gr-libs 0.1.5__py3-none-any.whl → 0.1.7.post0__py3-none-any.whl

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Files changed (23) hide show
  1. gr_libs/__init__.py +5 -1
  2. gr_libs/_version.py +21 -0
  3. gr_libs/environment/__init__.py +2 -2
  4. gr_libs/environment/environment.py +1 -1
  5. gr_libs/metrics/metrics.py +1 -2
  6. gr_libs/ml/tabular/tabular_q_learner.py +1 -1
  7. gr_libs/ml/utils/storage.py +7 -0
  8. gr_libs/problems/__init__.py +0 -0
  9. gr_libs/problems/consts.py +1244 -0
  10. gr_libs/recognizer/graml/graml_recognizer.py +21 -12
  11. gr_libs/recognizer/recognizer.py +0 -1
  12. {gr_libs-0.1.5.dist-info → gr_libs-0.1.7.post0.dist-info}/METADATA +22 -1
  13. {gr_libs-0.1.5.dist-info → gr_libs-0.1.7.post0.dist-info}/RECORD +22 -18
  14. {gr_libs-0.1.5.dist-info → gr_libs-0.1.7.post0.dist-info}/WHEEL +1 -1
  15. {gr_libs-0.1.5.dist-info → gr_libs-0.1.7.post0.dist-info}/top_level.txt +1 -0
  16. tests/test_graml.py +16 -0
  17. tests/test_graql.py +4 -0
  18. tutorials/graml_minigrid_tutorial.py +25 -21
  19. tutorials/graml_panda_tutorial.py +29 -25
  20. tutorials/graml_parking_tutorial.py +29 -24
  21. tutorials/graml_point_maze_tutorial.py +27 -23
  22. tutorials/graql_minigrid_tutorial.py +25 -20
  23. gr_libs/recognizer/recognizer_doc.md +0 -61
gr_libs/problems/consts.py ADDED
@@ -0,0 +1,1244 @@
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+ import numpy as np
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+ from stable_baselines3 import PPO, SAC, TD3
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+ from gr_libs.environment.environment import MINIGRID, PARKING, PANDA, POINT_MAZE, QLEARNING, PandaProperty
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+
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+
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+ PROBLEMS = {
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+ PARKING: {
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+ "Parking-S-14-PC-": {
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+ "L1": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [i for i in range(1,21)],
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+ "train_configs": [(PPO, 200000)]
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+ },
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+ "G_0": {
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+ "goals": ["1", "11", "21"],
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+ "train_configs": [(SAC, 200000) for _ in range(3)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ },
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+ "L2": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [i for i in range(1,21)],
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+ "train_configs": [(PPO, 200000)]
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+ },
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+ "G_0": {
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+ "goals": ["1", "8", "14", "21"],
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+ "train_configs": [(SAC, 200000) for _ in range(4)]
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+ }
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+ },
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+ "L3": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [i for i in range(1,21)],
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+ "train_configs": [(PPO, 200000)]
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+ },
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+ "G_0": {
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+ "goals": ["1", "8", "11", "18"],
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+ "train_configs": [(SAC, 200000) for _ in range(4)]
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+ }
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+ },
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+ "L4": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [i for i in range(1,21)],
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+ "train_configs": [(PPO, 200000)]
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+ },
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+ "G_0": {
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+ "goals": ["4", "8", "11", "14", "18"],
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+ "train_configs": [(SAC, 200000) for _ in range(5)]
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+ }
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+ },
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+ "L5": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [i for i in range(1,21)],
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+ "train_configs": [(PPO, 200000)]
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+ },
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+ "G_0": {
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+ "goals": ["1", "4", "8", "11", "14", "18", "21"],
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+ "train_configs": [(SAC, 200000) for _ in range(7)]
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+ }
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+ }
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+ }
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+ }, # PARKING
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+ PANDA: {
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+ "PandaMyReachDense": {
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+ "L1": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [np.array([PandaProperty.sample_goal()]) for _ in range(1,30)],
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+ "train_configs": [(SAC, 800000)]
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+ },
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+ "G_0": {
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+ "goals": [np.array([[-0.1, -0.1, 0.1]]), np.array([[-0.1, 0.1, 0.1]]), np.array([[0.2, 0.2, 0.1]])],
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+ "train_configs": [(SAC, 00000), (SAC, 200000), (SAC, 300000)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ },
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+ "L2": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [np.array([PandaProperty.sample_goal()]) for _ in range(1,30)],
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+ "train_configs": [(SAC, 800000)]
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+ },
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+ "G_0": {
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+ "goals": [np.array([[-0.5, -0.5, 0.1]]), np.array([[-0.5, 0.2, 0.1]]), np.array([[-0.1, 0.1, 0.1]]), np.array([[0.1, -0.1, 0.1]])],
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+ "train_configs": [(SAC, 400000), (SAC, 400000), (SAC, 400000), (SAC, 400000)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ },
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+ "L3": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [np.array([PandaProperty.sample_goal()]) for _ in range(1,30)],
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+ "train_configs": [(SAC, 800000)]
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+ },
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+ "G_0": {
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+ "goals": [np.array([[-0.5, -0.5, 0.1]]), np.array([[-0.1, -0.1, 0.1]]), np.array([[-0.5, 0.2, 0.1]]), np.array([[-0.1, 0.1, 0.1]]), np.array([[0.2, -0.2, 0.1]]), np.array([[0.2, 0.2, 0.1]])],
