def run(self):
for i, trajectory in enumerate(self.trajectory_generator):
self.saved = False
self.is_counterfactual = False
self.navigator = TrajectoryNavigator(trajectory)
self.window = Window(f'Trajectory {i}')
self.window.reg_key_handler(self.key_handler)
self.reset()
self.window.show(block=True)
if not self.saved:
raise Exception('Continued without saving the trajectory!')
def __init__(self, display=False, agent_view=5, map_size=20, roads=1, max_step=100):
super().__init__()
self.display = display
self.map = Simple2Dv2(map_size, map_size, agent_view=agent_view, roads=roads, max_step=max_step)
self.window = None
if self.display:
self.window = Window('GYM_MiniGrid')
self.window.reg_key_handler(self.key_handler)
self.window.show(True)
self.detect_rate = []
self.rewards = []
self.step_count = []
self.old = None
self.new = None
self._rewards = []
def __init__(self,
env,
detector=None,
render_mode=None,
learners=[],
**kwargs):
self.env = env
self.core_actions = self.env.actions
self.detector = detector
self._learners = learners
self.executors = {
"gotoobj1": (["agent", "graspable"], self.go_to_obj),
"gotoobj2": (["agent", "notgraspable"], self.go_to_obj),
"gotoobj3": (["agent", "graspable", "thing"], self.go_to_obj),
"gotoobj4": (["agent", "notgraspable", "thing"], self.go_to_obj),
"gotodoor1": (["agent", "door"], self.go_to_obj),
"gotodoor2": (["agent", "door", "thing"], self.go_to_obj),
"stepinto": (["agent", "goal"], self.step_into),
"enterroomof": (["agent", "door",
"physobject"], self.enter_room_of),
"usekey": (["agent", "key", "door"], self.usekey),
"opendoor": (["agent", "door"], self.usekey),
"pickup": (["agent", "graspable"], self.pickup),
"putdown": (["agent", "graspable"], self.putdown),
"core_drop": ([], self.core_drop),
"core_pickup": ([], self.core_pickup),
"core_forward": ([], self.core_forward),
"core_right": ([], self.core_right),
"core_left": ([], self.core_left),
"core_toggle": ([], self.core_toggle),
"core_done": ([], self.core_done)
}
self._window = None
self._record_path = None
self.set_record_path(0)
if render_mode and render_mode.lower() == "human":
self._window = Window("minigrid_executor")
self._window.show(block=False)
self.accumulator = None
def main():
"""
Main method for running a game manually
"""
# Parse arguments
args = parser.parse_args()
# Make environments
env = gym.make(args.env_name)
args.env = env
#Build window and register key_handler
window = Window('Cameleon - ' + args.env_name)
args.window = window
window.fig.canvas.mpl_connect("key_press_event",
lambda event: args.key_handler(event, args))
# Reset the game
reset(args)
# Blocking event loop
window.show(block=True)
default=32)
parser.add_argument('--agent_view',
default=False,
help="draw the agent sees (partially observable view)",
action='store_true')
if __name__ == "__main__":
args = parser.parse_args()
env = gym.make(args.env)
if args.agent_view:
env = RGBImgPartialObsWrapper(env)
env = ImgObsWrapper(env)
window = Window('gym_minigrid - ' + args.env)
agent = DeepSARSAgent()
global_step = 0
scores, episodes = [], []
for e in range(30000):
done = False
score = 0
state = env.reset()
state = np.reshape(state['image'], [1, 147])
reset()
while not done:
# fresh env
class Interface:
"""
User interface for generating counterfactual states and actions.
For each trajectory:
The user can use the `a` and `d` keys to go backward and forward in time to a specific state they wish to
generate a counterfactual explanation from. Once a specific state is found, the user presses `w` to launch the
counterfactual mode.
In the counterfactual mode, the user can control the agent using the keyboard. Once satisfied with their
progress, the user can give up control to the bot to finish the episode by pressing `w`.
The keys for controlling the agent are summarized here:
escape: quit the program
view mode:
d: next time step
a: previous time step
w: select time step and go to counterfactual mode
counterfactual mode:
left: turn counter-clockwise
right: turn clockwise
up: go forward
space: toggle
pageup or x: pickup
pagedown or z: drop
enter or q: done (should not use)
a: undo action
w: roll out to the end of the episode and move to next episode
"""
def __init__(self,
original_dataset: TrajectoryDataset,
counterfactual_dataset: TrajectoryDataset,
policy_factory=None):
self.policy_factory = policy_factory
self.dataset = original_dataset
self.counterfactual_dataset = counterfactual_dataset
self.trajectory_generator = self.dataset.trajectory_generator()
self.navigator: TrajectoryNavigator = None
self.window = None
self.is_counterfactual = False
self.run()
def run(self):
for i, trajectory in enumerate(self.trajectory_generator):
self.saved = False
self.is_counterfactual = False
self.navigator = TrajectoryNavigator(trajectory)
self.window = Window(f'Trajectory {i}')
self.window.reg_key_handler(self.key_handler)
self.reset()
self.window.show(block=True)
if not self.saved:
raise Exception('Continued without saving the trajectory!')
def redraw(self):
step: TrajectoryStep = self.navigator.step()
# if not self.agent_view:
env = step.state
img = env.render('rgb_array', tile_size=32)
# else:
# img = step.observation['image']
# TODO later: figure out when to use the observation instead.
self.window.show_img(img)
def step(self, action=None):
if action is None:
self.navigator.forward()
else:
assert isinstance(self.navigator, CounterfactualNavigator)
self.navigator.forward(action)
self.redraw()
def backward(self):
self.navigator.backward()
self.redraw()
def reset(self):
env = self.navigator.step().state
if hasattr(env, 'mission'):
print('Mission: %s' % env.mission)
self.window.set_caption(env.mission)
self.redraw()
def select(self):
new_navigator = CounterfactualNavigator(
self.navigator.episode,
self.navigator.index,
self.navigator.step(),
policy_factory=self.policy_factory)
self.navigator = new_navigator
self.is_counterfactual = True
print(
f'Starting counterfactual trajectory from {self.navigator.index}')
self.redraw()
def save_trajectory(self):
assert isinstance(self.navigator, CounterfactualNavigator)
self.navigator.store(self.counterfactual_dataset)
self.saved = True
def key_handler(self, event):
print('pressed', event.key)
if event.key == 'escape':
self.window.close()
exit()
return
# if event.key == 'backspace':
# self.reset()
# return
if self.is_counterfactual:
if event.key == 'left':
self.step('left')
return
if event.key == 'right':
self.step('right')
return
if event.key == 'up':
self.step('forward')
return
# Spacebar
if event.key == ' ':
self.step('toggle')
return
if event.key == 'pageup' or event.key == 'x':
self.step('pickup')
return
if event.key == 'pagedown' or event.key == 'z':
self.step('drop')
return
if event.key == 'enter' or event.key == 'q':
self.step('done')
return
if event.key == 'w':
if self.policy_factory is not None:
self.navigator.rollout()
self.save_trajectory()
self.window.close()
if event.key == 'a':
self.backward()
return
if not self.is_counterfactual:
if event.key == 'd':
self.step()
return
if event.key == 'a':
self.backward()
return
if event.key == 'w':
self.select()
return
class MiniGridExecutor(Executor):
def _remove_learner(self, learner):
self._learners.remove(learner)
def __init__(self,
env,
detector=None,
render_mode=None,
learners=[],
**kwargs):
self.env = env
self.core_actions = self.env.actions
self.detector = detector
self._learners = learners
self.executors = {
"gotoobj1": (["agent", "graspable"], self.go_to_obj),
"gotoobj2": (["agent", "notgraspable"], self.go_to_obj),
"gotoobj3": (["agent", "graspable", "thing"], self.go_to_obj),
"gotoobj4": (["agent", "notgraspable", "thing"], self.go_to_obj),
"gotodoor1": (["agent", "door"], self.go_to_obj),
"gotodoor2": (["agent", "door", "thing"], self.go_to_obj),
"stepinto": (["agent", "goal"], self.step_into),
"enterroomof": (["agent", "door",
"physobject"], self.enter_room_of),
"usekey": (["agent", "key", "door"], self.usekey),
"opendoor": (["agent", "door"], self.usekey),
"pickup": (["agent", "graspable"], self.pickup),
"putdown": (["agent", "graspable"], self.putdown),
"core_drop": ([], self.core_drop),
"core_pickup": ([], self.core_pickup),
"core_forward": ([], self.core_forward),
"core_right": ([], self.core_right),
"core_left": ([], self.core_left),
"core_toggle": ([], self.core_toggle),
"core_done": ([], self.core_done)
}
self._window = None
self._record_path = None
self.set_record_path(0)
if render_mode and render_mode.lower() == "human":
self._window = Window("minigrid_executor")
self._window.show(block=False)
self.accumulator = None
def _attach_learner(self, learner):
self._learners.append(learner)
def _clear_learners(self):
self._learners = []
def executor_map(self):
return {
name: (self, self.executors[name][0], self.executors[name][1])
for name in self.executors
}
def _all_actions(self):
action_list = []
type_to_objects = self.detector.get_objects(inherit=True)
for executor_name in self.executors:
possible_args = tuple(
[type_to_objects[t] for t in self.executors[executor_name][0]])
for items in product(*possible_args):
if len(items) == 0:
action_list.append("(" + executor_name + ")")
else:
action_list.append("(" + executor_name + " " +
" ".join(items) + ")")
return action_list
def _act(self, operator_name):
self.accumulator = None
executor_name, items = operator_parts(operator_name)
param_types, executor = self.executors[executor_name]
if len(items) == len(param_types):
if items:
# Doesn't currently ensure actions are typesafe. Could if we wanted it to.
# param operator call E.g. "(stack block cup)"
obs, reward, done, info = executor(items)
else:
# primitive action call E.g., "right"
obs, reward, done, info = executor()
else:
raise Exception("Wrong number of arguments for action " +
executor_name)
return obs, reward, done, info
####################################
## OPERATORS
######################
def _check_agent_nextto(self, item, obs):
return self.detector.check_nextto("agent", item, obs)
def _check_agent_facing(self, item, obs):
return self.detector.check_facing("agent", item, obs)
def _check_agent_obstructed(self, obs):
return self.detector.check_formula(["(obstructed agent)"], obs)
def get_line_between(self, x1, y1, x2, y2):
# Assumes a straight line, so only one of x2-x1, y2-y1 is nonzero
if y1 == y2:
return [(i, y1) for i in range(min(x1, x2) + 1, max(x1, x2))]
else:
return [(x1, i) for i in range(min(y1, y2) + 1, max(y1, y2))]
def enter_room_of(self, items):
self.accumulator = RewardAccumulator(self.env)
try:
if self.detector.check_formula(
["(inroom {} {})".format(items[0], items[2])],
self.env.last_observation()):
self.execute_core_action(self.env.actions.left,
self.accumulator)
self.execute_core_action(self.env.actions.left,
self.accumulator)
else:
self.execute_core_action(self.env.actions.forward,
self.accumulator)
self.execute_core_action(self.env.actions.forward,
self.accumulator)
finally:
return self.accumulator.combine_steps()
def go_to_obj(self, items):
self.accumulator = RewardAccumulator(self.env, action_timeout=100)
agent = items[0]
obj = items[1]
obs = self.env.last_observation()
agent_cur_direction = obs['objects']['agent']['encoding'][2]
agent_x = obs['objects'][agent]['x']
agent_y = obs['objects'][agent]['y']
object_x = obs['objects'][obj]['x']
object_y = obs['objects'][obj]['y']
goal = (object_x, object_y)
initial_state = (agent_x, agent_y, agent_cur_direction)
image = self.env.last_observation()['image']
path = self.a_star(image, initial_state, goal, self.manhattan_distance)
try:
for action in path[:-1]:
self.execute_core_action(action, self.accumulator)
finally:
return self.accumulator.combine_steps()
def manhattan_distance(self, agent_orientation, goal_position):
return abs(agent_orientation[0] -
goal_position[0]) + abs(agent_orientation[1] -
goal_position[1])
def get_path(self, parent, current):
plan = []
while current in parent.keys():
current, action = parent[current]
plan.insert(0, action)
return plan
def a_star(self, image, initial_state, goal, heuristic):
open_set = []
parent = {}
g_score = defaultdict(lambda: math.inf)
g_score[initial_state] = 0.
f_score = defaultdict(lambda: math.inf)
f_score[initial_state] = heuristic(initial_state, goal)
heapq.heappush(open_set, (f_score[initial_state], initial_state))
while len(open_set) > 0:
f, current = heapq.heappop(open_set)
if (current[0], current[1]) == goal:
return self.get_path(parent, current)
neighbors = [(current[0], current[1], (current[2] - 1) % 4),
(current[0], current[1], (current[2] + 1) % 4)]
fwd_x = current[0] + DIR_TO_VEC[current[2]][0]
fwd_y = current[1] + DIR_TO_VEC[current[2]][1]
if image[fwd_x][fwd_y][0] in [1, 3, 8] or (fwd_x, fwd_y) == goal:
neighbors.append((fwd_x, fwd_y, current[2]))
for action, neighbor in enumerate(neighbors):
tentative_g_score = g_score[current] + 1
if tentative_g_score < g_score[neighbor]:
parent[neighbor] = (current, action)
g_score[neighbor] = tentative_g_score
f_score[neighbor] = g_score[neighbor] + heuristic(
neighbor, goal)
if neighbor not in [x[1] for x in open_set]:
heapq.heappush(open_set, (f_score[neighbor], neighbor))
return []
def set_record_path(self, episode_number):
self._record_path = "results/videos/{}/episode_{}".format(
self.env.spec.id, episode_number)
if SAVE_VIDEO:
import os
os.makedirs(self._record_path, exist_ok=True)
def pickup(self, items):
return self.core_pickup()
def putdown(self, items):
return self.core_drop()
def usekey(self, items):
return self.core_toggle()
def step_into(self, items):
return self.core_forward()
def _execute_core_action(self, action, accumulator=None):
prev_obs = self.env.last_observation()
obs, reward, done, info = self.env.step(action)
for learner in self._learners:
learner.train(prev_obs, action, reward, obs)
if accumulator:
accumulator.accumulate(action, obs, reward, done, info)
if self._window:
img = self.env.render('rgb_array', tile_size=32, highlight=False)
self._window.show_img(img)
if SAVE_VIDEO:
self._window.fig.savefig(self._record_path +
"/{}.png".format(self.env.step_count))
return obs, reward, done, action
def core_drop(self):
return self._execute_core_action(self.env.actions.drop)
def core_pickup(self):
return self._execute_core_action(self.env.actions.pickup)
def core_forward(self):
return self._execute_core_action(self.env.actions.forward)
def core_left(self):
return self._execute_core_action(self.env.actions.left)
def core_right(self):
return self._execute_core_action(self.env.actions.right)
def core_toggle(self):
return self._execute_core_action(self.env.actions.toggle)
def core_done(self):
return self._execute_core_action(self.env.actions.done)
help="draw the agent sees (partially observable view)",
action='store_true'
)
args = parser.parse_args()
env = gym.make(args.env)
from pathlib import Path
RESOURCES_DIR = (Path(__file__).parent).resolve()
# env = gym_minigrid.envs.minimap.MinimapForSparky(
# raw_map_path=Path(RESOURCES_DIR, 'gym_minigrid/envs/resources/map_set_'+str(args.map_set_number)+'.npy')
# )
env = HumanFOVWrapper(env, agent_pos=(23, 14))
# env = InvertColorsWrapper(env)
# env = gym.wrappers.Monitor(env, "recording")
# env = gym.wrappers.Monitor(env, "./vid", video_callable=lambda episode_id: True,force=True)
if args.agent_view:
# env = RGBImgPartialObsWrapper(env)
env = ImgObsWrapper(env)
window = Window('gym_minigrid - ' + args.env + ' - Map set ' + str(args.map_set_number))
window.reg_key_handler(key_handler)
reset()
# Blocking event loop
window.show(block=True)
default=32)
parser.add_argument('--agent_view',
default=False,
help="draw the agent sees (partially observable view)",
action='store_true')
parser.add_argument('--agent_num',
type=int,
help="number of agents",
default=2)
args = parser.parse_args()
env = gym.make(args.env, agent_pos=[(1, 1), (17, 1)])
if args.agent_view:
env = RGBImgPartialObsWrapper(env)
env = ImgObsWrapper(env)
window = Window('gym_minigrid - ' + args.env)
window_explored = Window('explored_area')
window_obstacle = Window('obstacle_area')
#window.reg_key_handler(key_handler)
