def __init__(self, num_inputs, num_outputs,
num_hidden_layers=0, neurons_per_hidden_layer=0,
file_dir_name=None, agent_type=None, game=None,
stochastic_actions=False, driving_agent=True,
in_tournament=False):
self.agent_type = agent_type
self.stochastic_actions = stochastic_actions
self.driving_agent = driving_agent
self.in_tournament = in_tournament
#For reading and writing models
self.base_path = '/data/agents/evo_models/'
#Number of outputs is always given via the subclass call to this constructor
self.num_outputs = num_outputs
#If file directory name is given, read from file
if file_dir_name is not None:
metadata, genotype = self._read_agent_from_file(file_dir_name)
self.num_inputs = metadata['num_inputs']
self.num_hidden_layers = metadata['num_hidden_layers']
self.neurons_per_hidden_layer = metadata['neurons_per_hidden_layer']
self.stochastic_actions = metadata['stochastic_actions']
obs_kwargs = {}
obs_kwargs['driving_agent'] = self.agent_type
obs_kwargs['normalise'] = metadata['normalise']
obs_kwargs['domain_params_in_obs'] = metadata['domain_params_in_obs']
self.obs_kwargs = obs_kwargs
if not self.in_tournament:
assert game is not None, "Need to hand NewGame object to NNAgent " \
"constructor in order to build the Observation class"
self.observation = Observation(game, **obs_kwargs)
#Build neural net
self._build_nn()
#Set read genotype as weights
self.set_weights(genotype)
else:
#Check that num_inputs is not None
if num_inputs is None:
print('One needs to give either a number of inputs or a file directory'
' name to build an NNAgent')
exit()
self.num_inputs = num_inputs
self.num_hidden_layers = num_hidden_layers
self.neurons_per_hidden_layer = neurons_per_hidden_layer
self.observation = None
#Build neural net
self._build_nn()
def __init__(self,config_file_path=None,verbose=False, **kwargs):
self.kwargs = kwargs
self.random_panther_start_position = kwargs.get('random_panther_start_position', False)
self.random_pelican_start_position = kwargs.get('random_pelican_start_position', False)
self.render_height = kwargs.get('render_height', None)
if self.render_height is None:
self.render_height = 250
self.kwargs['render_height'] = self.render_height
self.render_width = kwargs.get('render_width', None)
if self.render_width is None:
self.render_width = 310
self.kwargs['render_width'] = self.render_width
self.driving_agent = kwargs.get('driving_agent', None)
if self.driving_agent is None:
self.driving_agent = 'pelican'
self.kwargs['driving_agent'] = self.driving_agent
#logger.info('plark.kwargs :'+ str(self.kwargs))
self.verbose = verbose
self.viewer = None
self.server_process = None
self.server_port = None
self.image_based = kwargs.get('image_based', False)
#logger.info('self.image_based :'+ str(self.image_based))
self.env = Environment()
self.config_file_path = config_file_path
self.illegal_move_reward = -0.1
self.buoy_too_close_reward = -0.2
self.buoy_far_apart_reward = 0.5
#1 UP
#2 UP RIGHT
#3 DOWN RIGHT
#4 DOWN
#5 DOWN LEFT
#6 UP LEFT
if self.driving_agent == 'panther':
self.view = 'PANTHER'
self.ACTION_LOOKUP = {
0 : '1',
1 : '2',
2 : '3',
3 : '4',
4 : '5',
5 : '6',
6 : 'end'
}
elif self.driving_agent == 'pelican':
self.view = 'PELICAN'
self.ACTION_LOOKUP = {
0 : '1',
1 : '2',
2 : '3',
3 : '4',
4 : '5',
5 : '6',
6 : 'drop_buoy',
7 : 'drop_torpedo',
8 : 'end'
}
else:
raise ValueError('driving_agent not set correctly')
# Inverse action lookup for looking up specific actions
self.action_index = dict((val, key) for key, val in self.ACTION_LOOKUP.items())
if self.image_based:
self.reset()
self.game = self.env.activeGames[len(self.env.activeGames)-1]
N_CHANNELS = 3
logger.info('observation space: Height:'+str(self.render_height)+', Width:'+str(self.render_width)+', Channels:'+str(N_CHANNELS))
self.observation_space = spaces.Box(low=0, high=255,
shape=(self.render_height, self.render_width, N_CHANNELS), dtype=np.uint8)
logger.info('Image observations created')
self.normalise = None
