public bool ComputingImageInput(DPRLAgent agent, out string code, out int[] shape, out int numObjects)
{
Sensor sensor;
if (agent.TryGetSensor("raycasting", out sensor))
{
RaycastingSensor rsensor = (RaycastingSensor)sensor;
code = "to_image(fields['" + rsensor.perceptionKey + "'])";
shape = new int[] { rsensor.shape[0], rsensor.shape[1], rsensor.shape[2] };
numObjects = rsensor.objectMapping.Length;
return(true);
}
code = "";
shape = null;
numObjects = 0;
return(false);
}
public override string GenCode(EnvironmentGenerator gen, DPRLAgent agent)
{
string head = System.IO.File.ReadAllText("Assets/baseline/baselineppo2_head.tpl");
string text = System.IO.File.ReadAllText("Assets/baseline/baselineppo2.tpl");
int dim = inputs.Count;
if (dim == 1)
{
if (!inputs[0].isImage) //only linear input
{
string code;
int shape = 0;
if (sensorsExtractor.ComputingLinearInput(agent, out code, out shape))
{
text = head + text;
text = text.Replace("#DISABLE51", "");
text = text.Replace("#TPL_RETURN_STATE", "return[np.array(" + code + "), None]");
text = text.Replace("#TPL_INPUT_SHAPE", "(" + shape + ", )");
text = text.Replace("#IW", "0");
text = text.Replace("#IH", "0");
text = text.Replace("#ARRAY_SIZE", "" + shape);
text = text.Replace("#MODELNAME", modelName);
text = text.Replace("#OUTPUT_LOG", outputLogName);
text = text.Replace("#TIMESTEPS", "" + timeSteps);
text = text.Replace("#INPUT_PORT", "" + inputPort);
text = text.Replace("#OUTPUT_PORT", "" + outputPort);
if (useLSTM)
{
text = text.Replace("#PPO2POLICY", "MlpLstmPolicy");
}
else
{
text = text.Replace("#PPO2POLICY", "MlpPolicy");
}
}
else
{
Debug.LogWarning("BaselinePPO2Template error: there is no enough information to generate agent program!!!");
}
}
else //only image input
{
string code;
int[] shape;
int numObjects = 0;
if (sensorsExtractor.ComputingImageInput(agent, out code, out shape, out numObjects))
{
string neuralCode = System.IO.File.ReadAllText("Assets/baseline/baselineppo2_imageInput.tpl");
text = head + neuralCode + text;
text = text.Replace("#IW", "" + shape[0]);
text = text.Replace("#IH", "" + shape[1]);
text = text.Replace("#TPL_RETURN_STATE", "return [None, " + code + "]");
text = text.Replace("#TPL_INPUT_SHAPE", "(" + shape[0] + ", " + shape[1] + ", " + shape[2] + ")");
text = text.Replace("#NUMOBJ", "" + numObjects);
text = text.Replace("#LINEARINPUTNORM", "" + linearInputNorm);
text = text.Replace("#MODELNAME", modelName);
text = text.Replace("#OUTPUT_LOG", outputLogName);
text = text.Replace("#TIMESTEPS", "" + timeSteps);
text = text.Replace("#INPUT_PORT", "" + inputPort);
text = text.Replace("#OUTPUT_PORT", "" + outputPort);
if (useLSTM)
{
text = text.Replace("#PPO2POLICY", "MlpLstmPolicy");
}
else
{
text = text.Replace("#PPO2POLICY", "MlpPolicy");
}
}
else
{
Debug.LogWarning("BaselinePPO2 error: there is no enough information to generate agent program!!!");
}
}
}
else if (dim == 2) //two inputs: image, and linear array.
