From 435056f373fae77631c81e4cdb055550d287331e Mon Sep 17 00:00:00 2001
From: Steffen Illium <steffen.illium@ifi.lmu.de>
Date: Mon, 10 Jan 2022 15:54:22 +0100
Subject: [PATCH] Rework for performance
---
environments/factory/base/base_factory.py | 247 +++++++++++---------
environments/factory/base/objects.py | 43 ++--
environments/factory/base/registers.py | 58 +++--
environments/factory/base/shadow_casting.py | 5 +-
environments/factory/factory_battery.py | 200 ++++++++--------
environments/factory/factory_dest.py | 138 ++++++-----
environments/factory/factory_dirt.py | 121 +++++-----
environments/factory/factory_item.py | 107 ++++-----
environments/helpers.py | 72 +++---
studies/single_run_with_export.py | 3 +-
10 files changed, 525 insertions(+), 469 deletions(-)
diff --git a/environments/factory/base/base_factory.py b/environments/factory/base/base_factory.py
index 9419c31..b7b515d 100644
--- a/environments/factory/base/base_factory.py
+++ b/environments/factory/base/base_factory.py
@@ -13,6 +13,8 @@ from gym.wrappers import FrameStack
from environments.factory.base.shadow_casting import Map
from environments import helpers as h
from environments.helpers import Constants as c
+from environments.helpers import EnvActions as a
+from environments.helpers import Rewards as r
from environments.factory.base.objects import Agent, Tile, Action
from environments.factory.base.registers import Actions, Entities, Agents, Doors, FloorTiles, WallTiles, PlaceHolders, \
GlobalPositions
@@ -205,8 +207,9 @@ class BaseFactory(gym.Env):
if self.obs_prop.show_global_position_info:
global_positions = GlobalPositions(self._level_shape)
- obs_shape_2d = self._level_shape if not self._pomdp_r else ((self.pomdp_diameter,) * 2)
- global_positions.spawn_global_position_objects(obs_shape_2d, self[c.AGENT])
+ # This moved into the GlobalPosition object
+ # obs_shape_2d = self._level_shape if not self._pomdp_r else ((self.pomdp_diameter,) * 2)
+ global_positions.spawn_global_position_objects(self[c.AGENT])
self._entities.register_additional_items({c.GLOBAL_POSITION: global_positions})
# Return
@@ -232,37 +235,51 @@ class BaseFactory(gym.Env):
# Pre step Hook for later use
self.hook_pre_step()
- # Move this in a seperate function?
for action, agent in zip(actions, self[c.AGENT]):
agent.clear_temp_state()
action_obj = self._actions[int(action)]
+ step_result = dict(collisions=[], rewards=[], info={}, action_name='', action_valid=False)
# cls.print(f'Action #{action} has been resolved to: {action_obj}')
- if h.EnvActions.is_move(action_obj):
- valid = self._move_or_colide(agent, action_obj)
- elif h.EnvActions.NOOP == agent.temp_action:
- valid = c.VALID
- elif h.EnvActions.USE_DOOR == action_obj:
- valid = self._handle_door_interaction(agent)
+ if a.is_move(action_obj):
+ action_valid, reward = self._do_move_action(agent, action_obj)
+ elif a.NOOP == action_obj:
+ action_valid = c.VALID
+ reward = dict(value=r.NOOP, reason=a.NOOP, info={f'{agent.pos}_NOOP': 1})
+ elif a.USE_DOOR == action_obj:
+ action_valid, reward = self._handle_door_interaction(agent)
else:
- valid = self.do_additional_actions(agent, action_obj)
- assert valid is not None, 'This should not happen, every Action musst be detected correctly!'
- agent.temp_action = action_obj
- agent.temp_valid = valid
-
- # In-between step Hook for later use
- info = self.do_additional_step()
+ # noinspection PyTupleAssignmentBalance
+ action_valid, reward = self.do_additional_actions(agent, action_obj)
+ # Not needed any more sice the tuple assignment above will fail in case of a failing action resolvement.
+ # assert step_result is not None, 'This should not happen, every Action musst be detected correctly!'
+ step_result['action_name'] = action_obj.identifier
+ step_result['action_valid'] = action_valid
+ step_result['rewards'].append(reward)
+ agent.step_result = step_result
+ # Additional step and Reward, Info Init
+ rewards, info = self.do_additional_step()
+ # Todo: Make this faster, so that only tiles of entities that can collide are searched.
tiles_with_collisions = self.get_all_tiles_with_collisions()
for tile in tiles_with_collisions:
guests = tile.guests_that_can_collide
for i, guest in enumerate(guests):
+ # This does make a copy, but is faster than.copy()
this_collisions = guests[:]
del this_collisions[i]
- guest.temp_collisions = this_collisions
+ assert hasattr(guest, 'step_result')
+ for collision in this_collisions:
+ guest.step_result['collisions'].append(collision)
- done = self.done_at_collision and tiles_with_collisions
+ done = False
+ if self.done_at_collision:
+ if done_at_col := bool(tiles_with_collisions):
+ done = done_at_col
+ info.update(COLLISION_DONE=done_at_col)
- done = done or self.check_additional_done()
+ additional_done, additional_done_info = self.check_additional_done()
+ done = done or additional_done
+ info.update(additional_done_info)
# Step the door close intervall
if self.parse_doors:
@@ -270,7 +287,8 @@ class BaseFactory(gym.Env):
doors.tick_doors()
# Finalize
- reward, reward_info = self.calculate_reward()
+ reward, reward_info = self.build_reward_result()
+
info.update(reward_info)
if self._steps >= self.max_steps:
done = True
@@ -285,7 +303,7 @@ class BaseFactory(gym.Env):
return obs, reward, done, info
- def _handle_door_interaction(self, agent) -> c:
+ def _handle_door_interaction(self, agent) -> (bool, dict):
if doors := self[c.DOORS]:
# Check if agent really is standing on a door:
if self.doors_have_area:
@@ -294,12 +312,21 @@ class BaseFactory(gym.Env):
door = doors.by_pos(agent.pos)
if door is not None:
door.use()
- return c.VALID
+ valid = c.VALID
+ self.print(f'{agent.name} just used a door {door.name}')
+ info_dict = {f'{agent.name}_door_use_{door.name}': 1}
# When he doesn't...
else:
- return c.NOT_VALID
+ valid = c.NOT_VALID
+ info_dict = {f'{agent.name}_failed_door_use': 1}
+ self.print(f'{agent.name} just tried to use a door at {agent.pos}, but there is none.')
+
else:
- return c.NOT_VALID
+ raise RuntimeError('This should not happen, since the door action should not be available.')
+ reward = dict(value=r.USE_DOOR_VALID if valid else r.USE_DOOR_FAIL,
+ reason=a.USE_DOOR, info=info_dict)
+
+ return valid, reward
def _build_observations(self) -> np.typing.ArrayLike:
# Observation dict:
@@ -308,7 +335,7 @@ class BaseFactory(gym.Env):
# Generel Observations
lvl_obs = self[c.WALLS].as_array()
door_obs = self[c.DOORS].as_array()
- agent_obs = self[c.AGENT].as_array() if self.obs_prop.render_agents != a_obs.NOT else None
+ global_agent_obs = self[c.AGENT].as_array() if self.obs_prop.render_agents != a_obs.NOT else None
placeholder_obs = self[c.AGENT_PLACEHOLDER].as_array() if self[c.AGENT_PLACEHOLDER] else None
add_obs_dict = self._additional_observations()
@@ -318,15 +345,20 @@ class BaseFactory(gym.Env):
if self.obs_prop.render_agents != a_obs.NOT:
if self.obs_prop.omit_agent_self:
if self.obs_prop.render_agents == a_obs.SEPERATE:
- agent_obs = np.take(agent_obs, [x for x in range(self.n_agents) if x != agent_idx], axis=0)
+ other_agent_obs_idx = [x for x in range(self.n_agents) if x != agent_idx]
+ agent_obs = np.take(global_agent_obs, other_agent_obs_idx, axis=0)
else:
- agent_obs = agent_obs.copy()
+ agent_obs = global_agent_obs.copy()
agent_obs[(0, *agent.pos)] -= agent.encoding
+ else:
+ agent_obs = global_agent_obs
+ else:
+ agent_obs = global_agent_obs
# Build Level Observations
if self.obs_prop.render_agents == a_obs.LEVEL:
lvl_obs = lvl_obs.copy()
- lvl_obs += agent_obs
+ lvl_obs += global_agent_obs
obs_dict[c.WALLS] = lvl_obs
if self.obs_prop.render_agents in [a_obs.SEPERATE, a_obs.COMBINED]:
@@ -340,11 +372,12 @@ class BaseFactory(gym.Env):
obsn = self._do_pomdp_cutout(agent, obsn)
raw_obs = self._additional_per_agent_raw_observations(agent)
- obsn = np.vstack((obsn, *list(raw_obs.values())))
+ raw_obs = {key: np.expand_dims(val, 0) if val.ndim != 3 else val for key, val in raw_obs.items()}
+ obsn = np.vstack((obsn, *raw_obs.values()))
keys = list(chain(obs_dict.keys(), raw_obs.keys()))
idxs = np.cumsum([x.shape[0] for x in chain(obs_dict.values(), raw_obs.values())]) - 1
- per_agent_expl_idx[agent.name] = {key: list(range(a, b)) for key, a, b in
+ per_agent_expl_idx[agent.name] = {key: list(range(d, b)) for key, d, b in
zip(keys, idxs, list(idxs[1:]) + [idxs[-1]+1, ])}
# Shadow Casting
@@ -390,7 +423,13 @@ class BaseFactory(gym.Env):
if door_shadowing:
# noinspection PyUnboundLocalVariable
light_block_map[xs, ys] = 0
- agent.temp_light_map = light_block_map.copy()
+ if agent.step_result:
+ agent.step_result['lightmap'] = light_block_map
+ pass
+ else:
+ assert self._steps == 0
+ agent.step_result = {'action_name': a.NOOP, 'action_valid': True,
