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How to use the_task method in locust
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test_rddl_writer.py
Source:test_rddl_writer.py 
1import os2import tempfile3import tarski4from tarski.theories import Theory5from tarski.syntax import *6from tarski.io import rddl7from tarski.syntax.arithmetic import *8from tarski.syntax.arithmetic.special import *9from tarski.syntax.arithmetic.random import *10from tarski.rddl import Task11def test_simple_rddl_model():12 lang = tarski.language('lqr_nav_1d', [Theory.EQUALITY, Theory.ARITHMETIC, Theory.SPECIAL])13 the_task = Task(lang, 'lqr_nav_1d', 'instance_001')14 the_task.requirements = [rddl.Requirements.CONTINUOUS, rddl.Requirements.REWARD_DET]15 the_task.parameters.discount = 1.016 the_task.parameters.horizon = 1017 the_task.parameters.max_nondef_actions = 118 # variables19 x = lang.function('x', lang.Real)20 v = lang.function('v', lang.Real)21 u = lang.function('u', lang.Real)22 t = lang.function('t', lang.Real)23 # non fluents24 dt = lang.function('dt', lang.Real)25 gx = lang.function('gx', lang.Real)26 # cpfs27 the_task.add_cpfs(t(), t() + dt())28 the_task.add_cpfs(v(), v() + dt() * u())29 the_task.add_cpfs(x(), x() + dt() * v())30 # constraints31 the_task.add_constraint((u() >= -1.0) & (u() <= 1.0), rddl.ConstraintType.ACTION)32 the_task.add_constraint((v() >= -5.0) & (v() <= 5.0), rddl.ConstraintType.STATE)33 the_task.add_constraint((x() >= -100.0) & (x() <= 100.0), rddl.ConstraintType.STATE)34 # cost function35 Q = (x() - gx()) * (x() - gx())36 # MRJ: RDDL does not support the abs() algebraic construct37 R = ite(abs(x() - gx()) > 0.0, u() * u() * 0.01, lang.constant(0.0, lang.Real))38 # R = u() * u() * 0.0139 the_task.reward = Q + R40 # definitions41 the_task.x0.set(x(), 0.0)42 the_task.x0.set(v(), 0.0)43 the_task.x0.set(u(), 0.0)44 the_task.x0.set(t(), 0.0)45 the_task.x0.set(dt(), 0.5)46 the_task.x0.set(gx(), 20.0)47 # fluent metadata48 the_task.declare_state_fluent(x(), 0.0)49 the_task.declare_state_fluent(t(), 0.0)50 the_task.declare_interm_fluent(v(), 1)51 the_task.declare_action_fluent(u(), 0.0)52 the_task.declare_non_fluent(dt(), 0.0)53 the_task.declare_non_fluent(gx(), 0.0)54 the_writer = rddl.Writer(the_task)55 rddl_filename = os.path.join(tempfile.gettempdir(), 'lqr_nav_1d_001.rddl')56 the_writer.write_model(rddl_filename)57 mr_reader = rddl.Reader(rddl_filename)58 assert mr_reader.rddl_model is not None59 assert mr_reader.rddl_model.domain.name == 'lqr_nav_1d'60 mr_reader.translate_rddl_model()61 assert mr_reader.language is not None62def test_rddl_model_with_random_vars():63 lang = tarski.language('lqg_nav_1d', [Theory.EQUALITY, Theory.ARITHMETIC, Theory.SPECIAL, Theory.RANDOM])64 the_task = Task(lang, 'lqg_nav_1d', 'instance_001')65 the_task.requirements = [rddl.Requirements.CONTINUOUS, rddl.Requirements.REWARD_DET]66 the_task.parameters.discount = 1.067 the_task.parameters.horizon = 1068 the_task.parameters.max_nondef_actions = 169 # variables70 x = lang.function('x', lang.Real)71 v = lang.function('v', lang.Real)72 u = lang.function('u', lang.Real)73 t = lang.function('t', lang.Real)74 # non fluents75 dt = lang.function('dt', lang.Real)76 gx = lang.function('gx', lang.Real)77 # Perturbation distribution parameters78 mu_w = lang.function('mu_w', lang.Real)79 sigma_w = lang.function('sigma_w', lang.Real)80 # cpfs81 the_task.add_cpfs(t(), t() + dt())82 the_task.add_cpfs(v(), v() + dt() * u() + normal(mu_w(), sigma_w()))83 the_task.add_cpfs(x(), x() + dt() * v())84 # constraints85 the_task.add_constraint((u() >= -1.0) & (u() <= 1.0), rddl.ConstraintType.ACTION)86 the_task.add_constraint((v() >= -5.0) & (v() <= 5.0), rddl.ConstraintType.STATE)87 the_task.add_constraint((x() >= -100.0) & (x() <= 100.0), rddl.ConstraintType.STATE)88 # cost function89 Q = (x() - gx()) * (x() - gx())90 # MRJ: RDDL does not support the abs() algebraic construct91 R = ite(abs(x() - gx()) > 0.0, u() * u() * 0.01, lang.constant(0.0, lang.Real))92 # R = u() * u() * 0.0193 the_task.reward = Q + R94 # definitions95 the_task.x0.set(x(), 0.0)96 the_task.x0.set(v(), 0.0)97 the_task.x0.set(u(), 0.0)98 the_task.x0.set(t(), 0.0)99 the_task.x0.set(dt(), 0.5)100 the_task.x0.set(gx(), 20.0)101 the_task.x0.set(mu_w(), 0.0)102 the_task.x0.set(sigma_w(), 0.05)103 # fluent metadata104 the_task.declare_state_fluent(x(), 0.0)105 the_task.declare_state_fluent(t(), 0.0)106 the_task.declare_interm_fluent(v(), 1)107 the_task.declare_action_fluent(u(), 0.0)108 the_task.declare_non_fluent(dt(), 0.0)109 the_task.declare_non_fluent(gx(), 0.0)110 the_task.declare_non_fluent(mu_w(), 0.0)111 the_task.declare_non_fluent(sigma_w(), 0.0)112 the_writer = rddl.Writer(the_task)113 rddl_filename = os.path.join(tempfile.gettempdir(), 'lqg_nav_1d_001.rddl')114 the_writer.write_model(rddl_filename)115 mr_reader = rddl.Reader(rddl_filename)116 assert mr_reader.rddl_model is not None117 assert mr_reader.rddl_model.domain.name == 'lqg_nav_1d'118 mr_reader.translate_rddl_model()119 assert mr_reader.language is not None120def test_parametrized_model_with_random_vars():121 lang = tarski.language('lqg_nav_2d_multi_unit', [Theory.EQUALITY, Theory.ARITHMETIC, Theory.SPECIAL, Theory.RANDOM])122 the_task = Task(lang, 'lqg_nav_2d_multi_unit', 'instance_001')123 the_task.requirements = [rddl.Requirements.CONTINUOUS, rddl.Requirements.REWARD_DET]124 the_task.parameters.discount = 1.0125 the_task.parameters.horizon = 10126 the_task.parameters.max_nondef_actions = 1127 vehicle = lang.sort('vehicle', lang.Object)128 # variables129 x = lang.function('x', vehicle, lang.Real)130 y = lang.function('y', vehicle, lang.Real)131 vx = lang.function('vx', vehicle, lang.Real)132 vy = lang.function('vy', vehicle, lang.Real)133 ux = lang.function('ux', vehicle, lang.Real)134 uy = lang.function('uy', vehicle, lang.Real)135 t = lang.function('t', lang.Real)136 # objects137 v001 = lang.constant('v001', vehicle)138 # non fluents139 dt = lang.function('dt', lang.Real)140 gx = lang.function('gx', lang.Real)141 gy = lang.function('gy', lang.Real)142 # Perturbation distribution parameters143 mu_w = lang.function('mu_w', lang.Real)144 sigma_w = lang.function('sigma_w', lang.Real)145 # logical variable146 v = lang.variable('v', vehicle)147 # cpfs148 the_task.add_cpfs(t(), t() + dt())149 the_task.add_cpfs(vx(v), vx(v) + dt() * ux(v) + normal(mu_w(), sigma_w()))150 the_task.add_cpfs(vy(v), vy(v) + dt() * uy(v) + normal(mu_w(), sigma_w()))151 the_task.add_cpfs(x(v), x(v) + dt() * vx(v))152 the_task.add_cpfs(y(v), y(v) + dt() * vy(v))153 # constraints154 the_task.add_constraint(forall(v, (ux(v) >= -1.0) & (ux(v) <= 1.0) & (uy(v) >= -1.0) & (uy(v) <= 1.0)),155 rddl.ConstraintType.ACTION)156 the_task.add_constraint(forall(v, (sqrt(vx(v) * vx(v) + vy(v) * vy(v)) <= 5.0)), rddl.ConstraintType.STATE)157 the_task.add_constraint(forall(v, (x(v) >= -100.0) & (x(v) <= 100.0)), rddl.ConstraintType.STATE)158 the_task.add_constraint(forall(v, (y(v) >= -100.0) & (y(v) <= 100.0)), rddl.ConstraintType.STATE)159 # cost function160 Q = sumterm(v, ((x(v) - gx()) * (x(v) - gx())) + ((y(v) - gy()) * (y(v) * gy())))161 # MRJ: RDDL does not support the abs() algebraic construct162 R = sumterm(v, ite(sqrt(vx(v) * vx(v) + vy(v) * vy(v)) > 0.0, (ux(v) * ux(v) * 0.01) + (uy(v) * uy(v) * 0.01),163 lang.constant(0.0, lang.Real)))164 # R = u() * u() * 0.01165 the_task.reward = Q + R166 # definitions167 the_task.x0.set(x(v001), 0.0)168 the_task.x0.set(y(v001), 0.0)169 the_task.x0.set(vx(v001), 0.0)170 the_task.x0.set(vy(v001), 0.0)171 the_task.x0.set(ux(v001), 0.0)172 the_task.x0.set(uy(v001), 0.0)173 the_task.x0.set(t(), 0.0)174 the_task.x0.set(dt(), 0.5)175 the_task.x0.set(gx(), 20.0)176 the_task.x0.set(gy(), 20.0)177 the_task.x0.set(mu_w(), 0.0)178 the_task.x0.set(sigma_w(), 0.05)179 # fluent metadata180 the_task.declare_state_fluent(x(v), 0.0)181 the_task.declare_state_fluent(y(v), 0.0)182 the_task.declare_state_fluent(t(), 0.0)183 the_task.declare_interm_fluent(vx(v), 1)184 the_task.declare_interm_fluent(vy(v), 1)185 the_task.declare_action_fluent(ux(v), 0.0)186 the_task.declare_action_fluent(uy(v), 0.0)187 the_task.declare_non_fluent(dt(), 0.0)188 the_task.declare_non_fluent(gx(), 0.0)189 the_task.declare_non_fluent(gy(), 0.0)190 the_task.declare_non_fluent(mu_w(), 0.0)191 the_task.declare_non_fluent(sigma_w(), 0.0)192 the_writer = rddl.Writer(the_task)193 rddl_filename = os.path.join(tempfile.gettempdir(), 'lqg_nav_2d_multi_unit_001.rddl')194 the_writer.write_model(rddl_filename)195 mr_reader = rddl.Reader(rddl_filename)196 assert mr_reader.rddl_model is not None197 assert mr_reader.rddl_model.domain.name == 'lqg_nav_2d_multi_unit'198 mr_reader.translate_rddl_model()199 assert mr_reader.language is not None200def test_parametrized_model_with_random_vars_and_waypoints():201 lang = tarski.language('lqg_nav_2d_multi_unit_waypoints',202 [Theory.EQUALITY, Theory.ARITHMETIC, Theory.SPECIAL, Theory.RANDOM])203 the_task = Task(lang, 'lqg_nav_2d_multi_unit_waypoints', 'instance_001')204 the_task.requirements = [rddl.Requirements.CONTINUOUS, rddl.Requirements.REWARD_DET]205 the_task.parameters.discount = 1.0206 the_task.parameters.horizon = 40207 the_task.parameters.max_nondef_actions = 2208 vehicle = lang.sort('vehicle', lang.Object)209 waypoint = lang.sort('waypoint', lang.Object)210 # variables211 x = lang.function('x', vehicle, lang.Real)212 y = lang.function('y', vehicle, lang.Real)213 wx = lang.function('wx', waypoint, lang.Real)214 wy = lang.function('wy', waypoint, lang.Real)215 wv = lang.function('visited', waypoint, lang.Real)216 vx = lang.function('vx', vehicle, lang.Real)217 vy = lang.function('vy', vehicle, lang.Real)218 ux = lang.function('ux', vehicle, lang.Real)219 uy = lang.function('uy', vehicle, lang.Real)220 t = lang.function('t', lang.Real)221 # objects222 v001 = lang.constant('v001', vehicle)223 p1 = lang.constant('p1', waypoint)224 p2 = lang.constant('p2', waypoint)225 p3 = lang.constant('p3', waypoint)226 # non fluents227 dt = lang.function('dt', lang.Real)228 wr = lang.function('waypoint_radius', lang.Real)229 # Perturbation distribution parameters230 mu_w = lang.function('mu_w', lang.Real)231 sigma_w = lang.function('sigma_w', lang.Real)232 # logical variable233 v = lang.variable('v', vehicle)234 wpt = lang.variable('wpt', waypoint)235 # cpfs236 the_task.add_cpfs(t(), t() + dt())237 dist_vec_norm = ((x(v) - wx(wpt)) * (x(v) - wx(wpt))) + ((y(v) - wy(wpt)) * (y(v) - wy(wpt)))238 the_task.add_cpfs(wv(wpt), ite(sqrt(dist_vec_norm) <= wr(), lang.constant(1.0, lang.Real),239 max(lang.constant(0.0, lang.Real), wv(wpt))))240 