def gen_L(grid_width, grid_height, path='L_expert_trajectories'):
''' Generates trajectories of shape L, with right turn '''
t = 3
n = 2
num_traj = 50
obstacles = create_obstacles(grid_width, grid_height)
set_diff = list(set(product(tuple(range(3, grid_width-3)),
tuple(range(3, grid_height-3)))) \
- set(obstacles))
T = TransitionFunction(grid_width, grid_height, obstacle_movement)
expert_data_dict = {}
# Number of goals is the same as number of actions
num_actions, num_goals = 4, 4
env_data_dict = {'num_actions': num_actions, 'num_goals': num_goals}
for i in range(num_traj):
start_state = State(sample_start(set_diff), obstacles)
for action_idx in range(num_actions):
path_key = str(i) + '_' + str(action_idx)
expert_data_dict[path_key] = {
'state': [],
'action': [],
'goal': []
}
state = start_state
for j in range(n):
# Set initial direction
if j == 0:
action = Action(action_idx)
else:
if action.delta == 0:
action = Action(3)
elif action.delta == 1:
action = Action(2)
elif action.delta == 2:
action = Action(0)
elif action.delta == 3:
action = Action(1)
else:
raise ValueError("Invalid action delta {}".format(
action.delta))
for k in range(t):
expert_data_dict[path_key]['state'].append(state.state)
expert_data_dict[path_key]['action'].append(action.delta)
expert_data_dict[path_key]['goal'].append(action.delta)
state = T(state, action, j)
# print(expert_data_dict[path_key]['goal'])
return env_data_dict, expert_data_dict, obstacles, set_diff
def gen_L(grid_width, grid_height, path='L_expert_trajectories'):
''' Generates trajectories of shape L, with right turn '''
t = 3
n = 2
N = 200
obstacles = create_obstacles(grid_width, grid_height)
set_diff = list(
set(
product(tuple(range(3, grid_width -
3)), tuple(range(3, grid_height - 3)))) -
set(obstacles))
if not os.path.exists(path):
os.makedirs(path)
T = TransitionFunction(grid_width, grid_height, obstacle_movement)
for i in range(N):
filename = os.path.join(path, str(i) + '.txt')
f = open(filename, 'w')
for j in range(n):
if j == 0:
action = Action(random.choice(range(0, 4)))
state = State(sample_start(set_diff), obstacles)
else: # take right turn
if action.delta == 0:
action = Action(3)
elif action.delta == 1:
action = Action(2)
elif action.delta == 2:
action = Action(0)
elif action.delta == 3:
action = Action(1)
for k in range(t):
f.write(' '.join([str(e)
for e in state.state]) + '\n') # write state
f.write(
' '.join([str(e)
for e in oned_to_onehot(action.delta, 4)]) +
'\n') # write action
f.write(
' '.join([str(e)
for e in oned_to_onehot(action.delta, 4)]) +
'\n') # write c[t]s
state = T(state, action, j)
f.close()
def gen_sq_rec(grid_width, grid_height, path='SR_expert_trajectories'):
''' Generates squares if starting in quadrants 1 and 4, and rectangles if starting in quadransts 2 and 3 '''
N = 200
obstacles = create_obstacles(grid_width, grid_height)
if not os.path.exists(path):
os.makedirs(path)
T = TransitionFunction(grid_width, grid_height, obstacle_movement)
for i in range(N):
filename = os.path.join(path, str(i) + '.txt')
f = open(filename, 'w')
half = random.choice(range(0, 2))
if half == 0: # left half
set_diff = list(
set(
product(tuple(range(0, (grid_width / 2) -
3)), tuple(range(1, grid_height)))) -
set(obstacles))
start_loc = sample_start(set_diff)
elif half == 1: # right half
set_diff = list(
set(
product(tuple(range(grid_width / 2, grid_width -
2)), tuple(range(2, grid_height)))) -
set(obstacles))
start_loc = sample_start(set_diff)
