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steffen-illium
2021-06-02 09:17:51 +02:00
parent ff9846eb54
commit dfca68cbeb
5 changed files with 27 additions and 24 deletions
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31
environments/factory/base_factory.py
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@@ -113,15 +113,19 @@ class BaseFactory(gym.Env):
def movement_actions(self):
return self._actions.movement_actions
def __init__(self, level='simple', n_agents=1, max_steps=int(5e2), pomdp_radius: Union[None, int] = None, **kwargs):
def __init__(self, level='simple', n_agents=1, max_steps=int(5e2), pomdp_radius: Union[None, int] = None,
allow_square_movement=True, allow_diagonal_movement=True, allow_no_op=True, **kwargs):
self.allow_no_op = allow_no_op
self.allow_diagonal_movement = allow_diagonal_movement
self.allow_square_movement = allow_square_movement
self.n_agents = n_agents
self.max_steps = max_steps
self.pomdp_radius = pomdp_radius
self.done_at_collision = False
_actions = Actions(allow_square_movement=kwargs.get('allow_square_movement', True),
allow_diagonal_movement=kwargs.get('allow_diagonal_movement', True),
allow_no_op=kwargs.get('allow_no_op', True))
_actions = Actions(allow_square_movement=self.allow_square_movement,
allow_diagonal_movement=self.allow_diagonal_movement,
allow_no_op=allow_no_op)
self._actions = _actions + self.additional_actions
self._level = h.one_hot_level(
@@ -165,12 +169,16 @@ class BaseFactory(gym.Env):
pos = self._agent_states[0].pos
# pos = [agent_state.pos for agent_state in self.agent_states]
# obs = [] ... list comprehension... pos per agent
npad = [(0, 0)] + [(self.pomdp_radius, self.pomdp_radius)] * (self._state.ndim - 1)
x_roll = self.pomdp_radius-pos[0]
y_roll = self.pomdp_radius-pos[1]
padded_state = np.pad(self._state, pad_width=npad, mode='constant', constant_values=0)
padded_state = np.roll(np.roll(padded_state, x_roll, axis=1), y_roll, axis=2)
obs = padded_state[:, :self.pomdp_radius * 2 + 1, :self.pomdp_radius * 2 + 1]
x0, x1 = max(0, pos[0] - self.pomdp_radius), pos[0] + self.pomdp_radius + 1
y0, y1 = max(0, pos[1] - self.pomdp_radius), pos[1] + self.pomdp_radius + 1
obs = self._state[:, x0:x1, y0:y1]
if obs.shape[1] != self.pomdp_radius ** 2 + 1 or obs.shape[2] != self.pomdp_radius ** 2 + 1:
obs_padded = np.full((obs.shape[0], self.pomdp_radius ** 2 + 1, self.pomdp_radius ** 2 + 1), 1)
a_pos = np.argwhere(obs[h.AGENT_START_IDX] == h.IS_OCCUPIED_CELL)[0]
obs_padded[:,
abs(a_pos[0]-self.pomdp_radius):abs(a_pos[0]-self.pomdp_radius)+obs.shape[1],
abs(a_pos[1]-self.pomdp_radius):abs(a_pos[1]-self.pomdp_radius)+obs.shape[2]] = obs
obs = obs_padded
else:
obs = self._state
return obs
@@ -211,8 +219,7 @@ class BaseFactory(gym.Env):
info.update(step_reward=reward, step=self.steps)
obs = self._return_state()
return obs, reward, done, info
return None, reward, done, info
def _is_moving_action(self, action):
return action in self._actions.movement_actions

6
environments/factory/simple_factory.py
View File

@@ -150,7 +150,7 @@ class SimpleFactory(BaseFactory):
self.print(f'Agent {agent_state.i} did just clean up some dirt at {agent_state.pos}.')
info_dict.update(dirt_cleaned=1)
else:
reward -= 0.0
reward -= 0.01
self.print(f'Agent {agent_state.i} just tried to clean up some dirt '
f'at {agent_state.pos}, but was unsucsessfull.')
info_dict.update(failed_cleanup_attempt=1)
@@ -162,14 +162,14 @@ class SimpleFactory(BaseFactory):
else:
# info_dict.update(collision=1)
# self.print('collision')
reward -= 0.00
reward -= 0.01
else:
info_dict.update(no_op=1)
reward -= 0.00
for entity in list_of_collisions:
info_dict.update({f'agent_{agent_state.i}_vs_{self._state_slices.by_name(entity)}': 1})
info_dict.update({f'agent_{agent_state.i}_vs_{entity}': 1})
info_dict.update(dirt_amount=current_dirt_amount)
info_dict.update(dirty_tile_count=dirty_tiles)