, 25], "b_": 7, "base": [1, 5, 7, 9, 24], "baselin": 24, "baselines3": 24, "batch_siz": 24, "beatti": 2, "becaus": [7, 17], "been": [21, 22, 25], "befor": [7, 22], "behav": [3, 5], "behavior": [3, 5, 10, 12, 13, 16, 21, 24], "behaviour": [5, 6, 7, 12, 18, 21, 25], "behind": [9, 23], "being": [7, 9, 25], "bellemar": 2, "benefici": 25, "beta": 9, "better": 24, "between": [4, 5, 7, 8, 9, 18, 23, 25], "beyond": 1, "bibtex": 19, "bicycl": [2, 9], "bin": 23, "blit_rot": 18, "block": 12, "bob": 2, "bolt": 19, "bool": [1, 4, 5, 6, 7, 12, 18, 21, 23], "both": [1, 4, 7, 22, 23], "bottom": 23, "bound": 25, "boundari": 1, "box": 1, "brake": [7, 9, 25], "brigitt": 2, "buffer_s": 24, "c": [7, 18, 23], "calcul": 9, "call": [8, 10, 12, 13, 14, 15, 16, 17, 18, 21], "callabl": [1, 18], "callback": 18, "can": [1, 4, 6, 7, 8, 10, 12, 13, 14, 15, 16, 17, 18, 19, 21, 22, 23, 24, 25], "canada": 2, "candid": 7, "captur": 21, "car": 2, "cartesian": [7, 8, 9], "cascad": 8, "case": [5, 6, 17, 23], "caus": 25, "cd": 22, "cell": 23, "center": [4, 7, 8, 9, 18, 23], "centering_posit": [10, 12, 13, 14, 15, 16, 18, 23, 24], "central": [4, 12, 22], "challeng": 25, "chang": [1, 2, 4, 7, 8, 16, 17, 21, 23, 24, 26], "change_lane_polici": 7, "change_vehicl": 21, "channel": [18, 23], "charl": 2, "check": [21, 23], "choic": [21, 25], "choos": [8, 25], "chosen": [7, 9, 18], "circl": 4, "circularlan": 4, "class": [1, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 21, 22, 23], "classif": 2, "classmethod": [4, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 21], "clip": [1, 23], "clockwis": 4, "close": [7, 17, 18, 21], "closest": [8, 23], "cmap": 23, "cnn": [17, 24], "co": [9, 25], "code": [17, 22], "coeffici": [7, 25], "collect": [7, 19, 23], "collect_data": 7, "collid": [10, 23], "collis": [5, 10, 12, 13, 15, 16, 25, 26], "collision_penalti": 25, "collision_reward": [10, 12, 15, 24], "color": 18, "column": 23, "com": [15, 18, 19, 20], "combin": 8, "come": [1, 12, 23], "comfort_acc_max": 7, "comfort_acc_min": 7, "command": [7, 8, 9], "common": [1, 18, 21, 22, 23], "complet": 9, "compon": 23, "compos": [3, 6, 25], "comput": [2, 4, 7, 8, 21], "compute_reward": 14, "condit": [14, 24], "confer": 2, "config": [1, 4, 10, 12, 13, 14, 15, 16, 18, 21, 22, 23, 24], "config_kei": 21, "configur": [1, 18, 22, 25, 26], "conflict": 5, "congest": 2, "consid": [6, 19, 23], "consist": [1, 2], "constant": [8, 21, 23], "constant_st": 9, "contain": [6, 21, 22, 23], "continu": [14, 15, 18, 26], "continuous_curv": 18, "continuous_lin": 18, "continuousact": [1, 14, 15], "contribut": [12, 19], "control": [2, 3, 7, 14, 15, 16, 21, 26], "controlled_vehicl": [1, 15, 22, 24], "controlledvehicl": [7, 8], "convent": [18, 25], "convers": [4, 23], "convert": [4, 8, 18, 23], "coordin": [4, 6, 18, 23], "copi": [7, 8, 9, 17, 21], "correspond": [1, 4, 8, 14, 17, 18, 21, 23], "cos_d": 23, "cos_h": [12, 14, 23], "could": [12, 22, 25], "cours": 12, "crash": [9, 16], "creat": [1, 4, 7, 8, 9, 18, 24, 26], "create_from": [7, 8, 9], "create_random": 9, "creation": 24, "credit": [14, 15], "cross": 24, "cruis": [1, 8], "current": [1, 6, 8, 9, 20, 21, 23, 25], "curv": [4, 24], "custom": 19, "customari": 23, "customis": [1, 23], "cut": 7, "d": [2, 7], "d_0": 7, "daan": 2, "data": [7, 21, 23], "datafram": 23, "david": 2, "deceler": 7, "decelr": 1, "decemb": 2, "decentr": 12, "decid": [6, 7, 22], "decis": [2, 7, 12, 19, 21], "dedic": 18, "deep": [2, 24, 25], "def": 22, "default": [1, 7, 8, 9, 18, 21, 23, 24], "default_config": [10, 12, 13, 14, 15, 16, 21], "default_initial_spe": 9, "default_width": 4, "defensivevehicl": 7, "defin": [1, 4, 6, 10, 12, 13, 14, 15, 16, 18, 21, 23, 24, 25], "define_spac": [14, 21], "definit": 1, "delta": [1, 7, 8, 9], "delta_": 