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+ "train_configs": [(SAC, 400000) for _ in range(6)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ },
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+ "L4": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [np.array([PandaProperty.sample_goal()]) for _ in range(1,30)],
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+ "train_configs": [(SAC, 800000)]
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+ },
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+ "G_0": {
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+ "goals": [np.array([[-0.3, -0.3, 0.1]]), np.array([[-0.1, -0.1, 0.1]]), np.array([[-0.3, 0.2, 0.1]]), np.array([[-0.1, 0.1, 0.1]]), np.array([[0.1, -0.1, 0.1]]), np.array([[0.2, 0.2, 0.1]])],
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+ "train_configs": [(SAC, 400000) for _ in range(6)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ },
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+ "L5": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [np.array([PandaProperty.sample_goal()]) for _ in range(1,30)],
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+ "train_configs": [(SAC, 800000)]
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+ },
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+ "G_0": {
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+ "goals": [np.array([[-0.5, -0.5, 0.1]]), np.array([[-0.3, -0.3, 0.1]]), np.array([[-0.1, -0.1, 0.1]]), np.array([[-0.5, 0.2, 0.1]]), np.array([[-0.3, 0.2, 0.1]]), np.array([[-0.1, 0.1, 0.1]]), np.array([[0.2, -0.2, 0.1]]), np.array([[0.1, -0.1, 0.1]]), np.array([[0.2, 0.2, 0.1]])],
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+ "train_configs": [(SAC, 400000) for _ in range(9)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ }
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+ }
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+ }, # PANDA
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+ POINT_MAZE: {
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+ "PointMaze-FourRoomsEnvDense-11x11": {
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+ "L1": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(9,1), (9,9), (1,9), (3,3), (3,4), (8,2), (3,7), (2,8)],
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+ "train_configs": [(SAC, 400000) for _ in range(8)]
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+ },
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+ "G_0": {
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+ "goals": [(4,4), (7,3), (3,7)],
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+ "train_configs": [(SAC, 400000) for _ in range(3)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ },
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+ "L2": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(9,1), (9,9), (1,9), (3,3), (3,4), (8,2), (3,7), (2,8)],
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+ "train_configs": [(SAC, 400000) for _ in range(8)]
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+ },
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+ "G_0": {
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+ "goals": [(4,4), (7,3), (3,7), (8,2)],
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+ "train_configs": [(SAC, 400000) for _ in range(4)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ },
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+ "L3": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(9,1), (9,9), (1,9), (3,3), (3,4), (8,2), (3,7), (2,8)],
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+ "train_configs": [(SAC, 400000) for _ in range(8)]
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+ },
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+ "G_0": {
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+ "goals": [(4,4), (7,3), (3,7), (8,2), (2,8)],
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+ "train_configs": [(SAC, 400000) for _ in range(5)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ },
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+ "L4": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(9,1), (9,9), (1,9), (3,3), (3,4), (8,2), (3,7), (2,8)],
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+ "train_configs": [(SAC, 400000) for _ in range(8)]
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+ },
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+ "G_0": {
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+ "goals": [(4,4), (7,3), (3,7), (8,2), (2,8), (3,4)],
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+ "train_configs": [(SAC, 400000) for _ in range(6)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ },
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+ "L5": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(9,1), (9,9), (1,9), (3,3), (3,4), (8,2), (3,7), (2,8)],
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+ "train_configs": [(SAC, 400000) for _ in range(8)]
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+ },
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+ "G_0": {
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+ "goals": [(4,4), (7,3), (3,7), (8,2), (2,8), (3,4), (4,3)],
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+ "train_configs": [(SAC, 400000) for _ in range(7)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ }
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+ },
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+ "PointMaze-ObstaclesEnvDense-11x11": {
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+ "L1": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(5,1), (9,9), (1,5), (6,4), (4,6), (6,6), (7,7)],
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+ "train_configs": [(SAC, 400000) for _ in range(7)]
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+ },
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+ "G_0": {
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+ "goals": [(5,5), (7,4), (4,7)],
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+ "train_configs": [(SAC, 400000) for _ in range(3)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ },
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+ "L2": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(5,1), (9,9), (1,5), (6,4), (4,6), (6,6), (7,7)],
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+ "train_configs": [(SAC, 400000) for _ in range(7)]
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+ },
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+ "G_0": {
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+ "goals": [(5,5), (3,6), (7,4)],
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+ "train_configs": [(SAC, 400000) for _ in range(3)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ },
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+ "L3": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(5,1), (9,9), (1,5), (6,4), (4,6), (6,6), (7,7)],
192
+ "train_configs": [(SAC, 400000) for _ in range(7)]
193
+ },
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+ "G_0": {
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+ "goals": [(5,5), (3,6), (7,4), (4,7)],
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+ "train_configs": [(SAC, 400000) for _ in range(4)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ },
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+ "L4": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(5,1), (9,9), (1,5), (6,4), (4,6), (6,6), (7,7)],
202
+ "train_configs": [(SAC, 400000) for _ in range(7)]
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+ },
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+ "G_0": {
