Release 0.9

Main changes are detailed below:

New features -
* CARLA 0.7 simulator integration
* Human control of the game play
* Recording of human game play and storing / loading the replay buffer
* Behavioral cloning agent and presets
* Golden tests for several presets
* Selecting between deep / shallow image embedders
* Rendering through pygame (with some boost in performance)

API changes -
* Improved environment wrapper API
* Added an evaluate flag to allow convenient evaluation of existing checkpoints
* Improve frameskip definition in Gym

Bug fixes -
* Fixed loading of checkpoints for agents with more than one network
* Fixed the N Step Q learning agent python3 compatibility

renderer.py

@@ -0,0 +1,85 @@
+import pygame
+from pygame.locals import *
+import numpy as np
+
+
+class Renderer(object):
+    def __init__(self):
+        self.size = (1, 1)
+        self.screen = None
+        self.clock = pygame.time.Clock()
+        self.display = pygame.display
+        self.fps = 30
+        self.pressed_keys = []
+        self.is_open = False
+
+    def create_screen(self, width, height):
+        """
+        Creates a pygame window
+        :param width: the width of the window
+        :param height: the height of the window
+        :return: None
+        """
+        self.size = (width, height)
+        self.screen = self.display.set_mode(self.size, HWSURFACE | DOUBLEBUF)
+        self.display.set_caption("Coach")
+        self.is_open = True
+
+    def normalize_image(self, image):
+        """
+        Normalize image values to be between 0 and 255
+        :param image: 2D/3D array containing an image with arbitrary values
+        :return: the input image with values rescaled to 0-255
+        """
+        image_min, image_max = image.min(), image.max()
+        return 255.0 * (image - image_min) / (image_max - image_min)
+
+    def render_image(self, image):
+        """
+        Render the given image to the pygame window
+        :param image: a grayscale or color image in an arbitrary size. assumes that the channels are the last axis
+        :return: None
+        """
+        if self.is_open:
+            if len(image.shape) == 3:
+                if image.shape[0] == 3 or image.shape[0] == 1:
+                    image = np.transpose(image, (1, 2, 0))
+            surface = pygame.surfarray.make_surface(image.swapaxes(0, 1))
+            surface = pygame.transform.scale(surface, self.size)
+            self.screen.blit(surface, (0, 0))
+            self.display.flip()
+            self.clock.tick()
+            self.get_events()
+
+    def get_events(self):
+        """
+        Get all the window events in the last tick and reponse accordingly
+        :return: None
+        """
+        for event in pygame.event.get():
+            if event.type == pygame.KEYDOWN:
+                self.pressed_keys.append(event.key)
+                # esc pressed
+                if event.key == pygame.K_ESCAPE:
+                    self.close()
+            elif event.type == pygame.KEYUP:
+                if event.key in self.pressed_keys:
+                    self.pressed_keys.remove(event.key)
+            elif event.type == pygame.QUIT:
+                self.close()
+
+    def get_key_names(self, key_ids):
+        """
+        Get the key name for each key index in the list
+        :param key_ids: a list of key id's
+        :return: a list of key names corresponding to the key id's
+        """
+        return [pygame.key.name(key_id) for key_id in key_ids]
+
+    def close(self):
+        """
+        Close the pygame window
+        :return: None
+        """
+        self.is_open = False
+        pygame.quit()