burlap.shell.visual.VisualExplorer Java Examples

public static void main(String[] args) {

		GridWorldDomain gw = new GridWorldDomain(11,11); //11x11 grid world
		gw.setMapToFourRooms(); //four rooms layout
		gw.setProbSucceedTransitionDynamics(0.8); //stochastic transitions with 0.8 success rate
		SADomain domain = gw.generateDomain(); //generate the grid world domain

		//setup initial state
		State s = new GridWorldState(new GridAgent(0, 0), new GridLocation(10, 10, "loc0"));

		//create visualizer and explorer
		Visualizer v = GridWorldVisualizer.getVisualizer(gw.getMap());
		VisualExplorer exp = new VisualExplorer(domain, v, s);

		//set control keys to use w-s-a-d
		exp.addKeyAction("w", GridWorldDomain.ACTION_NORTH, "");
		exp.addKeyAction("s", GridWorldDomain.ACTION_SOUTH, "");
		exp.addKeyAction("a", GridWorldDomain.ACTION_WEST, "");
		exp.addKeyAction("d", GridWorldDomain.ACTION_EAST, "");

		exp.initGUI();

	}
 

public static void main(String [] args){

		ExampleGridWorld gen = new ExampleGridWorld();
		gen.setGoalLocation(10, 10);
		SADomain domain = gen.generateDomain();
		State initialState = new EXGridState(0, 0);
		SimulatedEnvironment env = new SimulatedEnvironment(domain, initialState);

		Visualizer v = gen.getVisualizer();
		VisualExplorer exp = new VisualExplorer(domain, env, v);

		exp.addKeyAction("w", ACTION_NORTH, "");
		exp.addKeyAction("s", ACTION_SOUTH, "");
		exp.addKeyAction("d", ACTION_EAST, "");
		exp.addKeyAction("a", ACTION_WEST, "");

		exp.initGUI();


	}
 

/**
 * Main function to test the domain.
 * Note: The termination conditions are not checked when testing the domain this way, which means it is
 * impossible to win or die and might trigger bugs. To enable them, uncomment the code in the "update" function.
 *
 * @param args command line args
 */
public static void main(String[] args) {
	FrostbiteDomain fd = new FrostbiteDomain();
	SADomain d = fd.generateDomain();
	State s = new FrostbiteState();

	Visualizer vis = FrostbiteVisualizer.getVisualizer();
	VisualExplorer exp = new VisualExplorer(d, vis, s);

	exp.addKeyAction("a", ACTION_WEST, "");
	exp.addKeyAction("d", ACTION_EAST, "");
	exp.addKeyAction("w", ACTION_NORTH, "");
	exp.addKeyAction("s", ACTION_SOUTH, "");
	exp.addKeyAction("x", ACTION_IDLE, "");

	exp.initGUI();
}
 

/**
 * Creates a visual explorer that you can use to to record trajectories. Use the "`" key to reset to a random initial state
 * Use the wasd keys to move north south, east, and west, respectively. To enable recording,
 * first open up the shell and type: "rec -b" (you only need to type this one). Then you can move in the explorer as normal.
 * Each demonstration begins after an environment reset.
 * After each demonstration that you want to keep, go back to the shell and type "rec -r"
 * If you reset the environment before you type that,
 * the episode will be discarded. To temporarily view the episodes you've created, in the shell type "episode -v". To actually record your
 * episodes to file, type "rec -w path/to/save/directory base_file_name" For example "rec -w irl_demos demo"
 * A recommendation for examples is to record two demonstrations that both go to the pink cell while avoiding blue ones
 * and do so from two different start locations on the left (if you keep resetting the environment, it will change where the agent starts).
 */
public void launchExplorer(){
	SimulatedEnvironment env = new SimulatedEnvironment(this.domain, this.sg);
	VisualExplorer exp = new VisualExplorer(this.domain, env, this.v, 800, 800);
	exp.addKeyAction("w", GridWorldDomain.ACTION_NORTH, "");
	exp.addKeyAction("s", GridWorldDomain.ACTION_SOUTH, "");
	exp.addKeyAction("d", GridWorldDomain.ACTION_EAST, "");
	exp.addKeyAction("a", GridWorldDomain.ACTION_WEST, "");

	//exp.enableEpisodeRecording("r", "f", "irlDemo");

	exp.initGUI();
}
 

/**
 * Main method for exploring the domain. The initial state will have 3 red blocks starting on the table. By default this method will launch the visual explorer.
 * Pass a "t" argument to use the terminal explorer.
 * @param args process arguments
 */
public static void main(String [] args){
	
	BlocksWorld bw = new BlocksWorld();
	SADomain domain = bw.generateDomain();
	
	State s = getNewState(3);
	
	int expMode = 1;
	if(args.length > 0){
		if(args[0].equals("v")){
			expMode = 1;
		}
		else if(args[0].equals("t")){
			expMode = 0;
		}
	}
	
	
	if(expMode == 0){

		EnvironmentShell shell = new EnvironmentShell(domain, s);
		shell.start();
		
	}
	else if(expMode == 1){
		VisualExplorer exp = new VisualExplorer(domain, BlocksWorldVisualizer.getVisualizer(24), s);
		
		
		exp.initGUI();
	}
	
}
 

public static void main(String args[]) {

        // Learning constants
        double gamma = 0.99;
        int replayStartSize = 50000;
        int memorySize = 1000000;
        double epsilonStart = 1;
        double epsilonEnd = 0.1;
        double testEpsilon = 0.05;
        int epsilonAnnealDuration = 1000000;
        int staleUpdateFreq = 10000;

        // Caffe solver file
        String solverFile = "example_models/grid_world_dqn_solver.prototxt";

        // Load Caffe
        Loader.load(caffe.Caffe.class);

        // Setup the network
        GridWorldDQN gridWorldDQN = new GridWorldDQN(solverFile, gamma);

        // Create the policies
        SolverDerivedPolicy learningPolicy =
                new AnnealedEpsilonGreedy(epsilonStart, epsilonEnd, epsilonAnnealDuration);
        SolverDerivedPolicy testPolicy = new EpsilonGreedy(testEpsilon);

        // Setup the learner
        DeepQLearner deepQLearner =
                new DeepQLearner(gridWorldDQN.domain, gamma, replayStartSize, learningPolicy, gridWorldDQN.dqn);
        deepQLearner.setExperienceReplay(new FixedSizeMemory(memorySize), gridWorldDQN.dqn.batchSize);
        deepQLearner.useStaleTarget(staleUpdateFreq);

        // Setup the tester
        Tester tester = new SimpleTester(testPolicy);

        // Set the QProvider for the policies
        learningPolicy.setSolver(deepQLearner);
        testPolicy.setSolver(deepQLearner);

        // Setup the visualizer
        VisualExplorer exp = new VisualExplorer(
                gridWorldDQN.domain, gridWorldDQN.env, GridWorldVisualizer.getVisualizer(gridWorldDQN.gwdg.getMap()));
        exp.initGUI();
        exp.startLiveStatePolling(33);

        // Setup helper
        TrainingHelper helper = new TrainingHelper(
                deepQLearner, tester, gridWorldDQN.dqn, actionSet, gridWorldDQN.env);
        helper.setTotalTrainingSteps(50000000);
        helper.setTestInterval(500000);
        helper.setTotalTestSteps(125000);
        helper.setMaxEpisodeSteps(10000);

        // Run helper
        helper.run();
    }
 

public static void main(String [] args){

		ExampleOOGridWorld gen = new ExampleOOGridWorld();
		OOSADomain domain = gen.generateDomain();
		State initialState = new GenericOOState(new ExGridAgent(0, 0), new EXGridLocation(10, 10, "loc0"));
		SimulatedEnvironment env = new SimulatedEnvironment(domain, initialState);

		Visualizer v = gen.getVisualizer();
		VisualExplorer exp = new VisualExplorer(domain, env, v);

		exp.addKeyAction("w", ACTION_NORTH, "");
		exp.addKeyAction("s", ACTION_SOUTH, "");
		exp.addKeyAction("d", ACTION_EAST, "");
		exp.addKeyAction("a", ACTION_WEST, "");

		exp.initGUI();


	}
 

/**
 * Runs an interactive visual explorer for level one of Block Dude. The keys w,a,d,s,x correspond to actions
 * up, west, east, pick up, put down.
 * @param args can be empty.
 */
public static void main(String[] args) {

	BlockDude bd = new BlockDude();
	SADomain domain = bd.generateDomain();
	State s = BlockDudeLevelConstructor.getLevel2(domain);

	Visualizer v = BlockDudeVisualizer.getVisualizer(bd.maxx, bd.maxy);



	VisualExplorer exp = new VisualExplorer(domain, v, s);

	exp.addKeyAction("w", ACTION_UP, "");
	exp.addKeyAction("d", ACTION_EAST, "");
	exp.addKeyAction("a", ACTION_WEST, "");
	exp.addKeyAction("s", ACTION_PICKUP, "");
	exp.addKeyAction("x", ACTION_PUT_DOWN, "");

	exp.initGUI();



}
 

/**
 * Will launch a visual explorer for the mountain car domain that is controlled with the a-s-d keys.
 * @param args empty arguments.
 */
public static void main(String [] args){
	
	MountainCar mcGen = new MountainCar();
	SADomain domain = mcGen.generateDomain();
	State s = mcGen.valleyState();
	

	Visualizer vis = MountainCarVisualizer.getVisualizer(mcGen);
	VisualExplorer exp = new VisualExplorer(domain, vis, s);
	
	exp.addKeyAction("d", ACTION_FORWARD, "");
	exp.addKeyAction("s", ACTION_COAST, "");
	exp.addKeyAction("a", ACTION_BACKWARDS, "");
	
	exp.initGUI();
	
