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Steffen Illium 2021-07-30 13:42:55 +02:00
parent c7b4c69d17
commit aebe3b2f60
3 changed files with 68 additions and 30 deletions
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23
environments/factory/env_default_param.yaml Normal file
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@ -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

71
environments/logging/recorder.py
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@ -18,27 +18,31 @@ class RecorderCallback(BaseCallback):
self.filepath = Path(filepath) self.filepath = Path(filepath)
self._recorder_dict = dict() self._recorder_dict = dict()
self._recorder_df = pd.DataFrame() self._recorder_df = pd.DataFrame()
self.do_record: bool
self.started = False self.started = False
self.closed = False self.closed = False
def _on_step(self) -> bool: def _on_step(self) -> bool:
for _, info in enumerate(self.locals.get('infos', [])): if self.do_record and self.started:
self._recorder_dict[self.num_timesteps] = {key: val for key, val in info.items() for _, info in enumerate(self.locals.get('infos', [])):
if not key.startswith(f'{REC_TAC}_')} 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', []))) + \ for env_idx, done in list(enumerate(self.locals.get('dones', []))) + \
list(enumerate(self.locals.get('done', []))): list(enumerate(self.locals.get('done', []))):
if done: if done:
env_monitor_df = pd.DataFrame.from_dict(self._recorder_dict, orient='index') env_monitor_df = pd.DataFrame.from_dict(self._recorder_dict, orient='index')
self._recorder_dict = dict() self._recorder_dict = dict()
columns = [col for col in env_monitor_df.columns if col not in IGNORED_DF_COLUMNS] columns = [col for col in env_monitor_df.columns if col not in IGNORED_DF_COLUMNS]
env_monitor_df = env_monitor_df.aggregate( env_monitor_df = env_monitor_df.aggregate(
{col: 'mean' if col.endswith('ount') else 'sum' for col in columns} {col: 'mean' if col.endswith('ount') else 'sum' for col in columns}
) )
env_monitor_df['episode'] = len(self._recorder_df) env_monitor_df['episode'] = len(self._recorder_df)
self._recorder_df = self._recorder_df.append([env_monitor_df]) self._recorder_df = self._recorder_df.append([env_monitor_df])
else: else:
pass pass
else:
pass
return True return True
def __enter__(self): def __enter__(self):
@ -51,24 +55,35 @@ class RecorderCallback(BaseCallback):
if self.started: if self.started:
pass pass
else: else:
self.filepath.parent.mkdir(exist_ok=True, parents=True) if hasattr(self.training_env, 'record_episodes'):
self.started = True 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 pass
def _on_training_end(self) -> None: def _on_training_end(self) -> None:
if self.closed: if self.closed:
pass pass
else: else:
# self.out_file.unlink(missing_ok=True) if self.do_record and self.started:
with self.filepath.open('w') as f: # self.out_file.unlink(missing_ok=True)
json_df = self._recorder_df.to_json(orient="table") with self.filepath.open('w') as f:
parsed = json.loads(json_df) json_df = self._recorder_df.to_json(orient="table")
json.dump(parsed, f, indent=4) parsed = json.loads(json_df)
json.dump(parsed, f, indent=4)
if self.occupation_map: if self.occupation_map:
print('Recorder files were dumped to disk, now plotting the occupation map...') print('Recorder files were dumped to disk, now plotting the occupation map...')
if self.trajectory_map: if self.trajectory_map:
print('Recorder files were dumped to disk, now plotting the occupation map...') print('Recorder files were dumped to disk, now plotting the occupation map...')
self.closed = True self.closed = True
self.started = False
else:
pass

4
main.py
View File

@ -93,7 +93,7 @@ if __name__ == '__main__':
# from sb3_contrib import QRDQN # from sb3_contrib import QRDQN
dirt_props = DirtProperties(clean_amount=1, gain_amount=0.1, max_global_amount=20, 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) dirt_smear_amount=0.0)
move_props = MovementProperties(allow_diagonal_movement=True, move_props = MovementProperties(allow_diagonal_movement=True,
allow_square_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, 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, 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, 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: ) as env:
if modeL_type.__name__ in ["PPO", "A2C"]: if modeL_type.__name__ in ["PPO", "A2C"]: