def __init__(self, config):
self.cur_pos = 0
self.action_space = Discrete(4)
# Represents an item.
self.item_space = Discrete(5)
# Represents an effect on the player.
self.effect_space = Box(9000, 9999, shape=(4, ))
# Represents a player.
self.player_space = Dict({
"location":
Box(-100, 100, shape=(2, )),
"status":
Box(-1, 1, shape=(10, )),
"items":
Repeated(self.item_space, max_len=MAX_ITEMS),
"effects":
Repeated(self.effect_space, max_len=MAX_EFFECTS),
})
# Observation is a list of players.
self.observation_space = Repeated(self.player_space,
max_len=MAX_PLAYERS)
def make_obs_space(embed_dim=768,
max_steps=None,
max_utterances=5,
max_command_length=5,
max_variables=10,
max_actions=10,
**kwargs):
true_obs = {
'dialog_history':
Repeated(Dict({
'sender': Discrete(3),
'utterance': Box(-10, 10, shape=(embed_dim, ))
}),
max_len=max_utterances),
'partial_command':
Repeated(Box(-10, 10, shape=(embed_dim, )),
max_len=max_command_length),
'variables':
Repeated(Box(-10, 10, shape=(embed_dim, )), max_len=max_variables),
}
if max_steps:
true_obs['steps'] = Discrete(max_steps)
# return Dict(true_obs) For calculating true_obs_shsape
return Dict({
"true_obs":
Dict(true_obs),
'_action_mask':
MultiDiscrete([2 for _ in range(max_actions)]),
'_action_embeds':
Box(-10, 10, shape=(max_actions, embed_dim)),
})
def test_repeated(self):
space = Repeated(gym.spaces.Box(low=-1, high=1, shape=(1, 200)), max_len=8)
d = gym_space_to_dict(space)
sp = gym_space_from_dict(d)
self.assertTrue(isinstance(sp.child_space, gym.spaces.Box))
self.assertEqual(space.max_len, sp.max_len)
self.assertEqual(space.dtype, sp.dtype)
class SimpleRPG(gym.Env):
"""Example of a custom env with a complex, structured observation.
The observation is a list of players, each of which is a Dict of
attributes, and may further hold a list of items (categorical space).
Note that the env doesn't train, it's just a dummy example to show how to
use spaces.Repeated in a custom model (see CustomRPGModel below).
"""
def __init__(self, config):
self.cur_pos = 0
self.action_space = Discrete(4)
# Represents an item.
self.item_space = Discrete(5)
# Represents an effect on the player.
self.effect_space = Box(9000, 9999, shape=(4, ))
# Represents a player.
self.player_space = Dict({
"location":
Box(-100, 100, shape=(2, )),
"status":
Box(-1, 1, shape=(10, )),
"items":
Repeated(self.item_space, max_len=MAX_ITEMS),
"effects":
Repeated(self.effect_space, max_len=MAX_EFFECTS),
})
# Observation is a list of players.
self.observation_space = Repeated(self.player_space,
max_len=MAX_PLAYERS)
def reset(self):
return self.observation_space.sample()
def step(self, action):
return self.observation_space.sample(), 1, True, {}
def __init__(self, environment):
self.environment = environment
self.machine_state = MultiDiscrete([2] *
self.environment.schedule_length)
self.job_state = Repeated(Box(
low=-self.environment.max_steps_per_iterations,
high=self.environment.max_steps_per_iterations,
shape=(3, ),
dtype=np.int),
max_len=self.environment.max_job_slots)
self.observation_space = Dict({
'machine_state': self.machine_state,
'job_state': self.job_state
})
def _repeated(d: Dict) -> Repeated:
child_space = gym_space_from_dict(d["child_space"])
return Repeated(child_space=child_space, max_len=d["max_len"])
spaces.Box(low=0, high=1, shape=(10, 10, 3)))),
spaces.Discrete(5),
])
TUPLE_SAMPLES = [TUPLE_SPACE.sample() for _ in range(10)]
