修改了算法代码,并建立了一个简单的训练脚本.修改bert处理二维输入,移除PPO的permute参数

test_vehicle_movement.py

@@ -0,0 +1,131 @@
+"""
+测试车辆是否能正常运动
+
+使用固定的前进动作，观察车辆运动
+"""
+
+import sys
+import time
+sys.path.append('Env')
+
+from Env.scenario_env import MultiAgentScenarioEnv
+from Env.simple_idm_policy import ConstantVelocityPolicy
+from metadrive.engine.asset_loader import AssetLoader
+
+class FixedForwardPolicy:
+    """固定前进策略 - 确保车辆运动"""
+    def act(self):
+        # 大油门直行
+        return [0.0, 1.0]  # [转向, 油门]
+
+def main():
+    print("=" * 60)
+    print("🚗 测试车辆运动")
+    print("=" * 60)
+    
+    # 创建环境
+    env = MultiAgentScenarioEnv(
+        config={
+            "data_directory": AssetLoader.file_path(
+                "/home/huangfukk/MAGAIL4AutoDrive/Env", 
+                "exp_converted", 
+                unix_style=False
+            ),
+            "is_multi_agent": True,
+            "num_controlled_agents": 3,
+            "horizon": 500,
+            "use_render": True,
+            "sequential_seed": True,
+            "reactive_traffic": True,
+            "manual_control": False,
+            "filter_offroad_vehicles": True,
+            "lane_tolerance": 3.0,
+            "max_controlled_vehicles": 3,
+            "debug_lane_filter": False,
+            "debug_traffic_light": False,
+        },
+        agent2policy=FixedForwardPolicy()
+    )
+    
+    # 重置环境
+    obs = env.reset(0)
+    
+    print(f"\n✅ 环境初始化完成")
+    print(f"   可控车辆数: {len(env.controlled_agents)}")
+    
+    if len(env.controlled_agents) == 0:
+        print("❌ 没有可控车辆！")
+        return
+    
+    # 获取第一辆车
+    first_vehicle = list(env.controlled_agents.values())[0]
+    initial_pos = [first_vehicle.position[0], first_vehicle.position[1]]
+    
+    print(f"\n🚗 第一辆车初始状态:")
+    print(f"   位置: {initial_pos}")
+    print(f"   速度: {first_vehicle.speed:.2f} m/s")
+    
+    print(f"\n🎬 开始运行... (固定动作: 直行+满油门)")
+    print(f"   按Ctrl+C停止\n")
+    
+    # 固定动作：直行 + 满油门
+    fixed_action = [0.0, 1.0]  # [转向, 油门]
+    
+    for step in range(500):
+        # 所有车辆使用相同的固定动作
+        actions = {aid: fixed_action for aid in env.controlled_agents}
+        
+        # 步进
+        obs, rewards, dones, infos = env.step(actions)
+        
+        # 渲染
+        env.render(mode="topdown")
+        time.sleep(0.05)  # 50ms延迟，看得更清楚
+        
+        # 每50步打印状态
+        if step % 50 == 0 and step > 0:
+            current_pos = [first_vehicle.position[0], first_vehicle.position[1]]
+            distance = ((current_pos[0] - initial_pos[0])**2 + 
+                       (current_pos[1] - initial_pos[1])**2) ** 0.5
+            
+            print(f"步数 {step:3d}:")
+            print(f"   当前位置: ({current_pos[0]:.2f}, {current_pos[1]:.2f})")
+            print(f"   当前速度: {first_vehicle.speed:.2f} m/s")
+            print(f"   移动距离: {distance:.2f} m")
+            print()
+        
+        if dones.get("__all__", False):
+            print(f"✅ Episode完成于步数 {step}")
+            break
+    
+    # 最终统计
+    final_pos = [first_vehicle.position[0], first_vehicle.position[1]]
+    total_distance = ((final_pos[0] - initial_pos[0])**2 + 
+                     (final_pos[1] - initial_pos[1])**2) ** 0.5
+    
+    print(f"\n" + "=" * 60)
+    print(f"📊 运动统计:")
+    print(f"   初始位置: ({initial_pos[0]:.2f}, {initial_pos[1]:.2f})")
+    print(f"   最终位置: ({final_pos[0]:.2f}, {final_pos[1]:.2f})")
+    print(f"   总移动距离: {total_distance:.2f} m")
+    print(f"   平均速度: {first_vehicle.speed:.2f} m/s")
+    
+    if total_distance < 1.0:
+        print(f"\n❌ 警告: 车辆几乎没有移动！")
+    else:
+        print(f"\n✅ 车辆正常运动")
+    
+    print("=" * 60)
+    
+    env.close()
+
+if __name__ == "__main__":
+    try:
+        main()
+    except KeyboardInterrupt:
+        print("\n\n⏹️  用户中断")
+    except Exception as e:
+        print(f"\n❌ 错误: {e}")
+        import traceback
+        traceback.print_exc()
+