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from gym_minigrid.minigrid import *
from gym_minigrid.register import register
# these two classes should maybe be extracted to a utils file so they can be used all over our envs
class GoToDoorTalkEnv(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,
hear_yourself=False,
):
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),
*Grammar.grammar_action_space.nvec
])
)
self.hear_yourself = hear_yourself
self.empty_symbol = "NA \n"
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 = []
doorPos.append((self._rand_int(2, width-2), 0))
doorPos.append((self._rand_int(2, width-2), height-1))
doorPos.append((0, self._rand_int(2, height-2)))
doorPos.append((width-1, self._rand_int(2, height-2)))
# 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]
# Generate the mission string
self.mission = 'go to the %s door' % self.target_color
# Dummy beginning string
self.beginning_string = "This is what you hear. \n"
self.utterance = self.beginning_string
# utterance appended at the end of each step
self.utterance_history = ""
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))
if speak_flag:
agent_utterance = Grammar.construct_utterance(utterance_action)
reply = self.mission
NPC_name = "Wizard"
if self.hear_yourself:
self.utterance += "YOU: {} \n".format(agent_utterance)
self.utterance += "{}: {} \n".format(NPC_name, reply)
obs, reward, done, info = super().step(p_action)
# Don't let the agent open any of the doors
if p_action == self.actions.toggle:
done = True
# Reward performing done action in front of the target door
if p_action == self.actions.done:
ax, ay = self.agent_pos
tx, ty = self.target_pos
if (ax == tx and abs(ay - ty) == 1) or (ay == ty and abs(ax - tx) == 1):
reward = self._reward()
done = True
# fill observation with text
self.append_existing_utterance_to_history()
obs = self.add_utterance_to_observation(obs)
self.reset_utterance()
return obs, reward, done, info
def render(self, *args, **kwargs):
obs = super().render(*args, **kwargs)
self.window.set_caption(self.utterance_history, [
"Gandalf:",
"Jack:",
"John:",
"Where is the exit",
"Open sesame",
])
return obs
class GoToDoorTalk8x8Env(GoToDoorTalkEnv):
def __init__(self):
super().__init__(size=8)
class GoToDoorTalk6x6Env(GoToDoorTalkEnv):
def __init__(self):
super().__init__(size=6)
# hear yourself
class GoToDoorTalkHY8x8Env(GoToDoorTalkEnv):
def __init__(self):
super().__init__(size=8, hear_yourself=True)
class GoToDoorTalkHY6x6Env(GoToDoorTalkEnv):
def __init__(self):
super().__init__(size=6, hear_yourself=True)
class GoToDoorTalkHYEnv(GoToDoorTalkEnv):
def __init__(self):
super().__init__(size=5, hear_yourself=True)
register(
id='MiniGrid-GoToDoorTalk-5x5-v0',
entry_point='gym_minigrid.envs:GoToDoorTalkEnv'
)
register(
id='MiniGrid-GoToDoorTalk-6x6-v0',
entry_point='gym_minigrid.envs:GoToDoorTalk6x6Env'
)
register(
id='MiniGrid-GoToDoorTalk-8x8-v0',
entry_point='gym_minigrid.envs:GoToDoorTalk8x8Env'
)
# hear yourself
register(
id='MiniGrid-GoToDoorTalkHY-5x5-v0',
entry_point='gym_minigrid.envs:GoToDoorTalkHYEnv'
)
register(
id='MiniGrid-GoToDoorTalkHY-6x6-v0',
entry_point='gym_minigrid.envs:GoToDoorTalkHY6x6Env'
)
register(
id='MiniGrid-GoToDoorTalkHY-8x8-v0',
entry_point='gym_minigrid.envs:GoToDoorTalkHY8x8Env'
)
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