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Rework for performance

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Steffen Illium
2022-01-10 15:54:22 +01:00
parent 78bf19f7f4
commit 435056f373
10 changed files with 525 additions and 469 deletions
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247
environments/factory/base/base_factory.py
View File

@@ -13,6 +13,8 @@ from gym.wrappers import FrameStack
from environments.factory.base.shadow_casting import Map from environments.factory.base.shadow_casting import Map
from environments import helpers as h from environments import helpers as h
from environments.helpers import Constants as c 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.objects import Agent, Tile, Action
from environments.factory.base.registers import Actions, Entities, Agents, Doors, FloorTiles, WallTiles, PlaceHolders, \ from environments.factory.base.registers import Actions, Entities, Agents, Doors, FloorTiles, WallTiles, PlaceHolders, \
GlobalPositions GlobalPositions
@@ -205,8 +207,9 @@ class BaseFactory(gym.Env):
if self.obs_prop.show_global_position_info: if self.obs_prop.show_global_position_info:
global_positions = GlobalPositions(self._level_shape) global_positions = GlobalPositions(self._level_shape)
obs_shape_2d = self._level_shape if not self._pomdp_r else ((self.pomdp_diameter,) * 2) # This moved into the GlobalPosition object
global_positions.spawn_global_position_objects(obs_shape_2d, self[c.AGENT]) # 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}) self._entities.register_additional_items({c.GLOBAL_POSITION: global_positions})
# Return # Return
@@ -232,37 +235,51 @@ class BaseFactory(gym.Env):
# Pre step Hook for later use # Pre step Hook for later use
self.hook_pre_step() self.hook_pre_step()
# Move this in a seperate function?
for action, agent in zip(actions, self[c.AGENT]): for action, agent in zip(actions, self[c.AGENT]):
agent.clear_temp_state() agent.clear_temp_state()
action_obj = self._actions[int(action)] 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}') # cls.print(f'Action #{action} has been resolved to: {action_obj}')
if h.EnvActions.is_move(action_obj): if a.is_move(action_obj):
valid = self._move_or_colide(agent, action_obj) action_valid, reward = self._do_move_action(agent, action_obj)
elif h.EnvActions.NOOP == agent.temp_action: elif a.NOOP == action_obj:
valid = c.VALID action_valid = c.VALID
elif h.EnvActions.USE_DOOR == action_obj: reward = dict(value=r.NOOP, reason=a.NOOP, info={f'{agent.pos}_NOOP': 1})
valid = self._handle_door_interaction(agent) elif a.USE_DOOR == action_obj:
action_valid, reward = self._handle_door_interaction(agent)
else: else:
valid = self.do_additional_actions(agent, action_obj) # noinspection PyTupleAssignmentBalance
assert valid is not None, 'This should not happen, every Action musst be detected correctly!' action_valid, reward = self.do_additional_actions(agent, action_obj)
agent.temp_action = action_obj # Not needed any more sice the tuple assignment above will fail in case of a failing action resolvement.
agent.temp_valid = valid # assert step_result is not None, 'This should not happen, every Action musst be detected correctly!'
step_result['action_name'] = action_obj.identifier
# In-between step Hook for later use step_result['action_valid'] = action_valid
info = self.do_additional_step() 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() tiles_with_collisions = self.get_all_tiles_with_collisions()
for tile in tiles_with_collisions: for tile in tiles_with_collisions:
guests = tile.guests_that_can_collide guests = tile.guests_that_can_collide
for i, guest in enumerate(guests): for i, guest in enumerate(guests):
# This does make a copy, but is faster than.copy()
this_collisions = guests[:] this_collisions = guests[:]
del this_collisions[i] 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 # Step the door close intervall
if self.parse_doors: if self.parse_doors:
@@ -270,7 +287,8 @@ class BaseFactory(gym.Env):
doors.tick_doors() doors.tick_doors()
# Finalize # Finalize
reward, reward_info = self.calculate_reward() reward, reward_info = self.build_reward_result()
info.update(reward_info) info.update(reward_info)
if self._steps >= self.max_steps: if self._steps >= self.max_steps:
done = True done = True
@@ -285,7 +303,7 @@ class BaseFactory(gym.Env):
return obs, reward, done, info 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]: if doors := self[c.DOORS]:
# Check if agent really is standing on a door: # Check if agent really is standing on a door:
if self.doors_have_area: if self.doors_have_area:
@@ -294,12 +312,21 @@ class BaseFactory(gym.Env):
door = doors.by_pos(agent.pos) door = doors.by_pos(agent.pos)
if door is not None: if door is not None:
door.use() 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... # When he doesn't...
else: 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: 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: def _build_observations(self) -> np.typing.ArrayLike:
# Observation dict: # Observation dict:
@@ -308,7 +335,7 @@ class BaseFactory(gym.Env):
# Generel Observations # Generel Observations
lvl_obs = self[c.WALLS].as_array() lvl_obs = self[c.WALLS].as_array()
door_obs = self[c.DOORS].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 placeholder_obs = self[c.AGENT_PLACEHOLDER].as_array() if self[c.AGENT_PLACEHOLDER] else None
add_obs_dict = self._additional_observations() 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.render_agents != a_obs.NOT:
if self.obs_prop.omit_agent_self: if self.obs_prop.omit_agent_self:
if self.obs_prop.render_agents == a_obs.SEPERATE: 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: else:
agent_obs = agent_obs.copy() agent_obs = global_agent_obs.copy()
agent_obs[(0, *agent.pos)] -= agent.encoding agent_obs[(0, *agent.pos)] -= agent.encoding
else:
agent_obs = global_agent_obs
else:
agent_obs = global_agent_obs
# Build Level Observations # Build Level Observations
if self.obs_prop.render_agents == a_obs.LEVEL: if self.obs_prop.render_agents == a_obs.LEVEL:
lvl_obs = lvl_obs.copy() lvl_obs = lvl_obs.copy()
lvl_obs += agent_obs lvl_obs += global_agent_obs
obs_dict[c.WALLS] = lvl_obs obs_dict[c.WALLS] = lvl_obs
if self.obs_prop.render_agents in [a_obs.SEPERATE, a_obs.COMBINED]: 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) obsn = self._do_pomdp_cutout(agent, obsn)
raw_obs = self._additional_per_agent_raw_observations(agent) 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())) 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 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, ])} zip(keys, idxs, list(idxs[1:]) + [idxs[-1]+1, ])}
# Shadow Casting # Shadow Casting
@@ -390,7 +423,13 @@ class BaseFactory(gym.Env):
if door_shadowing: if door_shadowing:
