mirror of
https://github.com/illiumst/marl-factory-grid.git
synced 2025-05-23 07:16:44 +02:00
Stable Baseline Running
This commit is contained in:
steffen-illium
parent
575eec9ee6
commit
b979a47b6f
@ -1,3 +1,4 @@
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import abc
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from typing import List, Union, Iterable
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import gym
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@ -61,17 +62,14 @@ class BaseFactory(gym.Env):
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self.allow_horizontal_movement = True
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self.allow_no_OP = True
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self._monitor_list = list()
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self._registered_actions = self.movement_actions + int(self.allow_no_OP)
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self._registered_actions = self.movement_actions + int(self.allow_no_OP) + self.register_additional_actions()
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self.level = h.one_hot_level(
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h.parse_level(Path(__file__).parent / h.LEVELS_DIR / f'{level}.txt')
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)
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self.slice_strings = {0: 'level', **{i: f'agent#{i}' for i in range(1, self.n_agents+1)}}
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self.reset()
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def __init_subclass__(cls):
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print(cls)
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def register_additional_actions(self):
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def register_additional_actions(self) -> int:
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raise NotImplementedError('Please register additional actions ')
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def reset(self) -> (np.ndarray, int, bool, dict):
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@ -111,6 +109,8 @@ class BaseFactory(gym.Env):
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agent_i_state = AgentState(agent_i, action)
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if self._is_moving_action(action):
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pos, valid = self.move_or_colide(agent_i, action)
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elif self._is_no_op(action):
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pos, valid = self.agent_i_position(agent_i), True
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else:
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pos, valid = self.additional_actions(agent_i, action)
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# Update state accordingly
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@ -129,10 +129,10 @@ class BaseFactory(gym.Env):
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return self.state, self.cumulative_reward, self.done, info
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def _is_moving_action(self, action):
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if action < self.movement_actions:
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return True
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else:
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return False
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return action < self.movement_actions
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def _is_no_op(self, action):
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return self.allow_no_OP and (action - self.movement_actions) == 0
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def check_all_collisions(self, agent_states: List[AgentState], collisions: int) -> np.ndarray:
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collision_vecs = np.zeros((len(agent_states), collisions)) # n_agents x n_slices
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@ -1,49 +1,157 @@
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from collections import OrderedDict
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from dataclasses import dataclass
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from typing import List
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import random
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import numpy as np
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from environments.factory.base_factory import BaseFactory, FactoryMonitor
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from environments.factory.base_factory import BaseFactory, AgentState
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from environments import helpers as h
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from environments.factory.renderer import Renderer
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from environments.factory.renderer import Entity
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from environments.logging.monitor import MonitorCallback
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DIRT_INDEX = -1
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@dataclass
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class DirtProperties:
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clean_amount = 0.25
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max_spawn_ratio = 0.1
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gain_amount = 0.1
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spawn_frequency = 5
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class SimpleFactory(BaseFactory):
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def __init__(self, *args, max_dirt=5, **kwargs):
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self.max_dirt = max_dirt
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def register_additional_actions(self):
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return 1
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def _is_clean_up_action(self, action):
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return self.action_space.n - 1 == action
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def __init__(self, *args, dirt_properties: DirtProperties, **kwargs):
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self._dirt_properties = dirt_properties
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super(SimpleFactory, self).__init__(*args, **kwargs)
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self.slice_strings.update({self.state.shape[0]-1: 'dirt'})
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self.renderer = None # expensive - dont use it when not required !
