From d9d8784338f26c991756356ebbb1019696915461 Mon Sep 17 00:00:00 2001
From: steffen-illium <steffen.illium@ifi.lmu.de>
Date: Thu, 17 Jun 2021 14:27:18 +0200
Subject: [PATCH] Agent Trained on Doors
---
.../factory/assets/agent_collision.png | Bin 18857 -> 0 bytes
environments/factory/base_factory.py | 19 +++--
environments/factory/levels/rooms.txt | 2 +-
environments/factory/renderer.py | 18 ++---
environments/factory/simple_factory.py | 27 +++++--
environments/oo_factory/__init__.py | 0
environments/oo_factory/_base_factory.py | 68 ++++++++++++++++++
environments/utility_classes.py | 11 ++-
main.py | 2 +-
reload_agent.py | 6 +-
10 files changed, 125 insertions(+), 28 deletions(-)
delete mode 100644 environments/factory/assets/agent_collision.png
create mode 100644 environments/oo_factory/__init__.py
create mode 100644 environments/oo_factory/_base_factory.py
diff --git a/environments/factory/assets/agent_collision.png b/environments/factory/assets/agent_collision.png
deleted file mode 100644
index d7f228c7a76cb2d40e08b7a4bc5794a92731cab8..0000000000000000000000000000000000000000
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diff --git a/environments/factory/base_factory.py b/environments/factory/base_factory.py
index 539d60d..7bb131e 100644
--- a/environments/factory/base_factory.py
+++ b/environments/factory/base_factory.py
@@ -22,10 +22,11 @@ class BaseFactory(gym.Env):
@property
def observation_space(self):
agent_slice = self.n_agents if self.omit_agent_slice_in_obs else 0
- agent_slice = 1 if self.combin_agent_slices_in_obs else agent_slice
+ agent_slice = (self.n_agents - 1) if self.combin_agent_slices_in_obs else agent_slice
if self.pomdp_radius:
- return spaces.Box(low=0, high=1, shape=(self._state.shape[0] - agent_slice, self.pomdp_radius * 2 + 1,
- self.pomdp_radius * 2 + 1), dtype=np.float32)
+ shape = (self._state.shape[0] - agent_slice, self.pomdp_radius * 2 + 1, self.pomdp_radius * 2 + 1)
+ space = spaces.Box(low=0, high=1, shape=shape, dtype=np.float32)
+ return space
else:
shape = [x-agent_slice if idx == 0 else x for idx, x in enumerate(self._state.shape)]
space = spaces.Box(low=0, high=1, shape=shape, dtype=np.float32)
@@ -194,6 +195,14 @@ class BaseFactory(gym.Env):
if self.done_at_collision and collision_vec.any():
done = True
+ # Step the door close intervall
+ agents_pos = [agent.pos for agent in self._agent_states]
+ for door_i, door in enumerate(self._door_states):
+ if door.is_open and door.time_to_close and door.pos not in agents_pos:
+ door.time_to_close -= 1
+ elif door.is_open and not door.time_to_close and door.pos not in agents_pos:
+ door.use()
+
reward, info = self.calculate_reward(self._agent_states)
if self._steps >= self.max_steps:
@@ -256,7 +265,7 @@ class BaseFactory(gym.Env):
x_new = x + x_diff
y_new = y + y_diff
- if h.DOORS in self._state_slices.values():
+ if h.DOORS in self._state_slices.values() and self._agent_states[agent_i]._last_pos != (-1, -1):
door = [door for door in self._door_states if door.pos == (x, y)]
if door:
door = door[0]
@@ -326,7 +335,7 @@ class BaseFactory(gym.Env):
# Returns: Reward, Info
raise NotImplementedError
- def render(self):
+ def render(self, mode='human'):
raise NotImplementedError
def save_params(self, filepath: Path):
diff --git a/environments/factory/levels/rooms.txt b/environments/factory/levels/rooms.txt
index 781de13..43e8193 100644
--- a/environments/factory/levels/rooms.txt
+++ b/environments/factory/levels/rooms.txt
@@ -7,7 +7,7 @@
###x#######x###
#1111##2222222#
#11111#2222#22#
-#11111D2222222#
+#11111x2222222#
#11111#2222222#
#11111#2222222#
###############
\ No newline at end of file
diff --git a/environments/factory/renderer.py b/environments/factory/renderer.py
index b134687..fcc01a6 100644
--- a/environments/factory/renderer.py
+++ b/environments/factory/renderer.py
@@ -42,8 +42,6 @@ class Renderer:
self.font.set_bold(1.0)
print('Loading System font with pygame.font.Font took', time.time() - now)
-
-
def fill_bg(self):
self.screen.fill(Renderer.BG_COLOR)
if self.grid_lines:
@@ -71,9 +69,9 @@ class Renderer:
def load_asset(self, path, factor=1.0):
s = int(factor*self.cell_size)
- wall_img = pygame.image.load(path).convert_alpha()
- wall_img = pygame.transform.smoothscale(wall_img, (s, s))
- return wall_img
+ asset = pygame.image.load(path).convert_alpha()
+ asset = pygame.transform.smoothscale(asset, (s, s))
+ return asset
def render(self, entities):
for event in pygame.event.get():
@@ -82,7 +80,10 @@ class Renderer:
sys.exit()
self.fill_bg()
blits = deque()
- for entity in entities:
+ for entity in [x for x in entities if 'door' in x.name]:
+ bp = self.blit_params(entity)
+ blits.append(bp)
+ for entity in [x for x in entities if 'door' not in x.name]:
bp = self.blit_params(entity)
blits.append(bp)
if entity.name.lower() == 'agent':
@@ -106,7 +107,6 @@ class Renderer:
for blit in blits:
self.screen.blit(**blit)
-
pygame.display.flip()
self.clock.tick(self.fps)
@@ -114,6 +114,6 @@ class Renderer:
if __name__ == '__main__':
renderer = Renderer(fps=2, cell_size=40)
for i in range(15):
- entity = Entity('agent', [5, i], 1, 'idle', 'idle')
- renderer.render([entity])
+ entity_1 = Entity('agent', [5, i], 1, 'idle', 'idle')
+ renderer.render([entity_1])
diff --git a/environments/factory/simple_factory.py b/environments/factory/simple_factory.py
index 30de773..206febb 100644
--- a/environments/factory/simple_factory.py
+++ b/environments/factory/simple_factory.py
@@ -14,7 +14,7 @@ CLEAN_UP_ACTION = 'clean_up'
class DirtProperties(NamedTuple):
- clean_amount: int = 2 # How much does the robot clean with one action.
+ clean_amount: int = 2 # 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 = 0.5 # How much dirt does spawn per tile
spawn_frequency: int = 5 # Spawn Frequency in Steps
@@ -41,7 +41,7 @@ class SimpleFactory(BaseFactory):
self._renderer = None # expensive - don't use it when not required !
super(SimpleFactory, self).__init__(*args, additional_slices=['dirt'], **kwargs)
- def render(self):
+ def render(self, mode='human'):
if not self._renderer: # lazy init
height, width = self._state.shape[1:]
@@ -67,7 +67,11 @@ class SimpleFactory(BaseFactory):
for i, agent in enumerate(self._agent_states):
name, state = asset_str(agent)
agents.append(Entity(name, agent.pos, 1, 'none', state, i+1))
- self._renderer.render(dirt+walls+agents)
+ doors = []
+ for i, door in enumerate(self._door_states):
+ name, state = 'door_open' if door.is_open else 'door_closed', 'blank'
+ agents.append(Entity(name, door.pos, 1, 'none', state, i+1))
+ self._renderer.render(dirt+walls+agents+doors)
def spawn_dirt(self) -> None:
if not np.argwhere(self._state[DIRT_INDEX] != h.IS_FREE_CELL).shape[0] > self.dirt_properties.max_global_amount:
@@ -156,6 +160,7 @@ class SimpleFactory(BaseFactory):
self.print(f'Agent {agent_state.i} just tried to clean up some dirt '
f'at {agent_state.pos}, but was unsucsessfull.')