# noinspection PyUnboundLocalVariable # noinspection PyUnboundLocalVariable
light_block_map[xs, ys] = 0 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) obsn[shadowed_obs] = ((obsn[shadowed_obs] * light_block_map) + 0.) - (1 - light_block_map)
else: else:
@@ -410,27 +449,27 @@ class BaseFactory(gym.Env):
def _do_pomdp_cutout(self, agent, obs_to_be_padded): def _do_pomdp_cutout(self, agent, obs_to_be_padded):
assert obs_to_be_padded.ndim == 3 assert obs_to_be_padded.ndim == 3
r, d = self._pomdp_r, self.pomdp_diameter ra, d = self._pomdp_r, self.pomdp_diameter
x0, x1 = max(0, agent.x - r), min(agent.x + r + 1, self._level_shape[0]) x0, x1 = max(0, agent.x - ra), min(agent.x + ra + 1, self._level_shape[0])
y0, y1 = max(0, agent.y - r), min(agent.y + r + 1, self._level_shape[1]) 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] oobs = obs_to_be_padded[:, x0:x1, y0:y1]
if oobs.shape[1:] != (d, d): if oobs.shape[1:] != (d, d):
if xd := oobs.shape[1] % d: if xd := oobs.shape[1] % d:
if agent.x > r: if agent.x > ra:
x0_pad = 0 x0_pad = 0
x1_pad = (d - xd) x1_pad = (d - xd)
else: else:
x0_pad = r - agent.x x0_pad = ra - agent.x
x1_pad = 0 x1_pad = 0
else: else:
x0_pad, x1_pad = 0, 0 x0_pad, x1_pad = 0, 0
if yd := oobs.shape[2] % d: if yd := oobs.shape[2] % d:
if agent.y > r: if agent.y > ra:
y0_pad = 0 y0_pad = 0
y1_pad = (d - yd) y1_pad = (d - yd)
else: else:
y0_pad = r - agent.y y0_pad = ra - agent.y
y1_pad = 0 y1_pad = 0
else: else:
y0_pad, y1_pad = 0, 0 y0_pad, y1_pad = 0, 0
@@ -439,22 +478,39 @@ class BaseFactory(gym.Env):
return oobs return oobs
def get_all_tiles_with_collisions(self) -> List[Tile]: def get_all_tiles_with_collisions(self) -> List[Tile]:
tiles_with_collisions = list() tiles = [x.tile for y in self._entities for x in y if
for tile in self[c.FLOOR]: y.can_collide and not isinstance(y, WallTiles) and x.can_collide and len(x.tile.guests) > 1]
if tile.is_occupied(): if False:
guests = tile.guests_that_can_collide tiles_with_collisions = list()
if len(guests) >= 2: for tile in self[c.FLOOR]:
tiles_with_collisions.append(tile) if tile.is_occupied():
return tiles_with_collisions 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) new_tile, valid = self._check_agent_move(agent, action)
if valid: if valid:
# Does not collide width level boundaries # 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: else:
# Agent seems to be trying to collide in this step # Agent seems to be trying to Leave the level
return c.NOT_VALID 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): def _check_agent_move(self, agent, action: Action) -> (Tile, bool):
# Actions # Actions
@@ -474,7 +530,7 @@ class BaseFactory(gym.Env):
if doors := self[c.DOORS]: if doors := self[c.DOORS]:
if self.doors_have_area: if self.doors_have_area:
if door := doors.by_pos(new_tile.pos): if door := doors.by_pos(new_tile.pos):
if door.is_open: if door.is_closed:
return agent.tile, c.NOT_VALID return agent.tile, c.NOT_VALID
else: # door.is_closed: else: # door.is_closed:
pass pass
@@ -494,69 +550,46 @@ class BaseFactory(gym.Env):
return new_tile, valid 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 # Returns: Reward, Info
per_agent_info_dict = defaultdict(dict) info = defaultdict(lambda: 0.0)
reward = {}
# Gather additional sub-env rewards and calculate collisions
for agent in self[c.AGENT]: 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: rewards = self.additional_per_agent_rewards(agent)
if agent.temp_valid: for reward in rewards:
# per_agent_reward += 0.00 agent.step_result['rewards'].append(reward)
self.print(f'{agent.name} did just use the door at {agent.pos}.') if collisions := agent.step_result['collisions']:
per_agent_info_dict[agent.name].update(door_used=1) self.print(f't = {self._steps}\t{agent.name} has collisions with {collisions}')
else: info[c.COLLISION] += 1
# per_agent_reward -= 0.00 reward = {'value': r.COLLISION, 'reason': c.COLLISION, 'info': {f'{agent.name}_{c.COLLISION}': 1}}
self.print(f'{agent.name} just tried to use a door at {agent.pos}, but failed.') agent.step_result['rewards'].append(reward)
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})
else: else:
per_agent_info_dict[agent.name].update(failed_action=1) # No Collisions, nothing to do
per_agent_info_dict[agent.name].update({f'{agent.name}_failed_action': 1}) pass
additional_reward, additional_info_dict = self.calculate_additional_reward(agent) comb_rewards = {agent.name: sum(x['value'] for x in agent.step_result['rewards']) for agent in self[c.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
# Combine the per_agent_info_dict: # Combine the per_agent_info_dict:
combined_info_dict = defaultdict(lambda: 0) combined_info_dict = defaultdict(lambda: 0)
for info_dict in per_agent_info_dict.values(): for agent in self[c.AGENT]:
for key, value in info_dict.items(): for reward in agent.step_result['rewards']:
combined_info_dict[key] += value combined_info_dict.update(reward['info'])
combined_info_dict = dict(combined_info_dict) combined_info_dict = dict(combined_info_dict)
combined_info_dict.update(info)
if self.individual_rewards: if self.individual_rewards:
self.print(f"rewards are {reward}") self.print(f"rewards are {comb_rewards}")
reward = list(reward.values()) reward = list(comb_rewards.values())
return reward, combined_info_dict return reward, combined_info_dict
else: else:
reward = sum(reward.values()) reward = sum(comb_rewards.values())
self.print(f"reward is {reward}") self.print(f"reward is {reward}")
return reward, combined_info_dict return reward, combined_info_dict
@@ -574,7 +607,7 @@ class BaseFactory(gym.Env):
agents = [] agents = []
for i, agent in enumerate(self[c.AGENT]): for i, agent in enumerate(self[c.AGENT]):
name, state = h.asset_str(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 = [] doors = []
if self.parse_doors: if self.parse_doors:
for i, door in enumerate(self[c.DOORS]): for i, door in enumerate(self[c.DOORS]):
@@ -637,16 +670,16 @@ class BaseFactory(gym.Env):
pass pass
@abc.abstractmethod @abc.abstractmethod
def do_additional_step(self) -> dict: def do_additional_step(self) -> (List[dict], dict):
return {} return [], {}
@abc.abstractmethod @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 return None
@abc.abstractmethod @abc.abstractmethod
def check_additional_done(self) -> bool: def check_additional_done(self) -> (bool, dict):
return False return False, {}
@abc.abstractmethod @abc.abstractmethod
def _additional_observations(self) -> Dict[str, np.typing.ArrayLike]: def _additional_observations(self) -> Dict[str, np.typing.ArrayLike]:
@@ -660,8 +693,8 @@ class BaseFactory(gym.Env):
return additional_raw_observations return additional_raw_observations
@abc.abstractmethod @abc.abstractmethod
def calculate_additional_reward(self, agent: Agent) -> (int, dict): def additional_per_agent_reward(self, agent: Agent) -> Dict[str, dict]:
return 0, {} return {}
@abc.abstractmethod @abc.abstractmethod
def render_additional_assets(self): def render_additional_assets(self):

43
environments/factory/base/objects.py
View File

@@ -33,7 +33,7 @@ class Object:
else: else:
return self._name 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 self._str_ident = str_ident
@@ -45,7 +45,6 @@ class Object:
else: else:
raise ValueError('Please use either of the idents.') raise ValueError('Please use either of the idents.')
self._is_blocking_light = is_blocking_light
if kwargs: if kwargs:
print(f'Following kwargs were passed, but ignored: {kwargs}') print(f'Following kwargs were passed, but ignored: {kwargs}')
@@ -62,6 +61,10 @@ class EnvObject(Object):
_u_idx = defaultdict(lambda: 0) _u_idx = defaultdict(lambda: 0)
@property
def can_collide(self):
return False
@property @property
def encoding(self): def encoding(self):
return c.OCCUPIED_CELL return c.OCCUPIED_CELL
@@ -71,7 +74,10 @@ class EnvObject(Object):
self._register = register self._register = register
def change_register(self, register): def change_register(self, register):
register.register_item(self)
self._register.delete_env_object(self)
self._register = register self._register = register
return self._register == register
class BoundingMixin(Object): class BoundingMixin(Object):
@@ -85,11 +91,6 @@ class BoundingMixin(Object):
assert entity_to_be_bound is not None assert entity_to_be_bound is not None
self._bound_entity = entity_to_be_bound 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 @property
def name(self): def name(self):
return f'{super(BoundingMixin, self).name}({self._bound_entity.name})' return f'{super(BoundingMixin, self).name}({self._bound_entity.name})'
@@ -101,13 +102,9 @@ class BoundingMixin(Object):
class Entity(EnvObject): class Entity(EnvObject):
"""Full Env Entity that lives on the env Grid. Doors, Items, Dirt etc...""" """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 @property
def can_collide(self): def can_collide(self):
return True return False
@property @property
def x(self): def x(self):
@@ -125,10 +122,9 @@ class Entity(EnvObject):
def tile(self): def tile(self):
return self._tile return self._tile
def __init__(self, tile, *args, is_blocking_light=True, **kwargs): def __init__(self, tile, *args, **kwargs):
super().__init__(*args, **kwargs) super().__init__(*args, **kwargs)
self._tile = tile self._tile = tile
self._is_blocking_light = is_blocking_light
tile.enter(self) tile.enter(self)
def summarize_state(self, **_) -> dict: def summarize_state(self, **_) -> dict:
@@ -170,9 +166,9 @@ class MoveableEntity(Entity):
self._tile = next_tile self._tile = next_tile
self._last_tile = curr_tile self._last_tile = curr_tile
self._register.notify_change_to_value(self) self._register.notify_change_to_value(self)
return True return c.VALID
else: else:
return False return c.NOT_VALID
########################################################################## ##########################################################################
@@ -284,6 +280,10 @@ class Tile(EnvObject):
class Wall(Tile): class Wall(Tile):
@property
def can_collide(self):
return True
@property @property
def encoding(self): def encoding(self):
return c.OCCUPIED_CELL return c.OCCUPIED_CELL
@@ -381,6 +381,10 @@ class Door(Entity):
class Agent(MoveableEntity): class Agent(MoveableEntity):
@property
def can_collide(self):
return True
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
super(Agent, self).__init__(*args, **kwargs) super(Agent, self).__init__(*args, **kwargs)
self.clear_temp_state() self.clear_temp_state()
@@ -389,12 +393,9 @@ class Agent(MoveableEntity):
def clear_temp_state(self): def clear_temp_state(self):
# for attr in cls.__dict__: # for attr in cls.__dict__:
# if attr.startswith('temp'): # if attr.startswith('temp'):
self.temp_collisions = [] self.step_result = None
self.temp_valid = None
self.temp_action = None
self.temp_light_map = None
def summarize_state(self, **kwargs): def summarize_state(self, **kwargs):
state_dict = super().summarize_state(**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 return state_dict

58
environments/factory/base/registers.py
View File

@@ -85,19 +85,27 @@ class EnvObjectRegister(ObjectRegister):
def encodings(self): def encodings(self):
return [x.encoding for x in 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) super(EnvObjectRegister, self).__init__(*args, **kwargs)
self._shape = obs_shape self._shape = obs_shape
self._array = None self._array = None
self._individual_slices = individual_slices self._individual_slices = individual_slices
self._lazy_eval_transforms = [] 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): def register_item(self, other: EnvObject):
super(EnvObjectRegister, self).register_item(other) super(EnvObjectRegister, self).register_item(other)
if self._array is None: if self._array is None:
self._array = np.zeros((1, *self._shape)) self._array = np.zeros((1, *self._shape))
if self._individual_slices: else:
self._array = np.vstack((self._array, np.zeros((1, *self._shape)))) if self._individual_slices:
self._array = np.vstack((self._array, np.zeros((1, *self._shape))))
self.notify_change_to_value(other) self.notify_change_to_value(other)
def as_array(self): def as_array(self):
@@ -179,14 +187,9 @@ class EntityRegister(EnvObjectRegister, ABC):
def tiles(self): def tiles(self):
return [entity.tile for entity in self] return [entity.tile for entity in self]
def __init__(self, level_shape, *args, def __init__(self, level_shape, *args, **kwargs):
is_blocking_light: bool = False,
can_be_shadowed: bool = True,
**kwargs):
super(EntityRegister, self).__init__(level_shape, *args, **kwargs) super(EntityRegister, self).__init__(level_shape, *args, **kwargs)
self._lazy_eval_transforms = [] self._lazy_eval_transforms = []
self.can_be_shadowed = can_be_shadowed
self.is_blocking_light = is_blocking_light
def __delitem__(self, name): def __delitem__(self, name):
idx, obj = next((i, obj) for i, obj in enumerate(self) if obj.name == 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 return None
class BoundRegisterMixin(EnvObjectRegister, ABC): class BoundEnvObjRegister(EnvObjectRegister, ABC):
def __init__(self, entity_to_be_bound, *args, **kwargs): def __init__(self, entity_to_be_bound, *args, **kwargs):
super().__init__(*args, **kwargs) super().__init__(*args, **kwargs)
@@ -229,6 +232,21 @@ class BoundRegisterMixin(EnvObjectRegister, ABC):
def belongs_to_entity(self, entity): def belongs_to_entity(self, entity):
return self._bound_entity == 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): class MovingEntityObjectRegister(EntityRegister, ABC):
@@ -255,6 +273,7 @@ class GlobalPositions(EnvObjectRegister):
is_blocking_light = False is_blocking_light = False
can_be_shadowed = False can_be_shadowed = False
can_collide = False
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
super(GlobalPositions, self).__init__(*args, is_per_agent=True, individual_slices=True, **kwargs) super(GlobalPositions, self).__init__(*args, is_per_agent=True, individual_slices=True, **kwargs)
@@ -360,7 +379,6 @@ class Entities(ObjectRegister):
class WallTiles(EntityRegister): class WallTiles(EntityRegister):
_accepted_objects = Wall _accepted_objects = Wall
_light_blocking = True
def as_array(self): def as_array(self):
if not np.any(self._array): if not np.any(self._array):
@@ -371,9 +389,10 @@ class WallTiles(EntityRegister):
self._array[0, x, y] = self._value self._array[0, x, y] = self._value
return self._array return self._array
def __init__(self, *args, **kwargs): def __init__(self, *args, is_blocking_light=True, **kwargs):
super(WallTiles, self).__init__(*args, is_blocking_light=self._light_blocking, individual_slices=False, super(WallTiles, self).__init__(*args, individual_slices=False,
**kwargs) can_collide=True,
is_blocking_light=is_blocking_light, **kwargs)
self._value = c.OCCUPIED_CELL self._value = c.OCCUPIED_CELL
@classmethod @classmethod
@@ -381,7 +400,7 @@ class WallTiles(EntityRegister):
tiles = cls(*args, **kwargs) tiles = cls(*args, **kwargs)
# noinspection PyTypeChecker # noinspection PyTypeChecker
tiles.register_additional_items( 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] for pos in argwhere_coordinates]
) )
return tiles return tiles
@@ -399,10 +418,9 @@ class WallTiles(EntityRegister):
class FloorTiles(WallTiles): class FloorTiles(WallTiles):
_accepted_objects = Tile _accepted_objects = Tile
_light_blocking = False
def __init__(self, *args, **kwargs): def __init__(self, *args, is_blocking_light=False, **kwargs):
super(FloorTiles, self).__init__(*args, **kwargs) super(FloorTiles, self).__init__(*args, is_blocking_light=is_blocking_light, **kwargs)
self._value = c.FREE_CELL self._value = c.FREE_CELL
@property @property
@@ -430,7 +448,7 @@ class Agents(MovingEntityObjectRegister):
_accepted_objects = Agent _accepted_objects = Agent
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
super().__init__(*args, **kwargs) super().__init__(*args, can_collide=True, **kwargs)
@property @property
def positions(self): def positions(self):
@@ -446,7 +464,7 @@ class Agents(MovingEntityObjectRegister):
class Doors(EntityRegister): class Doors(EntityRegister):
def __init__(self, *args, **kwargs): 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 _accepted_objects = Door

