From c3c434a97e928adc4b6b95999e5c2ce17376530d Mon Sep 17 00:00:00 2001 From: Steffen Illium Date: Thu, 16 Nov 2023 15:29:07 +0100 Subject: [PATCH] Results resolved. Small ADjustments --- marl_factory_grid/algorithms/marl/mappo.py | 2 +- marl_factory_grid/configs/_obs_test.yaml | 66 +++++++++++++++++++ marl_factory_grid/configs/default_config.yaml | 2 +- marl_factory_grid/configs/eight_puzzle.yaml | 23 ++++--- .../configs/narrow_corridor.yaml | 9 +-- marl_factory_grid/environment/actions.py | 64 ++++++++++-------- marl_factory_grid/levels/obs_test_map.txt | 12 ++++ .../modules/batteries/__init__.py | 2 +- .../modules/batteries/actions.py | 7 +- marl_factory_grid/modules/clean_up/actions.py | 9 +-- .../modules/destinations/actions.py | 5 +- marl_factory_grid/modules/doors/actions.py | 29 ++++---- marl_factory_grid/modules/items/actions.py | 17 +++-- marl_factory_grid/modules/machines/actions.py | 13 ++-- marl_factory_grid/utils/config_parser.py | 24 +++++-- marl_factory_grid/utils/helpers.py | 4 +- test_observations.py | 41 ++++++++++++ 17 files changed, 236 insertions(+), 93 deletions(-) create mode 100644 marl_factory_grid/configs/_obs_test.yaml create mode 100644 marl_factory_grid/levels/obs_test_map.txt create mode 100644 test_observations.py diff --git a/marl_factory_grid/algorithms/marl/mappo.py b/marl_factory_grid/algorithms/marl/mappo.py index faf3b0d..e86a394 100644 --- a/marl_factory_grid/algorithms/marl/mappo.py +++ b/marl_factory_grid/algorithms/marl/mappo.py @@ -46,7 +46,7 @@ class LoopMAPPO(LoopSNAC): # monte carlo returns mc_returns = self.monte_carlo_returns(batch[nms.REWARD], batch[nms.DONE], gamma) mc_returns = (mc_returns - mc_returns.mean()) / (mc_returns.std() + 1e-8) # todo: norm across agent ok? - advantages = mc_returns - out[nms.CRITIC][:, :-1] + advantages = mc_returns - out[nms.CRITIC][:, :-1] # policy loss log_ap = torch.log_softmax(logits, -1) diff --git a/marl_factory_grid/configs/_obs_test.yaml b/marl_factory_grid/configs/_obs_test.yaml new file mode 100644 index 0000000..1063e58 --- /dev/null +++ b/marl_factory_grid/configs/_obs_test.yaml @@ -0,0 +1,66 @@ +General: + env_seed: 69 + individual_rewards: true + level_name: obs_test_map + pomdp_r: 0 + verbose: True + tests: false + +Agents: + Wolfgang: + Actions: + - Noop + Observations: + - Walls + - Doors + - Other + - DirtPiles + Positions: + - (1, 3) + + Soeren: + Actions: + - Noop + Observations: + - Walls + - Doors + - Other + - DirtPiles + Positions: + - (1, 1) + + Juergen: + Actions: + - Noop + Observations: + - Walls + - Doors + - Other + - DirtPiles + Positions: + - (1, 2) + + Walter: + Actions: + - Noop + Observations: + - Walls + - Doors + - Other + - DirtPiles + Positions: + - (1, 4) + + +Entities: + DirtPiles: + Doors: + +Rules: + # Utilities + WatchCollisions: + done_at_collisions: false + + # Done Conditions + DoneAtMaxStepsReached: + max_steps: 500 diff --git a/marl_factory_grid/configs/default_config.yaml b/marl_factory_grid/configs/default_config.yaml index fe89597..624e42b 100644 --- a/marl_factory_grid/configs/default_config.yaml +++ b/marl_factory_grid/configs/default_config.yaml @@ -2,7 +2,7 @@ Agents: Wolfgang: Actions: - Noop - - BtryCharge + - Charge - CleanUp - DestAction - DoorUse diff --git a/marl_factory_grid/configs/eight_puzzle.yaml b/marl_factory_grid/configs/eight_puzzle.yaml index 51d9164..fe15962 100644 --- a/marl_factory_grid/configs/eight_puzzle.yaml +++ b/marl_factory_grid/configs/eight_puzzle.yaml @@ -1,8 +1,20 @@ +General: + env_seed: 69 + individual_rewards: true + level_name: eight_puzzle + pomdp_r: 0 + verbose: True + tests: false + Agents: Wolfgang: Actions: - - Noop - - Move4 + Noop: + fail_reward: -0 + valid_reward: 0 + Move4: + fail_reward: -0.1 + valid_reward: -.01 Observations: - Other - Walls @@ -35,13 +47,6 @@ Entities: Walter: 1 Siggi: 1 Dennis: 1 -General: - env_seed: 69 - individual_rewards: true - level_name: eight_puzzle - pomdp_r: 3 - verbose: True - tests: false Rules: # Utilities diff --git a/marl_factory_grid/configs/narrow_corridor.yaml b/marl_factory_grid/configs/narrow_corridor.yaml index f53b972..0177007 100644 --- a/marl_factory_grid/configs/narrow_corridor.yaml +++ b/marl_factory_grid/configs/narrow_corridor.yaml @@ -81,9 +81,10 @@ Rules: reward_at_done: -1 done_at_collisions: false # Done Conditions - # Load any of the rules, to check for done conditions. - # DoneAtDestinationReachAny: - DoneAtDestinationReachAll: - # reward_at_done: 1 + # Load any of the rules, to check for done conditions. + DoneAtDestinationReach: + reward_at_done: 1 + # We want to give rewards only, when all targets have been reached. + condition: "all" DoneAtMaxStepsReached: max_steps: 200 diff --git a/marl_factory_grid/environment/actions.py b/marl_factory_grid/environment/actions.py index 94cbef1..c6616ae 100644 --- a/marl_factory_grid/environment/actions.py +++ b/marl_factory_grid/environment/actions.py @@ -1,4 +1,5 @@ import abc +import random from typing import Union from marl_factory_grid.environment import rewards as r, constants as c @@ -13,45 +14,50 @@ class Action(abc.ABC): return self._identifier @abc.abstractmethod - def __init__(self, identifier: str): + def __init__(self, identifier: str, default_valid_reward: float, default_fail_reward: float, + valid_reward: float | None = None, fail_reward: float | None = None): + self.fail_reward = fail_reward if fail_reward is not None else default_fail_reward + self.valid_reward = valid_reward if valid_reward is not None else default_valid_reward self._identifier = identifier @abc.abstractmethod def do(self, entity, state) -> Union[None, ActionResult]: - print() - return + validity = bool(random.choice([0, 1])) + return self.get_result(validity, entity) def __repr__(self): return f'Action[{self._identifier}]' + def get_result(self, validity, entity): + reward = self.valid_reward if validity else self.fail_reward + return ActionResult(self.__class__.__name__, validity, reward=reward, entity=entity) + class Noop(Action): - def __init__(self): - super().__init__(c.NOOP) + def __init__(self, **kwargs): + super().__init__(c.NOOP, r.NOOP, r.NOOP, **kwargs) def do(self, entity, *_) -> Union[None, ActionResult]: - return ActionResult(identifier=self._identifier, validity=c.VALID, - reward=r.NOOP, entity=entity) + return self.get_result(c.VALID, entity) class Move(Action, abc.ABC): @abc.abstractmethod - def __init__(self, *args, **kwargs): - super().__init__(*args, **kwargs) + def __init__(self, identifier, **kwargs): + super().__init__(identifier, r.MOVEMENTS_VALID, r.MOVEMENTS_FAIL, **kwargs) def do(self, entity, state): new_pos = self._calc_new_pos(entity.pos) if state.check_move_validity(entity, new_pos): # noinspection PyUnresolvedReferences - move_validity = entity.move(new_pos, state) - reward = r.MOVEMENTS_VALID if move_validity else r.MOVEMENTS_FAIL - return ActionResult(entity=entity, identifier=self._identifier, validity=move_validity, reward=reward) + move_really_was_valid = entity.move(new_pos, state) + return self.get_result(move_really_was_valid, entity) else: # There is no place to go, propably collision # This is currently handeld by the WatchCollisions rule, so that it can be switched on and off by conf.yml # return ActionResult(entity=entity, identifier=self._identifier, validity=c.NOT_VALID, reward=r.COLLISION) - return ActionResult(entity=entity, identifier=self._identifier, validity=c.NOT_VALID) + return self.get_result(c.NOT_VALID, entity) def _calc_new_pos(self, pos): x_diff, y_diff = MOVEMAP[self._identifier] @@ -59,43 +65,43 @@ class Move(Action, abc.ABC): class North(Move): - def __init__(self, *args, **kwargs): - super().