def __init__(self, model, env_kwargs):
if isinstance(model, str):
self.model = load_model(model)
else:
self.model = model
self.env = SokobanEnv(**env_kwargs)
self.env.reset()
def _load_shard_vf(shard,
data_files_prefix,
env_kwargs,
filter_values_fn=None,
transform_values_fn=None):
data = _load_shard(shard, data_files_prefix)
render_env = SokobanEnv(**env_kwargs)
data_x = []
data_y = []
vf = ValueLoader()
for vf_for_root in data:
root = vf.load_vf_for_root(vf_for_root, compressed=True)
data = vf.dump_vf_for_root(root)
for env_state, v in data:
if filter_values_fn:
if filter_values_fn(v):
continue
if transform_values_fn:
v = transform_values_fn(v)
render_env.restore_full_state(env_state)
ob = render_env.render(mode=render_env.mode)
data_x.append(ob)
data_y.append(v)
data_y = np.asarray(data_y)
if len(data_y.shape) == 1:
data_y = data_y.reshape((len(data_y), 1))
return np.asarray(data_x), data_y, {}
class ChildrenValuePrinter(HumanPrintWrapper):
def __init__(self, env, value_fun):
"""
Args:
value_fun: callable: obs, states -> value, which would be call by key
`states`
"""
super().__init__(env)
self.render_env = SokobanEnv(**env.init_kwargs)
self.value_fun = value_fun
def formatted_state_value(self, state):
return "{:.2f}".format(self.value_fun(states=state)[0][0])
def build_texts(self, obs, reward, done, info):
child_values = list()
state = self.env.clone_full_state()
value_str = self.formatted_state_value(state)
for action in range(self.render_env.action_space.n):
self.render_env.restore_full_state(state)
self.render_env.step(action)
child_state = self.render_env.clone_full_state()
child_value_str = self.formatted_state_value(child_state)
child_values.append(child_value_str)
print('Children values: {}'.format(" ".join(child_values)))
return [
'Value: {}'.format(value_str),
'Children values: {}'.format(" ".join(child_values))
]
def create_env(seed, dim_room=(13, 13), num_boxes=5):
env = SokobanEnv(dim_room=dim_room,
max_steps=100,
num_boxes=num_boxes,
mode='rgb_array',
max_distinct_rooms=10)
env.seed(seed)
return env
def __init__(self, value_fn, env_kwargs, depth=4):
self.render_env = SokobanEnv(**env_kwargs)
self.env_n_actions = self.render_env.action_space.n
self.value_function = value_fn
self.env = SokobanEnv(**env_kwargs)
self.env.reset()
self.depth = depth
self.nodes = dict()
def __init__(self, env, value_fun):
"""
Args:
value_fun: callable: obs, states -> value, which would be call by key
`states`
"""
super().__init__(env)
self.render_env = SokobanEnv(**env.init_kwargs)
self.value_fun = value_fun
def __init__(self,
value_function,
env_kwargs,
nan_for_zero_value=True,
copy_negative=True):
self.value_function = value_function
self.env = SokobanEnv(**env_kwargs)
self.env.reset()
self.nan_for_zero_value = nan_for_zero_value
self.copy_negative_values = copy_negative
def __init__(self, model, env_kwargs):
self.render_env = SokobanEnv(**env_kwargs)
self.env_n_actions = self.render_env.action_space.n
if isinstance(model, str):
self.model = load_model(model)
else:
self.model = model
self.env = SokobanEnv(**env_kwargs)
self.env.reset()
assert len(self.model.outputs) == 1
def test_img():
env = SokobanEnv(dim_room=(10, 10),
max_steps=100,
num_boxes=4,
mode='rgb_array',
max_distinct_rooms=10)
from PIL import Image
for i in range(10):
env.reset()
img = env.render()
Image.fromarray(img, "RGB").save("{}.png".format(i))
def test_one_hot_mode():
dim_room = (10, 10)
env = SokobanEnv(dim_room=dim_room,
max_steps=100,
num_boxes=2,
mode='one_hot',
max_distinct_rooms=10)
obs = env.reset()
assert obs.shape == dim_room + (7, )
assert obs.dtype == np.uint8
print(obs.shape)
def test_room_to_binary_map_and_back():
env = SokobanEnv()
for _ in range(100):
env.reset()
flat_state = env.clone_full_state()
(state, structure) = render_utils.get_room_state_and_structure(
flat_state, env.dim_room)
room = render_utils.make_standalone_state(state, structure)
binary_map = render_utils.room_to_binary_map(room)
converted_room = render_utils.binary_map_to_room(binary_map)
assert (converted_room == room).all()
def test_serialization(dim=(8, 8),
num_boxes=1,
mode='rgb_array',
seed=None,
curriculum=300):
from ctypes import c_uint
if not seed:
_, seed = seeding.np_random(None)
env = SokobanEnv(dim_room=dim,
max_steps=100,
num_boxes=num_boxes,
mode=mode,
curriculum=curriculum)
env.seed(seed)
env.reset()
state = env.clone_full_state()
obs = env.render(mode='rgb_array')
value = np.float32(5.0)
shapes = (state.shape, obs.shape, (1, ))
type = (state.dtype, obs.dtype, np.float32)
buf_size = env.max_steps * np.array([np.prod(x) for x in shapes])
game = [(state, obs, value), (state, obs, value)]
serial = serialize_game(game, type, buf_size)
zz = np.frombuffer(serial, dtype=np.uint8)
dgame = deserialize_game(serial, buf_size, shapes, type)
return [[(i == j).all() for i, j in zip(a, b)]
for a, b in zip(game, dgame)]
def test_type_counts(dim_room=(13, 13), num_boxes=4):
env = SokobanEnv(dim_room=dim_room,
max_steps=100,
num_boxes=num_boxes,
mode='one_hot')
ob = env.reset()
type_counter = collections.Counter(
np.reshape(np.argmax(ob, axis=2), newshape=(-1, )))
def assert_type_count(type_set, number):
assert sum(type_counter[type] for type in type_set) == number
assert_type_count(OneHotTypeSets.player, 1)
assert_type_count(OneHotTypeSets.box, num_boxes)
assert_type_count(OneHotTypeSets.target, num_boxes)
class ValueFromKerasNet(Value, ABC):
def __init__(self, model, env_kwargs):
if isinstance(model, str):
self.model = load_model(model)
else:
self.model = model
self.env = SokobanEnv(**env_kwargs)
self.env.reset()
def _network_prediction(self, state):
self.env.restore_full_state(state)
obs = self.env.render()
return self.model.predict(np.expand_dims(obs, axis=0))
def __call__(self, state):
raise NotImplementedError
def test_recover(dim=(13, 13), num_boxes=5, mode='rgb_array', seed=None):
if not seed:
_, seed = seeding.np_random(None)
env = SokobanEnv(dim_room=dim,
max_steps=100,
num_boxes=num_boxes,
mode=mode,
max_distinct_rooms=10)
env.seed(seed)
env.reset()
obs = env.render()
state = env.clone_full_state()
print(state == env.recover_state(obs))
class PolicyFromNet(Policy):
def __init__(self, model, env_kwargs):
self.render_env = SokobanEnv(**env_kwargs)
self.env_n_actions = self.render_env.action_space.n
if isinstance(model, str):
self.model = load_model(model)
else:
self.model = model
self.env = SokobanEnv(**env_kwargs)
self.env.reset()
assert len(self.model.outputs) == 1
def best_actions(self, state):
self.env.restore_full_state(state)
ob = self.env.render()
policy = self.model.predict(np.expand_dims(ob, axis=0))[0]
best_actions = [np.argmax(policy)]
return best_actions
def test_playing():
env = PlayWrapper(
InfoDisplayWrapper(RewardPrinter(
SokobanEnv(num_boxes=1,
game_mode="Magnetic",
penalty_pull_action=-0.3)),
augment_observations=True,
min_text_area_width=500))
env.play()
def test_rendering():
env = InfoDisplayWrapper(RewardPrinter(SokobanEnv()),
augment_observations=True,
min_text_area_width=500)
env.reset()
env.step(0)
obs = env.render()
assert obs.shape == (80, 580, 3)
env.render(mode='human')
from time import sleep
sleep(2)
def render_state(state, tiny=False):
# To avoid circular import.
from gym_sokoban.envs import SokobanEnv
# Cache the surfaces to avoid reloading.
if SURFACES is None:
globals()['SURFACES'] = SokobanEnv.load_surfaces()
if tiny:
render_fn = room_to_tiny_world_rgb
surface_name = 'tiny_rgb_array'
else:
render_fn = room_to_rgb
surface_name = 'rgb_array'
return render_fn(state, surfaces=SURFACES[surface_name])
def _load_shard_best_action_ignore_finall(shard, data_files_prefix,
env_kwargs):
""" Choose best action
If all actions are equally good, give special target value (equal to
env.action_space.n). For Sokoban this will separate dead ends.
(for which there is no good action).
"""
boards = _load_shard(shard, data_files_prefix)
render_env = SokobanEnv(**env_kwargs)
data_x = []
data_y = []
data_value = []
vf = ValueLoader()
policy = PolicyFromValue(vf, env_kwargs)
assert policy.env_n_actions == render_env.action_space.n
for vf_for_root in boards:
root = vf.load_vf_for_root(vf_for_root, compressed=True)
data = vf.dump_vf_for_root(root)
for node_state, v in data:
if v in [0, -float("inf")]:
# TODO(kc): ValuePerfect does not produce some states which can be
# obtained after solving game. How to clean it up?
continue
render_env.restore_full_state(node_state)
ob = render_env.render(mode=render_env.mode)
data_x.append(ob)
best_actions = policy.act(node_state, return_single_action=False)
y = np.min(best_actions)
one_hot_y = np.zeros(shape=render_env.action_space.n, dtype=np.int)
one_hot_y[y] = 1
data_y.append(one_hot_y)
data_value.append(v)
return np.asarray(data_x), np.asarray(data_y), \
dict(value=np.asarray(data_value))
def generate_next_frame_and_done_data(env_kwargs,
seed,
n_trajectories=100,
trajectory_len=40,
clone_done=100):
num_boxes_range = next_frame_and_done_data_params()["num_boxes_range"]
if num_boxes_range is None:
print("num_boxes_range", num_boxes_range)
num_boxes_range = [env_kwargs["num_boxes"]]
env_kwargs = deepcopy(env_kwargs)
np.random.seed(seed)
env_kwargs["num_boxes"] = num_boxes_range[np.random.randint(
len(num_boxes_range))]
render_env = SokobanEnv(**env_kwargs)
render_env.seed(seed)
trajectories = list() # [(observations, actions, done), ...]
for i in range(n_trajectories):
render_env.reset()
state = render_env.clone_full_state()
# generate random path
trajectories.append(
random_trajectory(state, render_env, trajectory_len))
# parse trajectories into arrays
data_x = list()
data_y_next_frame = list()
data_y_if_done = list()
for obs, actions, done in trajectories:
data_x.extend([
image_with_embedded_action(ob, action, render_env.action_space.n)
for ob, action in zip(obs[:-1], actions)
])
data_y_next_frame.extend([ob for ob in obs[1:]])
data_y_if_done.extend([False] * (len(actions) - 1) + [done])
if done and (clone_done > 1):
data_x.extend([data_x[-1].copy() for _ in range(clone_done)])
data_y_next_frame.extend(
[data_y_next_frame[-1].copy() for _ in range(clone_done)])
data_y_if_done.extend(
[data_y_if_done[-1] for _ in range(clone_done)])
data_x = np.array(data_x)
data_y = {
Target.NEXT_FRAME.value: np.array(data_y_next_frame),
"if_done": np.array(data_y_if_done).reshape((-1, 1)).astype(int),
}
return data_x, data_y, {}
def test_seed(dim=(13, 13), num_boxes=5, mode='rgb_array', seed=None):
from ctypes import c_uint
if not seed:
_, seed = seeding.np_random(None)
env = SokobanEnv(dim_room=dim,
max_steps=100,
num_boxes=num_boxes,
mode='rgb_array')
env.seed(seed)
print("Seed: {}".format(np.uint32(c_uint(seed))))
from PIL import Image
env.reset()
img = env.render()
Image.fromarray(img, "RGB").resize((200, 200)).show()
class PolicyFromFullTree(Policy):
def __init__(self, value_fn, env_kwargs, depth=4):
self.render_env = SokobanEnv(**env_kwargs)
self.env_n_actions = self.render_env.action_space.n
self.value_function = value_fn
self.env = SokobanEnv(**env_kwargs)
self.env.reset()
self.depth = depth
self.nodes = dict()
def best_actions(self, state):
# Produce all action sequences
seq_ = [range(self.env.action_space.n)] * self.depth
action_seq = list(product(*seq_))
# print("len(action_seq) {}".format(len(action_seq)))
for actions in action_seq:
root_action = actions[0]
self.env.restore_full_state(state)
branch_reward = 0
current_depth = 0
for action in actions:
current_depth += 1
ob, reward, done, _ = self.env.step(action)
branch_reward += reward
node = tuple(self.env.clone_full_state())
if node not in self.nodes:
value = self.value_function(
states=np.array(node)
) # self.model.predict(np.expand_dims(ob, axis=0))[0]
if done:
value += 1000
self.nodes[node] = (value, branch_reward, current_depth,
root_action, actions[:current_depth])
else:
value, previous_reward, previous_depth, _, _ = self.nodes[
node]
if previous_depth > current_depth:
# if previous_reward > branch_reward:
# assert branch_reward > 10., "{} {}".format(previous_reward, branch_reward)
self.nodes[node] = (value, branch_reward,
current_depth, root_action,
actions[:current_depth])
if done:
break
# self.nodes.values()
best_node = max(
self.nodes.keys(),
key=(lambda node: self.nodes[node][0] + self.nodes[node][1]))
node_value, branch_reward, current_depth, root_action, actions = self.nodes[
best_node]
# print("Distinct leaves {}".format(len(self.nodes)))
# print("Node value {}, reward {:.1f}, depth {}, action {}, actions {}".format(
# node_value, branch_reward, current_depth, root_action, actions))
return [root_action]
class QFromV(object):
def __init__(self,
value_function,
env_kwargs,
nan_for_zero_value=True,
copy_negative=True):
self.value_function = value_function
self.env = SokobanEnv(**env_kwargs)
self.env.reset()
self.nan_for_zero_value = nan_for_zero_value
self.copy_negative_values = copy_negative
@property
def env_n_actions(self):
return self.env.action_space.n
def q_values(self, state):
q_values = list()
if self.nan_for_zero_value:
# Value might not have children for Sokoban success states.
if self.value_function(states=state) == 0:
return [np.nan] * self.env_n_actions
if self.copy_negative_values:
# For speed-up
val = self.value_function(states=state)[0]
if val < 0:
return [val] * self.env_n_actions
for action in range(self.env_n_actions):
self.env.restore_full_state(state)
ob, reward, done, _ = self.env.step(action)
value = reward
child_state = self.env.clone_full_state()
if not done:
value += self.value_function(states=child_state)[0]
q_values.append(float(value))
return q_values
def __init__(self,
*,
data_files_prefix,
env,
net,
epochs,
batch_size,
lr,
lr_decay=0.0,
shards_to_use=None,
validation_shards=1,
save_every=None,
output_dir,
histogram_freq=None,
validate_every_batch=5000,
neptune_first_batch=10000,
target="vf",
loss=None,
n_cores=None,
sample_data=False,
max_samples_per_board=1000,
eval_games_to_play=10,
**kwargs):
if shards_to_use is None:
self.number_of_shards = infer_number_of_shards(data_files_prefix)
else:
self.number_of_shards = shards_to_use
self.validation_shards = validation_shards
assert self.validation_shards < self.number_of_shards
if self.number_of_shards == 1:
print(
"WARNING: there is only one shard, so it is used for both training "
"and validation.")
self.training_shards = [0]
self.validation_shards = [0]
else:
self.training_shards = list(
range(self.number_of_shards - self.validation_shards))
self.validation_shards = list(
range(self.number_of_shards - self.validation_shards,
self.number_of_shards))
self.data_files_prefix = data_files_prefix
self.save_every = save_every
self.checkpoint_dir = os.path.join(output_dir, "checkpoints",
"epoch.{epoch:04d}.hdf5")
os.makedirs(self.checkpoint_dir, exist_ok=True)
self.exp_dir_path = output_dir
self.histogram_freq = histogram_freq
self.epochs = epochs
self.env_kwargs = env
self.render_env = SokobanEnv(**self.env_kwargs)
self.render_mode = self.render_env.mode
self.target = Target(target)
del target
print("self.target", self.target)
self.loss = loss_for_target(self.target, loss)
final_activation = final_network_activation(self.target)
net_output_size = net_output_size_for_target(
self.target, self.render_env.action_space.n,
n_channels_from_mode(env.get("mode", "one_hot")))
input_channels = n_channels_from_mode(env.get("mode", "one_hot"))
if self.target in [Target.NEXT_FRAME, Target.NEXT_FRAME_AND_DONE]:
input_channels += SokobanEnv(**env).action_space.n
if self.target in [Target.DELTA_VALUE, Target.BEST_ACTION_FRAMESTACK]:
input_channels *= 2
self.metrics = [self.loss]
if isinstance(self.loss, dict):
# [0] is a dirty change of metrics for vf_and_type
self.metrics = self.metrics[0]
self.network = get_network(input_shape=tuple(
list(env["dim_room"]) + list((input_channels, ))),
output_size=net_output_size,
final_activation=final_activation,
**net)
self.network.compile(optimizer="adam",
loss=self.loss,
metrics=self.metrics)
self.learning_rate_lambda = lambda epoch: lr / (1 + lr_decay * epoch)
self.batch_size = batch_size
self.validate_every_batch = validate_every_batch
self.neptune_first_batch = neptune_first_batch
if n_cores is None:
n_cores = count_cpu()
self.n_cores = n_cores
self.sample_data = sample_data
self.max_samples_per_board = max_samples_per_board
self.random_state = np.random.RandomState(0)
self.eval_games_to_play = eval_games_to_play
def process_board_data(compressed_data, target, env_kwargs, sample_data,
max_sample_size, random_state):
"""
Args:
compressed_data: dictionary with keys containing ["full_env_state",
"perfect_value", "perfect_q"], mapping to compressed arrays.
