Rewards can now be set as parameter
This commit is contained in:
Steffen Illium
parent
823aa075b9
commit
3ce6302e8a
@ -14,7 +14,7 @@ from environments.factory.base.shadow_casting import Map
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from environments import helpers as h
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from environments.helpers import Constants as c
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from environments.helpers import EnvActions as a
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from environments.helpers import Rewards as r
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from environments.helpers import RewardsBase
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from environments.factory.base.objects import Agent, Floor, Action
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from environments.factory.base.registers import Actions, Entities, Agents, Doors, Floors, Walls, PlaceHolders, \
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GlobalPositions
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@ -80,6 +80,7 @@ class BaseFactory(gym.Env):
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def __init__(self, level_name='simple', n_agents=1, max_steps=int(5e2),
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mv_prop: MovementProperties = MovementProperties(),
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obs_prop: ObservationProperties = ObservationProperties(),
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rewards_base: RewardsBase = RewardsBase(),
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parse_doors=False, done_at_collision=False, inject_agents: Union[None, List] = None,
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verbose=False, doors_have_area=True, env_seed=time.time_ns(), individual_rewards=False,
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**kwargs):
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@ -88,6 +89,8 @@ class BaseFactory(gym.Env):
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mv_prop = MovementProperties(**mv_prop)
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if isinstance(obs_prop, dict):
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obs_prop = ObservationProperties(**obs_prop)
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if isinstance(rewards_base, dict):
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rewards_base = RewardsBase(**rewards_base)
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assert obs_prop.frames_to_stack != 1 and \
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obs_prop.frames_to_stack >= 0, "'frames_to_stack' cannot be negative or 1."
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@ -100,6 +103,7 @@ class BaseFactory(gym.Env):
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self._base_rng = np.random.default_rng(self.env_seed)
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self.mv_prop = mv_prop
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self.obs_prop = obs_prop
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self.rewards_base = rewards_base
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self.level_name = level_name
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self._level_shape = None
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self._obs_shape = None
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@ -244,7 +248,7 @@ class BaseFactory(gym.Env):
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action_valid, reward = self._do_move_action(agent, action_obj)
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elif a.NOOP == action_obj:
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action_valid = c.VALID
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reward = dict(value=r.NOOP, reason=a.NOOP, info={f'{agent.name}_NOOP': 1, 'NOOP': 1})
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reward = dict(value=self.rewards_base.NOOP, reason=a.NOOP, info={f'{agent.name}_NOOP': 1, 'NOOP': 1})
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elif a.USE_DOOR == action_obj:
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action_valid, reward = self._handle_door_interaction(agent)
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else:
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@ -323,7 +327,7 @@ class BaseFactory(gym.Env):
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else:
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raise RuntimeError('This should not happen, since the door action should not be available.')
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reward = dict(value=r.USE_DOOR_VALID if valid else r.USE_DOOR_FAIL,
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reward = dict(value=self.rewards_base.USE_DOOR_VALID if valid else self.rewards_base.USE_DOOR_FAIL,
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reason=a.USE_DOOR, info=info_dict)
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return valid, reward
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@ -518,7 +522,7 @@ class BaseFactory(gym.Env):
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# Agent seems to be trying to Leave the level
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self.print(f'{agent.name} tried to leave the level {agent.pos}. ({action.identifier})')
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info_dict.update({f'{agent.name}_wall_collide': 1, 'wall_collide': 1})
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reward_value = r.MOVEMENTS_VALID if valid else r.MOVEMENTS_FAIL
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reward_value = self.rewards_base.MOVEMENTS_VALID if valid else self.rewards_base.MOVEMENTS_FAIL
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reward = {'value': reward_value, 'reason': action.identifier, 'info': info_dict}
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return valid, reward
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@ -573,7 +577,9 @@ class BaseFactory(gym.Env):
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if collisions := agent.step_result['collisions']:
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self.print(f't = {self._steps}\t{agent.name} has collisions with {collisions}')
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info[c.COLLISION] += 1
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reward = {'value': r.COLLISION, 'reason': c.COLLISION, 'info': {f'{agent.name}_{c.COLLISION}': 1}}
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reward = {'value': self.rewards_base.COLLISION,
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'reason': c.COLLISION,
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'info': {f'{agent.name}_{c.COLLISION}': 1}}
