Cleaned up celeste wrapper
parent
85d8c7a300
commit
610e5eef92
GPG Key ID:
AD62BB059C2AAEE4
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@ -1,12 +1,44 @@
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from typing import NamedTuple
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import subprocess
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import time
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import threading
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import math
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from tqdm import tqdm
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class CelesteError(Exception):
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pass
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class CelesteState(NamedTuple):
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# Stage number
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stage: int
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# Player position
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xpos: int
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ypos: int
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# Player velocity
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xvel: float
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yvel: float
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# Number of deaths since game start
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deaths: int
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# Distance to next point
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dist: float
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# Index of next point
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next_point: int
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# Coordinates of next point
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next_point_x: int
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next_point_y: int
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# Number of states recieved since restart
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state_count: int
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# True if Madeline can dash
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can_dash: bool
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class Celeste:
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action_space = [
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"left", # move left
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@ -20,10 +52,25 @@ class Celeste:
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"dash-lu" # dash left-up
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]
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def __init__(self):
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# Map integers to state values.
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# This also determines what data is fed to the model.
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state_number_map = [
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"xpos",
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"ypos",
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"next_point_x",
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"next_point_y"
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]
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def __init__(
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self,
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*,
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state_timeout = 30,
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cart_name = "hackcel.p8"
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):
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# Start pico-8
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self.process = subprocess.Popen(
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"bin/pico-8/linux/pico8",
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self._process = subprocess.Popen(
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"resources/pico-8/linux/pico8",
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shell=True,
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stdout=subprocess.PIPE,
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stderr=subprocess.STDOUT
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@ -39,26 +86,34 @@ class Celeste:
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]).decode("utf-8").strip().split("\n")
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if len(winid) != 1:
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raise Exception("Could not find unique PICO-8 window id")
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self.winid = winid[0]
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self._winid = winid[0]
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# Load cartridge
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self.keystring("load hackcel.p8")
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self.keypress("Enter")
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self.keystring("run")
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self.keypress("Enter", post = 1000)
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self._keystring(f"load {cart_name}")
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self._keypress("Enter")
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self._keystring("run")
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self._keypress("Enter", post = 1000)
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# Initialize variables
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self.internal_status = {}
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self.before_out = None
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self.last_point_frame = 0
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# Score system
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self.frame_counter = 0
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self.next_point = 0
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self.dist = 0 # distance to next point
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self.target_points = [
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# Parameters
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self.state_timeout = state_timeout # If we run this many states without getting a checkpoint, reset.
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self.cart_name = cart_name # Name of cart to load. Not used anywhere, but saved for convenience.
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# Internal variables
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self._internal_state = {} # Raw data read from stdout
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self._before_out = None # Output of "before" callback in update loop
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self._last_checkpoint_state = 0 # Index of frame at which we reached the last checkpoint
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self._state_counter = 0 # Number of frames we've run since last reset
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self._next_checkpoint_idx = 0 # Index of next point
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self._dist = 0 # Distance to next point
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self._resetting = False # True between a call to .reset() and the first state message from pico.
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self._keys = {} # Dictionary of "key": bool
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# Targets the agent tries to reach.
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# The last target MUST be outside the frame.
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self.target_checkpoints = [
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[ # Stage 1
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(28, 88), # Start pillar
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#(28, 88), # Start pillar
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(60, 80), # Middle pillar
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(105, 64), # Right ledge
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(25, 40), # Left ledge
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@ -67,119 +122,150 @@ class Celeste:
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]
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]
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def act(self, action):
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self.keyup("x")
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self.keyup("c")
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self.keyup("Left")
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self.keyup("Right")
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self.keyup("Down")
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self.keyup("Up")
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def act(self, action: str):
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"""
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Specify what keys should be down. This does NOT send key events.
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Celeste._apply_keys() does that at the right time.
