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<li class="toctree-l1"><a class="reference external" href="https://www.comet.com/docs/v2/integrations/ml-frameworks/gymnasium/?utm_source=gymnasium&utm_medium=partner&utm_campaign=partner_gymnasium_2023&utm_content=docs_gymnasium">Comet Tutorial</a></li>
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<section id="v21-to-v26-migration-guide">
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<h1>v21 to v26 Migration Guide<a class="headerlink" href="#v21-to-v26-migration-guide" title="Permalink to this heading">#</a></h1>
|
||
<p>Gymnasium is a fork of <a class="reference external" href="https://github.com/openai/gym/releases/tag/0.26.2">OpenAI Gym v26</a>, which introduced a large breaking change from <a class="reference external" href="https://github.com/openai/gym/releases/tag/v0.21.0">Gym v21</a>.
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||
In this guide, we briefly outline the API changes from Gym v21 - which a number of tutorials have been written for - to Gym v26.
|
||
For environments still stuck in the v21 API, users can use the <a class="reference internal" href="../../api/wrappers/misc_wrappers/#gymnasium.wrappers.EnvCompatibility" title="gymnasium.wrappers.EnvCompatibility"><code class="xref py py-class docutils literal notranslate"><span class="pre">EnvCompatibility</span></code></a> wrapper to convert them to v26 compliant.
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For more information, see the <a class="reference external" href="/content/gym_compatibility">guide</a></p>
|
||
<section id="example-code-for-v21">
|
||
<h2>Example code for v21<a class="headerlink" href="#example-code-for-v21" title="Permalink to this heading">#</a></h2>
|
||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">gym</span>
|
||
<span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s2">"LunarLander-v2"</span><span class="p">,</span> <span class="n">options</span><span class="o">=</span><span class="p">{})</span>
|
||
<span class="n">env</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="mi">123</span><span class="p">)</span>
|
||
<span class="n">observation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
|
||
|
||
<span class="n">done</span> <span class="o">=</span> <span class="kc">False</span>
|
||
<span class="k">while</span> <span class="ow">not</span> <span class="n">done</span><span class="p">:</span>
|
||
<span class="n">action</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">action_space</span><span class="o">.</span><span class="n">sample</span><span class="p">()</span> <span class="c1"># agent policy that uses the observation and info</span>
|
||
<span class="n">observation</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">done</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>
|
||
|
||
<span class="n">env</span><span class="o">.</span><span class="n">render</span><span class="p">(</span><span class="n">mode</span><span class="o">=</span><span class="s2">"human"</span><span class="p">)</span>
|
||
|
||
<span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
|
||
</pre></div>
|
||
</div>
|
||
</section>
|
||
<section id="example-code-for-v26">
|
||
<h2>Example code for v26<a class="headerlink" href="#example-code-for-v26" title="Permalink to this heading">#</a></h2>
|
||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">gym</span>
|
||
<span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s2">"LunarLander-v2"</span><span class="p">,</span> <span class="n">render_mode</span><span class="o">=</span><span class="s2">"human"</span><span class="p">)</span>
|
||
<span class="n">observation</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">seed</span><span class="o">=</span><span class="mi">123</span><span class="p">,</span> <span class="n">options</span><span class="o">=</span><span class="p">{})</span>
|
||
|
||
<span class="n">done</span> <span class="o">=</span> <span class="kc">False</span>
|
||
<span class="k">while</span> <span class="ow">not</span> <span class="n">done</span><span class="p">:</span>
|
||
<span class="n">action</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">action_space</span><span class="o">.</span><span class="n">sample</span><span class="p">()</span> <span class="c1"># agent policy that uses the observation and info</span>
|
||
<span class="n">observation</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">terminated</span><span class="p">,</span> <span class="n">truncated</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>
|
||
|
||
<span class="n">done</span> <span class="o">=</span> <span class="n">terminated</span> <span class="ow">or</span> <span class="n">truncated</span>
|
||
|
||
<span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
|
||
</pre></div>
|
||
</div>
|
||
</section>
|
||
<section id="seed-and-random-number-generator">
|
||
<h2>Seed and random number generator<a class="headerlink" href="#seed-and-random-number-generator" title="Permalink to this heading">#</a></h2>
|
||
<p>The <code class="docutils literal notranslate"><span class="pre">Env.seed()</span></code> has been removed from the Gym v26 environments in favour of <code class="docutils literal notranslate"><span class="pre">Env.reset(seed=seed)</span></code>.
|
||
This allows seeding to only be changed on environment reset.
