def observation(self, agent, world):
def communications_observed(other_agent):
''' fill in information communicated between agents
'''
comms = delta_pos(other_agent, agent).tolist()
comms += [other_agent.state.c]
# will only work with zero-padding formatting
# TODO: I think non-communication should send None instead of zero, because zero has real meaning
# however this causes a problem with action function
if distance(agent, other_agent) > world.max_communication_distance:
comms = [0] * len(comms)
return comms
landmark_positions = format_observation(
observe=lambda landmark: delta_pos(landmark, agent).tolist(),
objects=world.landmarks,
num_observations=len(world.landmarks),
observation_size=world.dim_p)
communications = format_observation(
observe=communications_observed,
objects=[
a for a in world.agents
if (a is not agent and not a.terminated)
],
num_observations=self.num_agents,
observation_size=world.dim_p + 1,
sort_key=lambda o: distance(agent, o))
return np.asarray(agent.state.p_pos.tolist() + landmark_positions +
communications)
def observation(self, agent, world):
# get positions of all entities in this agent's reference frame
def observe_agents(other_agent):
''' fill in information communicated/observed between agents
'''
ag_obs = delta_pos(other_agent, agent).tolist()
# check if within observation range
if distance(agent, other_agent) > world.max_communication_distance:
ag_obs = [0] * len(ag_obs)
return ag_obs
def observe_landmarks(landmark):
''' fill in information observed about landmarks
'''
ld_obs = delta_pos(landmark, agent).tolist()
# check if within observation range and is observable
if (distance(landmark, agent) > world.max_communication_distance
or not landmark.is_observable()):
ld_obs = [0] * len(ld_obs)
return ld_obs
landmark_positions = format_observation(observe=observe_landmarks,
objects=world.landmarks,
num_observations=len(
world.landmarks),
observation_size=world.dim_p)
communications = format_observation(
observe=observe_agents,
objects=[
a for a in world.agents
if (a is not agent and not a.terminated)
],
num_observations=self.num_agents,
observation_size=world.dim_p,
sort_key=lambda o: distance(agent, o))
obs = np.asarray(agent.state.p_pos.tolist() + landmark_positions +
communications)
if agent.terminated:
# if agent is terminated, return all zeros for observation
# TODO: make this more efficient. Right now it does a lot of unnecessary calcs which are all
# then set to zero. Done this way to ensure consistant array size
obs = 0.0 * obs
return obs
def observation(self, agent, world):
# get positions of all entities in this agent's reference frame
def observe_landmarks(landmark):
''' fill in information observed about landmarks
'''
# ld_obs = delta_pos(landmark, agent).tolist()
ld_obs = landmark.state.p_pos.tolist()
# check if landmark is giving reward or hazard warning
d = distance(landmark, agent)
if d < landmark.size:
if landmark.is_hazard:
landmark.hazard_tag = 1.0
landmark.color = np.array([1.1, 0, 0])
ld_obs += [landmark.hazard_tag]
assert (len(ld_obs) == _LANDMARK_OBSERVATION_LEN)
return ld_obs
landmark_positions = format_observation(
observe=observe_landmarks,
objects=world.landmarks,
num_observations=len(world.landmarks),
observation_size=_LANDMARK_OBSERVATION_LEN)
# new_obs = np.asarray(agent.state.p_vel.tolist() + agent.state.p_pos.tolist() + landmark_positions + agent_observations)
new_obs = np.asarray(agent.state.p_vel.tolist() +
agent.state.p_pos.tolist() + landmark_positions)
return new_obs
def observation(self, agent, world):
# get positions of all entities in this agent's reference frame
def communications_observed(other_comm_node):
''' Communication between agents is just the conductance
Notes:
- inverse of comm resistance (i.e. conductance) used so that we can use
zero for out of range comms
- noisy measurement of heading
- TODO: observation of failures
'''
# check if node is terminated
is_terminated = 0
if isinstance(other_comm_node, MortalAgent) and other_comm_node.terminated:
is_terminated = 1
dx = dy = dvx = dvy = 0.