5
environments/factory/base/shadow_casting.py
View File

@@ -2,6 +2,7 @@ import numpy as np
from environments.helpers import Constants as c from environments.helpers import Constants as c
# Multipliers for transforming coordinates to other octants:
mult_array = np.asarray([ mult_array = np.asarray([
[1, 0, 0, -1, -1, 0, 0, 1], [1, 0, 0, -1, -1, 0, 0, 1],
[0, 1, -1, 0, 0, -1, 1, 0], [0, 1, -1, 0, 0, -1, 1, 0],
@@ -11,8 +12,6 @@ mult_array = np.asarray([
class Map(object): class Map(object):
# Multipliers for transforming coordinates to other octants:
def __init__(self, map_array: np.typing.ArrayLike, diamond_slope: float = 0.9): def __init__(self, map_array: np.typing.ArrayLike, diamond_slope: float = 0.9):
self.data = map_array self.data = map_array
self.width, self.height = map_array.shape self.width, self.height = map_array.shape
@@ -33,7 +32,7 @@ class Map(object):
self.light[x, y] = self.flag self.light[x, y] = self.flag
def _cast_light(self, cx, cy, row, start, end, radius, xx, xy, yx, yy, id): def _cast_light(self, cx, cy, row, start, end, radius, xx, xy, yx, yy, id):
"Recursive lightcasting function" """Recursive lightcasting function"""
if start < end: if start < end:
return return
radius_squared = radius*radius radius_squared = radius*radius

200
environments/factory/factory_battery.py
View File

@@ -1,4 +1,4 @@
from typing import Union, NamedTuple, Dict from typing import Union, NamedTuple, Dict, List
import numpy as np 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.objects import Agent, Action, Entity, EnvObject, BoundingMixin
from environments.factory.base.registers import EntityRegister, EnvObjectRegister from environments.factory.base.registers import EntityRegister, EnvObjectRegister
from environments.factory.base.renderer import RenderEntity 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 from environments import helpers as h
CHARGE_ACTION = h.EnvActions.CHARGE class Constants(BaseConstants):
CHARGE_POD = 1 # 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): class BatteryProperties(NamedTuple):
@@ -24,7 +40,12 @@ class BatteryProperties(NamedTuple):
multi_charge: bool = False multi_charge: bool = False
class Battery(EnvObject, BoundingMixin): c = Constants
a = Actions
r = Rewards
class Battery(BoundingMixin, EnvObject):
@property @property
def is_discharged(self): def is_discharged(self):
@@ -37,13 +58,13 @@ class Battery(EnvObject, BoundingMixin):
def encoding(self): def encoding(self):
return self.charge_level return self.charge_level
def charge(self, amount) -> c: def do_charge_action(self, amount):
if self.charge_level < 1: if self.charge_level < 1:
# noinspection PyTypeChecker # noinspection PyTypeChecker
self.charge_level = min(1, amount + self.charge_level) 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: else:
return c.NOT_VALID return dict(valid=c.NOT_VALID, action=a.CHARGE, reward=r.CHARGE_FAIL)
def decharge(self, amount) -> c: def decharge(self, amount) -> c:
if self.charge_level != 0: if self.charge_level != 0:
@@ -54,7 +75,7 @@ class Battery(EnvObject, BoundingMixin):
else: else:
return c.NOT_VALID 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 = {key: str(val) for key, val in self.__dict__.items() if not key.startswith('_') and key != 'data'}
attr_dict.update(dict(name=self.name)) attr_dict.update(dict(name=self.name))
return attr_dict return attr_dict
@@ -63,53 +84,43 @@ class Battery(EnvObject, BoundingMixin):
class BatteriesRegister(EnvObjectRegister): class BatteriesRegister(EnvObjectRegister):
_accepted_objects = Battery _accepted_objects = Battery
is_blocking_light = False
can_be_shadowed = False
def __init__(self, *args, **kwargs): 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 self.is_observable = True
def as_array(self): def spawn_batteries(self, agents, initial_charge_level):
# ToDO: Make this Lazy batteries = [self._accepted_objects(initial_charge_level, agent, self) for _, agent in enumerate(agents)]
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)]
self.register_additional_items(batteries) 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): def summarize_states(self, n_steps=None):
# as dict with additional nesting # as dict with additional nesting
# return dict(items=super(Inventories, cls).summarize_states()) # return dict(items=super(Inventories, cls).summarize_states())
return super(BatteriesRegister, self).summarize_states(n_steps=n_steps) 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): class ChargePod(Entity):
@property
def can_collide(self):
return False
@property @property
def encoding(self): def encoding(self):
return CHARGE_POD return c.CHARGE_POD
def __init__(self, *args, charge_rate: float = 0.4, def __init__(self, *args, charge_rate: float = 0.4,
multi_charge: bool = False, **kwargs): multi_charge: bool = False, **kwargs):
@@ -120,9 +131,9 @@ class ChargePod(Entity):
def charge_battery(self, battery: Battery): def charge_battery(self, battery: Battery):
if battery.charge_level == 1.0: if battery.charge_level == 1.0:
return c.NOT_VALID 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 return c.NOT_VALID
battery.charge(self.charge_rate) battery.do_charge_action(self.charge_rate)
return c.VALID return c.VALID
def summarize_state(self, n_steps=None) -> dict: def summarize_state(self, n_steps=None) -> dict:
@@ -135,14 +146,6 @@ class ChargePods(EntityRegister):
_accepted_objects = ChargePod _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): def __repr__(self):
super(ChargePods, self).__repr__() super(ChargePods, self).__repr__()
@@ -155,14 +158,14 @@ class BatteryFactory(BaseFactory):
self.btry_prop = btry_prop self.btry_prop = btry_prop
super().__init__(*args, **kwargs) 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 = 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 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 = 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 return additional_observations
@property @property
@@ -178,12 +181,12 @@ class BatteryFactory(BaseFactory):
batteries = BatteriesRegister(self._level_shape if not self._pomdp_r else ((self.pomdp_diameter,) * 2), 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) batteries.spawn_batteries(self[c.AGENT], self.btry_prop.initial_charge)
super_entities.update({c.BATTERIES: batteries, c.CHARGE_POD: charge_pods}) super_entities.update({c.BATTERIES: batteries, c.CHARGE_PODS: charge_pods})
return super_entities return super_entities
def do_additional_step(self) -> dict: def do_additional_step(self) -> (List[dict], dict):
info_dict = super(BatteryFactory, self).do_additional_step() super_reward_info = super(BatteryFactory, self).do_additional_step()
# Decharge # Decharge
batteries = self[c.BATTERIES] batteries = self[c.BATTERIES]
@@ -196,65 +199,70 @@ class BatteryFactory(BaseFactory):
batteries.by_entity(agent).decharge(energy_consumption) batteries.by_entity(agent).decharge(energy_consumption)
return info_dict return super_reward_info
def do_charge(self, agent) -> c: def do_charge_action(self, agent) -> (dict, dict):
if charge_pod := self[c.CHARGE_POD].by_pos(agent.pos): if charge_pod := self[c.CHARGE_PODS].by_pos(agent.pos):
return charge_pod.charge_battery(self[c.BATTERIES].by_entity(agent)) 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: 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]: def do_additional_actions(self, agent: Agent, action: Action) -> (bool, dict):
valid = super().do_additional_actions(agent, action) action_result = super().do_additional_actions(agent, action)
if valid is None: if action_result is None:
if action == CHARGE_ACTION: if action == a.CHARGE:
valid = self.do_charge(agent) action_result = self.do_charge_action(agent)
return valid return action_result
else: else:
return None return None
else: else:
return valid return action_result
pass pass
def do_additional_reset(self) -> None: def do_additional_reset(self) -> None:
# There is Nothing to reset. # There is Nothing to reset.
pass pass
def check_additional_done(self) -> bool: def check_additional_done(self) -> (bool, dict):
super_done = super(BatteryFactory, self).check_additional_done() super_done, super_dict = super(BatteryFactory, self).check_additional_done()
if super_done: if super_done:
return super_done return super_done, super_dict
else: 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 pass
def calculate_additional_reward(self, agent: Agent) -> (int, dict): def additional_per_agent_reward(self, agent: Agent) -> Dict[str, dict]:
reward, info_dict = super(BatteryFactory, self).calculate_additional_reward(agent) reward_event_dict = super(BatteryFactory, self).additional_per_agent_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
if self[c.BATTERIES].by_entity(agent).is_discharged: if self[c.BATTERIES].by_entity(agent).is_discharged:
info_dict.update({f'{agent.name}_discharged': 1}) self.print(f'{agent.name} Battery is discharged!')
reward -= 1 info_dict = {f'{agent.name}_{c.BATTERY_DISCHARGED}': 1}
reward_event_dict.update({c.BATTERY_DISCHARGED: {'reward': r.BATTERY_DISCHARGED, 'info': info_dict}})
else: else:
info_dict.update({f'{agent.name}_battery_level': self[c.BATTERIES].by_entity(agent).charge_level}) # All Fine
return reward, info_dict pass
return reward_event_dict
def render_additional_assets(self): def render_additional_assets(self):
# noinspection PyUnresolvedReferences # noinspection PyUnresolvedReferences
additional_assets = super().render_additional_assets() 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) additional_assets.extend(charge_pods)
return additional_assets return additional_assets

