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Doom - Same Action Space Across Environments (#157)

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* Doom - Added reward_threshold and timestep_limit for all environments

* Doom - Returning all available game variables

* Doom - Moved _seed to doom_env to avoid repetition in every environment

* Doom - Added ALT_ATTACK and made all action_space equivalent (same controls between environments).

* Doom - Actions can either be a short list of allowed actions or the full list of 41 commands

* Doom - Returning black observation space on error or is_finished, rather than empty list (which was triggering an error)

* Doom - HighLow.sample() returns the small list.

* Doom - Updated difficulty for some missions

* Doom - Fixed inconsistency between controls.md and deathmatch.cfg

* Doom - Issue #168 - Remove sleep statement from DoomEnv render

* Doom - Only using full action space (43 keys)

- Added 'normal', 'fast' and 'human' mode
- Set non-deterministic to True
- Set video.frames_per_second to 35
- Properly returning game variables

* Replaced warnings.warn by logger.warn

* Doom - Added NUM_ACTIONS and action_idx instead of x

* Doom - Added NUM_ACTIONS and action_idx instead of x

* Doom - reset() only calls game.new_episode() after first call

* Doom is now deterministic

* Doom - Partial fix for issue #167 - DoomDeathmatch environment crashes sporadically

* Doom - Standardized envs, simplified _reset

* Doom - Removed temporary fix for issue #167

* Doom - Added scoreboard summary and description
This commit is contained in:
Philip Paquette
2016-06-14 18:57:47 -04:00
committed by jietang
parent 5b8603066c
commit aff7a643cc
26 changed files with 803 additions and 416 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
gym/envs/__init__.py
View File

@@ -299,46 +299,64 @@ register(
register(
id='DoomBasic-v0',
entry_point='gym.envs.doom:DoomBasicEnv',
timestep_limit=10000,
reward_threshold=10.0,
)
register(
id='DoomCorridor-v0',
entry_point='gym.envs.doom:DoomCorridorEnv',
timestep_limit=10000,
reward_threshold=1000.0,
)
register(
id='DoomDefendCenter-v0',
entry_point='gym.envs.doom:DoomDefendCenterEnv',
timestep_limit=10000,
reward_threshold=10.0,
)
register(
id='DoomDefendLine-v0',
entry_point='gym.envs.doom:DoomDefendLineEnv',
timestep_limit=10000,
reward_threshold=15.0,
)
register(
id='DoomHealthGathering-v0',
entry_point='gym.envs.doom:DoomHealthGatheringEnv',
timestep_limit=10000,
reward_threshold=1000.0,
)
register(
id='DoomMyWayHome-v0',
entry_point='gym.envs.doom:DoomMyWayHomeEnv',
timestep_limit=10000,
reward_threshold=0.5,
)
register(
id='DoomPredictPosition-v0',
entry_point='gym.envs.doom:DoomPredictPositionEnv',
timestep_limit=10000,
reward_threshold=0.5,
)
register(
id='DoomTakeCover-v0',
entry_point='gym.envs.doom:DoomTakeCoverEnv',
timestep_limit=10000,
reward_threshold=750.0,
)
register(
id='DoomDeathmatch-v0',
entry_point='gym.envs.doom:DoomDeathmatchEnv',
timestep_limit=10000,
reward_threshold=20.0,
)
# Debugging

20
gym/envs/doom/assets/basic.cfg
View File

@@ -32,13 +32,29 @@ available_buttons =
available_game_variables =
{
KILLCOUNT
ITEMCOUNT
SECRETCOUNT
FRAGCOUNT
HEALTH
ARMOR
DEAD
ON_GROUND
ATTACK_READY
ALTATTACK_READY
SELECTED_WEAPON
SELECTED_WEAPON_AMMO
AMMO1
AMMO2
AMMO3
AMMO4
AMMO5
AMMO6
AMMO7
AMMO8
AMMO9
AMMO0
}
mode = PLAYER
doom_skill = 5
sound_enabled = false

20
gym/envs/doom/assets/deadly_corridor.cfg
View File

@@ -35,13 +35,29 @@ available_buttons =
available_game_variables =
{
KILLCOUNT
ITEMCOUNT
SECRETCOUNT
FRAGCOUNT
HEALTH
ARMOR
DEAD
ON_GROUND
ATTACK_READY
ALTATTACK_READY
SELECTED_WEAPON
SELECTED_WEAPON_AMMO
AMMO1
AMMO2
AMMO3
AMMO4
AMMO5
AMMO6
AMMO7
AMMO8
AMMO9
AMMO0
}
mode = PLAYER
doom_skill = 5
sound_enabled = false

13
gym/envs/doom/assets/deathmatch.cfg
View File

@@ -76,8 +76,15 @@ available_buttons =
available_game_variables =
{
KILLCOUNT
ITEMCOUNT
SECRETCOUNT
FRAGCOUNT
HEALTH
ARMOR
DEAD
ON_GROUND
ATTACK_READY
ALTATTACK_READY
SELECTED_WEAPON
SELECTED_WEAPON_AMMO
@@ -88,8 +95,10 @@ available_game_variables =
AMMO4
AMMO5
AMMO6
AMMO7
AMMO8
AMMO9
AMMO0
}
mode = PLAYER
doom_skill = 5
sound_enabled = false

20
gym/envs/doom/assets/defend_the_center.cfg
View File

@@ -32,13 +32,29 @@ available_buttons =
available_game_variables =
{
KILLCOUNT
ITEMCOUNT
SECRETCOUNT
FRAGCOUNT
HEALTH
ARMOR
DEAD
ON_GROUND
ATTACK_READY
ALTATTACK_READY
SELECTED_WEAPON
SELECTED_WEAPON_AMMO
AMMO1
AMMO2
AMMO3
AMMO4
AMMO5
AMMO6
AMMO7
AMMO8
AMMO9
AMMO0
}
mode = PLAYER
doom_skill = 3
sound_enabled = false

20
gym/envs/doom/assets/defend_the_line.cfg
View File

@@ -32,13 +32,29 @@ available_buttons =
available_game_variables =
{
KILLCOUNT
ITEMCOUNT
SECRETCOUNT
FRAGCOUNT
HEALTH
ARMOR
DEAD
ON_GROUND
ATTACK_READY
ALTATTACK_READY
SELECTED_WEAPON
SELECTED_WEAPON_AMMO
AMMO1
AMMO2
AMMO3
AMMO4
AMMO5
AMMO6
AMMO7
AMMO8
AMMO9
AMMO0
}
mode = PLAYER
doom_skill = 5
sound_enabled = false

20
gym/envs/doom/assets/health_gathering.cfg
View File

@@ -33,14 +33,30 @@ available_buttons =
available_game_variables =
{
KILLCOUNT
ITEMCOUNT
SECRETCOUNT
FRAGCOUNT
HEALTH
ARMOR
DEAD
ON_GROUND
ATTACK_READY
ALTATTACK_READY
SELECTED_WEAPON
SELECTED_WEAPON_AMMO
AMMO1
AMMO2
AMMO3
AMMO4
AMMO5
AMMO6
AMMO7
AMMO8
AMMO9
AMMO0
}
mode = PLAYER
doom_skill = 5
sound_enabled = false

25
gym/envs/doom/assets/my_way_home.cfg
View File

@@ -17,8 +17,8 @@ render_particles = false
# make episodes start after 14 tics (after unholstering the gun) (35 tics per seconds)
episode_start_time = 14
# Make episodes finish after 4200 tics (2 minutes)
episode_timeout = 4200
# Make episodes finish after 2100 tics (1 minutes)
episode_timeout = 2100
# Available buttons
available_buttons =
@@ -32,14 +32,29 @@ available_buttons =
available_game_variables =
{
KILLCOUNT
ITEMCOUNT
SECRETCOUNT
FRAGCOUNT
HEALTH
ARMOR
DEAD
ON_GROUND
ATTACK_READY
ALTATTACK_READY
SELECTED_WEAPON
SELECTED_WEAPON_AMMO
AMMO0
AMMO1
AMMO2
AMMO3
AMMO4
AMMO5
AMMO6
AMMO7
AMMO8
AMMO9
AMMO0
}
mode = PLAYER
doom_skill = 5
sound_enabled = false

20
gym/envs/doom/assets/predict_position.cfg
View File

@@ -32,14 +32,30 @@ available_buttons =
available_game_variables =
{
KILLCOUNT
ITEMCOUNT
SECRETCOUNT
FRAGCOUNT
HEALTH
ARMOR
DEAD
ON_GROUND
ATTACK_READY
ALTATTACK_READY
SELECTED_WEAPON
SELECTED_WEAPON_AMMO
AMMO1
AMMO2
AMMO3
AMMO4
AMMO5
AMMO6
AMMO7
AMMO8
AMMO9
AMMO0
}
mode = PLAYER
doom_skill = 3
sound_enabled = false

20
gym/envs/doom/assets/take_cover.cfg
View File

@@ -31,13 +31,29 @@ available_buttons =
available_game_variables =
{
KILLCOUNT
ITEMCOUNT
SECRETCOUNT
FRAGCOUNT
HEALTH
ARMOR
DEAD
ON_GROUND
ATTACK_READY
ALTATTACK_READY
SELECTED_WEAPON
SELECTED_WEAPON_AMMO
AMMO1
AMMO2
AMMO3
AMMO4
AMMO5
AMMO6
AMMO7
AMMO8
AMMO9
AMMO0
}
mode = PLAYER
doom_skill = 5
sound_enabled = false

102
gym/envs/doom/controls.md
View File

@@ -2,21 +2,27 @@
Doom is usually played with a full keyboard, and multiple keys can be pressed at once.
To replicate this, we broke down the possible actions in 40 keys. Each key can be pressed (value of 1), or unpressed (value of 0).
To replicate this, we broke down the possible actions in 43 keys. Each key can be pressed (value of 1), or unpressed (value of 0).
The deltas (35 to 39) indicate speed of change (values 0 to 10), where higher values will make the player move faster on an axis.
The last 5 commands are deltas. [38] - LOOK_UP_DOWN_DELTA and [39] - TURN_LEFT_RIGHT_DELTA replicate mouse movement where values are in the
range -10 to +10. They represent mouse movement over the x and y axis. (e.g. +5 for LOOK_UP_DOWN_DELTA will make the player look up 5 degrees)
[40] - MOVE_FORWARD_BACKWARD_DELTA, [41] - MOVE_LEFT_RIGHT_DELTA, and [42] - MOVE_UP_DOWN_DELTA represent the speed on an axis.
Their values range from -100 to 100, where +100 is the maximum speed in one direction, and -100 is the maximum speed in the other.
(e.g. MOVE_FORWARD_BACKWARD_DELTA of +100 will make the player move forward at 100% of max speed, and -100 will make the player
move backward at 100% of max speed).
A list of values is expected to be passed as the action (e.g. [0, 1, 0, 0, 1, 0, .... ]).
Each map is restricted on what actions can be performed, but the mapping is the same across all maps.
Each mission is restricted on what actions can be performed, but the mapping is the same across all missions.
For example, if we want to [0] - ATTACK, [2] - JUMP, and [12] - MOVE_FORWARD at the same time, we would submit the following action:
For example, if we want to [0] - ATTACK, [2] - JUMP, and [13] - MOVE_FORWARD at the same time, we would submit the following action:
```python
action = [0] * 40
action = [0] * 43
action[0] = 1
action[2] = 1
action[12] = 1
action[13] = 1
```
The full list of possible actions is:
@@ -26,38 +32,52 @@ The full list of possible actions is:
* [2] - JUMP - Jump - Values 0 or 1
* [3] - CROUCH - Crouch - Values 0 or 1
* [4] - TURN180 - Perform 180 turn - Values 0 or 1
* [5] - RELOAD - Reload weapon - Values 0 or 1
* [6] - ZOOM - Toggle zoom in/out - Values 0 or 1
* [7] - SPEED - Run faster - Values 0 or 1
* [8] - STRAFE - Strafe (moving sideways in a circle) - Values 0 or 1
* [9] - MOVE_RIGHT - Move to the right - Values 0 or 1
* [10] - MOVE_LEFT - Move to the left - Values 0 or 1
* [11] - MOVE_BACKWARD - Move backward - Values 0 or 1
* [12] - MOVE_FORWARD - Move forward - Values 0 or 1
* [13] - TURN_RIGHT - Turn right - Values 0 or 1
* [14] - TURN_LEFT - Turn left - Values 0 or 1
* [15] - LOOK_UP - Look up - Values 0 or 1
* [16] - LOOK_DOWN - Look down - Values 0 or 1
* [17] - LAND - Land (e.g. drop from ladder) - Values 0 or 1
* [18] - SELECT_WEAPON1 - Select weapon 1 - Values 0 or 1
* [19] - SELECT_WEAPON2 - Select weapon 2 - Values 0 or 1
* [20] - SELECT_WEAPON3 - Select weapon 3 - Values 0 or 1
* [21] - SELECT_WEAPON4 - Select weapon 4 - Values 0 or 1
* [22] - SELECT_WEAPON5 - Select weapon 5 - Values 0 or 1
* [23] - SELECT_WEAPON6 - Select weapon 6 - Values 0 or 1
* [24] - SELECT_WEAPON7 - Select weapon 7 - Values 0 or 1
* [25] - SELECT_WEAPON8 - Select weapon 8 - Values 0 or 1
* [26] - SELECT_WEAPON9 - Select weapon 9 - Values 0 or 1
* [27] - SELECT_WEAPON0 - Select weapon 0 - Values 0 or 1
* [28] - SELECT_NEXT_WEAPON - Select next weapon - Values 0 or 1
* [29] - SELECT_PREV_WEAPON - Select previous weapon - Values 0 or 1
* [30] - DROP_SELECTED_WEAPON - Drop selected weapon - Values 0 or 1
* [31] - ACTIVATE_SELECTED_WEAPON - Activate selected weapon - Values 0 or 1
* [32] - SELECT_NEXT_ITEM - Select next item - Values 0 or 1
* [33] - SELECT_PREV_ITEM - Select previous item - Values 0 or 1
* [34] - DROP_SELECTED_ITEM - Drop selected item - Values 0 or 1
* [35] - LOOK_UP_DOWN_DELTA - Look Up - Values 0 to 10 (Higher value increases speed)
* [36] - TURN_LEFT_RIGHT_DELTA - Turn left/right - Values 0 to 10 (Higher value increases speed)
* [37] - MOVE_FORWARD_BACKWARD_DELTA - Move forward/backward - Values 0 to 10 (Higher value increases speed)
* [38] - MOVE_LEFT_RIGHT_DELTA - Move left/right - Values 0 to 10 (Higher value increases speed)
* [39] - MOVE_UP_DOWN_DELTA - Move up/down - Values 0 to 10 (Higher value increases speed)
* [5] - ALT_ATTACK - Perform alternate attack
* [6] - RELOAD - Reload weapon - Values 0 or 1
* [7] - ZOOM - Toggle zoom in/out - Values 0 or 1
* [8] - SPEED - Run faster - Values 0 or 1
* [9] - STRAFE - Strafe (moving sideways in a circle) - Values 0 or 1
* [10] - MOVE_RIGHT - Move to the right - Values 0 or 1
* [11] - MOVE_LEFT - Move to the left - Values 0 or 1
* [12] - MOVE_BACKWARD - Move backward - Values 0 or 1
* [13] - MOVE_FORWARD - Move forward - Values 0 or 1
* [14] - TURN_RIGHT - Turn right - Values 0 or 1
* [15] - TURN_LEFT - Turn left - Values 0 or 1
* [16] - LOOK_UP - Look up - Values 0 or 1
* [17] - LOOK_DOWN - Look down - Values 0 or 1
* [18] - MOVE_UP - Move up - Values 0 or 1
* [19] - MOVE_DOWN - Move down - Values 0 or 1
* [20] - LAND - Land (e.g. drop from ladder) - Values 0 or 1
* [21] - SELECT_WEAPON1 - Select weapon 1 - Values 0 or 1
* [22] - SELECT_WEAPON2 - Select weapon 2 - Values 0 or 1
* [23] - SELECT_WEAPON3 - Select weapon 3 - Values 0 or 1
* [24] - SELECT_WEAPON4 - Select weapon 4 - Values 0 or 1
* [25] - SELECT_WEAPON5 - Select weapon 5 - Values 0 or 1
* [26] - SELECT_WEAPON6 - Select weapon 6 - Values 0 or 1
* [27] - SELECT_WEAPON7 - Select weapon 7 - Values 0 or 1
* [28] - SELECT_WEAPON8 - Select weapon 8 - Values 0 or 1
* [29] - SELECT_WEAPON9 - Select weapon 9 - Values 0 or 1
* [30] - SELECT_WEAPON0 - Select weapon 0 - Values 0 or 1
* [31] - SELECT_NEXT_WEAPON - Select next weapon - Values 0 or 1
* [32] - SELECT_PREV_WEAPON - Select previous weapon - Values 0 or 1
* [33] - DROP_SELECTED_WEAPON - Drop selected weapon - Values 0 or 1
* [34] - ACTIVATE_SELECTED_WEAPON - Activate selected weapon - Values 0 or 1
* [35] - SELECT_NEXT_ITEM - Select next item - Values 0 or 1
* [36] - SELECT_PREV_ITEM - Select previous item - Values 0 or 1
* [37] - DROP_SELECTED_ITEM - Drop selected item - Values 0 or 1
* [38] - LOOK_UP_DOWN_DELTA - Look Up/Down - Range of -10 to 10 (integer).
- Value is the angle - +5 will look up 5 degrees, -5 will look down 5 degrees
* [39] - TURN_LEFT_RIGHT_DELTA - Turn Left/Right - Range of -10 to 10 (integer).
- Value is the angle - +5 will turn right 5 degrees, -5 will turn left 5 degrees
* [40] - MOVE_FORWARD_BACKWARD_DELTA - Speed of forward/backward movement - Range -100 to 100 (integer).
- +100 is max speed forward, -100 is max speed backward, 0 is no movement
* [41] - MOVE_LEFT_RIGHT_DELTA - Speed of left/right movement - Range -100 to 100 (integer).
- +100 is max speed right, -100 is max speed left, 0 is no movement
* [42] - MOVE_UP_DOWN_DELTA - Speed of up/down movement - Range -100 to 100 (integer).
- +100 is max speed up, -100 is max speed down, 0 is no movement
To control the player in 'human' mode, the following keys should work:
* Arrow Keys for MOVE_FORWARD, MOVE_BACKWARD, LEFT_TURN, RIGHT_TURN
* '<' and '>' for MOVE_RIGHT and MOVE_LEFT
* Ctrl (or left mouse click) for ATTACK

52
gym/envs/doom/doom_basic.py
View File

@@ -1,12 +1,5 @@
import logging
import os
import numpy as np
from doom_py import DoomGame, Mode, Button, GameVariable, ScreenFormat, ScreenResolution, Loader
from gym import error, spaces
from gym.envs.doom import doom_env
from gym.utils import seeding
logger = logging.getLogger(__name__)
@@ -20,48 +13,35 @@ class DoomBasicEnv(doom_env.DoomEnv):
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[9] - MOVE_RIGHT - Move to the right - Values 0 or 1
[10] - MOVE_LEFT - Move to the left - Values 0 or 1
[10] - MOVE_RIGHT - Move to the right - Values 0 or 1
[11] - MOVE_LEFT - Move to the left - Values 0 or 1
Note: see controls.md for details
Rewards:
+101 - Killing the monster
- 5 - Missing a shot
- 1 - Several times per second - Kill the monster faster!
- 1 - 35 times per second - Kill the monster faster!
Goal: 10 points
Kill the monster in 3 secs with 1 shot
Mode:
- env.mode can be 'fast', 'normal' or 'human' (e.g. env.mode = 'fast')
- 'fast' (default) will run as fast as possible (~75 fps) (best for simulation)
- 'normal' will run at roughly 35 fps (easier for human to watch)
- 'human' will let you play the game (keyboard only: Arrow Keys, '<', '>' and Ctrl)
Ends when:
- Monster is dead
- Player is dead
- Timeout (10 seconds - 350 frames)
Actions:
actions = [0] * 43
actions[0] = 0 # ATTACK
actions[10] = 1 # MOVE_RIGHT
actions[11] = 0 # MOVE_LEFT
-----------------------------------------------------
"""
def __init__(self):
super(DoomBasicEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/basic.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('basic.wad'))
self.game.set_doom_map('map01')
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
# 3 allowed actions [0, 9, 10] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3))
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self._seed()
def _seed(self, seed=None):
seed = seeding.hash_seed(seed) % 2**32
self.game.set_seed(seed)
return [seed]
super(DoomBasicEnv, self).__init__(0)

62
gym/envs/doom/doom_corridor.py
View File

@@ -1,12 +1,5 @@
import logging
import os
import numpy as np
from doom_py import DoomGame, Mode, Button, GameVariable, ScreenFormat, ScreenResolution, Loader
from gym import error, spaces
from gym.envs.doom import doom_env
from gym.utils import seeding
logger = logging.getLogger(__name__)
@@ -19,11 +12,11 @@ class DoomCorridorEnv(doom_env.DoomEnv):
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[9] - MOVE_RIGHT - Move to the right - Values 0 or 1
[10] - MOVE_LEFT - Move to the left - Values 0 or 1
[12] - MOVE_FORWARD - Move forward - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
[10] - MOVE_RIGHT - Move to the right - Values 0 or 1
[11] - MOVE_LEFT - Move to the left - Values 0 or 1
[13] - MOVE_FORWARD - Move forward - Values 0 or 1
[14] - TURN_RIGHT - Turn right - Values 0 or 1
[15] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
@@ -31,38 +24,29 @@ class DoomCorridorEnv(doom_env.DoomEnv):
- dX - For getting further from the vest
-100 - Penalty for being killed
Goal: 1,270 points
Reach the vest (try also killing guards, rather than just running)
Goal: 1,000 points
Reach the vest (or at least get past the guards in the 3rd group)
Mode:
- env.mode can be 'fast', 'normal' or 'human' (e.g. env.mode = 'fast')
- 'fast' (default) will run as fast as possible (~75 fps) (best for simulation)
- 'normal' will run at roughly 35 fps (easier for human to watch)
- 'human' will let you play the game (keyboard only: Arrow Keys, '<', '>' and Ctrl)
Ends when:
- Player touches vest
- Player is dead
- Timeout (1 minutes - 2,100 frames)
Actions:
actions = [0] * 43
actions[0] = 0 # ATTACK
actions[10] = 1 # MOVE_RIGHT
actions[11] = 0 # MOVE_LEFT
actions[13] = 0 # MOVE_FORWARD
actions[14] = 0 # TURN_RIGHT
actions[15] = 0 # TURN_LEFT
-----------------------------------------------------
"""
def __init__(self):
super(DoomCorridorEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/deadly_corridor.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('deadly_corridor.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
# action indexes are [0, 9, 10, 12, 13, 14]
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 6))
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self._seed()
def _seed(self, seed=None):
seed = seeding.hash_seed(seed) % 2**32
self.game.set_seed(seed)
return [seed]
super(DoomCorridorEnv, self).__init__(1)

51
gym/envs/doom/doom_deathmatch.py
View File

@@ -1,11 +1,4 @@
import logging
import os
import numpy as np
from doom_py import DoomGame, Mode, Button, GameVariable, ScreenFormat, ScreenResolution, Loader
from gym import error, spaces
from gym.utils import seeding
from gym.envs.doom import doom_env
logger = logging.getLogger(__name__)
@@ -22,37 +15,27 @@ class DoomDeathmatchEnv(doom_env.DoomEnv):
Rewards:
+1 - Killing a monster
Goal: 25 points
Kill 25 monsters without being killed
Goal: 20 points
Kill 20 monsters
Mode:
- env.mode can be 'fast', 'normal' or 'human' (e.g. env.mode = 'fast')
- 'fast' (default) will run as fast as possible (~75 fps) (best for simulation)
- 'normal' will run at roughly 35 fps (easier for human to watch)
- 'human' will let you play the game (mouse and full keyboard)
Ends when:
- Player is dead
- Timeout (3 minutes - 6,300 frames)
Actions:
actions = [0] * 43
actions[0] = 0 # ATTACK
actions[1] = 0 # USE
[...]
actions[42] = 0 # MOVE_UP_DOWN_DELTA
A full list of possible actions is available in controls.md
-----------------------------------------------------
"""
def __init__(self):
super(DoomDeathmatchEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/deathmatch.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('deathmatch.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
# 41 allowed actions (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 39 + [[0, 10, 0]] * 5))
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self._seed()
def _seed(self, seed=None):
seed = seeding.hash_seed(seed) % 2**32
self.game.set_seed(seed)
return [seed]
super(DoomDeathmatchEnv, self).__init__(8)

55
gym/envs/doom/doom_defend_center.py
View File

@@ -1,12 +1,5 @@
import logging
import os
import numpy as np
from doom_py import DoomGame, Mode, Button, GameVariable, ScreenFormat, ScreenResolution, Loader
from gym import error, spaces
from gym.envs.doom import doom_env
from gym.utils import seeding
logger = logging.getLogger(__name__)
@@ -17,51 +10,39 @@ class DoomDefendCenterEnv(doom_env.DoomEnv):
You will also need to keep an eye on your ammunition level. You are only
rewarded for kills, so figure out how to stay alive.
The map is a circle with monsters in the middle. Monsters will
The map is a circle with monsters. You are in the middle. Monsters will
respawn with additional health when killed. Kill as many as you can
before you run out of ammo.
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
[14] - TURN_RIGHT - Turn right - Values 0 or 1
[15] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Killing the monster
+ 1 - Killing a monster
- 1 - Penalty for being killed
Goal: 10 points
Kill 10 monsters (you have 26 ammo)
Kill 11 monsters (you have 26 ammo)
Mode:
- env.mode can be 'fast', 'normal' or 'human' (e.g. env.mode = 'fast')
- 'fast' (default) will run as fast as possible (~75 fps) (best for simulation)
- 'normal' will run at roughly 35 fps (easier for human to watch)
- 'human' will let you play the game (keyboard only: Arrow Keys, '<', '>' and Ctrl)
Ends when:
- Player is dead
- Timeout (60 seconds - 2100 frames)
Actions:
actions = [0] * 43
actions[0] = 0 # ATTACK
actions[14] = 1 # TURN_RIGHT
actions[15] = 0 # TURN_LEFT
-----------------------------------------------------
"""
def __init__(self):
super(DoomDefendCenterEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/defend_the_center.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('defend_the_center.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
# 3 allowed actions [0, 13, 14] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3))
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self._seed()
def _seed(self, seed=None):
seed = seeding.hash_seed(seed) % 2**32
self.game.set_seed(seed)
return [seed]
super(DoomDefendCenterEnv, self).__init__(2)

55
gym/envs/doom/doom_defend_line.py
View File

@@ -1,12 +1,5 @@
import logging
import os
import numpy as np
from doom_py import DoomGame, Mode, Button, GameVariable, ScreenFormat, ScreenResolution, Loader
from gym import error, spaces
from gym.envs.doom import doom_env
from gym.utils import seeding
logger = logging.getLogger(__name__)
@@ -17,49 +10,39 @@ class DoomDefendLineEnv(doom_env.DoomEnv):
Your ammo will automatically replenish. You are only rewarded for kills,
so figure out how to stay alive.
The map is a rectangle with monsters in the middle. Monsters will
The map is a rectangle with monsters on the other side. Monsters will
respawn with additional health when killed. Kill as many as you can
before they kill you. This map is harder than the previous.
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
[14] - TURN_RIGHT - Turn right - Values 0 or 1
[15] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Killing the monster
+ 1 - Killing a monster
- 1 - Penalty for being killed
Goal: 25 points
Kill 25 monsters
Goal: 15 points
Kill 16 monsters
Mode:
- env.mode can be 'fast', 'normal' or 'human' (e.g. env.mode = 'fast')
- 'fast' (default) will run as fast as possible (~75 fps) (best for simulation)
- 'normal' will run at roughly 35 fps (easier for human to watch)
- 'human' will let you play the game (keyboard only: Arrow Keys, '<', '>' and Ctrl)
Ends when:
- Player is dead
- Timeout (60 seconds - 2100 frames)
Actions:
actions = [0] * 43
actions[0] = 0 # ATTACK
actions[14] = 1 # TURN_RIGHT
actions[15] = 0 # TURN_LEFT
-----------------------------------------------------
"""
def __init__(self):
super(DoomDefendLineEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/defend_the_line.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('defend_the_line.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
# 3 allowed actions [0, 13, 14] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3))
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self._seed()
self.game.init()
self.game.new_episode()
def _seed(self, seed=None):
seed = seeding.hash_seed(seed) % 2**32
self.game.set_seed(seed)
return [seed]
super(DoomDefendLineEnv, self).__init__(3)

194
gym/envs/doom/doom_env.py
View File

@@ -1,57 +1,184 @@
import logging
import logging, os
from time import sleep
import numpy
import numpy as np
import gym
from gym import utils
from gym import utils, spaces
from gym.utils import seeding
try:
import doom_py
from doom_py import DoomGame, Mode, Button, GameVariable, ScreenFormat, ScreenResolution, Loader
except ImportError as e:
raise gym.error.DependencyNotInstalled("{}. (HINT: you can install Doom dependencies with 'pip install gym[doom].)'".format(e))
logger = logging.getLogger(__name__)
class DoomEnv(gym.Env, utils.EzPickle):
metadata = {'render.modes': ['human', 'rgb_array']}
# Constants
NUM_ACTIONS = 43
NUM_LEVELS = 9
CONFIG = 0
SCENARIO = 1
MAP = 2
DIFFICULTY = 3
ACTIONS = 4
MIN_SCORE = 5
TARGET_SCORE = 6
def __init__(self):
# Format (config, scenario, map, difficulty, actions, min, target)
DOOM_SETTINGS = [
['basic.cfg', 'basic.wad', 'map01', 5, [0, 10, 11], -485, 10], # 0 - Basic
['deadly_corridor.cfg', 'deadly_corridor.wad', '', 1, [0, 10, 11, 13, 14, 15], -120, 1000], # 1 - Corridor
['defend_the_center.cfg', 'defend_the_center.wad', '', 5, [0, 14, 15], -1, 10], # 2 - DefendCenter
['defend_the_line.cfg', 'defend_the_line.wad', '', 5, [0, 14, 15], -1, 15], # 3 - DefendLine
['health_gathering.cfg', 'health_gathering.wad', 'map01', 5, [13, 14, 15], 0, 1000], # 4 - HealthGathering
['my_way_home.cfg', 'my_way_home.wad', '', 5, [13, 14, 15], -0.22, 0.5], # 5 - MyWayHome
['predict_position.cfg', 'predict_position.wad', 'map01', 3, [0, 14, 15], -0.075, 0.5], # 6 - PredictPosition
['take_cover.cfg', 'take_cover.wad', 'map01', 5, [10, 11], 0, 750], # 7 - TakeCover
['deathmatch.cfg', 'deathmatch.wad', '', 5, list(range(NUM_ACTIONS)), 0, 20] # 8 - Deathmatch
]
class DoomEnv(gym.Env, utils.EzPickle):
metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 35}
def __init__(self, level):
utils.EzPickle.__init__(self)
self.previous_level = -1
self.level = level
self.game = DoomGame()
self.loader = Loader()
self.doom_dir = os.path.dirname(os.path.abspath(__file__))
self.mode = 'fast' # 'human', 'fast' or 'normal'
self.no_render = False # To disable double rendering in human mode
self.viewer = None
self.is_initialized = False # Indicates that reset() has been called
self.find_new_level = False # Indicates that we need a level change
self.curr_seed = 0
self.screen_height = 480
self.screen_width = 640
self.action_space = spaces.HighLow(
np.matrix([[0, 1, 0]] * 38 + [[-10, 10, 0]] * 2 + [[-100, 100, 0]] * 3, dtype=np.int8))
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self.allowed_actions = list(range(NUM_ACTIONS))
def _load_level(self):
# Closing if is_initialized
if self.is_initialized:
self.is_initialized = False
self.game.close()
self.game = DoomGame()
# Loading Paths
if not self.is_initialized:
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
# Common settings
self._closed = False
self.game.load_config(os.path.join(self.doom_dir, 'assets/%s' % DOOM_SETTINGS[self.level][CONFIG]))
self.game.set_doom_scenario_path(self.loader.get_scenario_path(DOOM_SETTINGS[self.level][SCENARIO]))
if DOOM_SETTINGS[self.level][MAP] != '':
self.game.set_doom_map(DOOM_SETTINGS[self.level][MAP])
self.game.set_doom_skill(DOOM_SETTINGS[self.level][DIFFICULTY])
self.previous_level = self.level
self.allowed_actions = DOOM_SETTINGS[self.level][ACTIONS]
# Algo mode
if 'human' != self.mode:
self.game.set_window_visible(False)
self.game.set_mode(Mode.PLAYER)
self.no_render = False
self.game.init()
self._start_episode()
self.is_initialized = True
return self.game.get_state().image_buffer.copy()
# Human mode
else:
self.game.add_game_args('+freelook 1')
self.game.set_window_visible(True)
self.game.set_mode(Mode.SPECTATOR)
self.no_render = True
self.game.init()
self._start_episode()
self.is_initialized = True
self._play_human_mode()
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8)
def _start_episode(self):
if self.curr_seed > 0:
self.game.set_seed(self.curr_seed)
self.game.new_episode()
return
def _play_human_mode(self):
while not self.game.is_episode_finished():
self.game.advance_action()
state = self.game.get_state()
total_reward = self.game.get_total_reward()
info = self._get_game_variables(state.game_variables)
info["TOTAL_REWARD"] = round(total_reward, 4)
print('===============================')
print('State: #' + str(state.number))
print('Action: \t' + str(self.game.get_last_action()) + '\t (=> only allowed actions)')
print('Reward: \t' + str(self.game.get_last_reward()))
print('Total Reward: \t' + str(total_reward))
print('Variables: \n' + str(info))
sleep(0.02857) # 35 fps = 0.02857 sleep between frames
print('===============================')
print('Done')
return
def _step(self, action):
# action is a np array but DoomGame.make_action expects a list of ints
list_action = [int(x) for x in action]
if NUM_ACTIONS != len(action):
logger.warn('Doom action list must contain %d items. Padding missing items with 0' % NUM_ACTIONS)
old_action = action
action = [0] * NUM_ACTIONS
for i in range(len(old_action)):
action[i] = old_action[i]
# action is a list of numbers but DoomGame.make_action expects a list of ints
if len(self.allowed_actions) > 0:
list_action = [int(action[action_idx]) for action_idx in self.allowed_actions]
else:
list_action = [int(x) for x in action]
try:
state = self.game.get_state()
reward = self.game.make_action(list_action)
state = self.game.get_state()
info = self._get_game_variables(state.game_variables)
info["TOTAL_REWARD"] = round(self.game.get_total_reward(), 4)
if self.game.is_episode_finished():
is_finished = True
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8), reward, is_finished, info
else:
is_finished = False
return state.image_buffer.copy(), reward, is_finished, {}
return state.image_buffer.copy(), reward, is_finished, info
except doom_py.vizdoom.ViZDoomIsNotRunningException:
return [], 0, True, {}
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8), 0, True, {}
def _reset(self):
self.game.new_episode()
return self.game.get_state().image_buffer.copy()
if self.is_initialized and not self._closed:
self._start_episode()
return self.game.get_state().image_buffer.copy()
else:
return self._load_level()
def _render(self, mode='human', close=False):
if close:
if self.viewer is not None:
self.viewer.close()
# If we don't None out this reference pyglet becomes unhappy
self.viewer = None
self.viewer = None # If we don't None out this reference pyglet becomes unhappy
return
try:
if 'human' == mode and self.no_render: return
state = self.game.get_state()
img = state.image_buffer
# VizDoom returns None if the episode is finished, let's make it
# an empty image so the recorder doesn't stop
if img is None:
img = numpy.zeros((self.screen_height, self.screen_width, 3), dtype=numpy.uint8)
img = np.zeros(shape=self.observation_space.shape, dtype=np.uint8)
if mode == 'rgb_array':
return img
elif mode is 'human':
@@ -59,9 +186,42 @@ class DoomEnv(gym.Env, utils.EzPickle):
if self.viewer is None:
self.viewer = rendering.SimpleImageViewer()
self.viewer.imshow(img)
sleep(0.02857) # 35 fps = 0.02857 sleep between frames
if 'normal' == self.mode:
sleep(0.02857) # 35 fps = 0.02857 sleep between frames
except doom_py.vizdoom.ViZDoomIsNotRunningException:
pass # Doom has been closed
def _close(self):
self.game.close()
def _seed(self, seed=None):
self.curr_seed = seeding.hash_seed(seed) % 2 ** 32
return [ self.curr_seed ]
def _get_game_variables(self, state_variables):
info = {}
info["LEVEL"] = self.level
if state_variables is None: return info
info['KILLCOUNT'] = state_variables[0]
info['ITEMCOUNT'] = state_variables[1]
info['SECRETCOUNT'] = state_variables[2]
info['FRAGCOUNT'] = state_variables[3]
info['HEALTH'] = state_variables[4]
info['ARMOR'] = state_variables[5]
info['DEAD'] = state_variables[6]
info['ON_GROUND'] = state_variables[7]
info['ATTACK_READY'] = state_variables[8]
info['ALTATTACK_READY'] = state_variables[9]
info['SELECTED_WEAPON'] = state_variables[10]
info['SELECTED_WEAPON_AMMO'] = state_variables[11]
info['AMMO1'] = state_variables[12]
info['AMMO2'] = state_variables[13]
info['AMMO3'] = state_variables[14]
info['AMMO4'] = state_variables[15]
info['AMMO5'] = state_variables[16]
info['AMMO6'] = state_variables[17]
info['AMMO7'] = state_variables[18]
info['AMMO8'] = state_variables[19]
info['AMMO9'] = state_variables[20]
info['AMMO0'] = state_variables[21]
return info

54
gym/envs/doom/doom_health_gathering.py
View File

@@ -1,12 +1,5 @@
import logging
import os
import numpy as np
from doom_py import DoomGame, Mode, Button, GameVariable, ScreenFormat, ScreenResolution, Loader
from gym import error, spaces
from gym.envs.doom import doom_env
from gym.utils import seeding
logger = logging.getLogger(__name__)
@@ -19,47 +12,34 @@ class DoomHealthGatheringEnv(doom_env.DoomEnv):
additional kits will spawn at interval.
Allowed actions:
[12] - MOVE_FORWARD - Move forward - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
[13] - MOVE_FORWARD - Move forward - Values 0 or 1
[14] - TURN_RIGHT - Turn right - Values 0 or 1
[15] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Several times per second - Survive as long as possible
+ 1 - 35 times per second - Survive as long as possible
-100 - Death penalty
Goal: 1000 points
Stay alive long enough to reach 1,000 points (~ 30 secs)
Mode:
- env.mode can be 'fast', 'normal' or 'human' (e.g. env.mode = 'fast')
- 'fast' (default) will run as fast as possible (~75 fps) (best for simulation)
- 'normal' will run at roughly 35 fps (easier for human to watch)
- 'human' will let you play the game (keyboard only: Arrow Keys, '<', '>' and Ctrl)
Ends when:
- Player is dead
- Timeout (60 seconds - 2,100 frames)
Actions:
actions = [0] * 43
actions[13] = 0 # MOVE_FORWARD
actions[14] = 1 # TURN_RIGHT
actions[15] = 0 # TURN_LEFT
-----------------------------------------------------
"""
def __init__(self):
super(DoomHealthGatheringEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/health_gathering.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('health_gathering.wad'))
self.game.set_doom_map('map01')
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
# 3 allowed actions [12, 13, 14] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3))
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self._seed()
def _seed(self, seed=None):
seed = seeding.hash_seed(seed) % 2**32
self.game.set_seed(seed)
return [seed]
super(DoomHealthGatheringEnv, self).__init__(4)

55
gym/envs/doom/doom_my_way_home.py
View File

@@ -1,12 +1,5 @@
import logging
import os
import numpy as np
from doom_py import DoomGame, Mode, Button, GameVariable, ScreenFormat, ScreenResolution, Loader
from gym import error, spaces
from gym.envs.doom import doom_env
from gym.utils import seeding
logger = logging.getLogger(__name__)
@@ -19,46 +12,34 @@ class DoomMyWayHomeEnv(doom_env.DoomEnv):
The vest is always in the same room. Player must find the vest.
Allowed actions:
[12] - MOVE_FORWARD - Move forward - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
[13] - MOVE_FORWARD - Move forward - Values 0 or 1
[14] - TURN_RIGHT - Turn right - Values 0 or 1
[15] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Finding the vest
-0.0001 - Several times per second - Find the vest quick!
-0.0001 - 35 times per second - Find the vest quick!
Goal: 0.50 point
Find the vest
Mode:
- env.mode can be 'fast', 'normal' or 'human' (e.g. env.mode = 'fast')
- 'fast' (default) will run as fast as possible (~75 fps) (best for simulation)
- 'normal' will run at roughly 35 fps (easier for human to watch)
- 'human' will let you play the game (keyboard only: Arrow Keys, '<', '>' and Ctrl)
Ends when:
- Vest is found
- Timeout (2 minutes - 4,200 frames)
- Timeout (1 minutes - 2,100 frames)
Actions:
actions = [0] * 43
actions[13] = 0 # MOVE_FORWARD
actions[14] = 1 # TURN_RIGHT
actions[15] = 0 # TURN_LEFT
-----------------------------------------------------
"""
def __init__(self):
super(DoomMyWayHomeEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/my_way_home.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('my_way_home.wad'))
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
# 3 allowed actions [12, 13, 14] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3))
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self._seed()
def _seed(self, seed=None):
seed = seeding.hash_seed(seed) % 2**32
self.game.set_seed(seed)
return [seed]
super(DoomMyWayHomeEnv, self).__init__(5)

52
gym/envs/doom/doom_predict_position.py
View File

@@ -1,12 +1,5 @@
import logging
import os
import numpy as np
from doom_py import DoomGame, Mode, Button, GameVariable, ScreenFormat, ScreenResolution, Loader
from gym import error, spaces
from gym.envs.doom import doom_env
from gym.utils import seeding
logger = logging.getLogger(__name__)
@@ -21,13 +14,13 @@ class DoomPredictPositionEnv(doom_env.DoomEnv):
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[13] - TURN_RIGHT - Turn right - Values 0 or 1
[14] - TURN_LEFT - Turn left - Values 0 or 1
[14] - TURN_RIGHT - Turn right - Values 0 or 1
[15] - TURN_LEFT - Turn left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Killing the monster
-0.0001 - Several times per second - Kill the monster faster!
-0.0001 - 35 times per second - Kill the monster faster!
Goal: 0.5 point
Kill the monster
@@ -35,36 +28,23 @@ class DoomPredictPositionEnv(doom_env.DoomEnv):
Hint: Missile launcher takes longer to load. You must wait a good second after the game starts
before trying to fire it.
Mode:
- env.mode can be 'fast', 'normal' or 'human' (e.g. env.mode = 'fast')
- 'fast' (default) will run as fast as possible (~75 fps) (best for simulation)
- 'normal' will run at roughly 35 fps (easier for human to watch)
- 'human' will let you play the game (keyboard only: Arrow Keys, '<', '>' and Ctrl)
Ends when:
- Monster is dead
- Out of missile (you only have one)
- Timeout (20 seconds - 700 frames)
Actions:
actions = [0] * 43
actions[0] = 0 # ATTACK
actions[14] = 1 # TURN_RIGHT
actions[15] = 0 # TURN_LEFT
-----------------------------------------------------
"""
def __init__(self):
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/predict_position.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('predict_position.wad'))
self.game.set_doom_map('map01')
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
# 3 allowed actions [0, 13, 14] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 3))
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self._seed()
def _seed(self, seed=None):
# Derive a random seed.
seed = seeding.hash_seed(seed) % 2**32
self.game.set_seed(seed)
return [seed]
super(DoomPredictPositionEnv, self).__init__(6)

51
gym/envs/doom/doom_take_cover.py
View File

@@ -1,12 +1,5 @@
import logging
import os
import numpy as np
from doom_py import DoomGame, Mode, Button, GameVariable, ScreenFormat, ScreenResolution, Loader
from gym import error, spaces
from gym.envs.doom import doom_env
from gym.utils import seeding
logger = logging.getLogger(__name__)
@@ -18,45 +11,31 @@ class DoomTakeCoverEnv(doom_env.DoomEnv):
at you. You need to survive as long as possible.
Allowed actions:
[9] - MOVE_RIGHT - Move to the right - Values 0 or 1
[10] - MOVE_LEFT - Move to the left - Values 0 or 1
[10] - MOVE_RIGHT - Move to the right - Values 0 or 1
[11] - MOVE_LEFT - Move to the left - Values 0 or 1
Note: see controls.md for details
Rewards:
+ 1 - Several times per second - Survive as long as possible
+ 1 - 35 times per second - Survive as long as possible
Goal: 750 points
Survive for ~ 20 seconds
Mode:
- env.mode can be 'fast', 'normal' or 'human' (e.g. env.mode = 'fast')
- 'fast' (default) will run as fast as possible (~75 fps) (best for simulation)
- 'normal' will run at roughly 35 fps (easier for human to watch)
- 'human' will let you play the game (keyboard only: Arrow Keys, '<', '>' and Ctrl)
Ends when:
- Player is dead (one or two fireballs should be enough to kill you)
- Timeout (60 seconds - 2,100 frames)
Actions:
actions = [0] * 43
actions[10] = 0 # MOVE_RIGHT
actions[11] = 1 # MOVE_LEFT
-----------------------------------------------------
"""
def __init__(self):
super(DoomTakeCoverEnv, self).__init__()
package_directory = os.path.dirname(os.path.abspath(__file__))
self.loader = Loader()
self.game = DoomGame()
self.game.load_config(os.path.join(package_directory, 'assets/take_cover.cfg'))
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
self.game.set_doom_scenario_path(self.loader.get_scenario_path('take_cover.wad'))
self.game.set_doom_map('map01')
self.screen_height = 480 # Must match .cfg file
self.screen_width = 640 # Must match .cfg file
self.game.set_window_visible(False)
self.viewer = None
self.game.init()
self.game.new_episode()
# 2 allowed actions [9, 10] (must match .cfg file)
self.action_space = spaces.HighLow(np.matrix([[0, 1, 0]] * 2))
self.observation_space = spaces.Box(low=0, high=255, shape=(self.screen_height, self.screen_width, 3))
self._seed()
def _seed(self, seed=None):
seed = seeding.hash_seed(seed) % 2**32
self.game.set_seed(seed)
return [seed]
super(DoomTakeCoverEnv, self).__init__(7)

5
gym/envs/tests/test_envs.py
View File

@@ -22,6 +22,11 @@ def should_skip_env_spec_for_tests(spec):
logger.warn("Skipping tests for box2d env {}".format(spec._entry_point))
return True
# TODO: Issue #167 - Re-enable these tests after fixing DoomDeathmatch crash
if spec._entry_point.startswith('gym.envs.doom:DoomDeathmatchEnv'):
logger.warn("Skipping tests for DoomDeathmatchEnv {}".format(spec._entry_point))
return True
# Skip ConvergenceControl tests (the only env in parameter_tuning) according to pull #104
if spec._entry_point.startswith('gym.envs.parameter_tuning:'):
logger.warn("Skipping tests for parameter_tuning env {}".format(spec._entry_point))