the_task.add_cpfs(vx(v), vx(v) + dt() * ux(v) + normal(mu_w(), sigma_w()))241 the_task.add_cpfs(vy(v), vy(v) + dt() * uy(v) + normal(mu_w(), sigma_w()))242 the_task.add_cpfs(x(v), x(v) + dt() * vx(v))243 the_task.add_cpfs(y(v), y(v) + dt() * vy(v))244 # constraints245 the_task.add_constraint(forall(v, (ux(v) >= -1.0) & (ux(v) <= 1.0) & (uy(v) >= -1.0) & (uy(v) <= 1.0)),246 rddl.ConstraintType.ACTION)247 the_task.add_constraint(forall(v, (sqrt(vx(v) * vx(v) + vy(v) * vy(v)) <= 5.0)), rddl.ConstraintType.STATE)248 the_task.add_constraint(forall(v, (x(v) >= -100.0) & (x(v) <= 100.0)), rddl.ConstraintType.STATE)249 the_task.add_constraint(forall(v, (y(v) >= -100.0) & (y(v) <= 100.0)), rddl.ConstraintType.STATE)250 # cost function251 WV = sumterm(wpt, wv(wpt))252 # MRJ: RDDL does not support the abs() algebraic construct253 R = sumterm(v, (ux(v) * ux(v) * 0.01) + (uy(v) * uy(v) * 0.01))254 # R = u() * u() * 0.01255 the_task.reward = WV - R256 # definitions257 the_task.x0.set(x(v001), 0.0)258 the_task.x0.set(y(v001), 0.0)259 the_task.x0.set(vx(v001), 0.0)260 the_task.x0.set(vy(v001), 0.0)261 the_task.x0.set(ux(v001), 0.0)262 the_task.x0.set(uy(v001), 0.0)263 the_task.x0.set(wx(p1), 1.0)264 the_task.x0.set(wy(p1), -1.0)265 the_task.x0.set(wv(p1), 0.0)266 the_task.x0.set(wx(p2), 1.0)267 the_task.x0.set(wy(p2), 1.0)268 the_task.x0.set(wv(p2), 0.0)269 the_task.x0.set(wx(p3), 2.0)270 the_task.x0.set(wy(p3), 1.0)271 the_task.x0.set(wv(p3), 0.0)272 the_task.x0.set(t(), 0.0)273 the_task.x0.set(dt(), 0.5)274 the_task.x0.set(mu_w(), 0.0)275 the_task.x0.set(sigma_w(), 0.05)276 the_task.x0.set(wr(), 2.0)277 # fluent metadata278 the_task.declare_state_fluent(x(v), 0.0)279 the_task.declare_state_fluent(y(v), 0.0)280 the_task.declare_state_fluent(t(), 0.0)281 the_task.declare_state_fluent(wv(wpt), 0.0)282 the_task.declare_interm_fluent(vx(v), 1)283 the_task.declare_interm_fluent(vy(v), 1)284 the_task.declare_action_fluent(ux(v), 0.0)285 the_task.declare_action_fluent(uy(v), 0.0)286 the_task.declare_non_fluent(dt(), 0.0)287 the_task.declare_non_fluent(mu_w(), 0.0)288 the_task.declare_non_fluent(sigma_w(), 0.0)289 the_task.declare_non_fluent(wx(wpt), 0.0)290 the_task.declare_non_fluent(wy(wpt), 0.0)291 the_task.declare_non_fluent(wr(), 0.0)292 the_writer = rddl.Writer(the_task)293 rddl_filename = os.path.join(tempfile.gettempdir(), 'lqg_nav_2d_multi_unit_waypoints.rddl')294 the_writer.write_model(rddl_filename)295 mr_reader = rddl.Reader(rddl_filename)296 assert mr_reader.rddl_model is not None297 assert mr_reader.rddl_model.domain.name == 'lqg_nav_2d_multi_unit_waypoints'298 mr_reader.translate_rddl_model()299 assert mr_reader.language is not None300def test_parametrized_model_with_random_vars_and_waypoints_boolean():301 lang = tarski.language('lqg_nav_2d_multi_unit_bool_waypoints',302 [Theory.EQUALITY, Theory.ARITHMETIC, Theory.SPECIAL, Theory.RANDOM])303 the_task = Task(lang, 'lqg_nav_2d_multi_unit_bool_waypoints', 'instance_001')304 the_task.requirements = [rddl.Requirements.CONTINUOUS, rddl.Requirements.REWARD_DET]305 the_task.parameters.discount = 1.0306 the_task.parameters.horizon = 40307 the_task.parameters.max_nondef_actions = 2308 vehicle = lang.sort('vehicle', lang.Object)309 waypoint = lang.sort('waypoint', lang.Object)310 # variables311 x = lang.function('x', vehicle, lang.Real)312 y = lang.function('y', vehicle, lang.Real)313 wx = lang.function('wx', waypoint, lang.Real)314 wy = lang.function('wy', waypoint, lang.Real)315 vx = lang.function('vx', vehicle, lang.Real)316 vy = lang.function('vy', vehicle, lang.Real)317 