138
environments/factory/factory_dest.py
View File

@@ -6,18 +6,32 @@ import numpy as np
import random import random
from environments.factory.base.base_factory import BaseFactory from environments.factory.base.base_factory import BaseFactory
from environments.helpers import Constants as c, Constants from environments.helpers import Constants as BaseConstants
from environments import helpers as h 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.objects import Agent, Entity, Action
from environments.factory.base.registers import Entities, EntityRegister from environments.factory.base.registers import Entities, EntityRegister
from environments.factory.base.renderer import RenderEntity 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 class Actions(BaseActions):
DESTINATION_DONE = 0.5 WAIT_ON_DEST = 'WAIT'
class Rewards(BaseRewards):
WAIT_VALID = 0.1
WAIT_FAIL = -0.1
DEST_REACHED = 5.0
class Destination(Entity): class Destination(Entity):
@@ -30,20 +44,16 @@ class Destination(Entity):
def currently_dwelling_names(self): def currently_dwelling_names(self):
return self._per_agent_times.keys() return self._per_agent_times.keys()
@property
def can_collide(self):
return False
@property @property
def encoding(self): def encoding(self):
return DESTINATION return c.DESTINATION
def __init__(self, *args, dwell_time: int = 0, **kwargs): def __init__(self, *args, dwell_time: int = 0, **kwargs):
super(Destination, self).__init__(*args, **kwargs) super(Destination, self).__init__(*args, **kwargs)
self.dwell_time = dwell_time self.dwell_time = dwell_time
self._per_agent_times = defaultdict(lambda: 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 self._per_agent_times[agent.name] -= 1
return c.VALID return c.VALID
@@ -52,7 +62,7 @@ class Destination(Entity):
@property @property
def is_considered_reached(self): 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()) 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): def agent_is_dwelling(self, agent: Agent):
@@ -67,15 +77,19 @@ class Destination(Entity):
class Destinations(EntityRegister): class Destinations(EntityRegister):
_accepted_objects = Destination _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): def as_array(self):
self._array[:] = c.FREE_CELL.value self._array[:] = c.FREE_CELL
# ToDo: Switch to new Style Array Put # ToDo: Switch to new Style Array Put
# indices = list(zip(range(len(cls)), *zip(*[x.pos for x in cls]))) # 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) # np.put(cls._array, [np.ravel_multi_index(x, cls._array.shape) for x in indices], cls.encodings)
for item in self: 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 self._array[0, item.x, item.y] = item.encoding
return self._array return self._array
@@ -85,10 +99,11 @@ class Destinations(EntityRegister):
class ReachedDestinations(Destinations): class ReachedDestinations(Destinations):
_accepted_objects = Destination _accepted_objects = Destination
_light_blocking = False
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
super(ReachedDestinations, self).__init__(*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): def summarize_states(self, n_steps=None):
return {} return {}
@@ -102,7 +117,7 @@ class DestModeOptions(object):
class DestProperties(NamedTuple): class DestProperties(NamedTuple):
n_dests: int = 1 # How many destinations are there 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_frequency: int = 0
spawn_in_other_zone: bool = True # spawn_in_other_zone: bool = True #
spawn_mode: str = DestModeOptions.DONE spawn_mode: str = DestModeOptions.DONE
@@ -113,6 +128,11 @@ class DestProperties(NamedTuple):
assert (spawn_mode == DestModeOptions.DONE) != bool(spawn_frequency) assert (spawn_mode == DestModeOptions.DONE) != bool(spawn_frequency)
c = Constants
a = Actions
r = Rewards
# noinspection PyAttributeOutsideInit, PyAbstractClass # noinspection PyAttributeOutsideInit, PyAbstractClass
class DestFactory(BaseFactory): class DestFactory(BaseFactory):
# noinspection PyMissingConstructor # noinspection PyMissingConstructor
@@ -131,7 +151,7 @@ class DestFactory(BaseFactory):
# noinspection PyUnresolvedReferences # noinspection PyUnresolvedReferences
super_actions = super().additional_actions super_actions = super().additional_actions
if self.dest_prop.dwell_time: 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 return super_actions
@property @property
@@ -147,27 +167,32 @@ class DestFactory(BaseFactory):
) )
reached_destinations = ReachedDestinations(level_shape=self._level_shape) 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 return super_entities
def wait(self, agent: Agent): def do_wait_action(self, agent: Agent) -> (dict, dict):
if destiantion := self[c.DESTINATION].by_pos(agent.pos): if destination := self[c.DEST].by_pos(agent.pos):
valid = destiantion.wait(agent) valid = destination.do_wait_action(agent)
return valid self.print(f'{agent.name} just waited at {agent.pos}')
info_dict = {f'{agent.name}_{a.WAIT_ON_DEST}_VALID': 1}
else: 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 # noinspection PyUnresolvedReferences
valid = super().do_additional_actions(agent, action) super_action_result = super().do_additional_actions(agent, action)
if valid is None: if super_action_result is None:
if action == h.EnvActions.WAIT_ON_DEST: if action == a.WAIT_ON_DEST:
valid = self.wait(agent) action_result = self.do_wait_action(agent)
return valid return action_result
else: else:
return None return None
else: else:
return valid return super_action_result
def do_additional_reset(self) -> None: def do_additional_reset(self) -> None:
# noinspection PyUnresolvedReferences # noinspection PyUnresolvedReferences
@@ -180,14 +205,14 @@ class DestFactory(BaseFactory):
if destinations_to_spawn: if destinations_to_spawn:
n_dest_to_spawn = len(destinations_to_spawn) n_dest_to_spawn = len(destinations_to_spawn)
if self.dest_prop.spawn_mode != DestModeOptions.GROUPED: if self.dest_prop.spawn_mode != DestModeOptions.GROUPED:
destinations = [Destination(tile) for tile in self[c.FLOOR].empty_tiles[:n_dest_to_spawn]] destinations = [Destination(tile, c.DEST) for tile in self[c.FLOOR].empty_tiles[:n_dest_to_spawn]]
self[c.DESTINATION].register_additional_items(destinations) self[c.DEST].register_additional_items(destinations)
for dest in destinations_to_spawn: for dest in destinations_to_spawn:
del self._dest_spawn_timer[dest] del self._dest_spawn_timer[dest]
self.print(f'{n_dest_to_spawn} new destinations have been spawned') 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: 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]] destinations = [Destination(tile, self[c.DEST]) for tile in self[c.FLOOR].empty_tiles[:n_dest_to_spawn]]
self[c.DESTINATION].register_additional_items(destinations) self[c.DEST].register_additional_items(destinations)
for dest in destinations_to_spawn: for dest in destinations_to_spawn:
del self._dest_spawn_timer[dest] del self._dest_spawn_timer[dest]
self.print(f'{n_dest_to_spawn} new destinations have been spawned') self.print(f'{n_dest_to_spawn} new destinations have been spawned')
@@ -197,15 +222,14 @@ class DestFactory(BaseFactory):
else: else:
self.print('No Items are spawning, limit is reached.') 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 # noinspection PyUnresolvedReferences
info_dict = super().do_additional_step() super_reward_info = super().do_additional_step()
for key, val in self._dest_spawn_timer.items(): 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) 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: if dest.is_considered_reached:
self[c.REACHEDDESTINATION].register_item(dest) dest.change_register(self[c.DEST])
self[c.DESTINATION].delete_env_object(dest)
self._dest_spawn_timer[dest.name] = 0 self._dest_spawn_timer[dest.name] = 0
self.print(f'{dest.name} is reached now, removing...') self.print(f'{dest.name} is reached now, removing...')
else: else:
@@ -218,41 +242,29 @@ class DestFactory(BaseFactory):
dest.leave(agent) dest.leave(agent)
self.print(f'{agent.name} left the destination early.') self.print(f'{agent.name} left the destination early.')
self.trigger_destination_spawn() 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 = 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 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 # noinspection PyUnresolvedReferences
reward, info_dict = super().calculate_additional_reward(agent) reward_event_dict = super().additional_per_agent_reward(agent)
if h.EnvActions.WAIT_ON_DEST == agent.temp_action: if len(self[c.DEST_REACHED]):
if agent.temp_valid: for reached_dest in list(self[c.DEST_REACHED]):
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]):
if agent.pos == reached_dest.pos: 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}') self.print(f'{agent.name} just reached destination at {agent.pos}')
reward += 0.5 self[c.DEST_REACHED].delete_env_object(reached_dest)
self[c.REACHEDDESTINATION].delete_env_object(reached_dest) info_dict = {f'{agent.name}_{c.DEST_REACHED}': 1}
return reward, info_dict 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'): def render_additional_assets(self, mode='human'):
# noinspection PyUnresolvedReferences # noinspection PyUnresolvedReferences
additional_assets = super().render_additional_assets() 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) additional_assets.extend(destinations)
return additional_assets return additional_assets