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+ "goals": [(3,6), (6,3), (7,4), (4,7), (8,8)],
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+ "train_configs": [(SAC, 400000) for _ in range(5)] # algorithms that use GC agent to generate sequences don't use this
207
+ }
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+ },
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+ "L5": {
210
+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(5,1), (9,9), (1,5), (6,4), (4,6), (6,6), (7,7)],
212
+ "train_configs": [(SAC, 400000) for _ in range(7)]
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+ },
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+ "G_0": {
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+ "goals": [(5,5), (3,6), (6,3), (7,4), (4,7), (8,8)],
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+ "train_configs": [(SAC, 400000) for _ in range(6)] # algorithms that use GC agent to generate sequences don't use this
217
+ }
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+ }
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+ }
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+ }, # POINT_MAZE
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+ MINIGRID: {
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+ "MiniGrid-SimpleCrossingS13N4": {
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+ "L1": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(11,1), (11,11), (1,11), (7,11), (8,1), (10,6), (6,9), (11,3), (11,5)],
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+ "train_configs": [(QLEARNING, 100000) for _ in range(9)] # TODO Find a way to prevent the 'none' or simply accept only a Q-learning algorithm and assert everything else
227
+ },
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+ "G_0": {
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+ "goals": [(11,1), (11,11), (1,11)],
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+ "train_configs": [(QLEARNING, 100000) for _ in range(3)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ },
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+ "L2": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(11,1), (11,11), (1,11), (7,11), (8,1), (10,6), (6,9), (11,3), (11,5)],
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+ "train_configs": [(QLEARNING, 100000) for _ in range(9)] # TODO Find a way to prevent the 'none' or simply accept only a Q-learning algorithm and assert everything else
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+ },
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+ "G_0": {
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+ "goals": [(11,1), (11,11), (1,11), (5,9)],
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+ "train_configs": [(QLEARNING, 100000) for _ in range(4)] # algorithms that use GC agent to generate sequences don't use this
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+ }
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+ },
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+ "L3": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(11,1), (11,11), (1,11), (7,11), (8,1), (10,6), (6,9), (11,3), (11,5)],
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+ "train_configs": [(QLEARNING, 100000) for _ in range(9)] # TODO Find a way to prevent the 'none' or simply accept only a Q-learning algorithm and assert everything else
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+ },
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+ "G_0": {
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+ "goals": [(11,1), (11,11), (1,11), (5,9), (6,1)],
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+ "train_configs": [(QLEARNING, 100000) for _ in range(5)] # algorithms that use GC agent to generate sequences don't use this
251
+ }
252
+ },
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+ "L4": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(11,1), (11,11), (1,11), (7,11), (8,1), (10,6), (6,9), (11,3), (11,5)],
256
+ "train_configs": [(QLEARNING, 100000) for _ in range(9)] # TODO Find a way to prevent the 'none' or simply accept only a Q-learning algorithm and assert everything else
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+ },
258
+ "G_0": {
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+ "goals": [(11,1), (11,11), (1,11), (5,9), (6,1), (11,3)],
260
+ "train_configs": [(QLEARNING, 100000) for _ in range(6)] # algorithms that use GC agent to generate sequences don't use this
261
+ }
262
+ },
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+ "L5": {
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+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
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+ "goals": [(11,1), (11,11), (1,11), (7,11), (8,1), (10,6), (6,9), (11,3), (11,5)],
266
+ "train_configs": [(QLEARNING, 100000) for _ in range(9)] # TODO Find a way to prevent the 'none' or simply accept only a Q-learning algorithm and assert everything else
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+ },
268
+ "G_0": {
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+ "goals": [(11,1), (11,11), (1,11), (5,9), (6,1), (11,3), (11,5)],
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+ "train_configs": [(QLEARNING, 100000) for _ in range(7)] # algorithms that use GC agent to generate sequences don't use this
271
+ }
272
+ }
273
+ },
274
+ "MiniGrid-LavaCrossingS9N2": {
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+ "L1": {
276
+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
277
+ "goals": [(7,7), (1,7), (7,1), (1,3), (2,5), (5,2), (6,5)],
278
+ "train_configs": [(QLEARNING, 100000) for _ in range(7)] # TODO Find a way to prevent the 'none' or simply accept only a Q-learning algorithm and assert everything else
279
+ },
280
+ "G_0": {
281
+ "goals": [(1,3), (6,5), (4,7)],
282
+ "train_configs": [(QLEARNING, 100000) for _ in range(3)] # algorithms that use GC agent to generate sequences don't use this
283
+ }
284
+ },
285
+ "L2": {
286
+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
287
+ "goals": [(7,7), (1,7), (7,1), (1,3), (2,5), (5,2), (6,5)],
288
+ "train_configs": [(QLEARNING, 100000) for _ in range(7)] # TODO Find a way to prevent the 'none' or simply accept only a Q-learning algorithm and assert everything else
289
+ },
290
+ "G_0": {
291
+ "goals": [(1,3), (6,5), (4,7), (2,5)],
292
+ "train_configs": [(QLEARNING, 100000) for _ in range(4)] # algorithms that use GC agent to generate sequences don't use this
293
+ }
294
+ },
295
+ "L3": {
296
+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
297
+ "goals": [(7,7), (1,7), (7,1), (1,3), (2,5), (5,2), (6,5)],
298
+ "train_configs": [(QLEARNING, 100000) for _ in range(7)] # TODO Find a way to prevent the 'none' or simply accept only a Q-learning algorithm and assert everything else
299
+ },
300
+ "G_0": {
301
+ "goals": [(1,3), (6,5), (4,7), (2,5), (5,2)],
302
+ "train_configs": [(QLEARNING, 100000) for _ in range(5)] # algorithms that use GC agent to generate sequences don't use this
303
+ }
304
+ },
305
+ "L4": {
306
+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
307
+ "goals": [(7,7), (1,7), (7,1), (1,3), (2,5), (5,2), (6,5)],
308
+ "train_configs": [(QLEARNING, 100000) for _ in range(7)] # TODO Find a way to prevent the 'none' or simply accept only a Q-learning algorithm and assert everything else
309
+ },
310
+ "G_0": {
311
+ "goals": [(1,3), (6,5), (4,7), (2,5), (5,2), (4,5)],
312
+ "train_configs": [(QLEARNING, 100000) for _ in range(6)] # algorithms that use GC agent to generate sequences don't use this
313
+ }
314
+ },
315
+ "L5": {
316
+ "base": { # only 1 train_config for the GC agent. the goals are samples of possible goals in the env.
