major refactor in utils

- introduced common_parser for arguments
- the shield dict uses minigrid.core.State instead of strings
- switched shield query to minigrid get_symbolic_state

examples/shields/rl/sb3utils.py

@@ -2,63 +2,36 @@ import gymnasium as gym
 import numpy as np
 import random
 
-from utils import MiniGridShieldHandler, create_shield_query
+from utils import MiniGridShieldHandler, common_parser
 
 class MiniGridSbShieldingWrapper(gym.core.Wrapper):
     def __init__(self,
                  env,
-                 shield_creator : MiniGridShieldHandler,
-                 shield_query_creator,
+                 shield_handler : MiniGridShieldHandler,
                  create_shield_at_reset = True,
                  mask_actions=True,
                  ):
-        super(MiniGridSbShieldingWrapper, self).__init__(env)
-        self.max_available_actions = env.action_space.n
+        super().__init__(env)
         self.observation_space = env.observation_space.spaces["image"]
 
-        self.shield_creator = shield_creator
+        self.shield_handler = shield_handler
         self.mask_actions = mask_actions
-        self.shield_query_creator = shield_query_creator
+        self.create_shield_at_reset = create_shield_at_reset
 
-    def create_action_mask(self):
-        if not self.mask_actions:
-            return  np.array([1.0] * self.max_available_actions, dtype=np.int8)
-               
-        cur_pos_str = self.shield_query_creator(self.env)
-        
-        allowed_actions = []
-
-        # Create the mask
-        # If shield restricts actions, mask only valid actions with 1.0
-        # else set all actions valid
-        mask = np.array([0.0] * self.max_available_actions, dtype=np.int8)
-
-        if cur_pos_str in self.shield and self.shield[cur_pos_str]:
-            allowed_actions = self.shield[cur_pos_str]
-            for allowed_action in allowed_actions:
-                index =  get_action_index_mapping(allowed_action.labels)
-                if index is None:
-                     assert(False)
-                              
-                mask[index] = random.choices([0.0, 1.0], weights=(1 - allowed_action.prob, allowed_action.prob))[0]
-        else:
-            for index, x in enumerate(mask):
-                mask[index] = 1.0
-        
-        front_tile = self.env.grid.get(self.env.front_pos[0], self.env.front_pos[1])
-
-            
-        if front_tile and front_tile.type == "door":
-            mask[Actions.toggle] = 1.0            
-            
-        return mask  
+        shield = self.shield_handler.create_shield(env=self.env)
+        self.shield = shield
 
+    def create_action_mask(self):
+        try:
+            return self.shield[self.env.get_symbolic_state()]
+        except:
+            return [1.0] * 3 + [1.0] * 4
 
     def reset(self, *, seed=None, options=None):
         obs, infos = self.env.reset(seed=seed, options=options)
 
-        shield = self.shield_creator.create_shield(env=self.env)
-        
+        if self.create_shield_at_reset and self.mask_actions:
+            shield = self.shield_handler.create_shield(env=self.env)
             self.shield = shield
         return obs["image"], infos
 
@@ -68,3 +41,8 @@ class MiniGridSbShieldingWrapper(gym.core.Wrapper):
 
         return obs, rew, done, truncated, info
 
+def parse_sb3_arguments():
+    parser = common_parser()
+    args = parser.parse_args()
+
+    return args

examples/shields/rl/utils.py

@@ -11,16 +11,37 @@ import stormpy.examples.files
 from enum import Enum
 from abc import ABC
 
+import re
+import sys
+
 
 from minigrid.core.actions import Actions
+from minigrid.core.state import to_state
 
 import os
 import time
-class Action():
-    def __init__(self, idx, prob=1, labels=[]) -> None:
-        self.idx = idx
-        self.prob = prob
-        self.labels = labels
+
+import argparse
+
+def tic():
+    #Homemade version of matlab tic and toc functions: https://stackoverflow.com/a/18903019
+    global startTime_for_tictoc
+    startTime_for_tictoc = time.time()
+
+def toc():
+    if 'startTime_for_tictoc' in globals():
+        print("Elapsed time is " + str(time.time() - startTime_for_tictoc) + " seconds.")
+    else:
+        print("Toc: start time not set")
+
+class ShieldingConfig(Enum):
+    Training = 'training'
+    Evaluation = 'evaluation'
+    Disabled = 'none'
+    Full = 'full'
+
+    def __str__(self) -> str:
+        return self.value
 
 class ShieldHandler(ABC):
     def __init__(self) -> None:
@@ -29,14 +50,16 @@ class ShieldHandler(ABC):
         pass
 