+ 'collisions': [], 'lightmap': light_block_map}
obsn[shadowed_obs] = ((obsn[shadowed_obs] * light_block_map) + 0.) - (1 - light_block_map)
else:
@@ -410,27 +449,27 @@ class BaseFactory(gym.Env):
def _do_pomdp_cutout(self, agent, obs_to_be_padded):
assert obs_to_be_padded.ndim == 3
- r, d = self._pomdp_r, self.pomdp_diameter
- x0, x1 = max(0, agent.x - r), min(agent.x + r + 1, self._level_shape[0])
- y0, y1 = max(0, agent.y - r), min(agent.y + r + 1, self._level_shape[1])
+ ra, d = self._pomdp_r, self.pomdp_diameter
+ x0, x1 = max(0, agent.x - ra), min(agent.x + ra + 1, self._level_shape[0])
+ y0, y1 = max(0, agent.y - ra), min(agent.y + ra + 1, self._level_shape[1])
oobs = obs_to_be_padded[:, x0:x1, y0:y1]
if oobs.shape[1:] != (d, d):
if xd := oobs.shape[1] % d:
- if agent.x > r:
+ if agent.x > ra:
x0_pad = 0
x1_pad = (d - xd)
else:
- x0_pad = r - agent.x
+ x0_pad = ra - agent.x
x1_pad = 0
else:
x0_pad, x1_pad = 0, 0
if yd := oobs.shape[2] % d:
- if agent.y > r:
+ if agent.y > ra:
y0_pad = 0
y1_pad = (d - yd)
else:
- y0_pad = r - agent.y
+ y0_pad = ra - agent.y
y1_pad = 0
else:
y0_pad, y1_pad = 0, 0
@@ -439,22 +478,39 @@ class BaseFactory(gym.Env):
return oobs
def get_all_tiles_with_collisions(self) -> List[Tile]:
- tiles_with_collisions = list()
- for tile in self[c.FLOOR]:
- if tile.is_occupied():
- guests = tile.guests_that_can_collide
- if len(guests) >= 2:
- tiles_with_collisions.append(tile)
- return tiles_with_collisions
+ tiles = [x.tile for y in self._entities for x in y if
+ y.can_collide and not isinstance(y, WallTiles) and x.can_collide and len(x.tile.guests) > 1]
+ if False:
+ tiles_with_collisions = list()
+ for tile in self[c.FLOOR]:
+ if tile.is_occupied():
+ guests = tile.guests_that_can_collide
+ if len(guests) >= 2:
+ tiles_with_collisions.append(tile)
+ return tiles
- def _move_or_colide(self, agent: Agent, action: Action) -> bool:
+ def _do_move_action(self, agent: Agent, action: Action) -> (dict, dict):
+ info_dict = dict()
new_tile, valid = self._check_agent_move(agent, action)
if valid:
# Does not collide width level boundaries
- return agent.move(new_tile)
+ valid = agent.move(new_tile)
+ if valid:
+ # This will spam your logs, beware!
+ # self.print(f'{agent.name} just moved from {agent.last_pos} to {agent.pos}.')
+ # info_dict.update({f'{agent.pos}_move': 1})
+ pass
+ else:
+ valid = c.NOT_VALID
+ self.print(f'{agent.name} just hit the wall at {agent.pos}.')
+ info_dict.update({f'{agent.pos}_wall_collide': 1})
else:
- # Agent seems to be trying to collide in this step
- return c.NOT_VALID
+ # Agent seems to be trying to Leave the level
+ self.print(f'{agent.name} tried to leave the level {agent.pos}.')
+ info_dict.update({f'{agent.pos}_wall_collide': 1})
+ reward_value = r.MOVEMENTS_VALID if valid else r.MOVEMENTS_FAIL
+ reward = {'value': reward_value, 'reason': action.identifier, 'info': info_dict}
+ return valid, reward
def _check_agent_move(self, agent, action: Action) -> (Tile, bool):
# Actions
@@ -474,7 +530,7 @@ class BaseFactory(gym.Env):
if doors := self[c.DOORS]:
if self.doors_have_area:
if door := doors.by_pos(new_tile.pos):
- if door.is_open:
+ if door.is_closed:
return agent.tile, c.NOT_VALID
else: # door.is_closed:
pass
@@ -494,69 +550,46 @@ class BaseFactory(gym.Env):
return new_tile, valid
- def calculate_reward(self) -> (int, dict):
+ @abc.abstractmethod
+ def additional_per_agent_rewards(self, agent) -> List[dict]:
+ return []
+
+ def build_reward_result(self) -> (int, dict):
# Returns: Reward, Info
- per_agent_info_dict = defaultdict(dict)
- reward = {}
+ info = defaultdict(lambda: 0.0)
+ # Gather additional sub-env rewards and calculate collisions
for agent in self[c.AGENT]:
- per_agent_reward = 0
- if self._actions.is_moving_action(agent.temp_action):
- if agent.temp_valid:
- # info_dict.update(movement=1)
- per_agent_reward -= 0.001
- pass
- else:
- per_agent_reward -= 0.05
- self.print(f'{agent.name} just hit the wall at {agent.pos}.')
- per_agent_info_dict[agent.name].update({f'{agent.name}_vs_LEVEL': 1})
- elif h.EnvActions.USE_DOOR == agent.temp_action:
- if agent.temp_valid:
- # per_agent_reward += 0.00
- self.print(f'{agent.name} did just use the door at {agent.pos}.')
- per_agent_info_dict[agent.name].update(door_used=1)
- else:
- # per_agent_reward -= 0.00
- self.print(f'{agent.name} just tried to use a door at {agent.pos}, but failed.')
- per_agent_info_dict[agent.name].update({f'{agent.name}_failed_door_open': 1})
- elif h.EnvActions.NOOP == agent.temp_action:
- per_agent_info_dict[agent.name].update(no_op=1)
- # per_agent_reward -= 0.00
-
- # EnvMonitor Notes
- if agent.temp_valid:
- per_agent_info_dict[agent.name].update(valid_action=1)
- per_agent_info_dict[agent.name].update({f'{agent.name}_valid_action': 1})
+ rewards = self.additional_per_agent_rewards(agent)
+ for reward in rewards:
+ agent.step_result['rewards'].append(reward)
+ if collisions := agent.step_result['collisions']:
+ self.print(f't = {self._steps}\t{agent.name} has collisions with {collisions}')
+ info[c.COLLISION] += 1
+ reward = {'value': r.COLLISION, 'reason': c.COLLISION, 'info': {f'{agent.name}_{c.COLLISION}': 1}}
+ agent.step_result['rewards'].append(reward)
else:
- per_agent_info_dict[agent.name].update(failed_action=1)
- per_agent_info_dict[agent.name].update({f'{agent.name}_failed_action': 1})
+ # No Collisions, nothing to do
+ pass
- additional_reward, additional_info_dict = self.calculate_additional_reward(agent)
- per_agent_reward += additional_reward
- per_agent_info_dict[agent.name].update(additional_info_dict)
-
- if agent.temp_collisions:
- self.print(f't = {self._steps}\t{agent.name} has collisions with {agent.temp_collisions}')
- per_agent_info_dict[agent.name].update(collisions=1)
-
- for other_agent in agent.temp_collisions:
- per_agent_info_dict[agent.name].update({f'{agent.name}_vs_{other_agent.name}': 1})
- reward[agent.name] = per_agent_reward
+ comb_rewards = {agent.name: sum(x['value'] for x in agent.step_result['rewards']) for agent in self[c.AGENT]}
# Combine the per_agent_info_dict:
combined_info_dict = defaultdict(lambda: 0)
- for info_dict in per_agent_info_dict.values():
- for key, value in info_dict.items():
- combined_info_dict[key] += value
+ for agent in self[c.AGENT]:
+ for reward in agent.step_result['rewards']:
+ combined_info_dict.update(reward['info'])
+
combined_info_dict = dict(combined_info_dict)
+ combined_info_dict.update(info)
if self.individual_rewards:
- self.print(f"rewards are {reward}")
- reward = list(reward.values())
+ self.print(f"rewards are {comb_rewards}")
+ reward = list(comb_rewards.values())
return reward, combined_info_dict
else:
- reward = sum(reward.values())
+ reward = sum(comb_rewards.values())
self.print(f"reward is {reward}")
return reward, combined_info_dict
@@ -574,7 +607,7 @@ class BaseFactory(gym.Env):
agents = []
for i, agent in enumerate(self[c.AGENT]):
name, state = h.asset_str(agent)
- agents.append(RenderEntity(name, agent.pos, 1, 'none', state, i + 1, agent.temp_light_map))
+ agents.append(RenderEntity(name, agent.pos, 1, 'none', state, i + 1, agent.step_result['lightmap']))
doors = []
if self.parse_doors:
for i, door in enumerate(self[c.DOORS]):
@@ -637,16 +670,16 @@ class BaseFactory(gym.Env):
pass
@abc.abstractmethod
- def do_additional_step(self) -> dict:
- return {}
+ def do_additional_step(self) -> (List[dict], dict):
+ return [], {}
@abc.abstractmethod
- def do_additional_actions(self, agent: Agent, action: Action) -> Union[None, c]:
+ def do_additional_actions(self, agent: Agent, action: Action) -> (bool, dict):
return None
@abc.abstractmethod
- def check_additional_done(self) -> bool:
- return False
+ def check_additional_done(self) -> (bool, dict):
+ return False, {}
@abc.abstractmethod
def _additional_observations(self) -> Dict[str, np.typing.ArrayLike]:
@@ -660,8 +693,8 @@ class BaseFactory(gym.Env):
return additional_raw_observations
@abc.abstractmethod
- def calculate_additional_reward(self, agent: Agent) -> (int, dict):
- return 0, {}
+ def additional_per_agent_reward(self, agent: Agent) -> Dict[str, dict]:
+ return {}
@abc.abstractmethod
def render_additional_assets(self):
diff --git a/environments/factory/base/objects.py b/environments/factory/base/objects.py
index fd77efd..f3d4b5e 100644
--- a/environments/factory/base/objects.py
+++ b/environments/factory/base/objects.py
@@ -33,7 +33,7 @@ class Object:
else:
return self._name
- def __init__(self, str_ident: Union[str, None] = None, is_blocking_light=False, **kwargs):
+ def __init__(self, str_ident: Union[str, None] = None, **kwargs):
self._str_ident = str_ident
@@ -45,7 +45,6 @@ class Object:
else:
raise ValueError('Please use either of the idents.')