self.domain_params_in_obs = None
else:
if len(self.env.activeGames) > 0:
self.env.activeGames[len(self.env.activeGames)-1].reset_game()
else:
if self.config_file_path:
#logger.info('config filepath: ' +str(self.config_file_path))
self.env.createNewGame(config_file_path=self.config_file_path, **self.kwargs)
else:
self.env.createNewGame(**self.kwargs)
self.game = self.env.activeGames[len(self.env.activeGames)-1]
self.observation = Observation(self.game, **kwargs)
self.observation_space = self.observation.get_observation_space()
self.normalise = self.observation.normalise
self.domain_params_in_obs = self.observation.domain_params_in_obs
#logger.info('Non image observations created')
if self.driving_agent == 'panther':
self.action_space = spaces.Discrete(7)
elif self.driving_agent == 'pelican':
self.action_space = spaces.Discrete(9)
self.status = self.env.activeGames[len(self.env.activeGames)-1].gameState
class NNAgent(Agent):
def __init__(self, num_inputs, num_outputs,
num_hidden_layers=0, neurons_per_hidden_layer=0,
file_dir_name=None, agent_type=None, game=None,
stochastic_actions=False, driving_agent=True,
in_tournament=False):
self.agent_type = agent_type
self.stochastic_actions = stochastic_actions
self.driving_agent = driving_agent
self.in_tournament = in_tournament
#For reading and writing models
self.base_path = '/data/agents/evo_models/'
#Number of outputs is always given via the subclass call to this constructor
self.num_outputs = num_outputs
#If file directory name is given, read from file
if file_dir_name is not None:
metadata, genotype = self._read_agent_from_file(file_dir_name)
self.num_inputs = metadata['num_inputs']
self.num_hidden_layers = metadata['num_hidden_layers']
self.neurons_per_hidden_layer = metadata['neurons_per_hidden_layer']
self.stochastic_actions = metadata['stochastic_actions']
obs_kwargs = {}
obs_kwargs['driving_agent'] = self.agent_type
obs_kwargs['normalise'] = metadata['normalise']
obs_kwargs['domain_params_in_obs'] = metadata['domain_params_in_obs']
self.obs_kwargs = obs_kwargs
if not self.in_tournament:
assert game is not None, "Need to hand NewGame object to NNAgent " \
"constructor in order to build the Observation class"
self.observation = Observation(game, **obs_kwargs)
#Build neural net
self._build_nn()
#Set read genotype as weights
self.set_weights(genotype)
else:
#Check that num_inputs is not None
if num_inputs is None:
print('One needs to give either a number of inputs or a file directory'
' name to build an NNAgent')
exit()
self.num_inputs = num_inputs
self.num_hidden_layers = num_hidden_layers
self.neurons_per_hidden_layer = neurons_per_hidden_layer
self.observation = None
#Build neural net
self._build_nn()
def _build_nn(self):
layers = []
if self.num_hidden_layers == 0:
layers.append(torch.nn.Linear(self.num_inputs, self.num_outputs))
else:
layers.append(torch.nn.Linear(self.num_inputs, self.neurons_per_hidden_layer))
#Hidden layers have ReLU activation
layers.append(torch.nn.ReLU())
for i in range(self.num_hidden_layers-1):
layers.append(torch.nn.Linear(self.neurons_per_hidden_layer,
self.neurons_per_hidden_layer))
layers.append(torch.ReLU())
layers.append(torch.nn.Linear(self.neurons_per_hidden_layer, self.num_outputs))
#Final layer goes through a softmax
layers.append(torch.nn.Softmax(dim=0))
self.nn = torch.nn.Sequential(*layers).double()
#Takes a list, passes through the network and returns a list
def _forward_pass(self, x):
x = torch.tensor(x, dtype=torch.float64)
net_out = self.nn.forward(x)
return net_out.tolist()
#Randomly sample action from network output probability distribution
def _sample_action(self, net_out):
action_nums = list(range(len(net_out)))
return np.random.choice(action_nums, p=net_out)
#Get the most probable action from the network output probability distribution
def _get_most_probable_action(self, net_out):
return np.argmax(net_out)
def getAction(self, state):
#If state dictionary comes through, convert to numpy array.
#This will happen when the NNAgent is the non-driving agent.
if not self.driving_agent:
state = self.observation.get_observation(state)
assert len(state) == self.num_inputs, "State length: {}, num inputs: {}" \
.format(len(state), self.num_inputs)
#Push state through network
net_out = self._forward_pass(state)
#Get action from nework output
if self.stochastic_actions:
action = self._sample_action(net_out)
else:
action = self._get_most_probable_action(net_out)
if (not self.driving_agent) or self.in_tournament:
action = self.action_lookup(action)
return action
#Stitch together state from tournament
def getTournamentAction(self, obs, obs_normalised, domain_parameters,
domain_parameters_normalised, state):
if self.obs_kwargs['normalise']:
stitched_obs = obs_normalised
else:
stitched_obs = obs
if self.obs_kwargs['domain_params_in_obs']:
if self.obs_kwargs['normalise']:
stitched_obs = np.concatenate((stitched_obs, domain_parameters_normalised))
else:
stitched_obs = np.concatenate((stitched_obs, domain_parameters))
return self.getAction(stitched_obs)
#Returns the number of weights
def get_num_weights(self):
num_weights = 0
for layer in self.nn:
for params in layer.parameters():
num_weights += params.numel()
return num_weights
def print_weights(self):
for layer in self.nn:
for params in layer.parameters():
print(params)
def _set_weights_err_msg(self, weights_len, num_weights_required):
return "Trying to set {} weights to an NN that requires {} weights" \
.format(weights_len, num_weights_required)
#Sets a list of weights
def set_weights(self, new_weights):
#Check new weights is of correct size
num_weights_required = self.get_num_weights()
assert num_weights_required == len(new_weights), \
self._set_weights_err_msg(len(new_weights), \
num_weights_required)
weight_index = 0
for layer in self.nn:
for params in layer.parameters():
#Slice out new weights
p_weights = new_weights[weight_index : weight_index + params.numel()]
weight_index += params.numel()
#Resize and set new weights
params.data = torch.tensor(np.reshape(p_weights, params.size()), \
dtype=torch.float64)
#Return weights as a 1d list
def get_weights(self):
weights = []
for layer in self.nn:
for params in layer.parameters():
weights += params.flatten().tolist()
return weights
def _save_metadata(self, dir_path, player_type, obs_normalise, domain_params_in_obs):
metadata = {}
metadata['playertype'] = player_type
metadata['normalise'] = obs_normalise
metadata['domain_params_in_obs'] = domain_params_in_obs
metadata['stochastic_actions'] = self.stochastic_actions
metadata['num_inputs'] = self.num_inputs
metadata['num_hidden_layers'] = self.num_hidden_layers
metadata['neurons_per_hidden_layer'] = self.neurons_per_hidden_layer
file_path = dir_path + '/metadata.json'
with open(file_path, 'w') as outfile:
json.dump(metadata, outfile)
def _save_genotype(self, dir_path):
#Save genotype as a csv - it is just a list
file_path = dir_path + '/genotype.csv'
with open(file_path, 'w') as outfile:
csv_writer = csv.writer(outfile)
csv_writer.writerow(self.get_weights())
def _save_agent_to_file(self, player_type, obs_normalise, domain_params_in_obs,
file_name_suffix=''):
#Construct full directory path
date_time = str(datetime.datetime.now().strftime("%Y%m%d_%H%M%S"))
dir_name = player_type + '_' + date_time + file_name_suffix
dir_path = self.base_path + dir_name
#Create directory for model
os.makedirs(dir_path, exist_ok=True)
os.chmod(dir_path, 0o777)
#Save metadata
self._save_metadata(dir_path, player_type, obs_normalise, domain_params_in_obs)
#Save genotype
self._save_genotype(dir_path)
def _read_metadata(self, metadata_filepath):