8, "delta_rang": 7, "demi": 2, "demonstr": 24, "dens": [2, 12], "densiti": 9, "depend": [9, 17, 20, 21], "deriv": 8, "describ": [3, 4, 5, 6, 10, 17, 19, 21, 22, 23], "descript": [3, 19, 23, 24], "desir": [1, 7, 8, 14, 21, 23, 25], "desired_gap": 7, "desired_go": 14, "destin": [8, 12, 23, 25], "detail": [10, 19], "detect": 23, "determin": [4, 5], "determinist": [2, 24], "dev": 20, "df": 23, "dharshan": 2, "dict": [1, 4, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 21, 23, 24], "dictat": 7, "dictionari": [6, 21, 23, 24], "did": [12, 21], "differ": [7, 17, 23], "dimens": 18, "direct": [1, 7, 8, 9, 23], "directli": [1, 23, 24, 25], "dirk": 2, "disabl": 1, "disambigu": 23, "discret": [7, 8, 26], "discreteact": 1, "discretemetaact": [1, 10, 12, 13, 16, 22, 24], "discretis": 23, "dispatch": 22, "displai": [5, 6, 9, 16, 18], "display_road_object": 18, "display_traff": 18, "distanc": [4, 7, 18, 21, 23, 25], "distance_w": 7, "distance_with_head": 4, "distant": 21, "divid": 23, "do": [7, 17, 25], "doe": [7, 17, 24], "doesn": [6, 7], "doi": 2, "done": [1, 16, 17, 18, 22, 23, 24], "dot": [7, 8, 9], "doubl": 24, "dqn": [17, 22, 23, 24], "dqnagent": 22, "draw": 18, "draw_strip": 18, "drawn": 18, "drive": [2, 5, 6, 8, 9, 10, 13, 18, 19, 21, 24, 25], "driver": 7, "dt": [5, 6, 7, 8, 9], "dtype": 22, "duel": 24, "dummi": 22, "durat": [8, 9, 10, 12, 15, 16, 24], "dure": [7, 18], "dynam": [1, 5, 6, 7, 8, 9, 12, 21, 24, 26], "e": [1, 2, 17], "each": [1, 5, 6, 8, 9, 12, 17, 18, 22, 23], "earli": 25, "edg": [1, 6], "edouard": [2, 19], "effect": 24, "ego": [1, 7, 10, 12, 13, 14, 16, 18, 21, 25], "ego_attention_2h": 22, "ego_spac": 24, "ego_vehicl": 7, "either": 1, "eleur": [15, 19, 20, 22, 24], "els": [8, 23], "emerg": 25, "empir": 2, "enabl": [1, 23], "enable_lane_chang": 7, "encod": 23, "encourag": 25, "end": [4, 6, 8, 9, 12, 18, 21, 22], "end_phas": 4, "enforc": 5, "enforce_road_rul": 5, "ensur": 4, "entiti": [5, 6], "entri": 17, "entry_point": 21, "enumer": 23, "env": [1, 10, 12, 13, 14, 15, 16, 17, 18, 20, 21, 22, 23, 24], "env_multi_ag": 22, "environ": [1, 3, 10, 12, 13, 14, 15, 16, 18, 19, 22, 23, 26], "envview": 18, "episod": [12, 17, 21, 22, 24, 25], "episode_trigg": 17, "equal": 16, "equival": 1, "eras": 8, "errat": 9, "euclidean": 25, "evalu": 22, "even": [7, 18], "event": 18, "eventhandl": 1, "everi": [1, 3, 25], "exampl": [17, 21, 22], "except": 23, "execut": [1, 7, 12, 21, 22], "exist": [7, 8, 9, 21, 23], "exit": 23, "exit_env": 23, "exitobserv": 23, "expect": [12, 23, 25], "experi": [2, 22, 24], "expon": 7, "express": 16, "extens": 24, "f": 23, "fail": 12, "fals": [1, 4, 5, 6, 10, 12, 13, 14, 15, 16, 17, 18, 22, 23, 24], "faq": 24, "far": 22, "fast": [10, 16, 24], "faster": [1, 8, 23], "feasibl": 2, "featur": [7, 12, 14, 15, 25], "features_rang": [12, 23], "feel": 17, "few": 24, "fewer": 23, "ffmpeg": 20, "fidjeland": 2, "field": [21, 22, 23], "fig": 23, "figsiz": 23, "figur": [12, 22, 23, 24], "file": 26, "filip": 2, "fill": 23, "fill_road_layer_by_cel": 23, "fill_road_layer_by_lan": 23, "find": [5, 6, 8], "fine": 12, "first": [1, 5, 17, 18, 21, 22, 23], "fix": [4, 21, 23], "flag": 18, "flat": 23, "flatten": 12, "float": [1, 4, 5, 6, 7, 8, 9, 12, 14, 18, 21, 23], "float32": 22, "florent": 2, "flow": 16, "fluid": 2, "focu": 25, "follow": [1, 2, 6, 7, 8, 15, 16, 17, 18, 21, 23, 24], "follow_road": 8, "fong": 2, "forbid": 25, "forbidden": 4, "forward": [8, 9, 18], "found": [6, 25], "fp": 24, "frac": [7, 8, 9, 25], "frame": [4, 17, 18, 21, 23], "fran": 2, "free": 17, "freeli": 21, "frenet": 4, "frequenc": [7, 17, 18, 21], "friction": 1, "from": [4, 6, 7, 8, 9, 10, 14, 21, 22, 23, 24, 25], "from_config": 4, "front": [7, 8, 9, 25], "front_vehicl": 7, "full": [1, 24], "function": [21, 