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agent.step_result['rewards'].append(reward)
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else:
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# No Collisions, nothing to do
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@ -8,7 +8,6 @@ from environments.factory.base.registers import EntityRegister, EnvObjectRegiste
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from environments.factory.base.renderer import RenderEntity
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from environments.helpers import Constants as BaseConstants
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from environments.helpers import EnvActions as BaseActions
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from environments.helpers import Rewards as BaseRewards
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from environments import helpers as h
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@ -25,10 +24,10 @@ class Actions(BaseActions):
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CHARGE = 'do_charge_action'
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class Rewards(BaseRewards):
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CHARGE_VALID = 0.1
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CHARGE_FAIL = -0.1
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BATTERY_DISCHARGED = -1.0
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class RewardsBtry(NamedTuple):
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CHARGE_VALID: float = 0.1
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CHARGE_FAIL: float = -0.1
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BATTERY_DISCHARGED: float = -1.0
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class BatteryProperties(NamedTuple):
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@ -42,7 +41,6 @@ class BatteryProperties(NamedTuple):
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c = Constants
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a = Actions
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r = Rewards
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class Battery(BoundingMixin, EnvObject):
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@ -62,9 +60,9 @@ class Battery(BoundingMixin, EnvObject):
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if self.charge_level < 1:
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# noinspection PyTypeChecker
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self.charge_level = min(1, amount + self.charge_level)
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return dict(valid=c.VALID, action=a.CHARGE, reward=r.CHARGE_VALID)
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return c.VALID
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else:
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return dict(valid=c.NOT_VALID, action=a.CHARGE, reward=r.CHARGE_FAIL)
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return c.NOT_VALID
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def decharge(self, amount) -> c:
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if self.charge_level != 0:
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@ -133,8 +131,8 @@ class ChargePod(Entity):
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return c.NOT_VALID
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if sum(guest for guest in self.tile.guests if 'agent' in guest.name.lower()) > 1:
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return c.NOT_VALID
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battery.do_charge_action(self.charge_rate)
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return c.VALID
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valid = battery.do_charge_action(self.charge_rate)
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return valid
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def summarize_state(self, n_steps=None) -> dict:
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if n_steps == h.STEPS_START:
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@ -152,10 +150,14 @@ class ChargePods(EntityRegister):
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class BatteryFactory(BaseFactory):
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def __init__(self, *args, btry_prop=BatteryProperties(), **kwargs):
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def __init__(self, *args, btry_prop=BatteryProperties(), rewards_dest: RewardsBtry = RewardsBtry(),
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**kwargs):
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if isinstance(btry_prop, dict):
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btry_prop = BatteryProperties(**btry_prop)
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if isinstance(rewards_dest, dict):
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rewards_dest = RewardsBtry(**rewards_dest)
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self.btry_prop = btry_prop
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self.rewards_dest = rewards_dest
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super().__init__(*args, **kwargs)
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def per_agent_raw_observations_hook(self, agent) -> Dict[str, np.typing.ArrayLike]:
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@ -215,7 +217,8 @@ class BatteryFactory(BaseFactory):
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info_dict = {f'{agent.name}_{a.CHARGE}_FAIL': 1}
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# info_dict = {f'{agent.name}_no_charger': 1}
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self.print(f'{agent.name} failed to charged batteries at {agent.pos}.')
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reward = dict(value=r.CHARGE_VALID if valid else r.CHARGE_FAIL, reason=a.CHARGE, info=info_dict)
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reward = dict(value=self.rewards_dest.CHARGE_VALID if valid else self.rewards_dest.CHARGE_FAIL,
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reason=a.CHARGE, info=info_dict)
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return valid, reward
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def do_additional_actions(self, agent: Agent, action: Action) -> (bool, dict):
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@ -254,7 +257,9 @@ class BatteryFactory(BaseFactory):
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if self[c.BATTERIES].by_entity(agent).is_discharged:
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self.print(f'{agent.name} Battery is discharged!')