if not is_terminated:
dx, dy = delta_pos(other_comm_node, agent)
dvx, dvy = delta_vel(other_comm_node, agent)
comms = [is_terminated, dx, dy, dvx, dvy]
# dx_noisy = dx + np.random.normal(0.0, 0.01)
# dy_noisy = dy + np.random.normal(0.0, 0.01)
# comms = [dx_noisy, dy_noisy]
# heading = np.arctan2(dy,dx) + np.random.normal(0.0, 0.1)
# conductance = 1.0/self._calculate_resistance(agent, other_comm_node, world)
# comms = [heading, conductance]
# set comms to zero if out for range
# if distance(agent, other_comm_node) > agent.max_observation_distance:
# comms = [0] * len(comms)
return comms
# comm_nodes are origin and destination terminals and unterminated agents
comm_nodes = world.landmarks[0:2]
comm_nodes.extend([a for a in world.agents if a is not agent])
communications = format_observation(observe = communications_observed,
objects = comm_nodes,
num_observations = (self.num_agents-1) + 2,
observation_size = 2*world.dim_p + 1)
# observe velocity if not terminated
vel_obs = [0, 0]
if not agent.terminated:
vel_obs = agent.state.p_vel.tolist()
# package observation
obs = np.asarray(vel_obs + agent.state.p_pos.tolist() + communications)
if agent.terminated:
# if agent is terminated, return all zeros for observation
# TODO: make this more efficient. Right now it does a lot of unnecessary calcs which are all
# then set to zero. Done this way to ensure consistant array size
obs = 0.0*obs
return obs
def observation(self, agent, world):
# get positions of all entities in this agent's reference frame
landmark_positions = format_observation(observe = lambda landmark: delta_pos(agent, landmark).tolist(),
objects = world.landmarks,
num_observations = len(world.landmarks),
observation_size = world.dim_p)
obs = np.asarray(agent.state.p_pos.tolist() + landmark_positions)
return obs
def observation(self, agent, world):
# get positions of all entities in this agent's reference frame
def communications_observed(other_agent):
''' fill in information communicated between agents
'''
comms = delta_pos(other_agent, agent).tolist()
comms += [
self._calculate_landmark_resistance_gain(
agent, other_agent, world)
]
# will only work with zero-padding formatting
# TODO: I think non-communication should send None instead of zero, because zero has real meaning
# however this causes a problem with action function
if distance(agent, other_agent) > world.max_communication_distance:
comms = [0] * len(comms)
return comms
landmark_positions = format_observation(
observe=lambda landmark: delta_pos(landmark, agent).tolist(),
objects=world.landmarks,
num_observations=len(world.landmarks),
observation_size=world.dim_p)
communications = format_observation(
observe=communications_observed,
objects=[
a for a in world.agents
if (a is not agent and not a.terminated)
],
num_observations=self.num_agents,
observation_size=world.dim_p + 1,
sort_key=lambda o: distance(agent, o))
obs = np.asarray(agent.state.p_pos.tolist() + landmark_positions +
communications)
if agent.terminated:
# if agent is terminated, return all zeros for observation
# TODO: make this more efficient. Right now it does a lot of unnecessary calcs which are all
# then set to zero. Done this way to ensure consistant array size
obs = 0.0 * obs
return obs
def _direct_observation(self, agent, world):
# get positions of all entities in this agent's reference frame
def communications_observed(other_comm_node):
''' Communication between agents is just the conductance
Notes:
- inverse of comm resistance (i.e. conductance) used so that we can use
zero for out of range comms
- noisy measurement of heading
- TODO: observation of failures
'''
# check if node is terminated
is_terminated = 0
if isinstance(other_comm_node,
MortalAgent) and other_comm_node.terminated:
is_terminated = 1
dx = dy = dvx = dvy = 0.