|
||
The decision to remove <code class="docutils literal notranslate"><span class="pre">seed</span></code> was because some environments use emulators that cannot change random number generators within an episode and must be done at the beginning of a new episode.
|
||
We are aware of cases where controlling the random number generator is important, in these cases, if the environment uses the built-in random number generator, users can set the seed manually with the attribute <a class="reference internal" href="../../api/env/#gymnasium.Env.np_random" title="gymnasium.Env.np_random"><code class="xref py py-attr docutils literal notranslate"><span class="pre">np_random</span></code></a>.</p>
|
||
<p>Gymnasium v26 changed to using <code class="docutils literal notranslate"><span class="pre">numpy.random.Generator</span></code> instead of a custom random number generator.
|
||
This means that several functions such as <code class="docutils literal notranslate"><span class="pre">randint</span></code> were removed in favour of <code class="docutils literal notranslate"><span class="pre">integers</span></code>.
|
||
While some environments might use external random number generator, we recommend using the attribute <a class="reference internal" href="../../api/env/#gymnasium.Env.np_random" title="gymnasium.Env.np_random"><code class="xref py py-attr docutils literal notranslate"><span class="pre">np_random</span></code></a> that wrappers and external users can access and utilise.</p>
|
||
</section>
|
||
<section id="environment-reset">
|
||
<h2>Environment Reset<a class="headerlink" href="#environment-reset" title="Permalink to this heading">#</a></h2>
|
||
<p>In v26, <a class="reference internal" href="../../api/env/#gymnasium.Env.reset" title="gymnasium.Env.reset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">reset()</span></code></a> takes two optional parameters and returns one value.
|
||
This contrasts to v21 which takes no parameters and returns <code class="docutils literal notranslate"><span class="pre">None</span></code>.
|
||
The two parameters are <code class="docutils literal notranslate"><span class="pre">seed</span></code> for setting the random number generator and <code class="docutils literal notranslate"><span class="pre">options</span></code> which allows additional data to be passed to the environment on reset.
|
||
For example, in classic control, the <code class="docutils literal notranslate"><span class="pre">options</span></code> parameter now allows users to modify the range of the state bound.
|
||
See the original <a class="reference external" href="https://github.com/openai/gym/pull/2921">PR</a> for more details.</p>
|
||
<p><a class="reference internal" href="../../api/env/#gymnasium.Env.reset" title="gymnasium.Env.reset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">reset()</span></code></a> further returns <code class="docutils literal notranslate"><span class="pre">info</span></code>, similar to the <code class="docutils literal notranslate"><span class="pre">info</span></code> returned by <a class="reference internal" href="../../api/env/#gymnasium.Env.step" title="gymnasium.Env.step"><code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code></a>.
|
||
This is important because <code class="docutils literal notranslate"><span class="pre">info</span></code> can include metrics or valid action mask that is used or saved in the next step.</p>
|
||
<p>To update older environments, we highly recommend that <code class="docutils literal notranslate"><span class="pre">super().reset(seed=seed)</span></code> is called on the first line of <a class="reference internal" href="../../api/env/#gymnasium.Env.reset" title="gymnasium.Env.reset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">reset()</span></code></a>.
|
||
This will automatically update the <a class="reference internal" href="../../api/env/#gymnasium.Env.np_random" title="gymnasium.Env.np_random"><code class="xref py py-attr docutils literal notranslate"><span class="pre">np_random</span></code></a> with the seed value.</p>
|
||
</section>
|
||
<section id="environment-step">
|
||
<h2>Environment Step<a class="headerlink" href="#environment-step" title="Permalink to this heading">#</a></h2>
|
||
<p>In v21, the type definition of <a class="reference internal" href="../../api/env/#gymnasium.Env.step" title="gymnasium.Env.step"><code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code></a> is <code class="docutils literal notranslate"><span class="pre">tuple[ObsType,</span> <span class="pre">SupportsFloat,</span> <span class="pre">bool,</span> <span class="pre">dict[str,</span> <span class="pre">Any]</span></code> representing the next observation, the reward from the step, if the episode is done and additional info from the step.
|
||
Due to reproducibility issues that will be expanded on in a blog post soon, we have changed the type definition to <code class="docutils literal notranslate"><span class="pre">tuple[ObsType,</span> <span class="pre">SupportsFloat,</span> <span class="pre">bool,</span> <span class="pre">bool,</span> <span class="pre">dict[str,</span> <span class="pre">Any]]</span></code> adding an extra boolean value.
|
||
This extra bool corresponds to the older <cite>done</cite> now changed to <cite>terminated</cite> and <cite>truncated</cite>.