__init__(c.NORTH, *args, **kwargs) + def __init__(self, **kwargs): + super().__init__(c.NORTH, **kwargs) class NorthEast(Move): - def __init__(self, *args, **kwargs): - super().__init__(c.NORTHEAST, *args, **kwargs) + def __init__(self, **kwargs): + super().__init__(c.NORTHEAST, **kwargs) class East(Move): - def __init__(self, *args, **kwargs): - super().__init__(c.EAST, *args, **kwargs) + def __init__(self, **kwargs): + super().__init__(c.EAST, **kwargs) class SouthEast(Move): - def __init__(self, *args, **kwargs): - super().__init__(c.SOUTHEAST, *args, **kwargs) + def __init__(self, **kwargs): + super().__init__(c.SOUTHEAST, **kwargs) class South(Move): - def __init__(self, *args, **kwargs): - super().__init__(c.SOUTH, *args, **kwargs) + def __init__(self, **kwargs): + super().__init__(c.SOUTH, **kwargs) class SouthWest(Move): - def __init__(self, *args, **kwargs): - super().__init__(c.SOUTHWEST, *args, **kwargs) + def __init__(self, **kwargs): + super().__init__(c.SOUTHWEST, **kwargs) class West(Move): - def __init__(self, *args, **kwargs): - super().__init__(c.WEST, *args, **kwargs) + def __init__(self, **kwargs): + super().__init__(c.WEST, **kwargs) class NorthWest(Move): - def __init__(self, *args, **kwargs): - super().__init__(c.NORTHWEST, *args, **kwargs) + def __init__(self, **kwargs): + super().__init__(c.NORTHWEST, **kwargs) Move4 = [North, East, South, West] diff --git a/marl_factory_grid/levels/obs_test_map.txt b/marl_factory_grid/levels/obs_test_map.txt new file mode 100644 index 0000000..74d8b66 --- /dev/null +++ b/marl_factory_grid/levels/obs_test_map.txt @@ -0,0 +1,12 @@ +############ +#----------# +#-#######--# +#-#-----D--# +#-#######--# +#-D-----D--# +#-#-#-#-#-## +#----------# +#----------# +#----------# +#----------# +############ \ No newline at end of file diff --git a/marl_factory_grid/modules/batteries/__init__.py b/marl_factory_grid/modules/batteries/__init__.py index 80671fd..6911f11 100644 --- a/marl_factory_grid/modules/batteries/__init__.py +++ b/marl_factory_grid/modules/batteries/__init__.py @@ -1,4 +1,4 @@ -from .actions import BtryCharge +from .actions import Charge from .entitites import ChargePod, Battery from .groups import ChargePods, Batteries from .rules import DoneAtBatteryDischarge, BatteryDecharge diff --git a/marl_factory_grid/modules/batteries/actions.py b/marl_factory_grid/modules/batteries/actions.py index 7d1c4a2..85e843b 100644 --- a/marl_factory_grid/modules/batteries/actions.py +++ b/marl_factory_grid/modules/batteries/actions.py @@ -8,10 +8,10 @@ from marl_factory_grid.environment import constants as c from marl_factory_grid.utils import helpers as h -class BtryCharge(Action): +class Charge(Action): def __init__(self): - super().__init__(b.ACTION_CHARGE) + super().__init__(b.ACTION_CHARGE, b.REWARD_CHARGE_VALID, b.Reward_CHARGE_FAIL) def do(self, entity, state) -> Union[None, ActionResult]: if charge_pod := h.get_first(state[b.CHARGE_PODS].by_pos(entity.pos)): @@ -24,5 +24,4 @@ class BtryCharge(Action): valid = c.NOT_VALID state.print(f'{entity.name} failed to charged batteries at {entity.pos}.') - return ActionResult(entity=entity, identifier=self._identifier, validity=valid, - reward=b.REWARD_CHARGE_VALID if valid else b.Reward_CHARGE_FAIL) + return self.get_result(valid, entity) diff --git a/marl_factory_grid/modules/clean_up/actions.py b/marl_factory_grid/modules/clean_up/actions.py index 4a429f2..cee83a3 100644 --- a/marl_factory_grid/modules/clean_up/actions.py +++ b/marl_factory_grid/modules/clean_up/actions.py @@ -11,7 +11,7 @@ from marl_factory_grid.environment import constants as c class CleanUp(Action): def __init__(self): - super().