"""
Copied and adapted from https://github.com/mila-iqia/babyai.
Levels described in the Baby AI ICLR 2019 submission.
The instructions are a synthesis of those from `PutNext`, `Open`, `GoTo`, and `Pickup`.
"""
from __future__ import annotations
from minigrid.envs.babyai.core.levelgen import LevelGen
class Synth(LevelGen):
"""
## Description
Union of all instructions from PutNext, Open, Goto and PickUp.
The agent may need to move objects around. The agent may have
to unlock the door, but only if it is explicitly referred by
the instruction.
Competencies: Maze, Unblock, Unlock, GoTo, PickUp, PutNext, Open
## Mission Space
"go to the {color} {type}"
or
"pick up a/the {color} {type}"
or
"open the {color} door"
or
"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 achieves the task.
2. Timeout (see `max_steps`).
## Registered Configurations
- `BabyAI-Synth-v0`
- `BabyAI-SynthS5R2-v0`
"""
def __init__(self, room_size=8, num_rows=3, num_cols=3, num_dists=18, **kwargs):
# We add many distractors to increase the probability
# of ambiguous locations within the same room
super().__init__(
room_size=room_size,
num_rows=num_rows,
num_cols=num_cols,
num_dists=num_dists,
instr_kinds=["action"],
locations=False,
unblocking=True,
implicit_unlock=False,
**kwargs,
)
class SynthLoc(LevelGen):
"""
## Description
Like Synth, but a significant share of object descriptions involves
location language like in PickUpLoc. No implicit unlocking.
Competencies: Maze, Unblock, Unlock, GoTo, PickUp, PutNext, Open, Loc
## Mission Space
"go to the {color} {type} {location}"
or
"pick up a/the {color} {type} {location}"
or
"open the {color} door {location}"
or
"put the {color} {type} {location} next to the {color} {type} {location}"
{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".
{location} can be " ", "in front of you", "behind you", "on your left"
or "on your right"
## 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 achieves the task.
2. Timeout (see `max_steps`).
## Registered Configurations
- `BabyAI-SynthLoc-v0`
"""
def __init__(self, **kwargs):
# We add many distractors to increase the probability
# of ambiguous locations within the same room
super().__init__(
instr_kinds=["action"],
locations=True,
unblocking=True,
implicit_unlock=False,
**kwargs,
)
class SynthSeq(LevelGen):
"""
## Description
Like SynthLoc, but now with multiple commands, combined just like in GoToSeq.
No implicit unlocking.
Competencies: Maze, Unblock, Unlock, GoTo, PickUp, PutNext, Open, Loc, Seq
## Mission Space
Action mission space:
"go to the {color} {type} {location}"
or
"pick up a/the {color} {type} {location}"
or
"open the {color} door {location}"
or
"put the {color} {type} {location} next to the {color} {type} {location}"
{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".
{location} can be " ", "in front of you", "behind you", "on your left"
or "on your right"
And mission space:
Two action missions concatenated with "and"
Example:
go to the green key
and
put the box next to the yellow ball
Sequence mission space:
Two missions, they can be action or and missions, concatenated with
", then" or "after you".
Example:
open a red door and go to the ball on your left
after you
put the grey ball next to a door
## 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 achieves the task.
2. Timeout (see `max_steps`).
## Registered Configurations
- `BabyAI-SynthSeq-v0`
"""
def __init__(self, **kwargs):
# We add many distractors to increase the probability
# of ambiguous locations within the same room
super().__init__(
locations=True, unblocking=True, implicit_unlock=False, **kwargs
)
class MiniBossLevel(LevelGen):
"""
## Description
Command can be any sentence drawn from the Baby Language grammar.
Union of all competencies. This level is a superset of all other levels.
Compared to BossLevel this has a smaller room and a lower probability of
locked rooms.
## Mission Space
Action mission space:
"go to the {color} {type} {location}"
or
"pick up a/the {color} {type} {location}"
or
"open the {color} door {location}"
or
"put the {color} {type} {location} next to the {color} {type} {location}"
{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".
{location} can be " ", "in front of you", "behind you", "on your left"
or "on your right"
And mission space:
Two action missions concatenated with "and"
Example:
go to the green key
and
put the box next to the yellow ball
Sequence mission space:
Two missions, they can be action or and missions, concatenated with
", then" or "after you".
Example:
open a red door and go to the ball on your left
after you
put the grey ball next to a door
## 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 achieves the task.
2. Timeout (see `max_steps`).
## Registered Configurations
- `BabyAI-MiniBossLevel-v0`
"""
def __init__(self, **kwargs):
super().__init__(
num_cols=2,
num_rows=2,
room_size=5,
num_dists=7,
locked_room_prob=0.25,
**kwargs,
)
class BossLevel(LevelGen):
"""
## Description
Command can be any sentence drawn from the Baby Language grammar.
Union of all competencies. This level is a superset of all other levels.
## Mission Space
Action mission space:
"go to the {color} {type} {location}"
or
"pick up a/the {color} {type} {location}"
or
"open the {color} door {location}"
or
"put the {color} {type} {location} next to the {color} {type} {location}"
{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".
{location} can be " ", "in front of you", "behind you", "on your left"
or "on your right"
And mission space:
Two action missions concatenated with "and"
Example:
go to the green key
and
put the box next to the yellow ball
Sequence mission space:
Two missions, they can be action or and missions, concatenated with
", then" or "after you".
Example:
open a red door and go to the ball on your left
after you
put the grey ball next to a door
## 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 achieves the task.
2. Timeout (see `max_steps`).
## Registered Configurations
- `BabyAI-BossLevel-v0`
"""
def __init__(self, **kwargs):
super().__init__(**kwargs)
class BossLevelNoUnlock(LevelGen):
"""
## Description
Command can be any sentence drawn from the Baby Language grammar.
Union of all competencies. This level is a superset of all other levels.
No implicit unlocking.
## Mission Space
Action mission space:
"go to the {color} {type} {location}"
or
"pick up a/the {color} {type} {location}"
or
"open the {color} door {location}"
or
"put the {color} {type} {location} next to the {color} {type} {location}"
{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".
{location} can be " ", "in front of you", "behind you", "on your left"
or "on your right"
And mission space:
Two action missions concatenated with "and"
Example:
go to the green key
and
put the box next to the yellow ball
Sequence mission space:
Two missions, they can be action or and missions, concatenated with
", then" or "after you".
Example:
open a red door and go to the ball on your left
after you
put the grey ball next to a door
## 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 achieves the task.
2. Timeout (see `max_steps`).
## Registered Configurations
- `BabyAI-BossLevelNoUnlock-v0`
"""
def __init__(self, **kwargs):
super().__init__(locked_room_prob=0, implicit_unlock=False, **kwargs)