Hello, I met this bug when training a ppo agent in Town02. I can't fix it.
Can u help me? Thanks a lot!

I see the torch. device ('cpu ') in your code. I tried to modify it to torch. device ('cuda: 0'), but it doesn't seem to work.
my torch.cuda.is_ available() returns true.

Thank you so much for your work, I have successfully run the code using the instruction python continuous_driver.py --exp-name=ppo --train=False, but there is an issue that is confusing me, as you can see in the image below, I'm not sure why the video inside the pygame window looks like this.
I would be very grateful if you can give me some tips!

Thank you so much for your work.But when I run the code using the instruction python continuous_driver.py --exp-name=ppo --train=False, there is an error as follows.

Traceback (most recent call last):
File "/home/**/Autonomous-Driving-in-Carla-using-Deep-Reinforcement-Learning-main/simulation/sensors.py", line 63, in self.sensor.listen(lambda image: CameraSensorEnv._get_third_person_camera(weak_self, image)) File "/home//Autonomous-Driving-in-Carla-using-Deep-Reinforcement-Learning-main/simulation/sensors.py", line 87, in _get_third_person_camera pygame.display.flip()
pygame.error: Unable to make GL context current

I would be very grateful if you can give me some tips!

Hello Idree,

I was going through your code, and I had a question about a specific part of it. I was training a new agent from scratch in TOWN02. The training was going well (the average reward is increasing every timestep), however, out of a sudden at any point the training stopped and then “exit” is printed in the command window prompt. Basically, the training is not finished, and it does not get to the end of the training (the print “Terminating the run” does never appear). I run the training several times and still doing the same situation but at different timesteps. I am making sure that in the while loop timestep < TOTAL_TIMESETPS, does not break because of this condition. I have attached a screenshot of the situation when the training stops and jumps to the printed exit. I don’t know if run into a similar issue.

Another issue is that the agent does not go beyond the first traffic light corner. I run the code until 2M timesteps but every time the agent restart and stops in that specific point. I don't not if this issue is related to training is stopped unexpected.

Thank you,
Oscar

I ran continuous_drive.py in town02 using checkpoint_ppo_12.pickle , but the car's behavior with the provided checkpoint network parameters is not optimal, if you have any updated or improved checkpoint files available that might enhance the self-driving capabilities of the code.

Hello,

I am currently training the PPO AV. I am using town 2 for the training process. However, the training does not seem to improve a lot every minute. It started in average reward 97. After 330 episodes, the average reward is 144. How long does it take to train a proper and safe AV? And how many episodes are required to complete a "full" training?

Thank you,
-Oscar

The 42nd line of code in the sensors.py file under the simulation folder,it seems like reshape((image.height, image.width, 4)) instead of reshape((image.width, iamge.height, 4)).If this error is true, your preTrained_models may need to be updated with the correct version.

I tried to run this code on a Linux system, and replaced the corresponding libraries (such as torch, torchvision and tensorboard) with the Linux version in the project setup phase. It passed the compilation during the poetry update, but an error occurred when running the continuous_driver.py file:

(venv) ......$ python continuous_driver.py --exp-name=Ppo --train=False
Couldn't inport Carla egg properly
pygame 2.1.2(SDL 2.0.16,Python 3.7.13)
Hello fron the pygane coRnunity. https://www. pygane.org/contribute.html
Failed to nake a connection with the server: module 'carla' has no attribute 'client'
ERROR : root:connection has been refused by the server.
Exit
Traceback (most recent call last):
File "continuous_driver.py", line 297, in <module>runner()
File "continuous_driver.py" , line 115, in runner
env = CarlaEnvironment(client, world,town,checkpoint_frequency=None)UnboundLocalError: local variable 'client' referenced before assignnent

I have opened CarlaUE4Editor and started running before running the code. I opened the carla folder of the code and found only the carla-0.9.8-py3.7-win-amd64.egg file. This is not compatible with the Linux system. How can I make the code run correctly on the Linux system？

Couldn't import Carla egg properly

The image displayed on my pygame is incorrect. Is there a problem with yours

From the code, it is more like a DDPG algorithms but not PPO algorithms. Besides, for the auto-encoder part, this code is not use auto-encoder to extract features of input image, which looks use encoder as the CNNs. Why not learn and update the weight of these CNNs with actor and critics network? Why need to train these CNNs separately?

Hi,
When I run the continous file I got this error:

##################################################################################################
python continuous_driver.py --exp-name ppo --town Town07
##################################################################################################
Couldn't import Carla egg properly
pygame 2.1.2 (SDL 2.0.16, Python 3.8.10)
Hello from the pygame community. https://www.pygame.org/contribute.html
ERROR:root:Connection has been refused by the server.

