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Georg Martius
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The default env is continous now. There is a function to convert discrete actions into continuous ones.
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-36
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2 files changed

+145
-36
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‎Laser-Hockey-Env.ipynb‎

Lines changed: 121 additions & 20 deletions
Original file line numberDiff line numberDiff line change
@@ -2,11 +2,11 @@
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"cells": [
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{
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"cell_type": "code",
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"execution_count": 1,
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"execution_count": 22,
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"metadata": {
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"ExecuteTime": {
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"end_time": "2018-12-21T11:13:01.818505Z",
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"start_time": "2018-12-21T11:13:01.670659Z"
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"end_time": "2018-12-21T12:23:36.441678Z",
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"start_time": "2018-12-21T12:23:36.437323Z"
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}
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},
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"outputs": [],
@@ -19,11 +19,11 @@
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},
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{
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"cell_type": "code",
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"execution_count": 8,
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"execution_count": 23,
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"metadata": {
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"ExecuteTime": {
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"end_time": "2018-12-21T11:13:16.094022Z",
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"start_time": "2018-12-21T11:13:16.090695Z"
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"end_time": "2018-12-21T12:23:36.859856Z",
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"start_time": "2018-12-21T12:23:36.854044Z"
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}
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},
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"outputs": [],
@@ -45,11 +45,11 @@
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},
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{
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"cell_type": "code",
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"execution_count": 13,
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"execution_count": 25,
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"metadata": {
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"ExecuteTime": {
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"end_time": "2018-12-21T11:20:15.026155Z",
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"start_time": "2018-12-21T11:20:15.019530Z"
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"end_time": "2018-12-21T12:23:58.180935Z",
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"start_time": "2018-12-21T12:23:58.169092Z"
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}
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},
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"outputs": [
@@ -59,7 +59,7 @@
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"<module 'laser_hockey_env' from '/home/georg/src/python/laser-hockey-env/laser_hockey_env.py'>"
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]
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},
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"execution_count": 13,
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"execution_count": 25,
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"metadata": {},
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"output_type": "execute_result"
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}
@@ -70,16 +70,16 @@
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},
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{
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"cell_type": "code",
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"execution_count": 16,
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"execution_count": 26,
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"metadata": {
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"ExecuteTime": {
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"end_time": "2018-12-21T11:20:27.241126Z",
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"start_time": "2018-12-21T11:20:27.230640Z"
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"end_time": "2018-12-21T12:24:00.162508Z",
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"start_time": "2018-12-21T12:24:00.151792Z"
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}
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},
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"outputs": [],
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"source": [
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"env = lh.LaserHockeyEnvContinuous()"
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"env = lh.LaserHockeyEnv()"
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]
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},
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{
@@ -91,11 +91,11 @@
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},
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{
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"cell_type": "code",
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"execution_count": 20,
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"execution_count": 27,
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"metadata": {
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"ExecuteTime": {
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"end_time": "2018-12-21T11:22:12.232033Z",
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"start_time": "2018-12-21T11:22:12.213256Z"
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"end_time": "2018-12-21T12:24:01.084415Z",
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"start_time": "2018-12-21T12:24:00.981942Z"
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}
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},
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"outputs": [
@@ -105,7 +105,7 @@
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"True"
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]
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},
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"execution_count": 20,
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"execution_count": 27,
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"metadata": {},
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"output_type": "execute_result"
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}
@@ -216,7 +216,7 @@
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},
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"outputs": [],
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"source": [
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"env = lh.LaserHockeyEnvContinuous(mode=lh.LaserHockeyEnv.TRAIN_SHOOTING)"
219+
"env = lh.LaserHockeyEnv(mode=lh.LaserHockeyEnv.TRAIN_SHOOTING)"
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]
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},
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{
@@ -326,7 +326,7 @@
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},
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"outputs": [],
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"source": [
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"env = lh.LaserHockeyEnvContinuous(mode=lh.LaserHockeyEnv.TRAIN_DEFENCE)"
329+
"env = lh.LaserHockeyEnv(mode=lh.LaserHockeyEnv.TRAIN_DEFENCE)"
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]
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},
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{
@@ -387,6 +387,107 @@
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" obs_agent2 = env.obs_agent_two()\n",
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" if d: break"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {
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"ExecuteTime": {
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"end_time": "2018-12-20T20:37:41.013424Z",
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"start_time": "2018-12-20T20:37:41.009298Z"
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}
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},
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"source": [
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"# Using discrete actions"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 28,
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"metadata": {
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"ExecuteTime": {
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"end_time": "2018-12-21T12:24:05.082438Z",
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"start_time": "2018-12-21T12:24:05.072962Z"
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}
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},
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"outputs": [
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{
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"data": {
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"text/plain": [
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"<module 'laser_hockey_env' from '/home/georg/src/python/laser-hockey-env/laser_hockey_env.py'>"
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]
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},
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"execution_count": 28,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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"reload(lh)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 29,
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"metadata": {
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"ExecuteTime": {
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"end_time": "2018-12-21T12:24:05.821293Z",
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"start_time": "2018-12-21T12:24:05.814344Z"
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}
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},
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"outputs": [],
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"source": [
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"env = lh.LaserHockeyEnv(mode=lh.LaserHockeyEnv.TRAIN_SHOOTING)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 32,
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"metadata": {
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"ExecuteTime": {
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"end_time": "2018-12-21T12:24:56.153283Z",
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"start_time": "2018-12-21T12:24:56.148110Z"
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}
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},
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"outputs": [],
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"source": [
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"import random"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 35,
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"metadata": {
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"ExecuteTime": {
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"end_time": "2018-12-21T12:25:42.213473Z",
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"start_time": "2018-12-21T12:25:39.046109Z"
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}
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},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"Player 2 scored\n"
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]
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}
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],
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"source": [
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"for _ in range(200):\n",
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" env.render()\n",
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" a1_discrete = random.randint(0,7)\n",
478+
" a1 = env.discrete_to_continous_action(a1_discrete)\n",
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" a2 = [0,0.,0] \n",
480+
" obs, r, d, info = env.step(np.hstack([a1,a2])) \n",
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" obs_agent2 = env.obs_agent_two()\n",
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" if d: break"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": []
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}
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],
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"metadata": {

‎laser_hockey_env.py‎

Lines changed: 24 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -103,12 +103,8 @@ def __init__(self, mode = NORMAL):
103103
# y vel puck
104104
self.observation_space = spaces.Box(-np.inf, np.inf, shape=(16,), dtype=np.float32)
105105

106-
if self.continuous:
107-
# linear force in (x,y)-direction and torque
108-
self.action_space = spaces.Box(-1, +1, (3*2,), dtype=np.float32)
109-
else:
110-
111-
self.action_space = spaces.Discrete(6*2)
106+
# linear force in (x,y)-direction and torque
107+
self.action_space = spaces.Box(-1, +1, (3*2,), dtype=np.float32)
112108

113109
self.reset()
114110

@@ -445,17 +441,33 @@ def _get_info(self):
445441
winner=self.winner
446442
)
447443

444+
445+
def discrete_to_continous_action(self, discrete_action):
446+
''' converts discrete actions into continuous ones (for each player)
447+
The actions allow only one operation each timestep, e.g. X or Y or angle change.
448+
This is surely limiting. Other discrete actions are possible
449+
Action 0: do nothing
450+
Action 1: -1 in x
451+
Action 2: 1 in x
452+
Action 3: -1 in y
453+
Action 4: 1 in y
454+
Action 5: -1 in angle
455+
Action 6: 1 in angle
456+
'''
457+
action_cont = [(discrete_action==1) * -1 + (discrete_action==2) * 1, # player x
458+
(discrete_action==3) * -1 + (discrete_action==4) * 1, # player y
459+
(discrete_action==5) * -1 + (discrete_action==6) * 1] # player angle
460+
461+
return action_cont
462+
463+
448464
def step(self, action):
449-
if self.continuous:
450-
action = np.clip(action, -1, +1).astype(np.float32)
451-
else:
452-
assert self.action_space.contains(action), "%r (%s) invalid " % (action, type(action))
453-
pass
465+
action = np.clip(action, -1, +1).astype(np.float32)
454466

455467
self._apply_action_with_max_speed(self.player1, action[:2], 10, True)
456468
self.player1.ApplyTorque(action[2] * TORQUEMULTIPLAYER, True)
457469
self._apply_action_with_max_speed(self.player2, action[3:5], 10, False)
458-
self.player2.ApplyTorque(action[5] * TORQUEMULTIPLAYER, True)
470+
self.player2.ApplyTorque(-action[5] * TORQUEMULTIPLAYER, True)
459471

460472
self.world.Step(self.timeStep, 6 * 30, 2 * 30)
461473

@@ -502,7 +514,3 @@ def close(self):
502514
if self.viewer is not None:
503515
self.viewer.close()
504516
self.viewer = None
505-
506-
507-
class LaserHockeyEnvContinuous(LaserHockeyEnv):
508-
continuous = True

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