- self._is_blocking_light = is_blocking_light
if kwargs:
print(f'Following kwargs were passed, but ignored: {kwargs}')
@@ -62,6 +61,10 @@ class EnvObject(Object):
_u_idx = defaultdict(lambda: 0)
+ @property
+ def can_collide(self):
+ return False
+
@property
def encoding(self):
return c.OCCUPIED_CELL
@@ -71,7 +74,10 @@ class EnvObject(Object):
self._register = register
def change_register(self, register):
+ register.register_item(self)
+ self._register.delete_env_object(self)
self._register = register
+ return self._register == register
class BoundingMixin(Object):
@@ -85,11 +91,6 @@ class BoundingMixin(Object):
assert entity_to_be_bound is not None
self._bound_entity = entity_to_be_bound
- def __repr__(self):
- s = super(BoundingMixin, self).__repr__()
- i = s[:s.find('(')]
- return f'{s[:i]}[{self.bound_entity.name}]{s[i:]}'
-
@property
def name(self):
return f'{super(BoundingMixin, self).name}({self._bound_entity.name})'
@@ -101,13 +102,9 @@ class BoundingMixin(Object):
class Entity(EnvObject):
"""Full Env Entity that lives on the env Grid. Doors, Items, Dirt etc..."""
- @property
- def is_blocking_light(self):
- return self._is_blocking_light
-
@property
def can_collide(self):
- return True
+ return False
@property
def x(self):
@@ -125,10 +122,9 @@ class Entity(EnvObject):
def tile(self):
return self._tile
- def __init__(self, tile, *args, is_blocking_light=True, **kwargs):
+ def __init__(self, tile, *args, **kwargs):
super().__init__(*args, **kwargs)
self._tile = tile
- self._is_blocking_light = is_blocking_light
tile.enter(self)
def summarize_state(self, **_) -> dict:
@@ -170,9 +166,9 @@ class MoveableEntity(Entity):
self._tile = next_tile
self._last_tile = curr_tile
self._register.notify_change_to_value(self)
- return True
+ return c.VALID
else:
- return False
+ return c.NOT_VALID
##########################################################################
@@ -284,6 +280,10 @@ class Tile(EnvObject):
class Wall(Tile):
+ @property
+ def can_collide(self):
+ return True
+
@property
def encoding(self):
return c.OCCUPIED_CELL
@@ -381,6 +381,10 @@ class Door(Entity):
class Agent(MoveableEntity):
+ @property
+ def can_collide(self):
+ return True
+
def __init__(self, *args, **kwargs):
super(Agent, self).__init__(*args, **kwargs)
self.clear_temp_state()
@@ -389,12 +393,9 @@ class Agent(MoveableEntity):
def clear_temp_state(self):
# for attr in cls.__dict__:
# if attr.startswith('temp'):
- self.temp_collisions = []
- self.temp_valid = None
- self.temp_action = None
- self.temp_light_map = None
+ self.step_result = None
def summarize_state(self, **kwargs):
state_dict = super().summarize_state(**kwargs)
- state_dict.update(valid=bool(self.temp_valid), action=str(self.temp_action))
+ state_dict.update(valid=bool(self.temp_action_result['valid']), action=str(self.temp_action_result['action']))
return state_dict
diff --git a/environments/factory/base/registers.py b/environments/factory/base/registers.py
index 89bbb5a..5cf41b1 100644
--- a/environments/factory/base/registers.py
+++ b/environments/factory/base/registers.py
@@ -85,19 +85,27 @@ class EnvObjectRegister(ObjectRegister):
def encodings(self):
return [x.encoding for x in self]
- def __init__(self, obs_shape: (int, int), *args, individual_slices: bool = False, **kwargs):
+ def __init__(self, obs_shape: (int, int), *args,
+ individual_slices: bool = False,
+ is_blocking_light: bool = False,
+ can_collide: bool = False,
+ can_be_shadowed: bool = True, **kwargs):
super(EnvObjectRegister, self).__init__(*args, **kwargs)
self._shape = obs_shape
self._array = None
self._individual_slices = individual_slices
self._lazy_eval_transforms = []
+ self.is_blocking_light = is_blocking_light
+ self.can_be_shadowed = can_be_shadowed
+ self.can_collide = can_collide
def register_item(self, other: EnvObject):
super(EnvObjectRegister, self).register_item(other)
if self._array is None:
self._array = np.zeros((1, *self._shape))
- if self._individual_slices:
- self._array = np.vstack((self._array, np.zeros((1, *self._shape))))
+ else:
+ if self._individual_slices:
+ self._array = np.vstack((self._array, np.zeros((1, *self._shape))))
self.notify_change_to_value(other)
def as_array(self):
@@ -179,14 +187,9 @@ class EntityRegister(EnvObjectRegister, ABC):
def tiles(self):
return [entity.tile for entity in self]
- def __init__(self, level_shape, *args,
- is_blocking_light: bool = False,
- can_be_shadowed: bool = True,
- **kwargs):
+ def __init__(self, level_shape, *args, **kwargs):
super(EntityRegister, self).__init__(level_shape, *args, **kwargs)
self._lazy_eval_transforms = []
- self.can_be_shadowed = can_be_shadowed
- self.is_blocking_light = is_blocking_light
def __delitem__(self, name):
idx, obj = next((i, obj) for i, obj in enumerate(self) if obj.name == name)
@@ -220,7 +223,7 @@ class EntityRegister(EnvObjectRegister, ABC):
return None
-class BoundRegisterMixin(EnvObjectRegister, ABC):
+class BoundEnvObjRegister(EnvObjectRegister, ABC):
def __init__(self, entity_to_be_bound, *args, **kwargs):
super().__init__(*args, **kwargs)
@@ -229,6 +232,21 @@ class BoundRegisterMixin(EnvObjectRegister, ABC):
def belongs_to_entity(self, entity):
return self._bound_entity == entity
+ def by_entity(self, entity):
+ try:
+ return next((x for x in self if x.belongs_to_entity(entity)))
+ except StopIteration:
+ return None
+
+ def idx_by_entity(self, entity):
+ try:
+ return next((idx for idx, x in enumerate(self) if x.belongs_to_entity(entity)))
+ except StopIteration:
+ return None
+
+ def as_array_by_entity(self, entity):
+ return self._array[self.idx_by_entity(entity)]
+
class MovingEntityObjectRegister(EntityRegister, ABC):
@@ -255,6 +273,7 @@ class GlobalPositions(EnvObjectRegister):
is_blocking_light = False
can_be_shadowed = False
+ can_collide = False
def __init__(self, *args, **kwargs):
super(GlobalPositions, self).__init__(*args, is_per_agent=True, individual_slices=True, **kwargs)
@@ -360,7 +379,6 @@ class Entities(ObjectRegister):
class WallTiles(EntityRegister):
_accepted_objects = Wall
- _light_blocking = True
def as_array(self):
if not np.any(self._array):
@@ -371,9 +389,10 @@ class WallTiles(EntityRegister):
self._array[0, x, y] = self._value
return self._array
- def __init__(self, *args, **kwargs):
- super(WallTiles, self).__init__(*args, is_blocking_light=self._light_blocking, individual_slices=False,
- **kwargs)
+ def __init__(self, *args, is_blocking_light=True, **kwargs):
+ super(WallTiles, self).__init__(*args, individual_slices=False,
+ can_collide=True,
+ is_blocking_light=is_blocking_light, **kwargs)
self._value = c.OCCUPIED_CELL
@classmethod
@@ -381,7 +400,7 @@ class WallTiles(EntityRegister):
tiles = cls(*args, **kwargs)
# noinspection PyTypeChecker
tiles.register_additional_items(
- [cls._accepted_objects(pos, tiles, is_blocking_light=cls._light_blocking)
+ [cls._accepted_objects(pos, tiles)
for pos in argwhere_coordinates]
)
return tiles
@@ -399,10 +418,9 @@ class WallTiles(EntityRegister):
class FloorTiles(WallTiles):
_accepted_objects = Tile
- _light_blocking = False
- def __init__(self, *args, **kwargs):
- super(FloorTiles, self).__init__(*args, **kwargs)
+ def __init__(self, *args, is_blocking_light=False, **kwargs):
+ super(FloorTiles, self).__init__(*args, is_blocking_light=is_blocking_light, **kwargs)
self._value = c.FREE_CELL
@property
@@ -430,7 +448,7 @@ class Agents(MovingEntityObjectRegister):
_accepted_objects = Agent
def __init__(self, *args, **kwargs):
- super().__init__(*args, **kwargs)
+ super().__init__(*args, can_collide=True, **kwargs)
@property
def positions(self):
@@ -446,7 +464,7 @@ class Agents(MovingEntityObjectRegister):
class Doors(EntityRegister):
def __init__(self, *args, **kwargs):
- super(Doors, self).__init__(*args, is_blocking_light=True, **kwargs)
+ super(Doors, self).__init__(*args, is_blocking_light=True, can_collide=True, **kwargs)
_accepted_objects = Door
diff --git a/environments/factory/base/shadow_casting.py b/environments/factory/base/shadow_casting.py
index 3fdd0b6..1c3859e 100644
--- a/environments/factory/base/shadow_casting.py
+++ b/environments/factory/base/shadow_casting.py
@@ -2,6 +2,7 @@ import numpy as np
from environments.helpers import Constants as c
+# Multipliers for transforming coordinates to other octants:
mult_array = np.asarray([
[1, 0, 0, -1, -1, 0, 0, 1],
[0, 1, -1, 0, 0, -1, 1, 0],
@@ -11,8 +12,6 @@ mult_array = np.asarray([
class Map(object):
- # Multipliers for transforming coordinates to other octants:
-
def __init__(self, map_array: np.typing.ArrayLike, diamond_slope: float = 0.9):
self.data = map_array
self.width, self.height = map_array.shape
@@ -33,7 +32,7 @@ class Map(object):
self.light[x, y] = self.flag
def _cast_light(self, cx, cy, row, start, end, radius, xx, xy, yx, yy, id):
- "Recursive lightcasting function"
+ """Recursive lightcasting function"""
if start < end:
return
radius_squared = radius*radius
diff --git a/environments/factory/factory_battery.py b/environments/factory/factory_battery.py
index f6c57bd..b1f81c8 100644
--- a/environments/factory/factory_battery.py
+++ b/environments/factory/factory_battery.py
@@ -1,4 +1,4 @@
-from typing import Union, NamedTuple, Dict
+from typing import Union, NamedTuple, Dict, List
import numpy as np
@@ -6,13 +6,29 @@ from environments.factory.base.base_factory import BaseFactory
from environments.factory.base.objects import Agent, Action, Entity, EnvObject, BoundingMixin
from environments.factory.base.registers import EntityRegister, EnvObjectRegister
from environments.factory.base.renderer import RenderEntity
-from environments.helpers import Constants as c, Constants
+from environments.helpers import Constants as BaseConstants
+from environments.helpers import EnvActions as BaseActions
+from environments.helpers import Rewards as BaseRewards
from environments import helpers as h
-CHARGE_ACTION = h.EnvActions.CHARGE
-CHARGE_POD = 1
+class Constants(BaseConstants):
+ # Battery Env
+ CHARGE_PODS = 'Charge_Pod'
+ BATTERIES = 'BATTERIES'
+ BATTERY_DISCHARGED = 'DISCHARGED'
+ CHARGE_POD = 1
+
+
+class Actions(BaseActions):
+ CHARGE = 'do_charge_action'
+
+
+class Rewards(BaseRewards):
+ CHARGE_VALID = 0.1
+ CHARGE_FAIL = -0.1
+ BATTERY_DISCHARGED = -1.0
class BatteryProperties(NamedTuple):
@@ -24,7 +40,12 @@ class BatteryProperties(NamedTuple):
multi_charge: bool = False
-class Battery(EnvObject, BoundingMixin):
+c = Constants
+a = Actions
+r = Rewards
+
+
+class Battery(BoundingMixin, EnvObject):
@property
def is_discharged(self):
@@ -37,13 +58,13 @@ class Battery(EnvObject, BoundingMixin):
def encoding(self):
return self.charge_level
- def charge(self, amount) -> c:
+ def do_charge_action(self, amount):
if self.charge_level < 1:
# noinspection PyTypeChecker
self.charge_level = min(1, amount + self.charge_level)
- return c.VALID
+ return dict(valid=c.VALID, action=a.CHARGE, reward=r.CHARGE_VALID)
else:
- return c.NOT_VALID
+ return dict(valid=c.NOT_VALID, action=a.CHARGE, reward=r.CHARGE_FAIL)
def decharge(self, amount) -> c:
if self.charge_level != 0:
@@ -54,7 +75,7 @@ class Battery(EnvObject, BoundingMixin):
else:
return c.NOT_VALID
- def summarize_state(self, **kwargs):
+ def summarize_state(self, **_):
attr_dict = {key: str(val) for key, val in self.__dict__.items() if not key.startswith('_') and key != 'data'}
attr_dict.update(dict(name=self.name))
return attr_dict
@@ -63,53 +84,43 @@ class Battery(EnvObject, BoundingMixin):
class BatteriesRegister(EnvObjectRegister):
_accepted_objects = Battery
- is_blocking_light = False
- can_be_shadowed = False
def __init__(self, *args, **kwargs):
- super(BatteriesRegister, self).__init__(*args, is_per_agent=True, individual_slices=True, **kwargs)
+ super(BatteriesRegister, self).__init__(*args, individual_slices=True,
+ is_blocking_light=False, can_be_shadowed=False, **kwargs)
self.is_observable = True
- def as_array(self):
- # ToDO: Make this Lazy
- self._array[:] = c.FREE_CELL.value
- for inv_idx, battery in enumerate(self):
- self._array[inv_idx] = battery.as_array()
- return self._array
-
- def spawn_batteries(self, agents, pomdp_r, initial_charge_level):
- batteries = [self._accepted_objects(pomdp_r, self._shape, agent,
- initial_charge_level)
- for _, agent in enumerate(agents)]
+ def spawn_batteries(self, agents, initial_charge_level):
+ batteries = [self._accepted_objects(initial_charge_level, agent, self) for _, agent in enumerate(agents)]
self.register_additional_items(batteries)
- def idx_by_entity(self, entity):
- try:
- return next((idx for idx, bat in enumerate(self) if bat.belongs_to_entity(entity)))
- except StopIteration:
- return None
-
- def by_entity(self, entity):
- try:
- return next((bat for bat in self if bat.belongs_to_entity(entity)))
- except StopIteration:
- return None
-
def summarize_states(self, n_steps=None):
# as dict with additional nesting
# return dict(items=super(Inventories, cls).summarize_states())
return super(BatteriesRegister, self).summarize_states(n_steps=n_steps)
+ # Todo Move this to Mixin!
+ def by_entity(self, entity):
+ try:
+ return next((x for x in self if x.belongs_to_entity(entity)))
+ except StopIteration:
+ return None
+
+ def idx_by_entity(self, entity):
+ try:
+ return next((idx for idx, x in enumerate(self) if x.belongs_to_entity(entity)))
+ except StopIteration:
+ return None
+
+ def as_array_by_entity(self, entity):
+ return self._array[self.idx_by_entity(entity)]
+
class ChargePod(Entity):
- @property
- def can_collide(self):
- return False
-
@property
def encoding(self):
- return CHARGE_POD
+ return c.CHARGE_POD
def __init__(self, *args, charge_rate: float = 0.4,
multi_charge: bool = False, **kwargs):
@@ -120,9 +131,9 @@ class ChargePod(Entity):
def charge_battery(self, battery: Battery):
if battery.charge_level == 1.0:
return c.NOT_VALID
- if sum(guest for guest in self.tile.guests if c.AGENT.name in guest.name) > 1:
+ if sum(guest for guest in self.tile.guests if 'agent' in guest.name.lower()) > 1:
return c.NOT_VALID
- battery.charge(self.charge_rate)
+ battery.do_charge_action(self.charge_rate)
return c.VALID
def summarize_state(self, n_steps=None) -> dict:
@@ -135,14 +146,6 @@ class ChargePods(EntityRegister):
_accepted_objects = ChargePod
- @DeprecationWarning
- def Xas_array(self):
- self._array[:] = c.FREE_CELL.value
- for item in self:
- if item.pos != c.NO_POS.value:
- self._array[0, item.x, item.y] = item.encoding
- return self._array
-
def __repr__(self):
super(ChargePods, self).__repr__()
@@ -155,14 +158,14 @@ class BatteryFactory(BaseFactory):
self.btry_prop = btry_prop
super().__init__(*args, **kwargs)
- def _additional_per_agent_raw_observations(self, agent) -> Dict[Constants, np.typing.ArrayLike]:
+ def _additional_per_agent_raw_observations(self, agent) -> Dict[str, np.typing.ArrayLike]:
additional_raw_observations = super()._additional_per_agent_raw_observations(agent)
- additional_raw_observations.update({c.BATTERIES: self[c.BATTERIES].by_entity(agent).as_array()})
+ additional_raw_observations.update({c.BATTERIES: self[c.BATTERIES].as_array_by_entity(agent)})
return additional_raw_observations
- def _additional_observations(self) -> Dict[Constants, np.typing.ArrayLike]:
+ def _additional_observations(self) -> Dict[str, np.typing.ArrayLike]:
additional_observations = super()._additional_observations()
- additional_observations.update({c.CHARGE_POD: self[c.CHARGE_POD].as_array()})
+ additional_observations.update({c.CHARGE_PODS: self[c.CHARGE_PODS].as_array()})
return additional_observations
@property
@@ -178,12 +181,12 @@ class BatteryFactory(BaseFactory):
batteries = BatteriesRegister(self._level_shape if not self._pomdp_r else ((self.pomdp_diameter,) * 2),
)
- batteries.spawn_batteries(self[c.AGENT], self._pomdp_r, self.btry_prop.initial_charge)
- super_entities.update({c.BATTERIES: batteries, c.CHARGE_POD: charge_pods})
+ batteries.spawn_batteries(self[c.AGENT], self.btry_prop.initial_charge)
+ super_entities.update({c.BATTERIES: batteries, c.CHARGE_PODS: charge_pods})
return super_entities
- def do_additional_step(self) -> dict:
- info_dict = super(BatteryFactory, self).do_additional_step()
+ def do_additional_step(self) -> (List[dict], dict):
+ super_reward_info = super(BatteryFactory, self).do_additional_step()
# Decharge
batteries = self[c.BATTERIES]
@@ -196,65 +199,70 @@ class BatteryFactory(BaseFactory):
batteries.by_entity(agent).decharge(energy_consumption)
- return info_dict
+ return super_reward_info
- def do_charge(self, agent) -> c:
- if charge_pod := self[c.CHARGE_POD].by_pos(agent.pos):
- return charge_pod.charge_battery(self[c.BATTERIES].by_entity(agent))
+ def do_charge_action(self, agent) -> (dict, dict):
+ if charge_pod := self[c.CHARGE_PODS].by_pos(agent.pos):
+ valid = charge_pod.charge_battery(self[c.BATTERIES].by_entity(agent))
+ if valid:
+ info_dict = {f'{agent.name}_{a.CHARGE}_VALID': 1}
+ self.print(f'{agent.name} just charged batteries at {charge_pod.name}.')
