Changed Collision Check

marl_factory_grid/algorithms/utils.py

@@ -1,7 +1,6 @@
 from pathlib import Path
 
 import numpy as np
-import torch
 import yaml
 
 
@@ -74,6 +73,7 @@ class Checkpointer(object):
     def save_experiment(self, name: str, model):
         cpt_path = self.path / f'checkpoint_{self.__current_checkpoint}'
         cpt_path.mkdir(exist_ok=True, parents=True)
+        import torch
         torch.save(model.state_dict(), cpt_path / f'{name}.pt')
 
     def step(self, to_save):

marl_factory_grid/environment/actions.py

@@ -28,9 +28,10 @@ class Action(abc.ABC):
     def __repr__(self):
         return f'Action[{self._identifier}]'
 
-    def get_result(self, validity, entity):
+    def get_result(self, validity, entity, action_introduced_collision=False):
         reward = self.valid_reward if validity else self.fail_reward
-        return ActionResult(self.__class__.__name__, validity, reward=reward, entity=entity)
+        return ActionResult(self.__class__.__name__, validity, reward=reward, entity=entity,
+                            action_introduced_collision=action_introduced_collision)
 
 
 class Noop(Action):
@@ -50,24 +51,24 @@ class Move(Action, abc.ABC):
 
     def do(self, entity, state):
         new_pos = self._calc_new_pos(entity.pos)
+        collision = False
         if state.check_move_validity(entity, new_pos):
             valid = entity.move(new_pos, state)
             # Aftermath Collision Check
             if len([x for x in state.entities.by_pos(entity.pos) if x.var_can_collide]) > 1:
                 # The entity did move, but there was something to collide with...
-                #  Is then reported as a non-valid move, which did work.
-                valid = False
+                collision = True
 
         else:
             # There is no place to go, propably collision
             # This is currently handeld by the WatchCollisions rule, so that it can be switched on and off by conf.yml
-            # return ActionResult(entity=entity, identifier=self._identifier, validity=c.NOT_VALID, reward=r.COLLISION)
             valid = c.NOT_VALID
+            collision = True
         if valid:
             state.print(f'{entity.name} just moved to {entity.pos}.')
         else:
             state.print(f'{entity.name} just tried to move to {new_pos} but either failed or hat a Collision.')
-        return self.get_result(valid, entity)
+        return self.get_result(valid, entity, action_introduced_collision=collision)
 
     def _calc_new_pos(self, pos):
         x_diff, y_diff = MOVEMAP[self._identifier]

marl_factory_grid/environment/rules.py

@@ -200,6 +200,11 @@ class WatchCollisions(Rule):
         self.curr_done = False
         pos_with_collisions = state.get_collision_positions()
         results = list()
+        for agent in state[c.AGENT]:
+            a_s = agent.state
+            if h.is_move(a_s.identifier) and a_s.action_introduced_collision:
+                results.append(TickResult(entity=agent, identifier=c.COLLISION,
+                                          reward=self.reward, validity=c.VALID))
         for pos in pos_with_collisions:
             guests = [x for x in state.entities.pos_dict[pos] if x.var_can_collide]
             if len(guests) >= 2:
@@ -210,15 +215,18 @@ class WatchCollisions(Rule):
                                         )
                     except AttributeError:
                         pass
-                    results.append(TickResult(entity=guest, identifier=c.COLLISION,
-                                              reward=self.reward, validity=c.VALID))
+                    if not any([x.entity == guest for x in results]):
+                        results.append(TickResult(entity=guest, identifier=c.COLLISION,
+                                                  reward=self.reward, validity=c.VALID))
                 self.curr_done = True if self.done_at_collisions else False
         return results
 
     def on_check_done(self, state) -> List[DoneResult]:
         if self.done_at_collisions:
             inter_entity_collision_detected = self.curr_done
-            move_failed = any(h.is_move(x.state.identifier) and not x.state.validity for x in state[c.AGENT])
-            if inter_entity_collision_detected or move_failed:
+            collision_in_step = any(h.is_move(x.state.identifier) and x.state.action_introduced_collision
+                                    for x in state[c.AGENT]
+                                    )
+            if inter_entity_collision_detected or collision_in_step:
                 return [DoneResult(validity=c.VALID, identifier=c.COLLISION, reward=self.reward_at_done)]
         return []

marl_factory_grid/utils/results.py

@@ -58,9 +58,16 @@ class Result:
 
 @dataclass
 class ActionResult(Result):
-    """
-    A specific Result class representing outcomes of actions.
-    """
+    def __init__(self, *args, action_introduced_collision: bool = False, **kwargs):
+        """
+        A specific Result class representing outcomes of actions.
+
+        :param action_introduced_collision: Wether the action did introduce a colision between agents or other entities.
+                                            These need to be able to collide.
+        """
+        super().__init__(*args, **kwargs)
+        self.action_introduced_collision = action_introduced_collision
+
     pass