composabl 0.0.1.dev1

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Composabl

Composabl helps you build Autonomous Agents! Through an easy SDK you get access to outscaled simulator training tools.

Getting Started

To get started and run your experiments, let's follow these steps

Prerequisites

• Python 3.8
• Composabl SDK (pip install composabl)
• Acquire a License

Demo

python -m composabl.main

Training your first Agent

Save the below as main.py and run it with python main.py

from composabl.agent import Agent, Scenario, Skill

stabilize_scenarios = [
    {
        "angle": 0,
        "horizontal_position": [-0.2, 0.2],
        "vertical_position": [-0.5, -0.5],
        "velocity": [-0.2, 0.2],
    },
    {
        "angle": -.17,
        "horizontal_position": [-0.5, 0.5],
        "vertical_position": [-0.5, -0.25],
        "velocity": 0
    },
    {
        "angle": 0.12,
        "horizontal_position": [-0.7, 0.7],
        "vertical_position": [-.65, -0.1],
        "velocity": 0
    }
]

def stabilize_reward():
    """
    if {{{prev_state}}} is None:
        reward = 0
    VIEWPORT_W = 600
    VIEWPORT_H = 400
    SCALE = 30.0

    reward = 0
    # has the angle moved closer to 0?
    if abs({{prev_state[4]}}) >= abs({{state[4]}}) + 0.1 * 180 / math.pi:
        reward += 1
    # has the x position remained stable?
    if abs({{prev_state[0]}} - {{state[0]}}) <= 0.01 * (VIEWPORT_W / SCALE / 2):
        reward += 1
    else:
        reward -= 1
    # has the y position remained stable?
    if abs({{prev_state[1]}} - {{state[1]}}) <= 0.01 * (VIEWPORT_W / SCALE / 2):
        reward += 1
    else:
        reward -= 1
    """


def main():
    stabilize_skill = Skill("stabilize", stabilize_reward(), trainable=True)
    for scenario_dict in stabilize_scenarios:
        scenario = Scenario(scenario_dict)
        stabilize_skill.add_scenario(scenario)

    agent = Agent({
        "license": "<LICENSE_KEY>",
        "env": {
            "strategy": "local",  # "docker", "kubernetes", "local"
            "config": {
                "address": "localhost:1337",
                # "image": "composabl.ai/sim-gymnasium:latest"
            }
        }
    })
    agent.add_skill(stabilize_skill)
    agent.train(train_iters=5000)


if __name__ == "__main__":
    main()