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new dirt paradigm -> clean everything up

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This commit is contained in:
Steffen Illium
2021-10-27 18:47:57 +02:00
parent 35eae72a8d
commit b5c6105b7b
9 changed files with 210 additions and 114 deletions
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59
environments/factory/factory_dirt.py
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@ -20,14 +20,17 @@ CLEAN_UP_ACTION = h.EnvActions.CLEAN_UP
class DirtProperties(NamedTuple):
clean_amount: int = 1 # How much does the robot clean with one actions.
max_spawn_ratio: float = 0.2 # On max how much tiles does the dirt spawn in percent.
gain_amount: float = 0.3 # How much dirt does spawn per tile.
spawn_frequency: int = 5 # Spawn Frequency in Steps.
max_local_amount: int = 2 # Max dirt amount per tile.
max_global_amount: int = 20 # Max dirt amount in the whole environment.
dirt_smear_amount: float = 0.2 # Agents smear dirt, when not cleaning up in place.
agent_can_interact: bool = True # Whether the agents can interact with the dirt in this environment.
initial_dirt_ratio: float = 0.3 # On INIT, on max how much tiles does the dirt spawn in percent.
initial_dirt_spawn_r_var: float = 0.05 # How much does the dirt spawn amount vary?
clean_amount: float = 1 # How much does the robot clean with one actions.
max_spawn_ratio: float = 0.20 # On max how much tiles does the dirt spawn in percent.
max_spawn_amount: float = 0.3 # How much dirt does spawn per tile at max.
spawn_frequency: int = 0 # Spawn Frequency in Steps.
max_local_amount: int = 2 # Max dirt amount per tile.
max_global_amount: int = 20 # Max dirt amount in the whole environment.
dirt_smear_amount: float = 0.2 # Agents smear dirt, when not cleaning up in place.
agent_can_interact: bool = True # Whether the agents can interact with the dirt in this environment.
done_when_clean = True
class Dirt(Entity):
@ -91,10 +94,10 @@ class DirtRegister(MovingEntityObjectRegister):
if not self.amount > self.dirt_properties.max_global_amount:
dirt = self.by_pos(tile.pos)
if dirt is None:
dirt = Dirt(tile, amount=self.dirt_properties.gain_amount)
dirt = Dirt(tile, amount=self.dirt_properties.max_spawn_amount)
self.register_item(dirt)
else:
new_value = dirt.amount + self.dirt_properties.gain_amount
new_value = dirt.amount + self.dirt_properties.max_spawn_amount
dirt.set_new_amount(min(new_value, self.dirt_properties.max_local_amount))
else:
return c.NOT_VALID
@ -160,12 +163,17 @@ class DirtFactory(BaseFactory):
else:
return c.NOT_VALID
def trigger_dirt_spawn(self):
def trigger_dirt_spawn(self, initial_spawn=False):
dirt_rng = self._dirt_rng
free_for_dirt = [x for x in self[c.FLOOR]
if len(x.guests) == 0 or (len(x.guests) == 1 and isinstance(next(y for y in x.guests), Dirt))
]
self._dirt_rng.shuffle(free_for_dirt)
new_spawn = self._dirt_rng.uniform(0, self.dirt_properties.max_spawn_ratio)
if initial_spawn:
var = self.dirt_properties.initial_dirt_spawn_r_var
new_spawn = self.dirt_properties.initial_dirt_ratio + dirt_rng.uniform(-var, var)
else:
new_spawn = dirt_rng.uniform(0, self.dirt_properties.max_spawn_ratio)
n_dirt_tiles = max(0, int(new_spawn * len(free_for_dirt)))
self[c.DIRT].spawn_dirt(free_for_dirt[:n_dirt_tiles])
@ -184,8 +192,9 @@ class DirtFactory(BaseFactory):
if self[c.DIRT].spawn_dirt(agent.tile):
new_pos_dirt = self[c.DIRT].by_pos(agent.pos)
new_pos_dirt.set_new_amount(max(0, new_pos_dirt.amount + smeared_dirt))
if not self._next_dirt_spawn:
if self._next_dirt_spawn < 0:
pass # No Dirt Spawn
elif not self._next_dirt_spawn:
self.trigger_dirt_spawn()
self._next_dirt_spawn = self.dirt_properties.spawn_frequency
else:
@ -208,8 +217,13 @@ class DirtFactory(BaseFactory):
def do_additional_reset(self) -> None:
super().do_additional_reset()
self.trigger_dirt_spawn()
self._next_dirt_spawn = self.dirt_properties.spawn_frequency
self.trigger_dirt_spawn(initial_spawn=True)
self._next_dirt_spawn = self.dirt_properties.spawn_frequency if self.dirt_properties.spawn_frequency else -1
def check_additional_done(self):
super_done = super().check_additional_done()
done = self.dirt_properties.done_when_clean and (len(self[c.DIRT]) == 0)
return super_done or done
def calculate_additional_reward(self, agent: Agent) -> (int, dict):
reward, info_dict = super().calculate_additional_reward(agent)
@ -233,9 +247,8 @@ class DirtFactory(BaseFactory):
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_action': 1})
info_dict.update({f'{agent.name}_failed_action': 1})
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
@ -243,12 +256,12 @@ class DirtFactory(BaseFactory):
if __name__ == '__main__':
render = False
render = True
dirt_props = DirtProperties(1, 0.05, 0.1, 3, 1, 20, 0.0)
move_props = {'allow_square_movement': True,
'allow_diagonal_movement': False,
'allow_no_op': False} #MovementProperties(True, True, False)
'allow_diagonal_movement': False,
'allow_no_op': False} #MovementProperties(True, True, False)
with RecorderCallback(filepath=Path('debug_out') / f'recorder_xxxx.json', occupation_map=False,
trajectory_map=False) as recorder:
@ -272,12 +285,12 @@ if __name__ == '__main__':
r = 0
for agent_i_action in random_actions:
env_state, step_r, done_bool, info_obj = factory.step(agent_i_action)
recorder.read_info(0, info_obj)
#recorder.read_info(0, info_obj)
r += step_r
if render:
factory.render()
if done_bool:
recorder.read_done(0, done_bool)
# recorder.read_done(0, done_bool)
break
print(f'Factory run {epoch} done, reward is:\n {r}')
pass