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576 lines
14 KiB
576 lines
14 KiB
"""
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Copied and adapted from https://github.com/mila-iqia/babyai.
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Levels described in the Baby AI ICLR 2019 submission.
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The instructions are a synthesis of those from `PutNext`, `Open`, `GoTo`, and `Pickup`.
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"""
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from __future__ import annotations
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from minigrid.envs.babyai.core.levelgen import LevelGen
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class Synth(LevelGen):
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"""
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## Description
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Union of all instructions from PutNext, Open, Goto and PickUp.
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The agent may need to move objects around. The agent may have
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to unlock the door, but only if it is explicitly referred by
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the instruction.
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Competencies: Maze, Unblock, Unlock, GoTo, PickUp, PutNext, Open
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## Mission Space
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"go to the {color} {type}"
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or
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"pick up a/the {color} {type}"
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or
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"open the {color} door"
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or
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"put the {color} {type} next to the {color} {type}"
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{color} is the color of the box. Can be "red", "green", "blue", "purple",
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"yellow" or "grey".
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{type} is the type of the object. Can be "ball", "box" or "key".
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## Action Space
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| Num | Name | Action |
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|-----|--------------|-------------------|
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| 0 | left | Turn left |
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| 1 | right | Turn right |
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| 2 | forward | Move forward |
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| 3 | pickup | Pick up an object |
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| 4 | drop | Unused |
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| 5 | toggle | Unused |
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| 6 | done | Unused |
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## Observation Encoding
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- Each tile is encoded as a 3 dimensional tuple:
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`(OBJECT_IDX, COLOR_IDX, STATE)`
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- `OBJECT_TO_IDX` and `COLOR_TO_IDX` mapping can be found in
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[minigrid/minigrid.py](minigrid/minigrid.py)
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- `STATE` refers to the door state with 0=open, 1=closed and 2=locked
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## Rewards
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A reward of '1 - 0.9 * (step_count / max_steps)' is given for success, and '0' for failure.
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## Termination
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The episode ends if any one of the following conditions is met:
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1. The agent achieves the task.
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2. Timeout (see `max_steps`).
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## Registered Configurations
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- `BabyAI-Synth-v0`
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- `BabyAI-SynthS5R2-v0`
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"""
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def __init__(self, room_size=8, num_rows=3, num_cols=3, num_dists=18, **kwargs):
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# We add many distractors to increase the probability
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# of ambiguous locations within the same room
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super().__init__(
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room_size=room_size,
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num_rows=num_rows,
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num_cols=num_cols,
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num_dists=num_dists,
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instr_kinds=["action"],
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locations=False,
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unblocking=True,
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implicit_unlock=False,
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**kwargs,
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)
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class SynthLoc(LevelGen):
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"""
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## Description
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Like Synth, but a significant share of object descriptions involves
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location language like in PickUpLoc. No implicit unlocking.
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Competencies: Maze, Unblock, Unlock, GoTo, PickUp, PutNext, Open, Loc
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## Mission Space
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"go to the {color} {type} {location}"
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or
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"pick up a/the {color} {type} {location}"
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or
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"open the {color} door {location}"
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or
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"put the {color} {type} {location} next to the {color} {type} {location}"
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{color} is the color of the box. Can be "red", "green", "blue", "purple",
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"yellow" or "grey".
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{type} is the type of the object. Can be "ball", "box" or "key".
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{location} can be " ", "in front of you", "behind you", "on your left"
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or "on your right"
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## Action Space
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| Num | Name | Action |
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|-----|--------------|-------------------|
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| 0 | left | Turn left |
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| 1 | right | Turn right |
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| 2 | forward | Move forward |
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| 3 | pickup | Pick up an object |
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| 4 | drop | Unused |
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| 5 | toggle | Unused |
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| 6 | done | Unused |
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## Observation Encoding
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- Each tile is encoded as a 3 dimensional tuple:
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`(OBJECT_IDX, COLOR_IDX, STATE)`
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- `OBJECT_TO_IDX` and `COLOR_TO_IDX` mapping can be found in
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[minigrid/minigrid.py](minigrid/minigrid.py)
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- `STATE` refers to the door state with 0=open, 1=closed and 2=locked
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## Rewards
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A reward of '1 - 0.9 * (step_count / max_steps)' is given for success, and '0' for failure.
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## Termination
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The episode ends if any one of the following conditions is met:
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1. The agent achieves the task.
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2. Timeout (see `max_steps`).
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## Registered Configurations
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- `BabyAI-SynthLoc-v0`
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"""
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def __init__(self, **kwargs):
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# We add many distractors to increase the probability
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# of ambiguous locations within the same room
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super().__init__(
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instr_kinds=["action"],
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locations=True,
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unblocking=True,
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implicit_unlock=False,
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**kwargs,
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)
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class SynthSeq(LevelGen):
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"""
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## Description
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Like SynthLoc, but now with multiple commands, combined just like in GoToSeq.