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info_dict = {f'{agent.name}_{c.BATTERY_DISCHARGED}': 1}
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reward_event_dict.update({c.BATTERY_DISCHARGED: {'reward': r.BATTERY_DISCHARGED, 'info': info_dict}})
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reward_event_dict.update({c.BATTERY_DISCHARGED: {'reward': self.rewards_dest.BATTERY_DISCHARGED,
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'info': info_dict}}
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)
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else:
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# All Fine
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pass
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@ -8,7 +8,6 @@ import random
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from environments.factory.base.base_factory import BaseFactory
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from environments.helpers import Constants as BaseConstants
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from environments.helpers import EnvActions as BaseActions
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from environments.helpers import Rewards as BaseRewards
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from environments.factory.base.objects import Agent, Entity, Action
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from environments.factory.base.registers import Entities, EntityRegister
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@ -27,11 +26,11 @@ class Actions(BaseActions):
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WAIT_ON_DEST = 'WAIT'
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class Rewards(BaseRewards):
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class RewardsDest(NamedTuple):
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WAIT_VALID = 0.1
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WAIT_FAIL = -0.1
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DEST_REACHED = 5.0
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WAIT_VALID: float = 0.1
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WAIT_FAIL: float = -0.1
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DEST_REACHED: float = 5.0
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class Destination(Entity):
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@ -117,7 +116,7 @@ class DestModeOptions(object):
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class DestProperties(NamedTuple):
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n_dests: int = 1 # How many destinations are there
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dwell_time: int = 0 # How long does the agent need to "do_wait_action" on a destination
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dwell_time: int = 0 # How long does the agent need to "wait" on a destination
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spawn_frequency: int = 0
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spawn_in_other_zone: bool = True #
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spawn_mode: str = DestModeOptions.DONE
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@ -130,18 +129,20 @@ class DestProperties(NamedTuple):
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c = Constants
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a = Actions
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r = Rewards
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# noinspection PyAttributeOutsideInit, PyAbstractClass
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class DestFactory(BaseFactory):
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# noinspection PyMissingConstructor
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def __init__(self, *args, dest_prop: DestProperties = DestProperties(),
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def __init__(self, *args, dest_prop: DestProperties = DestProperties(), rewards_dest: RewardsDest = RewardsDest(),
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env_seed=time.time_ns(), **kwargs):
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if isinstance(dest_prop, dict):
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dest_prop = DestProperties(**dest_prop)
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if isinstance(rewards_dest, dict):
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rewards_dest = RewardsDest(**rewards_dest)
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self.dest_prop = dest_prop
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self.rewards_dest = rewards_dest
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kwargs.update(env_seed=env_seed)
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self._dest_rng = np.random.default_rng(env_seed)
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super().__init__(*args, **kwargs)
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@ -179,7 +180,8 @@ class DestFactory(BaseFactory):
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valid = c.NOT_VALID
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self.print(f'{agent.name} just tried to do_wait_action do_wait_action at {agent.pos} but failed')
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info_dict = {f'{agent.name}_{a.WAIT_ON_DEST}_FAIL': 1}
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reward = dict(value=r.WAIT_VALID if valid else r.WAIT_FAIL, reason=a.WAIT_ON_DEST, info=info_dict)
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reward = dict(value=self.rewards_dest.WAIT_VALID if valid else self.rewards_dest.WAIT_FAIL,
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reason=a.WAIT_ON_DEST, info=info_dict)
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return valid, reward
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def do_additional_actions(self, agent: Agent, action: Action) -> (dict, dict):
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@ -258,7 +260,8 @@ class DestFactory(BaseFactory):
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self.print(f'{agent.name} just reached destination at {agent.pos}')
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self[c.DEST_REACHED].delete_env_object(reached_dest)
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info_dict = {f'{agent.name}_{c.DEST_REACHED}': 1}
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reward_event_dict.update({c.DEST_REACHED: {'reward': r.DEST_REACHED, 'info': info_dict}})
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reward_event_dict.update({c.DEST_REACHED: {'reward': self.rewards_dest.DEST_REACHED,
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'info': info_dict}})
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return reward_event_dict
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def render_assets_hook(self, mode='human'):
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@ -270,13 +273,13 @@ class DestFactory(BaseFactory):
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if __name__ == '__main__':
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from environments.utility_classes import AgentRenderOptions as ARO, ObservationProperties
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from environments.utility_classes import AgentRenderOptions as aro, ObservationProperties
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render = True
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dest_probs = DestProperties(n_dests=2, spawn_frequency=5, spawn_mode=DestModeOptions.GROUPED)
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obs_props = ObservationProperties(render_agents=ARO.LEVEL, omit_agent_self=True, pomdp_r=2)
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obs_props = ObservationProperties(render_agents=aro.LEVEL, omit_agent_self=True, pomdp_r=2)
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move_props = {'allow_square_movement': True,
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'allow_diagonal_movement': False,
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@ -4,11 +4,9 @@ import random
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import numpy as np
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# from algorithms.TSP_dirt_agent import TSPDirtAgent
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from algorithms.TSP_dirt_agent import TSPDirtAgent
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from environments.helpers import Constants as BaseConstants
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from environments.helpers import EnvActions as BaseActions
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from environments.helpers import Rewards as BaseRewards
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from environments.factory.base.base_factory import BaseFactory