info_dict.update({f'agent_{agent_state.i}_failed_action': 1})
+ info_dict.update({f'agent_{agent_state.i}_failed_dirt_cleanup': 1})
elif self._actions.is_moving_action(agent_state.action):
if agent_state.action_valid:
@@ -165,6 +170,17 @@ class SimpleFactory(BaseFactory):
# self.print('collision')
reward -= 0.01
+ elif self._actions.is_door_usage(agent_state.action):
+ if agent_state.action_valid:
+ reward += 0.1
+ self.print(f'Agent {agent_state.i} did just use the door at {agent_state.pos}.')
+ info_dict.update(door_used=1)
+ else:
+ self.print(f'Agent {agent_state.i} just tried to use a door '
+ f'at {agent_state.pos}, but was unsucsessfull.')
+ info_dict.update({f'agent_{agent_state.i}_failed_action': 1})
+ info_dict.update({f'agent_{agent_state.i}_failed_door_open': 1})
+
else:
info_dict.update(no_op=1)
reward -= 0.00
@@ -184,7 +200,7 @@ class SimpleFactory(BaseFactory):
if __name__ == '__main__':
- render = True
+ render = False
move_props = MovementProperties(allow_diagonal_movement=True, allow_square_movement=True)
dirt_props = DirtProperties()
@@ -193,8 +209,9 @@ if __name__ == '__main__':
pomdp_radius=3)
n_actions = factory.action_space.n - 1
+ _ = factory.observation_space
- for epoch in range(100):
+ for epoch in range(10000):
random_actions = [[random.randint(0, n_actions) for _ in range(factory.n_agents)] for _ in range(200)]
env_state = factory.reset()
r = 0
diff --git a/environments/oo_factory/__init__.py b/environments/oo_factory/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/environments/oo_factory/_base_factory.py b/environments/oo_factory/_base_factory.py
new file mode 100644
index 0000000..5fe2091
--- /dev/null
+++ b/environments/oo_factory/_base_factory.py
@@ -0,0 +1,68 @@
+from typing import List, Union
+
+import gym
+
+
+class Entities():
+
+ def __init__(self):
+ pass
+
+
+# noinspection PyAttributeOutsideInit
+class BaseFactory(gym.Env):
+
+ def __enter__(self):
+ return self if self.frames_to_stack == 0 else FrameStack(self, self.frames_to_stack)
+
+ def __exit__(self, exc_type, exc_val, exc_tb):
+ self.close()
+
+ def __init__(self, level_name='simple', n_agents=1, max_steps=int(5e2), pomdp_radius: Union[None, int] = 0,
+ movement_properties: MovementProperties = MovementProperties(),
+ combin_agent_slices_in_obs: bool = False, frames_to_stack=0,
+ omit_agent_slice_in_obs=False, **kwargs):
+ assert (combin_agent_slices_in_obs != omit_agent_slice_in_obs) or \
+ (not combin_agent_slices_in_obs and not omit_agent_slice_in_obs), \
+ 'Both options are exclusive'
+ assert frames_to_stack != 1 and frames_to_stack >= 0, "'frames_to_stack' cannot be negative or 1."