Exit
Traceback (most recent call last):
File "continuous_driver.py", line 330, in
runner()
File "continuous_driver.py", line 146, in runner
env = CarlaEnvironment(client, world,town)
UnboundLocalError: local variable 'client' referenced before assignment

##################################################################################################

As I am getting error related to egg file. I also add these lines in the continous flie:
try:
import pygame
except ImportError:
raise RuntimeError('cannot import pygame, make sure pygame package is installed')

try:
import numpy as np
except ImportError:
raise RuntimeError('cannot import numpy, make sure numpy package is installed')
except ImportError:
raise RuntimeError('cannot import pygame, make sure pygame package is installed')

Calra module

try:
sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
sys.version_info.major,
sys.version_info.minor,
'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
except IndexError:
pass

##################################################################################################

But still I am getting the error related to the egg flie. My other files are working perfectly in CARLA.

When I run the file for discrete file. I got this error.

python3 discrete_driver.py
Couldn't import Carla egg properly
pygame 2.1.2 (SDL 2.0.16, Python 3.8.10)
Hello from the pygame community. https://www.pygame.org/contribute.html
Traceback (most recent call last):
File "discrete_driver.py", line 16, in
from networks.off_policy.ddqn.agent import DQNAgent
File "/home/Autonomous-Driving-in-Carla-using-Deep-Reinforcement-Learning-main/networks/off_policy/ddqn/agent.py", line 4, in
from networks.off_policy.ddqn.dueling_dqn import DuelingDQnetwork
File "/home/Autonomous-Driving-in-Carla-using-Deep-Reinforcement-Learning-main/networks/off_policy/ddqn/dueling_dqn.py", line 5, in
from parameters import DQN_LEARNING_RATE, DQN_CHECKPOINT_DIR, TOWN7
ImportError: cannot import name 'TOWN7' from 'parameters' (/home/ryzen/Autonomous-Driving-in-Carla-using-Deep-Reinforcement-Learning-main/parameters.py)

So I add this line in parameters.py file
TOWN7 = "Town07"

And then I got this error:

python3 discrete_driver.py
Couldn't import Carla egg properly
pygame 2.1.2 (SDL 2.0.16, Python 3.8.10)
Hello from the pygame community. https://www.pygame.org/contribute.html

Exit
Traceback (most recent call last):
File "discrete_driver.py", line 212, in
runner()
File "discrete_driver.py", line 57, in runner
writer = SummaryWriter(f"runs/{run_name}/{town}")
UnboundLocalError: local variable 'run_name' referenced before assignment

How to resolve both these errors?

pygame 2.1.2 (SDL 2.0.18, Python 3.7.15)
Hello from the pygame community. https://www.pygame.org/contribute.html
Encoder could not be initialized.

Exit

hi, when i run the code, i find that it will stop because logprobs is the same as old_logprobs in agent.py

The console works, but the client displays a faulty screen!
The console works, but the client displays a faulty screen!
The client's GUI display screen, not fully displayed, is a pair of horizontal stripes! I don't know what is the reason for this. I don't know what's causing this, so I'm asking for your help! Please give me a suggestion!
The interface of the client is full of horizontal stripes, there is no way to display my car and planning level properly, the interface is full of horizontal stripes!

Hi,
I really appreciate this work! However, I think the Multivariate(steer, throttle) Probability Distribution Function in this project works as the same way like Two Single Gaussian PDF for you don't consider the Rho between with steer and throttle ?

Codes in PPO in line 19:
self.cov_var = torch.full((self.action_dim, ), action_std_init)
self.cov_mat = torch.diag(self.cov_var).unsqueeze(dim=0). It's a diag matrix which consider the Rho is 0 ? And what the difference if you use two single Gaussian PDF for sampling the actions? Any ablation experiments ?

Best wishes !

Hi, i just want to know what hardwares did you run the project on? Specially cpu modal, gpu modal and memory, ram memory, motherboard modal?

Hello Idree,

I am running a new training and the code is exiting before meeting the criteria, why is this happening and how can I have a complete training without being stopped too frequently?

Thank you.

While following the instructions in Read.md, I encountered an error after running cd poetry and poetry update. I am not sure how to resolve the error. I am using CARLA 0.9.8 version on Linux.

Couldn't import Carla egg properly
pygame 2.1.2 (SDL 2.0.18, Python 3.8.10)
Hello from the pygame community. https://www.pygame.org/contribute.html
INFO: Found the required file in cache! Carla/Maps/Nav/Town07.bin
Encoder could not be initialized.

Exit