317
+ "goals": [(7,7), (1,7), (7,1), (1,3), (2,5), (5,2), (6,5)],
318
+ "train_configs": [(QLEARNING, 100000) for _ in range(7)] # TODO Find a way to prevent the 'none' or simply accept only a Q-learning algorithm and assert everything else
319
+ },
320
+ "G_0": {
321
+ "goals": [(1,3), (6,5), (4,7), (2,5), (5,2), (4,5), (1,1)],
322
+ "train_configs": [(QLEARNING, 100000) for _ in range(7)] # algorithms that use GC agent to generate sequences don't use this
323
+ }
324
+ }
325
+ }
326
+ }, # MINIGRID
327
+ } # PROBLEMS
328
+
329
+ for i,perc in enumerate([0.3, 0.5, 0.7, 0.9, 1]):
330
+ for j, cons in enumerate([True, False]):
331
+
332
+ ### PARKING ###
333
+
334
+ PROBLEMS[PARKING]["Parking-S-14-PC-"]["L1"].update(
335
+ {f"I_0_{i*6+j*3}": {
336
+ "goal": "1",
337
+ "train_config": (TD3, 200000),
338
+ "consecutive": cons,
339
+ "percentage": perc
340
+ },
341
+ f"I_0_{i*6+j*3+1}": {
342
+ "goal": "11",
343
+ "train_config": (TD3, 200000),
344
+ "consecutive": cons,
345
+ "percentage": perc
346
+ },
347
+ f"I_0_{i*6+j*3+2}": {
348
+ "goal": "21",
349
+ "train_config": (TD3, 300000),
350
+ "consecutive": cons,
351
+ "percentage": perc
352
+ }})
353
+ PROBLEMS[PARKING]["Parking-S-14-PC-"]["L2"].update(
354
+ {f"I_0_{i*8+j*4}": {
355
+ "goal": "1",
356
+ "train_config": (TD3, 200000),
357
+ "consecutive": cons,
358
+ "percentage": perc
359
+ },
360
+ f"I_0_{i*8+j*4+1}": {
361
+ "goal": "8",
362
+ "train_config": (TD3, 200000),
363
+ "consecutive": cons,
364
+ "percentage": perc
365
+ },
366
+ f"I_0_{i*8+j*4+2}": {
367
+ "goal": "14",
368
+ "train_config": (TD3, 400000),
369
+ "consecutive": cons,
370
+ "percentage": perc
371
+ },
372
+ f"I_0_{i*8+j*4+3}": {
373
+ "goal": "21",
374
+ "train_config": (TD3, 300000),
375
+ "consecutive": cons,
376
+ "percentage": perc
377
+ }})
378
+ PROBLEMS[PARKING]["Parking-S-14-PC-"]["L3"].update(
379
+ {f"I_0_{i*8+j*4}": {
380
+ "goal": "1",
381
+ "train_config": (TD3, 200000),
382
+ "consecutive": cons,
383
+ "percentage": perc
384
+ },
385
+ f"I_0_{i*8+j*4+1}": {
386
+ "goal": "8",
387
+ "train_config": (TD3, 200000),
388
+ "consecutive": cons,
389
+ "percentage": perc
390
+ },
391
+ f"I_0_{i*8+j*4+2}": {
392
+ "goal": "11",
393
+ "train_config": (TD3, 400000),
394
+ "consecutive": cons,
395
+ "percentage": perc
396
+ },
397
+ f"I_0_{i*8+j*4+3}": {
398
+ "goal": "18",
399
+ "train_config": (TD3, 300000),
400
+ "consecutive": cons,
401
+ "percentage": perc
402
+ }})
403
+ PROBLEMS[PARKING]["Parking-S-14-PC-"]["L4"].update(
404
+ {f"I_0_{i*10+j*5}": {
405
+ "goal": "4",
406
+ "train_config": (TD3, 200000),
407
+ "consecutive": cons,
408
+ "percentage": perc
409
+ },
410
+ f"I_0_{i*10+j*5+1}": {
411
+ "goal": "8",
412
+ "train_config": (TD3, 200000),
413
+ "consecutive": cons,
414
+ "percentage": perc
415
+ },
416
+ f"I_0_{i*10+j*5+2}": {
417
+ "goal": "11",
418
+ "train_config": (TD3, 400000),
419
+ "consecutive": cons,
420
+ "percentage": perc
421
+ },
422
+ f"I_0_{i*10+j*5+3}": {
423
+ "goal": "14",
424
+ "train_config": (TD3, 300000),
425
+ "consecutive": cons,
426
+ "percentage": perc
427
+ },
428
+ f"I_0_{i*10+j*5+4}": {
429
+ "goal": "18",
430
+ "train_config": (TD3, 300000),
431
+ "consecutive": cons,
432
+ "percentage": perc
433
+ }})
434