# Constraints on the Repeated space.
MAX_PLAYERS = 4
MAX_ITEMS = 7
MAX_EFFECTS = 2
ITEM_SPACE = spaces.Box(-5, 5, shape=(1, ))
EFFECT_SPACE = spaces.Box(9000, 9999, shape=(4, ))
PLAYER_SPACE = spaces.Dict({
"location":
spaces.Box(-100, 100, shape=(2, )),
"items":
Repeated(ITEM_SPACE, max_len=MAX_ITEMS),
"effects":
Repeated(EFFECT_SPACE, max_len=MAX_EFFECTS),
"status":
spaces.Box(-1, 1, shape=(10, )),
})
REPEATED_SPACE = Repeated(PLAYER_SPACE, max_len=MAX_PLAYERS)
REPEATED_SAMPLES = [REPEATED_SPACE.sample() for _ in range(10)]
def one_hot(i, n):
out = [0.0] * n
out[i] = 1.0
return out
class NanoworldEnv(MultiAgentEnv):
# Constants
agents = ('passenger', 'driver')
max_num_actions = 8
destination = ["", "starbucks", "peets"]
# Action spaces
passenger_actions = [
"wait for driver", "say starbucks", "say peets", "mental starbucks",
"mental peets"
]
# passenger_actions = ["wait for driver", "say starbucks", "say peets"]
passenger_action_space = Discrete(len(passenger_actions))
driver_actions = ["wait for passenger", "drive starbucks", "drive peets"]
driver_action_space = Discrete(len(driver_actions))
# observation spaces
# wait, say starbucks, say peets -- can be repeated at most 4 times +
# mental state (none, starbucks, peets)
passenger_observation_space = Dict({
'dialog_history':
Repeated(Discrete(3), max_len=max_num_actions),
'destination':
Discrete(3)
})
# wait, say starbucks, say peets -- can be repeated at most 4 times
driver_observation_space = Dict(
{'dialog_history': Repeated(Discrete(3), max_len=max_num_actions)})
def __init__(self, config):
destination_id = random.randint(1, 2)
self.state = DialogStateNano(
NanoworldEnv.max_num_actions,
desired_destination=NanoworldEnv.destination[destination_id])
self.num_epidodes = 0
# self.is_supervised = config['is_supervised']
def reset(self):
'''
Called before each episode, returns the first observation
'''
if self.num_epidodes % 1000 == 0:
logger.warning("completed {} episodes.".format(self.num_epidodes))
if self.num_epidodes >= 10000:
logger.warning('episode ' + str(self.num_epidodes))
logger.warning('------------')
_, _, history, _ = self.state.get_global_state()
for h in history:
logger.warning(h)
logger.warning('-------------')
self.num_epidodes += 1
destination_id = random.randint(1, 2)
if self.num_epidodes >= 10000:
logger.warning('set destination: ' +
NanoworldEnv.destination[destination_id])
self.state = DialogStateNano(
NanoworldEnv.max_num_actions,
desired_destination=NanoworldEnv.destination[destination_id])
self.obs = {
'driver': self.state.make_driver_observation(),
'passenger': self.state.make_passenger_observation()
}
return self.obs
def driver_step(self, action):
self.state.update_state(NanoworldEnv.driver_actions[action])
obs = self.state.make_driver_observation()
return obs
def passenger_step(self, action):
self.state.update_state(NanoworldEnv.passenger_actions[action])
obs = self.state.make_passenger_observation()
return obs
def compute_passenger_reward(self):
# if self.is_supervised:
# return self.compute_episode_reward_supervised()
# else:
return self.compute_episode_reward()
def compute_driver_reward(self):
# return self.compute_episode_reward()
driver_reward = 0
desired_destination, verbal_history, all_actions, driven_destination = self.state.get_global_state(
)
if self.state.dialog_complete: # to compute at the very end
if driven_destination:
if len(verbal_history
) == 0: # driver drives before user says anything
return -1
else:
last_uttered_destination = verbal_history[-1].split(" ")[1]
if driven_destination == last_uttered_destination:
return 1
else:
return -1
else: # timeout
return -10
else:
return 0
def compute_episode_reward(self):
desired_destination, verbal_history, all_actions, driven_destination = self.state.get_global_state(
)
if self.state.dialog_complete: # to compute at the very end
if driven_destination:
if desired_destination == driven_destination:
return 1
else:
return -1
else: # timeout
return -10
else:
return 0
def step(self, action_dict):
'''
