journey/environments.py at main · Fittiboy/journey · GitHub

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import numpy as np
import matplotlib.pyplot as plt
import seaborn as sns
import imageio
import os

from dataclasses import dataclass
from abc import ABC, abstractmethod

################################
# Base Environment class
################################

@dataclass
class Environment(ABC):
    """An MDP for an RL agent to interact with and learn from"""
    num_states: int
    num_actions: int
    name: str

    @abstractmethod
    def reset(self) -> int:
        """Set the environment to its initial state"""
        pass

    @abstractmethod
    def step(self, a) -> (int, int, bool, list | None):
        """Progress one time step, using the provided action"""
        pass

    def state_to_index(self, state):
        """
        Turn internal state into a single-number index.
        """
        return state

    def index_to_state(self, index):
        """
        Turn single number index into internal state.
        """
        return index

    def state_repr(self, state):
        """
        Return the state ready for rendering as a heatmap.
        """
        return state

    def render_episode(self, episode, ep_name="Episode"):
        filename = f'animations/{self.name}_{ep_name}.gif'
        tmp_filename = f'temp_frame_{self.name}_{ep_name}.png'
        frames = []
        for index in episode:
            state = self.index_to_state(index)
            state_repr = self.state_repr(state)
            fig, ax = plt.subplots(figsize=(6, 6))
            sns.heatmap(state_repr, ax=ax, cbar=False)
            ax.axis('off')
            plt.savefig(tmp_filename, bbox_inches='tight', pad_inches=0)
            frames.append(imageio.v2.imread(tmp_filename))
            plt.close()

        imageio.mimsave(filename, frames, fps=2, loop=0)
        os.remove(tmp_filename)

        return filename

################################
# Simple gridworld for testing
################################

class DummyGridworld(Environment):
    """
    Simple dummy gridworld for testing purposes.

    Consists of n states, where states 0 and n-1 are terminal.
    Transitioning to state 0 gives -1 reward, to n-1 +1.
    """
    def __init__(self, n, name="Dummy Gridworld"):
        super().__init__(n, 2, name)

        self.reset()

    def reset(self):
        self.state = self.num_states // 2
        return self.state

    def step(self, action):
        ds = -1 if action == 0 else 1
        self.state += ds
        s, reward, done = self.state, 0, False

        if s == self.num_states - 1:
            reward, done = 1, True
        elif s == 0:
            reward, done = -1, True

        if done:
            self.reset()

        return s, reward, done

################################
# Racetrack Environment
################################

class RaceTrack(Environment):
    """Racetrack environment from Sutton & Barto"""
    def __init__(self, track, name="Racetrack"):
        self.track = track
        self.max_speed = 5

        # Range of possible velocities for each component
        vs = 2 * self.max_speed + 1

        # Shift required to convert between internal state
        # and numerical index representation
        self.vel_shift = vs // 2

        # (x, v, xv, yv)
        self.state_space = (self.track.shape[0], self.track.shape[1], vs, vs)
        # -1 to +1 for each direction
        self.action_space = (3, 3)

        # When evaluating an agent, disable random chance of
        # ignoring actions
        self.eval = False

        # Ensure the environment is always initialized consistently
        self.reset()

        # Initialize required interface variables
        num_states = np.prod(self.state_space)
        num_actions = np.prod(self.action_space)
        super().__init__(num_states, num_actions, name)

    def reset(self):
        # Coordinates of all possible starting locations
        start_xs, start_ys = np.where(self.track == 2)
        # Each episode starts in a random starting location
        i = np.random.choice(range(len(start_ys)))

        # (x, y, xv, yv)
        self.state = (start_xs[i], start_ys[i], 0, 0)

        return self.state_to_index(self.state)

    def index_to_action(i):
        """Convert action index to acceleration"""
        actions = np.array([
            (-1, -1), (-1, 0), (-1, 1),
            ( 0, -1), ( 0, 0), ( 0, 1),
            ( 1, -1), ( 1, 0), ( 1, 1),
        ])

        return actions[i]

    def clamp(val, lower, upper):
        return max(lower, min(upper, val))

    def clamp_speed(self, speed):
        return RaceTrack.clamp(speed, -self.max_speed, self.max_speed)

    def set_train(self):
        self.eval = False

    def set_eval(self):
        self.eval = True

    def step(self, action_index):
        state, reward, done = self._step(action_index)
        return self.state_to_index(state), reward, done

    def _step(self, action_index):
        x, y, xv_old, yv_old = self.state
        dx, dy = RaceTrack.index_to_action(action_index)
        xv = self.clamp_speed(xv_old + dx)
        yv = self.clamp_speed(yv_old + dy)

        # Reset speed in one direction if both are zero
        if xv == 0 and yv == 0:
            if np.random.random() > 0.5:
                xv = xv_old
            else:
                yv = yv_old

        # During training, inject some noise by ignoring actions
        # sometimes
        if not self.eval and np.random.random() < 0.1:
            xv, yv = xv_old, yv_old

        to_go = [xv, yv]
        reward, done = -1, False

        while to_go[0] != 0 or to_go[1] != 0:
            if to_go[0] != 0 and to_go[1] != 0:
                d = 0 if np.random.random() > 0.5 else 1
            elif to_go[0] != 0:
                d = 0
            else:
                d = 1

            sign = to_go[d] / abs(to_go[d])
            if d == 0:
                x += sign
            else:
                y += sign
            to_go[d] -= sign

            x, y = int(x), int(y)

            # The car has left the bounds of the grid world itself
            if x not in range(self.track.shape[0]) or y not in range(self.track.shape[1]):
                self.reset()
                x, y, xv, yv = self.state
                reward, done = -2, False
                break

            # Type of tile the car is on
            loc = self.track[x, y]

            # The car has hit a boundary of the track
            if loc == 0:
                self.reset()
                x, y, xv, yv = self.state
                reward, done = -2, False
                break
            # The car has reached the finish line
            elif loc == 3:
                self.reset()
                x, y, xv, yv = self.state
                reward, done = 100, True
                break

        if not done:
            self.state = (x, y, xv, yv)

        return self.state, reward, done

    def state_to_index(self, state):
        x, y, xv, yv = state
        xv += self.vel_shift
        yv += self.vel_shift
        return np.ravel_multi_index((x, y, xv, yv), self.state_space)

    def index_to_state(self, index):
        x, y, xv, yv = np.unravel_index(index, self.state_space)
        xv -= self.vel_shift
        yv -= self.vel_shift
        return x, y, xv, yv

    def state_repr(self, state):
        track_state = self.track.copy()
        track_state[state[0], state[1]] = 10
        return track_state

    ################################
    # Specific racetracks
    ################################

    # 1 = Track
    # 2 = Start
    # 3 = Finish
    track_easy = np.array([
        [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 2, 2, 2, 2, 0, 0, 0, 0, 0, 0],
    ])
    track_hard = np.array([
        [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
    ])
    track_challenge = np.array([
        [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0],
        [0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0],
        [0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0],
        [0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0],
        [0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0],
        [0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0],
        [0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0],
        [0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0],
        [0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 2, 2, 2, 2, 0, 0, 0, 0, 0, 0],
    ])
    track_impossible = np.array([
        [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3],
        [0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0],
        [0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0],
        [0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0],
        [0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0],
        [0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0],
        [0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0],
        [0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0],
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