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Args:
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action (str): key name, as in Celeste.action_space
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"""
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self._keys = {}
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if action is None:
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return
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elif action == "left":
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self.keydown("Left")
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self._keys["Left"] = True
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elif action == "right":
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self.keydown("Right")
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self._keys["Right"] = True
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elif action == "jump":
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self.keydown("c")
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self._keys["c"] = True
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elif action == "dash-u":
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self.keydown("Up")
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self.keydown("x")
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self._keys["Up"] = True
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self._keys["x"] = True
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elif action == "dash-r":
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self.keydown("Right")
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self.keydown("x")
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self._keys["Right"] = True
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self._keys["x"] = True
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elif action == "dash-l":
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self.keydown("Left")
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self.keydown("x")
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self._keys["Left"] = True
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self._keys["x"] = True
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elif action == "dash-ru":
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self.keydown("Up")
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self.keydown("Right")
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self.keydown("x")
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self._keys["Up"] = True
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self._keys["Right"] = True
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self._keys["x"] = True
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elif action == "dash-lu":
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self.keydown("Up")
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self.keydown("Left")
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self.keydown("x")
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self._keys["Up"] = True
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self._keys["Left"] = True
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self._keys["x"] = True
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def _apply_keys(self):
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for i in [
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"x", "c",
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"Left", "Right",
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"Down", "Up"
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]:
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if self._keys.get(i):
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self._keydown(i)
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else:
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self._keyup(i)
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@property
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def status(self):
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def state(self):
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try:
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return {
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"stage": (
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stage = (
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[
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[0, 1, 2, 3, 4]
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]
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[int(self.internal_status["ry"])]
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[int(self.internal_status["rx"])]
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),
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[int(self._internal_state["ry"])]
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[int(self._internal_state["rx"])]
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)
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"xpos": int(self.internal_status["px"]),
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"ypos": int(self.internal_status["py"]),
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"xvel": float(self.internal_status["vx"]),
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"yvel": float(self.internal_status["vy"]),
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"deaths": int(self.internal_status["dc"]),
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if len(self.target_checkpoints) < stage:
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next_point_x = None
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next_point_y = None
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else:
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next_point_x = self.target_checkpoints[stage][self._next_checkpoint_idx][0]
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next_point_y = self.target_checkpoints[stage][self._next_checkpoint_idx][1]
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return CelesteState(
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stage = stage,
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xpos = int(self._internal_state["px"]),
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ypos = int(self._internal_state["py"]),
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xvel = float(self._internal_state["vx"]),
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yvel = float(self._internal_state["vy"]),
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deaths = int(self._internal_state["dc"]),
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dist = self._dist,
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next_point = self._next_checkpoint_idx,
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next_point_x = next_point_x,
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next_point_y = next_point_y,
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state_count = self._state_counter,
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can_dash = self._internal_state["ds"] == "t"
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)
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"dist": self.dist,
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"next_point": self.next_point,
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"frame_count": self.frame_counter
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}
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except KeyError:
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raise CelesteError("Not enough data to get status.")
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raise CelesteError("Not enough data to get state.")
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def keypress(self, key: str, *, post = 200):
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def _keypress(self, key: str, *, post = 200):
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subprocess.run([
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"xdotool",
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"key",
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"--window", self.winid,
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"--window", self._winid,
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key
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])
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time.sleep(post / 1000)
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def keydown(self, key: str):
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def _keydown(self, key: str):
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subprocess.run([
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"xdotool",
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"keydown",
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"--window", self.winid,
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"--window", self._winid,
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key
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])
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def keyup(self, key: str):
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def _keyup(self, key: str):
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subprocess.run([
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"xdotool",
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"keyup",
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"--window", self.winid,
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"--window", self._winid,
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key
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])
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def keystring(self, string, *, delay = 100, post = 200):
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def _keystring(self, string, *, delay = 100, post = 200):
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subprocess.run([
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"xdotool",
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"type",
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"--window", self.winid,
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"--window", self._winid,
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"--delay", str(delay),
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string
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])
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time.sleep(post / 1000)
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def reset(self):
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self.internal_status = {}
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self.next_point = 0
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self.frame_counter = 0
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self.before_out = None
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self.resetting = True
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self.last_point_frame = 0
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# Make sure all keys are released
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self.act(None)
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self._apply_keys()
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self.keypress("Escape")
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self.keystring("run")
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self.keypress("Enter", post = 1000)
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self._internal_state = {}
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self._next_checkpoint_idx = 0
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self._state_counter = 0
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self._before_out = None
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self._resetting = True
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self._last_checkpoint_state = 0
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self.flush_reader()
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self._keypress("Escape")
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self._keystring("run")
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self._keypress("Enter", post = 1000)
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def flush_reader(self):
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for k in iter(self.process.stdout.readline, ""):
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# Clear all old stdout messages and
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# wait for the game to restart.
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for k in iter(self._process.stdout.readline, ""):
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k = k.decode("utf-8")[:-1]
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if k == "!RESTART":
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break
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@ -187,61 +273,68 @@ class Celeste:
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def update_loop(self, before, after):
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# Get state, call callback, wait for state
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# One line => one frame.
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it = iter(self.process.stdout.readline, "")
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for line in it:
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# Waits for stdout from pico-8 process
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for line in iter(self._process.stdout.readline, ""):
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l = line.decode("utf-8")[:-1].strip()
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self.resetting = False
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# Release all keys
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self.act(None)
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self._apply_keys()
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# Clear reset state
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self._resetting = False
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# This should only occur at game start
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if l in ["!RESTART"]:
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continue
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self.frame_counter += 1
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self._state_counter += 1
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# Parse status string
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# Parse state string
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for entry in l.split(";"):
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if entry == "":
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continue
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key, val = entry.split(":")
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self.internal_status[key] = val
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self._internal_state[key] = val
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# Update checkpoints
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tx, ty = self.target_points[self.status["stage"]][self.next_point]
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x = self.status["xpos"]
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y = self.status["ypos"]
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tx, ty = self.target_checkpoints[self.state.stage][self._next_checkpoint_idx]
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x = self.state.xpos
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y = self.state.ypos
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dist = math.sqrt(
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(x-tx)*(x-tx) +
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(y-ty)*(y-ty)
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((y-ty)*(y-ty))/2
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# Possible modification:
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# make x-distance twice as valuable as y-distance
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)
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if dist <= 4 and y == ty:
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print(f"Got point {self.next_point}")
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self.next_point += 1
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self.last_point_frame = self.frame_counter
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if dist <= 5:
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print(f"Got point {self._next_checkpoint_idx}")
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self._next_checkpoint_idx += 1
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self._last_checkpoint_state = self._state_counter
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# Recalculate distance to new point
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tx, ty = self.target_points[self.status["stage"]][self.next_point]
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tx, ty = self.target_checkpoints[self.state.stage][self._next_checkpoint_idx]
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dist = math.sqrt(
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(x-tx)*(x-tx) +
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(y-ty)*(y-ty)
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((y-ty)*(y-ty))/2
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)
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# Timeout if we spend too long between points
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elif self.frame_counter - self.last_point_frame > 40:
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self.internal_status["dc"] = str(int(self.internal_status["dc"]) + 1)
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elif self._state_counter - self._last_checkpoint_state > self.state_timeout:
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self._internal_state["dc"] = str(int(self._internal_state["dc"]) + 1)
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self.dist = dist
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self._dist = dist
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# Call step callbacks
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if self.before_out is not None:
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after(self, self.before_out)
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if not self.resetting:
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self.before_out = before(self)
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# These should call celeste.act() to set next input
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if self._before_out is not None:
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after(self, self._before_out)
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# Do not run before callback if after() triggered a reset.
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if not self._resetting:
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self._before_out = before(self)
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self._apply_keys()
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150
celeste/main.py
150
celeste/main.py
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@ -1,30 +1,24 @@
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from collections import namedtuple
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from collections import deque
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from pathlib import Path
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import random
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import math
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import json
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import torch
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# Glue layer
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from celeste import Celeste
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run_data_path = Path("out")
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run_data_path.mkdir(parents = True, exist_ok = True)
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compute_device = torch.device(
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"cuda" if torch.cuda.is_available() else "cpu"
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)
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state_number_map = [
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"xpos",
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"ypos",
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"xvel",
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"yvel",
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"next_point"
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]
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# Celeste env properties
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n_observations = len(state_number_map)
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n_observations = len(Celeste.state_number_map)
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n_actions = len(Celeste.action_space)
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@ -39,7 +33,7 @@ EPS_END = 0.05
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EPS_DECAY = 1000
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BATCH_SIZE = 128
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BATCH_SIZE = 1_000
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# Learning rate of target_net.
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# Controls how soft our soft update is.