__init__(d.CLEAN_UP) + super().__init__(d.CLEAN_UP, r.CLEAN_UP_VALID, r.CLEAN_UP_FAIL) def do(self, entity, state) -> Union[None, ActionResult]: if dirt := next((x for x in state.entities.pos_dict[entity.pos] if "dirt" in x.name.lower()), None): @@ -24,13 +24,10 @@ class CleanUp(Action): valid = c.VALID print_str = f'{entity.name} did just clean up some dirt at {entity.pos}.' state.print(print_str) - reward = r.CLEAN_UP_VALID - identifier = d.CLEAN_UP + else: valid = c.NOT_VALID print_str = f'{entity.name} just tried to clean up some dirt at {entity.pos}, but failed.' state.print(print_str) - reward = r.CLEAN_UP_FAIL - identifier = d.CLEAN_UP_FAIL - return ActionResult(identifier=identifier, validity=valid, reward=reward, entity=entity) + return self.get_result(valid, entity) diff --git a/marl_factory_grid/modules/destinations/actions.py b/marl_factory_grid/modules/destinations/actions.py index 6367acd..419ed69 100644 --- a/marl_factory_grid/modules/destinations/actions.py +++ b/marl_factory_grid/modules/destinations/actions.py @@ -11,7 +11,7 @@ from marl_factory_grid.environment import constants as c class DestAction(Action): def __init__(self): - super().__init__(d.DESTINATION) + super().__init__(d.DESTINATION, d.REWARD_WAIT_VALID, d.REWARD_WAIT_FAIL) def do(self, entity, state) -> Union[None, ActionResult]: if destination := state[d.DESTINATION].by_pos(entity.pos): @@ -20,5 +20,4 @@ class DestAction(Action): else: valid = c.NOT_VALID state.print(f'{entity.name} just tried to do_wait_action do_wait_action at {entity.pos} but failed') - return ActionResult(entity=entity, identifier=self._identifier, validity=valid, - reward=d.REWARD_WAIT_VALID if valid else d.REWARD_WAIT_FAIL) + return self.get_result(valid, entity) diff --git a/marl_factory_grid/modules/doors/actions.py b/marl_factory_grid/modules/doors/actions.py index a8c7c14..6ac6213 100644 --- a/marl_factory_grid/modules/doors/actions.py +++ b/marl_factory_grid/modules/doors/actions.py @@ -1,6 +1,7 @@ from typing import Union from marl_factory_grid.environment.actions import Action +from marl_factory_grid.modules.doors.entitites import Door from marl_factory_grid.modules.doors import constants as d, rewards as r from marl_factory_grid.environment import constants as c from marl_factory_grid.utils.results import ActionResult @@ -8,21 +9,23 @@ from marl_factory_grid.utils.results import ActionResult class DoorUse(Action): - def __init__(self): - super().__init__(d.ACTION_DOOR_USE) + def __init__(self, **kwargs): + super().__init__(d.ACTION_DOOR_USE, r.USE_DOOR_VALID, r.USE_DOOR_FAIL, **kwargs) def do(self, entity, state) -> Union[None, ActionResult]: # Check if agent really is standing on a door: - e = state.entities.get_entities_near_pos(entity.pos) - try: - # Only one door opens TODO introduce loop - door = next(x for x in e if x.name.startswith(d.DOOR)) - valid = door.use() - state.print(f'{entity.name} just used a {door.name} at {door.pos}') - return ActionResult(entity=entity, identifier=self._identifier, validity=valid, reward=r.USE_DOOR_VALID) + entities_close = state.entities.get_entities_near_pos(entity.pos) - except StopIteration: - # When he doesn't... + valid = False + for door in [e for e in entities_close if isinstance(e, Door)]: + try: + # Will always be true, when there is at least a single