+ else:
+ info_dict = {f'{agent.name}_{a.CHARGE}_FAIL': 1}
+ self.print(f'{agent.name} failed to charged batteries at {charge_pod.name}.')
else:
- return c.NOT_VALID
+ valid = c.NOT_VALID
+ info_dict = {f'{agent.name}_{a.CHARGE}_FAIL': 1}
+ # info_dict = {f'{agent.name}_no_charger': 1}
+ self.print(f'{agent.name} failed to charged batteries at {agent.pos}.')
+ reward = dict(value=r.CHARGE_VALID if valid else r.CHARGE_FAIL, reason=a.CHARGE, info=info_dict)
+ return valid, reward
- def do_additional_actions(self, agent: Agent, action: Action) -> Union[None, c]:
- valid = super().do_additional_actions(agent, action)
- if valid is None:
- if action == CHARGE_ACTION:
- valid = self.do_charge(agent)
- return valid
+ def do_additional_actions(self, agent: Agent, action: Action) -> (bool, dict):
+ action_result = super().do_additional_actions(agent, action)
+ if action_result is None:
+ if action == a.CHARGE:
+ action_result = self.do_charge_action(agent)
+ return action_result
else:
return None
else:
- return valid
+ return action_result
pass
def do_additional_reset(self) -> None:
# There is Nothing to reset.
pass
- def check_additional_done(self) -> bool:
- super_done = super(BatteryFactory, self).check_additional_done()
+ def check_additional_done(self) -> (bool, dict):
+ super_done, super_dict = super(BatteryFactory, self).check_additional_done()
if super_done:
- return super_done
+ return super_done, super_dict
else:
- return self.btry_prop.done_when_discharged and any(battery.is_discharged for battery in self[c.BATTERIES])
+ if self.btry_prop.done_when_discharged:
+ if btry_done := any(battery.is_discharged for battery in self[c.BATTERIES]):
+ super_dict.update(DISCHARGE_DONE=1)
+ return btry_done, super_dict
+ else:
+ pass
+ else:
+ pass
pass
- def calculate_additional_reward(self, agent: Agent) -> (int, dict):
- reward, info_dict = super(BatteryFactory, self).calculate_additional_reward(agent)
- if h.EnvActions.CHARGE == agent.temp_action:
- if agent.temp_valid:
- charge_pod = self[c.CHARGE_POD].by_pos(agent.pos)
- info_dict.update({f'{agent.name}_charge': 1})
- info_dict.update(agent_charged=1)
- self.print(f'{agent.name} just charged batteries at {charge_pod.pos}.')
- reward += 0.1
- else:
- self[c.DROP_OFF].by_pos(agent.pos)
- info_dict.update({f'{agent.name}_failed_charge': 1})
- info_dict.update(failed_charge=1)
- self.print(f'{agent.name} just tried to charge at {agent.pos}, but failed.')
- reward -= 0.1
-
+ def additional_per_agent_reward(self, agent: Agent) -> Dict[str, dict]:
+ reward_event_dict = super(BatteryFactory, self).additional_per_agent_reward(agent)
if self[c.BATTERIES].by_entity(agent).is_discharged:
- info_dict.update({f'{agent.name}_discharged': 1})
- reward -= 1
+ self.print(f'{agent.name} Battery is discharged!')
+ info_dict = {f'{agent.name}_{c.BATTERY_DISCHARGED}': 1}
+ reward_event_dict.update({c.BATTERY_DISCHARGED: {'reward': r.BATTERY_DISCHARGED, 'info': info_dict}})
else:
- info_dict.update({f'{agent.name}_battery_level': self[c.BATTERIES].by_entity(agent).charge_level})
- return reward, info_dict
+ # All Fine
+ pass
+ return reward_event_dict
def render_additional_assets(self):
# noinspection PyUnresolvedReferences
additional_assets = super().render_additional_assets()
- charge_pods = [RenderEntity(c.CHARGE_POD.value, charge_pod.tile.pos) for charge_pod in self[c.CHARGE_POD]]
+ charge_pods = [RenderEntity(c.CHARGE_PODS, charge_pod.tile.pos) for charge_pod in self[c.CHARGE_PODS]]
additional_assets.extend(charge_pods)
return additional_assets
-
diff --git a/environments/factory/factory_dest.py b/environments/factory/factory_dest.py
index 24e4b7f..e3f8d31 100644
--- a/environments/factory/factory_dest.py
+++ b/environments/factory/factory_dest.py
@@ -6,18 +6,32 @@ import numpy as np
import random
from environments.factory.base.base_factory import BaseFactory
-from environments.helpers import Constants as c, Constants
-from environments import helpers as h
+from environments.helpers import Constants as BaseConstants
+from environments.helpers import EnvActions as BaseActions
+from environments.helpers import Rewards as BaseRewards
from environments.factory.base.objects import Agent, Entity, Action
from environments.factory.base.registers import Entities, EntityRegister
from environments.factory.base.renderer import RenderEntity
+class Constants(BaseConstants):
+ # Destination Env
+ DEST = 'Destination'
+ DESTINATION = 1
+ DESTINATION_DONE = 0.5
+ DEST_REACHED = 'ReachedDestination'
-DESTINATION = 1
-DESTINATION_DONE = 0.5
+class Actions(BaseActions):
+ WAIT_ON_DEST = 'WAIT'
+
+
+class Rewards(BaseRewards):
+
+ WAIT_VALID = 0.1
+ WAIT_FAIL = -0.1
+ DEST_REACHED = 5.0
class Destination(Entity):
@@ -30,20 +44,16 @@ class Destination(Entity):
def currently_dwelling_names(self):
return self._per_agent_times.keys()
- @property
- def can_collide(self):
- return False
-
@property
def encoding(self):
- return DESTINATION
+ return c.DESTINATION
def __init__(self, *args, dwell_time: int = 0, **kwargs):
super(Destination, self).__init__(*args, **kwargs)
self.dwell_time = dwell_time
self._per_agent_times = defaultdict(lambda: dwell_time)
- def wait(self, agent: Agent):
+ def do_wait_action(self, agent: Agent):
self._per_agent_times[agent.name] -= 1
return c.VALID
@@ -52,7 +62,7 @@ class Destination(Entity):
@property
def is_considered_reached(self):
- agent_at_position = any(c.AGENT.name.lower() in x.name.lower() for x in self.tile.guests_that_can_collide)
+ agent_at_position = any(c.AGENT.lower() in x.name.lower() for x in self.tile.guests_that_can_collide)
return (agent_at_position and not self.dwell_time) or any(x == 0 for x in self._per_agent_times.values())
def agent_is_dwelling(self, agent: Agent):
@@ -67,15 +77,19 @@ class Destination(Entity):
class Destinations(EntityRegister):
_accepted_objects = Destination
- _light_blocking = False
+
+ def __init__(self, *args, **kwargs):
+ super().__init__(*args, **kwargs)
+ self.is_blocking_light = False
+ self.can_be_shadowed = False
def as_array(self):
- self._array[:] = c.FREE_CELL.value
+ self._array[:] = c.FREE_CELL
# ToDo: Switch to new Style Array Put
# indices = list(zip(range(len(cls)), *zip(*[x.pos for x in cls])))
# np.put(cls._array, [np.ravel_multi_index(x, cls._array.shape) for x in indices], cls.encodings)
for item in self:
- if item.pos != c.NO_POS.value:
+ if item.pos != c.NO_POS:
self._array[0, item.x, item.y] = item.encoding
return self._array
@@ -85,10 +99,11 @@ class Destinations(EntityRegister):
class ReachedDestinations(Destinations):
_accepted_objects = Destination
- _light_blocking = False
def __init__(self, *args, **kwargs):
super(ReachedDestinations, self).__init__(*args, **kwargs)
+ self.can_be_shadowed = False
+ self.is_blocking_light = False
def summarize_states(self, n_steps=None):
return {}
@@ -102,7 +117,7 @@ class DestModeOptions(object):
class DestProperties(NamedTuple):
n_dests: int = 1 # How many destinations are there
- dwell_time: int = 0 # How long does the agent need to "wait" on a destination
+ dwell_time: int = 0 # How long does the agent need to "do_wait_action" on a destination
spawn_frequency: int = 0
spawn_in_other_zone: bool = True #
spawn_mode: str = DestModeOptions.DONE
@@ -113,6 +128,11 @@ class DestProperties(NamedTuple):
assert (spawn_mode == DestModeOptions.DONE) != bool(spawn_frequency)
+c = Constants
+a = Actions
+r = Rewards
+
+
# noinspection PyAttributeOutsideInit, PyAbstractClass
class DestFactory(BaseFactory):
# noinspection PyMissingConstructor
@@ -131,7 +151,7 @@ class DestFactory(BaseFactory):
# noinspection PyUnresolvedReferences
super_actions = super().additional_actions
if self.dest_prop.dwell_time:
- super_actions.append(Action(enum_ident=h.EnvActions.WAIT_ON_DEST))
+ super_actions.append(Action(enum_ident=a.WAIT_ON_DEST))
return super_actions
@property
@@ -147,27 +167,32 @@ class DestFactory(BaseFactory):
)
reached_destinations = ReachedDestinations(level_shape=self._level_shape)
- super_entities.update({c.DESTINATION: destinations, c.REACHEDDESTINATION: reached_destinations})
+ super_entities.update({c.DEST: destinations, c.DEST_REACHED: reached_destinations})
return super_entities
- def wait(self, agent: Agent):
- if destiantion := self[c.DESTINATION].by_pos(agent.pos):
