def get_key(input_dict: Dict[str, Any]) -> Tuple[float, float, int, int]:
if "x" in input_dict:
x = input_dict["x"]
z = input_dict["z"]
rot = input_dict["rotation"]
hor = input_dict["horizon"]
else:
x = input_dict["position"]["x"]
z = input_dict["position"]["z"]
rot = input_dict["rotation"]["y"]
hor = input_dict["cameraHorizon"]
return (
round(x, 2),
round(z, 2),
round_to_factor(rot, 90) % 360,
round_to_factor(hor, 30) % 360,
)
def _add_from_to_edge(
self,
g: nx.DiGraph,
s: Tuple[float, float, int, int],
t: Tuple[float, float, int, int],
):
def ae(x, y):
return abs(x - y) < 0.001
s_x, s_z, s_rot, s_hor = s
t_x, t_z, t_rot, t_hor = t
dist = round(math.sqrt((s_x - t_x) ** 2 + (s_z - t_z) ** 2), 2)
angle_dist = (round_to_factor(t_rot - s_rot, 90) % 360) // 90
horz_dist = (round_to_factor(t_hor - s_hor, 30) % 360) // 30
# If source and target differ by more than one action, continue
if sum(x != 0 for x in [dist, angle_dist, horz_dist]) != 1:
return
grid_size = self._grid_size
action = None
if angle_dist != 0:
if angle_dist == 1:
action = "RotateRight"
elif angle_dist == 3:
action = "RotateLeft"
elif horz_dist != 0:
if horz_dist == 11:
action = "LookUp"
elif horz_dist == 1:
action = "LookDown"
elif ae(dist, grid_size):
if (
(s_rot == 0 and ae(t_z - s_z, grid_size))
or (s_rot == 90 and ae(t_x - s_x, grid_size))
or (s_rot == 180 and ae(t_z - s_z, -grid_size))
or (s_rot == 270 and ae(t_x - s_x, -grid_size))
):
g.add_edge(s, t, action="MoveAhead")
if action is not None:
g.add_edge(s, t, action=action)
def query_expert(self, **kwargs) -> Tuple[int, bool]:
target = self.task_info["object_type"]
if self._is_goal_object_visible():
return self.class_action_names().index(END), True
else:
key = (self.env.scene_name, target)
if self._subsampled_locations_from_which_obj_visible is None:
if key not in self._CACHED_LOCATIONS_FROM_WHICH_OBJECT_IS_VISIBLE:
obj_ids: List[str] = []
obj_ids.extend(
o["objectId"]
for o in self.env.last_event.metadata["objects"]
if o["objectType"] == target)
assert len(
obj_ids) != 0, "No objects to get an expert path to."
locations_from_which_object_is_visible: List[Tuple[
float, float, int, int]] = []
y = self.env.last_event.metadata["agent"]["position"]["y"]
positions_to_check_interactionable_from = [{
"x": x,
"y": y,
"z": z
} for x, z in set(
(x, z) for x, z, _, _ in self.env.graph.nodes)]
for obj_id in set(obj_ids):
self.env.controller.step({
"action":
"PositionsFromWhichItemIsInteractable",
"objectId":
obj_id,
"positions":
positions_to_check_interactionable_from,
})
assert (
self.env.last_action_success
), "Could not get positions from which item was interactable."
returned = self.env.last_event.metadata["actionReturn"]
locations_from_which_object_is_visible.extend((
round(x, 2),
round(z, 2),
round_to_factor(rot, 90) % 360,
round_to_factor(hor, 30) % 360,
) for x, z, rot, hor, standing in zip(
returned["x"],
returned["z"],
returned["rotation"],
returned["horizon"],
returned["standing"],
) if standing == 1)
self._CACHED_LOCATIONS_FROM_WHICH_OBJECT_IS_VISIBLE[
key] = locations_from_which_object_is_visible
self._subsampled_locations_from_which_obj_visible = self._CACHED_LOCATIONS_FROM_WHICH_OBJECT_IS_VISIBLE[
key]
if len(self._subsampled_locations_from_which_obj_visible) > 5:
self._subsampled_locations_from_which_obj_visible = random.sample(
self.
_CACHED_LOCATIONS_FROM_WHICH_OBJECT_IS_VISIBLE[key], 5)
current_loc_key = self.env.get_key(
self.env.last_event.metadata["agent"])
paths = []
for goal_key in self._subsampled_locations_from_which_obj_visible:
path = self.env.shortest_state_path(
source_state_key=current_loc_key, goal_state_key=goal_key)
if path is not None:
paths.append(path)
if len(paths) == 0:
return 0, False
shortest_path_ind = int(np.argmin([len(p) for p in paths]))
if len(paths[shortest_path_ind]) == 1:
warnings.warn(
"Shortest path computations suggest we are at the target but episode does not think so."
)
return 0, False
next_key_on_shortest_path = paths[shortest_path_ind][1]
return (
self.class_action_names().index(
self.env.action_transitioning_between_keys(
current_loc_key, next_key_on_shortest_path)),
True,
)