door. + valid = door.use() + state.print(f'{entity.name} just used a {door.name} at {door.pos}') + + except AttributeError: + pass + if not valid: + # When he doesn't stand necxxt to a door tell me. state.print(f'{entity.name} just tried to use a door at {entity.pos}, but there is none.') - return ActionResult(entity=entity, identifier=self._identifier, - validity=c.NOT_VALID, reward=r.USE_DOOR_FAIL) + return self.get_result(valid, entity) diff --git a/marl_factory_grid/modules/items/actions.py b/marl_factory_grid/modules/items/actions.py index ef6aa99..e1e19f2 100644 --- a/marl_factory_grid/modules/items/actions.py +++ b/marl_factory_grid/modules/items/actions.py @@ -9,8 +9,14 @@ from marl_factory_grid.environment import constants as c class ItemAction(Action): - def __init__(self): - super().__init__(i.ITEM_ACTION) + def __init__(self, failed_dropoff_reward: float | None = None, valid_dropoff_reward: float | None = None, **kwargs): + super().__init__(i.ITEM_ACTION, r.PICK_UP_FAIL, r.PICK_UP_VALID, **kwargs) + self.failed_drop_off_reward = failed_dropoff_reward if failed_dropoff_reward is not None else r.DROP_OFF_FAIL + self.valid_drop_off_reward = valid_dropoff_reward if valid_dropoff_reward is not None else r.DROP_OFF_FAIL + + def get_dropoff_result(self, validity, entity): + reward = self.valid_drop_off_reward if validity else self.failed_drop_off_reward + return ActionResult(self.__name__, validity, reward=reward, entity=entity) def do(self, entity, state) -> Union[None, ActionResult]: inventory = state[i.INVENTORY].by_entity(entity) @@ -23,16 +29,15 @@ class ItemAction(Action): state.print(f'{entity.name} just dropped of an item at {drop_off.pos}.') else: state.print(f'{entity.name} just tried to drop off at {entity.pos}, but failed.') - reward = r.DROP_OFF_VALID if valid else r.DROP_OFF_FAIL - return ActionResult(entity=entity, identifier=self._identifier, validity=valid, reward=reward) + return self.get_dropoff_result(valid, entity) elif items := state[i.ITEM].by_pos(entity.pos): item = items[0] item.change_parent_collection(inventory) item.set_pos(c.VALUE_NO_POS) state.print(f'{entity.name} just picked up an item at {entity.pos}') - return ActionResult(entity=entity, identifier=self._identifier, validity=c.VALID, reward=r.PICK_UP_VALID) + return self.get_result(c.VALID, entity) else: state.print(f'{entity.name} just tried to pick up an item at {entity.pos}, but failed.') - return ActionResult(entity=entity, identifier=self._identifier, validity=c.NOT_VALID, reward=r.PICK_UP_FAIL) + return self.get_result(c.NOT_VALID, entity) diff --git a/marl_factory_grid/modules/machines/actions.py b/marl_factory_grid/modules/machines/actions.py index dbb303f..a207b96 100644 --- a/marl_factory_grid/modules/machines/actions.py +++ b/marl_factory_grid/modules/machines/actions.py @@ -12,15 +12,12 @@ from marl_factory_grid.utils import helpers as h class MachineAction(Action): def __init__(self): - super().__init__(m.MACHINE_ACTION) + super().__init__(m.MACHINE_ACTION, m.MAINTAIN_VALID, m.MAINTAIN_FAIL) def do(self, entity, state) -> Union[None, ActionResult]: if machine := h.get_first(state[m.MACHINES].by_pos(entity.pos)): - if valid := machine.maintain(): - return ActionResult(entity=entity, identifier=self._identifier, validity=valid, reward=marl_factory_grid.modules.machines.constants.MAINTAIN_VALID) - else: - return ActionResult(entity=entity, identifier=self._identifier, validity=valid, reward=marl_factory_grid.modules.machines.constants.MAINTAIN_FAIL) + valid = machine.maintain() + return self.get_result(valid, entity) + else: - return