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"""
Copied and adapted from https://github.com/mila-iqia/babyai.Levels described in the Baby AI ICLR 2019 submission, with the `Put Next` instruction."""
from __future__ import annotations
from minigrid.envs.babyai.core.roomgrid_level import RoomGridLevelfrom minigrid.envs.babyai.core.verifier import ObjDesc, PutNextInstr
class PutNextLocal(RoomGridLevel): """
## Description
Put an object next to another object, inside a single room with no doors, no distractors
## Mission Space
"put the {color} {type} next to the {color} {type}"
{color} is the color of the box. Can be "red", "green", "blue", "purple", "yellow" or "grey".
{type} is the type of the object. Can be "ball", "box" or "key".
## Action Space
| Num | Name | Action | |-----|--------------|-------------------| | 0 | left | Turn left | | 1 | right | Turn right | | 2 | forward | Move forward | | 3 | pickup | Pick up an object | | 4 | drop | Unused | | 5 | toggle | Unused | | 6 | done | Unused |
## Observation Encoding
- Each tile is encoded as a 3 dimensional tuple: `(OBJECT_IDX, COLOR_IDX, STATE)` - `OBJECT_TO_IDX` and `COLOR_TO_IDX` mapping can be found in [minigrid/minigrid.py](minigrid/minigrid.py) - `STATE` refers to the door state with 0=open, 1=closed and 2=locked
## Rewards
A reward of '1 - 0.9 * (step_count / max_steps)' is given for success, and '0' for failure.
## Termination
The episode ends if any one of the following conditions is met:
1. The agent finishes the instructed task. 2. Timeout (see `max_steps`).
## Registered Configurations
- `BabyAI-PutNextLocal-v0` - `BabyAI-PutNextLocalS5N3-v0` - `BabyAI-PutNextLocalS6N4-v0``
"""
def __init__(self, room_size=8, num_objs=8, **kwargs): self.num_objs = num_objs super().__init__(num_rows=1, num_cols=1, room_size=room_size, **kwargs)
def gen_mission(self): self.place_agent() objs = self.add_distractors(num_distractors=self.num_objs, all_unique=True) self.check_objs_reachable() o1, o2 = self._rand_subset(objs, 2)
self.instrs = PutNextInstr( ObjDesc(o1.type, o1.color), ObjDesc(o2.type, o2.color) )
class PutNext(RoomGridLevel): """
## Description
Task of the form: move the A next to the B and the C next to the D. This task is structured to have a very large number of possible instructions.
## Mission Space
"put the {color} {type} next to the {color} {type}"
{color} is the color of the box. Can be "red", "green", "blue", "purple", "yellow" or "grey".
{type} is the type of the object. Can be "ball", "box" or "key".
## Action Space
| Num | Name | Action | |-----|--------------|-------------------| | 0 | left | Turn left | | 1 | right | Turn right | | 2 | forward | Move forward | | 3 | pickup | Pick up an object | | 4 | drop | Unused | | 5 | toggle | Unused | | 6 | done | Unused |
## Observation Encoding
- Each tile is encoded as a 3 dimensional tuple: `(OBJECT_IDX, COLOR_IDX, STATE)` - `OBJECT_TO_IDX` and `COLOR_TO_IDX` mapping can be found in [minigrid/minigrid.py](minigrid/minigrid.py) - `STATE` refers to the door state with 0=open, 1=closed and 2=locked
## Rewards
A reward of '1 - 0.9 * (step_count / max_steps)' is given for success, and '0' for failure.
## Termination
The episode ends if any one of the following conditions is met:
1. The agent finishes the instructed task. 2. Timeout (see `max_steps`).
## Registered Configurations
- `BabyAI-PutNextS4N1-v0` - `BabyAI-PutNextS5N2-v0` - `BabyAI-PutNextS5N1-v0` - `BabyAI-PutNextS6N3-v0` - `BabyAI-PutNextS7N4-v0` - `BabyAI-PutNextS5N2Carrying-v0` - `BabyAI-PutNextS6N3Carrying-v0` - `BabyAI-PutNextS7N4Carrying-v0`
## Additional Notes
The BabyAI bot is unable to solve the bonus PutNextCarrying configurations. """
def __init__( self, room_size, objs_per_room, start_carrying=False, max_steps: int | None = None, **kwargs, ): assert room_size >= 4 assert objs_per_room <= 9 self.objs_per_room = objs_per_room self.start_carrying = start_carrying
if max_steps is None: max_steps = 8 * room_size**2
super().__init__( num_rows=1, num_cols=2, room_size=room_size, max_steps=max_steps, **kwargs )
def gen_mission(self): self.place_agent(0, 0)
# Add objects to both the left and right rooms # so that we know that we have two non-adjacent set of objects objs_l = self.add_distractors(0, 0, self.objs_per_room) objs_r = self.add_distractors(1, 0, self.objs_per_room)
# Remove the wall between the two rooms self.remove_wall(0, 0, 0)
# Select objects from both subsets a = self._rand_elem(objs_l) b = self._rand_elem(objs_r)
# Randomly flip the object to be moved if self._rand_bool(): t = a a = b b = t
self.obj_a = a
self.instrs = PutNextInstr(ObjDesc(a.type, a.color), ObjDesc(b.type, b.color))
def reset(self, **kwargs): obs = super().reset(**kwargs)
# If the agent starts off carrying the object if self.start_carrying: assert self.obj_a.init_pos is not None self.grid.set(*self.obj_a.init_pos, None) self.carrying = self.obj_a
return obs
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