state = State(start_loc, obstacles)
if start_loc[0] >= grid_width / 2: # quadrants 1 and 4
# generate 2x2 square clockwise
t = 2
n = 4
delta = 3
for j in range(n):
for k in range(t):
action = Action(delta)
f.write(' '.join([str(e) for e in state.state]) +
'\n') # write state
f.write(' '.join(
[str(e) for e in oned_to_onehot(action.delta, 4)]) +
'\n') # write action
f.write(' '.join(
[str(e) for e in oned_to_onehot(action.delta, 4)]) +
'\n') # write c[t]s
state = T(state, action, j * 2 + k)
if delta == 3:
delta = 1
elif delta == 1:
delta = 2
elif delta == 2:
delta = 0
else: # quadrants 2 and 3
# generate 3x1 rectangle anti-clockwise
t = [1, 3, 1, 3]
delta = 1
for j in range(len(t)):
for k in range(t[j]):
action = Action(delta)
f.write(' '.join([str(e) for e in state.state]) +
'\n') # write state
f.write(' '.join(
[str(e) for e in oned_to_onehot(action.delta, 4)]) +
'\n') # write action
f.write(' '.join(
[str(e) for e in oned_to_onehot(action.delta, 4)]) +
'\n') # write c[t]s
state = T(state, action, sum(t[0:j]) + k)
if delta == 1:
delta = 3
elif delta == 3:
delta = 0
elif delta == 0:
delta = 2
def gen_diverse_trajs(grid_width, grid_height):
'''Generate diverse trajectories in a 21x21 grid with 4 goals.
Return: Dictionary with keys as text filenames and values as dictionary.
Each value dictionary contains two keys, 'states' with a list of states
as value, and 'actions' with list of actions as value.
'''
assert grid_width == 21 and grid_height == 21, "Incorrect grid width height"
N = 20
goals = [(0, 0), (20, 20), (20, 0), (0, 20)]
n_goals = len(goals)
obstacles = create_obstacles(21, 21, 'diverse')
T = TransitionFunction(grid_width, grid_height, obstacle_movement)
set_diff = list(set(product(tuple(range(7,13)),tuple(range(7,13)))) \
- set(obstacles))
expert_data_dict = {}
env_data_dict = {
'num_actions': 8,
'num_goals': n_goals,
'goals': np.array(goals),
}
for n in range(N):
start_state = State(sample_start(set_diff), obstacles)
for g in range(n_goals): # loop over goals
# path 1 - go up/down till boundary and then move right/left
if g == 0 or g == 2: # do path 1 only for goal 0 and goal 2
state = start_state
path_key = str(n) + '_' + str(g) + '_' + str(1) + '.txt'
expert_data_dict[path_key] = {
'state': [],
'action': [],
'goal': []
}
delta = 0 if g < 2 else 1
action = Action(delta)
while state.state[1] != grid_height - 1 and state.state[1] != 0:
expert_data_dict[path_key]['state'].append(state.state)
expert_data_dict[path_key]['action'].append(action.delta)
expert_data_dict[path_key]['goal'].append(g)
state = T(state, action, 0)
delta = 3 if g == 0 or g == 3 else 2
action = Action(delta)
while state.state[0] != grid_width - 1 and state.state[0] != 0:
expert_data_dict[path_key]['state'].append(state.state)
expert_data_dict[path_key]['action'].append(action.delta)
expert_data_dict[path_key]['goal'].append(g)
state = T(state, action, 0)
assert (state.coordinates in goals)
# path 2 - go right/left till boundary and then move up/down
if g == 1: # do path 2 only for goal 1
state = start_state
path_key = str(n) + '_' + str(g) + '_' + str(2) + '.txt'
expert_data_dict[path_key] = {
'state': [],
'action': [],
'goal': []
}
delta = 3 if g == 0 or g == 3 else 2
action = Action(delta)
while state.state[0] != grid_width - 1 and state.state[0] != 0:
expert_data_dict[path_key]['state'].append(state.state)
expert_data_dict[path_key]['action'].append(action.delta)
expert_data_dict[path_key]['goal'].append(g)