reset()
while (1):
actions = env.get_short_term_action([[1, 17], [17, 17]])
step(actions)
# Blocking event loop
# window.show(block=True)
# Train
update_start_time = time.time()
images, label, seq_lens = mgmt.collect_episode()
loss, correct = mgmt.update_parameters(images, label, seq_lens)
# Log
losses.append(loss)
accuracy = torch.cat((accuracy, correct), 0)
update += 1
# Print logs
if update % args.log_interval == 0:
if args.visualize:
# Visualize last frame of last sample
from gym_minigrid.window import Window
window = Window('gym_minigrid - ' + args.env)
images = images.transpose(1,2)
images = images.transpose(2,3)
print(images[-1].shape)
print(label)
window.show_img(images[-1])
input()
window.close()
duration = int(time.time() - start_time)
header = ["Update", "Time", "Loss", "Accuracy"]
acc = torch.mean(accuracy)
data = [update, duration, sum(losses) / len(losses), acc]
losses = []
over = (acc >= 0.9999)
parser.add_argument("--tile_size",
type=int,
help="size at which to render tiles",
default=32)
parser.add_argument('--agent_view',
default=False,
help="draw the agent sees (partially observable view)",
action='store_true')
args = parser.parse_args()
env = gym.make(args.env)
if args.agent_view:
env = RGBImgPartialObsWrapper(env)
env = ImgObsWrapper(env)
window = Window('gym_minigrid - ' + args.env)
reset()
settings = termios.tcgetattr(sys.stdin)
pub = rospy.Publisher('initial_pose', PoseStamped, queue_size=1)
try:
while (1):
key = getKey()
if key == 'w':
step(env.actions.forward)
elif key == 'a':
step(env.actions.left)
elif key == 'd':
step(env.actions.right)
# Spacebar
if event.key == ' ':
step(env.actions.toggle)
return
if event.key == 'pageup':
step(env.actions.pickup)
return
if event.key == 'pagedown':
step(env.actions.drop)
return
if event.key == 'enter':
step(env.actions.done)
return
env = gym.make('MiniGrid-Empty-5x5-v0')
env = RGBImgPartialObsWrapper(env)
env = ImgObsWrapper(env)
window = Window('gym_minigrid')
window.reg_key_handler(random_solve)
reset()
# Blocking event loop
window.show(block=True)
class SimpleEnv(object):
def __init__(self, display=False, agent_view=5, map_size=20, roads=1, max_step=100):
super().__init__()
self.display = display
self.map = Simple2Dv2(map_size, map_size, agent_view=agent_view, roads=roads, max_step=max_step)
self.window = None
if self.display:
self.window = Window('GYM_MiniGrid')
self.window.reg_key_handler(self.key_handler)
self.window.show(True)
self.detect_rate = []
self.rewards = []
self.step_count = []
self.old = None
self.new = None
self._rewards = []
def short_term_reward(self):
# (- manhattan distance / 100) + ( - stay time / 100)
return self.new["reward"] / 100 - self.map.check_history() / 100
def long_term_reward(self):
_extrinsic_reward = self.new["l_reward"]
_extrinsic_reward = sum(_extrinsic_reward) / len(_extrinsic_reward)
return _extrinsic_reward
def step(self, action):
# Turn left, turn right, move forward
# forward = 0
# left = 1
# right = 2
self.old = self.map.state()
self.new, done = self.map.step(action)
reward = self.short_term_reward()
if self.display is True:
self.redraw()
if done != 0:
self.detect_rate.append(self.new["l_reward"])
self.step_count.append(self.map.step_count)
reward += self.long_term_reward()
self._rewards.append(reward)
self.rewards.append(np.mean(self._rewards))
else:
self._rewards.append(reward)
return self.old, self.new, reward, done
def key_handler(self, event):
print('pressed', event.key)
if event.key == 'left':
self.step(0)
return
if event.key == 'right':
self.step(1)
return
if event.key == 'up':
self.step(2)
return
def redraw(self):
if self.window is not None:
self.map.render('human')
def reset_env(self):
"""
reset environment to the start point
:return:
"""
self.map.reset()
self._rewards = []
if self.display:
self.redraw()
0 reward if connect with lava, 1 - 0.9 * (self.step_count / self.max_steps) if the end goal is reached.
