Jax environment return jax data rather than numpy data (#817)

Co-authored-by: pseudo-rnd-thoughts <mark.m.towers@gmail.com>

gymnasium/envs/__init__.py

@@ -60,6 +60,7 @@ register(
     vector_entry_point="gymnasium.envs.phys2d.cartpole:CartPoleJaxVectorEnv",
     max_episode_steps=200,
     reward_threshold=195.0,
+    disable_env_checker=True,
 )
 
 register(
@@ -68,6 +69,7 @@ register(
     vector_entry_point="gymnasium.envs.phys2d.cartpole:CartPoleJaxVectorEnv",
     max_episode_steps=500,
     reward_threshold=475.0,
+    disable_env_checker=True,
 )
 
 register(
@@ -75,6 +77,7 @@ register(
     entry_point="gymnasium.envs.phys2d.pendulum:PendulumJaxEnv",
     vector_entry_point="gymnasium.envs.phys2d.pendulum:PendulumJaxVectorEnv",
     max_episode_steps=200,
+    disable_env_checker=True,
 )
 
 # Box2d
@@ -161,11 +164,13 @@ register(
 register(
     id="tabular/Blackjack-v0",
     entry_point="gymnasium.envs.tabular.blackjack:BlackJackJaxEnv",
+    disable_env_checker=True,
 )
 
 register(
     id="tabular/CliffWalking-v0",
     entry_point="gymnasium.envs.tabular.cliffwalking:CliffWalkingJaxEnv",
+    disable_env_checker=True,
 )
 
 

gymnasium/envs/functional_jax_env.py

@@ -6,14 +6,12 @@ from typing import Any
 import jax
 import jax.numpy as jnp
 import jax.random as jrng
-import numpy as np
 
 import gymnasium as gym
 from gymnasium.envs.registration import EnvSpec
 from gymnasium.functional import ActType, FuncEnv, StateType
 from gymnasium.utils import seeding
 from gymnasium.vector.utils import batch_space
-from gymnasium.wrappers.jax_to_numpy import jax_to_numpy
 
 
 class FunctionalJaxEnv(gym.Env):
@@ -32,7 +30,8 @@ class FunctionalJaxEnv(gym.Env):
     ):
         """Initialize the environment from a FuncEnv."""
         if metadata is None:
-            metadata = {"render_mode": []}
+            # metadata.get("jax", False) can be used downstream to know that the environment returns jax arrays
+            metadata = {"render_mode": [], "jax": True}
 
         self.func_env = func_env
 
@@ -45,8 +44,6 @@ class FunctionalJaxEnv(gym.Env):
 
         self.spec = spec
 
-        self._is_box_action_space = isinstance(self.action_space, gym.spaces.Box)
-
         if self.render_mode == "rgb_array":
             self.render_state = self.func_env.render_init()
         else:
@@ -69,20 +66,10 @@ class FunctionalJaxEnv(gym.Env):
         obs = self.func_env.observation(self.state)
         info = self.func_env.state_info(self.state)
 
-        obs = jax_to_numpy(obs)
-
         return obs, info
 
     def step(self, action: ActType):
         """Steps through the environment using the action."""
-        if self._is_box_action_space:
-            assert isinstance(self.action_space, gym.spaces.Box)  # For typing
-            action = np.clip(action, self.action_space.low, self.action_space.high)
-        else:  # Discrete
-            # For now we assume jax envs don't use complex spaces
-            err_msg = f"{action!r} ({type(action)}) invalid"
-            assert self.action_space.contains(action), err_msg
-
         rng, self.rng = jrng.split(self.rng)
 
         next_state = self.func_env.transition(self.state, action, rng)
@@ -92,8 +79,6 @@ class FunctionalJaxEnv(gym.Env):
         info = self.func_env.transition_info(self.state, action, next_state)
         self.state = next_state
 
-        observation = jax_to_numpy(observation)
-
         return observation, float(reward), bool(terminated), False, info
 
     def render(self):
@@ -153,8 +138,6 @@ class FunctionalJaxVectorEnv(gym.vector.VectorEnv):
 
         self.autoreset_envs = jnp.zeros(self.num_envs, dtype=jnp.bool_)
 
