def _check_obs(
obs: Union[tuple, dict, np.ndarray, int],
observation_space: Space,
method_name: str,
):
"""Check that the observation returned by the environment correspond to the declared one.
Args:
obs: The observation to check
observation_space: The observation space of the observation
method_name: The method name that generated the observation
"""
if not isinstance(observation_space, Tuple):
assert not isinstance(
obs, tuple
), f"The observation returned by the `{method_name}()` method should be a single value, not a tuple"
if isinstance(observation_space, Discrete):
assert isinstance(
obs, int
), f"The observation returned by `{method_name}()` method must be an int"
elif _is_numpy_array_space(observation_space):
assert isinstance(
obs, np.ndarray
), f"The observation returned by `{method_name}()` method must be a numpy array"
assert observation_space.contains(
obs
), f"The observation returned by the `{method_name}()` method does not match the given observation space"
def _check_returned_values(env: gym.Env, observation_space: spaces.Space,
action_space: spaces.Space) -> None:
"""
Check the returned values by the env when calling `.reset()` or `.step()` methods.
"""
# because env inherits from gym.Env, we assume that `reset()` and `step()` methods exists
obs = env.reset()
if isinstance(observation_space, spaces.Dict):
assert isinstance(
obs,
dict), "The observation returned by `reset()` must be a dictionary"
for key in observation_space.spaces.keys():
try:
_check_obs(obs[key], observation_space.spaces[key], "reset")
except AssertionError as e:
raise AssertionError(f"Error while checking key={key}: " +
str(e))
else:
_check_obs(obs, observation_space, "reset")
# Sample a random action
action = action_space.sample()
data = env.step(action)
assert (
len(data) == 4
), "The `step()` method must return four values: obs, reward, done, info"
# Unpack
obs, reward, done, info = data
if isinstance(observation_space, spaces.Dict):
assert isinstance(
obs,
dict), "The observation returned by `step()` must be a dictionary"
for key in observation_space.spaces.keys():
try:
_check_obs(obs[key], observation_space.spaces[key], "step")
except AssertionError as e:
raise AssertionError(f"Error while checking key={key}: " +
str(e))
else:
_check_obs(obs, observation_space, "step")
# We also allow int because the reward will be cast to float
assert isinstance(
reward,
(float, int,
np.float32)), "The reward returned by `step()` must be a float"
assert isinstance(done, bool), "The `done` signal must be a boolean"
assert isinstance(
info,
dict), "The `info` returned by `step()` must be a python dictionary"
if isinstance(env, gym.GoalEnv):
# For a GoalEnv, the keys are checked at reset
assert reward == env.compute_reward(obs["achieved_goal"],
obs["desired_goal"], info)
def _check_obs(obs: Union[tuple, dict, np.ndarray, int],
observation_space: spaces.Space, method_name: str) -> None:
"""
Check that the observation returned by the environment
correspond to the declared one.
"""
if not isinstance(observation_space, spaces.Tuple):
assert not isinstance(
obs, tuple
), "The observation returned by the `{}()` method should be a single value, not a tuple".format(
method_name)
# The check for a GoalEnv is done by the base class
if isinstance(observation_space, spaces.Discrete):
assert isinstance(
obs, int
), "The observation returned by `{}()` method must be an int".format(
method_name)
elif _is_numpy_array_space(observation_space):
assert isinstance(
obs, np.ndarray
), "The observation returned by `{}()` method must be a numpy array".format(
method_name)
assert observation_space.contains(
obs
), "The observation returned by the `{}()` method does not match the given observation space".format(
method_name)
def _check_obs(
obs: Union[tuple, dict, np.ndarray, int],
observation_space: spaces.Space,
method_name: str,
) -> None:
"""
Check that the observation returned by the environment
correspond to the declared one.
"""
if not isinstance(observation_space, spaces.Tuple):
assert not isinstance(
obs, tuple
), f"The observation returned by the `{method_name}()` method should be a single value, not a tuple"
if isinstance(observation_space, spaces.Discrete):
assert np.isscalar(
obs
), f"The observation returned by `{method_name}()` method must be a scalar"
elif _is_numpy_array_space(observation_space):
assert isinstance(
obs, np.ndarray
), f"The observation returned by `{method_name}()` method must be a numpy array"
assert observation_space.contains(
obs
), f"The observation returned by the `{method_name}()` method does not match the given observation space"
def _check_returned_values(env: gym.Env, observation_space: Space, action_space: Space):
"""Check the returned values by the env when calling :meth:`env.reset` or :meth:`env.step` methods.
