Learned Model

This is the design document for the Python learned model used in the simple_planning_simulator package.

Purpose / Use cases

This library creates an interface between models in Python and PSIM (C++). It is used to quickly deploy learned Python models in PSIM without a need for complex C++ implementation.

Design

The idea behind this package is that the model we want to use for simulation consists of multiple sub-models (e.g., steering model, drive model, vehicle kinematics, etc.). These sub-models are implemented in Python and can be trainable. Each sub-model has string names for all of its inputs/outputs, which are used to create model interconnections automatically (see image below). This allows us to easily switch sub-models for better customization of the simulator.

Assumptions / Known limits

To use this package python3 and pybind11 need to be installed. The only assumption on Python sub-models is their interface.

class PythonSubmodelInterface:

    def forward(self, action, state):  # Required
        """
        Calculate forward pass through the model and returns next_state.
        """
        return list()

    def get_state_names(self):  # Required
        """
        Return list of string names of the model states (outputs).
        """
        return list()

    def get_action_names(self):  # Required
        """
        Return list of string names of the model actions (inputs).
        """
        return list()

    def reset(self):  # Required
        """
        Reset model. This function is called after load_params().
        """
        pass

    def load_params(self, path):  # Required
        """
        Load parameters of the model.
        Inputs:
            - path: Path to a parameter file to load by the model.
        """
        pass

    def dtSet(self, dt):  # Required
        """
        Set dt of the model.
        Inputs:
            - dt: time step
        """
        pass

API

To successfully create a vehicle model an InterconnectedModel class needs to be set up correctly.

InterconnectedModel class

Constructor

The constructor takes no arguments.

void addSubmodel(std::tuple<std::string, std::string, std::string> model_descriptor)

Add a new sub-model to the model.

Inputs:

• model_descriptor: Describes what model should be used. The model descriptor contains three strings:
  • The first string is a path to a python module where the model is implemented.
  • The second string is a path to the file where model parameters are stored.
  • The third string is the name of the class that implements the model.

Outputs:

• None

File truncated at 100 lines see the full file

Changelog for package autoware_learning_based_vehicle_model

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat: apply [autoware_]{.title-ref} prefix for [learning_based_vehicle_model]{.title-ref} (#9991)
• Contributors: Fumiya Watanabe, Junya Sasaki

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0

• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

• fix: fix ticket links in CHANGELOG.rst (#9588)

• chore(package.xml): bump version to 0.39.0 (#9587)

  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)

• fix(cpplint): include what you use - simulator (#9572)

• fix(learning_based_vehicle_model): fix clang-diagnostic-delete-abstract-non-virtual-dtor (#9446)

• 0.39.0

• update changelog

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo

0.39.0 (2024-11-25)

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

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