Gymnasium/gym/spaces/utils.py

"""Implementation of utility functions that can be applied to spaces.

These functions mostly take care of flattening and unflattening elements of spaces
 to facilitate their usage in learning code.
"""
import operator as op
from collections import OrderedDict
from functools import reduce, singledispatch
from typing import Dict as TypingDict
from typing import TypeVar, Union, cast

import numpy as np

from gym.spaces import (
    Box,
    Dict,
    Discrete,
    Graph,
    GraphInstance,
    MultiBinary,
    MultiDiscrete,
    Sequence,
    Space,
    Text,
    Tuple,
)


@singledispatch
def flatdim(space: Space) -> int:
    """Return the number of dimensions a flattened equivalent of this space would have.

    Example usage::

        >>> from gym.spaces import Discrete
        >>> space = Dict({"position": Discrete(2), "velocity": Discrete(3)})
        >>> flatdim(space)
        5

    Args:
        space: The space to return the number of dimensions of the flattened spaces

    Returns:
        The number of dimensions for the flattened spaces

    Raises:
         NotImplementedError: if the space is not defined in ``gym.spaces``.
         ValueError: if the space cannot be flattened into a :class:`Box`
    """
    if not space.is_np_flattenable:
        raise ValueError(
            f"{space} cannot be flattened to a numpy array, probably because it contains a `Graph` or `Sequence` subspace"
        )

    raise NotImplementedError(f"Unknown space: `{space}`")


@flatdim.register(Box)
@flatdim.register(MultiBinary)
def _flatdim_box_multibinary(space: Union[Box, MultiBinary]) -> int:
    return reduce(op.mul, space.shape, 1)


@flatdim.register(Discrete)
def _flatdim_discrete(space: Discrete) -> int:
    return int(space.n)


@flatdim.register(MultiDiscrete)
def _flatdim_multidiscrete(space: MultiDiscrete) -> int:
    return int(np.sum(space.nvec))


@flatdim.register(Tuple)
def _flatdim_tuple(space: Tuple) -> int:
    if space.is_np_flattenable:
        return sum(flatdim(s) for s in space.spaces)
    raise ValueError(
        f"{space} cannot be flattened to a numpy array, probably because it contains a `Graph` or `Sequence` subspace"
    )


@flatdim.register(Dict)
def _flatdim_dict(space: Dict) -> int:
    if space.is_np_flattenable:
        return sum(flatdim(s) for s in space.spaces.values())
    raise ValueError(
        f"{space} cannot be flattened to a numpy array, probably because it contains a `Graph` or `Sequence` subspace"
    )


@flatdim.register(Graph)
def _flatdim_graph(space: Graph):
    raise ValueError(
        "Cannot get flattened size as the Graph Space in Gym has a dynamic size."
    )


@flatdim.register(Text)
def _flatdim_text(space: Text) -> int:
    return space.max_length


T = TypeVar("T")
FlatType = Union[np.ndarray, TypingDict, tuple, GraphInstance]


@singledispatch
def flatten(space: Space[T], x: T) -> FlatType:
    """Flatten a data point from a space.

    This is useful when e.g. points from spaces must be passed to a neural
    network, which only understands flat arrays of floats.

    Args:
        space: The space that ``x`` is flattened by
        x: The value to flatten

    Returns:
        - For ``Box`` and ``MultiBinary``, this is a flattened array
        - For ``Discrete`` and ``MultiDiscrete``, this is a flattened one-hot array of the sample
        - For ``Tuple`` and ``Dict``, this is a concatenated array the subspaces (does not support graph subspaces)
        - For graph spaces, returns `GraphInstance` where:
            - `nodes` are n x k arrays
            - `edges` are either:
                - m x k arrays
                - None
            - `edge_links` are either:
                - m x 2 arrays
                - None

    Raises:
        NotImplementedError: If the space is not defined in ``gym.spaces``.
    """
    raise NotImplementedError(f"Unknown space: `{space}`")