ux = lang.function('ux', vehicle, lang.Real)318 uy = lang.function('uy', vehicle, lang.Real)319 t = lang.function('t', lang.Real)320 wv = lang.predicate('visited', waypoint)321 # objects322 v001 = lang.constant('v001', vehicle)323 p1 = lang.constant('p1', waypoint)324 p2 = lang.constant('p2', waypoint)325 p3 = lang.constant('p3', waypoint)326 # non fluents327 dt = lang.function('dt', lang.Real)328 wr = lang.function('waypoint_radius', lang.Real)329 # Perturbation distribution parameters330 mu_w = lang.function('mu_w', lang.Real)331 sigma_w = lang.function('sigma_w', lang.Real)332 # logical variable333 v = lang.variable('v', vehicle)334 wpt = lang.variable('wpt', waypoint)335 # cpfs336 the_task.add_cpfs(t(), t() + dt())337 dist_vec_norm = ((x(v) - wx(wpt)) * (x(v) - wx(wpt))) + ((y(v) - wy(wpt)) * (y(v) - wy(wpt)))338 the_task.add_cpfs(wv(wpt), (wv(wpt) | (sqrt(dist_vec_norm) <= wr())))339 the_task.add_cpfs(vx(v), vx(v) + dt() * ux(v) + normal(mu_w(), sigma_w()))340 the_task.add_cpfs(vy(v), vy(v) + dt() * uy(v) + normal(mu_w(), sigma_w()))341 the_task.add_cpfs(x(v), x(v) + dt() * vx(v))342 the_task.add_cpfs(y(v), y(v) + dt() * vy(v))343 # constraints344 the_task.add_constraint(forall(v, (ux(v) >= -1.0) & (ux(v) <= 1.0) & (uy(v) >= -1.0) & (uy(v) <= 1.0)),345 rddl.ConstraintType.ACTION)346 the_task.add_constraint(forall(v, (sqrt(vx(v) * vx(v) + vy(v) * vy(v)) <= 5.0)), rddl.ConstraintType.STATE)347 the_task.add_constraint(forall(v, (x(v) >= -100.0) & (x(v) <= 100.0)), rddl.ConstraintType.STATE)348 the_task.add_constraint(forall(v, (y(v) >= -100.0) & (y(v) <= 100.0)), rddl.ConstraintType.STATE)349 # cost function350 WV = sumterm(wpt, ite(wv(wpt), lang.constant(1.0, lang.Real), lang.constant(0.0, lang.Real)))351 # MRJ: RDDL does not support the abs() algebraic construct352 R = sumterm(v, (ux(v) * ux(v) * 0.01) + (uy(v) * uy(v) * 0.01))353 # R = u() * u() * 0.01354 the_task.reward = WV - R355 # definitions356 the_task.x0.set(x(v001), 0.0)357 the_task.x0.set(y(v001), 0.0)358 the_task.x0.set(vx(v001), 0.0)359 the_task.x0.set(vy(v001), 0.0)360 the_task.x0.set(ux(v001), 0.0)361 the_task.x0.set(uy(v001), 0.0)362 the_task.x0.set(wx(p1), 1.0)363 the_task.x0.set(wy(p1), -1.0)364 the_task.x0.set(wx(p2), 1.0)365 the_task.x0.set(wy(p2), 1.0)366 the_task.x0.set(wx(p3), 2.0)367 the_task.x0.set(wy(p3), 1.0)368 the_task.x0.set(t(), 0.0)369 the_task.x0.set(dt(), 0.5)370 the_task.x0.set(mu_w(), 0.0)371 the_task.x0.set(sigma_w(), 0.05)372 the_task.x0.set(wr(), 2.0)373 # fluent metadata374 the_task.declare_state_fluent(x(v), 0.0)375 the_task.declare_state_fluent(y(v), 0.0)376 the_task.declare_state_fluent(t(), 0.0)377 the_task.declare_state_fluent(wv(wpt), False)378 the_task.declare_interm_fluent(vx(v), 1)379 the_task.declare_interm_fluent(vy(v), 1)380 the_task.declare_action_fluent(ux(v), 0.0)381 the_task.declare_action_fluent(uy(v), 0.0)382 the_task.declare_non_fluent(dt(), 0.0)383 the_task.declare_non_fluent(mu_w(), 0.0)384 the_task.declare_non_fluent(sigma_w(), 0.0)385 the_task.declare_non_fluent(wx(wpt), 0.0)386 the_task.declare_non_fluent(wy(wpt), 0.0)387 the_task.declare_non_fluent(wr(), 0.0)388 the_writer = rddl.Writer(the_task)389 rddl_filename = os.path.join(tempfile.gettempdir(), 'lqg_nav_2d_multi_unit_bool_waypoints.rddl')390 the_writer.write_model(rddl_filename)391 mr_reader = rddl.Reader(rddl_filename)392 assert mr_reader.rddl_model is not None393 assert mr_reader.rddl_model.domain.name == 'lqg_nav_2d_multi_unit_bool_waypoints'394 mr_reader.translate_rddl_model()...
