def _transition_func(self, state, action):
next_state_xyz = super()._transition_func(state, action)
next_q = self._transition_q(
(next_state_xyz.x, next_state_xyz.y, next_state_xyz.z), action)
next_state = RoomCubeState(next_state_xyz.x, next_state_xyz.y,
next_state_xyz.z, next_q)
if next_q != 0:
next_state.set_terminal(True)
#next_state._is_terminal = (next_q == 1)
return next_state
def _transition_func(self, state, action):
next_state_xyz = super()._transition_func(state, action)
evaluated_APs = self._evaluate_APs(
(next_state_xyz.x, next_state_xyz.y, next_state_xyz.z), action)
next_q = self.automata.transition_func(state.q, evaluated_APs)
next_state = RoomCubeState(next_state_xyz.x, next_state_xyz.y,
next_state_xyz.z, next_q)
if self.automata.aut_spot.state_is_accepting(next_q):
next_state.set_terminal(True)
return next_state
def _transition_func(self, state, action):
next_state_xyz = super()._transition_func(state, action)
next_q = 0
#print('{}: {}, {}, {}, {}'.format(action, next_state_xyz.x, next_state_xyz.y, next_state_xyz.z, next_q))
next_state = RoomCubeState(next_state_xyz.x, next_state_xyz.y,
next_state_xyz.z, next_q)
flag_terminal = self._evaluate_qstate(
(next_state_xyz.x, next_state_xyz.y, next_state_xyz.z), action)
if flag_terminal == 1:
next_state.set_terminal(True)
return next_state
def _transition_func(self, state, action):
if state.is_terminal():
return state
next_state_xyz = super()._transition_func(state, action)
evaluated_APs = self._evaluate_APs(
(next_state_xyz.x, next_state_xyz.y, next_state_xyz.z), action)
next_q = self.automata.transition_func(state.q, evaluated_APs)
if (next_q not in self.constraints['Qg']) and (
next_q not in self.constraints['Qs']): # terminal
next_q = -1
next_state = RoomCubeState(next_state_xyz.x, next_state_xyz.y,
next_state_xyz.z, next_q)
next_room = self.loc_to_room[(next_state.x, next_state.y,
next_state.z)]
if self.constraints['mode'] == 'root':
if next_state.q in self.constraints['Qg'] or next_state.q == -1:
next_state.set_terminal(True)
if self.constraints['mode'] == 'child':
if next_state.q == -1 or next_state.q in self.constraints['Qg']:
next_state.set_terminal(True)
if next_room in self.constraints['Sg']:
next_state.set_terminal(True)
elif next_room not in self.constraints['Ss']:
next_state.set_terminal(True)
return next_state
def __init__(self,
len_x=9,
len_y=9,
len_z=5,
init_loc=(1, 1, 1),
goal_locs=[(9, 9, 3)],
env_file=[],
gamma=0.99,
slip_prob=0.00,
name="cube_room",
is_goal_terminal=True,
rand_init=False,
step_cost=0.0,
constraints={
'goal': [],
'stay': []
},
ap_maps={}):
'''
Args:
len_x, len_y, len_z (int)
init_loc (tuple: (int, int,int))
goal_locs (list of tuples: [(int, int,int)...]
env_file: specify environment)
constraints: logic formula of 'goal' and 'stay' for the reward function
- goal (large positive), stay (zero), otherwise (large negative)
ap_maps: dictionary {ap_symbol: (category, state), ...} ex) {a: ('r', [1]), b:('a',west)}
category: floor(f), room(r), lowest level action(a), grid cells (c)
'''
# Load environment file
if len(env_file) == 0:
print('Fail to initialize RoomCubeMDP')
else:
cube_env = env_file[0]
len_x = cube_env['len_x']
len_y = cube_env['len_y']
len_z = cube_env['len_z']
walls = cube_env['walls']
self.num_room = cube_env['num_room']
self.num_floor = cube_env['num_floor']
self.room_to_locs = cube_env['room_to_locs']
self.floor_to_rooms = cube_env['floor_to_rooms']
self.floor_to_locs = cube_env['floor_to_locs']
self.room_to_floor = cube_env['room_to_floor']
CubeMDP.__init__(self,
len_x,
len_y,
len_z,
init_loc,
goal_locs=goal_locs,
walls=walls,
gamma=gamma,
slip_prob=slip_prob,
name=name,
is_goal_terminal=is_goal_terminal,
rand_init=rand_init,
step_cost=step_cost)
if 'lowest' in constraints.keys():
self.constraints = {'goal': 'a', 'stay': 'b'}
self.ap_maps = {
'a': ap_maps['a'],
'b': [1, 'state',
self.get_room_numbers(init_loc)[0]]
} # AP --> real world
else:
self.constraints = constraints # constraints for LTL
self.ap_maps = ap_maps
init_state = RoomCubeState(init_loc[0], init_loc[1], init_loc[2],
self._transition_q(init_loc, ""))
if init_state.q != 0:
init_state.set_terminal(True)
MDP.__init__(self,
RoomCubeMDP.ACTIONS,
self._transition_func,
self._reward_func,
init_state=init_state,
gamma=gamma)