diff --git a/environments/factory/env_default_param.yaml b/environments/factory/env_default_param.yaml
new file mode 100644
index 0000000..9c0c139
--- /dev/null
+++ b/environments/factory/env_default_param.yaml
@@ -0,0 +1,23 @@
+combin_agent_slices_in_obs: true
+dirt_properties: !!python/object/new:environments.factory.simple_factory.DirtProperties
+- 1
+- 0.05
+- 0.1
+- 3
+- 1
+- 20
+- 0.0
+done_at_collision: false
+frames_to_stack: 0
+level_name: rooms
+max_steps: 400
+movement_properties: !!python/object/new:environments.utility_classes.MovementProperties
+- true
+- true
+- false
+n_agents: 1
+omit_agent_slice_in_obs: true
+parse_doors: false
+pomdp_radius: 3
+record_episodes: false
+verbose: false
diff --git a/environments/logging/recorder.py b/environments/logging/recorder.py
index dec9ee1..d2cbb91 100644
--- a/environments/logging/recorder.py
+++ b/environments/logging/recorder.py
@@ -18,27 +18,31 @@ class RecorderCallback(BaseCallback):
self.filepath = Path(filepath)
self._recorder_dict = dict()
self._recorder_df = pd.DataFrame()
+ self.do_record: bool
self.started = False
self.closed = False
def _on_step(self) -> bool:
- for _, info in enumerate(self.locals.get('infos', [])):
- self._recorder_dict[self.num_timesteps] = {key: val for key, val in info.items()
- if not key.startswith(f'{REC_TAC}_')}
+ if self.do_record and self.started:
+ for _, info in enumerate(self.locals.get('infos', [])):
+ self._recorder_dict[self.num_timesteps] = {key: val for key, val in info.items()
+ if not key.startswith(f'{REC_TAC}_')}
- for env_idx, done in list(enumerate(self.locals.get('dones', []))) + \
- list(enumerate(self.locals.get('done', []))):
- if done:
- env_monitor_df = pd.DataFrame.from_dict(self._recorder_dict, orient='index')
- self._recorder_dict = dict()
- columns = [col for col in env_monitor_df.columns if col not in IGNORED_DF_COLUMNS]
- env_monitor_df = env_monitor_df.aggregate(
- {col: 'mean' if col.endswith('ount') else 'sum' for col in columns}
- )
- env_monitor_df['episode'] = len(self._recorder_df)
- self._recorder_df = self._recorder_df.append([env_monitor_df])
- else:
- pass
+ for env_idx, done in list(enumerate(self.locals.get('dones', []))) + \
+ list(enumerate(self.locals.get('done', []))):
+ if done:
+ env_monitor_df = pd.DataFrame.from_dict(self._recorder_dict, orient='index')
+ self._recorder_dict = dict()
+ columns = [col for col in env_monitor_df.columns if col not in IGNORED_DF_COLUMNS]
+ env_monitor_df = env_monitor_df.aggregate(
+ {col: 'mean' if col.endswith('ount') else 'sum' for col in columns}
+ )
+ env_monitor_df['episode'] = len(self._recorder_df)
+ self._recorder_df = self._recorder_df.append([env_monitor_df])
+ else:
+ pass
+ else:
+ pass
return True
def __enter__(self):
@@ -51,24 +55,35 @@ class RecorderCallback(BaseCallback):
if self.started:
pass
else:
- self.filepath.parent.mkdir(exist_ok=True, parents=True)
- self.started = True
+ if hasattr(self.training_env, 'record_episodes'):
+ if self.training_env.record_episodes:
+ self.do_record = True
+ self.filepath.parent.mkdir(exist_ok=True, parents=True)
+ self.started = True
+ else:
+ self.do_record = False
+ else:
+ self.do_record = False
pass
def _on_training_end(self) -> None:
if self.closed:
pass
else:
- # self.out_file.unlink(missing_ok=True)
- with self.filepath.open('w') as f:
- json_df = self._recorder_df.to_json(orient="table")
- parsed = json.loads(json_df)
- json.dump(parsed, f, indent=4)
+ if self.do_record and self.started:
+ # self.out_file.unlink(missing_ok=True)
+ with self.filepath.open('w') as f:
+ json_df = self._recorder_df.to_json(orient="table")
+ parsed = json.loads(json_df)
+ json.dump(parsed, f, indent=4)
- if self.occupation_map:
- print('Recorder files were dumped to disk, now plotting the occupation map...')
+ if self.occupation_map:
+ print('Recorder files were dumped to disk, now plotting the occupation map...')
- if self.trajectory_map:
- print('Recorder files were dumped to disk, now plotting the occupation map...')
+ if self.trajectory_map:
+ print('Recorder files were dumped to disk, now plotting the occupation map...')
- self.closed = True
\ No newline at end of file
+ self.closed = True
+ self.started = False
+ else:
+ pass
diff --git a/main.py b/main.py
index b1b5242..c424e01 100644
--- a/main.py
+++ b/main.py
@@ -93,7 +93,7 @@ if __name__ == '__main__':
# from sb3_contrib import QRDQN
dirt_props = DirtProperties(clean_amount=1, gain_amount=0.1, max_global_amount=20,
- max_local_amount=1, spawn_frequency=10, max_spawn_ratio=0.05,
+ max_local_amount=1, spawn_frequency=5, max_spawn_ratio=0.05,
dirt_smear_amount=0.0)
move_props = MovementProperties(allow_diagonal_movement=True,
allow_square_movement=True,
@@ -109,7 +109,7 @@ if __name__ == '__main__':
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,
+ cast_shadows=True, doors_have_area=True
) as env:
if modeL_type.__name__ in ["PPO", "A2C"]: