def _check_trajectories_dynamics(trajectories):
for idx in range(len(trajectories["ep_observations"])):
states, actions, rewards = trajectories["ep_observations"][
idx], trajectories["ep_actions"][idx], trajectories[
"ep_rewards"][idx]
mdp_params, env_params = trajectories["mdp_params"][
idx], trajectories["env_params"][idx]
assert len(states) == len(actions) == len(
rewards), "# states {}\t# actions {}\t# rewards {}".format(
len(states), len(actions), len(rewards))
# Checking that actions would give rise to same behaviour in current MDP
simulation_env = OvercookedEnv(
OvercookedGridworld.from_layout_name(**mdp_params),
**env_params)
for i in range(len(states) - 1):
curr_state = states[i]
simulation_env.state = curr_state
next_state, reward, done, info = simulation_env.step(
actions[i])
assert states[
i +
1] == next_state, "States differed (expected vs actual): {}".format(
simulation_env.display_states(states[i + 1],
next_state))
assert rewards[i] == reward, "{} \t {}".format(
rewards[i], reward)
class TestOvercookedEnvironment(unittest.TestCase):
def setUp(self):
self.base_mdp = OvercookedGridworld.from_layout_name("cramped_room")
self.env = OvercookedEnv(self.base_mdp, **DEFAULT_ENV_PARAMS)
self.rnd_agent_pair = AgentPair(FixedPlanAgent([stay, w, w]),
FixedPlanAgent([stay, e, e]))
np.random.seed(0)
def test_constructor(self):
try:
OvercookedEnv(self.base_mdp, horizon=10)
except Exception as e:
self.fail("Failed to instantiate OvercookedEnv:\n{}".format(e))
with self.assertRaises(TypeError):
OvercookedEnv(self.base_mdp, **{"invalid_env_param": None})
def test_step_fn(self):
for _ in range(10):
joint_action = random_joint_action()
self.env.step(joint_action)
def test_execute_plan(self):
action_plan = [random_joint_action() for _ in range(10)]
self.env.execute_plan(self.base_mdp.get_standard_start_state(),
action_plan)
def test_run_agents(self):
start_state = self.env.state
self.env.run_agents(self.rnd_agent_pair)
self.assertNotEqual(self.env.state, start_state)
def test_rollouts(self):
try:
self.env.get_rollouts(self.rnd_agent_pair, 3)
except Exception as e:
self.fail("Failed to get rollouts from environment:\n{}".format(e))
def test_one_player_env(self):
mdp = OvercookedGridworld.from_layout_name("cramped_room_single")
env = OvercookedEnv(mdp, horizon=12)
a0 = FixedPlanAgent([stay, w, w, e, e, n, e, interact, w, n, interact])
ag = AgentGroup(a0)
env.run_agents(ag, display=False)
self.assertEqual(env.state.players_pos_and_or, (((2, 1), (0, -1)), ))
def test_four_player_env_fixed(self):
mdp = OvercookedGridworld.from_layout_name("multiplayer_schelling")
assert mdp.num_players == 4
env = OvercookedEnv(mdp, horizon=16)
a0 = FixedPlanAgent([stay, w, w])
a1 = FixedPlanAgent([
stay, stay, e, e, n, n, n, e, interact, n, n, w, w, w, n, interact,
e
])
a2 = FixedPlanAgent(
[stay, w, interact, n, n, e, e, e, n, e, n, interact, w])
a3 = FixedPlanAgent([e, interact, n, n, w, w, w, n, interact, e, s])
ag = AgentGroup(a0, a1, a2, a3)
env.run_agents(ag, display=False)
self.assertEqual(env.state.players_pos_and_or,
(((1, 1), (-1, 0)), ((3, 1), (0, -1)),
((2, 1), (-1, 0)), ((4, 2), (0, 1))))
def test_multiple_mdp_env(self):
mdp0 = OvercookedGridworld.from_layout_name("cramped_room")
mdp1 = OvercookedGridworld.from_layout_name("counter_circuit")
mdp_fn = lambda: np.random.choice([mdp0, mdp1])
# Default env
env = OvercookedEnv(mdp_fn, horizon=100)
env.get_rollouts(self.rnd_agent_pair, 5)
def test_starting_position_randomization(self):
self.base_mdp = OvercookedGridworld.from_layout_name("cramped_room")
start_state_fn = self.base_mdp.get_random_start_state_fn(
random_start_pos=True, rnd_obj_prob_thresh=0.0)
env = OvercookedEnv(self.base_mdp, start_state_fn)
start_state = env.state.players_pos_and_or
for _ in range(3):
env.reset()
print(env)
curr_terrain = env.state.players_pos_and_or
self.assertFalse(np.array_equal(start_state, curr_terrain))
def test_starting_obj_randomization(self):
self.base_mdp = OvercookedGridworld.from_layout_name("cramped_room")
start_state_fn = self.base_mdp.get_random_start_state_fn(
random_start_pos=False, rnd_obj_prob_thresh=0.8)
env = OvercookedEnv(self.base_mdp, start_state_fn)
start_state = env.state.all_objects_list
for _ in range(3):
env.reset()
print(env)
curr_terrain = env.state.all_objects_list
self.assertFalse(np.array_equal(start_state, curr_terrain))
def test_failing_rnd_layout(self):
with self.assertRaises(TypeError):
mdp_gen_params = {"None": None}
mdp_fn = LayoutGenerator.mdp_gen_fn_from_dict(**mdp_gen_params)
OvercookedEnv(mdp=mdp_fn, **DEFAULT_ENV_PARAMS)
def test_random_layout(self):
mdp_gen_params = {"prop_feats": (1, 1)}
mdp_fn = LayoutGenerator.mdp_gen_fn_from_dict(**mdp_gen_params)
env = OvercookedEnv(mdp=mdp_fn, **DEFAULT_ENV_PARAMS)
start_terrain = env.mdp.terrain_mtx
for _ in range(3):
env.reset()
print(env)
curr_terrain = env.mdp.terrain_mtx
self.assertFalse(np.array_equal(start_terrain, curr_terrain))
mdp_gen_params = {
"mdp_choices": ['cramped_room', 'asymmetric_advantages']
}
mdp_fn = LayoutGenerator.mdp_gen_fn_from_dict(**mdp_gen_params)
env = OvercookedEnv(mdp=mdp_fn, **DEFAULT_ENV_PARAMS)
layouts_seen = []
for _ in range(10):
layouts_seen.append(env.mdp.terrain_mtx)
env.reset()
all_same_layout = all([
np.array_equal(env.mdp.terrain_mtx, terrain)
for terrain in layouts_seen
])
self.assertFalse(all_same_layout)