"""
render_env = SokobanEnv(**env_kwargs)
keys = compressed_data.keys()
assert_v2_keys(compressed_data)
data = {key: decompress_np_array(compressed_data[key]) for key in keys}
assert_env_and_state_match(env_kwargs, data["full_env_state"][0])
filter_values_fn = lambda v, q: False
stratified_sample_fn = lambda values, q: stratified_sample(
values, q, max_sample_size, random_state)
simple_sample_fn = lambda values, q: simple_sample(
values, q, max_sample_size, random_state)
if target == Target.VF:
sample_fn = stratified_sample_fn
elif target == Target.VF_SOLVABLE_ONLY:
filter_values_fn = lambda v, q: not is_solvable_state(v, q)
sample_fn = simple_sample_fn
elif target == Target.STATE_TYPE:
sample_fn = stratified_sample_fn
elif target == Target.BEST_ACTION:
filter_values_fn = lambda v, q: not is_solvable_state(v, q)
sample_fn = simple_sample_fn
elif target == Target.VF_AND_TYPE:
sample_fn = stratified_sample_fn
elif target == Target.NEXT_FRAME:
sample_fn = stratified_sample_fn
elif target == Target.DELTA_VALUE:
sample_fn = stratified_sample_fn
elif target == Target.VF_DISCOUNTED:
sample_fn = stratified_sample_fn
elif target == Target.BEST_ACTION_FRAMESTACK:
filter_values_fn = lambda v, q: not is_solvable_state(v, q)
sample_fn = simple_sample_fn
elif target == Target.NEXT_FRAME_AND_DONE:
sample_fn = stratified_sample_fn
else:
raise ValueError("Unknown target {}".format(target))
mask = ~np.array([
filter_values_fn(v, q)
for v, q in zip(data['perfect_value'], data['perfect_q'])
],
dtype=np.bool)
data = {key: data[key][mask] for key in keys}
if sample_data:
sample_ix = sample_fn(data["perfect_value"], data["perfect_q"])
else:
raise NotImplemented()
if target == Target.DELTA_VALUE:
data_x, data_y = extract_delta_value(data, sample_ix, render_env,
random_state)
elif target == Target.VF_DISCOUNTED:
data_x, data_y = extract_discounted_value(
sample_ix,
states=data["full_env_state"],
perfect_v=data["perfect_value"],
perfect_q=data["perfect_q"],
render_env=render_env,
)
elif target == Target.BEST_ACTION_FRAMESTACK:
data_x, data_y = extract_best_action_from_framestack(
sample_ix,
states=data["full_env_state"],
perfect_v=data["perfect_value"],
perfect_q=data["perfect_q"],
render_env=render_env,
)
else:
data = {key: data[key][sample_ix] for key in keys}
if target == Target.NEXT_FRAME:
data_x, data_y = extract_next_frame_input_and_target(
data["full_env_state"], render_env)
else:
obs = list()
for node_state in data['full_env_state']:
render_env.restore_full_state(node_state)
ob = render_env.render(mode=render_env.mode)
obs.append(ob)
data_x = np.array(obs)
data_y = extract_target_from_value(perfect_v=data["perfect_value"],
perfect_q=data["perfect_q"],
target=target)
if isinstance(data_y, np.ndarray):
assert len(data_y.shape) > 1, "data_y should be batched (if target is " \
"scalar it should have shape (num_samples, 1))"
return data_x, data_y, {}
