def __init__(self, l1_action_string, subtasks, lowerDomain):
self.action = l1_action_string
goal_room = self.extract_goal_room(self.action)
self.goal_state = FourRoomL1State(goal_room, is_terminal=True)
tf, rf = self._terminal_function, self._reward_function
self.l0_domain = lowerDomain
NonPrimitiveAbstractTask.__init__(self, l1_action_string, subtasks, tf, rf)
def __init__(self, l2_action_string, subtasks, lowerDomain):
self.action = l2_action_string
self.goal_floor = self.extract_goal_floor(self.action)
self.goal_constraints = {'goal': 'a', 'stay': '~a'}
self.ap_maps = {'a': (2, 'state', self.goal_floor)}
tf, rf = self._terminal_function, self._reward_function
self.l1_domain = lowerDomain
NonPrimitiveAbstractTask.__init__(self, l2_action_string, subtasks, tf,
rf)
def __init__(self, l1_action_string, subtasks, lowerDomain):
self.action = l1_action_string
self.goal_room = self.extract_goal_room(self.action)
#self.goal_state = CubeL1State(goal_room, 0, is_terminal=True)
self.goal_constraints = {'goal': 'a', 'stay': '~a'}
self.ap_maps = {'a': (1, 'state', self.goal_room)}
tf, rf = self._terminal_function, self._reward_function
self.l0_domain = lowerDomain
NonPrimitiveAbstractTask.__init__(self, l1_action_string, subtasks, tf,
rf)
def __init__(self, l1_action_string, subtasks, l0_domain):
'''
Args:
l1_action_string (str)
subtasks (list)
l0_domain (CleanUpMDP)
'''
self.action = l1_action_string
self.l0_domain = l0_domain
self.lifted_action = self.grounded_to_lifted_action(l1_action_string)
tf, rf = self._terminal_function, self._reward_function
NonPrimitiveAbstractTask.__init__(self, l1_action_string, subtasks, tf,
rf)
def __init__(self, l2_action_string, subtasks, lowerDomain):
self.action = l2_action_string
self.goal_floor = self.extract_goal_floor(self.action)
# define constraints
self.goal_constraints = {}
self.goal_constraints['Qs'] = lowerDomain.constraints['Qs']
self.goal_constraints['Qg'] = lowerDomain.constraints['Qg']
self.goal_constraints['Sg'] = [self.goal_floor]
self.goal_constraints['mode'] = 'child'
# transfer ap_maps
self.ap_maps = lowerDomain.ap_maps
tf, rf = self._terminal_function, self._reward_function
self.l1_domain = lowerDomain
NonPrimitiveAbstractTask.__init__(self, l2_action_string, subtasks, tf,
rf)
def __init__(self, l1_action_string, subtasks, lower_domain):
'''
Args:
l1_action_string (str): string representing action in l1 domain
subtasks (list): list of PrimitiveAbstractTask objects
lower_domain (OOMDP): L0 MDP
'''
self.action = l1_action_string
self.goal_parameter = TaxiL1GroundedAction._extract_goal_parameter_from_action(
l1_action_string)
self.is_navigation_task = self.goal_parameter.lower(
) in TaxiL1OOMDP.COLORS
self.is_pickup_task = 'pickup' in self.goal_parameter.lower()
self.is_dropoff_task = 'dropoff' in self.goal_parameter.lower()
tf, rf = self._terminal_function, self._reward_function
self.l0_domain = lower_domain
NonPrimitiveAbstractTask.__init__(self, l1_action_string, subtasks, tf,
rf)