{
string code1;
int shape1;
string code2;
int[] shape2;
int numObjects;
if (sensorsExtractor.ComputingLinearInput(agent, out code1, out shape1) &&
sensorsExtractor.ComputingImageInput(agent, out code2, out shape2, out numObjects))
{
Debug.LogWarning("BaselinePPO2 warning: BaselinePPO2 does not yet support multiple entries. You will have to adapt the generated code to support this functionality. See more at https://github.com/hill-a/stable-baselines/issues/133");
string neuralCode = System.IO.File.ReadAllText("Assets/baseline/baselineppo2_linearImageInput.tpl");
text = head + neuralCode + text;
text = text.Replace("#IW", "" + shape2[0]);
text = text.Replace("#IH", "" + shape2[1]);
text = text.Replace("#TPL_RETURN_STATE", "return [" + code1 + ", " + code2 + "]");
text = text.Replace("#ARRAY_SIZE", "" + shape1);
text = text.Replace("#TPL_INPUT_SHAPE", "(" + shape2[0] + ", " + shape2[1] + ", " + shape2[2] + ")");
text = text.Replace("#DISABLE51", "");
text = text.Replace("#DISABLE52", "");
text = text.Replace("#RAYCASTING1", "");
text = text.Replace("#RAYCASTING2", "");
text = text.Replace("#HISTSIZE", "" + shape2[2]);
text = text.Replace("#SHAPE1", "" + shape2[0]);
text = text.Replace("#SHAPE2", "" + shape2[1]);
text = text.Replace("#NETWORK", "");
text = text.Replace("#NUMOBJ", "" + numObjects);
text = text.Replace("#LINEARINPUTNORM", "" + linearInputNorm);
text = text.Replace("#MODELNAME", modelName);
text = text.Replace("#OUTPUT_LOG", outputLogName);
text = text.Replace("#TIMESTEPS", "" + timeSteps);
text = text.Replace("#INPUT_PORT", "" + inputPort);
text = text.Replace("#OUTPUT_PORT", "" + outputPort);
if (useLSTM)
{
text = text.Replace("#PPO2POLICY", "MlpLstmPolicy");
}
else
{
text = text.Replace("#PPO2POLICY", "MlpPolicy");
}
}
else
{
Debug.LogWarning("BaselinePPO2 error: there is no enough information to generate agent program!!!");
}
}
else
{
text = text.Replace("#IW", "0");
text = text.Replace("#IH", "0");
}
if (outputs.Count > 0)
{
text = text.Replace("#TPL_OUTPUT_SHAPE", "(" + outputs[0].size + ", )");
}
if (gen.actions.Length > 0)
{
System.Text.StringBuilder sb = new System.Text.StringBuilder();
sb.Append("[");
for (int i = 0; i < gen.actions.Length; i++)
{
sb.Append("('").Append(gen.actions[i].name).Append("',").Append(gen.actions[i].value).Append(")");
if (i + 1 < gen.actions.Length)
{
sb.Append(',');
}
}
sb.Append("]");
text = text.Replace("#TPL_ACTIONS", sb.ToString());
}
else
{
text = text.Replace("#TPL_ACTIONS", "[('Move', [1, 0, 0]), ('Move', [-1, 0, 0]), ('Move', [0, 1, 0]), ('Move', [0, -1, 0]), ('Move', [0, 0, 1]), ('Move', [0, 0, -1])]");
text = text.Replace("#TPL_OUTPUT_SHAPE", "(6, )");
}
text = text.Replace("#SKIP_FRAMES", "" + gen.skipFrames);
for (int i = 0; i < replacement.Length; i++)
{
text = text.Replace(replacement[i].name, replacement[i].value);
}
text += "\n";
return(text);
}
public void SetAgent(DPRLAgent own)
{
agent = own;
}
public abstract string GenCode(EnvironmentGenerator env, DPRLAgent agent);
public bool ComputingLinearInput(DPRLAgent agent, out string code, out int size)
{
StringBuilder list1 = new StringBuilder();
StringBuilder list2 = new StringBuilder();
list1.Append("[");
list2.Append("np.concatenate( (");
int countL1 = 0;
int countL2 = 0;
int i1 = 0, i2 = 0;
size = 0;
foreach (Sensor s in agent.sensors)
{
if (s.isState)
{
if (s.type == SensorType.sfloat)
{
size++;
if (i1 > 0)
{
list1.Append(",");
}
list1.Append("fields['" + s.perceptionKey + "']");
countL1++;
i1++;
}
else if (s.type == SensorType.sfloatarray)
{
size += s.shape[0];
if (i2 > 0)
{
list2.Append(", ");
}
list2.Append("fields['" + s.perceptionKey + "']");
countL2++;
i2++;
}
}
}
list1.Append(']');
list2.Append("))");
string gen = "";
if (countL1 > 0)
{
if (countL2 > 0)
{
gen += "np.concatenate((" + list1.ToString();
gen += ", " + list2.ToString() + "))";
}
else
{
gen = list1.ToString();
}
code = gen;
return(true);
}
else if (countL2 > 0)
{
gen = list2.ToString();
code = gen;
return(true);
}
code = string.Empty;
size = 0;
return(false);
}
public override string GenCode(EnvironmentGenerator gen, DPRLAgent agent)
{