215
gym/scoreboard/__init__.py
View File

@@ -640,6 +640,31 @@ add_task(
group='doom',
experimental=True,
contributor='ppaquette',
summary='Mission #1 - Kill a single monster using your pistol.',
description="""
This map is rectangular with gray walls, ceiling and floor.
You are spawned in the center of the longer wall, and a red
circular monster is spawned randomly on the opposite wall.
You need to kill the monster (one bullet is enough).
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[10] - MOVE_RIGHT - Move to the right - Values 0 or 1
[11] - MOVE_LEFT - Move to the left - Values 0 or 1
Rewards:
+101 - Killing the monster
- 5 - Missing a shot
- 1 - 35 times per second - Kill the monster faster!
Goal: 10 points
Kill the monster in 3 secs with 1 shot
Ends when:
- Monster is dead
- Player is dead
- Timeout (10 seconds - 350 frames)
"""
)
add_task(
@@ -647,6 +672,33 @@ add_task(
group='doom',
experimental=True,
contributor='ppaquette',
summary='Mission #2 - Run as fast as possible to grab a vest.',
description="""
This map is designed to improve your navigation. There is a vest
at the end of the corridor, with 6 enemies (3 groups of 2). Your goal
is to get to the vest as soon as possible, without being killed.
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[10] - MOVE_RIGHT - Move to the right - Values 0 or 1
[11] - MOVE_LEFT - Move to the left - Values 0 or 1
[13] - MOVE_FORWARD - Move forward - Values 0 or 1
[14] - TURN_RIGHT - Turn right - Values 0 or 1
[15] - TURN_LEFT - Turn left - Values 0 or 1
Rewards:
+ dX - For getting closer to the vest
- dX - For getting further from the vest
-100 - Penalty for being killed
Goal: 1,000 points
Reach the vest (or at least get past the guards in the 3rd group)
Ends when:
- Player touches vest
- Player is dead
- Timeout (1 minutes - 2,100 frames)
"""
)
add_task(
@@ -654,6 +706,32 @@ add_task(
group='doom',
experimental=True,
contributor='ppaquette',
summary='Mission #3 - Kill enemies coming at your from all sides.',
description="""
This map is designed to teach you how to kill and how to stay alive.
You will also need to keep an eye on your ammunition level. You are only
rewarded for kills, so figure out how to stay alive.
The map is a circle with monsters. You are in the middle. Monsters will
respawn with additional health when killed. Kill as many as you can
before you run out of ammo.
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[14] - TURN_RIGHT - Turn right - Values 0 or 1
[15] - TURN_LEFT - Turn left - Values 0 or 1
Rewards:
+ 1 - Killing a monster
- 1 - Penalty for being killed
Goal: 10 points
Kill 11 monsters (you have 26 ammo)
Ends when:
- Player is dead
- Timeout (60 seconds - 2100 frames)
"""
)
add_task(
@@ -661,6 +739,32 @@ add_task(
group='doom',
experimental=True,
contributor='ppaquette',
summary='Mission #4 - Kill enemies on the other side of the room.',
description="""
This map is designed to teach you how to kill and how to stay alive.
Your ammo will automatically replenish. You are only rewarded for kills,
so figure out how to stay alive.
The map is a rectangle with monsters on the other side. Monsters will
respawn with additional health when killed. Kill as many as you can
before they kill you. This map is harder than the previous.
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[14] - TURN_RIGHT - Turn right - Values 0 or 1
[15] - TURN_LEFT - Turn left - Values 0 or 1
Rewards:
+ 1 - Killing a monster
- 1 - Penalty for being killed
Goal: 15 points
Kill 16 monsters
Ends when:
- Player is dead
- Timeout (60 seconds - 2100 frames)
"""
)
add_task(
@@ -668,6 +772,29 @@ add_task(
group='doom',
experimental=True,
contributor='ppaquette',
summary='Mission #5 - Learn to grad medkits to survive as long as possible.',
description="""
This map is a guide on how to survive by collecting health packs.
It is a rectangle with green, acidic floor which hurts the player
periodically. There are also medkits spread around the map, and
additional kits will spawn at interval.
Allowed actions:
[13] - MOVE_FORWARD - Move forward - Values 0 or 1
[14] - TURN_RIGHT - Turn right - Values 0 or 1
[15] - TURN_LEFT - Turn left - Values 0 or 1
Rewards:
+ 1 - 35 times per second - Survive as long as possible
-100 - Death penalty
Goal: 1000 points
Stay alive long enough to reach 1,000 points (~ 30 secs)
Ends when:
- Player is dead
- Timeout (60 seconds - 2,100 frames)
"""
)
add_task(
@@ -675,6 +802,29 @@ add_task(
group='doom',
experimental=True,
contributor='ppaquette',
summary='Mission #6 - Find the vest in one the 4 rooms.',
description="""
This map is designed to improve navigational skills. It is a series of
interconnected rooms and 1 corridor with a dead end. Each room
has a separate color. There is a green vest in one of the room.
The vest is always in the same room. Player must find the vest.
Allowed actions:
[13] - MOVE_FORWARD - Move forward - Values 0 or 1
[14] - TURN_RIGHT - Turn right - Values 0 or 1
[15] - TURN_LEFT - Turn left - Values 0 or 1
Rewards:
+ 1 - Finding the vest
-0.0001 - 35 times per second - Find the vest quick!
Goal: 0.50 point
Find the vest
Ends when:
- Vest is found
- Timeout (1 minutes - 2,100 frames)
"""
)
add_task(
@@ -682,6 +832,34 @@ add_task(
group='doom',
experimental=True,
contributor='ppaquette',
summary='Mission #7 - Learn how to kill an enemy with a rocket launcher.',
description="""
This map is designed to train you on using a rocket launcher.
It is a rectangular map with a monster on the opposite side. You need
to use your rocket launcher to kill it. The rocket adds a delay between
the moment it is fired and the moment it reaches the other side of the room.
You need to predict the position of the monster to kill it.
Allowed actions:
[0] - ATTACK - Shoot weapon - Values 0 or 1
[14] - TURN_RIGHT - Turn right - Values 0 or 1
[15] - TURN_LEFT - Turn left - Values 0 or 1
Rewards:
+ 1 - Killing the monster
-0.0001 - 35 times per second - Kill the monster faster!
Goal: 0.5 point
Kill the monster
Hint: Missile launcher takes longer to load. You must wait a good second after the game starts
before trying to fire it.
Ends when:
- Monster is dead
- Out of missile (you only have one)
- Timeout (20 seconds - 700 frames)
"""
)
add_task(
@@ -689,6 +867,26 @@ add_task(
group='doom',
experimental=True,
contributor='ppaquette',
summary='Mission #8 - Survive as long as possible with enemies shooting at you.',
description="""
This map is to train you on the damage of incoming missiles.
It is a rectangular map with monsters firing missiles and fireballs
at you. You need to survive as long as possible.
Allowed actions:
[10] - MOVE_RIGHT - Move to the right - Values 0 or 1
[11] - MOVE_LEFT - Move to the left - Values 0 or 1
Rewards:
+ 1 - 35 times per second - Survive as long as possible
Goal: 750 points
Survive for ~ 20 seconds
Ends when:
- Player is dead (one or two fireballs should be enough to kill you)
- Timeout (60 seconds - 2,100 frames)
"""
)
add_task(
@@ -696,6 +894,23 @@ add_task(
group='doom',
experimental=True,
contributor='ppaquette',
summary='Mission #9 - Kill as many enemies as possible without being killed.',
description="""
Kill as many monsters as possible without being killed.
Allowed actions:
ALL
Rewards:
+1 - Killing a monster
Goal: 20 points
Kill 20 monsters
Ends when:
- Player is dead
- Timeout (3 minutes - 6,300 frames)
"""
)

2
gym/spaces/discrete.py
View File

@@ -1,6 +1,6 @@
import numpy as np
import gym
import gym, time
from gym.spaces import prng
class Discrete(gym.Space):

18
gym/spaces/high_low.py
View File

@@ -8,9 +8,9 @@ class HighLow(gym.Space):
A matrix of dimensions n x 3, where
- n is the number of options in the space (e.g. buttons that can be pressed simultaneously)
- u[1] (the first column) is the minimum value (inclusive) that the option can have
- u[2] (the second column) is the maximum value (inclusive) that the option can have
- u[3] (the third column) is the precision (0 = rounded to integer, 2 = rounded to 2 decimals)
- u[0] (the first column) is the minimum value (inclusive) that the option can have
- u[1] (the second column) is the maximum value (inclusive) that the option can have
- u[2] (the third column) is the precision (0 = rounded to integer, 2 = rounded to 2 decimals)
e.g. if the space is composed of ATTACK (values: 0-100), MOVE_LEFT(0-1), MOVE_RIGHT(0,1)
the space would be [ [0.0, 100.0, 2], [0, 1, 0], [0, 1, 0] ]
@@ -30,15 +30,17 @@ class HighLow(gym.Space):
def sample(self):
# For each row: round(random .* (max - min) + min, precision)
max_minus_min = self.matrix[:, 1] - self.matrix[:, 0]
max_minus_min = np.zeros(shape=(self.matrix.shape[0], 1), dtype=np.int32)
for i in range(self.matrix.shape[0]): # Must use this conversion to avoid overflows
max_minus_min[i] = int(self.matrix[i, 1]) - int(self.matrix[i, 0])
random_matrix = np.multiply(max_minus_min, prng.np_random.rand(self.num_rows, 1)) + self.matrix[:, 0]
rounded_matrix = np.zeros(self.num_rows)
rounded_matrix = np.zeros(self.num_rows, dtype=np.int32)
for i in range(self.num_rows):
rounded_matrix[i] = round(random_matrix[i, 0], int(self.matrix[i, 2]))
return rounded_matrix
return rounded_matrix.tolist()
def contains(self, x):
if x.shape[0] != self.num_rows:
if len(x) != self.num_rows:
return False
for i in range(self.num_rows):
if not (self.matrix[i, 0] <= x[i] <= self.matrix[i, 1]):
@@ -52,7 +54,7 @@ class HighLow(gym.Space):
@property
def shape(self):
return self.matrix.shape
return self.matrix.shape[0]
def __repr__(self):
return "High-Low" + str(self.shape)
def __eq__(self, other):

0
gym/spaces/tests/__init__.py Normal file
View File