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No implicit unlocking.
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Competencies: Maze, Unblock, Unlock, GoTo, PickUp, PutNext, Open, Loc, Seq
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## Mission Space
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Action mission space:
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"go to the {color} {type} {location}"
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or
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"pick up a/the {color} {type} {location}"
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or
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"open the {color} door {location}"
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or
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"put the {color} {type} {location} next to the {color} {type} {location}"
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{color} is the color of the box. Can be "red", "green", "blue", "purple",
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"yellow" or "grey".
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{type} is the type of the object. Can be "ball", "box" or "key".
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{location} can be " ", "in front of you", "behind you", "on your left"
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or "on your right"
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And mission space:
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Two action missions concatenated with "and"
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Example:
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go to the green key
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and
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put the box next to the yellow ball
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Sequence mission space:
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Two missions, they can be action or and missions, concatenated with
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", then" or "after you".
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Example:
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open a red door and go to the ball on your left
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after you
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put the grey ball next to a door
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## Action Space
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| Num | Name | Action |
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|-----|--------------|-------------------|
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| 0 | left | Turn left |
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| 1 | right | Turn right |
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| 2 | forward | Move forward |
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| 3 | pickup | Pick up an object |
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| 4 | drop | Unused |
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| 5 | toggle | Unused |
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| 6 | done | Unused |
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## Observation Encoding
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- Each tile is encoded as a 3 dimensional tuple:
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`(OBJECT_IDX, COLOR_IDX, STATE)`
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- `OBJECT_TO_IDX` and `COLOR_TO_IDX` mapping can be found in
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[minigrid/minigrid.py](minigrid/minigrid.py)
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- `STATE` refers to the door state with 0=open, 1=closed and 2=locked
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## Rewards
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A reward of '1 - 0.9 * (step_count / max_steps)' is given for success, and '0' for failure.
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## Termination
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The episode ends if any one of the following conditions is met:
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1. The agent achieves the task.
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2. Timeout (see `max_steps`).
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## Registered Configurations
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- `BabyAI-SynthSeq-v0`
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"""
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def __init__(self, **kwargs):
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# We add many distractors to increase the probability
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# of ambiguous locations within the same room
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super().__init__(
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locations=True, unblocking=True, implicit_unlock=False, **kwargs
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)
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class MiniBossLevel(LevelGen):
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"""
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## Description
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Command can be any sentence drawn from the Baby Language grammar.
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Union of all competencies. This level is a superset of all other levels.
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Compared to BossLevel this has a smaller room and a lower probability of
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locked rooms.
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## Mission Space
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Action mission space:
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"go to the {color} {type} {location}"
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or
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"pick up a/the {color} {type} {location}"
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or
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"open the {color} door {location}"
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or
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"put the {color} {type} {location} next to the {color} {type} {location}"
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{color} is the color of the box. Can be "red", "green", "blue", "purple",
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"yellow" or "grey".
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{type} is the type of the object. Can be "ball", "box" or "key".
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{location} can be " ", "in front of you", "behind you", "on your left"
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or "on your right"
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And mission space:
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Two action missions concatenated with "and"
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Example:
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go to the green key
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and
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put the box next to the yellow ball
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Sequence mission space:
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Two missions, they can be action or and missions, concatenated with
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", then" or "after you".
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Example:
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open a red door and go to the ball on your left
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after you
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put the grey ball next to a door
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## Action Space
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| Num | Name | Action |
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|-----|--------------|-------------------|
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| 0 | left | Turn left |
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| 1 | right | Turn right |
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| 2 | forward | Move forward |
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| 3 | pickup | Pick up an object |
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| 4 | drop | Unused |
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| 5 | toggle | Unused |
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| 6 | done | Unused |
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## Observation Encoding
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- Each tile is encoded as a 3 dimensional tuple:
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`(OBJECT_IDX, COLOR_IDX, STATE)`
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- `OBJECT_TO_IDX` and `COLOR_TO_IDX` mapping can be found in
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[minigrid/minigrid.py](minigrid/minigrid.py)
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- `STATE` refers to the door state with 0=open, 1=closed and 2=locked
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## Rewards
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A reward of '1 - 0.9 * (step_count / max_steps)' is given for success, and '0' for failure.
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## Termination
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The episode ends if any one of the following conditions is met:
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1. The agent achieves the task.
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2. Timeout (see `max_steps`).
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## Registered Configurations
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- `BabyAI-MiniBossLevel-v0`
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"""
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def __init__(self, **kwargs):
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super().__init__(
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num_cols=2,
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num_rows=2,
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room_size=5,
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num_dists=7,
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locked_room_prob=0.25,
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**kwargs,
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)
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class BossLevel(LevelGen):
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"""
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## Description
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Command can be any sentence drawn from the Baby Language grammar.