with open(metadata_filepath, 'r') as metadata_file:
metadata = json.load(metadata_file)
return metadata
def _read_genotype(self, genotype_filepath):
with open(genotype_filepath, 'r') as genotype_file:
reader = csv.reader(genotype_file)
genotype = list(map(float, list(reader)[0]))
return genotype
def _read_agent_from_file(self, dir_name):
dir_path = self.base_path + dir_name + '/'
if self.in_tournament:
dir_path = "/plark_ai_public" + dir_path
#Read metadata
metadata = self._read_metadata(dir_path + 'metadata.json')
#Read genotype
genotype = self._read_genotype(dir_path + 'genotype.csv')
return metadata, genotype
class PlarkEnv(gym.Env):
metadata = {'render.modes': ['human']}
def __init__(self,config_file_path=None,verbose=False, **kwargs):
self.kwargs = kwargs
self.random_panther_start_position = kwargs.get('random_panther_start_position', False)
self.random_pelican_start_position = kwargs.get('random_pelican_start_position', False)
self.render_height = kwargs.get('render_height', None)
if self.render_height is None:
self.render_height = 250
self.kwargs['render_height'] = self.render_height
self.render_width = kwargs.get('render_width', None)
if self.render_width is None:
self.render_width = 310
self.kwargs['render_width'] = self.render_width
self.driving_agent = kwargs.get('driving_agent', None)
if self.driving_agent is None:
self.driving_agent = 'pelican'
self.kwargs['driving_agent'] = self.driving_agent
#logger.info('plark.kwargs :'+ str(self.kwargs))
self.verbose = verbose
self.viewer = None
self.server_process = None
self.server_port = None
self.image_based = kwargs.get('image_based', False)
#logger.info('self.image_based :'+ str(self.image_based))
self.env = Environment()
self.config_file_path = config_file_path
self.illegal_move_reward = -0.1
self.buoy_too_close_reward = -0.2
self.buoy_far_apart_reward = 0.5
#1 UP
#2 UP RIGHT
#3 DOWN RIGHT
#4 DOWN
#5 DOWN LEFT
#6 UP LEFT
if self.driving_agent == 'panther':
self.view = 'PANTHER'
self.ACTION_LOOKUP = {
0 : '1',
1 : '2',
2 : '3',
3 : '4',
4 : '5',
5 : '6',
6 : 'end'
}
elif self.driving_agent == 'pelican':
self.view = 'PELICAN'
self.ACTION_LOOKUP = {
0 : '1',
1 : '2',
2 : '3',
3 : '4',
4 : '5',
5 : '6',
6 : 'drop_buoy',
7 : 'drop_torpedo',
8 : 'end'
}
else:
raise ValueError('driving_agent not set correctly')
# Inverse action lookup for looking up specific actions
self.action_index = dict((val, key) for key, val in self.ACTION_LOOKUP.items())
if self.image_based:
self.reset()
self.game = self.env.activeGames[len(self.env.activeGames)-1]
N_CHANNELS = 3
logger.info('observation space: Height:'+str(self.render_height)+', Width:'+str(self.render_width)+', Channels:'+str(N_CHANNELS))
self.observation_space = spaces.Box(low=0, high=255,
shape=(self.render_height, self.render_width, N_CHANNELS), dtype=np.uint8)
logger.info('Image observations created')
self.normalise = None
self.domain_params_in_obs = None
else:
if len(self.env.activeGames) > 0:
self.env.activeGames[len(self.env.activeGames)-1].reset_game()
else:
if self.config_file_path:
#logger.info('config filepath: ' +str(self.config_file_path))
self.env.createNewGame(config_file_path=self.config_file_path, **self.kwargs)
else:
self.env.createNewGame(**self.kwargs)
self.game = self.env.activeGames[len(self.env.activeGames)-1]
self.observation = Observation(self.game, **kwargs)
self.observation_space = self.observation.get_observation_space()
self.normalise = self.observation.normalise
self.domain_params_in_obs = self.observation.domain_params_in_obs
#logger.info('Non image observations created')
if self.driving_agent == 'panther':