+ PROBLEMS[PARKING]["Parking-S-14-PC-"]["L5"].update(
435
+ {f"I_0_{i*14+j*7}": {
436
+ "goal": "1",
437
+ "train_config": (TD3, 200000),
438
+ "consecutive": cons,
439
+ "percentage": perc
440
+ },
441
+ f"I_0_{i*14+j*7+1}": {
442
+ "goal": "4",
443
+ "train_config": (TD3, 200000),
444
+ "consecutive": cons,
445
+ "percentage": perc
446
+ },
447
+ f"I_0_{i*14+j*7+2}": {
448
+ "goal": "8",
449
+ "train_config": (TD3, 400000),
450
+ "consecutive": cons,
451
+ "percentage": perc
452
+ },
453
+ f"I_0_{i*14+j*7+3}": {
454
+ "goal": "11",
455
+ "train_config": (TD3, 300000),
456
+ "consecutive": cons,
457
+ "percentage": perc
458
+ },
459
+ f"I_0_{i*14+j*7+4}": {
460
+ "goal": "14",
461
+ "train_config": (TD3, 300000),
462
+ "consecutive": cons,
463
+ "percentage": perc
464
+ },
465
+ f"I_0_{i*14+j*7+5}": {
466
+ "goal": "18",
467
+ "train_config": (TD3, 300000),
468
+ "consecutive": cons,
469
+ "percentage": perc
470
+ },
471
+ f"I_0_{i*14+j*7+6}": {
472
+ "goal": "21",
473
+ "train_config": (TD3, 300000),
474
+ "consecutive": cons,
475
+ "percentage": perc
476
+ }})
477
+
478
+ ### PANDA ###
479
+
480
+ PROBLEMS[PANDA]["PandaMyReachDense"]["L1"].update(
481
+ {f"I_0_{i*6+j*3}": {
482
+ "goal": np.array([[-0.1, -0.1, 0.1]]),
483
+ "train_config": (PPO, 200000),
484
+ "consecutive": cons,
485
+ "percentage": perc
486
+ },
487
+ f"I_0_{i*6+j*3+1}": {
488
+ "goal": np.array([[-0.1, 0.1, 0.1]]),
489
+ "train_config": (PPO, 200000),
490
+ "consecutive": cons,
491
+ "percentage": perc
492
+ },
493
+ f"I_0_{i*6+j*3+2}": {
494
+ "goal": np.array([[0.2, 0.2, 0.1]]),
495
+ "train_config": (PPO, 200000),
496
+ "consecutive": cons,
497
+ "percentage": perc
498
+ }})
499
+ PROBLEMS[PANDA]["PandaMyReachDense"]["L2"].update(
500
+ {f"I_0_{i*8+j*4}": {
501
+ "goal": np.array([[-0.5, -0.5, 0.1]]),
502
+ "train_config": (PPO, 200000),
503
+ "consecutive": cons,
504
+ "percentage": perc
505
+ },
506
+ f"I_0_{i*8+j*4+1}": {
507
+ "goal": np.array([[-0.5, 0.2, 0.1]]),
508
+ "train_config": (PPO, 200000),
509
+ "consecutive": cons,
510
+ "percentage": perc
511
+ },
512
+ f"I_0_{i*8+j*4+2}": {
513
+ "goal": np.array([[-0.1, 0.1, 0.1]]),
514
+ "train_config": (PPO, 200000),
515
+ "consecutive": cons,
516
+ "percentage": perc
517
+ },
518
+ f"I_0_{i*8+j*4+3}": {
519
+ "goal": np.array([[0.1, -0.1, 0.1]]),
520
+ "train_config": (PPO, 200000),
521
+ "consecutive": cons,
522
+ "percentage": perc
523
+ }})
524
+ PROBLEMS[PANDA]["PandaMyReachDense"]["L3"].update(
525
+ {f"I_0_{i*12+j*6}": {
526
+ "goal": np.array([[-0.5, -0.5, 0.1]]),
527
+ "train_config": (PPO, 200000),
528
+ "consecutive": cons,
529
+ "percentage": perc
530
+ },
531
+ f"I_0_{i*12+j*6+1}": {
532
+ "goal": np.array([[-0.1, -0.1, 0.1]]),
533
+ "train_config": (PPO, 200000),
534
+ "consecutive": cons,
535
+ "percentage": perc
536
+ },
537
+ f"I_0_{i*12+j*6+2}": {
538
+ "goal": np.array([[-0.5, 0.2, 0.1]]),
539
+ "train_config": (PPO, 200000),
540
+ "consecutive": cons,
541
+ "percentage": perc
542
+ },
543
+ f"I_0_{i*12+j*6+3}": {
544
+ "goal": np.array([[-0.1, 0.1, 0.1]]),
545
+ "train_config": (PPO, 200000),
546
+ "consecutive": cons,
547
+ "percentage": perc
548
+ },
549
+ f"I_0_{i*12+j*6+4}": {
550
+ "goal": np.array([[0.2, -0.2, 0.1]]),
551
+ "train_config": (PPO, 200000),
552
+ "consecutive": cons,
553
+ "percentage": perc
554
+ },
555
+ f"I_0_{i*12+j*6+5}": {
556
+ "goal": np.array([[0.2, 0.2, 0.1]]),
557
+ "train_config": (PPO, 200000),
558
+ "consecutive": cons,
559
+ "percentage": perc
560
+ }})
561
+ PROBLEMS[PANDA]["PandaMyReachDense"]["L4"].update(
562
+ {f"I_0_{i*12+j*6}": {
563
+ "goal": np.array([[-0.3, -0.3, 0.1]]),
564
+ "train_config": (SAC, 200000),
565
+ "consecutive": cons,
566
+ "percentage": perc
567
+ },
568
+ f"I_0_{i*12+j*6+1}": {
569
+ "goal": np.array([[-0.1, -0.1, 0.1]]),
570
+ "train_config": (PPO, 200000),
571
+ "consecutive": cons,
572
+ "percentage": perc
573
+ },
574
+ f"I_0_{i*12+j*6+2}": {
575
+ "goal": np.array([[-0.3, 0.2, 0.1]]),
576
+ "train_config": (PPO, 200000),
577
+ "consecutive": cons,
578
+ "percentage": perc
579
+ },
580
+ f"I_0_{i*12+j*6+3}": {
581
+ "goal": np.array([[-0.1, 0.1, 0.1]]),
582
+ "train_config": (PPO, 200000),
583
+ "consecutive": cons,
584
+ "percentage": perc
585
+ },
586
+ f"I_0_{i*12+j*6+4}": {
587
+ "goal": np.array([[0.1, -0.1, 0.1]]),
588
+ "train_config": (PPO, 200000),
589
+ "consecutive": cons,
590
+ "percentage": perc
591
+ },
592
+ f"I_0_{i*12+j*6+5}": {
593
+ "goal": np.array([[0.2, 0.2, 0.1]]),
594
+ "train_config": (PPO, 200000),
595
+ "consecutive": cons,
596
+ "percentage": perc
597
+ }})
598
+ PROBLEMS[PANDA]["PandaMyReachDense"]["L5"].update(
599
+ {f"I_0_{i*18+j*9}": {
600
+ "goal": np.array([[-0.5, -0.5, 0.1]]),
601
+ "train_config": (PPO, 200000),
602
+ "consecutive": cons,
603
+ "percentage": perc
604
+ },
605
+ f"I_0_{i*18+j*9+1}": {
606
+ "goal": np.array([[-0.3, -0.3, 0.1]]),
607
+ "train_config": (SAC, 200000),
608
+ "consecutive": cons,
609
+ "percentage": perc
610
+ },
611
+ f"I_0_{i*18+j*9+2}": {
612
+ "goal": np.array([[-0.1, -0.1, 0.1]]),
613
+ "train_config": (PPO, 200000),
614
+ "consecutive": cons,
615
+ "percentage": perc
616
+ },
617
+ f"I_0_{i*18+j*9+3}": {
618
+ "goal": np.array([[-0.5, 0.2, 0.1]]),
619
+ "train_config": (PPO, 200000),
620
+ "consecutive": cons,
621
+ "percentage": perc
622
+ },
623
+ f"I_0_{i*18+j*9+4}": {
624
+ "goal": np.array([[-0.3, 0.2, 0.1]]),
625
+ "train_config": (PPO, 200000),
626
+ "consecutive": cons,
627
+ "percentage": perc
628
+ },
629
+ f"I_0_{i*18+j*9+5}": {
630
+ "goal": np.array([[-0.1, 0.1, 0.1]]),
631
+ "train_config": (PPO, 200000),
632
+ "consecutive": cons,
633
+ "percentage": perc
634
+ },
635
+ f"I_0_{i*18+j*9+6}": {
636
+ "goal": np.array([[0.2, -0.2, 0.1]]),
637
+ "train_config": (PPO, 200000),
638
+ "consecutive": cons,
639
+ "percentage": perc
640
+ },
641
+ f"I_0_{i*18+j*9+7}": {
642
+ "goal": np.array([[0.1, -0.1, 0.1]]),
643
+ "train_config": (PPO, 200000),
644
+ "consecutive": cons,
645
+ "percentage": perc
646
+ },
647
+ f"I_0_{i*18+j*9+8}": {
648
+ "goal": np.array([[0.2, 0.2, 0.1]]),
649
+ "train_config": (PPO, 200000),
650
+ "consecutive": cons,
651
+ "percentage": perc
652
+ }})
653
+
654
+ ### POINT_MAZE ###
655
+
656
+ PROBLEMS[POINT_MAZE]["PointMaze-FourRoomsEnvDense-11x11"]["L1"].update( # TODO the existing working 9x9 is not Dense. need to duplicate it for the dense one
657
+ {f"I_0_{i*6+j*3}": {
658
+ "goal": (4,4),
659
+ "train_config": (TD3, 400000),
660
+ "consecutive": cons,
661
+ "percentage": perc