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Union of all competencies. This level is a superset of all other levels.
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## Mission Space
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Action mission space:
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"go to the {color} {type} {location}"
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or
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"pick up a/the {color} {type} {location}"
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or
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"open the {color} door {location}"
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or
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"put the {color} {type} {location} next to the {color} {type} {location}"
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{color} is the color of the box. Can be "red", "green", "blue", "purple",
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"yellow" or "grey".
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{type} is the type of the object. Can be "ball", "box" or "key".
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{location} can be " ", "in front of you", "behind you", "on your left"
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or "on your right"
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And mission space:
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Two action missions concatenated with "and"
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Example:
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go to the green key
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and
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put the box next to the yellow ball
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Sequence mission space:
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Two missions, they can be action or and missions, concatenated with
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", then" or "after you".
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Example:
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open a red door and go to the ball on your left
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after you
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put the grey ball next to a door
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## Action Space
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| Num | Name | Action |
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|-----|--------------|-------------------|
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| 0 | left | Turn left |
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| 1 | right | Turn right |
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| 2 | forward | Move forward |
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| 3 | pickup | Pick up an object |
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| 4 | drop | Unused |
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| 5 | toggle | Unused |
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| 6 | done | Unused |
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## Observation Encoding
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- Each tile is encoded as a 3 dimensional tuple:
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`(OBJECT_IDX, COLOR_IDX, STATE)`
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- `OBJECT_TO_IDX` and `COLOR_TO_IDX` mapping can be found in
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[minigrid/minigrid.py](minigrid/minigrid.py)
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- `STATE` refers to the door state with 0=open, 1=closed and 2=locked
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## Rewards
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A reward of '1 - 0.9 * (step_count / max_steps)' is given for success, and '0' for failure.
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## Termination
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The episode ends if any one of the following conditions is met:
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1. The agent achieves the task.
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2. Timeout (see `max_steps`).
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## Registered Configurations
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- `BabyAI-BossLevel-v0`
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"""
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def __init__(self, **kwargs):
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super().__init__(**kwargs)
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class BossLevelNoUnlock(LevelGen):
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"""
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## Description
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Command can be any sentence drawn from the Baby Language grammar.
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Union of all competencies. This level is a superset of all other levels.
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No implicit unlocking.
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|
## Mission Space
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Action mission space:
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"go to the {color} {type} {location}"
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or
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|
"pick up a/the {color} {type} {location}"
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or
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"open the {color} door {location}"
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|
|
or
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|
"put the {color} {type} {location} next to the {color} {type} {location}"
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|
|
{color} is the color of the box. Can be "red", "green", "blue", "purple",
|
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"yellow" or "grey".
|
|
|
|
{type} is the type of the object. Can be "ball", "box" or "key".
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|
|
{location} can be " ", "in front of you", "behind you", "on your left"
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|
or "on your right"
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|
And mission space:
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|
Two action missions concatenated with "and"
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|
|
Example:
|
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|
|
go to the green key
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|
and
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|
put the box next to the yellow ball
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|
|
Sequence mission space:
|
|
|
|
Two missions, they can be action or and missions, concatenated with
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|
", then" or "after you".
|
|
|
|
Example:
|
|
|
|
open a red door and go to the ball on your left
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|
after you
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|
put the grey ball next to a door
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|
|
|
## Action Space
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|
| Num | Name | Action |
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|-----|--------------|-------------------|
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|
| 0 | left | Turn left |
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|
| 1 | right | Turn right |
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|
| 2 | forward | Move forward |
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|
| 3 | pickup | Pick up an object |
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|
| 4 | drop | Unused |
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|
| 5 | toggle | Unused |
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|
| 6 | done | Unused |
|
|
|
|
## Observation Encoding
|
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|
- Each tile is encoded as a 3 dimensional tuple:
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|
`(OBJECT_IDX, COLOR_IDX, STATE)`
|
|
- `OBJECT_TO_IDX` and `COLOR_TO_IDX` mapping can be found in
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|
[minigrid/minigrid.py](minigrid/minigrid.py)
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- `STATE` refers to the door state with 0=open, 1=closed and 2=locked
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## Rewards
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A reward of '1 - 0.9 * (step_count / max_steps)' is given for success, and '0' for failure.
|
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|
|
## Termination
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|
|
The episode ends if any one of the following conditions is met:
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1. The agent achieves the task.
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2. Timeout (see `max_steps`).
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## Registered Configurations
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- `BabyAI-BossLevelNoUnlock-v0`
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"""
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def __init__(self, **kwargs):
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super().__init__(locked_room_prob=0, implicit_unlock=False, **kwargs)
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