-        self._is_box_action_space = isinstance(self.action_space, gym.spaces.Box)
-
         if self.render_mode == "rgb_array":
             self.render_state = self.func_env.render_init()
         else:
@@ -183,20 +166,10 @@ class FunctionalJaxVectorEnv(gym.vector.VectorEnv):
 
         self.steps = jnp.zeros(self.num_envs, dtype=jnp.int32)
 
-        obs = jax_to_numpy(obs)
-
         return obs, info
 
     def step(self, action: ActType):
         """Steps through the environment using the action."""
-        if self._is_box_action_space:
-            assert isinstance(self.action_space, gym.spaces.Box)  # For typing
-            action = np.clip(action, self.action_space.low, self.action_space.high)
-        else:  # Discrete
-            # For now we assume jax envs don't use complex spaces
-            assert self.action_space.contains(
-                action
-            ), f"{action!r} ({type(action)}) invalid"
         self.steps += 1
 
         rng, self.rng = jrng.split(self.rng)
@@ -232,12 +205,6 @@ class FunctionalJaxVectorEnv(gym.vector.VectorEnv):
         self.autoreset_envs = done
 
         observation = self.func_env.observation(next_state)
-        observation = jax_to_numpy(observation)
-
-        reward = jax_to_numpy(reward)
-
-        terminated = jax_to_numpy(terminated)
-        truncated = jax_to_numpy(truncated)
 
         self.state = next_state
 

gymnasium/envs/phys2d/cartpole.py

@@ -245,7 +245,7 @@ class CartPoleFunctional(
 class CartPoleJaxEnv(FunctionalJaxEnv, EzPickle):
     """Jax-based implementation of the CartPole environment."""
 
-    metadata = {"render_modes": ["rgb_array"], "render_fps": 50}
+    metadata = {"render_modes": ["rgb_array"], "render_fps": 50, "jax": True}
 
     def __init__(self, render_mode: str | None = None, **kwargs: Any):
         """Constructor for the CartPole where the kwargs are applied to the functional environment."""
@@ -265,7 +265,7 @@ class CartPoleJaxEnv(FunctionalJaxEnv, EzPickle):
 class CartPoleJaxVectorEnv(FunctionalJaxVectorEnv, EzPickle):
     """Jax-based implementation of the vectorized CartPole environment."""
 
-    metadata = {"render_modes": ["rgb_array"], "render_fps": 50}
+    metadata = {"render_modes": ["rgb_array"], "render_fps": 50, "jax": True}
 
     def __init__(
         self,

gymnasium/envs/phys2d/pendulum.py

@@ -223,7 +223,7 @@ class PendulumFunctional(
 class PendulumJaxEnv(FunctionalJaxEnv, EzPickle):
     """Jax-based pendulum environment using the functional version as base."""
 
-    metadata = {"render_modes": ["rgb_array"], "render_fps": 30}
+    metadata = {"render_modes": ["rgb_array"], "render_fps": 30, "jax": True}
 
     def __init__(self, render_mode: str | None = None, **kwargs: Any):
         """Constructor where the kwargs are passed to the base environment to modify the parameters."""
@@ -242,7 +242,7 @@ class PendulumJaxEnv(FunctionalJaxEnv, EzPickle):
 class PendulumJaxVectorEnv(FunctionalJaxVectorEnv, EzPickle):
     """Jax-based implementation of the vectorized CartPole environment."""
 
-    metadata = {"render_modes": ["rgb_array"], "render_fps": 50}
+    metadata = {"render_modes": ["rgb_array"], "render_fps": 50, "jax": True}
 
     def __init__(
         self,

gymnasium/envs/tabular/blackjack.py

@@ -496,7 +496,7 @@ class BlackjackFunctional(
 class BlackJackJaxEnv(FunctionalJaxEnv, EzPickle):
     """A Gymnasium Env wrapper for the functional blackjack env."""
 
-    metadata = {"render_modes": ["rgb_array"], "render_fps": 50}
+    metadata = {"render_modes": ["rgb_array"], "render_fps": 50, "jax": True}
 
     def __init__(self, render_mode: Optional[str] = None, **kwargs):
         """Initializes Gym wrapper for blackjack functional env."""

gymnasium/envs/tabular/cliffwalking.py

@@ -358,7 +358,7 @@ class CliffWalkingFunctional(
 class CliffWalkingJaxEnv(FunctionalJaxEnv, EzPickle):
     """A Gymnasium Env wrapper for the functional cliffwalking env."""
 
-    metadata = {"render_modes": ["rgb_array"], "render_fps": 50}
+    metadata = {"render_modes": ["rgb_array"], "render_fps": 50, "jax": True}
 
     def __init__(self, render_mode: str | None = None, **kwargs):
         """Initializes Gym wrapper for cliffwalking functional env."""

gymnasium/utils/env_checker.py

@@ -367,6 +367,11 @@ def check_env(
             f"The environment ({env}) is different from the unwrapped version ({env.unwrapped}). This could effect the environment checker as the environment most likely has a wrapper applied to it. We recommend using the raw environment for `check_env` using `env.unwrapped`."
         )
 
+    if env.metadata.get("jax", False):
+        env = gym.wrappers.JaxToNumpy(env)
+    elif env.metadata.get("torch", False):
+        env = gym.wrappers.JaxToTorch(env)
+
     # ============= Check the spaces (observation and action) ================
     if not hasattr(env, "action_space"):
         raise AttributeError(

tests/envs/functional/test_jax.py

@@ -120,7 +120,7 @@ def test_vectorized(env_class):
 
     obs, info = env.reset(seed=0)
     assert obs.shape == (10,) + env.single_observation_space.shape
-    assert isinstance(obs, np.ndarray)
+    assert isinstance(obs, jax.Array)
     assert isinstance(info, dict)
 
     for t in range(100):
@@ -128,13 +128,13 @@ def test_vectorized(env_class):
         obs, reward, terminated, truncated, info = env.step(action)
 
         assert obs.shape == (10,) + env.single_observation_space.shape
-        assert isinstance(obs, np.ndarray)
+        assert isinstance(obs, jax.Array)
         assert reward.shape == (10,)
-        assert isinstance(reward, np.ndarray)
+        assert isinstance(reward, jax.Array)
         assert terminated.shape == (10,)
-        assert isinstance(terminated, np.ndarray)
+        assert isinstance(terminated, jax.Array)
         assert truncated.shape == (10,)
-        assert isinstance(truncated, np.ndarray)
+        assert isinstance(truncated, jax.Array)
         assert isinstance(info, dict)
 
         # These were removed in the new autoreset order

tests/envs/test_action_dim_check.py

@@ -70,6 +70,9 @@ def test_discrete_actions_out_of_bound(env: gym.Env):
     Args:
         env (gym.Env): the gymnasium environment
     """
+    if env.metadata.get("jax", False):
+        return
+
     assert isinstance(env.action_space, spaces.Discrete)
     upper_bound = env.action_space.start + env.action_space.n - 1
 
@@ -102,6 +105,9 @@ def test_box_actions_out_of_bound(env: gym.Env):
     Args:
         env (gym.Env): the gymnasium environment
     """
+    if env.metadata.get("jax", False):
+        return
+
     env.reset(seed=42)
 
     assert env.spec is not None

tests/envs/test_envs.py

@@ -7,11 +7,7 @@ import pytest
 import gymnasium as gym
 from gymnasium.envs.registration import EnvSpec
 from gymnasium.utils.env_checker import check_env, data_equivalence
-from tests.envs.utils import (
+from tests.envs.utils import all_testing_env_specs, all_testing_initialised_envs
-    all_testing_env_specs,
-    all_testing_initialised_envs,
-    assert_equals,
-)
 
 
 # This runs a smoketest on each official registered env. We may want
@@ -42,6 +38,7 @@ def test_all_env_api(spec):
     """Check that all environments pass the environment checker with no warnings other than the expected."""
     with warnings.catch_warnings(record=True) as caught_warnings:
         env = spec.make().unwrapped
+
         check_env(env, skip_render_check=True)
 
         env.close()
@@ -98,9 +95,13 @@ def test_env_determinism_rollout(env_spec: EnvSpec):
     env_1 = env_spec.make(disable_env_checker=True)
     env_2 = env_spec.make(disable_env_checker=True)
 
+    if env_1.metadata.get("jax", False):
+        env_1 = gym.wrappers.JaxToNumpy(env_1)
+        env_2 = gym.wrappers.JaxToNumpy(env_2)
+
     initial_obs_1, initial_info_1 = env_1.reset(seed=SEED)
     initial_obs_2, initial_info_2 = env_2.reset(seed=SEED)
-    assert_equals(initial_obs_1, initial_obs_2)
+    assert data_equivalence(initial_obs_1, initial_obs_2, exact=True)
 
     env_1.action_space.seed(SEED)
 
@@ -111,7 +112,9 @@ def test_env_determinism_rollout(env_spec: EnvSpec):
         obs_1, rew_1, terminated_1, truncated_1, info_1 = env_1.step(action)
         obs_2, rew_2, terminated_2, truncated_2, info_2 = env_2.step(action)
 
-        assert_equals(obs_1, obs_2, f"[{time_step}] ")
+        assert data_equivalence(
+            obs_1, obs_2, exact=True
+        ), f"[{time_step}] obs_1={obs_1}, obs_2={obs_2}"
         assert env_1.observation_space.contains(
             obs_1
         )  # obs_2 verified by previous assertion
@@ -123,7 +126,9 @@ def test_env_determinism_rollout(env_spec: EnvSpec):
         assert (
             truncated_1 == truncated_2
         ), f"[{time_step}] done 1={truncated_1}, done 2={truncated_2}"
-        assert_equals(info_1, info_2, f"[{time_step}] ")
+        assert data_equivalence(
+            info_1, info_2, exact=True
+        ), f"[{time_step}] info_1={info_1}, info_2={info_2}"
 
         if (
             terminated_1 or truncated_1
@@ -141,6 +146,9 @@ def test_env_determinism_rollout(env_spec: EnvSpec):
     ids=[env.spec.id for env in all_testing_initialised_envs if env.spec is not None],
 )
 def test_pickle_env(env: gym.Env):
+    if env.metadata.get("jax", False):
+        env = gym.wrappers.JaxToNumpy(env)
+
     pickled_env = pickle.loads(pickle.dumps(env))
 
     data_equivalence(env.reset(), pickled_env.reset())

tests/envs/utils.py

@@ -1,8 +1,6 @@
 """Finds all the specs that we can test with"""
 from typing import List, Optional
 
-import numpy as np
-
 import gymnasium as gym
 from gymnasium import logger
 from gymnasium.envs.registration import EnvSpec
@@ -55,28 +53,3 @@ gym_testing_env_specs: List[EnvSpec] = [
         for ep in ["box2d", "classic_control", "toy_text"]
     )
 ]
-
-
-def assert_equals(a, b, prefix=None):
-    """Assert equality of data structures `a` and `b`.
-
-    Args:
-        a: first data structure
-        b: second data structure
-        prefix: prefix for failed assertion message for types and dicts
-    """
-    assert type(a) is type(b), f"{prefix}Differing types: {a} and {b}"
-    if isinstance(a, dict):
-        assert list(a.keys()) == list(b.keys()), f"{prefix}Key sets differ: {a} and {b}"
-
-        for k in a.keys():
-            v_a = a[k]
-            v_b = b[k]
-            assert_equals(v_a, v_b)
-    elif isinstance(a, np.ndarray):
-        np.testing.assert_array_equal(a, b)
-    elif isinstance(a, tuple):
-        for elem_from_a, elem_from_b in zip(a, b):
-            assert_equals(elem_from_a, elem_from_b)
-    else:
-        assert a == b

tests/wrappers/test_passive_env_checker.py

@@ -19,6 +19,9 @@ from tests.testing_env import GenericTestEnv
     ids=[env.spec.id for env in all_testing_initialised_envs if env.spec is not None],
 )
 def test_passive_checker_wrapper_warnings(env):
+    if env.spec is not None and env.spec.disable_env_checker:
+        return
+
     with warnings.catch_warnings(record=True) as caught_warnings:
         checker_env = PassiveEnvChecker(env)
         checker_env.reset()