lqr2d.py
Source:lqr2d.py
1"""2 2D LQR Navigation problems3"""4import argparse5import os6import numpy as np7from tqdm import tqdm8import tarski9from tarski.theories import Theory10from tarski.syntax import *11from tarski.io import rddl12from tarski.model import Model13from tarski.evaluators.simple import evaluate14from tarski.syntax.arithmetic import *15from tarski.syntax.arithmetic.special import *16from tarski.syntax.arithmetic.random import *17from tarski.rddl import Task18def parse_arguments():19 parser = argparse.ArgumentParser(description='2D LQR problem generators')20 parser.add_argument('--num-instances', default=10, type=int, help='Number of random instances to generate')21 parser.add_argument('--seed', required=True, type=int, help='Seed for the random number generator')22 parser.add_argument('--output-prefix', required=False, default='.', help='Prefix path for output files')23 parser.add_argument('--horizon', required=False, default=20, type=int, help='Horizon of the MDP')24 args = parser.parse_args()25 if not os.path.exists(args.output_prefix):26 print("Creating output directory '{}'...".format(args.output_prefix))27 os.makedirs(args.output_prefix)28 return args29def make_task(k, args):30 lang = tarski.language('lqr_nav_2d', [Theory.EQUALITY, Theory.ARITHMETIC, Theory.SPECIAL])31 the_task = Task( lang, 'lqr_nav_2d', 'instance_{0:06d}'.format(k))32 the_task.requirements = [rddl.Requirements.CONTINUOUS, rddl.Requirements.REWARD_DET]33 the_task.parameters.discount = 1.034 the_task.parameters.horizon = args.horizon35 the_task.parameters.max_nondef_actions = 'pos-inf'36 # variables37 x = lang.function('x', lang.Real)38 y = lang.function('y', lang.Real)39 vx = lang.function('vx', lang.Real)40 vy = lang.function('vy', lang.Real)41 ux = lang.function('ux', lang.Real)42 uy = lang.function('uy', lang.Real)43 t = lang.function('t', lang.Real)44 # non fluents45 dt = lang.function('dt', lang.Real)46 gx = lang.function('gx', lang.Real)47 gy = lang.function('gy', lang.Real)48 H = lang.function('H', lang.Real)49 # cpfs50 the_task.add_cpfs(t(), t() + 1.0)51 the_task.add_cpfs(vx(), vx() + dt() * ux())52 the_task.add_cpfs(vy(), vy() + dt() * uy())53 the_task.add_cpfs(x(), x() + dt() * vx())54 the_task.add_cpfs(y(), y() + dt() * vy())55 # constraints56 the_task.add_constraint( ux() >= -1.0, rddl.ConstraintType.ACTION)57 the_task.add_constraint( ux() <= 1.0, rddl.ConstraintType.ACTION)58 the_task.add_constraint( uy() >= -1.0, rddl.ConstraintType.ACTION)59 the_task.add_constraint( uy() <= 1.0, rddl.ConstraintType.ACTION) 60 the_task.add_constraint( vx() >= -5.0, rddl.ConstraintType.STATE)61 the_task.add_constraint( vx() <= 5.0, rddl.ConstraintType.STATE)62 the_task.add_constraint( vy() >= -5.0, rddl.ConstraintType.STATE)63 the_task.add_constraint( vy() <= 5.0, rddl.ConstraintType.STATE) 64 the_task.add_constraint( x() >= -100.0, rddl.ConstraintType.STATE)65 the_task.add_constraint( x() >= -100.0, rddl.ConstraintType.STATE)66 the_task.add_constraint( y() >= -100.0, rddl.ConstraintType.STATE)67 the_task.add_constraint( y() <= 100.0, rddl.ConstraintType.STATE)68 # cost function69 Q = ((x() - gx()) * (x() - gx())) + ((y() - gy()) * (y() - gy()))70 # MRJ: RDDL does not support the abs() algebraic construct71 zero = lang.constant(0.0, lang.Real)72 R = ite(t() < H(), (ux() * ux() * 0.01) + (uy() * uy() * 0.01), zero)73 Vx = ite(abs(vx()) <= 5.0, 5.0 - abs(vx()), lang.constant(0.0, lang.Real))74 Vy = ite(abs(vy()) <= 5.0, 5.0 - abs(vy()), lang.constant(0.0, lang.Real))75 X = ite(abs(x()) <= 100.0, 100.0 - abs(x()), lang.constant(0.0, lang.Real))76 Y = ite(abs(y()) <= 100.0, 100.0 - abs(y()), lang.constant(0.0, lang.Real))77 78 #MRJ: flip sign to turn minimisation into maximisation problem79 the_task.reward = -1.0 * (Q + R + Vx + Vy + X + Y)80 # fluent metadata81 the_task.declare_state_fluent(x(), 0.0)82 the_task.declare_state_fluent(y(), 0.0)83 the_task.declare_state_fluent(t(), 0.0)84 the_task.declare_state_fluent(vx(), 0.0)85 the_task.declare_state_fluent(vy(), 0.0)86 the_task.declare_action_fluent(ux(), 0.0)87 the_task.declare_action_fluent(uy(), 0.0)88 the_task.declare_non_fluent(dt(), 0.0)89 the_task.declare_non_fluent(gx(), 0.0)90 the_task.declare_non_fluent(gy(), 0.0)91 the_task.declare_non_fluent(H(), 0.0)92 # definitions93 the_task.x0.setx(x(), 0.0)94 the_task.x0.setx(y(), 0.0)95 the_task.x0.setx(vx(), 0.0)96 the_task.x0.setx(vy(), 0.0)97 the_task.x0.setx(ux(), 0.0)98 the_task.x0.setx(uy(), 0.0)99 the_task.x0.setx(t(), 0.0)100 the_task.x0.setx(dt(), 0.5)101 the_task.x0.setx(H(), float(args.horizon))102 return the_task103def main(args):104 np.random.seed(args.seed)105 for k in tqdm(range(args.num_instances)):106 task_k = make_task(k, args)107 if not os.path.exists(os.path.join(args.output_prefix, task_k.domain_name)):108 os.makedirs(os.path.join(args.output_prefix, task_k.domain_name))109 x = task_k.L.get('x')110 y = task_k.L.get('y')111 112 vx = task_k.L.get('vx')113 vy = task_k.L.get('vy')114 115 gx = task_k.L.get('gx')116 gy = task_k.L.get('gy')117 task_k.x0.setx(x(), np.random.normal(0, 100.0))118 task_k.x0.setx(y(), np.random.normal(0, 100.0))119 120 task_k.x0.setx(vx(), np.random.normal(0, 1.0))121 task_k.x0.setx(vy(), np.random.normal(0, 1.0))122 123 task_k.x0.setx(gx(), np.random.normal(0, 100.0))124 task_k.x0.setx(gy(), np.random.normal(0, 100.0))125 126 the_writer = rddl.Writer(task_k)127 rddl_filename = os.path.join(args.output_prefix,\128 task_k.domain_name,\129 '{}.rddl'.format(task_k.instance_name))130 the_writer.write_model(rddl_filename)131if __name__ == '__main__':132 print('lqr2d.py')133 args = parse_arguments()...
