class BitFlippingEnv(gym.Env):
"""
bit-flipping environment: https://arxiv.org/abs/1707.01495
* Environment has n-bit state.
* Initial state and goal state are randomly selected.
* Action is one of the 0, ..., n-1, which flips single bit
* Reward is 0 if state == goal, otherwise reward is -1. (Sparse Binary Reward)
Simple RL algorithms tend to fail for large ``n`` like ``n > 40``
"""
def __init__(self, n):
seeds = np.random.SeedSequence().spawn(3)
self.np_random = np.random.default_rng(seeds[0])
self.observation_space = Box(low=0, high=1, shape=(n,), dtype=int)
self.action_space = Discrete(self.n)
self.observation_space.seed(seeds[1].entropy)
self.action_space.seed(seeds[2].entropy)
def step(self, action):
action = int(action)
self.bit[action] = 1 - self.bit[action]
done = (self.bit == self.goal).all()
rew = 0 if done else -1
return self.bit.copy(), rew, done, {}
def reset(self):
self.bit = self.np_random.integers(low=0, high=1, size=self.action_space.n,
endpoint=True, dtype=int)
self.goal = self.np_random.integers(low=0, high=1, size=self.action_space.n,
endpoint=True, dtype=int)
return self.bit.copy()
def test_seed_Dict():
test_space = Dict(
{
"a": Box(low=0, high=1, shape=(3, 3)),
"b": Dict(
{
"b_1": Box(low=-100, high=100, shape=(2,)),
"b_2": Box(low=-1, high=1, shape=(2,)),
}
),
"c": Discrete(5),
}
)
seed_dict = {
"a": 0,
"b": {
"b_1": 1,
"b_2": 2,
},
"c": 3,
}
test_space.seed(seed_dict)
# "Unpack" the dict sub-spaces into individual spaces
a = Box(low=0, high=1, shape=(3, 3))
a.seed(0)
b_1 = Box(low=-100, high=100, shape=(2,))
b_1.seed(1)
b_2 = Box(low=-1, high=1, shape=(2,))
b_2.seed(2)
c = Discrete(5)
c.seed(3)
for i in range(10):
test_s = test_space.sample()
a_s = a.sample()
assert (test_s["a"] == a_s).all()
b_1_s = b_1.sample()
assert (test_s["b"]["b_1"] == b_1_s).all()
b_2_s = b_2.sample()
assert (test_s["b"]["b_2"] == b_2_s).all()
c_s = c.sample()
assert test_s["c"] == c_s
class MouseEnv(gym.Env) :
metadata = {
'render.modes' : ['human','rgb']
}
def __init__(self):
#Turn left 45°, Move forward, Turn right 45°
self.action_space = Discrete(3)
self._done = False
self.viewer = None
self.engine = None
self.max_step = 100
self.cur_step = 0
self.image_size = (720,720)
self.seed()
# 3 Continuous Inputs from both eyes
self.observation_space = Dict(
{'Right' : Box(0, 255, shape=(100,ec.CacheNum,3), dtype=np.uint8),
'Left' : Box(0,255, shape=(100,ec.CacheNum,3), dtype = np.uint8)}
)
def step(self, action):
assert not (self.engine is None), 'Reset first before starting env'
if self._done :
print('The game is already done. Continuing may cause unexpected'\
' behaviors')
if action == 0:
trans_action = ((0,0),np.pi/4)
elif action == 1:
trans_action = ((10,0),0)
elif action == 2:
trans_action = ((0,0),-np.pi/4)
observation, reward, done, info = self.engine.update(trans_action)
if done:
self._done = True
#Check if reached max_step
self.cur_step += 1
if self.cur_step >= self.max_step:
self._done = True
done = True
return observation, reward, done, info
def reset(self):
"""
Reset the environment and return initial observation
"""
self._done = False
self.cur_step = 0
self.engine = self._new_engine()
initial_observation = self.engine.initial_observation()
return initial_observation
def render(self, mode='human'):
assert not (self.engine is None), 'Reset first before starting env'
if 'human' in mode :
from gym.envs.classic_control import rendering
if self.viewer == None:
self.viewer = rendering.SimpleImageViewer(maxwidth=720)
self.viewer.imshow(self.engine.image)
elif 'rgb' in mode :
return self.engine.image
def seed(self, seed=None):
np_random, seed = seeding.np_random(seed)
rng.np_random = np_random
self.action_space.seed(seed)
def close(self):
if self.viewer:
self.viewer.close()
self.viewer = None
def _new_engine(self):
return Engine(*self.image_size)
class Expando(Env):
"""Gym environment wrapping the expando game. For details on the game, check the ExpandoGame class.
