This is an environment for RL purposes
Project description
Household-env
This is a gym environment that represents a robot agent in a household environment for RL purposes.
Table of Contents
How to run it
Observation space
Action space
Tasks
How to run it
To run an example of the environment first install it and then run the dummy file.
#!/bin/bash
pip install -e Household-env
python3 dummy.py
Observation space
The robot has a vision grid of 7x7. The vision grid inputs will return values that represent the content of that cell.
The tasks encoding is binary instead of label encoding (0: task1, 1: task2...) because there is no ordering for the tasks, but the alg. might think there is.
Note: We could do the same for the vision grid, but then the observation space would increase a lot (48*3=147 for for only 7 representable objects )
Num | Observation | Min | Max |
---|---|---|---|
0 | x_coord_robot | 0 | 19 |
1 | y_coord_robot | 0 | 19 |
2 | task_encoding | 0 | 1 |
... | ... | ||
6 | task_encoding | 0 | 1 |
7 | 1st action | 0 | 8 |
8 | 2nd action | 0 | 8 |
9 | 3rd action | 0 | 8 |
10 | 4th action | 0 | 8 |
(vision not yet) | |||
11 | vision_grid | 0 | 1 |
.. | .. | 0 | 1 |
58 | vision_grid | 0 | 1 |
Objects will return the following values when within range of the 7x7 vision grid.
Num | Object |
---|---|
0 | Nothing |
1 | wall |
2 | TV |
3 | couch |
4 | bed |
5 | fridge |
6 | dishwasher |
7 | person |
Action space
Only one action can be taken at each time step. The Num of the action to be taken is passed as the argument to the
step
function.
Num | Action | Min | Max |
---|---|---|---|
0 | move_up | 0 | 1 |
1 | move_down | 0 | 1 |
2 | move_left | 0 | 1 |
3 | move_right | 0 | 1 |
4 | (A) extend_arm | 0 | 1 |
5 | (B) retract_arm | 0 | 1 |
6 | (C) grasp | 0 | 1 |
7 | (D) drop | 0 | 1 |
8 | (E) push | 0 | 1 |
Tasks
The tasks encoding is binary instead of label encoding (0: task1, 1: task2...) because there is no ordering for the tasks, but the alg. might think there is. We currently use 5 units so up to 31 tasks.
Num | Action | Binary encoded |
---|---|---|
0 | No tasks | 00000 |
1 | Turn on TV | 00001 |
2 | Bring user a drink | 00010 |
3 | Make beds | 00011 |
Project details
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