def get_actions(self, obss):
preprocessed_obss = self.preprocess_obss(obss)
with torch.no_grad():
if self.model.recurrent:
dist, _, self.memories = self.model(preprocessed_obss,
self.memories)
else:
dist, _, x, y, z = self.model(preprocessed_obss,
introspect=True)
if self.number == 7:
Grid.decode(y[0][0].round().numpy()).render_human()
print(len(x), len(y), len(z))
print(y[0].shape, z[0].shape)
print(x, y, z)
self.number += 1
if self.argmax:
actions = dist.probs.max(1, keepdim=True)[1]
else:
actions = dist.sample()
if torch.cuda.is_available():
actions = actions.cpu().numpy()
return actions
def _save_obs(obs, out_dir, fname, tile_size=12):
"""
Render an agent observation and save as image
"""
from gym_minigrid.minigrid import Grid
agent_view_size = obs.shape[0]
grid, vis_mask = Grid.decode(obs)
# Render the whole grid
img = grid.render(tile_size,
agent_pos=(agent_view_size // 2,
agent_view_size - 1),
agent_dir=3,
highlight_mask=vis_mask)
plt.imsave(os.path.join(out_dir, fname), img)
plt.clf()
def get_obs_render(self,
obs,
tile_pixels=CELL_PIXELS // 2,
mode='rgb_array'):
"""
Render an agent observation for visualization
"""
if self.obs_render is None:
obs_render = Renderer(self.agent_view_size * tile_pixels,
self.agent_view_size * tile_pixels,
self._render)
self.obs_render = obs_render
else:
obs_render = self.obs_render
r = obs_render
r.beginFrame()
grid = Grid.decode(obs)
# Render the whole grid
grid.render(r, tile_pixels)
# Draw the agent
ratio = tile_pixels / CELL_PIXELS
r.push()
r.scale(ratio, ratio)
r.translate(CELL_PIXELS * (0.5 + self.agent_view_size // 2),
CELL_PIXELS * (self.agent_view_size - 0.5))
r.rotate(3 * 90)
r.setLineColor(255, 0, 0)
r.setColor(255, 0, 0)
r.drawPolygon([(-12, 10), (12, 0), (-12, -10)])
r.pop()
r.endFrame()
if mode == 'rgb_array':
return get_array_from_pixmap(r)
elif mode == 'pixmap':
return r.getPixmap()
return r.getPixmap()
# Run for a few episodes
num_episodes = 0
while num_episodes < 5:
# Pick a random action
action = random.randint(0, env.action_space.n - 1)
obs, reward, done, info = env.step(action)
# Validate the agent position
assert env.agent_pos[0] < env.width
assert env.agent_pos[1] < env.height
# Test observation encode/decode roundtrip
img = obs['image']
grid, vis_mask = Grid.decode(img)
img2 = grid.encode(vis_mask=vis_mask)
assert np.array_equal(img, img2)
# Test the env to string function
str(env)
# Check that the reward is within the specified range
assert reward >= env.reward_range[0], reward
assert reward <= env.reward_range[1], reward
if done:
num_episodes += 1
env.reset()
env.render('rgb_array')
# Run for a few episodes
num_episodes = 0
while num_episodes < 5:
# Pick a random action
action = random.randint(0, env.action_space.n - 1)
obs, reward, done, info = env.step(action)
# Validate the agent position
assert env.agent_pos[0] < env.width
assert env.agent_pos[1] < env.height
# Test observation encode/decode roundtrip
img = obs['image']
vis_mask = img[:, :, 0] != OBJECT_TO_IDX['unseen'] # hackish
img2 = Grid.decode(img).encode(vis_mask=vis_mask)
assert np.array_equal(img, img2)
# Test the env to string function
str(env)
# Check that the reward is within the specified range
assert reward >= env.reward_range[0], reward
assert reward <= env.reward_range[1], reward
if done:
num_episodes += 1
env.reset()
env.render('rgb_array')
env.seed(seed)
grid2 = env.grid.encode()
assert np.array_equal(grid2, grid1)
env.reset()
# Run for a few episodes
for i in range(5 * env.maxSteps):
# Pick a random action
action = random.randint(0, env.action_space.n - 1)
obs, reward, done, info = env.step(action)
# Test observation encode/decode roundtrip
img = obs['image']
grid = Grid.decode(img)
img2 = grid.encode()
assert np.array_equal(img2, img)
# Check that the reward is within the specified range
assert reward >= env.reward_range[0], reward
assert reward <= env.reward_range[1], reward
if done:
env.reset()
# Check that the agent doesn't overlap with an object
assert env.grid.get(*env.agentPos) is None
env.render('rgb_array')
# Run for a few episodes
num_episodes = 0
while num_episodes < 5:
# Pick a random action
action = random.randint(0, env.action_space.n - 1)
obs, reward, done, info = env.step(action)
# Validate the agent position
assert env.agent_pos[0] < env.grid_size
assert env.agent_pos[1] < env.grid_size
# Test observation encode/decode roundtrip
img = obs['image']
grid = Grid.decode(img)
img2 = grid.encode()
assert np.array_equal(img, img2)
# Check that the reward is within the specified range
assert reward >= env.reward_range[0], reward
assert reward <= env.reward_range[1], reward
if done:
num_episodes += 1
env.reset()
env.render('rgb_array')
env.close()
def render(self,
agent_pos,
agent_dir,
state,
mode='rgb_array',
tile_pixels=CELL_PIXELS // 2,
close=False):
"""
Render the whole-grid human view
"""
if self.grid_render is None:
grid_render = Renderer(self.width * CELL_PIXELS,
self.height * CELL_PIXELS, self._render)
self.grid_render = grid_render
else:
grid_render = self.grid_render
r = grid_render
r.beginFrame()
grid = Grid.decode(state)
# Render the whole grid
grid.render(r, CELL_PIXELS)
# # Render the whole grid
# self.grid.render(r, CELL_PIXELS)
# Draw the agent
r.push()
r.translate(CELL_PIXELS * (agent_pos[0] + 0.5),
CELL_PIXELS * (agent_pos[1] + 0.5))
r.rotate(agent_dir * 90)
r.setLineColor(255, 0, 0)
r.setColor(255, 0, 0)
r.drawPolygon([(-12, 10), (12, 0), (-12, -10)])
r.pop()
# # Compute which cells are visible to the agent
# _, vis_mask = self.gen_obs_grid()
# Compute the absolute coordinates of the bottom-left corner
# of the agent's view area
# f_vec = self.dir_vec
# r_vec = self.right_vec
# top_left = self.agent_pos + f_vec * (self.agent_view_size - 1) - r_vec * (
# self.agent_view_size // 2)
#
# # For each cell in the visibility mask
# for vis_j in range(0, self.agent_view_size):
# for vis_i in range(0, self.agent_view_size):
# # If this cell is not visible, don't highlight it
# if not vis_mask[vis_i, vis_j]:
# continue
#
# # Compute the world coordinates of this cell
# abs_i, abs_j = top_left - (f_vec * vis_j) + (r_vec * vis_i)
#
# # Highlight the cell
# r.fillRect(
# abs_i * CELL_PIXELS,
# abs_j * CELL_PIXELS,
# CELL_PIXELS,
# CELL_PIXELS,
# 255, 255, 255, 75
# )
r.endFrame()
if mode == 'rgb_array':
return get_array_from_pixmap(r)
elif mode == 'pixmap':
return r.getPixmap()
return r