self.action_space = spaces.Discrete(7)
elif self.driving_agent == 'pelican':
self.action_space = spaces.Discrete(9)
self.status = self.env.activeGames[len(self.env.activeGames)-1].gameState
def close(self):
self.env.stopAllGames()
def _get_location(self, board, item):
for col in range(board.cols):
for row in range(board.rows):
if board.is_item_type_in_cell(item, col, row):
return (col, row)
raise ValueError("Could not find {}".format(item))
def _observation(self):
if self.image_based:
pil_image = self.env.activeGames[len(self.env.activeGames)-1].render(self.render_width,self.render_height,self.view)
np_image = np.array(pil_image, dtype=np.uint8)
return np_image
else:
obs = self.observation.get_observation(self.env.activeGames[len(self.env.activeGames)-1]._state(self.view))
#return obs
return np.array(obs, dtype=np.float)
def step(self, action):
action = self.ACTION_LOOKUP[action]
game = self.env.activeGames[len(self.env.activeGames)-1]
if self.verbose:
logger.info('Action:'+action)
gameState,uioutput = game.game_step(action)
self.status = gameState
self.uioutput = uioutput
ob = self._observation()
#print(self.driving_agent)
#print(ob)
reward = 0
done = False
_info = { 'turn': game.turn_count }
if self.driving_agent == 'pelican':
illegal_move = game.illegal_pelican_move
else:
illegal_move = game.illegal_panther_move
_info['illegal_move'] = illegal_move
if illegal_move == True:
reward = reward + self.illegal_move_reward
if self.driving_agent == 'pelican': #If it wasn't an illegal move.
## Reward for droping a sonobouy
if action == 'drop_buoy' and illegal_move == False:
self.globalSonobuoys = game.globalSonobuoys
if len(self.globalSonobuoys)>1:
sonobuoy = self.globalSonobuoys[-1]
sbs_in_range = game.gameBoard.searchRadius(sonobuoy.col, sonobuoy.row, sonobuoy.range, "SONOBUOY")
sbs_in_range.remove(sonobuoy) # remove itself from search results
if len(sbs_in_range) > 0:
reward = reward + self.buoy_too_close_reward
else:
reward = reward + self.buoy_far_apart_reward
else:
reward = reward + self.buoy_far_apart_reward
# PELICANWIN = Pelican has won
# ESCAPE = Panther has won
# BINGO = Panther has won, Pelican has reached it's turn limit and run out of fuel
# WINCHESTER = Panther has won, All torpedoes dropped and stopped running. Panther can't be stopped
if self.status == "PELICANWIN" or self.status == "BINGO" or self.status == "WINCHESTER" or self.status == "ESCAPE":
done = True
if self.verbose:
logger.info("GAME STATE IS " + self.status)
if self.status in ["ESCAPE","BINGO","WINCHESTER"]:
if self.driving_agent == 'pelican':
reward = -1
_info['result'] = "LOSE"
elif self.driving_agent == 'panther':
reward = 1
_info['result'] = "WIN"
else:
raise ValueError('driving_agent not set correctly')
if self.status == "PELICANWIN":
if self.driving_agent == 'pelican':
reward = 1
_info['result'] = "WIN"
elif self.driving_agent == 'panther':
reward = -1
_info['result'] = "LOSE"
else:
raise ValueError('driving_agent not set correctly')
return ob, reward, done, _info
def set_pelican(self, pelican):
self.env.activeGames[len(self.env.activeGames)-1].set_pelican(pelican)
def set_panther(self, panther):
self.env.activeGames[len(self.env.activeGames)-1].set_panther(panther)
def set_pelican_using_path(self, pelican):
self.env.activeGames[len(self.env.activeGames)-1].load_pelican_using_path(pelican)
def set_panther_using_path(self, panther):
self.env.activeGames[len(self.env.activeGames)-1].load_panther_using_path(panther)
def clear_memory(self):
self.env.activeGames[len(self.env.activeGames)-1].clear_memory()
def wrapper_test_function(self):
print("hello there!")
