wehub-resource-sync
39 lines
1.3 KiB
Python
39 lines
1.3 KiB
Python
import numpy as np
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from gymnasium.envs.classic_control import CartPoleEnv
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from gymnasium.spaces import Box
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class StatelessCartPole(CartPoleEnv):
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"""Partially observable variant of the CartPole gym environment.
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https://github.com/openai/gym/blob/master/gym/envs/classic_control/
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cartpole.py
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We delete the x- and angular velocity components of the state, so that it
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can only be solved by a memory enhanced model (policy).
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"""
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def __init__(self, config=None):
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super().__init__()
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# Fix our observation-space (remove 2 velocity components).
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high = np.array(
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[
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self.x_threshold * 2,
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self.theta_threshold_radians * 2,
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],
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dtype=np.float32,
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)
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self.observation_space = Box(low=-high, high=high, dtype=np.float32)
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def step(self, action):
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next_obs, reward, done, truncated, info = super().step(action)
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# next_obs is [x-pos, x-veloc, angle, angle-veloc]
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return np.array([next_obs[0], next_obs[2]]), reward, done, truncated, info
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def reset(self, *, seed=None, options=None):
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init_obs, init_info = super().reset(seed=seed, options=options)
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# init_obs is [x-pos, x-veloc, angle, angle-veloc]
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return np.array([init_obs[0], init_obs[2]]), init_info
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