 class MiniGridShieldHandler(ShieldHandler):
-    def __init__(self, grid_file, grid_to_prism_path, prism_path, formula, shield_value=0.9 ,prism_config=None, shield_comparision='relative') -> None:
+    def __init__(self, grid_to_prism_binary, grid_file, prism_path, formula, prism_config=None, shield_value=0.9, shield_comparison='absolute') -> None:
         self.grid_file = grid_file
-        self.grid_to_prism_path = grid_to_prism_path
+        self.grid_to_prism_binary = grid_to_prism_binary
         self.prism_path = prism_path
-        self.formula = formula
         self.prism_config = prism_config
-        self.shield_value = shield_value
-        self.shield_comparision = shield_comparision
+
+        self.formula = formula
+        shield_comparison = stormpy.logic.ShieldComparison.ABSOLUTE if shield_comparison == "absolute" else stormpy.logic.ShieldComparison.RELATIVE
+        self.shield_expression = stormpy.logic.ShieldExpression(stormpy.logic.ShieldingType.PRE_SAFETY, shield_comparison, shield_value)
+
 
     def __export_grid_to_text(self, env):
         f = open(self.grid_file, "w")
@@ -45,53 +68,53 @@ class MiniGridShieldHandler(ShieldHandler):
 
 
     def __create_prism(self):
-        # result = os.system(F"{self.grid_to_prism_path} -v 'Agent,Blue' -i {self.grid_file} -o {self.prism_path} -c adv_config.yaml")
         if self.prism_config is None:
-            result = os.system(F"{self.grid_to_prism_path} -v 'Agent' -i {self.grid_file} -o {self.prism_path}")
+            result = os.system(F"{self.grid_to_prism_binary} -i {self.grid_file} -o {self.prism_path}")
         else:
-            result = os.system(F"{self.grid_to_prism_path} -v 'Agent' -i {self.grid_file} -o {self.prism_path} -c {self.prism_config}")
-        # result = os.system(F"{self.grid_to_prism_path} -v 'Agent' -i {self.grid_file} -o {self.prism_path} -c adv_config.yaml")
+            result = os.system(F"{self.grid_to_prism_binary} -i {self.grid_file} -o {self.prism_path} -c {self.prism_config}")
 
         assert result == 0, "Prism file could not be generated"
 
-        f = open(self.prism_path, "a")
-        f.close()
-
     def __create_shield_dict(self):
-        print(self.prism_path)
         program = stormpy.parse_prism_program(self.prism_path)
 
-        shield_comp = stormpy.logic.ShieldComparison.RELATIVE
-
-        if self.shield_comparision == 'absolute':
-            shield_comp = stormpy.logic.ShieldComparison.ABSOLUTE
-
-        shield_specification = stormpy.logic.ShieldExpression(stormpy.logic.ShieldingType.PRE_SAFETY, shield_comp, self.shield_value) 
-
-        
         formulas = stormpy.parse_properties_for_prism_program(self.formula, program)
         options = stormpy.BuilderOptions([p.raw_formula for p in formulas])
         options.set_build_state_valuations(True)
         options.set_build_choice_labels(True)
         options.set_build_all_labels()
+        print(f"LOG: Starting with explicit model creation...")
+        tic()
         model = stormpy.build_sparse_model_with_options(program, options)
+        toc()
 
-        result = stormpy.model_checking(model, formulas[0], extract_scheduler=True, shield_expression=shield_specification)
+        print(f"LOG: Starting with model checking...")
+        tic()
+        result = stormpy.model_checking(model, formulas[0], extract_scheduler=True, shield_expression=self.shield_expression)
+        toc()
 
         assert result.has_shield
         shield = result.shield
-        action_dictionary = {}
+        action_dictionary = dict()
         shield_scheduler = shield.construct()
         state_valuations = model.state_valuations
         choice_labeling = model.choice_labeling
-        stormpy.shields.export_shield(model, shield, "myshield")
+
+        #stormpy.shields.export_shield(model, shield, "current.shield")
 
         for stateID in model.states:
             choice = shield_scheduler.get_choice(stateID)
             choices = choice.choice_map
             state_valuation = state_valuations.get_string(stateID)
-            actions_to_be_executed = [Action(idx= choice[1], prob=choice[0], labels=choice_labeling.get_labels_of_choice(model.get_choice_index(stateID, choice[1]))) for choice in choices]
-            action_dictionary[state_valuation] = actions_to_be_executed
+            ints = dict(re.findall(r'([a-zA-Z][_a-zA-Z0-9]+)=([a-zA-Z0-9]+)', state_valuation))
+            booleans = dict(re.findall(r'(\!?)([a-zA-Z][_a-zA-Z0-9]+)[\s\t]', state_valuation)) #TODO does not parse everything correctly?
+
+            if int(ints.get("previousActionAgent", 3)) != 3:
+                continue
+            if int(ints.get("clock", 0)) != 0:
+                continue
+            state = to_state(ints, booleans)
+            action_dictionary[state] = get_allowed_actions_mask([choice_labeling.get_labels_of_choice(model.get_choice_index(stateID, choice[1])) for choice in choices])
 
         return action_dictionary
 
@@ -103,216 +126,39 @@ class MiniGridShieldHandler(ShieldHandler):
 
         return self.__create_shield_dict()
 
