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{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "## Example usage of Tempestpy" ] }, { "cell_type": "code", "execution_count": 1, "metadata": { "vscode": { "languageId": "plaintext" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "pygame 2.6.0 (SDL 2.28.4, Python 3.10.12)\n", "Hello from the pygame community. https://www.pygame.org/contribute.html\n" ] }, { "name": "stderr", "output_type": "stream", "text": [ "2024-09-24 13:10:36.778354: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:485] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered\n", "2024-09-24 13:10:36.792058: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:8454] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered\n", "2024-09-24 13:10:36.796147: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1452] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered\n", "2024-09-24 13:10:36.806045: I tensorflow/core/platform/cpu_feature_guard.cc:210] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.\n", "To enable the following instructions: AVX2 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.\n", "2024-09-24 13:10:37.640233: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT\n", "error: XDG_RUNTIME_DIR not set in the environment.\n" ] } ], "source": [ "from sb3_contrib import MaskablePPO\n", "from sb3_contrib.common.wrappers import ActionMasker\n", "from stable_baselines3.common.logger import Logger, CSVOutputFormat, TensorBoardOutputFormat, HumanOutputFormat\n", "\n", "import gymnasium as gym\n", "\n", "from minigrid.core.actions import Actions\n", "from minigrid.core.constants import TILE_PIXELS\n", "from minigrid.wrappers import RGBImgObsWrapper, ImgObsWrapper\n", "\n", "import tempfile, datetime, shutil\n", "\n", "import time\n", "import os\n", "\n", "from utils import MiniGridShieldHandler, create_log_dir, ShieldingConfig, MiniWrapper, expname, shield_needed, shielded_evaluation, create_shield_overlay_image\n", "from sb3utils import MiniGridSbShieldingWrapper, parse_sb3_arguments, ImageRecorderCallback, InfoCallback\n", "\n", "import os, sys\n", "from copy import deepcopy\n", "\n", "from PIL import Image" ] }, { "cell_type": "code", "execution_count": null, "metadata": { "vscode": { "languageId": "plaintext" } }, "outputs": [ { "data": { "image/jpeg": 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"text/plain": [ "<PIL.Image.Image image mode=RGB size=192x192>" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdin", "output_type": "stream", "text": [ " \n" ] }, { "name": "stdout", "output_type": "stream", "text": [ "\n", "\n", "Computing new shield\n", "LOG: Starting with explicit model creation...\n", "Elapsed time is 0.003572702407836914 seconds.\n", "LOG: Starting with model checking...\n", "Elapsed time is 0.0002765655517578125 seconds.\n", "LOG: Starting to translate shield...\n", "Write to file shielding_files_20240924T131106_4c2n0rfg/shield.\n", "Elapsed time is 0.0036995410919189453 seconds.\n", "\n", "\n", "Computing new shield\n", "LOG: Starting with explicit model creation...\n", "Elapsed time is 0.001905202865600586 seconds.\n", "LOG: Starting with model checking...\n", "Elapsed time is 0.0001571178436279297 seconds.\n", "LOG: Starting to translate shield...\n", "Elapsed time is 0.0028374195098876953 seconds.\n", "Symbolic Description of the Model:\n", "Write to file shielding_files_20240924T131106_mkizoz41/shield.