|
||
These changes were introduced in Gym <a class="reference external" href="https://github.com/openai/gym/releases/tag/0.26.0">v26</a> (turned off by default in <a class="reference external" href="https://github.com/openai/gym/releases/tag/0.25.0">v25</a>).</p>
|
||
<p>For users wishing to update, in most cases, replacing <code class="docutils literal notranslate"><span class="pre">done</span></code> with <code class="docutils literal notranslate"><span class="pre">terminated</span></code> and <code class="docutils literal notranslate"><span class="pre">truncated=False</span></code> in <a class="reference internal" href="../../api/env/#gymnasium.Env.step" title="gymnasium.Env.step"><code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code></a> should address most issues.
|
||
However, environments that have reasons for episode truncation rather than termination should read through the associated <a class="reference external" href="https://github.com/openai/gym/pull/2752">PR</a>.
|
||
For users looping through an environment, they should modify <code class="docutils literal notranslate"><span class="pre">done</span> <span class="pre">=</span> <span class="pre">terminated</span> <span class="pre">or</span> <span class="pre">truncated</span></code> as is show in the example code.
|
||
For training libraries, the primary difference is to change <code class="docutils literal notranslate"><span class="pre">done</span></code> to <code class="docutils literal notranslate"><span class="pre">terminated</span></code>, indicating whether bootstrapping should or shouldn’t happen.</p>
|
||
</section>
|
||
<section id="timelimit-wrapper">
|
||
<h2>TimeLimit Wrapper<a class="headerlink" href="#timelimit-wrapper" title="Permalink to this heading">#</a></h2>
|
||
<p>In v21, the <code class="xref py py-class docutils literal notranslate"><span class="pre">TimeLimit</span></code> wrapper added an extra key in the <code class="docutils literal notranslate"><span class="pre">info</span></code> dictionary <code class="docutils literal notranslate"><span class="pre">TimeLimit.truncated</span></code> whenever the agent reached the time limit without reaching a terminal state.</p>
|
||
<p>In v26, this information is instead communicated through the <cite>truncated</cite> return value described in the previous section, which is <cite>True</cite> if the agent reaches the time limit, whether or not it reaches a terminal state. The old dictionary entry is equivalent to <code class="docutils literal notranslate"><span class="pre">truncated</span> <span class="pre">and</span> <span class="pre">not</span> <span class="pre">terminated</span></code></p>
|
||
</section>
|
||
<section id="environment-render">
|
||
<h2>Environment Render<a class="headerlink" href="#environment-render" title="Permalink to this heading">#</a></h2>
|
||
<p>In v26, a new render API was introduced such that the render mode is fixed at initialisation as some environments don’t allow on-the-fly render mode changes. Therefore, users should now specify the <a class="reference internal" href="../../api/env/#gymnasium.Env.render_mode" title="gymnasium.Env.render_mode"><code class="xref py py-attr docutils literal notranslate"><span class="pre">render_mode</span></code></a> within <code class="docutils literal notranslate"><span class="pre">gym.make</span></code> as shown in the v26 example code above.</p>
|
||
<p>For a more complete explanation of the changes, please refer to this <a class="reference external" href="https://younis.dev/blog/render-api/">summary</a>.</p>
|
||
</section>
|
||
<section id="removed-code">
|
||
<h2>Removed code<a class="headerlink" href="#removed-code" title="Permalink to this heading">#</a></h2>
|
||
<ul class="simple">
|
||
<li><p>GoalEnv - This was removed, users needing it should reimplement the environment or use Gymnasium Robotics which contains an implementation of this environment.</p></li>
|
||
<li><p><code class="docutils literal notranslate"><span class="pre">from</span> <span class="pre">gym.envs.classic_control</span> <span class="pre">import</span> <span class="pre">rendering</span></code> - This was removed in favour of users implementing their own rendering systems. Gymnasium environments are coded using pygame.</p></li>
|
||
<li><p>Robotics environments - The robotics environments have been moved to the <a class="reference external" href="https://robotics.farama.org/">Gymnasium Robotics</a> project.</p></li>
|
||