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def spawn_dirt(self):
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free_for_dirt = self.free_cells
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for x, y in free_for_dirt[:self.max_dirt]: # randomly distribute dirt across the grid
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self.state[-1, x, y] = 1
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def render(self):
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if not self.renderer: # lazy init
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height, width = self.state.shape[1:]
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self.renderer = Renderer(width, height, view_radius=2)
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def reset(self):
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state, r, done, _ = super().reset()
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dirt = [Entity('dirt', [x, y], min(0.15+self.state[DIRT_INDEX, x, y], 1.5), 'scale')
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for x, y in np.argwhere(self.state[DIRT_INDEX] > h.IS_FREE_CELL)]
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walls = [Entity('wall', pos) for pos in np.argwhere(self.state[h.LEVEL_IDX] > h.IS_FREE_CELL)]
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def asset_str(agent):
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cols = ' '.join([self.slice_strings[j] for j in agent.collisions])
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if 'agent' in cols:
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return 'agent_collision'
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elif not agent.action_valid or 'level' in cols or 'agent' in cols:
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return f'agent{agent.i + 1}violation'
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elif self._is_clean_up_action(agent.action):
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return f'agent{agent.i + 1}valid'
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else:
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return f'agent{agent.i + 1}'
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agents = {f'agent{i+1}': [Entity(asset_str(agent), agent.pos)]
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for i, agent in enumerate(self.agent_states)}
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self.renderer.render(OrderedDict(dirt=dirt, wall=walls, **agents))
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def spawn_dirt(self) -> None:
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free_for_dirt = self.free_cells(excluded_slices=DIRT_INDEX)
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# randomly distribute dirt across the grid
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n_dirt_tiles = int(random.uniform(0, self._dirt_properties.max_spawn_ratio) * len(free_for_dirt))
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for x, y in free_for_dirt[:n_dirt_tiles]:
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self.state[DIRT_INDEX, x, y] += self._dirt_properties.gain_amount
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def clean_up(self, pos: (int, int)) -> ((int, int), bool):
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new_dirt_amount = self.state[DIRT_INDEX][pos] - self._dirt_properties.clean_amount
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cleanup_was_sucessfull: bool
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if self.state[DIRT_INDEX][pos] == h.IS_FREE_CELL:
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cleanup_was_sucessfull = False
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return pos, cleanup_was_sucessfull
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else:
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cleanup_was_sucessfull = True
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self.state[DIRT_INDEX][pos] = max(new_dirt_amount, h.IS_FREE_CELL)
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return pos, cleanup_was_sucessfull
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def step(self, actions):
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_, _, _, info = super(SimpleFactory, self).step(actions)
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if not self.next_dirt_spawn:
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self.spawn_dirt()
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self.next_dirt_spawn = self._dirt_properties.spawn_frequency
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else:
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self.next_dirt_spawn -= 1
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return self.state, self.cumulative_reward, self.done, info
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def additional_actions(self, agent_i: int, action: int) -> ((int, int), bool):
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if action != self._is_moving_action(action):
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if self._is_clean_up_action(action):
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agent_i_pos = self.agent_i_position(agent_i)
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_, valid = self.clean_up(agent_i_pos)
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if valid:
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print(f'Agent {agent_i} did just clean up some dirt at {agent_i_pos}.')
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self.monitor.add('dirt_cleaned', self._dirt_properties.clean_amount)
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else:
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print(f'Agent {agent_i} just tried to clean up some dirt at {agent_i_pos}, but was unsucsessfull.')
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self.monitor.add('failed_cleanup_attempt', 1)
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return agent_i_pos, valid
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else:
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raise RuntimeError('This should not happen!!!')
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else:
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raise RuntimeError('This should not happen!!!')
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def reset(self) -> (np.ndarray, int, bool, dict):
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_ = super().reset() # state, reward, done, info ... =
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dirt_slice = np.zeros((1, *self.state.shape[1:]))
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self.state = np.concatenate((self.state, dirt_slice)) # dirt is now the last slice
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self.spawn_dirt()
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# Always: This should return state
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self.next_dirt_spawn = self._dirt_properties.spawn_frequency
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return self.state
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def calculate_reward(self, agent_states):
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def calculate_reward(self, agent_states: List[AgentState]) -> (int, dict):
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# TODO: What reward to use?