state = T(state, action, 0)
delta = 0 if g < 2 else 1
action = Action(delta)
while state.state[1] != grid_height - 1 and state.state[1] != 0:
expert_data_dict[path_key]['state'].append(state.state)
expert_data_dict[path_key]['action'].append(action.delta)
expert_data_dict[path_key]['goal'].append(g)
state = T(state, action, 0)
assert (state.coordinates in goals)
# path 3 - go diagonally till obstacle and then
# move up/down if x > 10 or right/left if y > 10
# and then move right/left or up/down till goal
if g == 3: # do path 3 only for goal 3
state = start_state
path_key = str(n) + '_' + str(g) + '_' + str(3) + '.txt'
expert_data_dict[path_key] = {
'state': [],
'action': [],
'goal': []
}
delta = g + 4
action = Action(delta)
while True:
new_state = T(state, action, 0)
if new_state.coordinates == state.coordinates:
break
expert_data_dict[path_key]['state'].append(state.state)
expert_data_dict[path_key]['action'].append(action.delta)
expert_data_dict[path_key]['goal'].append(g)
state = new_state
if T(state, Action(2), 0).coordinates == state.coordinates \
or T(state, Action(3), 0).coordinates == state.coordinates:
delta = 0 if g < 2 else 1
action = Action(delta)
while state.state[1] != grid_height - 1 and state.state[
1] != 0:
expert_data_dict[path_key]['state'].append(state.state)
expert_data_dict[path_key]['action'].append(
action.delta)
expert_data_dict[path_key]['goal'].append(g)
state = T(state, action, 0)
delta = 3 if g == 0 or g == 3 else 2
action = Action(delta)
while state.state[0] != grid_width - 1 and state.state[
0] != 0:
expert_data_dict[path_key]['state'].append(state.state)
expert_data_dict[path_key]['action'].append(
action.delta)
expert_data_dict[path_key]['goal'].append(g)
state = T(state, action, 0)
else:
delta = 3 if g == 0 or g == 3 else 2
action = Action(delta)
while state.state[0] != grid_width - 1 and state.state[
0] != 0:
expert_data_dict[path_key]['state'].append(state.state)
expert_data_dict[path_key]['action'].append(
action.delta)
expert_data_dict[path_key]['goal'].append(g)
state = T(state, action, 0)
delta = 0 if g < 2 else 1
action = Action(delta)
while state.state[1] != grid_height - 1 and state.state[
1] != 0:
expert_data_dict[path_key]['state'].append(state.state)
expert_data_dict[path_key]['action'].append(
action.delta)
expert_data_dict[path_key]['goal'].append(g)
state = T(state, action, 0)
assert (state.coordinates in goals)
return env_data_dict, expert_data_dict, obstacles, set_diff
parser.add_argument('--clip-epsilon', type=float, default=0.2, metavar='N',
help='Clipping for PPO grad')
parser.add_argument('--checkpoint', type=str, required=True,
help='path to checkpoint')
args = parser.parse_args()
#-----Environment-----#
width = height = 12
obstacles = create_obstacles(width, height)
set_diff = list(set(product(tuple(range(3, width-3)), repeat=2)) - set(obstacles))
start_loc = sample_start(set_diff)
s = State(start_loc, obstacles)
T = TransitionFunction(width, height, obstacle_movement)
if args.expert_path == 'SR2_expert_trajectories/':
R = RewardFunction_SR2(-1.0,1.0,width)
else:
R = RewardFunction(-1.0,1.0)
num_inputs = s.state.shape[0]
num_actions = 4
if args.expert_path == 'SR2_expert_trajectories/':
num_c = 2
else:
num_c = 4
#env.seed(args.seed)
torch.manual_seed(args.seed)
def create_environment(self):
self.width, self.height = 21, 21
self.transition_func = TransitionFunction(self.width, self.height,
obstacle_movement)