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box_world_env.py
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box_world_env.py
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import gym
from gym.spaces.discrete import Discrete
from gym.spaces import Box
import matplotlib.pyplot as plt
from collections import deque
from boxworld_gen import *
class BoxWorld(gym.Env):
"""Boxworld representation
Args:
n (int): Size of the field (n x n)
goal_length (int): Number of keys to collect to solve the level
num_distractor (int): Number of distractor trajectories
distractor_length (int): Number of distractor keys in each distractor trajectory
max_steps (int): Maximum number of env step for a given level
collect_key (bool): If true, a key is collected immediately when its corresponding lock is opened
world: an existing level. If None, generates a new level by calling the world_gen() function
"""
def __init__(self, n, goal_length, num_distractor, distractor_length, max_steps=10**6, collect_key=True, world=None):
self.goal_length = goal_length
self.num_distractor = num_distractor
self.distractor_length = distractor_length
self.n = n
self.num_pairs = goal_length - 1 + distractor_length * num_distractor
self.collect_key = collect_key # if True, keys are collected immediately when available
# Penalties and Rewards
self.step_cost = 0
self.reward_gem = 10
self.reward_key = 1
self.reward_distractor = -1
# Other Settings
self.viewer = None
self.max_steps = max_steps
self.action_space = Discrete(len(ACTION_LOOKUP))
self.observation_space = Box(low=0, high=255, shape=(n+2, n+2, 3), dtype=np.uint8)
# Game initialization
self.owned_key = [220, 220, 220]
self.np_random_seed = None
self.reset(world)
self.num_env_steps = 0
self.episode_reward = 0
self.last_frames = deque(maxlen=3)
def seed(self, seed=None):
self.np_random_seed = seed
return [seed]
def save(self):
np.save('box_world.npy', self.world)
def step(self, action):
change = CHANGE_COORDINATES[action]
new_position = self.player_position + change
current_position = self.player_position.copy()
self.num_env_steps += 1
reward = -self.step_cost
done = self.num_env_steps == self.max_steps
solved = False
# Move player if the field in the moving direction is either
if np.any(new_position < 1) or np.any(new_position >= self.n + 1):
possible_move = False
elif is_empty(self.world[new_position[0], new_position[1]]):
# No key, no lock
possible_move = True
elif new_position[1] == 1 or is_empty(self.world[new_position[0], new_position[1] - 1]):
# It is a key
if is_empty(self.world[new_position[0], new_position[1] + 1]):
# Key is not locked
possible_move = True
self.owned_key = self.world[new_position[0], new_position[1]].copy()
self.world[0, 0] = self.owned_key
if np.array_equal(self.world[new_position[0], new_position[1]], goal_color):
# Goal reached
self.world[0, 0] = wall_color
reward += self.reward_gem
solved = True
done = True
else:
reward += self.reward_key
else:
possible_move = False
else:
# It is a lock
if np.array_equal(self.world[new_position[0], new_position[1]], self.owned_key):
# The lock matches the key
possible_move = True
if self.collect_key:
# goal reached
if np.array_equal(self.world[new_position[0], new_position[1]-1], goal_color):
# Goal reached
self.world[new_position[0], new_position[1] - 1] = [220, 220, 220]
self.world[0, 0] = wall_color
reward += self.reward_gem
solved = True
done = True
else:
# loose old key and collect new one
self.owned_key = np.copy(self.world[new_position[0], new_position[1] - 1])
self.world[new_position[0], new_position[1] - 1] = [220, 220, 220]
self.world[0, 0] = self.owned_key
if self.world_dic[tuple(new_position)] == 0:
reward += self.reward_distractor
done = True
else:
reward += self.reward_key
else:
self.owned_key = [220, 220, 220]
self.world[0, 0] = [0, 0, 0]
if self.world_dic[tuple(new_position)] == 0:
reward += self.reward_distractor
done = True
else:
possible_move = False
# print("lock color is {}, but owned key is {}".format(
# self.world[new_position[0], new_position[1]], self.owned_key))
if possible_move:
self.player_position = new_position
update_color(self.world, previous_agent_loc=current_position, new_agent_loc=new_position)
self.episode_reward += reward
info = {
"action.name": ACTION_LOOKUP[action],
"action.moved_player": possible_move,
"bad_transition": self.max_steps == self.num_env_steps,
}
if done:
info["episode"] = {"r": self.episode_reward,
"length": self.num_env_steps,
"solved": solved}
self.last_frames.append(self.world)
return (self.world - grid_color[0])/255 * 2, reward, done, info
def reset(self, world=None):
if world is None:
self.world, self.player_position, self.world_dic = world_gen(n=self.n, goal_length=self.goal_length,
num_distractor=self.num_distractor,
distractor_length=self.distractor_length,
seed=self.np_random_seed)
else:
self.world, self.player_position, self.world_dic = world
self.num_env_steps = 0
self.episode_reward = 0
self.owned_key = [220, 220, 220]
return (self.world - grid_color[0])/255 * 2
def render(self, mode="human"):
img = self.world.astype(np.uint8)
if mode == "rgb_array":
return img
else:
# from gym.envs.classic_control import rendering
# if self.viewer is None:
# self.viewer = rendering.SimpleImageViewer()
# self.viewer.imshow(img)
# return self.viewer.isopen
plt.imshow(img, vmin=0, vmax=255, interpolation='none')
plt.show()
def get_action_lookup(self):
return ACTION_LOOKUP
ACTION_LOOKUP = {
0: 'move up',
1: 'move down',
2: 'move left',
3: 'move right',
}
CHANGE_COORDINATES = {
0: (-1, 0),
1: (1, 0),
2: (0, -1),
3: (0, 1)
}
if __name__ == "__main__":
# import pickle
# execute only if run as a script
env = BoxWorld(6, 2, 1, 1)
env.seed(10)
# with open('/home/nathan/PycharmProjects/relational_RL_graphs/images/ex_world.pkl', 'rb') as file:
env.reset()
env.render()
env.reset()
env.render()
# with open('/home/nathan/PycharmProjects/relational_RL_graphs/images/ex_world.pkl', 'wb') as file:
# pickle.dump([env.world, env.player_position, env.world_dic], file)
# TO DO : impossible lvls ? (keys stacked right made inaccessible)