Given an action_dict, compute the next observation, rewards, and dones
'''
if 'driver' in action_dict:
driver_obs = self.driver_step(action_dict['driver'])
if self.state.is_done():
driver_reward = self.compute_driver_reward()
return {'driver': driver_obs, 'passenger': self.state.make_passenger_observation()}, \
{'driver': driver_reward, 'passenger': self.compute_passenger_reward()}, \
{'__all__': self.state.is_done()}, {}
if 'passenger' in action_dict:
passenger_obs = self.passenger_step(action_dict['passenger'])
self.obs = {'driver': driver_obs, 'passenger': passenger_obs}
self.rewards = {
'driver': self.compute_driver_reward(),
'passenger': self.compute_passenger_reward()
}
self.dones = {'__all__': self.state.is_done()}
self.infos = {}
return self.obs, self.rewards, self.dones, self.infos
class NanoworldEnv(MultiAgentEnv):
# Constants
agents = ('passenger', 'driver')
max_num_actions = 10
parameters = [
".", "yes", "no", "starbucks", "peets"
] # dummy destination '.' to be paired with 'OVER', 'YES', 'NO'
# parameters = [
# ".",
# "yes",
# "no",
# "starbucks",
# "peets",
# "ralphs",
# "traderjoes",
# "wholefoods",
# "walmart",
# "cvs",
# "toysrus",
# "applestore",
# "bestbuy",
# ]
# Action spaces
passenger_actions = ["SAY", "OVER"]
passenger_action_space = Tuple(
[Discrete(len(passenger_actions)),
Discrete(len(parameters))])
driver_actions = ["CONFIRM", "DRIVE"]
driver_action_space = Tuple(
[Discrete(len(driver_actions)),
Discrete(len(parameters))])
# observation spaces
passenger_observation_space = Dict({
'dialog_history':
Repeated(Discrete(len(agents)),
Tuple([
Discrete(len(passenger_actions)),
Discrete(len(parameters))
]),
max_len=max_num_actions),
'destination':
Discrete(len(parameters))
})
driver_observation_space = Dict({
'dialog_history':
Repeated(Discrete(len(agents)),
Tuple([
Discrete(len(passenger_actions)),
Discrete(len(parameters))
]),
max_len=max_num_actions)
})
perfect_dialogs = [
# ("starbucks", [('SAY', 'starbucks'), ('OVER', '.'), ('DRIVE', 'starbucks')]),
# ("peets", [('SAY', 'peets'), ('OVER', '.'), ('DRIVE', 'peets')]),
("starbucks", [('SAY', 'starbucks'), ('OVER', '.'),
('CONFIRM', 'starbucks'), ('DRIVE', 'starbucks')]),
("peets", [('SAY', 'peets'), ('OVER', '.'), ('CONFIRM', 'peets'),
('DRIVE', 'peets')]),
# ("starbucks", [('SAY', 'starbucks'),
# ('OVER', '.'),
# ('CONFIRM', 'starbucks'),
# ('OVER', '.'),
# ('YES', '.'),
# ('OVER', '.'),
# ('DRIVE', 'starbucks')]),
#
# ("peets", [('SAY', 'peets'),
# ('OVER', '.'),
# ('CONFIRM', 'peets'),
# ('OVER', '.'),
# ('YES', '.'),
# ('OVER', '.'),
# ('DRIVE', 'peets')]),
]
def __init__(self, config):
self.is_supervised = False
destination_id = random.randint(3, len(NanoworldEnv.parameters) - 1)
self.state = DialogStateNano(
NanoworldEnv.max_num_actions,
desired_destination=NanoworldEnv.parameters[destination_id])
self.num_episodes = 0
self.supervised_episodes = 10000
self.rewards = dict()
self.print_episodes = 10000
def reset(self):
'''
Called before each episode, returns the first observation
'''
if self.num_episodes % 1000 == 0:
logger.warning("completed {} episodes.".format(self.num_episodes))
if self.num_episodes >= self.print_episodes:
logger.warning('episode ' + str(self.num_episodes))
logger.warning('------------')
_, _, history, _ = self.state.get_global_state()
for h in history:
logger.warning(h)
logger.warning('-------------')
self.num_episodes += 1
# select the destination
if self.is_supervised and self.num_episodes < self.supervised_episodes:
a_list = [3, 4]
distribution = [.5, .5]
destination_id = random.choices(a_list, distribution)[0]
else:
destination_id = random.randint(3,
len(NanoworldEnv.parameters) - 1)
if self.num_episodes >= self.print_episodes:
logger.warning('set destination: ' +
NanoworldEnv.parameters[destination_id])
self.state = DialogStateNano(
NanoworldEnv.max_num_actions,
desired_destination=NanoworldEnv.parameters[destination_id])
self.obs = {'passenger': self.state.make_passenger_observation()}
return self.obs
def driver_step(self, action):
a1, a2 = action