24, 25], "futur": [8, 9], "g": [2, 17], "gain": [7, 8], "gamma": 24, "gap": 7, "gather": 19, "gcc": 20, "gener": [2, 5, 6, 17, 21, 22, 25], "geometri": [4, 6, 21], "georg": 2, "geq": 7, "get": [1, 4, 8, 20, 22, 23], "get_available_act": 1, "get_cmap": 23, "get_imag": 18, "get_routes_at_intersect": 8, "git": 20, "github": [15, 19, 20], "give": [5, 6, 21, 23], "given": [4, 6, 7, 8, 9, 14, 17, 18, 21], "global": 4, "go": [4, 6], "goal": [14, 24, 26], "good": 12, "gradient_step": 24, "grai": 23, "graph": 6, "graphic": [20, 26], "grave": 2, "graviti": 9, "grayscal": [17, 26], "grayscaleobserv": 23, "green": 22, "grid": 26, "grid_siz": [15, 23], "grid_step": [15, 23], "guiba": 2, "guid": 19, "gym": [1, 10, 12, 13, 14, 15, 16, 17, 18, 21, 23], "gymnasium": [1, 18, 21, 22, 23, 24], "h": [18, 23], "ha": [4, 15, 16, 20, 21, 22, 23, 24, 25], "handl": [8, 16, 18], "handle_ev": 18, "handler": 8, "hao": 2, "happen": 12, "hard": 12, "hasn": 16, "hassabi": 2, "have": [6, 7, 14, 21, 25], "he": 15, "head": [4, 7, 9, 14, 23], "heading_at": 4, "heading_weight": 4, "height": 16, "helb": 2, "helen": 2, "henneck": 2, "her": 24, "here": [10, 17, 21, 22, 23, 24], "hermit": 4, "high": [8, 10, 13, 14], "high_speed_reward": [10, 24], "higher": 7, "highwai": [1, 11, 13, 15, 18, 20, 22, 23, 24], "highway_dqn": 24, "highway_env": [1, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 18, 21, 22, 23, 24], "highwayenv": 10, "hindsight": [2, 24], "histori": 9, "history_s": 9, "hm08": [2, 24], "hook": 21, "horizon": 23, "horizont": [7, 8, 9], "hot": 23, "how": [1, 3, 7, 22, 24], "howev": [5, 17, 24, 25], "howpublish": 19, "hren": 2, "http": [15, 18, 19, 20], "human": 2, "hz": [10, 13, 16, 17], "i": [1, 3, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 19, 21, 22, 24, 25], "id": [9, 21], "idea": [14, 15], "ideal": 12, "identifi": 6, "idl": [1, 23, 24], "idm": 7, "idmvehicl": [7, 10, 13, 16, 21, 24], "ieee": 2, "ignor": 1, "imag": [17, 18, 21, 24, 26], "image1": 20, "implement": [1, 4, 7, 8, 10, 12, 13, 14, 15, 16, 17, 18, 21, 22, 23, 24], "import": [1, 3, 17, 21, 22, 23, 24], "impos": 7, "improv": 24, "imshow": [22, 23, 24], "incent": 7, "includ": [1, 5, 6, 22], "include_obstacl": 23, "incom": 13, "incoming_vehicle_destin": 16, "increas": [7, 23, 26], "inde": 17, "index": [1, 6, 7, 8, 23], "index_to_spe": 8, "induc": 7, "info": [12, 14, 17, 21, 22, 23, 24], "inform": [2, 14, 17, 21, 23], "infrastructur": 6, "infti": 23, "inherit": 21, "initi": [4, 8, 9, 14, 15, 18, 21, 22], "initial_lane_id": 24, "initial_spac": 10, "initial_vehicle_count": 12, "inlin": [22, 23, 24], "input": [8, 9, 18], "insid": [21, 25], "instal": [17, 18, 21], "instanc": [1, 4, 6, 7, 8, 9, 23, 24], "instead": [17, 25], "int": [1, 4, 7, 8, 9, 12, 18, 21, 23, 24], "integ": 6, "integr": 9, "intellig": [2, 7], "interdisciplinari": 2, "intermedi": [17, 21], "intersect": [1, 5, 6, 8, 11, 24], "intersection_env": 12, "intersectionenv": [12, 22], "interv": 1, "invari": [17, 25], "invert": 8, "involv": 21, "ioanni": 2, "is_conflict_poss": 5, "is_reachable_from": 4, "is_vis": 18, "issu": 15, "iter": 23, "its": [1, 4, 6, 7, 8, 9, 16, 17, 22, 24], "itself": 20, "j": [2, 23], "jam": 7, "jean": 2, "joel": 2, "jojo": 14, "jona": 2, "josh": 2, "journal": 19, "json": [4, 22], "junction": 13, "k": [2, 16, 18], "k_": 8, "k_p": 8, "kaichun": 2, "kavukcuoglu": 2, "keep": [12, 25], "kei": [1, 16, 18, 23], "kest": 2, "kinemat": [1, 2, 3, 6, 8, 10, 12, 22, 24, 26], "kinematicobserv": 23, "kinematicsgo": 14, "kinematicsgoalobserv": 23, "king": 2, "known": 4, "korai": 2, "kp_a": 8, "kth07": [2, 7], "kumaran": 2, "kurtosi": 14, "kwarg": [1, 23], "l": [8, 9, 18, 23], "l1": 4, "lab": 6, "label": 1, "lambda": 17, "landmark": [5, 6], "lane": [1, 2, 3, 5, 6, 7, 8, 9, 