MAJOR: Allow transition and reward noises to depend on the current state and action, improve the default noise for cont. envs. example.py: set up logging; add CLI argument to toggle displaying image observations. Improve logging in general.

Author: RaghuSpaceRajan

���.gitignore

@@ -6,6 +6,8 @@ __pycache__/
 MUJOCO_LOG.TXT
 *.pdf
 
+log*
+
 *.swp
 *.csv
 .directory
@@ -114,4 +116,4 @@ venv.bak/
 
 #whitelist
 !tests/files/mdpp_12744267_SAC_target_radius/*.csv
-!misc/sample_recorded_data/*/*.csv
+!misc/sample_recorded_data/*/*.csv

example.py

@@ -1,4 +1,5 @@
 """We collect here some examples of basic usage for MDP Playground.
+Example call: python example.py --do_not_display_images --log_level INFO
 
 Calling this file as a script, invokes the following examples:
     one for basic discrete environments
@@ -10,7 +11,7 @@
     one for basic grid environments
     one for grid environments with image representations
     one for wrapping Atari env qbert
-    one for wrapping Mujoco env HalfCheetah
+    one for wrapping Mujoco envs HalfCheetah, Pusher, Reacher
     one for wrapping MiniGrid env  # Currently commented out due to some errors
     one for wrapping ProcGen env  # Currently commented out due to some errors
     two examples at the end showing how to create toy envs using gym.make()
@@ -25,6 +26,7 @@
 from mdp_playground.envs import RLToyEnv
 import numpy as np
 
+display_images = True
 
 def display_image(obs, mode="RGB"):
     # Display the image observation associated with the next state
@@ -121,7 +123,8 @@ def discrete_environment_image_representations_example():
 
     env.close()
 
-    display_image(next_state_image, mode="L")
+    if display_images:
+        display_image(next_state_image, mode="L")
 
 
 def discrete_environment_diameter_image_representations_example():
@@ -167,7 +170,8 @@ def discrete_environment_diameter_image_representations_example():
 
     env.close()
 
-    display_image(next_state_image, mode="L")
+    if display_images:
+        display_image(next_state_image, mode="L")
 
 
 def continuous_environment_example_move_to_a_point():
@@ -249,8 +253,9 @@ def continuous_environment_example_move_to_a_point_irrelevant_image():
 
     env.close()
 
-    img1 = display_image(next_state_image, mode="RGB")
-    img1.save("cont_env_irrelevant_image.pdf")
+    if display_images:
+        img1 = display_image(next_state_image, mode="RGB")
+        # img1.save("cont_env_irrelevant_image.pdf")
 
 
 def continuous_environment_example_move_along_a_line():
@@ -342,7 +347,8 @@ def grid_environment_image_representations_example():
     env.reset()[0]
     env.close()
 
-    display_image(next_obs)
+    if display_images:
+        display_image(next_obs)
 
 
 def atari_wrapper_example():
@@ -351,7 +357,7 @@ def atari_wrapper_example():
         "seed": 0,
         "delay": 1,
         "transition_noise": 0.25,
-        "reward_noise": lambda a: a.normal(0, 0.1),
+        "reward_noise": lambda s, a, rng: rng.normal(0, 0.1),
         "state_space_type": "discrete",
     }
 
@@ -380,7 +386,8 @@ def atari_wrapper_example():
 
     env.close()
 
-    display_image(next_state)
+    if display_images:
+        display_image(next_state)
 
 
 def mujoco_wrapper_examples():
@@ -435,11 +442,13 @@ def mujoco_wrapper_examples():
         state = env.reset(seed=gym_wrap_config["seed"])[0]
 
         print(
-            "Taking a step in the environment with a random action and printing the transition:"
+            "Taking steps in the HalfCheetah environment with a random action and printing the transition:"
         )
-        action = env.action_space.sample()
-        next_state, reward, done, trunc, info = env.step(action)
-        print("sars', done =", state, action, reward, next_state, done)
+        for i in range(3):
+            action = env.action_space.sample()
+            next_state, reward, done, trunc, info = env.step(action)
+            print("sars', done =", state, action, reward, next_state, done)
+            state = next_state
 
         env.close()
 