- valid = destiantion.wait(agent)
- return valid
+ def do_wait_action(self, agent: Agent) -> (dict, dict):
+ if destination := self[c.DEST].by_pos(agent.pos):
+ valid = destination.do_wait_action(agent)
+ self.print(f'{agent.name} just waited at {agent.pos}')
+ info_dict = {f'{agent.name}_{a.WAIT_ON_DEST}_VALID': 1}
else:
- return c.NOT_VALID
+ valid = c.NOT_VALID
+ self.print(f'{agent.name} just tried to do_wait_action do_wait_action at {agent.pos} but failed')
+ info_dict = {f'{agent.name}_{a.WAIT_ON_DEST}_FAIL': 1}
+ reward = dict(value=r.WAIT_VALID if valid else r.WAIT_FAIL, reason=a.WAIT_ON_DEST, info=info_dict)
+ return valid, reward
- def do_additional_actions(self, agent: Agent, action: Action) -> Union[None, c]:
+ def do_additional_actions(self, agent: Agent, action: Action) -> (dict, dict):
# noinspection PyUnresolvedReferences
- valid = super().do_additional_actions(agent, action)
- if valid is None:
- if action == h.EnvActions.WAIT_ON_DEST:
- valid = self.wait(agent)
- return valid
+ super_action_result = super().do_additional_actions(agent, action)
+ if super_action_result is None:
+ if action == a.WAIT_ON_DEST:
+ action_result = self.do_wait_action(agent)
+ return action_result
else:
return None
else:
- return valid
+ return super_action_result
def do_additional_reset(self) -> None:
# noinspection PyUnresolvedReferences
@@ -180,14 +205,14 @@ class DestFactory(BaseFactory):
if destinations_to_spawn:
n_dest_to_spawn = len(destinations_to_spawn)
if self.dest_prop.spawn_mode != DestModeOptions.GROUPED:
- destinations = [Destination(tile) for tile in self[c.FLOOR].empty_tiles[:n_dest_to_spawn]]
- self[c.DESTINATION].register_additional_items(destinations)
+ destinations = [Destination(tile, c.DEST) for tile in self[c.FLOOR].empty_tiles[:n_dest_to_spawn]]
+ self[c.DEST].register_additional_items(destinations)
for dest in destinations_to_spawn:
del self._dest_spawn_timer[dest]
self.print(f'{n_dest_to_spawn} new destinations have been spawned')
elif self.dest_prop.spawn_mode == DestModeOptions.GROUPED and n_dest_to_spawn == self.dest_prop.n_dests:
- destinations = [Destination(tile) for tile in self[c.FLOOR].empty_tiles[:n_dest_to_spawn]]
- self[c.DESTINATION].register_additional_items(destinations)
+ destinations = [Destination(tile, self[c.DEST]) for tile in self[c.FLOOR].empty_tiles[:n_dest_to_spawn]]
+ self[c.DEST].register_additional_items(destinations)
for dest in destinations_to_spawn:
del self._dest_spawn_timer[dest]
self.print(f'{n_dest_to_spawn} new destinations have been spawned')
@@ -197,15 +222,14 @@ class DestFactory(BaseFactory):
else:
self.print('No Items are spawning, limit is reached.')
- def do_additional_step(self) -> dict:
+ def do_additional_step(self) -> (List[dict], dict):
# noinspection PyUnresolvedReferences
- info_dict = super().do_additional_step()
+ super_reward_info = super().do_additional_step()
for key, val in self._dest_spawn_timer.items():
self._dest_spawn_timer[key] = min(self.dest_prop.spawn_frequency, self._dest_spawn_timer[key] + 1)
- for dest in list(self[c.DESTINATION].values()):
+ for dest in list(self[c.DEST].values()):
if dest.is_considered_reached:
- self[c.REACHEDDESTINATION].register_item(dest)
- self[c.DESTINATION].delete_env_object(dest)
+ dest.change_register(self[c.DEST])
self._dest_spawn_timer[dest.name] = 0
self.print(f'{dest.name} is reached now, removing...')
else:
@@ -218,41 +242,29 @@ class DestFactory(BaseFactory):
dest.leave(agent)
self.print(f'{agent.name} left the destination early.')
self.trigger_destination_spawn()
- return info_dict
+ return super_reward_info
- def _additional_observations(self) -> Dict[Constants, np.typing.ArrayLike]:
+ def _additional_observations(self) -> Dict[str, np.typing.ArrayLike]:
additional_observations = super()._additional_observations()
- additional_observations.update({c.DESTINATION: self[c.DESTINATION].as_array()})
+ additional_observations.update({c.DEST: self[c.DEST].as_array()})
return additional_observations
- def calculate_additional_reward(self, agent: Agent) -> (int, dict):
+ def additional_per_agent_reward(self, agent: Agent) -> Dict[str, dict]:
# noinspection PyUnresolvedReferences
- reward, info_dict = super().calculate_additional_reward(agent)
- if h.EnvActions.WAIT_ON_DEST == agent.temp_action:
- if agent.temp_valid:
- info_dict.update({f'{agent.name}_waiting_at_dest': 1})
- info_dict.update(agent_waiting_at_dest=1)
- self.print(f'{agent.name} just waited at {agent.pos}')
- reward += 0.1
- else:
- info_dict.update({f'{agent.name}_tried_failed': 1})
- info_dict.update(agent_waiting_failed=1)
- self.print(f'{agent.name} just tried to wait wait at {agent.pos} but failed')
- reward -= 0.1
- if len(self[c.REACHEDDESTINATION]):
- for reached_dest in list(self[c.REACHEDDESTINATION]):
+ reward_event_dict = super().additional_per_agent_reward(agent)
+ if len(self[c.DEST_REACHED]):
+ for reached_dest in list(self[c.DEST_REACHED]):
if agent.pos == reached_dest.pos:
- info_dict.update({f'{agent.name}_reached_destination': 1})
- info_dict.update(agent_reached_destination=1)
self.print(f'{agent.name} just reached destination at {agent.pos}')
- reward += 0.5
- self[c.REACHEDDESTINATION].delete_env_object(reached_dest)
- return reward, info_dict
+ self[c.DEST_REACHED].delete_env_object(reached_dest)
+ info_dict = {f'{agent.name}_{c.DEST_REACHED}': 1}
+ reward_event_dict.update({c.DEST_REACHED: {'reward': r.DEST_REACHED, 'info': info_dict}})
+ return reward_event_dict
def render_additional_assets(self, mode='human'):
# noinspection PyUnresolvedReferences
additional_assets = super().render_additional_assets()
- destinations = [RenderEntity(c.DESTINATION.value, dest.pos) for dest in self[c.DESTINATION]]
+ destinations = [RenderEntity(c.DEST, dest.pos) for dest in self[c.DEST]]
additional_assets.extend(destinations)
return additional_assets
diff --git a/environments/factory/factory_dirt.py b/environments/factory/factory_dirt.py
index 65d3390..4f08073 100644
--- a/environments/factory/factory_dirt.py
+++ b/environments/factory/factory_dirt.py
@@ -8,6 +8,7 @@ import numpy as np
# from algorithms.TSP_dirt_agent import TSPDirtAgent
from environments.helpers import Constants as BaseConstants
from environments.helpers import EnvActions as BaseActions
+from environments.helpers import Rewards as BaseRewards
from environments.factory.base.base_factory import BaseFactory
from environments.factory.base.objects import Agent, Action, Entity, Tile
@@ -21,8 +22,14 @@ class Constants(BaseConstants):
DIRT = 'Dirt'
-class EnvActions(BaseActions):
- CLEAN_UP = 'clean_up'
+class Actions(BaseActions):
+ CLEAN_UP = 'do_cleanup_action'
+
+
+class Rewards(BaseRewards):
+ CLEAN_UP_VALID = 0.5
+ CLEAN_UP_FAIL = -0.1
+ CLEAN_UP_LAST_PIECE = 4.5
class DirtProperties(NamedTuple):
@@ -41,10 +48,6 @@ class DirtProperties(NamedTuple):
class Dirt(Entity):
- @property
- def can_collide(self):
- return False
-
@property
def amount(self):
return self._amount
@@ -116,6 +119,8 @@ def entropy(x):
c = Constants
+a = Actions
+r = Rewards
# noinspection PyAttributeOutsideInit, PyAbstractClass
@@ -125,7 +130,7 @@ class DirtFactory(BaseFactory):
def additional_actions(self) -> Union[Action, List[Action]]:
super_actions = super().additional_actions
if self.dirt_prop.agent_can_interact:
- super_actions.append(Action(str_ident=EnvActions.CLEAN_UP))
+ super_actions.append(Action(str_ident=a.CLEAN_UP))
return super_actions
@property
@@ -151,7 +156,7 @@ class DirtFactory(BaseFactory):
additional_assets.extend(dirt)
return additional_assets
- def clean_up(self, agent: Agent) -> c:
+ def do_cleanup_action(self, agent: Agent) -> (dict, dict):
if dirt := self[c.DIRT].by_pos(agent.pos):
new_dirt_amount = dirt.amount - self.dirt_prop.clean_amount
@@ -159,9 +164,21 @@ class DirtFactory(BaseFactory):
self[c.DIRT].delete_env_object(dirt)
else:
dirt.set_new_amount(max(new_dirt_amount, c.FREE_CELL.value))
- return c.VALID
+ valid = c.VALID
+ self.print(f'{agent.name} did just clean up some dirt at {agent.pos}.')
+ info_dict = {f'{agent.name}_{a.CLEAN_UP}_VALID': 1}
+ reward = r.CLEAN_UP_VALID
else:
- return c.NOT_VALID
+ valid = c.NOT_VALID
+ self.print(f'{agent.name} just tried to clean up some dirt at {agent.pos}, but failed.')