121
environments/factory/factory_dirt.py
View File

@@ -8,6 +8,7 @@ import numpy as np
# from algorithms.TSP_dirt_agent import TSPDirtAgent # from algorithms.TSP_dirt_agent import TSPDirtAgent
from environments.helpers import Constants as BaseConstants from environments.helpers import Constants as BaseConstants
from environments.helpers import EnvActions as BaseActions 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.base_factory import BaseFactory
from environments.factory.base.objects import Agent, Action, Entity, Tile from environments.factory.base.objects import Agent, Action, Entity, Tile
@@ -21,8 +22,14 @@ class Constants(BaseConstants):
DIRT = 'Dirt' DIRT = 'Dirt'
class EnvActions(BaseActions): class Actions(BaseActions):
CLEAN_UP = 'clean_up' 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): class DirtProperties(NamedTuple):
@@ -41,10 +48,6 @@ class DirtProperties(NamedTuple):
class Dirt(Entity): class Dirt(Entity):
@property
def can_collide(self):
return False
@property @property
def amount(self): def amount(self):
return self._amount return self._amount
@@ -116,6 +119,8 @@ def entropy(x):
c = Constants c = Constants
a = Actions
r = Rewards
# noinspection PyAttributeOutsideInit, PyAbstractClass # noinspection PyAttributeOutsideInit, PyAbstractClass
@@ -125,7 +130,7 @@ class DirtFactory(BaseFactory):
def additional_actions(self) -> Union[Action, List[Action]]: def additional_actions(self) -> Union[Action, List[Action]]:
super_actions = super().additional_actions super_actions = super().additional_actions
if self.dirt_prop.agent_can_interact: 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 return super_actions
@property @property
@@ -151,7 +156,7 @@ class DirtFactory(BaseFactory):
additional_assets.extend(dirt) additional_assets.extend(dirt)
return additional_assets 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): if dirt := self[c.DIRT].by_pos(agent.pos):
new_dirt_amount = dirt.amount - self.dirt_prop.clean_amount new_dirt_amount = dirt.amount - self.dirt_prop.clean_amount
@@ -159,9 +164,21 @@ class DirtFactory(BaseFactory):
self[c.DIRT].delete_env_object(dirt) self[c.DIRT].delete_env_object(dirt)
else: else:
dirt.set_new_amount(max(new_dirt_amount, c.FREE_CELL.value)) 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: 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): def trigger_dirt_spawn(self, initial_spawn=False):
dirt_rng = self._dirt_rng dirt_rng = self._dirt_rng
@@ -177,8 +194,8 @@ class DirtFactory(BaseFactory):
n_dirt_tiles = max(0, int(new_spawn * len(free_for_dirt))) n_dirt_tiles = max(0, int(new_spawn * len(free_for_dirt)))
self[c.DIRT].spawn_dirt(free_for_dirt[:n_dirt_tiles]) self[c.DIRT].spawn_dirt(free_for_dirt[:n_dirt_tiles])
def do_additional_step(self) -> dict: def do_additional_step(self) -> (List[dict], dict):
info_dict = super().do_additional_step() super_reward_info = super().do_additional_step()
if smear_amount := self.dirt_prop.dirt_smear_amount: if smear_amount := self.dirt_prop.dirt_smear_amount:
for agent in self[c.AGENT]: for agent in self[c.AGENT]:
if agent.temp_valid and agent.last_pos != c.NO_POS: 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 self._next_dirt_spawn = self.dirt_prop.spawn_frequency
else: else:
self._next_dirt_spawn -= 1 self._next_dirt_spawn -= 1
return info_dict return super_reward_info
def do_additional_actions(self, agent: Agent, action: Action) -> Union[None, c]: def do_additional_actions(self, agent: Agent, action: Action) -> (dict, dict):
valid = super().do_additional_actions(agent, action) action_result = super().do_additional_actions(agent, action)
if valid is None: if action_result is None:
if action == EnvActions.CLEAN_UP: if action == a.CLEAN_UP:
if self.dirt_prop.agent_can_interact: return self.do_cleanup_action(agent)
valid = self.clean_up(agent)
return valid
else:
return c.NOT_VALID
else: else:
return None return None
else: else:
return valid return action_result
def do_additional_reset(self) -> None: def do_additional_reset(self) -> None:
super().do_additional_reset() super().do_additional_reset()
self.trigger_dirt_spawn(initial_spawn=True) self.trigger_dirt_spawn(initial_spawn=True)
self._next_dirt_spawn = self.dirt_prop.spawn_frequency if self.dirt_prop.spawn_frequency else -1 self._next_dirt_spawn = self.dirt_prop.spawn_frequency if self.dirt_prop.spawn_frequency else -1
def check_additional_done(self): def check_additional_done(self) -> (bool, dict):
super_done = super().check_additional_done() super_done, super_dict = super().check_additional_done()
done = self.dirt_prop.done_when_clean and (len(self[c.DIRT]) == 0) if self.dirt_prop.done_when_clean:
return super_done or done 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]: def _additional_observations(self) -> Dict[str, np.typing.ArrayLike]:
additional_observations = super()._additional_observations() additional_observations = super()._additional_observations()
additional_observations.update({c.DIRT: self[c.DIRT].as_array()}) additional_observations.update({c.DIRT: self[c.DIRT].as_array()})
return additional_observations return additional_observations
def calculate_additional_reward(self, agent: Agent) -> (int, dict): def gather_additional_info(self, agent: Agent) -> dict:
reward, info_dict = super().calculate_additional_reward(agent) event_reward_dict = super().additional_per_agent_reward(agent)
info_dict = dict()
dirt = [dirt.amount for dirt in self[c.DIRT]] dirt = [dirt.amount for dirt in self[c.DIRT]]
current_dirt_amount = sum(dirt) current_dirt_amount = sum(dirt)
dirty_tile_count = len(dirt) dirty_tile_count = len(dirt)
# if dirty_tile_count: # if dirty_tile_count:
# dirt_distribution_score = entropy(softmax(np.asarray(dirt)) / dirty_tile_count) # dirt_distribution_score = entropy(softmax(np.asarray(dirt)) / dirty_tile_count)
# else: # else:
@@ -242,33 +261,14 @@ class DirtFactory(BaseFactory):
info_dict.update(dirt_amount=current_dirt_amount) info_dict.update(dirt_amount=current_dirt_amount)
info_dict.update(dirty_tile_count=dirty_tile_count) 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: event_reward_dict.update({'info': info_dict})
if agent.temp_valid: return event_reward_dict
# 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
if __name__ == '__main__': if __name__ == '__main__':
from environments.utility_classes import AgentRenderOptions as aro from environments.utility_classes import AgentRenderOptions as aro
render = True render = False
dirt_props = DirtProperties( dirt_props = DirtProperties(
initial_dirt_ratio=0.35, initial_dirt_ratio=0.35,
@@ -289,14 +289,15 @@ if __name__ == '__main__':
move_props = {'allow_square_movement': True, move_props = {'allow_square_movement': True,
'allow_diagonal_movement': False, 'allow_diagonal_movement': False,
'allow_no_op': False} 'allow_no_op': False}
import time
global_timings = [] global_timings = []
for i in range(20): for i in range(10):
factory = DirtFactory(n_agents=2, done_at_collision=False, factory = DirtFactory(n_agents=2, done_at_collision=False,
level_name='rooms', max_steps=1000, level_name='rooms', max_steps=1000,
doors_have_area=False, doors_have_area=False,
obs_prop=obs_props, parse_doors=True, obs_prop=obs_props, parse_doors=True,
record_episodes=True, verbose=True, verbose=False,
mv_prop=move_props, dirt_prop=dirt_props, mv_prop=move_props, dirt_prop=dirt_props,
# inject_agents=[TSPDirtAgent], # inject_agents=[TSPDirtAgent],
) )
@@ -307,7 +308,6 @@ if __name__ == '__main__':
obs_space = factory.observation_space obs_space = factory.observation_space
obs_space_named = factory.named_observation_space obs_space_named = factory.named_observation_space
times = [] times = []
import time
for epoch in range(10): for epoch in range(10):
start_time = time.time() start_time = time.time()
random_actions = [[random.randint(0, n_actions) for _ random_actions = [[random.randint(0, n_actions) for _
@@ -318,18 +318,19 @@ if __name__ == '__main__':
factory.render() factory.render()
# tsp_agent = factory.get_injected_agents()[0] # tsp_agent = factory.get_injected_agents()[0]
r = 0 rwrd = 0
for agent_i_action in random_actions: for agent_i_action in random_actions:
env_state, step_r, done_bool, info_obj = factory.step(agent_i_action) env_state, step_rwrd, done_bool, info_obj = factory.step(agent_i_action)
r += step_r rwrd += step_rwrd
if render: if render:
factory.render() factory.render()
if done_bool: if done_bool:
break break
times.append(time.time() - start_time) times.append(time.time() - start_time)
# print(f'Factory run {epoch} done, reward is:\n {r}') # print(f'Factory run {epoch} done, reward is:\n {r}')
print('Time Taken: ', sum(times) / 10) print('Mean Time Taken: ', sum(times) / 10)
global_timings.append(sum(times) / 10) global_timings.extend(times)
print('Time Taken: ', sum(global_timings[10:]) / 10) print('Mean Time Taken: ', sum(global_timings) / len(global_timings))
print('Median Time Taken: ', global_timings[len(global_timings)//2])
pass pass

