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Tweaking some envs

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This commit is contained in:
Dominik Moritz Roth 2022-06-29 12:41:52 +02:00
parent 962bc4ff32
commit db407b0819
1 changed files with 23 additions and 16 deletions
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39
columbus/env.py
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@ -15,7 +15,7 @@ class ColumbusEnv(gym.Env):
def __init__(self, observable=observables.Observable(), fps=60, env_seed=3.1): def __init__(self, observable=observables.Observable(), fps=60, env_seed=3.1):
super(ColumbusEnv, self).__init__() super(ColumbusEnv, self).__init__()
self.action_space = spaces.Box( self.action_space = spaces.Box(
low=0, high=1, shape=(2,), dtype=np.float32) low=-1, high=1, shape=(2,), dtype=np.float32)
observable._set_env(self) observable._set_env(self)
self.observable = observable self.observable = observable
self.title = 'Untitled' self.title = 'Untitled'
@ -112,7 +112,8 @@ class ColumbusEnv(gym.Env):
return aux_reward return aux_reward
def step(self, action): def step(self, action):
inp = action[0], action[1] # TODO: Just make the range consistent...
inp = (action[0]+1)/2, (action[1]+1)/2
if self._disturb_next: if self._disturb_next:
inp = self._disturb_next inp = self._disturb_next
self._disturb_next = False self._disturb_next = False
@ -322,8 +323,8 @@ class ColumbusCandyland(ColumbusEnv):
class ColumbusCandyland_Aux10(ColumbusCandyland): class ColumbusCandyland_Aux10(ColumbusCandyland):
def __init__(self): def __init__(self, fps=30):
super(ColumbusCandyland_Aux10, self).__init__() super(ColumbusCandyland_Aux10, self).__init__(fps=fps)
self.aux_reward_max = 10 self.aux_reward_max = 10
@ -375,41 +376,41 @@ class ColumbusEasierObstacles(ColumbusEnv):
class ColumbusJustState(ColumbusEnv): class ColumbusJustState(ColumbusEnv):
def __init__(self, observable=observables.StateObservable(), fps=30, env_seed=None): def __init__(self, observable=observables.StateObservable(), fps=30, num_enemies=0, num_rewards=1, env_seed=None):
super(ColumbusJustState, self).__init__( super(ColumbusJustState, self).__init__(
observable=observable, fps=fps) observable=observable, fps=fps)
self.aux_reward_max = 0.1 self.aux_reward_max = 1
self.num_enemies = num_enemies
self.num_rewards = num_rewards
def setup(self): def setup(self):
self.agent.pos = self.start_pos self.agent.pos = self.start_pos
# for i in range(2): for i in range(self.num_enemies):
# enemy = entities.WalkingChaser(self)
# self.entities.append(enemy)
for i in range(3):
enemy = entities.FlyingChaser(self) enemy = entities.FlyingChaser(self)
enemy.chase_acc = self.random()*0.4+0.3 # *0.6+0.5 enemy.chase_acc = self.random()*0.4+0.3 # *0.6+0.5
self.entities.append(enemy) self.entities.append(enemy)
for i in range(1): for i in range(self.num_rewards):
reward = entities.TeleportingReward(self) reward = entities.TeleportingReward(self)
reward.radius = 30 reward.radius = 30
self.entities.append(reward) self.entities.append(reward)
class ColumbusStateWithBarriers(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_chasers=1): 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):
super(ColumbusStateWithBarriers, self).__init__( super(ColumbusStateWithBarriers, self).__init__(
observable=observable, fps=fps, env_seed=env_seed) observable=observable, fps=fps, env_seed=env_seed)
self.aux_reward_max = 10 self.aux_reward_max = 1
self.start_pos = (0.5, 0.5) self.start_pos = (0.5, 0.5)
self.num_chasers = num_chasers self.num_barriers = num_barriers
self.num_enemys = num_enemys
def setup(self): def setup(self):
self.agent.pos = self.start_pos self.agent.pos = self.start_pos
for i in range(3): for i in range(self.num_barriers):
enemy = entities.CircleBarrier(self) enemy = entities.CircleBarrier(self)
enemy.radius = self.random()*25+75 enemy.radius = self.random()*25+75
self.entities.append(enemy) self.entities.append(enemy)
for i in range(self.num_chasers): for i in range(self.num_enemys):
enemy = entities.FlyingChaser(self) enemy = entities.FlyingChaser(self)
enemy.chase_acc = 0.55 # *0.6+0.5 enemy.chase_acc = 0.55 # *0.6+0.5
self.entities.append(enemy) self.entities.append(enemy)
@ -469,6 +470,12 @@ register(
max_episode_steps=30*60*2, max_episode_steps=30*60*2,
) )
register(
id='ColumbusJustState-v0',
entry_point=ColumbusJustState,
max_episode_steps=30*60*2,
)
register( register(
id='ColumbusStateWithBarriers-v0', id='ColumbusStateWithBarriers-v0',
entry_point=ColumbusStateWithBarriers, entry_point=ColumbusStateWithBarriers,