Default Params

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

environments/logging/recorder.py

@@ -18,10 +18,12 @@ 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:
+        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}_')}
@@ -39,6 +41,8 @@ class RecorderCallback(BaseCallback):
                     self._recorder_df = self._recorder_df.append([env_monitor_df])
                 else:
                     pass
+        else:
+            pass
         return True
 
     def __enter__(self):
@@ -51,14 +55,22 @@ class RecorderCallback(BaseCallback):
         if self.started:
             pass
         else:
+            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:
+            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")
@@ -72,3 +84,6 @@ class RecorderCallback(BaseCallback):
                     print('Recorder files were dumped to disk, now plotting the occupation map...')
 
                 self.closed = True
+                self.started = False
+            else:
+                pass

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"]: