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MiRobotEnv.py

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+
+import gymnasium as gym
+from gymnasium import spaces
+import numpy as np
+
+# Constantes pour les états et les récompenses
+CMD_AVANCER = 0
+CMD_TOURNER = 1
+ETAT_FAIM = 2
+ETAT_SOMMEIL = 3
+ETAT_HUMEUR = 4
+
+# Actions
+ACTION_ARRETER = 0
+ACTION_AVANCER = 1
+ACTION_TOURNE_G = 2
+ACTION_TOURNE_D = 3
+
+
+class MiRobotEnv(gym.Env):
+    """Environnement de simulation pour MiRobot, un chiot robot apprenant
+à réagir aux commandes du maître et à son état interne.
+    """
+    metadata = {"render_modes": ["human"], "render_fps": 30}
+
+    def __init__(self):
+        super(MiRobotEnv, self).__init__()
+
+        self.action_space = spaces.Discrete(4)
+
+        low = np.array([0.0, 0.0, 0.0, 0.0, -1.0], dtype=np.float32)
+        high = np.array([1.0, 1.0, 1.0, 1.0, 1.0], dtype=np.float32)
+        self.observation_space = spaces.Box(low=low, high=high, dtype=np.float32)
+
+        self.state = None
+
+    def reset(self, seed=None, options=None):
+        super().reset(seed=seed)
+
+        initial_state = np.array([
+            0.0,
+            0.0,
+            self.np_random.uniform(low=0.0, high=0.2),
+            self.np_random.uniform(low=0.0, high=0.2),
+            self.np_random.uniform(low=-0.1, high=0.1)
+        ], dtype=np.float32)
+
+        self.state = initial_state
+
+        info = {}
+        return self.state, info
+
+    def _update_internal_states(self):
+        self.state[ETAT_FAIM] = np.clip(self.state[ETAT_FAIM] + 0.005, 0.0, 1.0)
+        self.state[ETAT_SOMMEIL] = np.clip(self.state[ETAT_SOMMEIL] + 0.003, 0.0, 1.0)
+
+        humeur_decay = -0.005 if (self.state[ETAT_FAIM] > 0.5 or self.state[ETAT_SOMMEIL] > 0.5) else 0.001
+        self.state[ETAT_HUMEUR] = np.clip(self.state[ETAT_HUMEUR] + humeur_decay, -1.0, 1.0)
+
+    def _calculate_reward(self, action):
+        reward = 0.0
+
+        if self.state[CMD_AVANCER] > 0.5:
+            if action == ACTION_AVANCER:
+                reward += 1.0
+            elif action == ACTION_ARRETER:
+                reward -= 0.5
+
+        if self.state[CMD_TOURNER] > 0.5:
+            if action == ACTION_TOURNE_G or action == ACTION_TOURNE_D:
+                reward += 1.0
+            elif action == ACTION_AVANCER:
+                reward -= 0.5
+
+        reward -= self.state[ETAT_FAIM] * 0.1
+        reward -= self.state[ETAT_SOMMEIL] * 0.1
+
+        reward += self.state[ETAT_HUMEUR] * 0.1
+
+        return reward
+
+    def _simulate_user_command(self):
+        if self.np_random.random() < 0.2:
+            self.state[CMD_AVANCER] = 0.0
+            self.state[CMD_TOURNER] = 0.0
+
+            choice = self.np_random.integers(0, 3)
+
+            if choice == 1:
+                self.state[CMD_AVANCER] = 1.0
+            elif choice == 2:
+                self.state[CMD_TOURNER] = 1.0
+
+    def step(self, action):
+        self._update_internal_states()
+        reward = self._calculate_reward(action)
+        self._simulate_user_command()
+
+        terminated = False
+        truncated = False
+        info = {}
+
+        return self.state, reward, terminated, truncated, info
+
+    def render(self, mode='human'):
+        faim = self.state[ETAT_FAIM] * 100
+        sommeil = self.state[ETAT_SOMMEIL] * 100
+        humeur = self.state[ETAT_HUMEUR]
+        cmd_a = "OUI" if self.state[CMD_AVANCER] > 0.5 else "NON"
+        cmd_t = "OUI" if self.state[CMD_TOURNER] > 0.5 else "NON"
+
+        print(f"--- État MiRobot ---")
+        print(f"  > Commande Avancer: {cmd_a}, Commande Tourner: {cmd_t}")
+        print(f"  > Faim: {faim:.0f}%, Sommeil: {sommeil:.0f}%")
+        print(f"  > Humeur: {humeur:.2f} (entre -1.0 et 1.0)")
+
+    def close(self):
+        pass

mirobot_final_model.zip

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f1789b7ac0a570953fb47d04022f270acf47f0327a74a5e8780e4b902886a73e
+size 139650

mirobot_ppo_40000_steps-1.zip

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b169f19d5c619d17838b0ac426328dde3e0f76f7d69d75131739345eade74509
+size 139636

mirobot_ppo_80000_steps.zip

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+version https://git-lfs.github.com/spec/v1
+oid sha256:339d8e80cd99da3149848e484a8f00a9d0238686e967403c227d51969e3f2e1f
+size 139648