10, 16, 17, 18, 21, 22, 23, 24], "lane_centering_cost": 15, "lane_change_max_braking_impos": 7, "lane_change_min_acc_gain": 7, "lane_change_reward": 24, "lane_from": 9, "lane_id": 9, "lane_index": [6, 7], "lane_left": 1, "lane_perception_dist": 23, "lane_point": 4, "lane_right": 1, "lane_to": 9, "lanegraph": 18, "laneindex": 6, "lanes_count": [10, 24], "laptop": 24, "larg": 23, "last": [9, 21, 23], "lat": [4, 8, 18], "lat_": 23, "later": [1, 4, 12, 15, 18, 23], "latest": 20, "layer": [1, 23], "layer_index": 23, "lead": [7, 23, 25], "learn": [2, 15, 24, 25], "learning_r": 24, "learning_start": 24, "lectur": 2, "left": [7, 8, 18, 22, 23], "left_boundary_point": 4, "legg": 2, "length": [9, 18], "leonida": 2, "leurent": [2, 19], "level": [1, 2, 4, 8, 17], "libavcodec": 20, "libavformat": 20, "libfreetype6": 20, "libportmidi": 20, "librari": 24, "libsdl": 20, "libsdl1": 20, "libsmpeg": 20, "libswscal": 20, "lidar": 26, "lidarobserv": 23, "light": 12, "like": 23, "line": [4, 8, 18], "line_typ": 4, "linear": [7, 8], "linearli": 10, "linearvehicl": 7, "linetyp": 4, "list": [1, 3, 4, 5, 6, 7, 8, 9, 17, 18, 21, 23, 24], "lm19": [2, 17, 24], "load": [21, 24], "local": [4, 6, 17, 18], "local_angl": 4, "local_coordin": 4, "locat": [18, 23], "long": 17, "long_": 23, "long_offset": 4, "longi": 4, "longitudin": [1, 4, 9, 12, 15, 16, 18, 23], "look": [6, 23], "lookahead": 8, "low": [1, 8], "lower": [7, 21], "lp": 14, "m": [1, 4, 7, 8, 9, 10, 16, 18, 21, 23], "machin": 2, "mai": [7, 23, 25], "main": [4, 13], "maintain": [7, 13], "make": [1, 2, 10, 12, 13, 14, 15, 16, 18, 19, 22, 23, 26], "maneuv": 7, "mani": [15, 18], "manual": [20, 21, 26], "manual_control": [1, 24], "map": [1, 10, 23], "marc": 2, "marcin": 2, "margin": [4, 18], "martin": 2, "matplotlib": [22, 23, 24], "matter": 12, "max": [23, 25], "max_i": 23, "max_spe": 9, "max_x": 23, "maxim": [1, 7], "maximum": [1, 7, 9, 21, 23, 25], "maximum_rang": 23, "mcgrew": 2, "mdpvehicl": 8, "meant": 21, "mechan": 1, "mercat": 2, "merg": [11, 24], "merge_env": 13, "mergeenv": 13, "meta": 26, "metaclass__": 4, "meter": 23, "method": [1, 4, 5, 7, 8, 9, 16, 21, 25], "mi": 2, "microscop": 2, "middl": 23, "might": 1, "min": [23, 25], "min_i": 23, "min_spe": 9, "min_x": 23, "minim": [1, 7], "minimum": [1, 7, 9, 25], "misc": 19, "mixer1": 20, "mk": [2, 25], "mlp": 24, "mlppolici": 24, "mnih": 2, "mo": 2, "mobil": [2, 7], "model": [2, 3, 7, 8, 9, 21, 22, 24], "modifi": [9, 21], "modul": [1, 21, 23], "modular": 21, "montreal": 2, "more": [7, 10, 12, 13, 14, 15, 16, 17, 21], "most": [1, 5, 22, 26], "move": [3, 9, 18, 23], "move_display_window_to": 18, "multi": [21, 26], "multiagentact": [1, 22], "multiagentobserv": 22, "multiagentwrapp": 21, "multilan": 10, "munir": 14, "muno": 2, "must": [1, 6, 14, 18, 20, 21, 22, 24, 25], "my": [12, 24], "n": 7, "name": [1, 23], "narrow": 25, "natur": [2, 23], "ncol": 23, "ndarrai": [1, 4, 7, 8, 9, 12, 14, 18, 21, 23], "nearbi": [7, 23], "nearest": 23, "need": [15, 17], "neg": 25, "negoti": [12, 13], "neighbour": [6, 10], "neighbour_vehicl": 6, "net_arch": 24, "network": [5, 6, 8, 21, 23], "neural": 2, "neurip": 2, "new": [4, 5, 6, 7, 8, 9, 17, 21], "next": [8, 12, 21, 23], "next_ob": 22, "next_obs_i": 22, "node": [6, 8, 9], "non": [4, 7, 8, 23], "none": [1, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 21, 23, 24], "norm": [14, 25], "normal": [14, 23, 25], "normalis": [4, 23], "normalize_ob": 23, "normalize_reward": [12, 24], "note": [2, 25], "notebook": 24, "novel": [2, 17], "now": [7, 13, 21, 22, 23], "np": [1, 4, 5, 6, 21], "np_random": [5, 6], "nrow": 22, "number": [5, 6, 9, 16, 18, 23, 24, 26], "numpi": 20, "nut": 19, "o": [7, 18], "o1": 12, "ob": [17, 21, 22, 23, 24], "object": [4, 5, 6, 7, 8, 9, 10, 13, 18, 