Action-space:
Multidiscrete: (move_direction, action_type) with move_direction in {0, ..., 2 * n_axis}, where 0 - n_axis
represent movement along an axis in the positive direction and n_axis - 2 * n_axis in negative direction. And
action_type is in {piece_type_0, ..., piece_type_n}, ie.e. there is a placement action for each type of piece.
If `multi_discrete_actions` is set to False, the discrete action space over all items in the cartesian product
of move_direction and action_type will be used to get a single discrete action space over
{0,..., n_axis * piece_type_n}. The order of action pairs then is the same as returned by `itertools.product()`.
Observation-space description:
A Box space where each observation has dimensions (axis_0 x axis_1 ... x axis_n x n_one_hot x n_scores)
where axis_k is the length of the k-th axis of the game board grid,
n_one_hot = 1 + n_players * (n_piece_types - 1) the dimension of the piece's one-hot encodings and n_scores = 3
is the number of additional normalized features regarding the player: is_cursor_position, room, population.
Note that n_one_hot accounts for the empty piece_type which doesn't belong to a player.
If `flat_observations` is set to True, the box observations are going to be
(axis_0 * axis_1 ... * axis_n * n_one_hot + n_scores) dimensional vectors, where n_scores = 3 + n_axis, since
the cursor's position is on longer represented as bit, but as normalized (x, y, ...) coordinates.
"""
def __init__(self,
grid_size: tuple,
n_players: int = 2,
max_turns=100,
final_reward=100,
piece_types=None,
policies_other=None,
observe_all=False,
multi_discrete_actions=False,
flat_observations=False,
render=False,
cell_size=50,
padding=5,
ui_font_size=14,
seed=None):
"""
:param grid_size: tuple specifying the dimensions of the game's board.
:param n_players: number of players participating in the game.
:param max_turns: maximum number of turns per episode.
:param final_reward: amount of final reward given to the winner and taken from the losers.
:param piece_types: list of dict configs containing describing possible pieces.
:param policies_other: list of policies to use for opponents players.
:param observe_all: whether to return observations on `step()` for all players in the info dict or not.
:param multi_discrete_actions: whether to use a multi-discrete action space.
:param flat_observations: whether to flatten the observations or return as tensor.
:param render: enables rendering when calling `render()`.
:param cell_size: width/height of a cell when rendering.
:param padding: padding between cells when rendering.
:param ui_font_size: size of the ui font when rendering.
:param seed: random seed.
"""
grid_size = tuple(grid_size)
if policies_other is not None:
assert n_players - 1 == len(
policies_other), 'please provide a policy for each opponent.'
self.n_players = n_players
self.policies_other = policies_other
self.observe_all = observe_all
if piece_types is None:
self.piece_types = self._get_default_piece_types()
else:
self.piece_types = piece_types
n_piece_types = len(self.piece_types)
# actions: (cursor move direction, piece_type)
# where (cursor move direction) encodes +1 or -1 movement along an axis and 0 for no movement.
n_move_directions = 1 + 2 * len(grid_size)
if multi_discrete_actions:
self.action_space = MultiDiscrete(
[n_move_directions, n_piece_types])
else:
self.action_space = Discrete(n_move_directions * n_piece_types)
# observation space:
# (d_0 * ... * d_n * piece_type * player
# + cursor_d_0 + ... + cursor_d_n + population + room)
k_cursor_features = len(grid_size) if flat_observations else 1
obs_dims = grid_size + (1 + (n_piece_types - 1) * n_players, )
self.observation_space = OneHotBox(OneHot(obs_dims),
Box(0.0,
1.0,
shape=(2 +
k_cursor_features, )),
flatten=flat_observations)
self.game = ExpandoGame(grid_size,
n_players,
max_turns,
final_reward=final_reward,
piece_types=self.piece_types,
seed=seed)
self.observation_format = 'flat' if flat_observations else 'grid'
self.do_render = render
if self.do_render:
self.renderer = GameRenderer(self.game, cell_size, padding,
ui_font_size)
self.seed(seed)
def step(self, action, other_actions=None):
"""Perform each player's turn.
:param action: action to take as player 0
:param other_actions: optional list of actions to take for the other players. Will be sampled from actions_space
if not provided.