+ info_dict = {f'{agent.name}_{a.CLEAN_UP}_FAIL': 1}
+ reward = r.CLEAN_UP_FAIL
+
+ if valid and self.dirt_prop.done_when_clean and (len(self[c.DIRT]) == 0):
+ reward += r.CLEAN_UP_LAST_PIECE
+ self.print(f'{agent.name} picked up the last piece of dirt!')
+ info_dict = {f'{agent.name}_{a.CLEAN_UP}_LAST_PIECE': 1}
+ return valid, dict(value=reward, reason=a.CLEAN_UP, info=info_dict)
def trigger_dirt_spawn(self, initial_spawn=False):
dirt_rng = self._dirt_rng
@@ -177,8 +194,8 @@ class DirtFactory(BaseFactory):
n_dirt_tiles = max(0, int(new_spawn * len(free_for_dirt)))
self[c.DIRT].spawn_dirt(free_for_dirt[:n_dirt_tiles])
- def do_additional_step(self) -> dict:
- info_dict = super().do_additional_step()
+ def do_additional_step(self) -> (List[dict], dict):
+ super_reward_info = super().do_additional_step()
if smear_amount := self.dirt_prop.dirt_smear_amount:
for agent in self[c.AGENT]:
if agent.temp_valid and agent.last_pos != c.NO_POS:
@@ -199,42 +216,44 @@ class DirtFactory(BaseFactory):
self._next_dirt_spawn = self.dirt_prop.spawn_frequency
else:
self._next_dirt_spawn -= 1
- return info_dict
+ return super_reward_info
- def do_additional_actions(self, agent: Agent, action: Action) -> Union[None, c]:
- valid = super().do_additional_actions(agent, action)
- if valid is None:
- if action == EnvActions.CLEAN_UP:
- if self.dirt_prop.agent_can_interact:
- valid = self.clean_up(agent)
- return valid
- else:
- return c.NOT_VALID
+ def do_additional_actions(self, agent: Agent, action: Action) -> (dict, dict):
+ action_result = super().do_additional_actions(agent, action)
+ if action_result is None:
+ if action == a.CLEAN_UP:
+ return self.do_cleanup_action(agent)
else:
return None
else:
- return valid
+ return action_result
def do_additional_reset(self) -> None:
super().do_additional_reset()
self.trigger_dirt_spawn(initial_spawn=True)
self._next_dirt_spawn = self.dirt_prop.spawn_frequency if self.dirt_prop.spawn_frequency else -1
- def check_additional_done(self):
- super_done = super().check_additional_done()
- done = self.dirt_prop.done_when_clean and (len(self[c.DIRT]) == 0)
- return super_done or done
+ def check_additional_done(self) -> (bool, dict):
+ super_done, super_dict = super().check_additional_done()
+ if self.dirt_prop.done_when_clean:
+ if all_cleaned := len(self[c.DIRT]) == 0:
+ super_dict.update(ALL_CLEAN_DONE=all_cleaned)
+ return all_cleaned, super_dict
+ return super_done, super_dict
def _additional_observations(self) -> Dict[str, np.typing.ArrayLike]:
additional_observations = super()._additional_observations()
additional_observations.update({c.DIRT: self[c.DIRT].as_array()})
return additional_observations
- def calculate_additional_reward(self, agent: Agent) -> (int, dict):
- reward, info_dict = super().calculate_additional_reward(agent)
+ def gather_additional_info(self, agent: Agent) -> dict:
+ event_reward_dict = super().additional_per_agent_reward(agent)
+ info_dict = dict()
+
dirt = [dirt.amount for dirt in self[c.DIRT]]
current_dirt_amount = sum(dirt)
dirty_tile_count = len(dirt)
+
# if dirty_tile_count:
# dirt_distribution_score = entropy(softmax(np.asarray(dirt)) / dirty_tile_count)
# else:
@@ -242,33 +261,14 @@ class DirtFactory(BaseFactory):
info_dict.update(dirt_amount=current_dirt_amount)
info_dict.update(dirty_tile_count=dirty_tile_count)
- # info_dict.update(dirt_distribution_score=dirt_distribution_score)
- if agent.temp_action == EnvActions.CLEAN_UP:
- if agent.temp_valid:
- # Reward if pickup succeds,
- # 0.5 on every pickup
- reward += 0.5
- info_dict.update(dirt_cleaned=1)
- if self.dirt_prop.done_when_clean and (len(self[c.DIRT]) == 0):
- # 0.5 additional reward for the very last pickup
- reward += 4.5
- info_dict.update(done_clean=1)
- self.print(f'{agent.name} did just clean up some dirt at {agent.pos}.')
- else:
- reward -= 0.01
- self.print(f'{agent.name} just tried to clean up some dirt at {agent.pos}, but failed.')
- info_dict.update({f'{agent.name}_failed_dirt_cleanup': 1})
- info_dict.update(failed_dirt_clean=1)
-
- # Potential based rewards ->
- # track the last reward , minus the current reward = potential
- return reward, info_dict
+ event_reward_dict.update({'info': info_dict})
+ return event_reward_dict
if __name__ == '__main__':
from environments.utility_classes import AgentRenderOptions as aro
- render = True
+ render = False
dirt_props = DirtProperties(
initial_dirt_ratio=0.35,
@@ -289,14 +289,15 @@ if __name__ == '__main__':
move_props = {'allow_square_movement': True,
'allow_diagonal_movement': False,
'allow_no_op': False}
+ import time
global_timings = []
- for i in range(20):
+ for i in range(10):
factory = DirtFactory(n_agents=2, done_at_collision=False,
level_name='rooms', max_steps=1000,
doors_have_area=False,
obs_prop=obs_props, parse_doors=True,
- record_episodes=True, verbose=True,
+ verbose=False,
mv_prop=move_props, dirt_prop=dirt_props,
# inject_agents=[TSPDirtAgent],
)
@@ -307,7 +308,6 @@ if __name__ == '__main__':
obs_space = factory.observation_space
obs_space_named = factory.named_observation_space
times = []
- import time
for epoch in range(10):
start_time = time.time()
random_actions = [[random.randint(0, n_actions) for _
@@ -318,18 +318,19 @@ if __name__ == '__main__':
factory.render()
# tsp_agent = factory.get_injected_agents()[0]
- r = 0
+ rwrd = 0
for agent_i_action in random_actions:
- env_state, step_r, done_bool, info_obj = factory.step(agent_i_action)
- r += step_r
+ env_state, step_rwrd, done_bool, info_obj = factory.step(agent_i_action)
+ rwrd += step_rwrd
if render:
factory.render()
if done_bool:
break
times.append(time.time() - start_time)
# print(f'Factory run {epoch} done, reward is:\n {r}')
- print('Time Taken: ', sum(times) / 10)
- global_timings.append(sum(times) / 10)
- print('Time Taken: ', sum(global_timings[10:]) / 10)
+ print('Mean Time Taken: ', sum(times) / 10)
+ global_timings.extend(times)
+ print('Mean Time Taken: ', sum(global_timings) / len(global_timings))
+ print('Median Time Taken: ', global_timings[len(global_timings)//2])
pass
diff --git a/environments/factory/factory_item.py b/environments/factory/factory_item.py
index 5bbc867..ca29a5f 100644
--- a/environments/factory/factory_item.py
+++ b/environments/factory/factory_item.py
@@ -7,9 +7,10 @@ import random
from environments.factory.base.base_factory import BaseFactory
from environments.helpers import Constants as BaseConstants
from environments.helpers import EnvActions as BaseActions
+from environments.helpers import Rewards as BaseRewards
from environments import helpers as h
from environments.factory.base.objects import Agent, Entity, Action, Tile
-from environments.factory.base.registers import Entities, EntityRegister, BoundRegisterMixin, ObjectRegister
+from environments.factory.base.registers import Entities, EntityRegister, BoundEnvObjRegister, ObjectRegister
from environments.factory.base.renderer import RenderEntity
@@ -23,10 +24,17 @@ class Constants(BaseConstants):
DROP_OFF = 'Drop_Off'
-class EnvActions(BaseActions):
+class Actions(BaseActions):
ITEM_ACTION = 'item_action'
+class Rewards(BaseRewards):
+ DROP_OFF_VALID = 0.1
+ DROP_OFF_FAIL = -0.1
+ PICK_UP_FAIL = -0.1
+ PICK_UP_VALID = 0.1
+
+
class Item(Entity):
def __init__(self, *args, **kwargs):
@@ -37,10 +45,6 @@ class Item(Entity):
def auto_despawn(self):
return self._auto_despawn
- @property
- def can_collide(self):
- return False
-
@property
def encoding(self):
# Edit this if you want items to be drawn in the ops differently
@@ -68,7 +72,7 @@ class ItemRegister(EntityRegister):
del self[item]
-class Inventory(BoundRegisterMixin):
+class Inventory(BoundEnvObjRegister):
@property
def name(self):
@@ -131,10 +135,6 @@ class Inventories(ObjectRegister):
class DropOffLocation(Entity):
- @property
- def can_collide(self):
- return False
-
@property
def encoding(self):
return Constants.ITEM_DROP_OFF
@@ -176,7 +176,8 @@ class ItemProperties(NamedTuple):
c = Constants
-a = EnvActions
+a = Actions
+r = Rewards
# noinspection PyAttributeOutsideInit, PyAbstractClass
@@ -230,37 +231,43 @@ class ItemFactory(BaseFactory):
additional_observations.update({c.DROP_OFF: self[c.DROP_OFF].as_array()})
return additional_observations
- def do_item_action(self, agent: Agent):
+ def do_item_action(self, agent: Agent) -> (dict, dict):
inventory = self[c.INVENTORY].by_entity(agent)
if drop_off := self[c.DROP_OFF].by_pos(agent.pos):
if inventory:
valid = drop_off.place_item(inventory.pop())
- return valid
else:
- return c.NOT_VALID
+ valid = c.NOT_VALID
+ if valid:
+ self.print(f'{agent.name} just dropped of an item at {drop_off.pos}.')