@flatten.register(Box)
@flatten.register(MultiBinary)
def _flatten_box_multibinary(space, x) -> np.ndarray:
    return np.asarray(x, dtype=space.dtype).flatten()


@flatten.register(Discrete)
def _flatten_discrete(space, x) -> np.ndarray:
    onehot = np.zeros(space.n, dtype=space.dtype)
    onehot[x - space.start] = 1
    return onehot


@flatten.register(MultiDiscrete)
def _flatten_multidiscrete(space, x) -> np.ndarray:
    offsets = np.zeros((space.nvec.size + 1,), dtype=space.dtype)
    offsets[1:] = np.cumsum(space.nvec.flatten())

    onehot = np.zeros((offsets[-1],), dtype=space.dtype)
    onehot[offsets[:-1] + x.flatten()] = 1
    return onehot


@flatten.register(Tuple)
def _flatten_tuple(space, x) -> Union[tuple, np.ndarray]:
    if space.is_np_flattenable:
        return np.concatenate(
            [flatten(s, x_part) for x_part, s in zip(x, space.spaces)]
        )
    return tuple(flatten(s, x_part) for x_part, s in zip(x, space.spaces))


@flatten.register(Dict)
def _flatten_dict(space, x) -> Union[dict, np.ndarray]:
    if space.is_np_flattenable:
        return np.concatenate([flatten(s, x[key]) for key, s in space.spaces.items()])
    return OrderedDict((key, flatten(s, x[key])) for key, s in space.spaces.items())


@flatten.register(Graph)
def _flatten_graph(space, x) -> GraphInstance:
    """We're not using `.unflatten() for :class:`Box` and :class:`Discrete` because a graph is not a homogeneous space, see `.flatten` docstring."""

    def _graph_unflatten(unflatten_space, unflatten_x):
        ret = None
        if unflatten_space is not None and unflatten_x is not None:
            if isinstance(unflatten_space, Box):
                ret = unflatten_x.reshape(unflatten_x.shape[0], -1)
            elif isinstance(unflatten_space, Discrete):
                ret = np.zeros(
                    (unflatten_x.shape[0], unflatten_space.n - unflatten_space.start),
                    dtype=unflatten_space.dtype,
                )
                ret[
                    np.arange(unflatten_x.shape[0]), unflatten_x - unflatten_space.start
                ] = 1
        return ret

    nodes = _graph_unflatten(space.node_space, x.nodes)
    edges = _graph_unflatten(space.edge_space, x.edges)

    return GraphInstance(nodes, edges, x.edge_links)


@flatten.register(Text)
def _flatten_text(space: Text, x: str) -> np.ndarray:
    arr = np.full(
        shape=(space.max_length,), fill_value=len(space.character_set), dtype=np.int32
    )
    for i, val in enumerate(x):
        arr[i] = space.character_index(val)
    return arr


@flatten.register(Sequence)
def _flatten_sequence(space, x) -> tuple:
    return tuple(flatten(space.feature_space, item) for item in x)


@singledispatch
def unflatten(space: Space[T], x: FlatType) -> T:
    """Unflatten a data point from a space.

    This reverses the transformation applied by :func:`flatten`. You must ensure
    that the ``space`` argument is the same as for the :func:`flatten` call.

    Args:
        space: The space used to unflatten ``x``
        x: The array to unflatten

    Returns:
        A point with a structure that matches the space.

