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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 12:42:32.571249: 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 12:42:32.588338: 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 12:42:32.593115: 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 12:42:32.603726: 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 12:42:33.541399: 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": 3, "metadata": { "vscode": { "languageId": "plaintext" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Starting the training\n" ] }, { "data": { "image/jpeg": 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"text/plain": [ "<PIL.Image.Image image mode=RGB size=512x416>" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "\n", "\n", "Computing new shield\n", "LOG: Starting with explicit model creation...\n", "Elapsed time is 0.08019781112670898 seconds.\n", "LOG: Starting with model checking...\n", "Elapsed time is 0.0008318424224853516 seconds.\n", "LOG: Starting to translate shield...\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 445\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 446\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 447\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 448\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 449\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 450\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 451\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 452\n", "Elapsed time is 0.022951364517211914 seconds.\n", "\n", "\n", "Computing new shield\n", "LOG: Starting with explicit model creation...\n", "Elapsed time is 0.0903787612915039 seconds.\n", "LOG: Starting with model checking...\n", "Elapsed time is 0.0008656978607177734 seconds.\n", "LOG: Starting to translate shield...\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 54\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 55\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 56\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 57\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 58\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 59\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 60\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 61\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 62\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 315\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 316\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 317\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 318\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 319\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 320\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 321\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 322\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 323\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 444\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 445\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 446\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 447\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 448\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 449\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 450\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 451\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 452\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 453\n", "Elapsed time is 0.0263826847076416 seconds.\n", "\n", "\n", "Computing new shield\n", "LOG: Starting with explicit model creation...\n", "Elapsed time is 0.11173772811889648 seconds.\n", "LOG: Starting with model checking...\n", "Elapsed time is 0.0016129016876220703 seconds.\n", "LOG: Starting to translate shield...\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 54\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 55\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 56\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 57\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 58\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 59\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 60\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 61\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 62\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 315\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 316\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 317\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 318\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 319\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 320\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 321\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 322\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 323\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 444\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 445\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 446\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 447\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 448\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 449\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 450\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 451\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 452\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 453\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 458\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 459\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 460\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 461\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 462\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 463\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 464\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 465\n", "Elapsed time is 0.03487586975097656 seconds.\n", "\n", "\n", "Computing new shield\n", "LOG: Starting with explicit model creation...\n", "Elapsed time is 0.1351919174194336 seconds.\n", "LOG: Starting with model checking...\n", "Elapsed time is 0.0011432170867919922 seconds.\n", "LOG: Starting to translate shield...\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 54\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 55\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 56\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 57\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 58\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 59\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 60\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 61\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 62\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 67\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 68\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 69\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 70\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 71\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 72\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 73\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 74\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 80\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 81\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 82\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 83\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 84\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 85\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 86\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 93\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 94\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 95\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 96\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for statElapsed time is 0.03844499588012695 seconds.