107
environments/factory/factory_item.py
View File

@@ -7,9 +7,10 @@ import random
from environments.factory.base.base_factory import BaseFactory from environments.factory.base.base_factory import BaseFactory
from environments.helpers import Constants as BaseConstants from environments.helpers import Constants as BaseConstants
from environments.helpers import EnvActions as BaseActions from environments.helpers import EnvActions as BaseActions
from environments.helpers import Rewards as BaseRewards
from environments import helpers as h from environments import helpers as h
from environments.factory.base.objects import Agent, Entity, Action, Tile 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 from environments.factory.base.renderer import RenderEntity
@@ -23,10 +24,17 @@ class Constants(BaseConstants):
DROP_OFF = 'Drop_Off' DROP_OFF = 'Drop_Off'
class EnvActions(BaseActions): class Actions(BaseActions):
ITEM_ACTION = 'item_action' 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): class Item(Entity):
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
@@ -37,10 +45,6 @@ class Item(Entity):
def auto_despawn(self): def auto_despawn(self):
return self._auto_despawn return self._auto_despawn
@property
def can_collide(self):
return False
@property @property
def encoding(self): def encoding(self):
# Edit this if you want items to be drawn in the ops differently # Edit this if you want items to be drawn in the ops differently
@@ -68,7 +72,7 @@ class ItemRegister(EntityRegister):
del self[item] del self[item]
class Inventory(BoundRegisterMixin): class Inventory(BoundEnvObjRegister):
@property @property
def name(self): def name(self):
@@ -131,10 +135,6 @@ class Inventories(ObjectRegister):
class DropOffLocation(Entity): class DropOffLocation(Entity):
@property
def can_collide(self):
return False
@property @property
def encoding(self): def encoding(self):
return Constants.ITEM_DROP_OFF return Constants.ITEM_DROP_OFF
@@ -176,7 +176,8 @@ class ItemProperties(NamedTuple):
c = Constants c = Constants
a = EnvActions a = Actions
r = Rewards
# noinspection PyAttributeOutsideInit, PyAbstractClass # noinspection PyAttributeOutsideInit, PyAbstractClass
@@ -230,37 +231,43 @@ class ItemFactory(BaseFactory):
additional_observations.update({c.DROP_OFF: self[c.DROP_OFF].as_array()}) additional_observations.update({c.DROP_OFF: self[c.DROP_OFF].as_array()})
return additional_observations 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) inventory = self[c.INVENTORY].by_entity(agent)
if drop_off := self[c.DROP_OFF].by_pos(agent.pos): if drop_off := self[c.DROP_OFF].by_pos(agent.pos):
if inventory: if inventory:
valid = drop_off.place_item(inventory.pop()) valid = drop_off.place_item(inventory.pop())
return valid
else: 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): elif item := self[c.ITEM].by_pos(agent.pos):
try: item.change_register(inventory)
inventory.register_item(item) item.set_tile_to(self._NO_POS_TILE)
item.change_register(inventory) self.print(f'{agent.name} just picked up an item at {agent.pos}')
self[c.ITEM].delete_env_object(item) info_dict = {f'{agent.name}_{a.ITEM_ACTION}_VALID': 1}
item.set_tile_to(self._NO_POS_TILE) return c.VALID, dict(value=r.PICK_UP_VALID, reason=a.ITEM_ACTION, info=info_dict)
return c.VALID
except RuntimeError:
return c.NOT_VALID
else: 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 # noinspection PyUnresolvedReferences
valid = super().do_additional_actions(agent, action) action_result = super().do_additional_actions(agent, action)
if valid is None: if action_result is None:
if action == a.ITEM_ACTION: if action == a.ITEM_ACTION:
valid = self.do_item_action(agent) action_result = self.do_item_action(agent)
return valid return action_result
else: else:
return None return None
else: else:
return valid return action_result
def do_additional_reset(self) -> None: def do_additional_reset(self) -> None:
# noinspection PyUnresolvedReferences # noinspection PyUnresolvedReferences
@@ -277,9 +284,9 @@ class ItemFactory(BaseFactory):
else: else:
self.print('No Items are spawning, limit is reached.') 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 # noinspection PyUnresolvedReferences
info_dict = super().do_additional_step() super_reward_info = super().do_additional_step()
for item in list(self[c.ITEM].values()): for item in list(self[c.ITEM].values()):
if item.auto_despawn >= 1: if item.auto_despawn >= 1:
item.set_auto_despawn(item.auto_despawn-1) item.set_auto_despawn(item.auto_despawn-1)
@@ -292,35 +299,7 @@ class ItemFactory(BaseFactory):
self.trigger_item_spawn() self.trigger_item_spawn()
else: else:
self._next_item_spawn = max(0, self._next_item_spawn-1) self._next_item_spawn = max(0, self._next_item_spawn-1)