662
+ },
663
+ f"I_0_{i*6+j*3+1}": {
664
+ "goal": (7,3),
665
+ "train_config": (TD3, 400000),
666
+ "consecutive": cons,
667
+ "percentage": perc
668
+ },
669
+ f"I_0_{i*6+j*3+2}": {
670
+ "goal": (3,7),
671
+ "train_config": (TD3, 400000),
672
+ "consecutive": cons,
673
+ "percentage": perc
674
+ }})
675
+ PROBLEMS[POINT_MAZE]["PointMaze-FourRoomsEnvDense-11x11"]["L2"].update(
676
+ {f"I_0_{i*8+j*4}": {
677
+ "goal": (4,4),
678
+ "train_config": (TD3, 400000),
679
+ "consecutive": cons,
680
+ "percentage": perc
681
+ },
682
+ f"I_0_{i*8+j*4+1}": {
683
+ "goal": (7,3),
684
+ "train_config": (TD3, 400000),
685
+ "consecutive": cons,
686
+ "percentage": perc
687
+ },
688
+ f"I_0_{i*8+j*4+2}": {
689
+ "goal": (3,7),
690
+ "train_config": (TD3, 400000),
691
+ "consecutive": cons,
692
+ "percentage": perc
693
+ },
694
+ f"I_0_{i*8+j*4+3}": {
695
+ "goal": (8,2),
696
+ "train_config": (TD3, 400000),
697
+ "consecutive": cons,
698
+ "percentage": perc
699
+ }})
700
+ PROBLEMS[POINT_MAZE]["PointMaze-FourRoomsEnvDense-11x11"]["L3"].update(
701
+ {f"I_0_{i*10+j*5}": {
702
+ "goal": (4,4),
703
+ "train_config": (TD3, 400000),
704
+ "consecutive": cons,
705
+ "percentage": perc
706
+ },
707
+ f"I_0_{i*10+j*5+1}": {
708
+ "goal": (7,3),
709
+ "train_config": (TD3, 400000),
710
+ "consecutive": cons,
711
+ "percentage": perc
712
+ },
713
+ f"I_0_{i*10+j*5+2}": {
714
+ "goal": (3,7),
715
+ "train_config": (TD3, 400000),
716
+ "consecutive": cons,
717
+ "percentage": perc
718
+ },
719
+ f"I_0_{i*10+j*5+3}": {
720
+ "goal": (8,2),
721
+ "train_config": (TD3, 400000),
722
+ "consecutive": cons,
723
+ "percentage": perc
724
+ },
725
+ f"I_0_{i*10+j*5+4}": {
726
+ "goal": (2,8),
727
+ "train_config": (TD3, 400000),
728
+ "consecutive": cons,
729
+ "percentage": perc
730
+ }})
731
+ PROBLEMS[POINT_MAZE]["PointMaze-FourRoomsEnvDense-11x11"]["L4"].update(
732
+ {f"I_0_{i*12+j*6}": {
733
+ "goal": (4,4),
734
+ "train_config": (TD3, 400000),
735
+ "consecutive": cons,
736
+ "percentage": perc
737
+ },
738
+ f"I_0_{i*12+j*6+1}": {
739
+ "goal": (7,3),
740
+ "train_config": (TD3, 400000),
741
+ "consecutive": cons,
742
+ "percentage": perc
743
+ },
744
+ f"I_0_{i*12+j*6+2}": {
745
+ "goal": (3,7),
746
+ "train_config": (TD3, 400000),
747
+ "consecutive": cons,
748
+ "percentage": perc
749
+ },
750
+ f"I_0_{i*12+j*6+3}": {
751
+ "goal": (8,2),
752
+ "train_config": (TD3, 400000),
753
+ "consecutive": cons,
754
+ "percentage": perc
755
+ },
756
+ f"I_0_{i*12+j*6+4}": {
757
+ "goal": (2,8),
758
+ "train_config": (TD3, 400000),
759
+ "consecutive": cons,
760
+ "percentage": perc
761
+ },
762
+ f"I_0_{i*12+j*6+5}": {
763
+ "goal": (3,4),
764
+ "train_config": (TD3, 400000),
765
+ "consecutive": cons,
766
+ "percentage": perc
767
+ }})
768
+ PROBLEMS[POINT_MAZE]["PointMaze-FourRoomsEnvDense-11x11"]["L5"].update(
769
+ {f"I_0_{i*14+j*7}": {
770
+ "goal": (4,4),
771
+ "train_config": (TD3, 400000),
772
+ "consecutive": cons,
773
+ "percentage": perc
774
+ },
775
+ f"I_0_{i*14+j*7+1}": {
776
+ "goal": (7,3),
777
+ "train_config": (TD3, 400000),
778
+ "consecutive": cons,
779
+ "percentage": perc
780
+ },
781
+ f"I_0_{i*14+j*7+2}": {
782
+ "goal": (3,7),
783
+ "train_config": (TD3, 400000),
784
+ "consecutive": cons,