Args:
env: The environment
observation_space: The environment's observation space
action_space: The environment's action space
"""
# because env inherits from gym.Env, we assume that `reset()` and `step()` methods exists
obs = env.reset()
if isinstance(observation_space, Dict):
assert isinstance(
obs, dict
), "The observation returned by `reset()` must be a dictionary"
for key in observation_space.spaces.keys():
try:
_check_obs(obs[key], observation_space.spaces[key], "reset")
except AssertionError as e:
raise AssertionError(f"Error while checking key={key}: " + str(e))
else:
_check_obs(obs, observation_space, "reset")
# Sample a random action
action = action_space.sample()
data = env.step(action)
assert (
len(data) == 4
), "The `step()` method must return four values: obs, reward, done, info"
# Unpack
obs, reward, done, info = data
if isinstance(observation_space, Dict):
assert isinstance(
obs, dict
), "The observation returned by `step()` must be a dictionary"
for key in observation_space.spaces.keys():
try:
_check_obs(obs[key], observation_space.spaces[key], "step")
except AssertionError as e:
raise AssertionError(f"Error while checking key={key}: " + str(e))
else:
_check_obs(obs, observation_space, "step")
# We also allow int because the reward will be cast to float
assert isinstance(
reward, (float, int, np.float32)
), "The reward returned by `step()` must be a float"
assert isinstance(done, bool), "The `done` signal must be a boolean"
assert isinstance(
info, dict
), "The `info` returned by `step()` must be a python dictionary"
def get_obs_batch(batch_size: int, obs_space: Space,
num_tasks: int) -> Tuple[torch.Tensor, torch.Tensor]:
"""
Sample a batch of (multi-task) observations and task indices. Note that `obs_space`
must be one-dimensional.
"""
obs_shape = obs_space.sample().shape
assert len(obs_shape) == 1
obs_len = obs_shape[0]
obs_list = []
for i in range(batch_size):
ob = torch.Tensor(obs_space.sample())
task_vector = one_hot_tensor(num_tasks)
obs_list.append(torch.cat([ob, task_vector]))
obs = torch.stack(obs_list)
nonzero_pos = obs[:, obs_len:].nonzero()
assert nonzero_pos[:, 0].tolist() == list(range(batch_size))
task_indices = nonzero_pos[:, 1]
return obs, task_indices
def preprocess_obs(obs: th.Tensor,
device,
observation_space: spaces.Space,
normalize_images: bool = True) -> th.Tensor:
"""
Preprocess observation to be to a neural network.
For images, it normalizes the values by dividing them by 255 (to have values in [0, 1])
For discrete observations, it create a one hot vector.
:param obs: Observation
:param observation_space:
:param normalize_images: Whether to normalize images or not
(True by default)
:return:
"""
if isinstance(observation_space, JsonGraph):
converted_obs = observation_space.converter(obs)
converted_tensor = converted_obs.to(device)
return converted_tensor
else:
obs = th.as_tensor(obs).to(device)
if isinstance(observation_space, spaces.Box):
if is_image_space(observation_space) and normalize_images:
return obs.float() / 255.0
return obs.float()
elif isinstance(observation_space, spaces.Discrete):
# One hot encoding and convert to float to avoid errors
return F.one_hot(obs.long(), num_classes=observation_space.n).float()
elif isinstance(observation_space, spaces.MultiDiscrete):
# Tensor concatenation of one hot encodings of each Categorical sub-space
return th.cat(
[
F.one_hot(obs_.long(),
num_classes=int(
observation_space.nvec[idx])).float()
for idx, obs_ in enumerate(th.split(obs.long(), 1, dim=1))
],
dim=-1,
).view(obs.shape[0], sum(observation_space.nvec))
elif isinstance(observation_space, spaces.MultiBinary):
return obs.float()
else:
raise NotImplementedError(
f"Preprocessing not implemented for {observation_space}")
def _check_obs(obs, observation_space: spaces.Space, method_name: str):
"""Check that the observation returned by the environment correspond to the declared one.
Args:
obs: The observation to check
observation_space: The observation space of the observation
method_name: The method name that generated the observation
"""
pre = f"The observation returned by the `{method_name}()` method"
assert observation_space.contains(
obs
), f"{pre} is not contained with the observation space ({observation_space})"
if isinstance(observation_space, spaces.Discrete):
assert isinstance(
obs, int
), f"The observation returned by `{method_name}()` method must be an int, actually {type(obs)}"
elif isinstance(
observation_space, (spaces.Box, spaces.MultiBinary, spaces.MultiDiscrete)
):
assert isinstance(
obs, np.ndarray
), f"The observation returned by `{method_name}()` method must be a numpy array, actually {type(obs)}"
elif isinstance(observation_space, spaces.Tuple):
assert isinstance(
obs, tuple
), f"The observation returned by the `{method_name}()` method must be a tuple, actually {type(obs)}"
for sub_obs, sub_space in zip(obs, observation_space.spaces):
_check_obs(sub_obs, sub_space, method_name)
elif isinstance(observation_space, spaces.Dict):
assert isinstance(
obs, dict
), f"The observation returned by the `{method_name}()` method must be a dict, actually {type(obs)}"
for space_key in observation_space.keys():
_check_obs(obs[space_key], observation_space[space_key], method_name)
def check_run(env: gym.Env, action_space: spaces.Space):
"""Check normally running process of webotenv."""