<li><p>Monitor wrapper - This wrapper was replaced with two separate wrapper, <a class="reference internal" href="../../api/wrappers/misc_wrappers/#gymnasium.wrappers.RecordVideo" title="gymnasium.wrappers.RecordVideo"><code class="xref py py-class docutils literal notranslate"><span class="pre">RecordVideo</span></code></a> and <a class="reference internal" href="../../api/wrappers/misc_wrappers/#gymnasium.wrappers.RecordEpisodeStatistics" title="gymnasium.wrappers.RecordEpisodeStatistics"><code class="xref py py-class docutils literal notranslate"><span class="pre">RecordEpisodeStatistics</span></code></a></p></li>
|
||
</ul>
|
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</section>
|
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<li><a class="reference internal" href="#">v21 to v26 Migration Guide</a><ul>
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<li><a class="reference internal" href="#example-code-for-v21">Example code for v21</a></li>
|
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<li><a class="reference internal" href="#example-code-for-v26">Example code for v26</a></li>
|
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<li><a class="reference internal" href="#seed-and-random-number-generator">Seed and random number generator</a></li>
|
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<li><a class="reference internal" href="#environment-reset">Environment Reset</a></li>
|
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<li><a class="reference internal" href="#environment-step">Environment Step</a></li>
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<li><a class="reference internal" href="#timelimit-wrapper">TimeLimit Wrapper</a></li>
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<li><a class="reference internal" href="#environment-render">Environment Render</a></li>
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<li><a class="reference internal" href="#removed-code">Removed code</a></li>
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|
||
projectJson = jsonResponse[key];
|
||
if (projectJson.website !== null) {
|
||
projectJson.link = projectJson.website;
|
||
sections["Documentation"].push(projectJson)
|
||
} else if (projectJson.type == "mature") {
|
||
projectJson.link = projectJson.github;
|
||
sections["Mature Projects"].push(projectJson)
|
||
} else {
|
||
projectJson.link = projectJson.github;
|
||
sections["Incubating Projects"].push(projectJson)
|
||
}
|
||
})
|
||
|
||
const menuContainer = document.querySelector(".farama-header-menu__body");
|
||
|
||
Object.keys(sections).forEach((key, i) => {
|
||
projects = sections[key];
|
||
const sectionElem = Object.assign(
|
||
document.createElement('div'), {
|
||
className:'farama-header-menu__section',
|
||
style: "padding-left: 24px"
|
||
}
|
||
)
|
||
sectionElem.appendChild(Object.assign(document.createElement('span'),
|
||
{
|
||
className:'farama-header-menu__section-title' ,
|
||
innerText: key
|
||
}
|
||
))
|
||
const ulElem = Object.assign(document.createElement('ul'),
|
||
{
|
||
className:'farama-header-menu-list',
|
||
}
|
||
)
|
||
for (let project of projects) {
|
||
const liElem = document.createElement("li");
|
||
const aElem = Object.assign(document.createElement("a"),
|
||
{
|
||
href: project.link
|
||
}
|
||
);
|
||
liElem.appendChild(aElem);
|
||
if (key !== "Foundation") {
|
||
const imgElem = Object.assign(document.createElement("img"),
|
||
{
|
||
src: project.image ? imagesBasepath + project.image : imagesBasepath + "/farama_black.svg",
|
||
alt: `${project.name} logo`,
|
||
className: "farama-black-logo-invert"
|
||
}
|
||
);
|
||
aElem.appendChild(imgElem);
|
||
}
|
||
aElem.appendChild(document.createTextNode(project.name));
|
||
ulElem.appendChild(liElem);
|
||
}
|
||
sectionElem.appendChild(ulElem);
|
||
menuContainer.appendChild(sectionElem)
|
||
});
|
||
}
|
||
|
||
xhr.onerror = function() {
|
||
console.error("Unable to load projects");
|
||
};
|
||
|
||
xhr.send();
|
||
</script>
|
||
|
||
|
||
<script>
|
||
const versioningConfig = {
|
||
githubUser: 'Farama-Foundation',
|
||
githubRepo: 'Gymnasium',
|
||
};
|
||
fetch('/main/_static/versioning/versioning_menu.html').then(response => {
|
||
if (response.status === 200) {
|
||
response.text().then(text => {
|
||
const container = document.createElement("div");
|
||
container.innerHTML = text;
|
||
document.querySelector("body").appendChild(container);
|
||
// innerHtml doenst evaluate scripts, we need to add them dynamically
|
||
Array.from(container.querySelectorAll("script")).forEach(oldScript => {
|
||
const newScript = document.createElement("script");
|
||
Array.from(oldScript.attributes).forEach(attr => newScript.setAttribute(attr.name, attr.value));
|
||
newScript.appendChild(document.createTextNode(oldScript.innerHTML));
|
||
oldScript.parentNode.replaceChild(newScript, oldScript);
|
||
});
|
||
});
|
||
} else {
|
||
console.warn("Unable to load versioning menu", response);
|
||
}
|
||
});
|
||
</script>
|
||
|
||
</body>
|
||
</html> |