+
+ self.movement_properties = movement_properties
+ self.level_name = level_name
+
+ self.n_agents = n_agents
+ self.max_steps = max_steps
+ self.pomdp_radius = pomdp_radius
+ self.combin_agent_slices_in_obs = combin_agent_slices_in_obs
+ self.omit_agent_slice_in_obs = omit_agent_slice_in_obs
+ self.frames_to_stack = frames_to_stack
+
+ self.done_at_collision = False
+
+ self._state_slices = StateSlices()
+ level_filepath = Path(__file__).parent / h.LEVELS_DIR / f'{self.level_name}.txt'
+ parsed_level = h.parse_level(level_filepath)
+ self._level = h.one_hot_level(parsed_level)
+ parsed_doors = h.one_hot_level(parsed_level, h.DOOR)
+ if parsed_doors.any():
+ self._doors = parsed_doors
+ level_slices = ['level', 'doors']
+ can_use_doors = True
+ else:
+ level_slices = ['level']
+ can_use_doors = False
+ offset = len(level_slices)
+ self._state_slices.register_additional_items([*level_slices,
+ *[f'agent#{i}' for i in range(offset, n_agents + offset)]])
+ if 'additional_slices' in kwargs:
+ self._state_slices.register_additional_items(kwargs.get('additional_slices'))
+ self._zones = Zones(parsed_level)
+
+ self._actions = Actions(self.movement_properties, can_use_doors=can_use_doors)
+ self._actions.register_additional_items(self.additional_actions)
+ self.reset()
+
+
+ def step(self, actions: Union[int, List[int]]):
+ actions = actions if isinstance(actions, list) else [actions]
+ self.entities.step()
\ No newline at end of file
diff --git a/environments/utility_classes.py b/environments/utility_classes.py
index 0449946..2ee27a5 100644
--- a/environments/utility_classes.py
+++ b/environments/utility_classes.py
@@ -108,10 +108,12 @@ class AgentState:
class DoorState:
- def __init__(self, i: int, pos: Tuple[int, int], closed_on_init=True):
+ def __init__(self, i: int, pos: Tuple[int, int], closed_on_init=True, auto_close_interval=10):
self.i = i
self.pos = pos
self._state = self._state = IS_CLOSED if closed_on_init else IS_OPEN
+ self.auto_close_interval = auto_close_interval
+ self.time_to_close = -1
@property
def is_closed(self):
@@ -126,8 +128,11 @@ class DoorState:
return self._state
def use(self):
- self._state: str = IS_CLOSED if self._state == IS_OPEN else IS_OPEN
-
+ if self._state == IS_OPEN:
+ self._state = IS_CLOSED
+ else:
+ self._state = IS_OPEN
+ self.time_to_close = self.auto_close_interval
class Register:
diff --git a/main.py b/main.py
index ee04369..92fc8a4 100644
--- a/main.py
+++ b/main.py
@@ -111,7 +111,7 @@ if __name__ == '__main__':
kwargs = dict(ent_coef=0.01)
elif modeL_type.__name__ in ["RegDQN", "DQN", "QRDQN"]:
kwargs = dict(buffer_size=50000,
- learning_starts=25000,
+ learning_starts=64,
batch_size=64,
target_update_interval=5000,
exploration_fraction=0.25,
diff --git a/reload_agent.py b/reload_agent.py
index 58f3cce..faffb44 100644
--- a/reload_agent.py
+++ b/reload_agent.py
@@ -14,14 +14,14 @@ warnings.filterwarnings('ignore', category=UserWarning)
if __name__ == '__main__':
- model_name = 'PPO_1623052687'
+ model_name = 'A2C_1623923982'
run_id = 0
out_path = Path(__file__).parent / 'debug_out'
model_path = out_path / model_name
with (model_path / f'env_{model_name}.yaml').open('r') as f:
env_kwargs = yaml.load(f, Loader=yaml.FullLoader)
- with SimpleFactory(level_name='rooms', **env_kwargs) as env:
+ with SimpleFactory(**env_kwargs) as env:
# Edit THIS:
model_files = list(natsorted((model_path / f'{run_id}_{model_name}').rglob('model_*.zip')))
@@ -30,5 +30,3 @@ if __name__ == '__main__':
model = PPO.load(this_model)
evaluation_result = evaluate_policy(model, env, n_eval_episodes=100, deterministic=False, render=True)
print(evaluation_result)
-
-