num_env = 3
time_steps = 100
for _ in range(num_env):
env.reset()
for j in range(time_steps):
action = action_space.sample()
_, _, done, _ = env.step(action)
if done is True:
assert j+1 == env.steps_in_run, \
"The value of time steps is correct when 'done'"
break
if j == time_steps - 1:
assert env.steps_in_run == time_steps, \
"The number time steps are correct after steps > 1"
def __init__(self, obs_space, action_space, num_outputs, model_config,
name):
DQNTorchModel.__init__(
self,
Space(shape=(obs_space.shape[0] * obs_space.shape[1] * 4, ),
dtype=np.float), action_space, num_outputs, model_config,
name)
nn.Module.__init__(self)
self.convfilter = nn.Sequential(
nn.Conv2d(21, 8, kernel_size=3, padding=2),
nn.BatchNorm2d(8),
nn.ReLU(),
nn.Conv2d(8, 4, kernel_size=3, padding=2),
nn.BatchNorm2d(4),
nn.ReLU(),
nn.Flatten(),
nn.Linear(obs_space.shape[0] * obs_space.shape[1] * 4, 32),
nn.ReLU(),
)
def check_reset_step(env: gym.Env, observation_space: spaces.Space,
action_space: spaces.Space):
""" Check reset() and step() function."""
obs_pre = env.reset()
_check_obs(obs_pre, observation_space, 'reset')
obs_current = env.reset()
assert (obs_pre[1:8] != obs_current[1:8]).any(), \
"The infos of the observation must differ after reset the webot env."
assert (obs_pre[10:] != obs_current[10:]).any(), \
"The infos of the lidar data must differ after reset the webot env."
for _ in range(3):
action = action_space.sample()
obs_next, _, _, _ = env.step(action)
_check_obs(obs_next, observation_space, 'step')
assert (obs_next[0:3] != obs_current[0:3]).any(), \
"The information of observation must be updated after the first action"
assert (obs_next[6:9] != obs_current[6:9]).any(), \
"The information of observation must be updated after the first action"
assert (obs_next[10:] != obs_current[10:]).any(), \
"The information of lidar data must be updated after the first action"
def get_action_dim(action_space: spaces.Space) -> int:
"""
Get the dimension of the action space.
:param action_space:
:return:
"""
if isinstance(action_space, spaces.Box):
return int(np.prod(action_space.shape))
elif isinstance(action_space, spaces.Discrete):
# Action is an int
return 1
elif isinstance(action_space, spaces.MultiDiscrete):
# Number of discrete actions
return int(len(action_space.nvec))
elif isinstance(action_space, spaces.MultiBinary):
# Number of binary actions
return int(action_space.n)
elif isinstance(action_space, HybridBase):
return action_space.get_dimension()
else:
raise NotImplementedError(
f"{action_space} action space is not supported")
def _check_returned_values(env: gym.Env, observation_space: spaces.Space,
action_space: spaces.Space) -> None:
"""
Check the returned values by the env when calling `.reset()` or `.step()` methods.
"""
# because env inherits from gym.Env, we assume that `reset()` and `step()` methods exists
obs = env.reset()
_check_obs(obs, observation_space, "reset")
# Sample a random action
action = action_space.sample()
data = env.step(action)
assert len(
data
) == 4, "The `step()` method must return four values: obs, reward, done, info"
# Unpack
obs, reward, done, info = data
_check_obs(obs, observation_space, "step")
# We also allow int because the reward will be cast to float
assert isinstance(
reward,
(float, int)), "The reward returned by `step()` must be a float"
assert isinstance(done, bool), "The `done` signal must be a boolean"
assert isinstance(
info,
dict), "The `info` returned by `step()` must be a python dictionary"
if isinstance(env, gym.GoalEnv):
# For a GoalEnv, the keys are checked at reset
assert reward == env.compute_reward(obs["achieved_goal"],
obs["desired_goal"], info)
def reward_space(self) -> Space:
return Space(shape=(1, ), dtype=np.float32)