if not is_terminated:
dx, dy = delta_pos(other_comm_node, agent)
dvx, dvy = delta_vel(other_comm_node, agent)
comms = [is_terminated, dx, dy, dvx, dvy]
# set comms to zero if out for range
# if distance(agent, other_comm_node) > agent.max_observation_distance:
if not check_2way_communicability(agent, other_comm_node):
comms = [0] * len(comms)
return comms
# Observe communication terminals
terminals = (world.origin_terminal_landmark.state.p_pos.tolist() +
world.destination_terminal_landmark.state.p_pos.tolist())
# comm_nodes are origin and destination terminals and unterminated agents
comm_nodes = []
comm_nodes.extend([a for a in world.agents if a is not agent])
communications = format_observation(
observe=communications_observed,
objects=comm_nodes,
num_observations=self.num_agents - 1,
observation_size=2 * world.dim_p + 1)
# package observation
obs = np.asarray([agent.terminated] + agent.state.p_vel.tolist() +
agent.state.p_pos.tolist() + terminals +
communications)
return obs
def test_format_observation_1(self):
''' test observation formatting basic functionality
'''
# trial 1
ag = [0,0]
a1 = [1,1]
a2 = [-1.0, 1.0]
observe = lambda a: [a[0]-ag[0], a[1]-ag[1]]
objects = [a1, a2]
num_observations = 2
observation_size = 2
observation = ol.format_observation(observe=observe,
objects=objects,
num_observations=num_observations,
observation_size=observation_size)
self.assertEqual(len(observation), 4)
self.assertAlmostEqual(observation[0], 1.0)
self.assertAlmostEqual(observation[1], 1.0)
self.assertAlmostEqual(observation[2], -1.0)
self.assertAlmostEqual(observation[3], 1.0)
def test_format_observation_2(self):
''' test observation formatting for padding
'''
# trial 1
ag = [0,0]
a1 = [1,1]
a2 = [-1.0, 1.0]
observe = lambda a: [a[0]-ag[0], a[1]-ag[1]]
objects = [a1, a2]
num_observations = 5
observation_size = 2
observation = ol.format_observation(observe=observe,
objects=objects,
num_observations=num_observations,
observation_size=observation_size)
self.assertEqual(len(observation), 10)
self.assertAlmostEqual(observation[0], 1.0)
self.assertAlmostEqual(observation[1], 1.0)
self.assertAlmostEqual(observation[2], -1.0)
self.assertAlmostEqual(observation[3], 1.0)
for i in range(4, len(observation)):
self.assertAlmostEqual(observation[i], 0.0)
def _direct_observation(self, agent, world):
# get positions of all entities in this agent's reference frame
def observe_agents(other_agent):
''' fill in information communicated/observed between agents
'''
# check if node is terminated
is_terminated = 0
if isinstance(other_agent, MortalAgent) and other_agent.terminated:
is_terminated = 1
# relative speed and position of other agent
# dx = dy = dvx = dvy = 0.
# if not is_terminated:
dx, dy = delta_pos(other_agent, agent)
dvx, dvy = delta_vel(other_agent, agent)
# get local reward function at position of other agent
other_landmark_sensor_reading = 0.0
for lm in world.landmarks:
other_landmark_sensor_reading += lm.reward_fn.get_value(
*other_agent.state.p_pos)
ag_obs = [
is_terminated, dx, dy, dvx, dvy, other_landmark_sensor_reading
]
assert (len(ag_obs) == _AGENT_OBSERVATION_LEN)
return ag_obs
def observe_landmarks(landmark):
''' fill in information observed about landmarks
'''
# ld_obs = delta_pos(landmark, agent).tolist()
# # check if within observation range and is observable
# d = distance(landmark, agent)
# if d > world.max_communication_distance:
# ld_obs = [0.0]*len(ld_obs)
ld_obs = []
# check reward signal received from landmark
landmark_sensor_reading = 0.0
for lm in world.landmarks:
landmark_sensor_reading += lm.reward_fn.get_value(
*agent.state.p_pos)
ld_obs += [landmark_sensor_reading]
assert (len(ld_obs) == _LANDMARK_OBSERVATION_LEN)
return ld_obs
landmark_observations = format_observation(
observe=observe_landmarks,
objects=world.landmarks,
num_observations=len(world.landmarks),
observation_size=_LANDMARK_OBSERVATION_LEN)
agent_observations = format_observation(
observe=observe_agents,
objects=[a for a in world.agents if a is not agent],
num_observations=self.num_agents - 1,
observation_size=_AGENT_OBSERVATION_LEN)
new_obs = np.asarray([agent.terminated] + agent.state.p_vel.tolist() +
agent.state.p_pos.tolist() +
landmark_observations + agent_observations)
# append previous observation for velocity estimation
if agent.previous_observation is None:
agent.previous_observation = 0.0 * new_obs
obs = np.append(new_obs, agent.previous_observation)
agent.previous_observation = new_obs
return obs
def _direct_observation(self, agent, world):
''' observation where each entity's state has it's own component of observe vector '''
# get positions of all entities in this agent's reference frame
def observe_agents(other_agent):
''' fill in information communicated/observed between agents
'''
# check if node is terminated
is_terminated = 0
if isinstance(other_agent, MortalAgent) and other_agent.terminated:
is_terminated = 1
dx = dy = dvx = dvy = 0.