21, 23], "object_": 18, "obs_i": 22, "observ": [1, 2, 10, 12, 13, 14, 15, 16, 21, 24, 25, 26], "observation_config": 22, "observation_factori": 23, "observation_shap": 23, "observe_intent": [12, 23], "obstacl": [5, 6, 23], "obtain": [6, 24], "occup": 26, "occupancygrid": [15, 23], "occupancygridobserv": 23, "off": 23, "offroad": 23, "offroad_termin": 24, "offscreen": 18, "offscreen_rend": [10, 13, 14, 15, 16, 24], "offset": [18, 23], "often": [12, 25], "oi": 2, "old": 7, "on_lan": 4, "on_road": 15, "onc": 21, "one": [7, 8, 9, 18, 22], "ongo": 21, "onli": [1, 7, 9, 21, 22, 24, 25], "onroad": 23, "opd": 24, "openai": 24, "optim": [21, 25], "optimist": 2, "option": [4, 19, 21], "order": [1, 9, 17, 22, 23, 25], "origin": 18, "origin_po": 18, "oscil": 4, "ostrovski": 2, "other": [5, 7, 8, 9, 10, 12, 15, 21, 22, 23], "other_valu": 21, "other_vehicl": 15, "other_vehicles_typ": [10, 13, 16, 24], "otherwis": 23, "output": [7, 17], "over": 23, "overal": 7, "overload": [10, 12, 13, 14, 15, 16, 21, 25], "overrid": 7, "overridden": 9, "overwritten": 21, "own": [7, 12, 22, 26], "p": [7, 8, 14, 25], "packag": 19, "page": [2, 24], "pair": [17, 21, 23], "paltchedandrean17": [2, 9], "param": [18, 23], "paramet": [1, 4, 5, 6, 7, 8, 9, 12, 14, 18, 21, 23, 25], "parametr": [4, 24], "parametris": 7, "park": [11, 23, 24, 25], "parking_env": 14, "parkingenv": 14, "part": [21, 23], "particular": 25, "pass": [16, 22, 23], "past": 17, "path": [21, 22], "penalti": 25, "per": 23, "perception_dist": 21, "perform": [1, 7, 8, 12, 21, 23, 24], "permut": 17, "perspect": 25, "peter": 2, "petersen": 2, "phase": 4, "philip": 2, "physic": [2, 3], "piec": 19, "pieter": 2, "pilot": 8, "pip": 20, "pix": 18, "pixel": 18, "place": [7, 8, 9, 23], "placehold": 23, "plan": [2, 8, 16, 24], "plan_route_to": 8, "plasma": 2, "pleas": 19, "plt": [22, 23, 24], "po": 18, "point": [1, 2, 4], "pointnet": 2, "polack": 2, "polici": [7, 21, 22, 24, 25], "policy_frequ": [10, 13, 14, 15, 16, 23, 24], "policy_kwarg": 24, "polit": 7, "polylan": 4, "polylanefixedwidth": 4, "polynomi": 4, "popul": [10, 21], "pos2pix": 18, "pos_to_index": 23, "posit": [4, 6, 7, 9, 14, 18, 23], "possibl": [16, 17, 25], "possibli": 7, "ppo": 17, "pprint": [22, 24], "practic": 25, "pre": 1, "preced": [6, 7], "predict": [5, 8, 9, 12, 22, 23, 24], "predict_trajectori": [8, 9], "predict_trajectory_constant_spe": 8, "predition_typ": 9, "prefer": 25, "presenc": [12, 15], "present": 21, "preserv": 21, "principl": 24, "print": 23, "priorit": 24, "prioriti": [4, 5], "prng": 21, "probabl": 17, "problem": 25, "process": [1, 2], "profit": 26, "progress": 25, "project": [6, 7, 19, 20, 25], "propag": 9, "properti": [1, 7, 8, 9, 21], "proport": 8, "provid": [4, 8, 17, 18, 19, 21, 24], "proxim": 14, "pseudo": 22, "psi": [8, 9, 25], "psi_": 8, "psi_g": 25, "psi_l": 8, "psi_r": 8, "pub": 6, "publish": 19, "pull": 21, "pulsat": 4, "purpos": [12, 19], "px": [10, 13, 16, 18], "py": [21, 22], "pygam": [16, 18, 20], "pyplot": [22, 23, 24], "python": [20, 21, 22], "python3": 20, "q": 24, "qi": 2, "qsmg17": [2, 17], "quantiz": 1, "quick": [19, 24], "quickli": 25, "quit": 12, "r": [2, 7, 8, 25], "racetrack": [11, 24], "racetrack_env": 15, "racetrackenv": 15, "rachel": 2, "rad": [1, 4, 7, 8], "radian": 23, "radiu": 4, "rai": 2, "ramp": 13, "random": [5, 6, 9, 24], "randomli": [7, 9], "randomst": [5, 6], "rang": [1, 7, 8, 9, 10, 23, 24, 25], "rate": 8, "rather": [1, 25], "ratio": 9, "reach": [7, 10, 14], "reachabl": [1, 4, 9], "real": 23, "real_time_rend": 24, "realist": [7, 25], "rear_vehicl": 7, "reason": [7, 12, 17], "receiv": 10, "recent": [5, 6], "recommend": 20, "record": [2, 5, 6, 17], "record_histori": [5, 6], "recordvideo": [17, 21], "recov": 7, "recover_from_stop": 7, "rectangl": [18, 