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from environments.factory.base.objects import Agent, Action, Entity, Floor
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@ -26,10 +24,10 @@ class Actions(BaseActions):
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CLEAN_UP = 'do_cleanup_action'
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class Rewards(BaseRewards):
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CLEAN_UP_VALID = 0.5
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CLEAN_UP_FAIL = -0.1
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CLEAN_UP_LAST_PIECE = 4.5
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class RewardsDirt(NamedTuple):
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CLEAN_UP_VALID: float = 0.5
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CLEAN_UP_FAIL: float = -0.1
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CLEAN_UP_LAST_PIECE: float = 4.5
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class DirtProperties(NamedTuple):
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@ -119,7 +117,6 @@ def entropy(x):
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c = Constants
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a = Actions
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r = Rewards
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# noinspection PyAttributeOutsideInit, PyAbstractClass
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@ -138,10 +135,15 @@ class DirtFactory(BaseFactory):
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super_entities.update(({c.DIRT: dirt_register}))
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return super_entities
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def __init__(self, *args, dirt_prop: DirtProperties = DirtProperties(), env_seed=time.time_ns(), **kwargs):
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def __init__(self, *args,
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dirt_prop: DirtProperties = DirtProperties(), rewards_dirt: RewardsDirt = RewardsDirt(),
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env_seed=time.time_ns(), **kwargs):
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if isinstance(dirt_prop, dict):
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dirt_prop = DirtProperties(**dirt_prop)
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if isinstance(rewards_dirt, dict):
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rewards_dirt = RewardsDirt(**rewards_dirt)
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self.dirt_prop = dirt_prop
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self.rewards_dirt = rewards_dirt
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self._dirt_rng = np.random.default_rng(env_seed)
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self._dirt: DirtRegister
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kwargs.update(env_seed=env_seed)
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@ -166,15 +168,15 @@ class DirtFactory(BaseFactory):
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valid = c.VALID
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self.print(f'{agent.name} did just clean up some dirt at {agent.pos}.')
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info_dict = {f'{agent.name}_{a.CLEAN_UP}_VALID': 1, 'cleanup_valid': 1}
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reward = r.CLEAN_UP_VALID
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reward = self.rewards_dirt.CLEAN_UP_VALID
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else:
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valid = c.NOT_VALID
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self.print(f'{agent.name} just tried to clean up some dirt at {agent.pos}, but failed.')
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info_dict = {f'{agent.name}_{a.CLEAN_UP}_FAIL': 1, 'cleanup_fail': 1}
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reward = r.CLEAN_UP_FAIL
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reward = self.rewards_dirt.CLEAN_UP_FAIL
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if valid and self.dirt_prop.done_when_clean and (len(self[c.DIRT]) == 0):
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reward += r.CLEAN_UP_LAST_PIECE
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reward += self.rewards_dirt.CLEAN_UP_LAST_PIECE
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self.print(f'{agent.name} picked up the last piece of dirt!')
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info_dict = {f'{agent.name}_{a.CLEAN_UP}_LAST_PIECE': 1}
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return valid, dict(value=reward, reason=a.CLEAN_UP, info=info_dict)
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@ -7,7 +7,6 @@ import random
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from environments.factory.base.base_factory import BaseFactory
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from environments.helpers import Constants as BaseConstants
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from environments.helpers import EnvActions as BaseActions
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from environments.helpers import Rewards as BaseRewards
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from environments import helpers as h
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from environments.factory.base.objects import Agent, Entity, Action, Floor
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from environments.factory.base.registers import Entities, EntityRegister, BoundEnvObjRegister, ObjectRegister
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@ -28,11 +27,11 @@ class Actions(BaseActions):
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ITEM_ACTION = 'ITEMACTION'
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class Rewards(BaseRewards):
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DROP_OFF_VALID = 0.1
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DROP_OFF_FAIL = -0.1
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PICK_UP_FAIL = -0.1
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PICK_UP_VALID = 0.1
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class RewardsItem(NamedTuple):
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DROP_OFF_VALID: float = 0.1
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DROP_OFF_FAIL: float = -0.1
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PICK_UP_FAIL: float = -0.1
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PICK_UP_VALID: float = 0.1
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class Item(Entity):
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@ -177,16 +176,19 @@ class ItemProperties(NamedTuple):
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c = Constants
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a = Actions
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r = Rewards
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# noinspection PyAttributeOutsideInit, PyAbstractClass
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class ItemFactory(BaseFactory):
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# noinspection PyMissingConstructor
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def __init__(self, *args, item_prop: ItemProperties = ItemProperties(), env_seed=time.time_ns(), **kwargs):
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def __init__(self, *args, item_prop: ItemProperties = ItemProperties(), env_seed=time.time_ns(),
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rewards_item: RewardsItem = RewardsItem(), **kwargs):
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if isinstance(item_prop, dict):
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item_prop = ItemProperties(**item_prop)
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if isinstance(rewards_item, dict):
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rewards_item = RewardsItem(**rewards_item)
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self.item_prop = item_prop
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self.rewards_item = rewards_item
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kwargs.update(env_seed=env_seed)
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self._item_rng = np.random.default_rng(env_seed)
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assert (item_prop.n_items <= ((1 + kwargs.get('_pomdp_r', 0) * 2) ** 2)) or not kwargs.get('_pomdp_r', 0)
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@ -244,18 +246,19 @@ class ItemFactory(BaseFactory):
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else:
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self.print(f'{agent.name} just tried to drop off at {agent.pos}, but failed.')