-def create_shield_query(env):
-    coordinates = env.env.agent_pos
-    view_direction = env.env.agent_dir
-        
-    keys = extract_keys(env)
-    doors = extract_doors(env)
-    adversaries = extract_adversaries(env)
-    
-    
-    if env.carrying:
-        agent_carrying = F"Agent_is_carrying_object\t"
-    else:
-        agent_carrying = "!Agent_is_carrying_object\t"
-    
-    key_positions = []
-    agent_key_status = []
-    
-    for key in keys:    
-        key_color = key[0].color
-        key_x = key[1]
-        key_y = key[2]
-        if env.carrying and env.carrying.type == "key":
-            agent_key_text = F"Agent_has_{env.carrying.color}_key\t& "
-            key_position = F"xKey{key_color}={key_x}\t& yKey{key_color}={key_y}\t"
-        else:
-            agent_key_text = F"!Agent_has_{key_color}_key\t& "
-            key_position = F"xKey{key_color}={key_x}\t& yKey{key_color}={key_y}\t"
-        
-        key_positions.append(key_position)            
-        agent_key_status.append(agent_key_text)
-    
-    if key_positions:
-        key_positions[-1] = key_positions[-1].strip()
-    
-    door_status = []
-    for door in doors:
-        status = ""
-        if door.is_open:
-            status = F"!Door{door.color}locked\t& Door{door.color}open\t&"
-        elif door.is_locked:
-            status = F"Door{door.color}locked\t& !Door{door.color}open\t&"
-        else:
-            status = F"!Door{door.color}locked\t& !Door{door.color}open\t&"
-            
-        door_status.append(status)
-    
-    adv_status = []
-    adv_positions = []
-    
-    for adversary in adversaries:
-        status = ""
-        position = ""
-        
-        if adversary.carrying:
-            carrying = F"{adversary.name}_is_carrying_object\t"
-        else:
-            carrying = F"!{adversary.name}_is_carrying_object\t"
-            
-        status = F"{carrying}& !{adversary.name}Done\t& "
-        position = F"x{adversary.name}={adversary.cur_pos[1]}\t& y{adversary.name}={adversary.cur_pos[0]}\t& view{adversary.name}={adversary.adversary_dir}"
-        adv_status.append(status)
-        adv_positions.append(position)
-
-    door_status_text = ""
-
-    if door_status:
-        door_status_text = F"& {''.join(door_status)}\t"
-    
-    adv_status_text = ""
-    
-    if adv_status:    
-        adv_status_text = F"& {''.join(adv_status)}"
-        
-    adv_positions_text = ""
-    
-    if adv_positions:
-        adv_positions_text = F"\t& {''.join(adv_positions)}"
-        
-    key_positions_text = ""
-    
-    if key_positions:
-        key_positions_text = F"\t& {''.join(key_positions)}"
-    
-    move_text = ""
-    
-    if adversaries:
-        move_text = F"move=0\t& "
-    
-    agent_position = F"& xAgent={coordinates[0]}\t& yAgent={coordinates[1]}\t& viewAgent={view_direction}"    
-    query = f"[{agent_carrying}& {''.join(agent_key_status)}!AgentDone\t{adv_status_text}{move_text}{door_status_text}{agent_position}{adv_positions_text}{key_positions_text}]"
-
-    return query
-  
-
-class ShieldingConfig(Enum):
-    Training = 'training'
-    Evaluation = 'evaluation'
-    Disabled = 'none'
-    Full = 'full'
-    
-    def __str__(self) -> str:
-        return self.value
-
-
-def extract_keys(env):
-    keys = []
-    for j in range(env.grid.height):
-        for i in range(env.grid.width):
-            obj = env.grid.get(i,j)
-            
-            if obj and obj.type == "key":
-                keys.append((obj, i, j))
-    
-    if env.carrying and env.carrying.type == "key":
-        keys.append((env.carrying, -1, -1))
-    # TODO Maybe need to add ordering of keys so it matches the order in the shield
-    return keys
-
-def extract_doors(env):
-    doors = []
-    for j in range(env.grid.height):
-        for i in range(env.grid.width):
-            obj = env.grid.get(i,j)
-            
-            if obj and obj.type == "door":
-                doors.append(obj)
-                
-    return doors
-
-def extract_adversaries(env):
-    adv = []
-    
-    if not hasattr(env, "adversaries") or not env.adversaries:
-        return []
-    
-    for color, adversary in env.adversaries.items():
-        adv.append(adversary)
-    
-    
-    return adv
 
 def create_log_dir(args):
-    return F"{args.log_dir}sh:{args.shielding}-value:{args.shield_value}-comp:{args.shield_comparision}-env:{args.env}-conf:{args.prism_config}"
+    return F"{args.log_dir}sh:{args.shielding}-value:{args.shield_value}-comp:{args.shield_comparison}-env:{args.env}-conf:{args.prism_config}"
 
 def test_name(args):
     return F"{args.expname}"
 
