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Added more config-options via params

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This commit is contained in:
Dominik Moritz Roth 2022-08-15 17:16:18 +02:00
parent bd191c82fd
commit aa0eccbfd3
1 changed files with 38 additions and 42 deletions
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columbus/env.py
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@ -13,7 +13,7 @@ import torch as th
class ColumbusEnv(gym.Env):
metadata = {'render.modes': ['human']}
def __init__(self, observable=observables.Observable(), fps=60, env_seed=3.1):
def __init__(self, observable=observables.Observable(), fps=60, env_seed=3.1, aux_reward_max=0, aux_penalty_max=0, reward_mult=1):
super(ColumbusEnv, self).__init__()
self.action_space = spaces.Box(
low=-1, high=1, shape=(2,), dtype=np.float32)
@ -31,19 +31,22 @@ class ColumbusEnv(gym.Env):
self.start_pos = (0.5, 0.5)
self.speed_fac = 0.01/fps*60
self.acc_fac = 0.03/fps*60
self.die_on_zero = False
self.return_on_score = -1 # -1 = never
self.reward_mult = 1
self.agent_drag = 0 # 0.01 is a good value
self.die_on_zero = False # return (/die) when score hist zero
self.return_on_score = -1 # -1 = never; return, when this score is reached
self.reward_mult = reward_mult
# 0.01 is a good value, drag with the environment (air / ground)
self.agent_drag = 0
self.controll_type = 'SPEED' # one of SPEED, ACC
self.limit_inp_to_unit_circle = True
self.aux_reward_max = 0 # 0 = off
self.aux_penalty_max = 0 # 0 = off
self.aux_reward_discretize = 0 # 0 = dont discretize
self.aux_reward_max = aux_reward_max # 0 = off
self.aux_penalty_max = aux_penalty_max # 0 = off
# 0 = dont discretize; how many steps (along diagonal)
self.aux_reward_discretize = 0
self.draw_observable = True
self.draw_joystick = True
self.draw_entities = True
self.draw_confidence_ellipse = True
# If the Void should be of type Barrier (else it is just of type Void and Entity)
self.void_barrier = True
self.void_damage = 100
@ -325,12 +328,11 @@ class ColumbusEnv(gym.Env):
class ColumbusTest3_1(ColumbusEnv):
def __init__(self, observable=observables.CnnObservable(out_width=48, out_height=48), fps=30):
def __init__(self, observable=observables.CnnObservable(out_width=48, out_height=48), fps=30, aux_reward_max=1, **kw):
super(ColumbusTest3_1, self).__init__(
observable=observable, fps=fps, env_seed=3.1)
observable=observable, fps=fps, env_seed=3.1, aux_reward_max=aux_reward_max, **kw)
self.start_pos = [0.6, 0.3]
self.score = 0
self.aux_reward_max = 1
def setup(self):
self.agent.pos = self.start_pos
@ -351,24 +353,24 @@ class ColumbusTest3_1(ColumbusEnv):
class ColumbusTestRay(ColumbusTest3_1):
def __init__(self, observable=observables.RayObservable(), hide_map=False, fps=30):
def __init__(self, observable=observables.RayObservable(), hide_map=False, fps=30, **kw):
super(ColumbusTestRay, self).__init__(
observable=observable, fps=fps)
observable=observable, fps=fps, **kw)
self.draw_entities = not hide_map
class ColumbusRayDrone(ColumbusTestRay):
def __init__(self, observable=observables.RayObservable(), hide_map=False, fps=30):
def __init__(self, observable=observables.RayObservable(), hide_map=False, fps=30, **kw):
super(ColumbusRayDrone, self).__init__(
observable=observable, hide_map=hide_map, fps=fps)
observable=observable, hide_map=hide_map, fps=fps, **kw)
self.controll_type = 'ACC'
self.agent_drag = 0.02
class ColumbusCandyland(ColumbusEnv):
def __init__(self, observable=observables.RayObservable(chans=[entities.Reward, entities.Void], num_rays=16, include_rand=True), hide_map=False, fps=30, env_seed=None):