if not is_terminated:
dx, dy = delta_pos(other_agent, agent)
dvx, dvy = delta_vel(other_agent, agent)
ag_obs = [is_terminated, dx, dy, dvx, dvy]
assert (len(ag_obs) == _AGENT_OBSERVATION_LEN)
return ag_obs
def observe_landmarks(landmark):
''' fill in information observed about landmarks
'''
ld_obs = delta_pos(landmark, agent).tolist()
# check if within observation range and is observable
d = distance(landmark, agent)
if d > world.max_communication_distance:
ld_obs = [0.0] * len(ld_obs)
# check if landmark is giving reward or hazard warning
if d < landmark.size:
if landmark.is_hazard:
landmark.hazard_tag = 1.0
landmark.color = np.array([1.1, 0, 0])
ld_obs += [landmark.hazard_tag]
assert (len(ld_obs) == _LANDMARK_OBSERVATION_LEN)
return ld_obs
landmark_positions = format_observation(
observe=observe_landmarks,
objects=world.landmarks,
num_observations=len(world.landmarks),
observation_size=_LANDMARK_OBSERVATION_LEN)
agent_observations = format_observation(
observe=observe_agents,
objects=[a for a in world.agents if (a is not agent)],
num_observations=self.num_agents - 1,
observation_size=_AGENT_OBSERVATION_LEN)
new_obs = np.asarray([agent.terminated] + agent.state.p_vel.tolist() +
agent.state.p_pos.tolist() + landmark_positions +
agent_observations)
# append previous observation for velocity estimation
# if agent.previous_observation is None:
# agent.previous_observation = 0.0*new_obs
# obs = np.append(new_obs, agent.previous_observation)
# agent.previous_observation = new_obs
return new_obs
def observation(self, agent, world):
# get positions of all entities in this agent's reference frame
def observe_agents(other_agent):
''' fill in information communicated/observed between agents
'''
# check if node is terminated
is_terminated = 0
if isinstance(other_agent, MortalAgent) and other_agent.terminated:
is_terminated = 1
# relative speed and position of other agent
# dx = dy = dvx = dvy = 0.
# if not is_terminated:
dx, dy = delta_pos(other_agent, agent)
dvx, dvy = delta_vel(other_agent, agent)
# get local reward function at position of other agent
other_sensed_reward = 0.0
for lm in world.landmarks:
other_sensed_reward += lm.reward_fn.get_value(
*other_agent.state.p_pos)
ag_obs = [is_terminated, dx, dy, dvx, dvy, other_sensed_reward]
assert (len(ag_obs) == _AGENT_OBSERVATION_LEN)
return ag_obs
def observe_landmarks(landmark):
''' fill in information observed about landmarks
'''
# ld_obs = delta_pos(landmark, agent).tolist()
# # check if within observation range and is observable
# d = distance(landmark, agent)
# if d > world.max_communication_distance:
# ld_obs = [0.0]*len(ld_obs)
ld_obs = []
# check reward signal received from landmark
sensed_reward = 0.0
for lm in world.landmarks:
sensed_reward += lm.reward_fn.get_value(*agent.state.p_pos)
ld_obs += [sensed_reward]
assert (len(ld_obs) == _LANDMARK_OBSERVATION_LEN)
return ld_obs
landmark_observations = format_observation(
observe=observe_landmarks,
objects=world.landmarks,
num_observations=len(world.landmarks),
observation_size=_LANDMARK_OBSERVATION_LEN)
agent_observations = format_observation(
observe=observe_agents,
objects=[
a for a in world.agents
if (a is not agent and not a.terminated)
],
num_observations=self.num_agents - 1,
observation_size=_AGENT_OBSERVATION_LEN)
new_obs = np.asarray(agent.state.p_vel.tolist() +
agent.state.p_pos.tolist() +
landmark_observations + agent_observations)
if agent.terminated:
# if agent is terminated, return all zeros for observation
# TODO: make this more efficient. Right now it does a lot of unnecessary calcs which are all
# then set to zero. Done this way to ensure consistant array size
new_obs = 0.0 * new_obs
# append previous observation for velocity estimation
if agent.previous_observation is None:
agent.previous_observation = 0.0 * new_obs
obs = np.append(new_obs, agent.previous_observation)
agent.previous_observation = new_obs
return obs