Spaces:
Running
Running
File size: 4,927 Bytes
be5548b |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 |
from gym_minigrid.minigrid import *
from gym_minigrid.register import register
class SesameGrammar(object):
templates = ["Open", "Who is", "Where is"]
things = ["the exit", "sesame", "the chest", "him", "that"]
grammar_action_space = spaces.MultiDiscrete([len(templates), len(things)])
@classmethod
def construct_utterance(cls, action):
return cls.templates[int(action[0])] + " " + cls.things[int(action[1])] + "."
class GoToDoorSesameEnv(MultiModalMiniGridEnv):
"""
Environment in which the agent is instructed to go to a given object
named using an English text string
"""
def __init__(
self,
size=5
):
assert size >= 5
super().__init__(
grid_size=size,
max_steps=5*size**2,
# Set this to True for maximum speed
see_through_walls=True,
actions=MiniGridEnv.Actions,
action_space=spaces.MultiDiscrete([
len(MiniGridEnv.Actions),
*SesameGrammar.grammar_action_space.nvec
])
)
def _gen_grid(self, width, height):
# Create the grid
self.grid = Grid(width, height)
# Randomly vary the room width and height
width = self._rand_int(5, width+1)
height = self._rand_int(5, height+1)
# Generate the surrounding walls
self.grid.wall_rect(0, 0, width, height)
# Generate the 4 doors at random positions
doorPos = (self._rand_int(2, width-2), 0)
doorColors = self._rand_elem(COLOR_NAMES)
self.grid.set(*doorPos, Door(doorColors))
# doorPos = []
# doorPos.append((self._rand_int(2, width-2), 0))
#
# # Generate the door colors
# doorColors = []
# while len(doorColors) < len(doorPos):
# color = self._rand_elem(COLOR_NAMES)
# if color in doorColors:
# continue
# doorColors.append(color)
#
# # Place the doors in the grid
# for idx, pos in enumerate(doorPos):
# color = doorColors[idx]
# self.grid.set(*pos, Door(color))
# Randomize the agent start position and orientation
self.place_agent(size=(width, height))
# Select a random target door
# doorIdx = self._rand_int(0, len(doorPos))
# self.target_pos = doorPos[doorIdx]
# self.target_color = doorColors[doorIdx]
self.target_pos = doorPos
self.target_color = doorColors
# Generate the mission string
self.mission = 'go to the %s door' % self.target_color
# Initialize the dialogue string
self.dialogue = "This is what you hear. \n"
def gen_obs(self):
obs = super().gen_obs()
# add dialogue to obs
obs["dialogue"] = self.dialogue
return obs
def step(self, action):
p_action = action[0]
utterance_action = action[1:]
assert len(set(np.isnan(utterance_action))) == 1
speak_flag = not all(np.isnan(utterance_action))
obs, reward, done, info = super().step(p_action)
ax, ay = self.agent_pos
tx, ty = self.target_pos
# Don't let the agent open any of the doors
if p_action == self.actions.toggle:
done = True
# magic words if front of the door
if speak_flag:
utterance = SesameGrammar.construct_utterance(utterance_action)
self.dialogue += "YOU: " + utterance + "\n"
if utterance == SesameGrammar.construct_utterance([0, 1]):
if (ax == tx and abs(ay - ty) == 1) or (ay == ty and abs(ax - tx) == 1):
reward = self._reward()
done = True
# Reward performing done action in front of the target door
# if p_action == self.actions.done:
# if (ax == tx and abs(ay - ty) == 1) or (ay == ty and abs(ax - tx) == 1):
# reward = self._reward()
# done = True
return obs, reward, done, info
def render(self, *args, **kwargs):
obs = super().render(*args, **kwargs)
self.window.set_caption(self.dialogue, [
"Gandalf:",
"Jack:",
"John:",
"Where is the exit",
"Open sesame",
])
return obs
class GoToDoorSesame8x8Env(GoToDoorSesameEnv):
def __init__(self):
super().__init__(size=8)
class GoToDoorSesame6x6Env(GoToDoorSesameEnv):
def __init__(self):
super().__init__(size=6)
register(
id='MiniGrid-GoToDoorSesame-5x5-v0',
entry_point='gym_minigrid.envs:GoToDoorSesameEnv'
)
register(
id='MiniGrid-GoToDoorSesame-6x6-v0',
entry_point='gym_minigrid.envs:GoToDoorSesame6x6Env'
)
register(
id='MiniGrid-GoToDoorSesame-8x8-v0',
entry_point='gym_minigrid.envs:GoToDoorSesame8x8Env'
)
|