:return: obs_0, reward_0, done, info
"""
if self.policies_other is not None:
assert other_actions is None, 'other actions are already defined by the policies passed at initialization'
# other player actions passed as argument
if other_actions is not None:
assert len(
other_actions
) + 1 == self.n_players, 'please provide an action for each player'
rewards_other = [
self.game.take_turn(action, i)
for i, action in enumerate(other_actions, start=1)
]
# other player actions defined by policies passed to constructor
elif self.policies_other is not None:
other_obs = [
self.game.get_observation(i, self.observation_format)
for i in range(1, self.n_players)
]
actions_other = [
policy.predict(obs)[0][0]
for obs, policy in zip(other_obs, self.policies_other)
]
rewards_other = [
self.game.take_turn(a, i)
for i, a in enumerate(actions_other, start=1)
]
# no other player actions provided: sample
else:
rewards_other = [
self.game.take_turn(self.action_space.sample(), i)
for i in range(1, self.n_players)
]
info = {}
if self.observe_all:
other_obs_new = [
self.game.get_observation(i, self.observation_format)
for i in range(1, self.n_players)
]
info = {'rewards_other': rewards_other, 'obs_other': other_obs_new}
reward_0 = self.game.take_turn(action, player_id=0)
obs_0 = self.game.get_observation(player_id=0,
formatting=self.observation_format)
done = self.game.is_done
if done:
self.game.reset()
return obs_0, reward_0, done, info
def seed(self, seed=None):
"""Set seeds of all random number generators. Note that pseudo random actions are performed at initialization,
so in order to seed these actions as well you need to pass a seed to the constructor.
:param seed: seed to set
"""
self.observation_space.seed(seed)
self.action_space.seed(seed)
self.game.seed(seed)
def reset(self, player_id=0):
"""Reset the environment.
:param player_id: id of the player to get the first observation from.
:return: observation of player with player_id or a list of all observations if `observe_all` was set.
"""
self.game.reset()
if self.observe_all:
return [
self.game.get_observation(i, self.observation_format)
for i in range(self.n_players)
]
return self.game.get_observation(player_id, self.observation_format)
def render(self, mode='human'):
"""Render a pyglet visualization. Only works with 2D grids.
"""
assert len(
self.game.grid_size
) < 3, 'Only 2D grids are supported for rendering at the moment.'
if self.do_render:
self.renderer.step()
@staticmethod
def from_config(file_path):
"""Load environment using a yaml configuration file or a composable hydra config
:param file_path: path to the config file
:return: A configured Expando environment
"""
file_path = to_absolute_path(file_path)
conf_dir, file_name = os.path.split(file_path)
with initialize_config_dir(conf_dir):
cfg = compose(config_name=file_name)
env = Expando(**cfg)
return env
@staticmethod
def _get_default_piece_types():
"""Load the default piece types from default_config/
:return: DictConfig containing piece_types
"""
this_file_dir = os.path.split(relpath(__file__))[0]
path = os.path.join(this_file_dir, 'default_config/piece_types.yaml')
return OmegaConf.load(path).piece_types
def test_spaces(self):
experiment_name = "test_spaces"
module_name = "module"
logger = ModuleLogger(
output_path=Path(self.temp_dir.name),
experiment_name=experiment_name,
module=module_name,
step_write_frequency=None,
episode_write_frequency=None,
)
seed = 3
# Discrete
space = Discrete(n=3)
space.seed(seed)
logger.log_space("Discrete", space.sample())
# MultiDiscrete
space = MultiDiscrete(np.array([3, 2]))
space.seed(seed)
logger.log_space("MultiDiscrete", space.sample())
# Dict
space = Dict({
"predictiveChangeVarDiscountedAverage":
spaces.Box(low=-np.inf, high=np.inf, shape=(1, )),
"predictiveChangeVarUncertainty":
spaces.Box(low=0, high=np.inf, shape=(1, )),
"lossVarDiscountedAverage":
spaces.Box(low=-np.inf, high=np.inf, shape=(1, )),
"lossVarUncertainty":
spaces.Box(low=0, high=np.inf, shape=(1, )),
"currentLR":