lqg1d.py
Source:lqg1d.py
1"""2 1D LQR Navigation problems3"""4import argparse5import os6import numpy as np7from tqdm import tqdm8import tarski9from tarski.theories import Theory10from tarski.syntax import *11from tarski.io import rddl12from tarski.model import Model13from tarski.evaluators.simple import evaluate14from tarski.syntax.arithmetic import *15from tarski.syntax.arithmetic.special import *16from tarski.syntax.arithmetic.random import *17from tarski.rddl import Task18def parse_arguments():19 parser = argparse.ArgumentParser(description='1D LQG problem generators')20 parser.add_argument('--num-instances', default=10, type=int, help='Number of random instances to generate')21 parser.add_argument('--seed', required=True, type=int, help='Seed for the random number generator')22 parser.add_argument('--output-prefix', required=False, default='.', help='Prefix path for output files')23 parser.add_argument('--horizon', required=False, default=20, type=int, help='Horizon of the MDP')24 args = parser.parse_args()25 if not os.path.exists(args.output_prefix):26 print("Creating output directory '{}'...".format(args.output_prefix))27 os.makedirs(args.output_prefix)28 return args29def make_task(k, args):30 lang = tarski.language('lqg_nav_1d', [Theory.EQUALITY, Theory.ARITHMETIC, Theory.SPECIAL, Theory.RANDOM])31 the_task = Task( lang, 'lqg_nav_1d', 'instance_{0:06d}'.format(k))32 the_task.requirements = [rddl.Requirements.CONTINUOUS, rddl.Requirements.REWARD_DET]33 the_task.parameters.discount = 1.034 the_task.parameters.horizon = args.horizon35 the_task.parameters.max_nondef_actions = 'pos-inf'36 # variables37 x = lang.function('x', lang.Real)38 v = lang.function('v', lang.Real)39 u = lang.function('u', lang.Real)40 t = lang.function('t', lang.Real)41 # non fluents42 dt = lang.function('dt', lang.Real)43 gx = lang.function('gx', lang.Real)44 H = lang.function('H', lang.Real)45 # Perturbation distribution parameters46 mu_w = lang.function('mu_w', lang.Real)47 sigma_w = lang.function('sigma_w', lang.Real)48 # cpfs49 the_task.add_cpfs(t(), t() + 1.0)50 the_task.add_cpfs(v(), v() + dt() * u() + normal(mu_w(), sigma_w()))51 the_task.add_cpfs(x(), x() + dt() * v())52 # constraints53 # constraints54 the_task.add_constraint( u() >= -1.0, rddl.ConstraintType.ACTION)55 the_task.add_constraint( u() <= 1.0, rddl.ConstraintType.ACTION)56 the_task.add_constraint( v() >= -5.0, rddl.ConstraintType.STATE)57 the_task.add_constraint( v() <= 5.0, rddl.ConstraintType.STATE)58 the_task.add_constraint( x() >= -100.0, rddl.ConstraintType.STATE)59 the_task.add_constraint( x() <= 100.0, rddl.ConstraintType.STATE)60 # cost function61 Q = (x()-gx()) * (x()-gx())62 # MRJ: RDDL does not support the abs() algebraic construct63 zero = lang.constant(0.0, lang.Real)64 R = ite(t() < H(), u() * u() * 0.01, zero)65 66 V = ite(abs(v()) <= 5.0, 5.0 - abs(v()), lang.constant(0.0, lang.Real))67 X = ite(abs(x()) <= 100.0, 100.0 - abs(x()), lang.constant(0.0, lang.Real))68 69 #R = u() * u() * 0.0170 #MRJ: flip sign to turn minimisation into maximisation problem71 the_task.reward = -1.0 * (Q + R + V + X)72 # fluent metadata73 the_task.declare_state_fluent(x(), 0.0)74 the_task.declare_state_fluent(t(), 0.0)75 the_task.declare_state_fluent(v(), 0.0)76 the_task.declare_action_fluent(u(), 0.0)77 the_task.declare_non_fluent(dt(), 0.0)78 the_task.declare_non_fluent(gx(), 0.0)79 the_task.declare_non_fluent(mu_w(), 0.0)80 the_task.declare_non_fluent(sigma_w(), 0.0) 81 the_task.declare_non_fluent(H(), 0.0)82 # definitions83 the_task.x0.setx(x(), 0.0)84 the_task.x0.setx(v(), 0.0)85 the_task.x0.setx(u(), 0.0)86 the_task.x0.setx(t(), 0.0)87 the_task.x0.setx(dt(), 0.5)88 the_task.x0.setx(mu_w(), 0.0)89 the_task.x0.setx(sigma_w(), 0.05) 90 the_task.x0.setx(H(), float(args.horizon))91 return the_task92def main(args):93 np.random.seed(args.seed)94 for k in tqdm(range(args.num_instances)):95 task_k = make_task(k, args)96 if not os.path.exists(os.path.join(args.output_prefix, task_k.domain_name)):97 os.makedirs(os.path.join(args.output_prefix, task_k.domain_name))98 x = task_k.L.get('x')99 v = task_k.L.get('v')100 gx = task_k.L.get('gx')101 task_k.x0.setx(x(), np.clip(np.random.normal(0, 100.0), -100.0, 100.0))102 task_k.x0.setx(v(), np.clip(np.random.normal(0, 1.0), -5.0, 5.0))103 task_k.x0.setx(gx(), np.clip(np.random.normal(0, 100.0), -100.0, 100.0))104 the_writer = rddl.Writer(task_k)105 rddl_filename = os.path.join(args.output_prefix,\106 task_k.domain_name,\107 '{}.rddl'.format(task_k.instance_name))108 the_writer.write_model(rddl_filename)109if __name__ == '__main__':110 print('lqg1d.py')111 args = parse_arguments()...
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