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current_dirt_amount = self.state[DIRT_INDEX].sum()
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dirty_tiles = len(np.nonzero(self.state[DIRT_INDEX]))
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try:
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this_step_reward = -(dirty_tiles / current_dirt_amount)
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except ZeroDivisionError:
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this_step_reward = 0
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for agent_state in agent_states:
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collisions = agent_state.collisions
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entities = [self.slice_strings[entity] for entity in collisions]
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if entities:
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for entity in entities:
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self.monitor.add(f'agent_{agent_state.i}_collision_{entity}', 1)
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print(f't = {self.steps}\tAgent {agent_state.i} has collisions with '
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f'{entities}')
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return 0, {}
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print(f't = {self.steps}\tAgent {agent_state.i} has collisions with '
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f'{[self.slice_strings[entity] for entity in collisions if entity != self.string_slices["dirt"]]}')
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if self._is_clean_up_action(agent_state.action) and agent_state.action_valid:
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this_step_reward += 1
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for entity in collisions:
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if entity != self.string_slices["dirt"]:
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self.monitor.add(f'agent_{agent_state.i}_vs_{self.slice_strings[entity]}', 1)
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self.monitor.set('dirt_amount', current_dirt_amount)
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self.monitor.set('dirty_tiles', dirty_tiles)
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return this_step_reward, {}
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if __name__ == '__main__':
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import random
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factory = SimpleFactory(n_agents=1, max_dirt=8)
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monitor_list = list()
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for epoch in range(5):
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random_actions = [random.randint(0, 7) for _ in range(200)]
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state, r, done, _ = factory.reset()
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for action in random_actions:
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state, r, done, info = factory.step(action)
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monitor_list.append(factory.monitor)
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print(f'Factory run done, reward is:\n {r}')
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print(f'There have been the following collisions: \n {dict(factory.monitor)}')
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render = True
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dirt_props = DirtProperties()
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factory = SimpleFactory(n_agents=2, dirt_properties=dirt_props)
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with MonitorCallback(factory):
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for epoch in range(100):
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random_actions = [(random.randint(0, 8), random.randint(0, 8)) for _ in range(200)]
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env_state, reward, done_bool, _ = factory.reset()
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for agent_i_action in random_actions:
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env_state, reward, done_bool, info_obj = factory.step(agent_i_action)
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if render:
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factory.render()
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if done_bool:
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break
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print(f'Factory run {epoch} done, reward is:\n {reward}')
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@ -1,158 +0,0 @@
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from collections import OrderedDict
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from dataclasses import dataclass
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from typing import List
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import random
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import numpy as np
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from environments.factory.base_factory import BaseFactory, AgentState
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from environments import helpers as h
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from environments.factory.renderer import Renderer
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from environments.factory.renderer import Entity
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from environments.logging.monitor import MonitorCallback
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DIRT_INDEX = -1
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@dataclass
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class DirtProperties:
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clean_amount = 0.25
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max_spawn_ratio = 0.1
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gain_amount = 0.1
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spawn_frequency = 5
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class GettingDirty(BaseFactory):
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def register_additional_actions(self):
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self._registered_actions += 1
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return True
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def _is_clean_up_action(self, action):
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return self.action_space.n - 1 == action
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def __init__(self, *args, dirt_properties: DirtProperties, **kwargs):
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self._dirt_properties = dirt_properties
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super(GettingDirty, self).__init__(*args, **kwargs)
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self.slice_strings.update({self.state.shape[0]-1: 'dirt'})
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self.renderer = None # expensive - dont use it when not required !
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def render(self):
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if not self.renderer: # lazy init
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height, width = self.state.shape[1:]
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self.renderer = Renderer(width, height, view_radius=2)
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dirt = [Entity('dirt', [x, y], min(0.15+self.state[DIRT_INDEX, x, y], 1.5), 'scale')
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for x, y in np.argwhere(self.state[DIRT_INDEX] > h.IS_FREE_CELL)]
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walls = [Entity('wall', pos) for pos in np.argwhere(self.state[h.LEVEL_IDX] > h.IS_FREE_CELL)]
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def asset_str(agent):
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cols = ' '.join([self.slice_strings[j] for j in agent.collisions])
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if 'agent' in cols:
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return 'agent_collision'
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elif not agent.action_valid or 'level' in cols or 'agent' in cols:
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return f'agent{agent.i + 1}violation'