\n", "e with index 97\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 98\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 106\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 107\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 108\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 109\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 110\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 315\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 316\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 317\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 318\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 319\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 320\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 321\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 322\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 323\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 329\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 330\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 331\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 332\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 333\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 334\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 335\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 336\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 343\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 344\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 345\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 346\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 347\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 348\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 349\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 357\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 358\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 359\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 360\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 361\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 362\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 371\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 372\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 373\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 374\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 375\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 444\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 445\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 446\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 447\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 448\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 449\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 450\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 451\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 452\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 453\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 457\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 458\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 459\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 460\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 461\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 462\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 463\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 464\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 465\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 466\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 470\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 471\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 472\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 473\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 474\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 475\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 476\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 477\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 478\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 479\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 483\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 484\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 485\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 486\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 487\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 488\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 489\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 490\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 491\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 492\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 496\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 497\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 498\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 499\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 500\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 501\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 502\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 503\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 504\n", " WARN (PreShield.cpp:50): No shielding action possible with absolute comparison for state with index 505\n" ] }, { "data": { "image/png": "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 "text/plain": [ "<PIL.Image.Image image mode=RGBA size=512x416>" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "The shield for shield_value = 0.9\n" ] }, { "data": { "image/png": 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"text/plain": [ "<PIL.Image.Image image mode=RGBA size=512x416>" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "The shield for shield_value = 0.95\n" ] }, { "data": { "image/png": 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"text/plain": [ "<PIL.Image.Image image mode=RGBA size=512x416>" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "The shield for shield_value = 0.99\n" ] }, { "data": { "image/png": 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"text/plain": [ "<PIL.Image.Image image mode=RGBA size=512x416>" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "The shield for shield_value = 1.0\n", "Training with shield:\n" ] }, { "data": { "image/png": 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"text/plain": [ "<PIL.Image.Image image mode=RGBA size=512x416>" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "Using cpu device\n", "Wrapping the env with a `Monitor` wrapper\n", "Wrapping the env in a DummyVecEnv.\n", "Wrapping the env in a VecTransposeImage.\n" ] }, { "ename": "AssertionError", "evalue": "", "output_type": "error", "traceback": [ "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", "\u001b[0;31mAssertionError\u001b[0m Traceback (most recent call last)", "Cell \u001b[0;32mIn[3], line 62\u001b[0m\n\u001b[1;32m 60\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;18m__name__\u001b[39m \u001b[38;5;241m==\u001b[39m \u001b[38;5;124m'\u001b[39m\u001b[38;5;124m__main__\u001b[39m\u001b[38;5;124m'\u001b[39m:\n\u001b[1;32m 61\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mStarting the training\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m---> 62\u001b[0m \u001b[43mmain\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n", "Cell \u001b[0;32mIn[3], line 55\u001b[0m, in \u001b[0;36mmain\u001b[0;34m()\u001b[0m\n\u001b[1;32m 52\u001b[0m model\u001b[38;5;241m.\u001b[39mset_logger(logger)\n\u001b[1;32m 53\u001b[0m steps \u001b[38;5;241m=\u001b[39m \u001b[38;5;241m20_000\u001b[39m\n\u001b[0;32m---> 55\u001b[0m \u001b[38;5;28;01massert\u001b[39;00m(\u001b[38;5;28;01mFalse\u001b[39;00m)\n\u001b[1;32m 56\u001b[0m model\u001b[38;5;241m.\u001b[39mlearn(steps,callback\u001b[38;5;241m=\u001b[39m[InfoCallback()])\n", "\u001b[0;31mAssertionError\u001b[0m: " ] } ], "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-LavaSlipperyCliff-16x13-Slip10-Time-v0\"\n", " \n", " formula = \"Pmax=? [G ! AgentIsOnLava]\"\n", " value_for_training = 0.99\n", " shield_comparison = \"absolute\"\n", " shielding = ShieldingConfig.Training\n", " \n", " logger = Logger(\"/tmp\", output_formats=[HumanOutputFormat(sys.stdout)])\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", " \n", " shield_handlers = dict()\n", " if shield_needed(shielding):\n", " for value in [0.9, 0.95, 0.99, 1.0]:\n", " shield_handler = MiniGridShieldHandler(GRID_TO_PRISM_BINARY, \"grid.txt\", \"grid.prism\", formula, shield_value=value, shield_comparison=shield_comparison, nocleanup=False, prism_file=None)\n", " env = MiniGridSbShieldingWrapper(env, shield_handler=shield_handler, create_shield_at_reset=False)\n", "\n", "\n", " shield_handlers[value] = shield_handler\n", " if shield_needed(shielding):\n", " for value in [0.9, 0.95, 0.99, 1.0]: \n", " create_shield_overlay_image(image_env, shield_handlers[value].create_shield())\n", " print(f\"The shield for shield_value = {value}\")\n", "\n", " if shielding == ShieldingConfig.Training:\n", " env = MiniGridSbShieldingWrapper(env, shield_handler=shield_handlers[value_for_training], 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", " assert(False)\n", " model.learn(steps,callback=[InfoCallback()])\n", "\n", "\n", "\n", "if __name__ == '__main__':\n", " print(\"Starting the training\")\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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