spaces.Box(low=0, high=1, shape=(1, )),
"trainingLoss":
spaces.Box(low=0, high=np.inf, shape=(1, )),
"validationLoss":
spaces.Box(low=0, high=np.inf, shape=(1, )),
})
space.seed(seed)
logger.log_space("Dict", space.sample())
space = Box(np.array([0, 0]), np.array([2, 2]))
space.seed(seed)
logger.log_space("Box", space.sample())
logger.close()
with open(logger.get_logfile(), "r") as log_file:
logs = list(map(json.loads, log_file))
wide = log2dataframe(logs, wide=True)
long = log2dataframe(logs, drop_columns=None)
self.assertEqual(len(wide), 1)
first_row = wide.iloc[0]
# Discrete
self.assertTrue(not np.isnan(first_row.Discrete))
# MultiDiscrete
self.assertTrue(not np.isnan(first_row.MultiDiscrete_0))
self.assertTrue(not np.isnan(first_row.MultiDiscrete_1))
simultaneous_logged = long[(long.name == "MultiDiscrete_0") |
(long.name == "MultiDiscrete_1")]
self.assertEqual(len(simultaneous_logged.time.unique()), 1)
# Dict
expected_columns = [
"Dict_currentLR_0",
"Dict_lossVarDiscountedAverage_0",
"Dict_lossVarUncertainty_0",
"Dict_predictiveChangeVarDiscountedAverage_0",
"Dict_predictiveChangeVarUncertainty_0",
"Dict_trainingLoss_0",
]
for expected_column in expected_columns:
self.assertTrue(not np.isnan(first_row[expected_column]))
simultaneous_logged = long[long.name.isin(expected_columns)]
self.assertEqual(len(simultaneous_logged.time.unique()), 1)
# Box
self.assertTrue(not np.isnan(first_row.Box_0))
self.assertTrue(not np.isnan(first_row.Box_1))
simultaneous_logged = long[(long.name == "Box_0") |
(long.name == "Box_1")]
self.assertEqual(len(simultaneous_logged.time.unique()), 1)
class MouseEnv_cl(gym.Env):
"""MouseEnv_cl-v2
Now it does not calculate mouse - apple distance.
Instead, it can have multiple apples
"""
metadata = {'render.modes': ['human', 'rgb']}
def __init__(self, **kwargs):
"""
kwargs
------
apple_num : int
number of apples in a map. Default is 1
eat_apple : float
reward given when apple is eaten. Default is 1.0
hit_wall : float
punishment(or reward?) given when hit wall. Default is 0
"""
#Turn left 45°, Move forward, Turn right 45°
self.action_space = Discrete(3)
self._done = False
self.viewer = None
self.engine = None
kwargs.setdefault('apple_num', 1)
kwargs.setdefault('eat_apple', 1.0)
kwargs.setdefault('hit_wall', 0)
self._options = kwargs
self.max_step = 1000
self.cur_step = 0
self.image_size = (720, 720)
self.seed()
# 3 Continuous Inputs from both eyes
self.observation_space = Dict({
'Right':
Box(0, 255, shape=(100, ec.CacheNum, 3), dtype=np.uint8),
'Left':
Box(0, 255, shape=(100, ec.CacheNum, 3), dtype=np.uint8)
})
def step(self, action):
assert not (self.engine is None), 'Reset first before starting env'
if self._done:
print('The game is already done. Continuing may cause unexpected'\
' behaviors')
if action == 0:
trans_action = ((0, 0), np.pi / 4)
elif action == 1:
trans_action = ((10, 0), 0)
elif action == 2:
trans_action = ((0, 0), -np.pi / 4)
observation, reward, done, info = self.engine.update(trans_action)
if done:
self._done = True
#Check if reached max_step
self.cur_step += 1
if self.cur_step >= self.max_step:
self._done = True
done = True
return observation, reward, done, info
def reset(self):
"""
Reset the environment and return initial observation
"""
self._done = False
self.cur_step = 0
self.engine = self._new_engine()
initial_observation = self.engine.initial_observation()
return initial_observation
def render(self, mode='human'):
assert not (self.engine is None), 'Reset first before starting env'
if 'human' in mode:
from gym.envs.classic_control import rendering
if self.viewer == None:
self.viewer = rendering.SimpleImageViewer(maxwidth=720)
self.viewer.imshow(self.engine.image)
elif 'rgb' in mode:
return self.engine.image
def seed(self, seed=None):
np_random, seed = seeding.np_random(seed)
rng.np_random = np_random
self.action_space.seed(seed)
def close(self):
if self.viewer:
self.viewer.close()
self.viewer = None
def _new_engine(self):
return Engine(self.image_size, **self._options)
