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Bug fixes and minor additions to observables

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This commit is contained in:
Dominik Moritz Roth 2022-06-20 23:11:11 +02:00
parent 1eb86bef06
commit 4bfa15b362
1 changed files with 21 additions and 14 deletions
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35
columbus/observables.py
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@ -57,6 +57,10 @@ class CnnObservable(Observable):
rect = pygame.Rect(cx, cy, cw, ch) rect = pygame.Rect(cx, cy, cw, ch)
snap = self.env.surface.subsurface(rect) snap = self.env.surface.subsurface(rect)
self.snap = pygame.Surface((self.in_width, self.in_height)) self.snap = pygame.Surface((self.in_width, self.in_height))
if self.env.void_barrier:
col = (223, 0, 0)
else:
col = (50, 50, 50)
pygame.draw.rect(self.snap, (50, 50, 50), pygame.draw.rect(self.snap, (50, 50, 50),
pygame.Rect(0, 0, self.in_width, self.in_height)) pygame.Rect(0, 0, self.in_width, self.in_height))
self.snap.blit(snap, (cx - x, cy - y)) self.snap.blit(snap, (cx - x, cy - y))
@ -82,18 +86,19 @@ def _clip(num, lower, upper):
class RayObservable(Observable): class RayObservable(Observable):
def __init__(self, num_rays=24, chans=[entities.Enemy, entities.Reward, entities.Void], ray_len=256): def __init__(self, num_rays=16, chans=[entities.Enemy, entities.Reward], ray_len=256, num_steps=64, include_rand=False):
super(RayObservable, self).__init__() super(RayObservable, self).__init__()
self.num_rays = num_rays self.num_rays = num_rays
self.chans = chans self.chans = chans
self.num_chans = len(chans) self.num_chans = len(chans)
self.ray_len = ray_len self.ray_len = ray_len
self.num_steps = 32 # max = 255 self.num_steps = num_steps # max = 255
self.occlusion = True # previous channels block view onto later channels self.occlusion = True # previous channels block view onto later channels
self.include_rand = include_rand
def get_observation_space(self): def get_observation_space(self):
return spaces.Box(low=0, high=self.num_steps, return spaces.Box(low=0, high=self.num_steps,
shape=(self.num_rays, self.num_chans), dtype=np.uint8) shape=(self.num_rays+self.include_rand, self.num_chans), dtype=np.uint8)
def _get_ray_heads(self): def _get_ray_heads(self):
for i in range(self.num_rays): for i in range(self.num_rays):
@ -102,12 +107,10 @@ class RayObservable(Observable):
def _check_collision(self, pos, entity_type, entities_l): def _check_collision(self, pos, entity_type, entities_l):
for entity in entities_l: for entity in entities_l:
if isinstance(entity, entity_type): if isinstance(entity, entity_type) or (self.env.void_barrier and isinstance(entity, entities.Void) and entity_type == entities.Enemy):
if isinstance(entity, entities.Void): if isinstance(entity, entities.Void):
hit = 0 >= pos[0] or pos[0] >= self.env.width or 0 >= pos[1] or pos[0] >= self.env.height if 0 >= pos[0] or pos[0] >= self.env.width or 0 >= pos[1] or pos[0] >= self.env.height:
if hit: return True
print(pos)
return hit
else: else:
if entity.shape != 'circle': if entity.shape != 'circle':
raise Exception('Can only raycast circular entities!') raise Exception('Can only raycast circular entities!')
@ -119,7 +122,7 @@ class RayObservable(Observable):
def _get_possible_entities(self): def _get_possible_entities(self):
entities_l = [] entities_l = []
if entities.Void in self.chans: if entities.Void in self.chans or self.env.void_barrier:
entities_l.append(entities.Void(self.env)) entities_l.append(entities.Void(self.env))
for entity in self.env.entities: for entity in self.env.entities:
sq_dist = ((self.env.agent.pos[0]-entity.pos[0])*self.env.width) ** 2 \ sq_dist = ((self.env.agent.pos[0]-entity.pos[0])*self.env.width) ** 2 \
@ -130,7 +133,10 @@ class RayObservable(Observable):
def get_observation(self): def get_observation(self):
entities = self._get_possible_entities() entities = self._get_possible_entities()
self.rays = np.zeros((self.num_rays, self.num_chans)) self.rays = np.zeros((self.num_rays+self.include_rand, self.num_chans))
if self.include_rand:
for c in range(self.num_chans):
self.rays[-1, c] = self.env.random()
for r, (hx, hy) in enumerate(self._get_ray_heads()): for r, (hx, hy) in enumerate(self._get_ray_heads()):
occ_dist = self.num_steps occ_dist = self.num_steps
for c, entity_type in enumerate(self.chans): for c, entity_type in enumerate(self.chans):
@ -162,7 +168,7 @@ class RayObservable(Observable):
pygame.draw.circle(self.env.screen, col, (rx, ry), 3, width=0) pygame.draw.circle(self.env.screen, col, (rx, ry), 3, width=0)
def StateObservable(Observable): class StateObservable(Observable):
def __init__(self, coordsAgent=False, speedAgent=False, coordsRelativeToAgent=True, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=True, enemysWhitelist=None, enemysNoBarriers=True, rewardsTimeouts=True): def __init__(self, coordsAgent=False, speedAgent=False, coordsRelativeToAgent=True, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=True, enemysWhitelist=None, enemysNoBarriers=True, rewardsTimeouts=True):
super(StateObservable, self).__init__() super(StateObservable, self).__init__()
self._entities = None self._entities = None
@ -181,6 +187,7 @@ def StateObservable(Observable):
def entities(self): def entities(self):
if self._entities: if self._entities:
return self._entities return self._entities
self.env.setup()
self.rewardsWhitelist = self.rewardsWhitelist or self.env.entities self.rewardsWhitelist = self.rewardsWhitelist or self.env.entities
self.enemysWhitelist = self.enemysWhitelist or self.env.entities self.enemysWhitelist = self.enemysWhitelist or self.env.entities
self._entities = [] self._entities = []
@ -190,12 +197,12 @@ def StateObservable(Observable):
for entity in self.rewardsWhitelist: for entity in self.rewardsWhitelist:
if isinstance(entity, entities.Reward): if isinstance(entity, entities.Reward):
self._entities.append(entity) self._entities.append(entity)
if self.coordEnemys: if self.coordsEnemys:
for entity in self.enemysWhitelist: for entity in self.enemysWhitelist:
if isinstance(entity, entities.Enemy): if isinstance(entity, entities.Enemy):
if not self.enemysNoBarriers or not isinstance(entity, entities.Barrier): if not self.enemysNoBarriers or not isinstance(entity, entities.Barrier):
self._entities.append(entity) self._entities.append(entity)
if self.rewardsTimeout: if self.rewardsTimeouts:
for entity in self.enemysWhitelist: for entity in self.enemysWhitelist:
if isinstance(entity, entities.TimeoutReward): if isinstance(entity, entities.TimeoutReward):
self._timeoutEntities.append(entity) self._timeoutEntities.append(entity)
@ -203,7 +210,7 @@ def StateObservable(Observable):
def get_observation_space(self): def get_observation_space(self):
return spaces.Box(low=0-1*self.coordsRelativeToAgent, high=1, return spaces.Box(low=0-1*self.coordsRelativeToAgent, high=1,
shape=(len(self.entities)*2+len(self._timeoutEntities) + self.speedAgent), dtype=np.float32) shape=(len(self.entities)*2+len(self._timeoutEntities) + self.speedAgent,), dtype=np.float32)
def get_observation(self): def get_observation(self):
obs = [] obs = []