+ info_dict = {f'{agent.name}_DROPOFF_VALID': 1}
+ else:
+ self.print(f'{agent.name} just tried to drop off at {agent.pos}, but failed.')
+ info_dict = {f'{agent.name}_DROPOFF_FAIL': 1}
+ reward = dict(value=r.DROP_OFF_VALID if valid else r.DROP_OFF_FAIL, reason=a.ITEM_ACTION, info=info_dict)
+ return valid, reward
elif item := self[c.ITEM].by_pos(agent.pos):
- try:
- inventory.register_item(item)
- item.change_register(inventory)
- self[c.ITEM].delete_env_object(item)
- item.set_tile_to(self._NO_POS_TILE)
- return c.VALID
- except RuntimeError:
- return c.NOT_VALID
+ 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}
+ return c.VALID, dict(value=r.PICK_UP_VALID, reason=a.ITEM_ACTION, info=info_dict)
else:
- return c.NOT_VALID
+ 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}
+ return c.NOT_VALID, dict(value=r.PICK_UP_FAIL, reason=a.ITEM_ACTION, info=info_dict)
- def do_additional_actions(self, agent: Agent, action: Action) -> Union[None, c]:
+ def do_additional_actions(self, agent: Agent, action: Action) -> (dict, dict):
# noinspection PyUnresolvedReferences
- valid = super().do_additional_actions(agent, action)
- if valid is None:
+ action_result = super().do_additional_actions(agent, action)
+ if action_result is None:
if action == a.ITEM_ACTION:
- valid = self.do_item_action(agent)
- return valid
+ action_result = self.do_item_action(agent)
+ return action_result
else:
return None
else:
- return valid
+ return action_result
def do_additional_reset(self) -> None:
# noinspection PyUnresolvedReferences
@@ -277,9 +284,9 @@ class ItemFactory(BaseFactory):
else:
self.print('No Items are spawning, limit is reached.')
- def do_additional_step(self) -> dict:
+ def do_additional_step(self) -> (List[dict], dict):
# noinspection PyUnresolvedReferences
- info_dict = super().do_additional_step()
+ super_reward_info = super().do_additional_step()
for item in list(self[c.ITEM].values()):
if item.auto_despawn >= 1:
item.set_auto_despawn(item.auto_despawn-1)
@@ -292,35 +299,7 @@ class ItemFactory(BaseFactory):
self.trigger_item_spawn()
else:
self._next_item_spawn = max(0, self._next_item_spawn-1)
- return info_dict
-
- def calculate_additional_reward(self, agent: Agent) -> (int, dict):
- # noinspection PyUnresolvedReferences
- reward, info_dict = super().calculate_additional_reward(agent)
- if a.ITEM_ACTION == agent.temp_action:
- if agent.temp_valid:
- if drop_off := self[c.DROP_OFF].by_pos(agent.pos):
- info_dict.update({f'{agent.name}_item_drop_off': 1})
- info_dict.update(item_drop_off=1)
- self.print(f'{agent.name} just dropped of an item at {drop_off.pos}.')
- reward += 1
- else:
- info_dict.update({f'{agent.name}_item_pickup': 1})
- info_dict.update(item_pickup=1)
- self.print(f'{agent.name} just picked up an item at {agent.pos}')
- reward += 0.2
- else:
- if self[c.DROP_OFF].by_pos(agent.pos):
- info_dict.update({f'{agent.name}_failed_drop_off': 1})
- info_dict.update(failed_drop_off=1)
- self.print(f'{agent.name} just tried to drop off at {agent.pos}, but failed.')
- reward -= 0.1
- else:
- info_dict.update({f'{agent.name}_failed_item_action': 1})
- info_dict.update(failed_pick_up=1)
- self.print(f'{agent.name} just tried to pick up an item at {agent.pos}, but failed.')
- reward -= 0.1
- return reward, info_dict
+ return super_reward_info
def render_additional_assets(self, mode='human'):
# noinspection PyUnresolvedReferences
@@ -335,9 +314,9 @@ class ItemFactory(BaseFactory):
if __name__ == '__main__':
from environments.utility_classes import AgentRenderOptions as aro, ObservationProperties
- render = True
+ render = False
- item_probs = ItemProperties(n_items=30)
+ item_probs = ItemProperties(n_items=30, n_drop_off_locations=6)
obs_props = ObservationProperties(render_agents=aro.SEPERATE, omit_agent_self=True, pomdp_r=2)
@@ -345,7 +324,7 @@ if __name__ == '__main__':
'allow_diagonal_movement': True,
'allow_no_op': False}
- factory = ItemFactory(n_agents=2, done_at_collision=False,
+ factory = ItemFactory(n_agents=6, done_at_collision=False,
level_name='rooms', max_steps=400,
obs_prop=obs_props, parse_doors=True,
record_episodes=True, verbose=True,
diff --git a/environments/helpers.py b/environments/helpers.py
index 6cc555a..28e1665 100644
--- a/environments/helpers.py
+++ b/environments/helpers.py
@@ -1,6 +1,6 @@
import itertools
from collections import defaultdict
-from typing import Tuple, Union, Dict, List
+from typing import Tuple, Union, Dict, List, NamedTuple
import networkx as nx
import numpy as np
@@ -38,37 +38,27 @@ class Constants:
OPEN_DOOR = 'open'
ACTION = 'action'
- COLLISIONS = 'collision'
- VALID = 'valid'
- NOT_VALID = 'not_valid'
-
- # Battery Env
- CHARGE_POD = 'Charge_Pod'
- BATTERIES = 'BATTERIES'
-
- # Destination Env
- DESTINATION = 'Destination'
- REACHEDDESTINATION = 'ReachedDestination'
+ COLLISION = 'collision'
+ VALID = True
+ NOT_VALID = False
class EnvActions:
# Movements
- NORTH = 'north'
- EAST = 'east'
- SOUTH = 'south'
- WEST = 'west'
- NORTHEAST = 'north_east'
- SOUTHEAST = 'south_east'
- SOUTHWEST = 'south_west'
- NORTHWEST = 'north_west'
+ NORTH = 'north'
+ EAST = 'east'
+ SOUTH = 'south'
+ WEST = 'west'
+ NORTHEAST = 'north_east'
+ SOUTHEAST = 'south_east'
+ SOUTHWEST = 'south_west'
+ NORTHWEST = 'north_west'
# Other
- NOOP = 'no_op'
+ # MOVE = 'move'
+ NOOP = 'no_op'
USE_DOOR = 'use_door'
- CHARGE = 'charge'
- WAIT_ON_DEST = 'wait'
-
@classmethod
def is_move(cls, other):
return any([other == direction for direction in cls.movement_actions()])
@@ -86,8 +76,19 @@ class EnvActions:
return list(itertools.chain(cls.square_move(), cls.diagonal_move()))
+class Rewards:
+
+ MOVEMENTS_VALID = -0.001
+ MOVEMENTS_FAIL = -0.001
+ NOOP = -0.1
+ USE_DOOR_VALID = -0.001
+ USE_DOOR_FAIL = -0.001
+ COLLISION = -1
+
+
m = EnvActions
c = Constants
+r = Rewards
ACTIONMAP = defaultdict(lambda: (0, 0), {m.NORTH: (-1, 0), m.NORTHEAST: (-1, +1),
m.EAST: (0, 1), m.SOUTHEAST: (1, 1),
@@ -184,15 +185,20 @@ def asset_str(agent):
# What does this abonimation do?
# if any([x is None for x in [cls._slices[j] for j in agent.collisions]]):
# print('error')
- col_names = [x.name for x in agent.temp_collisions]
- if any(c.AGENT in name for name in col_names):
- return 'agent_collision', 'blank'
- elif not agent.temp_valid or c.LEVEL in col_names or c.AGENT in col_names:
- return c.AGENT, 'invalid'
- elif agent.temp_valid and not EnvActions.is_move(agent.temp_action):
- return c.AGENT, 'valid'
- elif agent.temp_valid and EnvActions.is_move(agent.temp_action):
- return c.AGENT, 'move'
+ if step_result := agent.step_result:
+ action = step_result['action_name']
+ valid = step_result['action_valid']
+ col_names = [x.name for x in step_result['collisions']]
+ if any(c.AGENT in name for name in col_names):
+ return 'agent_collision', 'blank'
+ elif not valid or c.LEVEL in col_names or c.AGENT in col_names:
+ return c.AGENT, 'invalid'
+ elif valid and not EnvActions.is_move(action):
+ return c.AGENT, 'valid'
+ elif valid and EnvActions.is_move(action):
+ return c.AGENT, 'move'
+ else:
+ return c.AGENT, 'idle'
else:
return c.AGENT, 'idle'
diff --git a/studies/single_run_with_export.py b/studies/single_run_with_export.py
index 69a0e46..4f50491 100644
--- a/studies/single_run_with_export.py
+++ b/studies/single_run_with_export.py
@@ -134,8 +134,7 @@ if __name__ == '__main__':
max_spawn_amount=0.1, max_global_amount=20,
max_local_amount=1, spawn_frequency=0, max_spawn_ratio=0.05,
dirt_smear_amount=0.0, agent_can_interact=True)
- item_props = ItemProperties(n_items=10, agent_can_interact=True,
- spawn_frequency=30, n_drop_off_locations=2,
+ item_props = ItemProperties(n_items=10, spawn_frequency=30, n_drop_off_locations=2,
max_agent_inventory_capacity=15)
dest_props = DestProperties(n_dests=4, spawn_mode=DestModeOptions.GROUPED, spawn_frequency=1)
factory_kwargs = dict(n_agents=1, max_steps=400, parse_doors=True,