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elif self._is_clean_up_action(agent.action):
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return f'agent{agent.i + 1}valid'
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else:
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return f'agent{agent.i + 1}'
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agents = {f'agent{i+1}': [Entity(asset_str(agent), agent.pos)]
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for i, agent in enumerate(self.agent_states)}
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self.renderer.render(OrderedDict(dirt=dirt, wall=walls, **agents))
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def spawn_dirt(self) -> None:
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free_for_dirt = self.free_cells(excluded_slices=DIRT_INDEX)
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# randomly distribute dirt across the grid
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n_dirt_tiles = int(random.uniform(0, self._dirt_properties.max_spawn_ratio) * len(free_for_dirt))
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for x, y in free_for_dirt[:n_dirt_tiles]:
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self.state[DIRT_INDEX, x, y] += self._dirt_properties.gain_amount
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def clean_up(self, pos: (int, int)) -> ((int, int), bool):
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new_dirt_amount = self.state[DIRT_INDEX][pos] - self._dirt_properties.clean_amount
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cleanup_was_sucessfull: bool
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if self.state[DIRT_INDEX][pos] == h.IS_FREE_CELL:
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cleanup_was_sucessfull = False
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return pos, cleanup_was_sucessfull
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else:
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cleanup_was_sucessfull = True
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self.state[DIRT_INDEX][pos] = max(new_dirt_amount, h.IS_FREE_CELL)
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return pos, cleanup_was_sucessfull
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def step(self, actions):
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_, _, _, info = super(GettingDirty, self).step(actions)
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if not self.next_dirt_spawn:
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self.spawn_dirt()
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self.next_dirt_spawn = self._dirt_properties.spawn_frequency
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else:
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self.next_dirt_spawn -= 1
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return self.state, self.cumulative_reward, self.done, info
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def additional_actions(self, agent_i: int, action: int) -> ((int, int), bool):
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if action != self._is_moving_action(action):
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if self._is_clean_up_action(action):
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agent_i_pos = self.agent_i_position(agent_i)
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_, valid = self.clean_up(agent_i_pos)
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if valid:
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print(f'Agent {agent_i} did just clean up some dirt at {agent_i_pos}.')
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self.monitor.add('dirt_cleaned', self._dirt_properties.clean_amount)
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else:
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print(f'Agent {agent_i} just tried to clean up some dirt at {agent_i_pos}, but was unsucsessfull.')
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self.monitor.add('failed_cleanup_attempt', 1)
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return agent_i_pos, valid
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else:
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raise RuntimeError('This should not happen!!!')
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else:
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raise RuntimeError('This should not happen!!!')
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def reset(self) -> (np.ndarray, int, bool, dict):
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_ = super().reset() # state, reward, done, info ... =
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dirt_slice = np.zeros((1, *self.state.shape[1:]))
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self.state = np.concatenate((self.state, dirt_slice)) # dirt is now the last slice
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self.spawn_dirt()
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self.next_dirt_spawn = self._dirt_properties.spawn_frequency
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return self.state
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def calculate_reward(self, agent_states: List[AgentState]) -> (int, dict):
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# TODO: What reward to use?
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current_dirt_amount = self.state[DIRT_INDEX].sum()
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dirty_tiles = len(np.nonzero(self.state[DIRT_INDEX]))
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try:
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this_step_reward = -(dirty_tiles / current_dirt_amount)
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except ZeroDivisionError:
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this_step_reward = 0
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for agent_state in agent_states:
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collisions = agent_state.collisions
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print(f't = {self.steps}\tAgent {agent_state.i} has collisions with '
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f'{[self.slice_strings[entity] for entity in collisions if entity != self.string_slices["dirt"]]}')
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if self._is_clean_up_action(agent_state.action) and agent_state.action_valid:
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this_step_reward += 1
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for entity in collisions:
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if entity != self.string_slices["dirt"]:
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self.monitor.add(f'agent_{agent_state.i}_vs_{self.slice_strings[entity]}', 1)
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self.monitor.set('dirt_amount', current_dirt_amount)
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self.monitor.set('dirty_tiles', dirty_tiles)
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return this_step_reward, {}
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if __name__ == '__main__':
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render = True
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dirt_props = DirtProperties()
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factory = GettingDirty(n_agents=2, dirt_properties=dirt_props)
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with MonitorCallback(factory):
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for epoch in range(100):
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random_actions = [(random.randint(0, 8), random.randint(0, 8)) for _ in range(200)]
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env_state, reward, done_bool, _ = factory.reset()
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for agent_i_action in random_actions:
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env_state, reward, done_bool, info_obj = factory.step(agent_i_action)
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if render:
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factory.render()
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if done_bool:
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break
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print(f'Factory run {epoch} done, reward is:\n {reward}')
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