You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
116 lines
3.6 KiB
116 lines
3.6 KiB
from __future__ import annotations
|
|
|
|
from minigrid.core.constants import COLOR_NAMES
|
|
from minigrid.core.mission import MissionSpace
|
|
from minigrid.core.roomgrid import RoomGrid
|
|
from minigrid.core.world_object import Ball
|
|
|
|
|
|
class BlockedUnlockPickupEnv(RoomGrid):
|
|
|
|
"""
|
|
|
|
## Description
|
|
|
|
The agent has to pick up a box which is placed in another room, behind a
|
|
locked door. The door is also blocked by a ball which the agent has to move
|
|
before it can unlock the door. Hence, the agent has to learn to move the
|
|
ball, pick up the key, open the door and pick up the object in the other
|
|
room. This environment can be solved without relying on language.
|
|
|
|
## Mission Space
|
|
|
|
"pick up 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 "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 picks up the correct box.
|
|
2. Timeout (see `max_steps`).
|
|
|
|
## Registered Configurations
|
|
|
|
- `MiniGrid-BlockedUnlockPickup-v0`
|
|
|
|
"""
|
|
|
|
def __init__(self, max_steps: int | None = None, **kwargs):
|
|
mission_space = MissionSpace(
|
|
mission_func=self._gen_mission,
|
|
ordered_placeholders=[COLOR_NAMES, ["box", "key"]],
|
|
)
|
|
|
|
room_size = 6
|
|
if max_steps is None:
|
|
max_steps = 16 * room_size**2
|
|
|
|
super().__init__(
|
|
mission_space=mission_space,
|
|
num_rows=1,
|
|
num_cols=2,
|
|
room_size=room_size,
|
|
max_steps=max_steps,
|
|
**kwargs,
|
|
)
|
|
|
|
@staticmethod
|
|
def _gen_mission(color: str, obj_type: str):
|
|
return f"pick up the {color} {obj_type}"
|
|
|
|
def _gen_grid(self, width, height):
|
|
super()._gen_grid(width, height)
|
|
|
|
# Add a box to the room on the right
|
|
obj, _ = self.add_object(1, 0, kind="box")
|
|
# Make sure the two rooms are directly connected by a locked door
|
|
door, pos = self.add_door(0, 0, 0, locked=True)
|
|
# Block the door with a ball
|
|
color = self._rand_color()
|
|
self.grid.set(pos[0] - 1, pos[1], Ball(color))
|
|
# Add a key to unlock the door
|
|
self.add_object(0, 0, "key", door.color)
|
|
|
|
self.place_agent(0, 0)
|
|
|
|
self.obj = obj
|
|
self.mission = f"pick up the {obj.color} {obj.type}"
|
|
|
|
def step(self, action):
|
|
obs, reward, terminated, truncated, info = super().step(action)
|
|
|
|
if action == self.actions.pickup:
|
|
if self.carrying and self.carrying == self.obj:
|
|
reward = self._reward()
|
|
terminated = True
|
|
|
|
return obs, reward, terminated, truncated, info
|