def step(self, action):
total_reward = 0
for i in range(self.action_repeat):
img_rgb, reward, die, _ = self.env.step(action)
# don't penalize "die state"
if die:
reward += 100
# green penalty
if np.mean(img_rgb[:, :, 1]) > 185.0:
reward -= 0.05
total_reward += reward
# if no reward recently, end the episode
done = True if self.av_r(reward) <= -0.1 else False
if done or die:
break
img_gray = self.rgb2gray(img_rgb)
if self.resize:
img_gray = rsz(img_gray, (64, 64))
self.stack.pop(0)
self.stack.append(img_gray)
assert len(self.stack) == self.img_stack
if done or die:
done = True
out_img_stack = np.array(self.stack).astype(np.float64)
#out_img_stack = np.interp(out_img_stack, (out_img_stack.min(), out_img_stack.max()), (0, 255))
out_img_stack = (out_img_stack / out_img_stack.max()) * 255
out_img_stack = out_img_stack.astype(np.uint8).transpose(1, 2, 0)
return out_img_stack, total_reward, done, die
def reset(self):
self.counter = 0
self.av_r = self.reward_memory()
self.die = False
img_rgb = self.env.reset()
img_gray = self.rgb2gray(img_rgb)
if self.resize:
img_gray = rsz(img_gray, (64, 64))
self.stack = [img_gray] * self.img_stack # four frames for decision
out_img_stack = np.array(self.stack).astype(np.float64)
#out_img_stack = np.interp(out_img_stack, (out_img_stack.min(), out_img_stack.max()), (0, 255))
out_img_stack = (out_img_stack / out_img_stack.max()) * 255
out_img_stack = out_img_stack.astype(np.uint8).transpose(1, 2, 0)
return out_img_stack
