From a81c3cef51697709389197bfe4076ab5bcd8a125 Mon Sep 17 00:00:00 2001
From: adai <adaickalavan@gmail.com>
Date: Sun, 12 Feb 2023 17:41:09 -0500
Subject: [PATCH] Add NeurIPS 2022 Control and Supervised Learning agent to
 agent zoo (#1858)

---
 CHANGELOG.md                                  |  3 ++-
 docs/benchmarks/agent_zoo.rst                 |  8 +++++++-
 zoo/policies/__init__.py                      | 16 ++++++++++++++++
 .../control_and_supervised_learning/setup.cfg | 19 +++++++++++++++++++
 .../control_and_supervised_learning/setup.py  |  4 ++++
 5 files changed, 48 insertions(+), 2 deletions(-)
 create mode 100644 zoo/policies/control_and_supervised_learning/setup.cfg
 create mode 100644 zoo/policies/control_and_supervised_learning/setup.py

diff --git a/CHANGELOG.md b/CHANGELOG.md
index b47c3992f1..4040b05f8f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,6 +10,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 
 ## [Unreleased]
 ### Added
+- Added a zoo agent, named Control-and-Supervised-Learning, from NeurIPS 2022 submission. This zoo agent runs in benchmark `driving_smarts==0.0`.
 ### Changed
 ### Deprecated
 ### Fixed
@@ -21,7 +22,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Engine configuration utility that uses the following locations to allow configuration of the SMARTS engine. The engine consumes the configuration files from the following locations in the following priority: `./engine.ini`, `~/.smarts/engine.ini`, `$GLOBAL_USER/smarts/engine.ini`, and `${PYTHON_ENV}/lib/${PYTHON_VERSION}/site-packages/smarts/engine.ini`.
 - Added map source uri as `map_source` inside of `hiway-v1` reset info to indicate what the current map is on reset.
 - Added NGSIM documentation.
-- Added a zoo agent, named Interaction-aware Motion Prediction, from NeurIPS2022 submission. This zoo agent runs in benchmark `driving_smarts==0.0`.
+- Added a zoo agent, named Interaction-Aware Motion Prediction, from NeurIPS2022 submission. This zoo agent runs in benchmark `driving_smarts==0.0`.
 - Added Agent Zoo documentation in ReadTheDocs.
 ### Changed
 - Made changes in the docs to reflect `master` branch as the main development branch.
diff --git a/docs/benchmarks/agent_zoo.rst b/docs/benchmarks/agent_zoo.rst
index ae9bf05bc9..843fdfd7af 100644
--- a/docs/benchmarks/agent_zoo.rst
+++ b/docs/benchmarks/agent_zoo.rst
@@ -53,4 +53,10 @@ Available zoo agents
      - driving_smarts==0.0
      - :attr:`~smarts.core.controllers.ActionSpaceType.TargetPose`
      - `code <https://github.com/smarts-project/smarts-project.rl/tree/master/interaction_aware_motion_prediction>`__
-     - Contributed as part of `NeurIPS 2022 Driving SMARTS <https://smarts-project.github.io/archive/2022_nips_driving_smarts/>`_ competition.
+     - Contributed as part of `NeurIPS 2022 Driving SMARTS <https://smarts-project.github.io/archive/2022_nips_driving_smarts/>`__ competition.
+   * - | zoo.policies:control-and-supervised-learning-agent-v0
+       | zoo/policies/control_and_supervised_learning
+     - driving_smarts==0.0
+     - :attr:`~smarts.core.controllers.ActionSpaceType.TargetPose`
+     - `code <https://github.com/smarts-project/smarts-project.rl/tree/master/control_and_supervised_learning>`__
+     - Contributed as part of `NeurIPS 2022 Driving SMARTS <https://smarts-project.github.io/archive/2022_nips_driving_smarts/>`__ competition.
diff --git a/zoo/policies/__init__.py b/zoo/policies/__init__.py
index e38f75f182..1ad3f37682 100644
--- a/zoo/policies/__init__.py
+++ b/zoo/policies/__init__.py
@@ -133,3 +133,19 @@ def entry_point_iamp(**kwargs):
 register(
     locator="interaction-aware-motion-prediction-agent-v0", entry_point=entry_point_iamp
 )
+
+def entry_point_casl(**kwargs):
+    pkg = "control_and_supervised_learning"
+    module = ".policy"
+    lib = _verify_installation(pkg=pkg, module=module)
+
+    return AgentSpec(
+        interface=AgentInterface(
+            action=ActionSpaceType.TargetPose,
+        ),
+        agent_builder=lib.Policy,
+    )
+
+register(
+    locator="control-and-supervised-learning-agent-v0", entry_point=entry_point_casl,
+)
\ No newline at end of file
diff --git a/zoo/policies/control_and_supervised_learning/setup.cfg b/zoo/policies/control_and_supervised_learning/setup.cfg
new file mode 100644
index 0000000000..a6278a6759
--- /dev/null
+++ b/zoo/policies/control_and_supervised_learning/setup.cfg
@@ -0,0 +1,19 @@
+[metadata]
+name = smarts_agent_casl_stub
+version = 0.1.0
+url = https://github.com/huawei-noah/SMARTS
+description = SMARTS zoo agent.
+long_description = Trained Control and Supervised Learning agent. See [SMARTS](https://github.com/huawei-noah/SMARTS).
+long_description_content_type=text/markdown
+classifiers=
+    Programming Language :: Python
+    Programming Language :: Python :: 3 :: Only
+    Programming Language :: Python :: 3.8
+
+[options]
+packages = find:
+include_package_data = True
+zip_safe = True
+python_requires = == 3.8.*
+install_requires = 
+    smarts_agent_casl==0.1.0
diff --git a/zoo/policies/control_and_supervised_learning/setup.py b/zoo/policies/control_and_supervised_learning/setup.py
new file mode 100644
index 0000000000..7f1a1763ca
--- /dev/null
+++ b/zoo/policies/control_and_supervised_learning/setup.py
@@ -0,0 +1,4 @@
+from setuptools import setup
+
+if __name__ == "__main__":
+    setup()