23], "refer": [8, 21], "regist": [17, 26], "register_highway_env": [17, 21], "registr": 21, "regress": 7, "regul": 3, "regularli": 23, "regulatedroad": 5, "reinforc": [2, 24, 25], "reinstal": 21, "rel": 23, "relat": 2, "remov": 21, "render": [17, 18, 21, 22, 23, 24], "render_ag": [10, 13, 14, 15, 16, 24], "render_mod": [10, 12, 13, 14, 15, 16, 21, 22, 23, 24], "repeat": 9, "replac": 25, "replai": [2, 24], "repositori": [17, 19], "repres": [6, 9, 18, 23], "request": 21, "requir": [7, 20, 21], "research": 2, "reset": [1, 17, 18, 21, 22, 23, 24], "resolut": 23, "resolv": 5, "resp": 7, "respect": [1, 7, 8, 18, 25], "respect_prior": 5, "respons": 9, "result": [12, 24], "return": [1, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 21, 22, 23, 25], "reus": 17, "revers": 7, "review": 2, "revisit": 17, "reward": [10, 12, 13, 14, 17, 21, 22, 23, 24, 26], "reward_nam": 21, "reward_speed_rang": [10, 24], "reward_valu": 21, "rgb": [18, 23], "rgb_arrai": [22, 23, 24], "riedmil": 2, "right": [4, 5, 7, 8, 10, 18, 22, 23], "right_boundary_point": 4, "right_lane_reward": 24, "rightmost": 10, "risk": 25, "rl": [22, 24], "rlss": 24, "road": [1, 4, 7, 8, 9, 10, 12, 13, 18, 21, 23, 25, 26], "road_network": 6, "road_object": [5, 6], "roadgraph": 18, "roadnetwork": [3, 5, 6, 21], "roadobject": [6, 18], "roadobjectgraph": 18, "roadsurfac": 18, "robust": 25, "room": 13, "rotat": 18, "roundabout": [11, 18, 24], "roundabout_env": 16, "roundaboutenv": 16, "rout": [7, 8, 16], "row": 23, "rudimentari": 12, "rule": 5, "run": [16, 17, 21, 22, 24], "rusu": 2, "s2": [7, 8], "s_g": 25, "sadik": 2, "safe": [7, 13, 25], "safeti": 7, "sake": 22, "same": [7, 8, 9], "sampl": [1, 17, 21], "satisfi": 25, "save": [8, 9, 24], "sb3": [17, 24], "scalar": 21, "scale": [10, 12, 13, 14, 15, 16, 18, 23, 24, 25], "scene": [17, 23, 26], "schedul": 12, "schneider": 2, "scienc": 2, "screen": 18, "screen_height": [10, 12, 13, 14, 15, 16, 18, 24], "screen_width": [10, 12, 13, 14, 15, 16, 18, 24], "script": [22, 24], "search": 8, "second": [5, 6, 16, 21, 22], "section": 3, "sector": 23, "see": [15, 17, 21, 22, 23, 24, 25], "see_behind": 23, "seed": [21, 22, 24], "segment": 2, "self": [21, 22], "send": [17, 22], "sensit": 17, "separ": [1, 18], "sequenc": [4, 7, 8, 9, 18, 23], "serial": 4, "set": [1, 2, 4, 5, 6, 8, 14, 18, 23, 26], "set_agent_action_sequ": 18, "set_agent_displai": 18, "set_record_video_wrapp": 17, "set_route_at_intersect": 8, "set_titl": 22, "setpoint": 1, "setup": 21, "sever": [1, 7, 10, 12, 17, 21, 23, 24], "shane": 2, "shape": 23, "shift": 25, "should": [5, 6, 7, 17, 18, 21, 22, 23, 25], "show": [22, 23, 24], "show_rect": 18, "show_trajectori": [10, 13, 14, 15, 16, 24], "shuffl": 23, "side": [4, 10, 18], "silver": 2, "similarli": 1, "simpl": [7, 8, 12, 25], "simpli": 12, "simplifi": 21, "simul": [1, 2, 7, 8, 9, 12, 17, 18, 21, 23], "simulation_frequ": [10, 13, 14, 15, 16, 18, 24], "sin": [9, 25], "sin_d": 23, "sin_h": [12, 14, 23], "sinc": [12, 22, 23, 25], "sinelan": 4, "singl": [17, 21, 22, 25], "sinusoid": 4, "situat": 12, "size": [18, 22, 23, 24], "skill": 15, "slightli": 18, "slip": 9, "slower": [1, 8], "small": 23, "smaller": 16, "so": [1, 7, 13, 14, 17, 18, 21, 23], "social": [2, 24], "some": [1, 5, 8, 13, 25], "sometim": 12, "soon": 13, "sophist": 12, "sort": 23, "sourc": [1, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 21, 23], "south": 23, "southeast": 16, "space": [1, 7, 9, 14, 18, 21, 23, 26], "spawn": 9, "spawn_prob": 12, "specif": [10, 12, 13, 14, 15, 16, 18, 23], "specifi": [1, 8, 21, 25], "speed": [1, 7, 8, 9, 10, 13, 14, 21, 25], "speed_control": 8, "speed_limit": 4, "speed_rang": 1, "speed_to_index": 8, "speed_to_index_default": 8, "speedup": 10, "spike": 25, "sqrt": 7, "stabl": 