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OpenAI Gym Puzzles

This repository contains custom OpenAI Gym environments using PyBox2D. Each environment contains multiple robots which are centrally controlled by a single agent, whose goal is to move the T-shaped block to the goal location, marked by a blue circle. For true mutli-agent environments check out multiagent-env.

Note: These envs were developed in 2018. I have made minor updates to be compatible with gym==0.21, but updating the code to be more modular and easy to configure is in progress.

Setup

git clone https://github.com/khajash/gym_puzzles.git
cd gym_puzzles
python -m venv .env
source .env/bin/activate
pip install -e .

Usage

import gym_puzzles
env = gym.make('MultiRobotPuzzle-v0')

Envs Available

This is a 2-D environment in which multiple octagonal robots (with either holonomic or non-holonomic control) move blocks to a specified location demarcated by a blue circle. In this current version, there is only a single block initialized, but it has the capabilites of initializing with 3 blocks to form a square.

There are four envs currently configured:

  • Holonomic Control
    • MultiRobotPuzzle-v0
    • MultiRobotPuzzleHeavy-v0
  • Non-Holonomic Control
    • MultiRobotPuzzle-v2
    • MultiRobotPuzzleHeavy-v2

MultiRobotPuzzle-v0 and MultiRobotPuzzleHeavy-v0

In both of these environments, the robots have holonomic control, meaning they can move freely in the x and y-dimensions and rotate.

Actions:

  • Continuous with shape 3*n with n robots.
  • Each robot has control of linear velocity in x and y-dimensions and angular velocity

Reward:

  • Between robot and block:
    • delta distance between prev timestep and cur timestep to encourage larger positive movements
    • negative reward based on distance between robot and block
  • Between block and goal:
    • delta distance between prev timestep and cur timestep to encourage larger positive movements
    • negative reward based on distance between block and goal
  • Reward for completing puzzle

State:

  • For each robot: relative location to block, distance to block, contact with block
  • For each block: relative location to goal, distance to goal, global position of block's vertices

The base version MultiRobotPuzzle-v0 contains 2 agents with a lighter and smaller block than the heavy version.

The heavy version MultiRobotPuzzleHeavy-v0 contains 5 agents with a block that is 2x the size of the block in the normal environment and 2x heavier.

MultiRobotPuzzle-v2 and MultiRobotPuzzleHeavy-v2

In both of these environments, the agents have non-holonomic control, where the robots control their linear velocity and turning radius, similar to a car. This robots' goal is to move the block to a specified location demarcated by a white circle with larger outline representing the margin of error. In this current version, there is only a single block initialized, but it has the capabilites of initializing with 3 blocks that form a square.

Actions:

  • Continuous with shape 2*n with n robots.
  • Linear velocity and turning angle

Reward:

  • Between robot and block:
    • delta distance between prev timestep and cur timestep to encourage larger positive movements
    • negative reward based on distance between robot and block
  • Between block and goal:
    • delta distance between prev timestep and cur timestep to encourage larger positive movements
    • negative reward based on distance between block and goal
  • Reward for completing puzzle that decays over time encouraging faster completion of task

State:

  • For each robot: relative location to block, distance to block, contact with block
  • For each block: relative location to goal, distance to goal, global position of block's vertices

Both the base and heavy versions have the same size block, but the heavy version has a density significantly higher making it very difficult to move alone. This image below shows the standard human vision rendering style showing solid fills for objects, vertices, and centroids.

Rendering Agent Vision

This rendering style is meant to give us an idea of what the agent sees. It only shows centroids, vertices, and vectors.

Hyperparameter Tuning with Weights and Biases's Sweep

  1. Go to WandB project on web console. If you don't have a project already, create a new one.
  2. Select Sweeps > Create Sweep
  3. Copy yaml config sweep from sweep-bayes.yml or write custom one. The autogenerated yaml is not helpful for my setup. Press Initialize Sweep
  4. Make sure default params in parsers.py are correct and it's referencing the correct config file (TODO: check if can specify cmdline params)
  5. Set RUN_WANDB_SWEEP = True at beginning of train.py file. This allows wandb to override hparams in the sweep, otherwise it will keep the default configuration.
  6. In the WandB sweep console, copy launch agent wandb agent user/project/agentID and run in an open terminal. This will start your sweep. Do this on as many separate machines as you want for distrubuted tuning.