from collections import OrderedDict from dataclasses import dataclass from pathlib import Path from typing import List, Union, NamedTuple import random import numpy as np from environments.factory.base_factory import BaseFactory, AgentState, MovementProperties from environments import helpers as h from environments.logging.monitor import MonitorCallback from environments.factory.renderer import Renderer, Entity DIRT_INDEX = -1 CLEAN_UP_ACTION = 'clean_up' class DirtProperties(NamedTuple): clean_amount: int = 2 # How much does the robot clean with one action. max_spawn_ratio: float = 0.2 # On max how much tiles does the dirt spawn in percent. gain_amount: float = 0.5 # How much dirt does spawn per tile spawn_frequency: int = 5 # Spawn Frequency in Steps max_local_amount: int = 1 # Max dirt amount per tile. max_global_amount: int = 20 # Max dirt amount in the whole environment. class SimpleFactory(BaseFactory): @property def additional_actions(self) -> Union[str, List[str]]: return CLEAN_UP_ACTION def _is_clean_up_action(self, action): return self._actions[action] == CLEAN_UP_ACTION def __init__(self, *args, dirt_properties: DirtProperties, verbose=False, **kwargs): self.dirt_properties = dirt_properties self.verbose = verbose self.max_dirt = 20 super(SimpleFactory, self).__init__(*args, additional_slices='dirt', **kwargs) self._renderer = None # expensive - don't use it when not required ! def render(self): if not self._renderer: # lazy init height, width = self._state.shape[1:] self._renderer = Renderer(width, height, view_radius=self.pomdp_radius) dirt = [Entity('dirt', [x, y], min(0.15 + self._state[DIRT_INDEX, x, y], 1.5), 'scale') for x, y in np.argwhere(self._state[DIRT_INDEX] > h.IS_FREE_CELL)] walls = [Entity('wall', pos) for pos in np.argwhere(self._state[h.LEVEL_IDX] > h.IS_FREE_CELL)] def asset_str(agent): if any([x is None for x in [self._state_slices[j] for j in agent.collisions]]): print('error') cols = ' '.join([self._state_slices[j] for j in agent.collisions]) if 'agent' in cols: return 'agent_collision' elif not agent.action_valid or 'level' in cols or 'agent' in cols: return f'agent{agent.i + 1}violation' elif self._is_clean_up_action(agent.action): return f'agent{agent.i + 1}valid' else: return f'agent{agent.i + 1}' agents = {f'agent{i+1}': [Entity(asset_str(agent), agent.pos)] for i, agent in enumerate(self._agent_states)} self._renderer.render(OrderedDict(dirt=dirt, wall=walls, **agents)) def spawn_dirt(self) -> None: if not np.argwhere(self._state[DIRT_INDEX] != h.IS_FREE_CELL).shape[0] > self.dirt_properties.max_global_amount: free_for_dirt = self.free_cells(excluded_slices=DIRT_INDEX) # randomly distribute dirt across the grid n_dirt_tiles = int(random.uniform(0, self.dirt_properties.max_spawn_ratio) * len(free_for_dirt)) for x, y in free_for_dirt[:n_dirt_tiles]: new_value = self._state[DIRT_INDEX, x, y] + self.dirt_properties.gain_amount self._state[DIRT_INDEX, x, y] = max(new_value, self.dirt_properties.max_local_amount) else: pass def clean_up(self, pos: (int, int)) -> ((int, int), bool): new_dirt_amount = self._state[DIRT_INDEX][pos] - self.dirt_properties.clean_amount cleanup_was_sucessfull: bool if self._state[DIRT_INDEX][pos] == h.IS_FREE_CELL: cleanup_was_sucessfull = False return pos, cleanup_was_sucessfull else: cleanup_was_sucessfull = True self._state[DIRT_INDEX][pos] = max(new_dirt_amount, h.IS_FREE_CELL) return pos, cleanup_was_sucessfull def step(self, actions): _, r, done, info = super(SimpleFactory, self).step(actions) if not self._next_dirt_spawn: self.spawn_dirt() self._next_dirt_spawn = self.dirt_properties.spawn_frequency else: self._next_dirt_spawn -= 1 obs = self._return_state() return obs, r, done, info def do_additional_actions(self, agent_i: int, action: int) -> ((int, int), bool): if action != self._is_moving_action(action): if self._is_clean_up_action(action): agent_i_pos = self.agent_i_position(agent_i) _, valid = self.clean_up(agent_i_pos) return agent_i_pos, valid else: raise RuntimeError('This should not happen!!!') else: raise RuntimeError('This should not happen!!!') def reset(self) -> (np.ndarray, int, bool, dict): _ = super().reset() # state, reward, done, info ... = dirt_slice = np.zeros((1, *self._state.shape[1:])) self._state = np.concatenate((self._state, dirt_slice)) # dirt is now the last slice self.spawn_dirt() self._next_dirt_spawn = self.dirt_properties.spawn_frequency obs = self._return_state() return obs def calculate_reward(self, agent_states: List[AgentState]) -> (int, dict): # TODO: What reward to use? current_dirt_amount = self._state[DIRT_INDEX].sum() dirty_tiles = np.argwhere(self._state[DIRT_INDEX] != h.IS_FREE_CELL).shape[0] info_dict = dict() try: # penalty = current_dirt_amount reward = 0 except (ZeroDivisionError, RuntimeWarning): reward = 0 for agent_state in agent_states: cols = agent_state.collisions list_of_collisions = [self._state_slices[entity] for entity in cols if entity != self._state_slices.by_name("dirt")] if list_of_collisions: self.print(f't = {self.steps}\tAgent {agent_state.i} has collisions with ' f'{list_of_collisions}') if self._is_clean_up_action(agent_state.action): if agent_state.action_valid: reward += 1 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 -= 0.01 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) elif self._is_moving_action(agent_state.action): if agent_state.action_valid: # info_dict.update(movement=1) reward -= 0.00 else: # info_dict.update(collision=1) # self.print('collision') 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_{entity}': 1}) info_dict.update(dirt_amount=current_dirt_amount) info_dict.update(dirty_tile_count=dirty_tiles) self.print(f"reward is {reward}") # Potential based rewards -> # track the last reward , minus the current reward = potential return reward, info_dict def print(self, string): if self.verbose: print(string) if __name__ == '__main__': render = True dirt_props = DirtProperties() move_props = MovementProperties(allow_diagonal_movement=False, allow_no_op=False) factory = SimpleFactory(n_agents=2, dirt_properties=dirt_props, movement_properties=move_props, level='rooms', pomdp_radius=2) n_actions = factory.action_space.n - 1 for epoch in range(100): random_actions = [(random.randint(0, n_actions), random.randint(0, n_actions)) for _ in range(200)] env_state, this_reward, done_bool, _ = factory.reset() for agent_i_action in random_actions: env_state, reward, done_bool, info_obj = factory.step(agent_i_action) if render: factory.render() if done_bool: break print(f'Factory run {epoch} done, reward is:\n {reward}')