self.state.update_state(NanoworldEnv.driver_actions[a1],
NanoworldEnv.parameters[a2])
obs = self.state.make_driver_observation()
return obs
def passenger_step(self, action):
a1, a2 = action
self.state.update_state(NanoworldEnv.passenger_actions[a1],
NanoworldEnv.parameters[a2])
obs = self.state.make_passenger_observation()
return obs
def compute_driver_reward(self):
driver_reward = 0
_, verbal_history, _, driven_destination = self.state.get_global_state(
)
if self.state.is_done(): # to compute at the very end
if self.state.dialog_complete:
if driven_destination: # completion through a final drive action
if len(verbal_history
) == 0: # driver drives before user says anything
driver_reward += -1
else:
last_uttered_destination = verbal_history[-1].split(
" ")[1]
if driven_destination == last_uttered_destination:
driver_reward += 1
else:
driver_reward += -1
else: # timeout
driver_reward += -10
else: # dialog not yet over
driver_reward += 0
if self.is_supervised: # and self.num_episodes < self.supervised_episodes:
driver_reward += self.compositional_supervision_reward()
return driver_reward
def compute_passenger_reward(self):
desired_destination, verbal_history, _, driven_destination = self.state.get_global_state(
)
passenger_reward = 0
if self.state.is_done(): # to compute at the very end
if self.state.dialog_complete: # completion through a final drive action
if desired_destination == driven_destination:
passenger_reward += 1
else:
passenger_reward += -1
else: # timeout
passenger_reward += -10
else: # dialog not yet over
passenger_reward += 0
if self.is_supervised: # and self.num_episodes < self.supervised_episodes:
passenger_reward += self.compositional_supervision_reward()
return passenger_reward
def compute_supervision_reward(self):
desired_dest, _, all_actions, _ = self.state.get_global_state()
dialog_so_far = ", ".join(all_actions)
for dest, dialog_raw in NanoworldEnv.perfect_dialogs:
dialog = ", ".join([a + " " + p for a, p in dialog_raw])
if dest == desired_dest and dialog.startswith(
dialog_so_far): # and len(all_actions) > 2:
return 1
return 0
def compositional_supervision_reward(self):
desired_dest, _, all_actions_sofar, _ = self.state.get_global_state()
all_actions_sofar = " ".join(
[action.split(" ")[0] for action in all_actions_sofar])
perfect_dialog = " ".join(
[x[0] for x in NanoworldEnv.perfect_dialogs[0][1]])
if perfect_dialog.startswith(all_actions_sofar):
return 1
else:
return 0
# any kind of exploration is punished ... so negative reward in supervision is bad..
def compute_supervision_reward_negative(self):
desired_dest, _, all_actions, _ = self.state.get_global_state()
dialog_so_far = ", ".join(all_actions)
for dest, dialog_raw in NanoworldEnv.perfect_dialogs:
dialog = ", ".join([a + " " + p for a, p in dialog_raw])
if dest == desired_dest and dialog.startswith(
dialog_so_far): # and len(all_actions) > 2:
return 1
return -1
def step(self, action_dict):
'''
Given an action_dict, compute the next observation, rewards, and dones
'''
# pdb.set_trace()
driver_obs = None
passenger_obs = None
if 'driver' in action_dict:
driver_obs = self.driver_step(action_dict['driver'])
if 'passenger' in action_dict:
passenger_obs = self.passenger_step(action_dict['passenger'])
if self.state.turn == 0:
passenger_obs = self.state.make_passenger_observation()
driver_obs = None
elif self.state.turn == 1:
driver_obs = self.state.make_driver_observation()
passenger_obs = None
self.obs = {}
self.rewards = {}
if passenger_obs:
self.obs['passenger'] = passenger_obs
self.rewards['passenger'] = self.compute_passenger_reward()
if driver_obs:
self.obs['driver'] = driver_obs
self.rewards['driver'] = self.compute_driver_reward()
self.dones = {'__all__': self.state.is_done()}
if self.state.is_done():
self.obs['passenger'] = self.state.make_passenger_observation()
self.rewards['passenger'] = self.compute_passenger_reward()
self.obs['driver'] = self.state.make_driver_observation()
self.rewards['driver'] = self.compute_driver_reward()
self.infos = {}
return self.obs, self.rewards, self.dones, self.infos