Items

environments/factory/base/base_factory.py

@@ -87,20 +87,22 @@ class BaseFactory(gym.Env):
     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,
+    def __init__(self, level_name='simple', n_agents=1, max_steps=int(5e2), pomdp_r: Union[None, int] = 0,
                  movement_properties: MovementProperties = MovementProperties(), parse_doors=False,
                  combin_agent_slices_in_obs: bool = False, frames_to_stack=0, record_episodes=False,
-                 omit_agent_slice_in_obs=False, done_at_collision=False, cast_shadows=True, **kwargs):
+                 omit_agent_slice_in_obs=False, done_at_collision=False, cast_shadows=True,
+                 verbose=False, **kwargs):
         assert frames_to_stack != 1 and frames_to_stack >= 0, "'frames_to_stack' cannot be negative or 1."
 
         # Attribute Assignment
         self.movement_properties = movement_properties
         self.level_name = level_name
         self._level_shape = None
+        self.verbose = verbose
 
         self.n_agents = n_agents
         self.max_steps = max_steps
-        self.pomdp_r = pomdp_radius
+        self.pomdp_r = pomdp_r
         self.combin_agent_slices_in_obs = combin_agent_slices_in_obs
         self.omit_agent_slice_in_obs = omit_agent_slice_in_obs
         self.cast_shadows = cast_shadows
@@ -115,6 +117,7 @@ class BaseFactory(gym.Env):
         if additional_actions := self.additional_actions:
             self._actions.register_additional_items(additional_actions)
 
+        # Reset
         self.reset()
 
     def _init_state_slices(self) -> StateSlices:
@@ -345,7 +348,7 @@ class BaseFactory(gym.Env):
             else:
                 return obs
 
-    def do_additional_actions(self, agent_i: int, action: int) -> bool:
+    def do_additional_actions(self, agent: Agent, action: int) -> bool:
         raise NotImplementedError
 
     def get_all_tiles_with_collisions(self) -> List[Tile]:
@@ -418,3 +421,7 @@ class BaseFactory(gym.Env):
             if hasattr(entity, 'summarize_state'):
                 summary.update({f'{REC_TAC}_{entity.name}': entity.summarize_state()})
         return summary
+
+    def print(self, string):
+        if self.verbose:
+            print(string)

environments/factory/item_pickup.py

@@ -0,0 +1,84 @@
+from typing import List, Union, NamedTuple
+import random
+
+import numpy as np
+
+from environments.helpers import Constants as c
+from environments import helpers as h
+from environments.factory.base.base_factory import BaseFactory
+from environments.factory.base.objects import Agent, Action, Object, Slice
+from environments.factory.base.registers import Entities
+
+from environments.factory.renderer import Renderer, Entity
+from environments.utility_classes import MovementProperties
+
+
+
+ITEM = 'item'
+INVENTORY = 'inventory'
+PICK_UP = 'pick_up'
+DROP_DOWN = 'drop_down'
+ITEM_ACTION = 'item_action'
+NO_ITEM = 0
+ITEM_DROP_OFF = -1
+
+
+class ItemProperties(NamedTuple):
+    n_items: int = 1                    # How much does the robot clean with one actions.
+    spawn_frequency: int = 5            # Spawn Frequency in Steps
+
+
+# noinspection PyAttributeOutsideInit
+class ItemFactory(BaseFactory):
+    def __init__(self, item_properties: ItemProperties, *args, **kwargs):
+        super(ItemFactory, self).__init__(*args, **kwargs)
+        self.item_properties = item_properties
+
+    @property
+    def additional_actions(self) -> Union[str, List[str]]:
+        return [ITEM_ACTION]
+
+    @property
+    def additional_entities(self) -> Union[Entities, List[Entities]]:
+        return []
+
+    @property
+    def additional_slices(self) -> Union[Slice, List[Slice]]:
+        return [Slice(ITEM, np.zeros(self._level_shape)), Slice(INVENTORY, np.zeros(self._level_shape))]
+
+    def _is_item_action(self, action):
+        if isinstance(action, str):
+            action = self._actions.by_name(action)
+        return self._actions[action].name == ITEM_ACTION
+
+    def do_item_action(self, agent):
+        item_slice = self._slices.by_name(ITEM).slice
+        if item := item_slice[agent.pos]:
+            if item == ITEM_DROP_OFF:
+
+            self._slices.by_name(INVENTORY).slice[agent.pos] = item
+            item_slice[agent.pos] = NO_ITEM
+            return True
+        else:
+            return False
+
+    def do_additional_actions(self, agent: Agent, action: int) -> bool:
+        if self._is_item_action(action):
+            valid = self.do_item_action(agent)
+            return valid
+        else:
+            raise RuntimeError('This should not happen!!!')
+
+    def do_additional_reset(self) -> None:
+        self.spawn_drop_off_location()
+        self.spawn_items(self.n_items)
+        if self.n_items > 1:
+            self._next_item_spawn = self.item_properties.spawn_frequency
+
+    def calculate_reward(self) -> (int, dict):
+        pass
+
+    def render(self, mode='human'):
+        pass
+
+

environments/factory/simple_factory.py

@@ -26,6 +26,16 @@ class DirtProperties(NamedTuple):
     dirt_smear_amount: float = 0.2      # Agents smear dirt, when not cleaning up in place
 