}
 

/**
 * This method will launch a visual explorer for the lunar lander domain. It will use the default
 * physics, start the agent on the left side of the world with a landing pad on the right
 * and an obstacle in between. The agent is controlled with the following keys: <p>
 * w: heavy thrust<p>
 * s: weak thrust<p>
 * a: turn/rotate counterclockwise<p>
 * d: turn/rotate clockwise<p>
 * x: idle (drift for one time step)
 * <p>
 * If you pass the main method "t" as an argument, a terminal explorer will be used instead of a visual explorer.
 * @param args optionally pass "t" asn argument to use a terminal explorer instead of a visual explorer.
 */
public static void main(String[] args) {

	LunarLanderDomain lld = new LunarLanderDomain();
	SADomain domain = lld.generateDomain();



	LLState clean = new LLState(
			new LLAgent(5, 0, 0),
			new LLBlock.LLPad(80, 95, 0, 10, "pad"),
			new LLBlock.LLObstacle(60, 70, 0, 13, "obstacle")
	);


	int expMode = 1;

	if(args.length > 0){
		if(args[0].equals("v")){
			expMode = 1;
		}
		else if(args[0].equals("t")){
			expMode = 0;
		}
	}

	if(expMode == 0){

		EnvironmentShell shell = new EnvironmentShell(domain, clean);
		shell.start();

	}
	else if(expMode == 1){

		Visualizer vis = LLVisualizer.getVisualizer(lld);
		VisualExplorer exp = new VisualExplorer(domain, vis, clean);

		exp.addKeyAction("w", ACTION_THRUST, "0.32");
		exp.addKeyAction("s", ACTION_THRUST, String.valueOf(-lld.physParams.gravity));
		exp.addKeyAction("a", ACTION_TURN_LEFT, "");
		exp.addKeyAction("d", ACTION_TURN_RIGHT, "");
		exp.addKeyAction("x", ACTION_IDLE, "");

		exp.initGUI();

	}

}
 

/**
 * Creates a visual explorer or terminal explorer. By default a visual explorer is presented; use the "t" argument
 * to create terminal explorer. Will create a 4 rooms grid world with the agent in lower left corner and a location in
 * the upper right. Use w-a-s-d to move.
 * @param args command line args
 */
public static void main(String[] args) {

	GridWorldDomain gwdg = new GridWorldDomain(11, 11);
	gwdg.setMapToFourRooms();
	//gwdg.setProbSucceedTransitionDynamics(0.75);

	SADomain d = gwdg.generateDomain();


	GridWorldState s = new GridWorldState(new GridAgent(0, 0), new GridLocation(10, 10, "loc0"));

	
	int expMode = 1;
	if(args.length > 0){
		if(args[0].equals("v")){
			expMode = 1;
		}
		else if(args[0].equals("t")){
			expMode = 0;
		}
	}
	
	if(expMode == 0){

		EnvironmentShell shell = new EnvironmentShell(d, s);
		shell.start();
		
	}
	else if(expMode == 1){
		
		Visualizer v = GridWorldVisualizer.getVisualizer(gwdg.getMap());
		VisualExplorer exp = new VisualExplorer(d, v, s);
		
		//use w-s-a-d-x
		exp.addKeyAction("w", ACTION_NORTH, "");
		exp.addKeyAction("s", ACTION_SOUTH, "");
		exp.addKeyAction("a", ACTION_WEST, "");
		exp.addKeyAction("d", ACTION_EAST, "");
		
		exp.initGUI();
	}
	
	
}
 

/**
 * @param args none expected
 */
public static void main(String[] args) {

	InvertedPendulum ivp = new InvertedPendulum();
	SADomain domain = ivp.generateDomain();
	
	State s = new InvertedPendulumState();
	
	Visualizer v = CartPoleVisualizer.getCartPoleVisualizer();
	
	VisualExplorer exp = new VisualExplorer(domain, v, s);
	
	exp.addKeyAction("a", ACTION_LEFT, "");
	exp.addKeyAction("d", ACTION_RIGHT, "");
	exp.addKeyAction("s", ACTION_NO_FORCE, "");
	
	exp.initGUI();

}
 

/**
 * Launches an interactive visualize in which key 'a' applies a force in the left direction and key 'd' applies force in the right direction.
 * The corrected physics model is used.
 * @param args ignored.
 */
public static void main(String [] args){
	CartPoleDomain dgen = new CartPoleDomain();

	SADomain domain = dgen.generateDomain();
	
	State s = new CartPoleFullState();
	
	VisualExplorer exp = new VisualExplorer(domain, CartPoleVisualizer.getCartPoleVisualizer(), s);
	exp.addKeyAction("a", ACTION_LEFT, "");
	exp.addKeyAction("d", ACTION_RIGHT, "");
	
	exp.initGUI();
	
}