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97 lines
2.7 KiB
97 lines
2.7 KiB
from __future__ import annotations
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from minigrid.core.mission import MissionSpace
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from minigrid.core.roomgrid import RoomGrid
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class UnlockEnv(RoomGrid):
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"""
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## Description
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The agent has to open a locked door. This environment can be solved without
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relying on language.
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## Mission Space
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"open the 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 | Unused |
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| 4 | drop | Unused |
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| 5 | toggle | Toggle/activate an object |
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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 opens the door.
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2. Timeout (see `max_steps`).
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## Registered Configurations
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- `MiniGrid-Unlock-v0`
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"""
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def __init__(self, max_steps: int | None = None, **kwargs):
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room_size = 6
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mission_space = MissionSpace(mission_func=self._gen_mission)
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if max_steps is None:
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max_steps = 8 * room_size**2
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super().__init__(
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mission_space=mission_space,
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num_rows=1,
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num_cols=2,
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room_size=room_size,
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max_steps=max_steps,
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**kwargs,
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)
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@staticmethod
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def _gen_mission():
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return "open the door"
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def _gen_grid(self, width, height):
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super()._gen_grid(width, height)
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# Make sure the two rooms are directly connected by a locked door
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door, _ = self.add_door(0, 0, 0, locked=True)
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# Add a key to unlock the door
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self.add_object(0, 0, "key", door.color)
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self.place_agent(0, 0)
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self.door = door
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self.mission = "open the door"
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def step(self, action):
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obs, reward, terminated, truncated, info = super().step(action)
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if action == self.actions.toggle:
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if self.door.is_open:
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reward = self._reward()
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terminated = True
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return obs, reward, terminated, truncated, info
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