max_steps = 144
min_steps = 7(if good env with gap on top)/8
--> max_reward = 0.95625 / 0.94375s
MiniGrid-SimpleCrossingS9N1-v0:
1 - 0.9 * (self.step_count / self.max_steps) if the end goal is reached, 0 if not.
max_steps = 324
min_steps = 14
--> max_reward = 0.961
"""
envs = ['CartPole-v1', 'Acrobot-v1', 'MountainCar-v0', 'LunarLander-v2']
#env = gym.make(envs[0])
#env = (gym.make("Breakout-MinAtar-v0"))
#env = MinAtarObsWrapper(gym.make("Space_invaders-MinAtar-v0"))
env = FlatImgObsWrapper(gym.make('MiniGrid-Dynamic-Obstacles-8x8-v0'))
#env = FlatImgObsWrapper(gym.make('MiniGrid-LavaGapS7-v0'))
obs = env.reset()
print(obs.shape)
print(env.action_space.n)
print(obs.shape)
window = Window(title="MiniGrid")
for _ in range(1):
img = env.render('rgb_array')
window.show_img(img)
obs, _, _, _ = env.step(env.action_space.sample()) # take a random action
time.sleep(1000)
print(obs)
env.close()
def init_env(env_name):
env = gym.make(env_name)
env.max_steps = 256
window = Window('gym_minigrid - ' + env_name)
return env, window
help="gym environment to load",
default='MiniGrid-MultiRoom-N6-v0')
parser.add_argument("--seed",
type=int,
help="random seed to generate the environment with",
default=-1)
parser.add_argument("--tile_size",
type=int,
help="size at which to render tiles",
default=32)
parser.add_argument('--agent_view',
default=False,
help="draw the agent sees (partially observable view)",
action='store_true')
args = parser.parse_args()
env = gym.make(args.env)
if args.agent_view:
env = RGBImgPartialObsWrapper(env)
env = ImgObsWrapper(env)
window = Window('gym_minigrid - ' + args.env)
window.reg_key_handler(key_handler)
reset()
# Blocking event loop
window.show(block=True)
if 'state_embedding_model_state_dict' in checkpoint:
embedder_model.load_state_dict(
checkpoint['state_embedding_model_state_dict'])
print(env)
print(env.unwrapped.grid)
env = Environment(env, fix_seed=args.fix_seed, env_seed=args.env_seed)
env_output = env.initial()
print(env.gym_env)
agent_state = model.initial_state(batch_size=1)
state_embedding = embedder_model(env_output['frame'])
if not args.stop_visu and is_minigrid:
from gym_minigrid.window import Window
w = Window(checkpoint['flags']['model'])
arr = env.gym_env.render('rgb_array')
#print("Arr", arr)
w.show_img(arr)
while True:
model_output, agent_state = model(env_output, agent_state)
# action = model_output["action"]
logits = model_output["policy_logits"]
#print(logits)
m = Categorical(logits=logits)
action = m.sample()
# action = torch.randint(low=0, high=env.gym_env.action_space.n, size=(1,))
# action = torch.tensor([0])