def __init__(self, observable=observables.RayObservable(chans=[entities.Reward, entities.Void], num_rays=16, include_rand=True), hide_map=False, fps=30, env_seed=None, **kw):
super(ColumbusCandyland, self).__init__(
observable=observable, fps=fps, env_seed=env_seed)
observable=observable, fps=fps, env_seed=env_seed, **kw)
self.draw_entities = not hide_map
def setup(self):
@ -384,17 +386,16 @@ class ColumbusCandyland(ColumbusEnv):
class ColumbusCandyland_Aux10(ColumbusCandyland):
def __init__(self, fps=30):
super(ColumbusCandyland_Aux10, self).__init__(fps=fps)
self.aux_reward_max = 10
def __init__(self, fps=30, aux_reward_max=10, **kw):
super(ColumbusCandyland_Aux10, self).__init__(
fps=fps, aux_reward_max=aux_reward_max, **kw)
class ColumbusEasyObstacles(ColumbusEnv):
def __init__(self, observable=observables.RayObservable(num_rays=16), hide_map=False, fps=30, env_seed=None):
def __init__(self, observable=observables.RayObservable(num_rays=16), hide_map=False, fps=30, env_seed=None, aux_reward_max=10, **kw):
super(ColumbusEasyObstacles, self).__init__(
observable=observable, fps=fps, env_seed=env_seed)
observable=observable, fps=fps, env_seed=env_seed, aux_reward_max=aux_reward_max, **kw)
self.draw_entities = not hide_map
self.aux_reward_max = 10
def setup(self):
self.agent.pos = self.start_pos
@ -413,11 +414,10 @@ class ColumbusEasyObstacles(ColumbusEnv):
class ColumbusEasierObstacles(ColumbusEnv):
def __init__(self, observable=observables.RayObservable(num_rays=16), hide_map=False, fps=30, env_seed=None):
def __init__(self, observable=observables.RayObservable(num_rays=16), hide_map=False, fps=30, env_seed=None, aux_reward_max=10, **kw):
super(ColumbusEasierObstacles, self).__init__(
observable=observable, fps=fps, env_seed=env_seed)
observable=observable, fps=fps, env_seed=env_seed, aux_reward_max=aux_reward_max, **kw)
self.draw_entities = not hide_map
self.aux_reward_max = 10
def setup(self):
self.agent.pos = self.start_pos
@ -437,11 +437,10 @@ class ColumbusEasierObstacles(ColumbusEnv):
class ColumbusComp(ColumbusEnv):
def __init__(self, observable=observables.CompositionalObservable([observables.RayObservable(num_rays=6, chans=[entities.Enemy]), observables.StateObservable(coordsAgent=True, speedAgent=False, coordsRelativeToAgent=False, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=False, enemysWhitelist=None, enemysNoBarriers=True, rewardsTimeouts=False, include_rand=True)]), hide_map=False, fps=30, env_seed=None):
def __init__(self, observable=observables.CompositionalObservable([observables.RayObservable(num_rays=6, chans=[entities.Enemy]), observables.StateObservable(coordsAgent=True, speedAgent=False, coordsRelativeToAgent=False, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=False, enemysWhitelist=None, enemysNoBarriers=True, rewardsTimeouts=False, include_rand=True)]), hide_map=False, fps=30, env_seed=None, aux_reward_max=10, **kw):
super().__init__(
observable=observable, fps=fps, env_seed=env_seed)
observable=observable, fps=fps, env_seed=env_seed, aux_reward_max=aux_reward_max, **kw)
self.draw_entities = not hide_map
self.aux_reward_max = 10
def setup(self):
self.agent.pos = self.start_pos
@ -457,11 +456,10 @@ class ColumbusComp(ColumbusEnv):
class ColumbusSingle(ColumbusEnv):
def __init__(self, observable=observables.CompositionalObservable([observables.RayObservable(num_rays=6, chans=[entities.Enemy]), observables.StateObservable(coordsAgent=False, speedAgent=False, coordsRelativeToAgent=True, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=False, enemysWhitelist=None, enemysNoBarriers=True, rewardsTimeouts=False, include_rand=True)]), hide_map=False, fps=30, env_seed=None):
def __init__(self, observable=observables.CompositionalObservable([observables.RayObservable(num_rays=6, chans=[entities.Enemy]), observables.StateObservable(coordsAgent=False, speedAgent=False, coordsRelativeToAgent=True, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=False, enemysWhitelist=None, enemysNoBarriers=True, rewardsTimeouts=False, include_rand=True)]), hide_map=False, fps=30, env_seed=None, aux_reward_max=10, **kw):
super().__init__(
observable=observable, fps=fps, env_seed=env_seed)
observable=observable, fps=fps, env_seed=env_seed, aux_reward_max=aux_reward_max, **kw)
self.draw_entities = not hide_map
self.aux_reward_max = 10
def setup(self):
self.agent.pos = self.start_pos
@ -477,10 +475,9 @@ class ColumbusSingle(ColumbusEnv):
class ColumbusJustState(ColumbusEnv):
def __init__(self, observable=observables.StateObservable(), fps=30, num_enemies=0, num_rewards=1, env_seed=None):
def __init__(self, observable=observables.StateObservable(), fps=30, num_enemies=0, num_rewards=1, env_seed=None, aux_reward_max=10, **kw):
super(ColumbusJustState, self).__init__(
observable=observable, fps=fps)
self.aux_reward_max = 10
observable=observable, fps=fps, env_seed=env_seed, aux_reward_max=aux_reward_max, **kw)
self.num_enemies = num_enemies
self.num_rewards = num_rewards
@ -497,10 +494,9 @@ class ColumbusJustState(ColumbusEnv):
class ColumbusStateWithBarriers(ColumbusEnv):
def __init__(self, observable=observables.StateObservable(coordsAgent=True, speedAgent=False, coordsRelativeToAgent=False, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=True, enemysWhitelist=None, enemysNoBarriers=True, rewardsTimeouts=False, include_rand=True), fps=30, env_seed=3.141, num_enemys=0, num_barriers=3):
def __init__(self, observable=observables.StateObservable(coordsAgent=True, speedAgent=False, coordsRelativeToAgent=False, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=True, enemysWhitelist=None, enemysNoBarriers=True, rewardsTimeouts=False, include_rand=True), fps=30, env_seed=3.141, num_enemys=0, num_barriers=3, aux_reward_max=10, **kw):
super(ColumbusStateWithBarriers, self).__init__(
observable=observable, fps=fps, env_seed=env_seed)
self.aux_reward_max = 10
observable=observable, fps=fps, env_seed=env_seed, aux_reward_max=aux_reward_max, **kw)
self.start_pos = (0.5, 0.5)
self.num_barriers = num_barriers
self.num_enemys = num_enemys
@ -522,16 +518,16 @@ class ColumbusStateWithBarriers(ColumbusEnv):
class ColumbusTrivialRay(ColumbusStateWithBarriers):
def __init__(self, observable=observables.RayObservable(num_rays=8, ray_len=512), hide_map=False, fps=30):
def __init__(self, observable=observables.RayObservable(num_rays=8, ray_len=512), hide_map=False, fps=30, **kw):
super(ColumbusTrivialRay, self).__init__(
observable=observable, fps=fps, num_chasers=0)
observable=observable, fps=fps, num_chasers=0, **kw)
self.draw_entities = not hide_map
class ColumbusFootball(ColumbusEnv):
def __init__(self, observable=observables.RayObservable(num_rays=16, chans=[entities.Goal, entities.Ball, entities.Barrier]), fps=30, walkingOpponent=0, flyingOpponent=0):
def __init__(self, observable=observables.RayObservable(num_rays=16, chans=[entities.Goal, entities.Ball, entities.Barrier]), fps=30, walkingOpponent=0, flyingOpponent=0, **kw):
super(ColumbusFootball, self).__init__(
observable=observable, fps=fps, env_seed=None)
observable=observable, fps=fps, env_seed=None, **kw)
self.start_pos = [0.5, 0.5]
self.score = 0
self.walkingOpponents = walkingOpponent