\n", "mdp\n", "\n", "formula AgentCannotMoveEastWall = (colAgent=4&rowAgent=1) | (colAgent=4&rowAgent=2) | (colAgent=4&rowAgent=3) | (colAgent=4&rowAgent=4);\n", "formula AgentCannotMoveNorthWall = (colAgent=3&rowAgent=1) | (colAgent=4&rowAgent=1) | (colAgent=1&rowAgent=1) | (colAgent=2&rowAgent=1);\n", "formula AgentCannotMoveSouthWall = (colAgent=1&rowAgent=4) | (colAgent=3&rowAgent=4) | (colAgent=4&rowAgent=4) | (colAgent=2&rowAgent=4);\n", "formula AgentCannotMoveWestWall = (colAgent=1&rowAgent=2) | (colAgent=1&rowAgent=3) | (colAgent=1&rowAgent=4) | (colAgent=1&rowAgent=1);\n", "formula AgentIsOnSlippery = false;\n", "formula AgentIsOnLava = (colAgent=2&rowAgent=1) | (colAgent=2&rowAgent=3) | (colAgent=2&rowAgent=4);\n", "formula AgentIsOnGoal = (colAgent=4&rowAgent=4);\n", "init\n", " true\n", "endinit\n", "\n", "\n", "module Agent\n", " colAgent : [1..4];\n", " rowAgent : [1..4];\n", " viewAgent : [0..3];\n", "\n", " [Agent_turn_right] !AgentIsOnLava &true -> 1.000000: (viewAgent'=mod(viewAgent+1,4));\n", " [Agent_turn_left] !AgentIsOnLava &viewAgent>0 -> 1.000000: (viewAgent'=viewAgent-1);\n", " [Agent_turn_left] !AgentIsOnLava &viewAgent=0 -> 1.000000: (viewAgent'=3);\n", " [Agent_move_North] viewAgent=3 & !AgentIsOnLava & !AgentIsOnGoal & !AgentCannotMoveNorthWall -> 1.000000: (rowAgent'=rowAgent-1);\n", " [Agent_move_East] viewAgent=0 & !AgentIsOnLava & !AgentIsOnGoal & !AgentCannotMoveEastWall -> 1.000000: (colAgent'=colAgent+1);\n", " [Agent_move_South] viewAgent=1 & !AgentIsOnLava & !AgentIsOnGoal & !AgentCannotMoveSouthWall -> 1.000000: (rowAgent'=rowAgent+1);\n", " [Agent_move_West] viewAgent=2 & !AgentIsOnLava & !AgentIsOnGoal & !AgentCannotMoveWestWall -> 1.000000: (colAgent'=colAgent-1);\n", "endmodule\n", "\n", "\n" ] } ], "source": [ "GRID_TO_PRISM_BINARY=os.getenv(\"M2P_BINARY\")\n", "\n", "def mask_fn(env: gym.Env):\n", " return env.create_action_mask()\n", "\n", "def nomask_fn(env: gym.Env):\n", " return [1.0] * 7\n", "\n", "def main():\n", " env = \"MiniGrid-LavaGapS6-v0\"\n", "\n", " # TODO Change the safety specification\n", " formula = \"Pmax=? [G !AgentIsOnLava]\"\n", " value_for_training = 1.0\n", " shield_comparison = \"absolute\"\n", " shielding = ShieldingConfig.Training\n", " \n", " logger = Logger(\"/tmp\", output_formats=[HumanOutputFormat(sys.stdout)])\n", " \n", "\n", " env = gym.make(env, render_mode=\"rgb_array\")\n", " image_env = RGBImgObsWrapper(env, TILE_PIXELS)\n", " env = RGBImgObsWrapper(env, 8)\n", " env = ImgObsWrapper(env)\n", " env = MiniWrapper(env)\n", "\n", " \n", " env.reset()\n", " Image.fromarray(env.render()).show()\n", " input(\"\") \n", " \n", " shield_handlers = dict()\n", " if shield_needed(shielding):\n", " for value in [0.0, 1.0]:\n", " shield_handler = MiniGridShieldHandler(GRID_TO_PRISM_BINARY, \"grid.txt\", \"grid.prism\", formula, shield_value=value, shield_comparison=shield_comparison, nocleanup=True, prism_file=None)\n", " env = MiniGridSbShieldingWrapper(env, shield_handler=shield_handler, create_shield_at_reset=False)\n", " shield_handlers[value] = shield_handler\n", "\n", " print(\"Symbolic Description of the Model:\")\n", " shield_handlers[1.0].print_symbolic_model()\n", " input(\"\")\n", "\n", " if shield_needed(shielding):\n", " for value in [1.0]:\n", " create_shield_overlay_image(image_env, shield_handlers[value].create_shield())\n", " print(f\"The shield for shield_value = {value}\")\n", " input(\"\")\n", " \n", " if shielding == ShieldingConfig.Training:\n", " env = MiniGridSbShieldingWrapper(env, shield_handler=shield_handler, create_shield_at_reset=False)\n", " env = ActionMasker(env, mask_fn)\n", " print(\"Training with shield:\")\n", " create_shield_overlay_image(image_env, shield_handlers[value_for_training].create_shield())\n", " elif shielding == ShieldingConfig.Disabled:\n", " env = ActionMasker(env, nomask_fn)\n", " else:\n", " assert(False) \n", " model = MaskablePPO(\"CnnPolicy\", env, verbose=1, device=\"auto\")\n", " model.set_logger(logger)\n", " steps = 20_000\n", "\n", " \n", " model.learn(steps,callback=[InfoCallback()])\n", "\n", "\n", "\n", "if __name__ == '__main__':\n", " main()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.10.12" } }, "nbformat": 4, "nbformat_minor": 4}
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