-def get_action_index_mapping(actions):
-    for action_str in actions:
-        if not "Agent" in action_str:
-            continue
-        
-        if "move" in action_str:
-            return Actions.forward
-        elif "left" in action_str:
-            return Actions.left
-        elif "right" in action_str:
-            return Actions.right
-        elif "pickup" in action_str:
-            return Actions.pickup
-        elif "done" in action_str:
-            return Actions.done
-        elif "drop" in action_str:
-            return Actions.drop
-        elif "toggle" in action_str:
-            return Actions.toggle
-        elif "unlock" in action_str:
-            return Actions.toggle
-
-    raise ValueError("No action mapping found")
-
-
-def parse_arguments(argparse):
+def get_allowed_actions_mask(actions):
+    action_mask = [0.0] * 3 + [1.0] * 4
+    actions_labels = [label for labels in actions for label in list(labels)]
+    for action_label in actions_labels:
+        if "move" in action_label:
+            action_mask[2] = 1.0
+        elif "left" in action_label:
+            action_mask[0] = 1.0
+        elif "right" in action_label:
+            action_mask[1] = 1.0
+    return action_mask
+
+def common_parser():
     parser = argparse.ArgumentParser()
-    # parser.add_argument("--env", help="gym environment to load", default="MiniGrid-Empty-8x8-v0")
     parser.add_argument("--env",
                         help="gym environment to load",
-                        default="MiniGrid-LavaSlipperyCliffS12-v2",
-                        choices=[
-                                "MiniGrid-Adv-8x8-v0",
-                                "MiniGrid-AdvSimple-8x8-v0",
-                                "MiniGrid-LavaCrossingS9N1-v0",
-                                "MiniGrid-LavaCrossingS9N3-v0",
-                                "MiniGrid-LavaSlipperyCliffS12-v0",
-                                "MiniGrid-LavaFaultyS12-30-v0",
-                                ])
-
-   # parser.add_argument("--seed", type=int, help="seed for environment", default=None)
-    parser.add_argument("--grid_to_prism_binary_path", default="./main")
-    parser.add_argument("--grid_path", default="grid")
-    parser.add_argument("--prism_path", default="grid")
-    parser.add_argument("--algorithm", default="PPO", type=str.upper , choices=["PPO", "DQN"])
+                        default="MiniGrid-LavaSlipperyCliff-16x12-v0")
+
+    parser.add_argument("--grid_file", default="grid.txt")
+    parser.add_argument("--prism_output_file", default="grid.prism")
     parser.add_argument("--log_dir", default="../log_results/")
-    parser.add_argument("--evaluations", type=int, default=30 )
-    parser.add_argument("--formula", default="Pmax=? [G !\"AgentIsInLavaAndNotDone\"]")  # formula_str = "Pmax=? [G ! \"AgentIsInGoalAndNotDone\"]"
-    # parser.add_argument("--formula", default="<<Agent>> Pmax=? [G <= 4 !\"AgentRanIntoAdversary\"]")
-    parser.add_argument("--workers", type=int, default=1)
-    parser.add_argument("--num_gpus", type=float, default=0)
+    parser.add_argument("--formula", default="Pmax=? [G !AgentIsOnLava]")
     parser.add_argument("--shielding", type=ShieldingConfig, choices=list(ShieldingConfig), default=ShieldingConfig.Full)
     parser.add_argument("--steps", default=20_000, type=int)
-    parser.add_argument("--expname", default="exp")
     parser.add_argument("--shield_creation_at_reset", action=argparse.BooleanOptionalAction)
     parser.add_argument("--prism_config",  default=None)
     parser.add_argument("--shield_value", default=0.9, type=float)
-    parser.add_argument("--probability_displacement", default=1/4, type=float)
-    parser.add_argument("--probability_intended", default=3/4, type=float)
-    parser.add_argument("--probability_turn_displacement", default=0/4, type=float)
-    parser.add_argument("--probability_turn_intended", default=4/4, type=float)
-    parser.add_argument("--shield_comparision", default='relative', choices=['relative', 'absolute'])
-    # parser.add_argument("--random_starts", default=1, type=int)
-    args = parser.parse_args()
-    
-    return args
+    parser.add_argument("--shield_comparison", default='absolute', choices=['relative', 'absolute'])
+    return parser