@@ -453,14 +462,16 @@ def mujoco_wrapper_examples():
         import gymnasium as gym
         env = GymEnvWrapper(env, **gym_wrap_config)
 
-        state = env.reset(seed=gym_wrap_config["seed"])[0]
+        state = env.reset(seed=gym_wrap_config["seed"] + 1)[0]
 
         print(
-            "Taking a step in the environment with a random action and printing the transition:"
+            "Taking steps in the Pusher environment with a random action and printing the transition:"
         )
-        action = env.action_space.sample()
-        next_state, reward, done, trunc, info = env.step(action)
-        print("sars', done =", state, action, reward, next_state, done)
+        for i in range(3):
+            action = env.action_space.sample()
+            next_state, reward, done, trunc, info = env.step(action)
+            print("sars', done =", state, action, reward, next_state, done)
+            state = next_state
 
         env.close()
 
@@ -474,14 +485,16 @@ def mujoco_wrapper_examples():
         import gymnasium as gym
         env = GymEnvWrapper(env, **gym_wrap_config)
 
-        state = env.reset(seed=gym_wrap_config["seed"])[0]
+        state = env.reset(seed=gym_wrap_config["seed"] + 2)[0]
 
         print(
-            "Taking a step in the environment with a random action and printing the transition:"
+            "Taking steps in the Reacher environment with a random action and printing the transition:"
         )
-        action = env.action_space.sample()
-        next_state, reward, done, trunc, info = env.step(action)
-        print("sars', done =", state, action, reward, next_state, done)
+        for i in range(3):
+            action = env.action_space.sample()
+            next_state, reward, done, trunc, info = env.step(action)
+            print("sars', done =", state, action, reward, next_state, done)
+            state = next_state
 
         env.close()
 
@@ -501,7 +514,7 @@ def minigrid_wrapper_example():
         "seed": 0,
         "delay": 1,
         "transition_noise": 0.25,
-        "reward_noise": lambda a: a.normal(0, 0.1),
+        "reward_noise": lambda s, a, rng: rng.normal(0, 0.1),
         "state_space_type": "discrete",
     }
 
@@ -533,7 +546,8 @@ def minigrid_wrapper_example():
 
     env.close()
 
-    display_image(next_obs)
+    if display_images:
+        display_image(next_obs)
 
 
 def procgen_wrapper_example():
@@ -542,7 +556,7 @@ def procgen_wrapper_example():
         "seed": 0,
         "delay": 1,
         "transition_noise": 0.25,
-        "reward_noise": lambda a: a.normal(0, 0.1),
+        "reward_noise": lambda s, a, rng: rng.normal(0, 0.1),
         "state_space_type": "discrete",
     }
 
@@ -569,76 +583,106 @@ def procgen_wrapper_example():
 
     env.close()
 
-    display_image(next_obs)
+    if display_images:
+        display_image(next_obs)
 
 
 if __name__ == "__main__":
 
