def action_spec(self) -> t.Tuple[specs.DiscreteArray, specs.DiscreteArray]:
N = 9 # 1-hop neighbourhood
return (
specs.DiscreteArray(num_values=N, dtype=np.int8, name='P-action'),
specs.DiscreteArray(num_values=N, dtype=np.int8, name='D-action'),
)
def __init__(self,
scaling_factor=1.,
action_layers='agent',
control_velocity=False,
momentum=0.):
"""Constructor.
Args:
scaling_factor: Scalar. Scaling factor multiplied to the action.
agent_layer: String or iterable of strings. Elements (or itself if
string) must be keys in the environment state. All sprites in
these layers will be acted upon by this action space.
control_velocity: Bool. Whether to control velocity (True) or force
(False).
momentum: Float in [0, 1]. Discount factor for previous action. This
should be zero if control_velocity is False, because imparting
forces automatically gives momentum to the agent(s) being
controlled. If control_velocity is True, setting this greater
than zero gives the controlled agent(s) momentum. However, the
velocity is clipped at scaling_factor, so the agent only retains
momentum when stopping or changing direction and does not
accelerate.
"""
self._scaling_factor = scaling_factor
if not isinstance(action_layers, (list, tuple)):
action_layers = (action_layers, )
self._action_layers = action_layers
self._control_velocity = control_velocity
self._momentum = momentum
self._action_spec = specs.DiscreteArray(len(self._ACTIONS))
def tensor_spec_to_dm_env_spec(
tensor_spec: dm_env_rpc_pb2.TensorSpec) -> specs.Array:
"""Returns a dm_env spec given a dm_env_rpc TensorSpec.
Args:
tensor_spec: A dm_env_rpc TensorSpec protobuf.
Returns:
Either a DiscreteArray, BoundedArray, StringArray or Array, depending on the
content of the TensorSpec.
"""
np_type = tensor_utils.data_type_to_np_type(tensor_spec.dtype)
if tensor_spec.HasField('min') or tensor_spec.HasField('max'):
bounds = tensor_spec_utils.bounds(tensor_spec)
if (not tensor_spec.shape and np.issubdtype(np_type, np.integer)
and bounds.min == 0 and tensor_spec.HasField('max')):
return specs.DiscreteArray(num_values=bounds.max + 1,
dtype=np_type,
name=tensor_spec.name)
else:
return specs.BoundedArray(shape=tensor_spec.shape,
dtype=np_type,
name=tensor_spec.name,
minimum=bounds.min,
maximum=bounds.max)
else:
if tensor_spec.dtype == dm_env_rpc_pb2.DataType.STRING:
return specs.StringArray(shape=tensor_spec.shape,
name=tensor_spec.name)
else:
return specs.Array(shape=tensor_spec.shape,
dtype=np_type,
name=tensor_spec.name)
def testProperties(self):
num_values = 5
spec = specs.DiscreteArray(num_values=5)
self.assertEqual(spec.minimum, 0)
self.assertEqual(spec.maximum, num_values - 1)
self.assertEqual(spec.dtype, np.int32)
self.assertEqual(spec.num_values, num_values)
def testReplace(self, arg_name, new_value):
old_spec = specs.DiscreteArray(2, np.int32, "test")
new_spec = old_spec.replace(**{arg_name: new_value})
self.assertIsNot(old_spec, new_spec)
self.assertEqual(getattr(new_spec, arg_name), new_value)
for attr_name in set(["num_values", "dtype",
"name"]).difference([arg_name]):
self.assertEqual(getattr(new_spec, attr_name),
getattr(old_spec, attr_name))
def __init__(self, step_size=0.05, motion_cost=0.):
"""Constructor.
Args:
step_size: Fraction of the arena width the sprite moves for each step.
motion_cost: Each step incurs cost motion_cost * step_size.
"""
self._step_size = step_size
self._motion_cost = motion_cost
self._action_spec = [
specs.DiscreteArray(num_values=2, dtype=np.int64),
specs.DiscreteArray(num_values=4, dtype=np.int64),
]
self.action_to_motion = {
0: np.array([0, -self._step_size]),
1: np.array([-self._step_size, 0]),
2: np.array([0, self._step_size]),
3: np.array([self._step_size, 0]),
}
def __init__(self,
episode_length,
canvas_width,
grid_width,
brush_sizes,
rewards=None,
discount=1.,
shaders_basedir=""):
self._name = "fluid_paint"
if brush_sizes is None:
self._brush_sizes = [10.0, 30.0, 50.0]
else:
self._brush_sizes = brush_sizes
self._canvas_width = canvas_width
self._grid_width = grid_width
self._grid_size = grid_width * grid_width
self._rewards = rewards
# Build action specification and action masks.
self._action_spec = collections.OrderedDict([
("control", specs.DiscreteArray(self._grid_size)),
("end", specs.DiscreteArray(self._grid_size)),
("flag", specs.DiscreteArray(2)),
("speed", specs.DiscreteArray(len(self.STROKES_PER_STEP))),
("size", specs.DiscreteArray(len(self._brush_sizes))),
("red", specs.DiscreteArray(len(self.R_VALUES))),
("green", specs.DiscreteArray(len(self.G_VALUES))),
("blue", specs.DiscreteArray(len(self.B_VALUES))),
("alpha", specs.DiscreteArray(len(self.A_VALUES)))
])
self._action_masks = copy.deepcopy(self.ACTION_MASKS)
self._brush_params = None
self._prev_reward = 0
config = config_pb2.Config()
self._wrapper = pyfluid.Wrapper(config.SerializeToString())
self._wrapper.Setup(self._canvas_width, self._canvas_width,
shaders_basedir)
self._episode_step = 0
self._episode_length = episode_length
self._prev_step_type = None
self._discount = discount
def space2spec(space: gym.Space, name: str = None):
"""Converts an OpenAI Gym space to a dm_env spec or nested structure of specs.
Box, MultiBinary and MultiDiscrete Gym spaces are converted to BoundedArray
specs. Discrete OpenAI spaces are converted to DiscreteArray specs. Tuple and
Dict spaces are recursively converted to tuples and dictionaries of specs.
Args:
space: The Gym space to convert.
name: Optional name to apply to all return spec(s).
Returns:
A dm_env spec or nested structure of specs, corresponding to the input
space.
"""
if isinstance(space, spaces.Discrete):
return specs.DiscreteArray(num_values=space.n,
dtype=space.dtype,
name=name)
elif isinstance(space, spaces.Box):
return specs.BoundedArray(shape=space.shape,
dtype=space.dtype,
minimum=space.low,
maximum=space.high,
name=name)
elif isinstance(space, spaces.MultiBinary):
return specs.BoundedArray(shape=space.shape,
dtype=space.dtype,
minimum=0.0,
maximum=1.0,
name=name)
elif isinstance(space, spaces.MultiDiscrete):
return specs.BoundedArray(shape=space.shape,
dtype=space.dtype,
minimum=np.zeros(space.shape),
maximum=space.nvec,
name=name)
elif isinstance(space, spaces.Tuple):
return tuple(space2spec(s, name) for s in space.spaces)
elif isinstance(space, spaces.Dict):
return {
key: space2spec(value, name)
for key, value in space.spaces.items()
}
else:
raise ValueError('Unexpected gym space: {}'.format(space))
def observation_spec(
self
) -> t.Tuple[specs.Array, specs.DiscreteArray, specs.DiscreteArray,
t.Optional[specs.DiscreteArray]]:
N = len(self._sim.zone_dict)
N_lives = self._sim.max_n_lives
return (
specs.Array(shape=(N, 2), dtype=np.int16, name='Zones'),
specs.DiscreteArray(num_values=N,
dtype=np.int16,
name='P-zone'),
specs.DiscreteArray(num_values=N,
dtype=np.int16,
name='D-zone'),
specs.DiscreteArray(num_values=N_lives + 1,
dtype=np.int16,
name='Lives') \
if N_lives else None
)
def action_spec(self, *args, **kwargs):
action_spec = {}
# The action spec of the unity_environment is documented in
# unity/environment.py.
unity_action_spec = self._unity_environment.action_spec()
action_spec["Horizontal"] = unity_action_spec["SetPosX"]
action_spec["Vertical"] = unity_action_spec["SetPosY"]
action_spec["Sticky"] = specs.DiscreteArray(num_values=2)
action_spec["Selector"] = specs.BoundedArray(
[],
dtype=np.float32,
minimum=-self._display_limit,
maximum=self._display_limit)
return action_spec
def test_scalar_with_0_n_bounds_gives_discrete_array(self):
tensor_spec = dm_env_rpc_pb2.TensorSpec()
tensor_spec.dtype = dm_env_rpc_pb2.DataType.UINT32
tensor_spec.name = 'foo'
max_value = 9
tensor_spec.min.uint32s.array[:] = [0]
tensor_spec.max.uint32s.array[:] = [max_value]
actual = dm_env_utils.tensor_spec_to_dm_env_spec(tensor_spec)
expected = specs.DiscreteArray(num_values=max_value + 1,
dtype=np.uint32,
name='foo')
self.assertEqual(expected, actual)
self.assertEqual(0, actual.minimum)
self.assertEqual(max_value, actual.maximum)
self.assertEqual('foo', actual.name)
def action_spec(self) -> specs.DiscreteArray:
return specs.DiscreteArray(9, name="action")
def action_spec(self) -> specs.DiscreteArray:
"""Returns the action spec."""
return specs.DiscreteArray(dtype=np.int,
num_values=len(_ACTIONS),
name="action")
def action_spec(self):
return specs.DiscreteArray(2, name='action')
def testDtypeNotIntegral(self, dtype):
with self.assertRaisesWithLiteralMatch(
ValueError, specs._DTYPE_NOT_INTEGRAL.format(dtype)):
specs.DiscreteArray(num_values=5, dtype=dtype)
def action_spec(self) -> dm_specs.DiscreteArray:
"""Returns the action spec."""