def reset(self):
#If a game already exists. reset
if len(self.env.activeGames) > 0:
#On reset randomly places panther in a different location.
if self.random_panther_start_position:
map_width = self.env.activeGames[len(self.env.activeGames)-1].map_width
map_height = self.env.activeGames[len(self.env.activeGames)-1].map_height
#Taken out of domain_parameters.py (Simon's bounds)
panther_start_col_lb = int(math.floor(0.33 * map_width))
panther_start_col_ub = int(math.floor(0.66 * map_width))
panther_start_row_lb = int(math.floor(0.8 * map_height))
panther_start_row_ub = map_height-1
panther_start_col = random.choice(range(panther_start_col_lb,
panther_start_col_ub+1))
panther_start_row = random.choice(range(panther_start_row_lb,
panther_start_row_ub+1))
self.env.activeGames[len(self.env.activeGames)-1].panther_start_col = panther_start_col
self.env.activeGames[len(self.env.activeGames)-1].panther_start_row = panther_start_row
#On reset randomly places pelican in a different location.
if self.random_pelican_start_position:
map_width = self.env.activeGames[len(self.env.activeGames)-1].map_width
map_height = self.env.activeGames[len(self.env.activeGames)-1].map_height
#Taken out of domain_parameters.py (Simon's bounds)
pelican_start_col_lb = 0
pelican_start_col_ub = int(math.floor(0.33 * map_width))
pelican_start_row_lb = 0
pelican_start_row_ub = int(math.floor(0.2 * map_height))
pelican_start_col = random.choice(range(pelican_start_col_lb,
pelican_start_col_ub+1))
pelican_start_row = random.choice(range(pelican_start_row_lb,
pelican_start_row_ub+1))
self.env.activeGames[len(self.env.activeGames)-1].pelican_start_col = pelican_start_col
self.env.activeGames[len(self.env.activeGames)-1].pelican_start_row = pelican_start_row
self.env.activeGames[len(self.env.activeGames)-1].reset_game()
else:
if self.config_file_path:
logger.info('config filepath: ' +str(self.config_file_path))
self.env.createNewGame(config_file_path=self.config_file_path, **self.kwargs)
else:
self.env.createNewGame(**self.kwargs)
self.game = self.env.activeGames[len(self.env.activeGames)-1]
if self.driving_agent == 'pelican':
self.render_width = self.game.pelican_parameters['render_width']
self.render_height = self.game.pelican_parameters['render_height']
elif self.driving_agent == 'panther':
self.render_width = self.game.panther_parameters['render_width']
self.render_height = self.game.panther_parameters['render_height']
return self._observation()
def render(self, mode='human', close=False, view=None):
if view is None:
view = self.view
pil_image = self.env.activeGames[len(self.env.activeGames)-1].render(self.render_width,self.render_height,view)
return pil_image