return info_dict return super_reward_info
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
def render_additional_assets(self, mode='human'): def render_additional_assets(self, mode='human'):
# noinspection PyUnresolvedReferences # noinspection PyUnresolvedReferences
@@ -335,9 +314,9 @@ class ItemFactory(BaseFactory):
if __name__ == '__main__': if __name__ == '__main__':
from environments.utility_classes import AgentRenderOptions as aro, ObservationProperties 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) 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_diagonal_movement': True,
'allow_no_op': False} '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, level_name='rooms', max_steps=400,
obs_prop=obs_props, parse_doors=True, obs_prop=obs_props, parse_doors=True,
record_episodes=True, verbose=True, record_episodes=True, verbose=True,

72
environments/helpers.py
View File

@@ -1,6 +1,6 @@
import itertools import itertools
from collections import defaultdict from collections import defaultdict
from typing import Tuple, Union, Dict, List from typing import Tuple, Union, Dict, List, NamedTuple
import networkx as nx import networkx as nx
import numpy as np import numpy as np
@@ -38,37 +38,27 @@ class Constants:
OPEN_DOOR = 'open' OPEN_DOOR = 'open'
ACTION = 'action' ACTION = 'action'
COLLISIONS = 'collision' COLLISION = 'collision'
VALID = 'valid' VALID = True
NOT_VALID = 'not_valid' NOT_VALID = False
# Battery Env
CHARGE_POD = 'Charge_Pod'
BATTERIES = 'BATTERIES'
# Destination Env
DESTINATION = 'Destination'
REACHEDDESTINATION = 'ReachedDestination'
class EnvActions: class EnvActions:
# Movements # Movements
NORTH = 'north' NORTH = 'north'
EAST = 'east' EAST = 'east'
SOUTH = 'south' SOUTH = 'south'
WEST = 'west' WEST = 'west'
NORTHEAST = 'north_east' NORTHEAST = 'north_east'
SOUTHEAST = 'south_east' SOUTHEAST = 'south_east'
SOUTHWEST = 'south_west' SOUTHWEST = 'south_west'
NORTHWEST = 'north_west' NORTHWEST = 'north_west'
# Other # Other
NOOP = 'no_op' # MOVE = 'move'
NOOP = 'no_op'
USE_DOOR = 'use_door' USE_DOOR = 'use_door'
CHARGE = 'charge'
WAIT_ON_DEST = 'wait'
@classmethod @classmethod
def is_move(cls, other): def is_move(cls, other):
return any([other == direction for direction in cls.movement_actions()]) 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())) 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 m = EnvActions
c = Constants c = Constants
r = Rewards
ACTIONMAP = defaultdict(lambda: (0, 0), {m.NORTH: (-1, 0), m.NORTHEAST: (-1, +1), ACTIONMAP = defaultdict(lambda: (0, 0), {m.NORTH: (-1, 0), m.NORTHEAST: (-1, +1),
m.EAST: (0, 1), m.SOUTHEAST: (1, 1), m.EAST: (0, 1), m.SOUTHEAST: (1, 1),
@@ -184,15 +185,20 @@ def asset_str(agent):
# What does this abonimation do? # What does this abonimation do?
# if any([x is None for x in [cls._slices[j] for j in agent.collisions]]): # if any([x is None for x in [cls._slices[j] for j in agent.collisions]]):
# print('error') # print('error')
col_names = [x.name for x in agent.temp_collisions] if step_result := agent.step_result:
if any(c.AGENT in name for name in col_names): action = step_result['action_name']
return 'agent_collision', 'blank' valid = step_result['action_valid']
elif not agent.temp_valid or c.LEVEL in col_names or c.AGENT in col_names: col_names = [x.name for x in step_result['collisions']]
return c.AGENT, 'invalid' if any(c.AGENT in name for name in col_names):
elif agent.temp_valid and not EnvActions.is_move(agent.temp_action): return 'agent_collision', 'blank'
return c.AGENT, 'valid' elif not valid or c.LEVEL in col_names or c.AGENT in col_names:
elif agent.temp_valid and EnvActions.is_move(agent.temp_action): return c.AGENT, 'invalid'
return c.AGENT, 'move' 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: else:
return c.AGENT, 'idle' return c.AGENT, 'idle'

3
studies/single_run_with_export.py
View File

@@ -134,8 +134,7 @@ if __name__ == '__main__':
max_spawn_amount=0.1, max_global_amount=20, max_spawn_amount=0.1, max_global_amount=20,
max_local_amount=1, spawn_frequency=0, max_spawn_ratio=0.05, max_local_amount=1, spawn_frequency=0, max_spawn_ratio=0.05,
dirt_smear_amount=0.0, agent_can_interact=True) dirt_smear_amount=0.0, agent_can_interact=True)
item_props = ItemProperties(n_items=10, agent_can_interact=True, item_props = ItemProperties(n_items=10, spawn_frequency=30, n_drop_off_locations=2,
spawn_frequency=30, n_drop_off_locations=2,
max_agent_inventory_capacity=15) max_agent_inventory_capacity=15)
dest_props = DestProperties(n_dests=4, spawn_mode=DestModeOptions.GROUPED, spawn_frequency=1) 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, factory_kwargs = dict(n_agents=1, max_steps=400, parse_doors=True,