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#
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@ -64,9 +58,19 @@ GAMMA = 0.99
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class DQN(torch.nn.Module):
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def __init__(self, n_observations: int, n_actions: int):
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super(DQN, self).__init__()
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self.layer1 = torch.nn.Linear(n_observations, 128)
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self.layer2 = torch.nn.Linear(128, 128)
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self.layer3 = torch.nn.Linear(128, n_actions)
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self.layers = torch.nn.Sequential(
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torch.nn.Linear(n_observations, 128),
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torch.nn.ReLU(),
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torch.nn.Linear(128, 128),
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torch.nn.ReLU(),
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torch.nn.Linear(128, 128),
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torch.nn.ReLU(),
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torch.torch.nn.Linear(128, n_actions)
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)
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# Can be called with one input, or with a batch.
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#
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@ -77,9 +81,7 @@ class DQN(torch.nn.Module):
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# Recall that Q(s, a) is the (expected) return of taking
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# action `a` at state `s`
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def forward(self, x):
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x = torch.nn.functional.relu(self.layer1(x))
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x = torch.nn.functional.relu(self.layer2(x))
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return self.layer3(x)
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return self.layers(x)
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@ -94,7 +96,7 @@ num_episodes = 100
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# Memory: a deque that holds recent states as Transitions
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# Has a fixed length, drops oldest
|
||||
# element if maxlen is exceeded.
|
||||
memory = deque([], maxlen=10_000)
|
||||
memory = deque([], maxlen=100_000)
|
||||
|
||||
|
||||
policy_net = DQN(
|
||||
|
|
@ -112,11 +114,10 @@ target_net.load_state_dict(policy_net.state_dict())
|
|||
|
||||
optimizer = torch.optim.AdamW(
|
||||
policy_net.parameters(),
|
||||
lr = 1e-4, # Hyperparameter: learning rate
|
||||
lr = 0.01, # Hyperparameter: learning rate
|
||||
amsgrad = True
|
||||
)
|
||||
|
||||
|
||||
def select_action(state, steps_done):
|
||||
"""
|
||||
Select an action using an epsilon-greedy policy.
|
||||
|
|
@ -303,39 +304,68 @@ def optimize_model():
|
|||
optimizer.step()
|
||||
|
||||
|
||||
episode_number = 0
|
||||
|
||||
|
||||
if (run_data_path/"checkpoint.torch").is_file():
|
||||
# Load model if one exists
|
||||
checkpoint = torch.load((run_data_path/"checkpoint.torch"))
|
||||
policy_net.load_state_dict(checkpoint["policy_state_dict"])
|
||||
target_net.load_state_dict(checkpoint["target_state_dict"])
|
||||
optimizer.load_state_dict(checkpoint["optimizer_state_dict"])
|
||||
memory = checkpoint["memory"]
|
||||
episode_number = checkpoint["episode_number"] + 1
|
||||
steps_done = checkpoint["steps_done"]
|
||||
|
||||
|
||||
def on_state_before(celeste):
|
||||
global steps_done
|
||||
|
||||
# Conversion to pytorch
|
||||
|
||||
state = celeste.status
|
||||
state = celeste.state
|
||||
|
||||
pt_state = torch.tensor(
|
||||
[state[x] for x in state_number_map],
|
||||
[getattr(state, x) for x in Celeste.state_number_map],
|
||||
dtype = torch.float32,
|
||||
device = compute_device
|
||||
).unsqueeze(0)
|
||||
|
||||