24, "stable_baselines3": 24, "stack_siz": 23, "stackoverflow": 18, "stai": [10, 23], "standard": 22, "start": [4, 6, 9, 13, 18, 19], "start_phas": 4, "state": [2, 7, 8, 9, 17, 21, 22, 23, 25], "static": [5, 18], "statist": 2, "steer": [1, 7, 8, 9, 14], "steering_control": [7, 8], "steering_featur": 7, "steering_rang": 1, "step": [1, 5, 6, 7, 9, 12, 16, 17, 21, 22, 23, 24], "step_i": 23, "step_x": 23, "stig": 2, "still": [16, 21], "stop": [5, 7, 9], "store": [6, 7, 9], "str": [7, 8, 9, 10, 12, 13, 14, 15, 16, 21, 23], "straight": [4, 10, 23], "straightforward": 25, "straightlan": 4, "string": 6, "stripe": 18, "stripe_length": 18, "stripe_spac": 18, "stripe_width": 18, "striped_lin": 18, "stripes_count": 18, "struggl": 17, "stuck": 7, "su": 2, "sub": 17, "subclass": 1, "subplot": [22, 23], "subvers": 20, "sudo": 20, "suffer": 25, "suggest": [7, 17], "suitabl": 17, "sum": 23, "sum_i": 25, "supperted825": 15, "supplementari": [4, 14], "support": [7, 22], "surf": 18, "surfac": [7, 8, 9, 26], "switch": 8, "symposium": 2, "system": [2, 4, 9, 12, 18], "s\u00b2": 1, "t": [6, 7, 16, 23], "take": [1, 5, 7, 23, 24], "tan": 9, "target": [1, 5, 7, 8], "target_lane_index": [7, 8], "target_spe": [1, 7, 8], "target_update_interv": 24, "target_veloc": 7, "task": [10, 12, 13, 14, 16, 21, 24], "tend": 17, "tensorboard_log": 24, "term": [7, 25], "termin": [12, 21, 25], "test": [18, 24], "text": [7, 8, 25], "th": 7, "than": [1, 7, 17, 23, 25], "thank": [15, 18], "thei": [1, 5, 7, 13, 18, 23, 25], "them": [5, 18, 24, 25], "themselv": 21, "thh00": [2, 7], "thi": [1, 4, 7, 10, 12, 13, 16, 17, 20, 21, 22, 23, 24, 25], "thing": 12, "third": 2, "thirti": 2, "those": [8, 24], "though": 7, "three": 23, "throttl": [1, 8], "through": [1, 2, 3, 5, 8, 21, 25], "thu": [1, 17, 25], "tild": 7, "time": [3, 5, 7, 8, 16, 24, 25, 26], "time_w": 7, "timer": 7, "timestep": [5, 6, 7, 8, 9, 12, 21], "timetocollis": [13, 16, 23], "timetocollisionobserv": 23, "titl": [19, 22], "to_config": 4, "tobin": 2, "too": 12, "top": [1, 8, 23], "topic": 2, "topologi": [6, 21], "toward": 23, "track": [1, 8, 15], "traffic": [2, 12, 13, 16], "train": 22, "train_freq": 24, "trajectori": [2, 5, 6, 8, 9, 24, 25], "trajectory_timestep": [8, 9], "transform": 21, "transit": 22, "transpar": 18, "transport": 2, "treiber": 2, "trigger": 7, "trigonometr": 23, "true": [1, 4, 7, 10, 12, 13, 14, 15, 16, 17, 23, 24], "truncat": [12, 16, 17, 21, 22, 23, 24], "try": [5, 7], "ttf2": 20, "tupl": [1, 4, 6, 7, 8, 12, 18, 21, 22, 23], "turn": 8, "tutori": 24, "tv": 7, "two": [3, 5, 7, 8, 15, 17, 18, 22, 23, 25], "type": [1, 4, 10, 12, 13, 14, 15, 16, 21, 22, 23, 24], "typic": 17, "unavail": 1, "uncertain": 25, "under": 8, "underbrac": 7, "uniform": [1, 8, 23], "uniqu": 6, "unsaf": 7, "until": [5, 9, 12, 21], "unwrap": [17, 21, 22, 23, 24], "up": [12, 26], "updat": [8, 9, 18, 20, 22, 23], "upon": 1, "url": 19, "us": [1, 7, 8, 9, 14, 18, 19, 20, 21, 23, 24, 25], "user": 20, "usual": [5, 17], "v": [7, 8, 9, 23, 25], "v0": [1, 10, 12, 13, 14, 15, 16, 17, 18, 21, 22, 23, 24], "v1": 5, "v2": 5, "v_": [8, 25], "v_0": 7, "v_r": 8, "v_x": 25, "v_y": [23, 25], "valu": [1, 16, 21, 23, 24], "vanilla": 24, "variabl": 16, "variat": 8, "variou": 21, "vec": 18, "vec2pix": 18, "vector": [1, 21], "vehicl": [1, 2, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 18, 24, 25, 26], "vehicle_class": [1, 21], "vehicle_class_path": 21, "vehiclegraph": 18, "vehicles_count": [10, 12, 22, 23, 24], "vehicles_dens": 24, "veloc": [1, 5, 7, 8, 23, 25], "veness": 2, "verbos": 24, "verg": 14, "version": 22, "video": [21, 22, 24], "video_fold": 17, "viewer": [18, 21], "visibl": 18, "visual": 18, "visualis": 22, "volodymyr": 2, "vx": [12, 14, 23], "vy": [12, 14, 23], "w": [7, 18, 23, 