    Raises:
        NotImplementedError: if the space is not defined in ``gym.spaces``.
    """
    raise NotImplementedError(f"Unknown space: `{space}`")


@unflatten.register(Box)
@unflatten.register(MultiBinary)
def _unflatten_box_multibinary(
    space: Union[Box, MultiBinary], x: np.ndarray
) -> np.ndarray:
    return np.asarray(x, dtype=space.dtype).reshape(space.shape)


@unflatten.register(Discrete)
def _unflatten_discrete(space: Discrete, x: np.ndarray) -> int:
    return int(space.start + np.nonzero(x)[0][0])


@unflatten.register(MultiDiscrete)
def _unflatten_multidiscrete(space: MultiDiscrete, x: np.ndarray) -> np.ndarray:
    offsets = np.zeros((space.nvec.size + 1,), dtype=space.dtype)
    offsets[1:] = np.cumsum(space.nvec.flatten())

    (indices,) = cast(type(offsets[:-1]), np.nonzero(x))
    return np.asarray(indices - offsets[:-1], dtype=space.dtype).reshape(space.shape)


@unflatten.register(Tuple)
def _unflatten_tuple(space: Tuple, x: Union[np.ndarray, tuple]) -> tuple:
    if space.is_np_flattenable:
        assert isinstance(
            x, np.ndarray
        ), f"{space} is numpy-flattenable. Thus, you should only unflatten numpy arrays for this space. Got a {type(x)}"
        dims = np.asarray([flatdim(s) for s in space.spaces], dtype=np.int_)
        list_flattened = np.split(x, np.cumsum(dims[:-1]))
        return tuple(
            unflatten(s, flattened)
            for flattened, s in zip(list_flattened, space.spaces)
        )
    assert isinstance(
        x, tuple
    ), f"{space} is not numpy-flattenable. Thus, you should only unflatten tuples for this space. Got a {type(x)}"
    return tuple(unflatten(s, flattened) for flattened, s in zip(x, space.spaces))


@unflatten.register(Dict)
def _unflatten_dict(space: Dict, x: Union[np.ndarray, TypingDict]) -> dict:
    if space.is_np_flattenable:
        dims = np.asarray([flatdim(s) for s in space.spaces.values()], dtype=np.int_)
        list_flattened = np.split(x, np.cumsum(dims[:-1]))
        return OrderedDict(
            [
                (key, unflatten(s, flattened))
                for flattened, (key, s) in zip(list_flattened, space.spaces.items())
            ]
        )
    assert isinstance(
        x, dict
    ), f"{space} is not numpy-flattenable. Thus, you should only unflatten dictionary for this space. Got a {type(x)}"
    return OrderedDict((key, unflatten(s, x[key])) for key, s in space.spaces.items())


@unflatten.register(Graph)
def _unflatten_graph(space: Graph, x: GraphInstance) -> GraphInstance:
    """We're not using `.unflatten() for :class:`Box` and :class:`Discrete` because a graph is not a homogeneous space.

    The size of the outcome is actually not fixed, but determined based on the number of
    nodes and edges in the graph.
    """

    def _graph_unflatten(space, x):
        ret = None
        if space is not None and x is not None:
            if isinstance(space, Box):
                ret = x.reshape(-1, *space.shape)
            elif isinstance(space, Discrete):
                ret = np.asarray(np.nonzero(x))[-1, :]
        return ret

    nodes = _graph_unflatten(space.node_space, x.nodes)
    edges = _graph_unflatten(space.edge_space, x.edges)

    return GraphInstance(nodes, edges, x.edge_links)


@unflatten.register(Text)
def _unflatten_text(space: Text, x: np.ndarray) -> str:
    return "".join(
        [space.character_list[val] for val in x if val < len(space.character_set)]
    )


@unflatten.register(Sequence)
def _unflatten_sequence(space: Sequence, x: tuple) -> tuple:
    return tuple(unflatten(space.feature_space, item) for item in x)


@singledispatch
def flatten_space(space: Space) -> Union[Dict, Sequence, Tuple, Graph]:
    """Flatten a space into a space that is as flat as possible.