return dm_specs.DiscreteArray(self.max_moves,
dtype=np.int,
name="action")
def action_spec(self):
return specs.DiscreteArray(dtype=np.int, num_values=3, name='action')
def testSerialization(self):
desc = specs.DiscreteArray(2, np.int32, "test")
self.assertEqual(pickle.loads(pickle.dumps(desc)), desc)
def observation_spec(self):
"""Returns the observation spec."""
return specs.DiscreteArray(dtype=int, num_values=2, name="board")
def action_spec(self):
return specs.DiscreteArray(num_values=10, name='action')
def testRepr(self):
as_string = repr(specs.DiscreteArray(num_values=5))
self.assertIn("num_values=5", as_string)
def testDtypeOverflow(self, num_values, dtype):
with self.assertRaisesWithLiteralMatch(
ValueError,
specs._DTYPE_OVERFLOW.format(np.dtype(dtype), num_values)):
specs.DiscreteArray(num_values=num_values, dtype=dtype)
def observation_spec(self) -> specs.DiscreteArray:
return specs.DiscreteArray(sum(self.shape), name="observation")
def action_spec(self):
return specs.DiscreteArray(self._n_actions, name='action')
def action_spec(self):
return specs.DiscreteArray(self._env.action_space.n)
def action_spec(self):
return specs.DiscreteArray(dtype=int, num_values=0, name="action")
def __init__(self,
episode_length,
canvas_width,
grid_width,
brush_type,
brush_sizes,
use_color,
use_pressure=True,
use_alpha=False,
background="white",
rewards=None,
discount=1.,
brushes_basedir=""):
self._name = "libmypaint"
if brush_sizes is None:
brush_sizes = [1, 2, 3]
self._canvas_width = canvas_width
self._grid_width = grid_width
self._grid_size = grid_width * grid_width
self._use_color = use_color
self._use_alpha = use_alpha
if not self._use_color:
self._output_channels = 1
elif not self._use_alpha:
self._output_channels = 3
else:
self._output_channels = 4
self._use_pressure = use_pressure
assert np.all(np.array(brush_sizes) > 0.)
self._log_brush_sizes = [np.log(float(i)) for i in brush_sizes]
self._rewards = rewards
# Build action specification and action masks.
self._action_spec = collections.OrderedDict([
("control", specs.DiscreteArray(self._grid_size)),
("end", specs.DiscreteArray(self._grid_size)),
("flag", specs.DiscreteArray(2)),
("pressure", specs.DiscreteArray(len(self.P_VALUES))),
("size", specs.DiscreteArray(len(self._log_brush_sizes))),
("red", specs.DiscreteArray(len(self.R_VALUES))),
("green", specs.DiscreteArray(len(self.G_VALUES))),
("blue", specs.DiscreteArray(len(self.B_VALUES)))
])
self._action_masks = copy.deepcopy(self.ACTION_MASKS)
def remove_action_mask(name):
for k in self._action_masks.keys():
del self._action_masks[k][name]
if not self._use_pressure:
del self._action_spec["pressure"]
remove_action_mask("pressure")
if len(self._log_brush_sizes) > 1:
self._use_size = True
else:
del self._action_spec["size"]
remove_action_mask("size")
self._use_size = False
if not self._use_color:
for k in self.COLOR_ACTIONS:
del self._action_spec[k]
remove_action_mask(k)
# Setup the painting surface.
if background == "white":
background = pylibmypaint.SurfaceWrapper.Background.kWhite
elif background == "transparent":
background = pylibmypaint.SurfaceWrapper.Background.kBlack
else:
raise ValueError("Invalid background type: {}".format(background))
self._surface = pylibmypaint.SurfaceWrapper(self._canvas_width,
self._canvas_width,
background)
# Setup the brush.
self._brush = pylibmypaint.BrushWrapper()
self._brush.SetSurface(self._surface)
self._brush.LoadFromFile(
os.path.join(brushes_basedir, "brushes/{}.myb".format(brush_type)))
self._episode_step = 0
self._episode_length = episode_length
self._prev_step_type = None
self._discount = discount
def action_spec(self) -> specs.DiscreteArray:
action_spec = self._environment.action_spec()[0]
return specs.DiscreteArray(num_values=action_spec.maximum.item() + 1,
dtype=action_spec.dtype,
name='action_spec')
def action_spec(self) -> specs.DiscreteArray:
raw_spec = self._environment.action_spec()[0]
return specs.DiscreteArray(num_values=raw_spec.maximum.item() -
raw_spec.minimum.item() + 1)
def testInvalidNumActions(self, num_values):
with self.assertRaisesWithLiteralMatch(
ValueError, specs._NUM_VALUES_NOT_POSITIVE.format(num_values)):
specs.DiscreteArray(num_values=num_values)