25], "w_i": 25, "wa": [12, 14, 18], "wai": [4, 5, 12, 17, 24], "wait": 12, "waypoint": 23, "we": [14, 17, 18, 20, 21, 23, 25], "weight": [4, 7, 14, 23, 25], "welcom": [12, 21], "welind": 2, "west": 23, "what": [22, 23], "wheel": [7, 8, 9], "when": [5, 7, 8, 10], "where": [1, 6, 7, 8, 9, 14, 15, 21, 23, 25], "whether": [1, 4, 5, 6, 7, 18, 21, 23], "which": [1, 4, 5, 6, 7, 8, 12, 14, 17, 18, 20, 21, 22, 23, 24, 25], "while": [1, 9, 10, 13, 15, 16, 17, 21, 22, 24], "who": [4, 5], "whole": 21, "whose": [6, 7], "why": 7, "width": [4, 9, 16, 18], "width_at": 4, "wierstra": 2, "window": [16, 18], "window_posit": 18, "wish": 25, "within": 23, "without": 18, "wojciech": 2, "wolski": 2, "work": 17, "workshop": 2, "world": [4, 23, 26], "worldsurfac": 18, "would": [18, 23, 25], "wrap": [17, 21, 26], "wrapper": [17, 21], "write": 4, "written": 24, "wrong": 7, "x": [1, 4, 9, 12, 14, 18, 23, 25], "x15": 10, "x_g": 25, "x_i": 25, "y": [4, 9, 12, 14, 18, 20, 23, 25], "y_g": 25, "yaw": 8, "year": 19, "yield": [5, 8, 24, 25], "you": [17, 19, 21, 23], "your": 26, "your_env": 21, "yourenv": 21, "zaremba": 2, "zero": 23, "zip": 22, "zoom": 18, "\u00e7": 2, "\u00e9": 2}, "titles": ["404", "Actions", "Bibliography", "Dynamics", "Lane", "Road regulation", "Road", "Behavior", "Control", "Kinematics", "Highway", "The environments", "Intersection", "Merge", "Parking", "Racetrack", "Roundabout", "Frequently Asked Questions", "Graphics", "Welcome to highway-env\u2019s documentation!", "Installation", "Make your own environment", "The Multi-Agent setting", "Observations", "Getting Started", "Rewards", "User Guide"], "titleterms": {"": 19, "10": 20, "404": 0, "Not": 0, "The": [11, 22], "action": [1, 22], "agent": [17, 22, 24], "all": 24, "an": [17, 24], "api": [1, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 21, 23], "ar": 17, "ask": 17, "behavior": 7, "bibliographi": 2, "bit": 23, "chang": 22, "cite": 19, "close": 23, "colab": 24, "collis": 23, "configur": [10, 12, 13, 14, 15, 16, 21, 23, 24], "continu": 1, "control": [1, 8, 22], "creat": 21, "default": [10, 12, 13, 14, 15, 16], "develop": 20, "discret": 1, "document": 19, "doesn": 17, "drive": 23, "dynam": 3, "east": 23, "ego": 23, "env": 19, "environ": [11, 17, 21, 24, 25], "error": 17, "exampl": [23, 24], "exist": 17, "farther": 23, "fast": 17, "faster": 10, "featur": 23, "file": 21, "found": 0, "framer": 17, "frequent": 17, "get": [17, 24], "goal": 25, "googl": 24, "graphic": 18, "grayscal": 23, "grid": 23, "guid": 26, "gymnasium": 17, "have": 17, "head": 8, "highwai": [10, 17, 19], "how": 19, "i": [17, 23], "illustr": 23, "imag": 23, "increas": 22, "instal": 20, "intersect": 12, "kinemat": [9, 17, 23], "lane": 4, "later": [7, 8], "lidar": 23, "longitudin": [7, 8], "low": 17, "make": [17, 21, 24], "manual": 1, "mechan": 23, "merg": 13, "meta": 1, "mlp": 17, "model": 17, "most": 25, "multi": 22, "my": 17, "namenotfound": 17, "north": 23, "number": 22, "observ": [17, 22, 23], "occup": 23, "one": 23, "optim": 17, "own": 21, "page": 0, "park": 14, "polici": 17, "posit": 8, "prerequisit": 20, "presenc": 23, "profit": 21, "question": 17, "racetrack": 15, "regist": 21, "regul": 5, "releas": 20, "result": 17, "reward": 25, "road": [3, 5, 6], "roundabout": 16, "same": 23, "scene": [18, 21], "set": [21, 22], "slower": 23, "space": 22, "speed": 23, "stabl": 20, "stack": 23, "start": 24, "surfac": 18, "t": 17, "thi": 19, "time": 23, "too": 17, "train": [17, 24], "try": 17, "ubuntu": 20, "up": [21, 22], "us": 17, "usag": [10, 12, 13, 14, 15, 16], "user": 26, "v_x": 23, "variant": 10, "vehicl": [3, 21, 22, 23], "version": 20, "video": 17, "welcom": 19, "when": 17, "why": 17, "window": 20, "work": 19, "world": 18, "wrap": 22, "your": 21}})
\ No newline at end of file