string head = System.IO.File.ReadAllText("Assets/baseline/builtina3c_head.tpl");
string text = System.IO.File.ReadAllText("Assets/baseline/builtina3c.tpl");
int dim = inputs.Count;
if (dim == 1)
{
if (!inputs[0].isImage) //only linear input
{
string code;
int shape = 0;
if (sensorsExtractor.ComputingLinearInput(agent, out code, out shape))
{
text = head + text;
text = text.Replace("#DISABLE51", "");
text = text.Replace("#TPL_RETURN_STATE", "return[np.array(" + code + "), None]");
text = text.Replace("#TPL_INPUT_SHAPE", "(" + shape + ", )");
text = text.Replace("#ARRAY_SIZE", "" + shape);
text = text.Replace("#IW", "0");
text = text.Replace("#IH", "0");
}
else
{
Debug.LogWarning("A3CBuiltInGenerator error: there is no enough information to generate agent program!!!");
}
}
else //only image input
{
string code;
int[] shape;
int numObjects = 0;
if (sensorsExtractor.ComputingImageInput(agent, out code, out shape, out numObjects))
{
string neuralCode = System.IO.File.ReadAllText("Assets/baseline/builtina3c_imageInput.tpl");
text = head + neuralCode + text;
text = text.Replace("#IW", "" + shape[0]);
text = text.Replace("#IH", "" + shape[1]);
text = text.Replace("#TPL_RETURN_STATE", "return [None, " + code + "]");
text = text.Replace("#TPL_INPUT_SHAPE", "(" + shape[0] + ", " + shape[1] + ", " + shape[2] + ")");
text = text.Replace("#DISABLE51", "");
text = text.Replace("#RAYCASTING1", "");
text = text.Replace("#RAYCASTING2", "");
text = text.Replace("#HISTSIZE", "" + shape[2]);
text = text.Replace("#SHAPE1", "" + shape[0]);
text = text.Replace("#SHAPE2", "" + shape[1]);
text = text.Replace("#NETWORK", "");
text = text.Replace("#NUMOBJ", "" + numObjects);
text = text.Replace("#LINEARINPUTNORM", "" + linearInputNorm);
}
else
{
Debug.LogWarning("A3CBuiltInGenerator error: there is no enough information to generate agent program!!!");
}
}
}
else if (dim == 2) //two inputs: image, and linear array.
{
string code1;
int shape1;
string code2;
int[] shape2;
int numObjects;
if (sensorsExtractor.ComputingLinearInput(agent, out code1, out shape1) &&
sensorsExtractor.ComputingImageInput(agent, out code2, out shape2, out numObjects))
{
string neuralCode = System.IO.File.ReadAllText("Assets/baseline/builtina3c_linearImageInput.tpl");
text = head + neuralCode + text;
text = text.Replace("#IW", "" + shape2[0]);
text = text.Replace("#IH", "" + shape2[1]);
text = text.Replace("#TPL_RETURN_STATE", "return [" + code1 + ", " + code2 + "]");
text = text.Replace("#ARRAY_SIZE", "" + shape1);
text = text.Replace("#TPL_INPUT_SHAPE", "(" + shape2[0] + ", " + shape2[1] + ", " + shape2[2] + ")");
text = text.Replace("#DISABLE51", "");
text = text.Replace("#DISABLE52", "");
text = text.Replace("#RAYCASTING1", "");
text = text.Replace("#RAYCASTING2", "");
text = text.Replace("#HISTSIZE", "" + shape2[2]);
text = text.Replace("#SHAPE1", "" + shape2[0]);
text = text.Replace("#SHAPE2", "" + shape2[1]);
text = text.Replace("#NETWORK", "");
text = text.Replace("#NUMOBJ", "" + numObjects);
text = text.Replace("#LINEARINPUTNORM", "" + linearInputNorm);
}
else
{
Debug.LogWarning("A3CBuiltInGenerator error: there is no enough information to generate agent program!!!");
}
}
else
{
text = text.Replace("#IW", "0");
text = text.Replace("#IH", "0");
}
if (outputs.Count > 0)
{
text = text.Replace("#TPL_OUTPUT_SHAPE", "(" + outputs[0].size + ", )");
}
if (gen.actions.Length > 0)
{
System.Text.StringBuilder sb = new System.Text.StringBuilder();
sb.Append("[");
for (int i = 0; i < gen.actions.Length; i++)
{
sb.Append("('").Append(gen.actions[i].name).Append("',").Append(gen.actions[i].value).Append(")");
if (i + 1 < gen.actions.Length)
{
sb.Append(',');
}
}
sb.Append("]");
text = text.Replace("#TPL_ACTIONS", sb.ToString());
}
else
{
text = text.Replace("#TPL_ACTIONS", "[('Move', [1, 0, 0]), ('Move', [-1, 0, 0]), ('Move', [0, 1, 0]), ('Move', [0, -1, 0]), ('Move', [0, 0, 1]), ('Move', [0, 0, -1])]");
text = text.Replace("#TPL_OUTPUT_SHAPE", "(6, )");
}
text = text.Replace("#SKIP_FRAMES", "" + gen.skipFrames);
for (int i = 0; i < replacement.Length; i++)
{
text = text.Replace(replacement[i].name, replacement[i].value);
}
text += "\n";
return(text);
}