ActionResult(entity=entity, identifier=self._identifier, - validity=c.NOT_VALID, reward=marl_factory_grid.modules.machines.constants.MAINTAIN_FAIL - ) + return self.get_result(c.NOT_VALID, entity) diff --git a/marl_factory_grid/utils/config_parser.py b/marl_factory_grid/utils/config_parser.py index df98f95..69b378c 100644 --- a/marl_factory_grid/utils/config_parser.py +++ b/marl_factory_grid/utils/config_parser.py @@ -122,16 +122,28 @@ class FactoryConfigParser(object): def parse_agents_conf(self): parsed_agents_conf = dict() - base_env_actions = self.default_actions.copy() + [c.MOVE4] + for name in self.agents: # Actions + conf_actions = self.agents[name]['Actions'] actions = list() - if c.DEFAULTS in self.agents[name]['Actions']: - actions.extend(self.default_actions) - actions.extend(x for x in self.agents[name]['Actions'] if x != c.DEFAULTS) + + if isinstance(conf_actions, dict): + conf_kwargs = conf_actions.copy() + conf_actions = list(conf_actions.keys()) + elif isinstance(conf_actions, list): + conf_kwargs = {} + if isinstance(conf_actions, dict): + raise ValueError + pass + for action in conf_actions: + if action == c.DEFAULTS: + actions.extend(self.default_actions) + else: + actions.append(action) parsed_actions = list() for action in actions: - folder_path = MODULE_PATH if action not in base_env_actions else DEFAULT_PATH + folder_path = MODULE_PATH if action not in [c.MOVE8, c.NOOP, c.MOVE4] else DEFAULT_PATH folder_path = Path(__file__).parent.parent / folder_path try: class_or_classes = locate_and_import_class(action, folder_path) @@ -142,7 +154,7 @@ class FactoryConfigParser(object): except TypeError: parsed_actions.append(class_or_classes) - parsed_actions = [x() for x in parsed_actions] + parsed_actions = [x(**conf_kwargs.get(x, {})) for x in parsed_actions] # Observation observations = list() diff --git a/marl_factory_grid/utils/helpers.py b/marl_factory_grid/utils/helpers.py index f5f6d00..c1c850f 100644 --- a/marl_factory_grid/utils/helpers.py +++ b/marl_factory_grid/utils/helpers.py @@ -224,8 +224,8 @@ def locate_and_import_class(class_name, folder_path: Union[str, PurePath] = ''): and x not in ['Entity', 'NamedTuple', 'List', 'Rule', 'Union', 'TickResult', 'ActionResult', 'Action', 'Agent', 'RenderEntity', 'TemplateRule', 'Objects', 'PositionMixin', - 'IsBoundMixin', 'EnvObject', 'EnvObjects', 'Dict', 'Any' - ]]) + 'IsBoundMixin', 'EnvObject', 'EnvObjects', 'Dict', 'Any', 'Factory', + 'Move8']]) try: model_class = mod.__getattribute__(class_name) return model_class diff --git a/test_observations.py b/test_observations.py new file mode 100644 index 0000000..c2083b4 --- /dev/null +++ b/test_observations.py @@ -0,0 +1,41 @@ +from pathlib import Path +from random import randint +from tqdm import trange + +from marl_factory_grid.environment.factory import Factory + +from marl_factory_grid.utils.logging.envmonitor import EnvMonitor +from marl_factory_grid.utils.logging.recorder import EnvRecorder +from marl_factory_grid.utils.plotting.plot_single_runs import plot_single_run +from marl_factory_grid.utils.tools import ConfigExplainer + + +if __name__ == '__main__': + # Render at each step? + render = True + + run_path = Path('study_out') + + # Path to config File + path = Path('marl_factory_grid/configs/_obs_test.yaml') + + # Env Init + factory = Factory(path) + + # RL learn Loop + for episode in trange(10): + _ = factory.reset() + done = False + if render: + factory.render() + action_spaces = factory.action_space + while not done: + a = [randint(0, x.n - 1) for x in action_spaces] + obs_type, _, _, done, info = factory.step(a) + if render: + factory.render() + if done: + print(f'Episode {episode} done...') + break + + print('Done!!! Goodbye....')