    This function will attempt to flatten `space` into a single :class:`Box` space.
    However, this might not be possible when `space` is an instance of :class:`Graph`,
    :class:`Sequence` or a compound space that contains a :class:`Graph` or :class:`Sequence`space.
    This is equivalent to :func:`flatten`, but operates on the space itself. The
    result for non-graph spaces is always a `Box` with flat boundaries. While
    the result for graph spaces is always a `Graph` with `node_space` being a `Box`
    with flat boundaries and `edge_space` being a `Box` with flat boundaries or
    `None`. The box has exactly :func:`flatdim` dimensions. Flattening a sample
    of the original space has the same effect as taking a sample of the flattenend
    space.

    Example::

        >>> box = Box(0.0, 1.0, shape=(3, 4, 5))
        >>> box
        Box(3, 4, 5)
        >>> flatten_space(box)
        Box(60,)
        >>> flatten(box, box.sample()) in flatten_space(box)
        True

    Example that flattens a discrete space::

        >>> discrete = Discrete(5)
        >>> flatten_space(discrete)
        Box(5,)
        >>> flatten(box, box.sample()) in flatten_space(box)
        True

    Example that recursively flattens a dict::

        >>> space = Dict({"position": Discrete(2), "velocity": Box(0, 1, shape=(2, 2))})
        >>> flatten_space(space)
        Box(6,)
        >>> flatten(space, space.sample()) in flatten_space(space)
        True


    Example that flattens a graph::

        >>> space = Graph(node_space=Box(low=-100, high=100, shape=(3, 4)), edge_space=Discrete(5))
        >>> flatten_space(space)
        Graph(Box(-100.0, 100.0, (12,), float32), Box(0, 1, (5,), int64))
        >>> flatten(space, space.sample()) in flatten_space(space)
        True

    Args:
        space: The space to flatten

    Returns:
        A flattened Box

    Raises:
        NotImplementedError: if the space is not defined in ``gym.spaces``.
    """
    raise NotImplementedError(f"Unknown space: `{space}`")


@flatten_space.register(Box)
def _flatten_space_box(space: Box) -> Box:
    return Box(space.low.flatten(), space.high.flatten(), dtype=space.dtype)


@flatten_space.register(Discrete)
@flatten_space.register(MultiBinary)
@flatten_space.register(MultiDiscrete)
def _flatten_space_binary(space: Union[Discrete, MultiBinary, MultiDiscrete]) -> Box:
    return Box(low=0, high=1, shape=(flatdim(space),), dtype=space.dtype)


@flatten_space.register(Tuple)
def _flatten_space_tuple(space: Tuple) -> Union[Box, Tuple]:
    if space.is_np_flattenable:
        space_list = [flatten_space(s) for s in space.spaces]
        return Box(
            low=np.concatenate([s.low for s in space_list]),
            high=np.concatenate([s.high for s in space_list]),
            dtype=np.result_type(*[s.dtype for s in space_list]),
        )
    return Tuple(spaces=[flatten_space(s) for s in space.spaces])


@flatten_space.register(Dict)
def _flatten_space_dict(space: Dict) -> Union[Box, Dict]:
    if space.is_np_flattenable:
        space_list = [flatten_space(s) for s in space.spaces.values()]
        return Box(
            low=np.concatenate([s.low for s in space_list]),
            high=np.concatenate([s.high for s in space_list]),
            dtype=np.result_type(*[s.dtype for s in space_list]),
        )
    return Dict(
        spaces=OrderedDict(
            (key, flatten_space(space)) for key, space in space.spaces.items()
        )
    )


@flatten_space.register(Graph)
def _flatten_space_graph(space: Graph) -> Graph:
    return Graph(
        node_space=flatten_space(space.node_space),
        edge_space=flatten_space(space.edge_space)
        if space.edge_space is not None
        else None,
    )


@flatten_space.register(Text)
def _flatten_space_text(space: Text) -> Box:
    return Box(
        low=0, high=len(space.character_set), shape=(space.max_length,), dtype=np.int32
    )


@flatten_space.register(Sequence)
def _flatten_space_sequence(space: Sequence) -> Sequence:
    return Sequence(flatten_space(space.feature_space))