+    # Use argparse to set display_images to False if you don't want to display images
+    # and to set log level.
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--display_images", "-di", help="Display image observations (available for some examples)", action="store_true")
+    parser.add_argument("--do_not_display_images", "-n", help="Do not display image observations (available for some examples)", action="store_false", dest="display_images")
+    parser.add_argument("--log_level", type=str, default="DEBUG", help="Set the log level")
+    parser.set_defaults(display_images=True)
+    args = parser.parse_args()
+    display_images = args.display_images
+
+    # Set up logging globally for the MDP Playground library:
+    import logging
+    logger = logging.getLogger("mdp_playground")
+    logger.setLevel(args.log_level)
+    if not logger.handlers:
+        log_filename = "log_file.txt"
+        log_file_handler = logging.FileHandler(log_filename)
+        log_file_handler.setFormatter(logging.Formatter('%(message)s - %(levelname)s - %(name)s - %(asctime)s', datefmt='%m.%d.%Y %I:%M:%S %p'))
+        logger.addHandler(log_file_handler)
+        # Add a console handler:
+        console_handler = logging.StreamHandler()
+        console_handler.setFormatter(logging.Formatter('%(message)s'))
+        # Have less verbose logging to console:
+        console_handler.setLevel(logging.INFO)
+        logger.addHandler(console_handler)
+        logger.info("Begin logging to: %s", log_filename)
+
+
     # Colour print
     set_ansi_escape = "\033[33;1m"  # Yellow, bold
     reset_ansi_escape = "\033[0m"
 
-    print(set_ansi_escape + "Running discrete environment\n" + reset_ansi_escape)
+    logger.info(set_ansi_escape + "Running discrete environment\n" + reset_ansi_escape)
     discrete_environment_example()
 
-    print(
+    logger.info(
         set_ansi_escape
         + "\nRunning discrete environment with image representations\n"
         + reset_ansi_escape
     )
     discrete_environment_image_representations_example()
 
-    print(
+    logger.info(
         set_ansi_escape
         + "\nRunning discrete environment with diameter and image representations\n"
         + reset_ansi_escape
     )
     discrete_environment_diameter_image_representations_example()
 
-    print(
+    logger.info(
         set_ansi_escape
         + "\nRunning continuous environment: move_to_a_point\n"
         + reset_ansi_escape
     )
     continuous_environment_example_move_to_a_point()
 
-    print(
+    logger.info(
         set_ansi_escape
         + "\nRunning continuous environment: move_to_a_point with irrelevant features and image representations\n"
         + reset_ansi_escape
     )
     continuous_environment_example_move_to_a_point_irrelevant_image()
 
-    print(
+    logger.info(
         set_ansi_escape
         + "\nRunning continuous environment: move_along_a_line\n"
         + reset_ansi_escape
     )
     continuous_environment_example_move_along_a_line()
 
-    print(
+    logger.info(
         set_ansi_escape
         + "\nRunning grid environment: move_to_a_point\n"
         + reset_ansi_escape
     )
     grid_environment_example()
 
-    print(
+    logger.info(
         set_ansi_escape + "\nRunning grid environment: move_to_a_point "
         "with image representations\n" + reset_ansi_escape
     )
     grid_environment_image_representations_example()
 
-    print(set_ansi_escape + "\nRunning Atari wrapper example:\n" + reset_ansi_escape)
+    logger.info(set_ansi_escape + "\nRunning Atari wrapper example:\n" + reset_ansi_escape)
     atari_wrapper_example()
 
-    print(set_ansi_escape + "\nRunning Mujoco wrapper example:\n" + reset_ansi_escape)
+    logger.info(set_ansi_escape + "\nRunning Mujoco wrapper example:\n" + reset_ansi_escape)
     mujoco_wrapper_examples()
 
-    print(set_ansi_escape + "\nRunning MiniGrid wrapper example:\n" + reset_ansi_escape)
+    # logger.info(set_ansi_escape + "\nRunning MiniGrid wrapper example:\n" + reset_ansi_escape)
     # minigrid_wrapper_example()
 
-    # print(set_ansi_escape + "\nRunning ProcGen wrapper example:\n" + reset_ansi_escape)
+    # logger.info(set_ansi_escape + "\nRunning ProcGen wrapper example:\n" + reset_ansi_escape)
     # procgen_wrapper_example()
 
     # Using gym.make() example 1
@@ -660,4 +704,4 @@ def procgen_wrapper_example():
     )
     env.reset()[0]
     for i in range(10):
-        print(env.step(env.action_space.sample()))
+        logger.info(env.step(env.action_space.sample()))