Adding the envs from my thesis

README.md

@@ -21,7 +21,8 @@ Contains the ColumbusEnv.
 There exist two ways to implement new envs:
 
 - Subclassing ColumbusEnv and expanding _init_ and overriding _setup_.
-- Using the ColumbusConfigDefined with a desired configuration. This makes configuring ColumbusEnvs via ClusterWorks2-configs possible. (See ColumbusConfigDefinedExample.yaml for an example of how the parameters are supposed to look like (uses yaml format), I don't have time to write a better documentation right now...) (To test this run 'python humanPlayer.py', select 5, give path to ColumbusConfigDefinedExample.yaml, select 0)
+- Using the ColumbusConfigDefined with a desired configuration. This makes configuring ColumbusEnvs via ClusterWorks2-configs possible. (See configs/example.yaml for an example of how the parameters are supposed to look like (uses yaml format)
+- The environments used in my thesis can also be found in configs/
 
 ##### Some caveats / infos
 

columbus/env.py

@@ -91,11 +91,11 @@ class ColumbusEnv(gym.Env):
         self.terminate_on_reward = terminate_on_reward
         self.agent_draw_path = agent_draw_path
         self.clear_path_on_reset = clear_path_on_reset
+
         if value_color_mapper == 'atan':
             def value_color_mapper(x): return th.atan(x*2)/0.786/2
         elif value_color_mapper == 'tanh':
             def value_color_mapper(x): return th.tanh(x*2)/0.762/2
-
         self.value_color_mapper = value_color_mapper
 
         self.max_steps = max_steps

configs/Env_A_Local_Optima.yaml

@@ -0,0 +1,78 @@
+name: "DEFAULT"
+
+params:
+  task:
+    task: columbus
+    env_name: ColumbusConfigDefined-v0
+    env_args:
+      observable:
+        - type: State
+          coordsAgent: True
+          speedAgent: True
+          coordsRelativeToAgent: False
+          coordsRewards: True
+          coordsEnemys: False
+          enemysNoBarriers: True
+          rewardsTimeouts: False
+          include_rand: True
+        - type: State
+          coordsAgent: False
+          speedAgent: False
+          coordsRelativeToAgent: True
+          coordsRewards: True
+          coordsEnemys: False
+          enemysNoBarriers: True
+          rewardsTimeouts: False
+          include_rand: True
+        - type: Compass
+        - type: RayCast
+          num_rays: 6
+          chans: [Enemy]
+      entities:
+        - type: RectBarrier
+          damage: 1 #1
+          width: 300
+          height: 120 # 360 - 5%(720)
+          pos: [0, 0]
+        - type: RectBarrier
+          damage: 1 #1
+          width: 300
+          height: 1000
+          pos: [0, 0.25]
+        - type: RectBarrier
+          damage: 1 #1
+          width: 250
+          height: 30
+          pos: [0.55, 0.6]
+        - type: RectBarrier
+          damage: 1 #1
+          width: 30
+          height: 120
+          pos: [0.856, 0.475]
+        - type: RectBarrier
+          num: 0
+          damage: 1 #1
+          width: 50
+          width_rand: 100
+          height: 25
+          height_rand: 100
+        - type: OnceReward
+          reward: 100
+          radius: 20
+          pos: [0.9, 0.8]
+      start_pos: [0.1, 0.21]
+      default_collision_elasticity: 0.8
+      start_score: 10
+      speed_fac: 0.01
+      acc_fac: 0.1
+      die_on_zero: False #True
+      agent_drag: 0.1 # 0.05
+      controll_type: ACC # SPEED
+      aux_reward_max: 1
+      aux_penalty_max: 0.01
+      void_damage: 5 #1
+      terminate_on_reward: True
+      agent_draw_path: True
+      clear_path_on_reset: False
+      max_steps: 450 # 1800
+---

configs/Env_B_Random_Gen.yaml

@@ -0,0 +1,54 @@
+name: "DEFAULT"
+
+params:
+  task:
+    task: columbus
+    num_envs: 8
+    env_args:
+      observable:
+        - type: State
+          coordsAgent: True
+          speedAgent: True
+          coordsRelativeToAgent: False
+          coordsRewards: True
+          coordsEnemys: False
+          enemysNoBarriers: True
+          rewardsTimeouts: False
+          include_rand: True
+        - type: State
+          coordsAgent: False
+          speedAgent: False
+          coordsRelativeToAgent: True
+          coordsRewards: True
+          coordsEnemys: False
+          enemysNoBarriers: True
+          rewardsTimeouts: False
+          include_rand: True
+        - type: Compass
+        - type: RayCast
+          num_rays: 8
+          chans: [Enemy]
+      entities:
+        - type: CircleBarrier
+          num: 8
+          num_rand: 6
+          damage: 20 #20
+          radius: 25
+          radius_rand: 75
+        - type: TeleportingReward
+          num: 1
+          reward: 100 #100
+          radius: 20
+      default_collision_elasticity: 0.8
+      start_score: 50
+      speed_fac: 0.01
+      acc_fac: 0.1
+      die_on_zero: True
+      agent_drag: 0.07 # 0.05
+      controll_type: ACC # SPEED
+      aux_reward_max: 1
+      aux_penalty_max: 0.1
+      void_damage: 5 #1
+      #master_seed: 3.14
+      max_steps: 900 # 30 sec
+---

configs/Env_C_Passage.yaml

@@ -0,0 +1,67 @@
+name: "DEFAULT"
+
+params:
+  task:
+    task: columbus
+    env_name: ColumbusConfigDefined-v0
+    env_args:
+      observable:
+        - type: State
+          coordsAgent: True
+          speedAgent: True
+          coordsRelativeToAgent: False
+          coordsRewards: True
+          coordsEnemys: False
+          enemysNoBarriers: True
+          rewardsTimeouts: False
+          include_rand: True
+        - type: State
+          coordsAgent: False
+          speedAgent: False
+          coordsRelativeToAgent: True
+          coordsRewards: True
+          coordsEnemys: False
+          enemysNoBarriers: True
+          rewardsTimeouts: False
+          include_rand: True
+        - type: RayCast
+          num_rays: 6
+          chans: [Enemy]
+      entities:
+        - type: RectBarrier
+          damage: 10 #1
+          width: 25
+          height: 120 # 360 - 5%(720)
+          pos: [0.45, 0]
+        - type: RectBarrier
+          damage: 10 #1
+          width: 25
+          height: 1000
+          pos: [0.45, 0.25]
+        - type: RectBarrier
+          damage: 10 #1
+          width: 25
+          height: 520 # 360 - 5%(720)
+          pos: [0.55, 0]
+        - type: RectBarrier
+          damage: 10 #1
+          width: 25
+          height: 200
+          pos: [0.55, 0.80]
+        - type: LoopReward
+          num: 1
+          reward: 100 #25
+          radius: 20
+          loop: [[0.125, 0.5, 0.1, 0.5], [0.875, 0.5, 0.1, 0.5]]
+      default_collision_elasticity: 0.8
+      start_score: 10
+      speed_fac: 0.01
+      acc_fac: 0.1
+      die_on_zero: False #True
+      agent_drag: 0.1 # 0.05
+      controll_type: ACC # SPEED
+      aux_reward_max: 1
+      aux_penalty_max: 0.01
+      void_damage: 5 #1
+      agent_draw_path: True
+---