 
+def softmax(x):
+    """Compute softmax values for each sets of scores in x."""
+    e_x = np.exp(x - np.max(x))
+    return e_x / e_x.sum()
+
+
+def entropy(x):
+    return -(x * np.log(x + 1e-8)).sum()
+
+
 # noinspection PyAttributeOutsideInit
 class SimpleFactory(BaseFactory):
 
@@ -46,9 +56,8 @@ class SimpleFactory(BaseFactory):
             action = self._actions.by_name(action)
         return self._actions[action].name == CLEAN_UP_ACTION
 
-    def __init__(self, *args, dirt_properties: DirtProperties = DirtProperties(), verbose=False, **kwargs):
+    def __init__(self, *args, dirt_properties: DirtProperties = DirtProperties(), **kwargs):
         self.dirt_properties = dirt_properties
-        self.verbose = verbose
         self._renderer = None  # expensive - don't use it when not required !
         super(SimpleFactory, self).__init__(*args, **kwargs)
 
@@ -108,8 +117,8 @@ class SimpleFactory(BaseFactory):
 
     def clean_up(self, agent: Agent) -> bool:
         dirt_slice = self._slices.by_name(DIRT).slice
-        if dirt_slice[agent.pos]:
-            new_dirt_amount = dirt_slice[agent.pos] - self.dirt_properties.clean_amount
+        if old_dirt_amount := dirt_slice[agent.pos]:
+            new_dirt_amount = old_dirt_amount - self.dirt_properties.clean_amount
             dirt_slice[agent.pos] = max(new_dirt_amount, c.FREE_CELL.value)
             return True
         else:
@@ -135,14 +144,11 @@ class SimpleFactory(BaseFactory):
         return {}
 
     def do_additional_actions(self, agent: Agent, action: int) -> bool:
-        if action != self._actions.is_moving_action(action):
-            if self._is_clean_up_action(action):
-                valid = self.clean_up(agent)
-                return valid
-            else:
-                raise RuntimeError('This should not happen!!!')
+        if self._is_clean_up_action(action):
+            valid = self.clean_up(agent)
+            return valid
         else:
-            raise RuntimeError('This should not happen!!!')
+            return c.NOT_VALID.value
 
     def do_additional_reset(self) -> None:
         self.spawn_dirt()
@@ -155,13 +161,18 @@ class SimpleFactory(BaseFactory):
         dirty_tiles = [dirt_slice[tile.pos] for tile in self._tiles if dirt_slice[tile.pos]]
         current_dirt_amount = sum(dirty_tiles)
         dirty_tile_count = len(dirty_tiles)
+        if dirty_tile_count:
+            dirt_distribution_score = entropy(softmax(dirt_slice)) / dirty_tile_count
+        else:
+            dirt_distribution_score = 0
 
         info_dict.update(dirt_amount=current_dirt_amount)
         info_dict.update(dirty_tile_count=dirty_tile_count)
+        info_dict.update(dirt_distribution_score=dirt_distribution_score)
 
         try:
             # penalty = current_dirt_amount
-            reward = 0
+            reward = dirt_distribution_score
         except (ZeroDivisionError, RuntimeWarning):
             reward = 0
 
@@ -213,10 +224,6 @@ class SimpleFactory(BaseFactory):
         #  track the last reward , minus the current reward = potential
         return reward, info_dict
 
-    def print(self, string):
-        if self.verbose:
-            print(string)
-
 
 if __name__ == '__main__':
     render = True

main.py

@@ -98,16 +98,16 @@ if __name__ == '__main__':
     move_props = MovementProperties(allow_diagonal_movement=True,
                                     allow_square_movement=True,
                                     allow_no_op=False)
-    train_steps = 5e6
+    train_steps = 2.5e6
     time_stamp = int(time.time())
 
     out_path = None
 
-    for modeL_type in [A2C, PPO, RegDQN, DQN]:  # , QRDQN]:
+    for modeL_type in [A2C, PPO, DQN]:  # ,RegDQN, QRDQN]:
         for seed in range(3):
 
-            with SimpleFactory(n_agents=1, dirt_properties=dirt_props, pomdp_radius=4, max_steps=400, parse_doors=True,
-                               movement_properties=move_props, level_name='rooms', frames_to_stack=0,
+            with SimpleFactory(n_agents=1, dirt_properties=dirt_props, pomdp_radius=2, max_steps=400, parse_doors=True,
+                               movement_properties=move_props, level_name='rooms', frames_to_stack=3,
                                omit_agent_slice_in_obs=True, combin_agent_slices_in_obs=True, record_episodes=False,
                                cast_shadows=True,
                                ) as env:

reload_agent.py

@@ -14,7 +14,7 @@ warnings.filterwarnings('ignore', category=UserWarning)
 
 if __name__ == '__main__':
 
-    model_name = 'A2C_1627393138'
+    model_name = 'A2C_1627491061'
     run_id = 0
     out_path = Path(__file__).parent / 'debug_out'
     model_path = out_path / model_name