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info_dict = {f'{agent.name}_DROPOFF_FAIL': 1, 'DROPOFF_FAIL': 1}
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reward = dict(value=r.DROP_OFF_VALID if valid else r.DROP_OFF_FAIL, reason=a.ITEM_ACTION, info=info_dict)
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reward = dict(value=self.rewards_item.DROP_OFF_VALID if valid else self.rewards_item.DROP_OFF_FAIL,
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reason=a.ITEM_ACTION, info=info_dict)
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return valid, reward
|
||||
elif item := self[c.ITEM].by_pos(agent.pos):
|
||||
item.change_register(inventory)
|
||||
item.set_tile_to(self._NO_POS_TILE)
|
||||
self.print(f'{agent.name} just picked up an item at {agent.pos}')
|
||||
info_dict = {f'{agent.name}_{a.ITEM_ACTION}_VALID': 1, f'{a.ITEM_ACTION}_VALID': 1}
|
||||
return c.VALID, dict(value=r.PICK_UP_VALID, reason=a.ITEM_ACTION, info=info_dict)
|
||||
return c.VALID, dict(value=self.rewards_item.PICK_UP_VALID, reason=a.ITEM_ACTION, info=info_dict)
|
||||
else:
|
||||
self.print(f'{agent.name} just tried to pick up an item at {agent.pos}, but failed.')
|
||||
info_dict = {f'{agent.name}_{a.ITEM_ACTION}_FAIL': 1, f'{a.ITEM_ACTION}_FAIL': 1}
|
||||
return c.NOT_VALID, dict(value=r.PICK_UP_FAIL, reason=a.ITEM_ACTION, info=info_dict)
|
||||
return c.NOT_VALID, dict(value=self.rewards_item.PICK_UP_FAIL, reason=a.ITEM_ACTION, info=info_dict)
|
||||
|
||||
def do_additional_actions(self, agent: Agent, action: Action) -> (dict, dict):
|
||||
# noinspection PyUnresolvedReferences
|
||||
|
||||
@ -76,19 +76,18 @@ class EnvActions:
|
||||
return list(itertools.chain(cls.square_move(), cls.diagonal_move()))
|
||||
|
||||
|
||||
class Rewards:
|
||||
|
||||
MOVEMENTS_VALID = -0.00
|
||||
MOVEMENTS_FAIL = -0.10
|
||||
NOOP = -0.01
|
||||
USE_DOOR_VALID = -0.00
|
||||
USE_DOOR_FAIL = -0.10
|
||||
COLLISION = -0.5
|
||||
class RewardsBase(NamedTuple):
|
||||
MOVEMENTS_VALID: float = -0.001
|
||||
MOVEMENTS_FAIL: float = -0.05
|
||||
NOOP: float = -0.01
|
||||
USE_DOOR_VALID: float = -0.00
|
||||
USE_DOOR_FAIL: float = -0.01
|
||||
COLLISION: float = -0.5
|
||||
|
||||
|
||||
m = EnvActions
|
||||
c = Constants
|
||||
r = Rewards
|
||||
r = RewardsBase
|
||||
|
||||
ACTIONMAP = defaultdict(lambda: (0, 0),
|
||||
{m.NORTH: (-1, 0), m.NORTHEAST: (-1, 1),
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user