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82 lines
2.5 KiB
82 lines
2.5 KiB
import gymnasium as gym
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import numpy as np
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import random
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from utils import MiniGridShieldHandler, common_parser
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from stable_baselines3.common.callbacks import BaseCallback, CheckpointCallback
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from stable_baselines3.common.logger import Image
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class MiniGridSbShieldingWrapper(gym.core.Wrapper):
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def __init__(self,
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env,
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shield_handler : MiniGridShieldHandler,
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create_shield_at_reset = False,
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):
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super().__init__(env)
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self.shield_handler = shield_handler
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self.create_shield_at_reset = create_shield_at_reset
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shield = self.shield_handler.create_shield(env=self.env)
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self.shield = shield
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def create_action_mask(self):
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try:
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return self.shield[self.env.get_symbolic_state()]
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except:
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return [1.0] * 3 + [1.0] * 4
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def reset(self, *, seed=None, options=None):
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obs, infos = self.env.reset(seed=seed, options=options)
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if self.create_shield_at_reset:
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shield = self.shield_handler.create_shield(env=self.env)
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self.shield = shield
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return obs, infos
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def step(self, action):
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obs, rew, done, truncated, info = self.env.step(action)
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return obs, rew, done, truncated, info
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def parse_sb3_arguments():
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parser = common_parser()
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args = parser.parse_args()
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return args
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class ImageRecorderCallback(BaseCallback):
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def __init__(self, verbose=0):
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super().__init__(verbose)
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def _on_training_start(self):
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image = self.training_env.render(mode="rgb_array")
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self.logger.record("trajectory/image", Image(image, "HWC"), exclude=("stdout", "log", "json", "csv"))
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def _on_step(self):
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return True
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class InfoCallback(BaseCallback):
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"""
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Custom callback for plotting additional values in tensorboard.
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"""
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def __init__(self, verbose=0):
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super().__init__(verbose)
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self.sum_goal = 0
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self.sum_lava = 0
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self.sum_collisions = 0
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def _on_step(self) -> bool:
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infos = self.locals["infos"][0]
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if infos["reached_goal"]:
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self.sum_goal += 1
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if infos["ran_into_lava"]:
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self.sum_lava += 1
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self.logger.record("info/sum_reached_goal", self.sum_goal)
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self.logger.record("info/sum_ran_into_lava", self.sum_lava)
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if "collision" in infos:
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if infos["collision"]:
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self.sum_collision += 1
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self.logger.record("info/sum_collision", sum_collisions)
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return True
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