SUMO-RL

SUMO-RL provides a simple interface to instantiate Reinforcement Learning (RL) environments with SUMO for Traffic Signal Control.

Goals of this repository:

Provide a simple interface to work with Reinforcement Learning for Traffic Signal Control using SUMO
Support Multiagent RL
Compatibility with gymnasium.Env and popular RL libraries such as stable-baselines3 and RLlib
Easy customisation: state and reward definitions are easily modifiable

The main class is SumoEnvironment. If instantiated with parameter 'single-agent=True', it behaves like a regular Gymnasium Env. For multiagent environments, use env or parallel_env to instantiate a PettingZoo environment with AEC or Parallel API, respectively. TrafficSignal is responsible for retrieving information and actuating on traffic lights using TraCI API.

For more details, check the documentation online.

Install

Install SUMO latest version:

sudo add-apt-repository ppa:sumo/stable
sudo apt-get update
sudo apt-get install sumo sumo-tools sumo-doc

Don't forget to set SUMO_HOME variable (default sumo installation path is /usr/share/sumo)

echo 'export SUMO_HOME="/usr/share/sumo"' >> ~/.bashrc
source ~/.bashrc

Important: for a huge performance boost (~8x) with Libsumo, you can declare the variable:

export LIBSUMO_AS_TRACI=1

Notice that you will not be able to run with sumo-gui or with multiple simulations in parallel if this is active (more details).

Install SUMO-RL

Stable release version is available through pip

pip install sumo-rl

Alternatively, you can install using the latest (unreleased) version

git clone https://github.com/LucasAlegre/sumo-rl
cd sumo-rl
pip install -e .

MDP - Observations, Actions and Rewards

Observation

The default observation for each traffic signal agent is a vector:

    obs = [phase_one_hot, min_green, lane_1_density,...,lane_n_density, lane_1_queue,...,lane_n_queue]

phase_one_hot is a one-hot encoded vector indicating the current active green phase
min_green is a binary variable indicating whether min_green seconds have already passed in the current phase
lane_i_density is the number of vehicles in incoming lane i dividided by the total capacity of the lane
lane_i_queueis the number of queued (speed below 0.1 m/s) vehicles in incoming lane i divided by the total capacity of the lane

You can define your own observation by implementing a class that inherits from ObservationFunction and passing it to the environment constructor.

Action

The action space is discrete. Every 'delta_time' seconds, each traffic signal agent can choose the next green phase configuration.

E.g.: In the 2-way single intersection there are |A| = 4 discrete actions, corresponding to the following green phase configurations:

Important: every time a phase change occurs, the next phase is preeceded by a yellow phase lasting yellow_time seconds.

Rewards

The default reward function is the change in cumulative vehicle delay:

That is, the reward is how much the total delay (sum of the waiting times of all approaching vehicles) changed in relation to the previous time-step.

You can choose a different reward function (see the ones implemented in TrafficSignal) with the parameter reward_fn in the SumoEnvironment constructor.

It is also possible to implement your own reward function:

def my_reward_fn(traffic_signal):
    return traffic_signal.get_average_speed()

env = SumoEnvironment(..., reward_fn=my_reward_fn)

API's (Gymnasium and PettingZoo)

Gymnasium Single-Agent API

If your network only has ONE traffic light, then you can instantiate a standard Gymnasium env (see Gymnasium API):

import gymnasium as gym
import sumo_rl
env = gym.make('sumo-rl-v0',
                net_file='path_to_your_network.net.xml',
                route_file='path_to_your_routefile.rou.xml',
                out_csv_name='path_to_output.csv',
                use_gui=True,
                num_seconds=100000)
obs, info = env.reset()
done = False
while not done:
    next_obs, reward, terminated, truncated, info = env.step(env.action_space.sample())
    done = terminated or truncated

PettingZoo Multi-Agent API

For multi-agent environments, you can use the PettingZoo API (see Petting Zoo API):

import sumo_rl
env = sumo_rl.parallel_env(net_file='nets/RESCO/grid4x4/grid4x4.net.xml',
                  route_file='nets/RESCO/grid4x4/grid4x4_1.rou.xml',
                  use_gui=True,
                  num_seconds=3600)
observations = env.reset()
while env.agents:
    actions = {agent: env.action_space(agent).sample() for agent in env.agents}  # this is where you would insert your policy
    observations, rewards, terminations, truncations, infos = env.step(actions)

RESCO Benchmarks

In the folder nets/RESCO you can find the network and route files from RESCO (Reinforcement Learning Benchmarks for Traffic Signal Control), which was built on top of SUMO-RL. See their paper for results.

Experiments

Check experiments for examples on how to instantiate an environment and train your RL agent.

Q-learning in a one-way single intersection:

python experiments/ql_single-intersection.py

RLlib PPO multiagent in a 4x4 grid:

python experiments/ppo_4x4grid.py

stable-baselines3 DQN in a 2-way single intersection:

Obs: you need to install stable-baselines3 with pip install "stable_baselines3[extra]>=2.0.0a9" for Gymnasium compatibility.

python experiments/dqn_2way-single-intersection.py

Plotting results:

python outputs/plot.py -f outputs/4x4grid/ppo_conn0_ep2

Citing

If you use this repository in your research, please cite:

@misc{sumorl,
    author = {Lucas N. Alegre},
    title = {{SUMO-RL}},
    year = {2019},
    publisher = {GitHub},
    journal = {GitHub repository},
    howpublished = {\url{https://github.com/LucasAlegre/sumo-rl}},
}

List of publications that use SUMO-RL (please open a pull request to add missing entries):