diff --git a/examples/shields/rl/helpers.py b/examples/shields/rl/helpers.py
index 73e58a5..3bcec40 100644
--- a/examples/shields/rl/helpers.py
+++ b/examples/shields/rl/helpers.py
@@ -39,28 +39,21 @@ def extract_keys(env):
return keys
def create_log_dir(args):
- return F"{args.log_dir}{args.algorithm}-shielding:{args.shielding}-evaluations:{args.evaluations}-steps:{args.steps}"
+ return F"{args.log_dir}{args.algorithm}-shielding:{args.shielding}-evaluations:{args.evaluations}-steps:{args.steps}-env:{args.env}"
def get_action_index_mapping(actions):
for action_str in actions:
- if "left" in action_str:
+ if "move" in action_str:
+ return Actions.forward
+ elif "left" in action_str:
return Actions.left
elif "right" in action_str:
return Actions.right
- elif "east" in action_str:
- return Actions.forward
- elif "south" in action_str:
- return Actions.forward
- elif "west" in action_str:
- return Actions.forward
- elif "north" in action_str:
- return Actions.forward
elif "pickup" in action_str:
return Actions.pickup
elif "done" in action_str:
- return Actions.done
-
+ return Actions.done
raise ValueError(F"Action string {action_str} not supported")
@@ -75,6 +68,10 @@ def parse_arguments(argparse):
choices=[
"MiniGrid-LavaCrossingS9N1-v0",
"MiniGrid-LavaCrossingS9N3-v0",
+ "MiniGrid-LavaSlipperyS12-v0",
+ "MiniGrid-LavaSlipperyS12-v1",
+ "MiniGrid-LavaSlipperyS12-v2",
+ "MiniGrid-LavaSlipperyS12-v3",
# "MiniGrid-DoorKey-8x8-v0",
# "MiniGrid-LockedRoom-v0",
# "MiniGrid-FourRooms-v0",
diff --git a/examples/shields/rl/shieldhandlers.py b/examples/shields/rl/shieldhandlers.py
index 5ca4b54..4feefb8 100644
--- a/examples/shields/rl/shieldhandlers.py
+++ b/examples/shields/rl/shieldhandlers.py
@@ -12,6 +12,12 @@ from abc import ABC
import os
+class Action():
+ def __init__(self, idx, prob=1, labels=[]) -> None:
+ self.idx = idx
+ self.prob = prob
+ self.labels = labels
+
class ShieldHandler(ABC):
def __init__(self) -> None:
pass
@@ -41,6 +47,7 @@ class MiniGridShieldHandler(ShieldHandler):
f.close()
def __create_shield_dict(self):
+ print(self.prism_path)
program = stormpy.parse_prism_program(self.prism_path)
shield_specification = stormpy.logic.ShieldExpression(stormpy.logic.ShieldingType.PRE_SAFETY, stormpy.logic.ShieldComparison.RELATIVE, 0.1)
@@ -56,6 +63,7 @@ class MiniGridShieldHandler(ShieldHandler):
assert result.has_scheduler
assert result.has_shield
shield = result.shield
+ stormpy.shields.export_shield(model, shield, "Grid.shield")
action_dictionary = {}
shield_scheduler = shield.construct()
@@ -65,12 +73,11 @@ class MiniGridShieldHandler(ShieldHandler):
choices = choice.choice_map
state_valuation = model.state_valuations.get_string(stateID)
- actions_to_be_executed = [(choice[1] ,model.choice_labeling.get_labels_of_choice(model.get_choice_index(stateID, choice[1]))) for choice in choices]
+ #actions_to_be_executed = [(choice[1] ,model.choice_labeling.get_labels_of_choice(model.get_choice_index(stateID, choice[1]))) for choice in choices]
+ actions_to_be_executed = [Action(idx= choice[1], prob=choice[0], labels=model.choice_labeling.get_labels_of_choice(model.get_choice_index(stateID, choice[1]))) for choice in choices]
action_dictionary[state_valuation] = actions_to_be_executed
- # stormpy.shields.export_shield(model, shield, "Grid.shield")
-
return action_dictionary
diff --git a/examples/shields/rl/wrappers.py b/examples/shields/rl/wrappers.py
index 7bdc5e8..3f0c2f8 100644
--- a/examples/shields/rl/wrappers.py
+++ b/examples/shields/rl/wrappers.py
@@ -1,5 +1,6 @@
import gymnasium as gym
import numpy as np
+import random
from minigrid.core.actions import Actions
@@ -15,9 +16,9 @@ class OneHotShieldingWrapper(gym.core.ObservationWrapper):
def __init__(self, env, vector_index, framestack):
super().__init__(env)
self.framestack = framestack
- # 49=7x7 field of vision; 11=object types; 6=colors; 3=state types.
+ # 49=7x7 field of vision; 16=object types; 6=colors; 3=state types.
# +4: Direction.
- self.single_frame_dim = 49 * (11 + 6 + 3) + 4
+ self.single_frame_dim = 49 * (16 + 6 + 3) + 4
self.init_x = None
self.init_y = None
self.x_positions = []
@@ -66,8 +67,8 @@ class OneHotShieldingWrapper(gym.core.ObservationWrapper):
image = obs["data"]
- # One-hot the last dim into 11, 6, 3 one-hot vectors, then flatten.
- objects = one_hot(image[:, :, 0], depth=11)
+ # One-hot the last dim into 12, 6, 3 one-hot vectors, then flatten.
+ objects = one_hot(image[:, :, 0], depth=16)
colors = one_hot(image[:, :, 1], depth=6)
states = one_hot(image[:, :, 2], depth=3)
@@ -115,12 +116,15 @@ class MiniGridShieldingWrapper(gym.core.Wrapper):
mask = np.array([0.0] * self.max_available_actions, dtype=np.int8)
if cur_pos_str in self.shield and self.shield[cur_pos_str]:
- allowed_actions = self.shield[cur_pos_str]
- for allowed_action in allowed_actions:
- index = get_action_index_mapping(allowed_action[1]) # Allowed_action is a set
- if index is None:
- assert(False)
- mask[index] = 1.0
+ allowed_actions = self.shield[cur_pos_str]
+ for allowed_action in allowed_actions:
+ index = get_action_index_mapping(allowed_action.labels) # Allowed_action is a set
+ if index is None:
+ assert(False)
+
+ allowed = random.choices([0.0, 1.0], weights=(1 - allowed_action.prob, allowed_action.prob))[0]
+ mask[index] = allowed
+
else:
for index, x in enumerate(mask):
mask[index] = 1.0
@@ -195,13 +199,13 @@ class MiniGridSbShieldingWrapper(gym.core.Wrapper):
mask = np.array([0.0] * self.max_available_actions, dtype=np.int8)
if cur_pos_str in self.shield and self.shield[cur_pos_str]:
- allowed_actions = self.shield[cur_pos_str]
- for allowed_action in allowed_actions:
- index = get_action_index_mapping(allowed_action[1])
- if index is None:
+ allowed_actions = self.shield[cur_pos_str]
+ for allowed_action in allowed_actions:
+ index = get_action_index_mapping(allowed_action.labels)
+ if index is None:
assert(False)
-
- mask[index] = 1.0
+
+ mask[index] = random.choices([0.0, 1.0], weights=(1 - allowed_action.prob, allowed_action.prob))[0]
else:
for index, x in enumerate(mask):
mask[index] = 1.0