action = None
|
||||
while (action) is None or ((not state.can_dash) and (str_action not in ["left", "right"])):
|
||||
action = select_action(
|
||||
pt_state,
|
||||
steps_done
|
||||
)
|
||||
str_action = Celeste.action_space[action]
|
||||
steps_done += 1
|
||||
|
||||
# Turn number into action string
|
||||
str_action = Celeste.action_space[action]
|
||||
|
||||
# For manual testing
|
||||
#str_action = ""
|
||||
#while str_action not in Celeste.action_space:
|
||||
# str_action = input("action> ")
|
||||
#action = Celeste.action_space.index(str_action)
|
||||
|
||||
print(str_action)
|
||||
celeste.act(str_action)
|
||||
|
||||
return state, action
|
||||
|
||||
|
||||
|
||||
image_interval = 10
|
||||
|
||||
|
||||
def on_state_after(celeste, before_out):
|
||||
global episode_number
|
||||
global image_count
|
||||
|
||||
state, action = before_out
|
||||
next_state = celeste.state
|
||||
|
||||
pt_state = torch.tensor(
|
||||
[state[x] for x in state_number_map],
|
||||
[getattr(state, x) for x in Celeste.state_number_map],
|
||||
dtype = torch.float32,
|
||||
device = compute_device
|
||||
).unsqueeze(0)
|
||||
|
|
@ -346,33 +376,30 @@ def on_state_after(celeste, before_out):
|
|||
dtype = torch.long
|
||||
)
|
||||
|
||||
next_state = celeste.status
|
||||
|
||||
if next_state["deaths"] != 0:
|
||||
if next_state.deaths != 0:
|
||||
pt_next_state = None
|
||||
reward = 0
|
||||
|
||||
else:
|
||||
pt_next_state = torch.tensor(
|
||||
[next_state[x] for x in state_number_map],
|
||||
[getattr(next_state, x) for x in Celeste.state_number_map],
|
||||
dtype = torch.float32,
|
||||
device = compute_device
|
||||
).unsqueeze(0)
|
||||
|
||||
|
||||
if state["next_point"] == next_state["next_point"]:
|
||||
reward = state["dist"] - next_state["dist"]
|
||||
if state.next_point == next_state.next_point:
|
||||
reward = state.dist - next_state.dist
|
||||
|
||||
if reward > 0:
|
||||
# Clip rewards that are too large
|
||||
if reward > 1:
|
||||
reward = 1
|
||||
elif reward < 0:
|
||||
reward = -1
|
||||
else:
|
||||
reward = 0
|
||||
|
||||
else:
|
||||
# Score for reaching a point
|
||||
reward = 10
|
||||
|
||||
reward = 1
|
||||
|
||||
pt_reward = torch.tensor([reward], device = compute_device)
|
||||
|
||||
|
|
@ -387,6 +414,8 @@ def on_state_after(celeste, before_out):
|
|||
)
|
||||
)
|
||||
|
||||
print("==> ", int(reward))
|
||||
print("\n")
|
||||
|
||||
|
||||
# Only train the network if we have enough
|
||||
|
|
@ -406,8 +435,51 @@ def on_state_after(celeste, before_out):
|
|||
|
||||
# Move on to the next episode once we reach
|
||||
# a terminal state.
|
||||
if (next_state["deaths"] != 0):
|
||||
if (next_state.deaths != 0):
|
||||
s = celeste.state
|
||||
with open(run_data_path / "train.log", "a") as f:
|
||||
f.write(json.dumps({
|
||||
"checkpoints": s.next_point,
|
||||
"state_count": s.state_count
|
||||
}) + "\n")
|
||||
|
||||
|
||||
# Save model
|
||||
torch.save({
|
||||
"policy_state_dict": policy_net.state_dict(),
|
||||
"target_state_dict": target_net.state_dict(),
|
||||
"optimizer_state_dict": optimizer.state_dict(),
|
||||
"memory": memory,
|
||||
"episode_number": episode_number,
|
||||
"steps_done": steps_done
|
||||
}, run_data_path / "checkpoint.torch")
|
||||
|
||||
|
||||
# Clean up screenshots
|
||||
shots = Path("/home/mark/Desktop").glob("hackcel_*.png")
|
||||
|
||||
target = run_data_path / Path(f"screenshots/{episode_number}")
|
||||
target.mkdir(parents = True)
|
||||
|
||||
for s in shots:
|
||||
s.rename(target / s.name)
|
||||
|
||||
# Save a prediction graph
|
||||
if episode_number % image_interval == 0:
|
||||
p = run_data_path / Path("model_images")
|
||||
p.mkdir(parents = True, exist_ok = True)
|
||||
torch.save({
|
||||
"policy_state_dict": policy_net.state_dict(),
|
||||
"target_state_dict": target_net.state_dict(),
|
||||
"optimizer_state_dict": optimizer.state_dict(),
|
||||
"memory": memory,
|
||||
"episode_number": episode_number,
|
||||
"steps_done": steps_done
|
||||
}, p / f"{episode_number}.torch")
|
||||
|
||||
|
||||
print("State over, resetting")
|
||||
episode_number += 1
|
||||
celeste.reset()
|
||||
|
||||
|
||||
|
|
|
|||
Reference in New Issue