785
+ "percentage": perc
786
+ },
787
+ f"I_0_{i*14+j*7+3}": {
788
+ "goal": (8,2),
789
+ "train_config": (TD3, 400000),
790
+ "consecutive": cons,
791
+ "percentage": perc
792
+ },
793
+ f"I_0_{i*14+j*7+4}": {
794
+ "goal": (2,8),
795
+ "train_config": (TD3, 400000),
796
+ "consecutive": cons,
797
+ "percentage": perc
798
+ },
799
+ f"I_0_{i*14+j*7+5}": {
800
+ "goal": (3,4),
801
+ "train_config": (TD3, 400000),
802
+ "consecutive": cons,
803
+ "percentage": perc
804
+ },
805
+ f"I_0_{i*14+j*7+6}": {
806
+ "goal": (4,3),
807
+ "train_config": (TD3, 400000),
808
+ "consecutive": cons,
809
+ "percentage": perc
810
+ }})
811
+
812
+ PROBLEMS[POINT_MAZE]["PointMaze-ObstaclesEnvDense-11x11"]["L1"].update(
813
+ {f"I_0_{i*6+j*3}": {
814
+ "goal": (5,5),
815
+ "train_config": (TD3, 400000),
816
+ "consecutive": cons,
817
+ "percentage": perc
818
+ },
819
+ f"I_0_{i*6+j*3+1}": {
820
+ "goal": (7,4),
821
+ "train_config": (TD3, 400000),
822
+ "consecutive": cons,
823
+ "percentage": perc
824
+ },
825
+ f"I_0_{i*6+j*3+2}": {
826
+ "goal": (4,7),
827
+ "train_config": (TD3, 400000),
828
+ "consecutive": cons,
829
+ "percentage": perc
830
+ }})
831
+ PROBLEMS[POINT_MAZE]["PointMaze-ObstaclesEnvDense-11x11"]["L2"].update(
832
+ {f"I_0_{i*6+j*3}": {
833
+ "goal": (5,5),
834
+ "train_config": (TD3, 400000),
835
+ "consecutive": cons,
836
+ "percentage": perc
837
+ },
838
+ f"I_0_{i*6+j*3+1}": {
839
+ "goal": (3,6),
840
+ "train_config": (TD3, 400000),
841
+ "consecutive": cons,
842
+ "percentage": perc
843
+ },
844
+ f"I_0_{i*6+j*3+2}": {
845
+ "goal": (7,4),
846
+ "train_config": (TD3, 400000),
847
+ "consecutive": cons,
848
+ "percentage": perc
849
+ }})
850
+ PROBLEMS[POINT_MAZE]["PointMaze-ObstaclesEnvDense-11x11"]["L3"].update(
851
+ {f"I_0_{i*8+j*4}": {
852
+ "goal": (5,5),
853
+ "train_config": (TD3, 400000),
854
+ "consecutive": cons,
855
+ "percentage": perc
856
+ },
857
+ f"I_0_{i*8+j*4+1}": {
858
+ "goal": (3,6),
859
+ "train_config": (TD3, 400000),
860
+ "consecutive": cons,
861
+ "percentage": perc
862
+ },
863
+ f"I_0_{i*8+j*4+2}": {
864
+ "goal": (7,4),
865
+ "train_config": (TD3, 400000),
866
+ "consecutive": cons,
867
+ "percentage": perc
868
+ },
869
+ f"I_0_{i*8+j*4+3}": {
870
+ "goal": (4,7),
871
+ "train_config": (TD3, 400000),
872
+ "consecutive": cons,
873
+ "percentage": perc
874
+ }})
875
+ PROBLEMS[POINT_MAZE]["PointMaze-ObstaclesEnvDense-11x11"]["L4"].update(
876
+ {f"I_0_{i*10+j*5}": {
877
+ "goal": (5,5),
878
+ "train_config": (TD3, 400000),
879
+ "consecutive": cons,
880
+ "percentage": perc
881
+ },
882
+ f"I_0_{i*10+j*5+1}": {
883
+ "goal": (3,6),
884
+ "train_config": (TD3, 400000),
885
+ "consecutive": cons,
886
+ "percentage": perc
887
+ },
888
+ f"I_0_{i*10+j*5+2}": {
889
+ "goal": (7,4),
890
+ "train_config": (TD3, 400000),
891
+ "consecutive": cons,
892
+ "percentage": perc
893
+ },
894
+ f"I_0_{i*10+j*5+3}": {
895
+ "goal": (4,7),
896
+ "train_config": (TD3, 400000),
897
+ "consecutive": cons,
898
+ "percentage": perc
899
+ },
900
+ f"I_0_{i*10+j*5+4}": {
901
+ "goal": (8,8),
902
+ "train_config": (TD3, 400000),
903
+ "consecutive": cons,
904
+ "percentage": perc
905
+ }})
906
+ PROBLEMS[POINT_MAZE]["PointMaze-ObstaclesEnvDense-11x11"]["L5"].update(
907
+ {f"I_0_{i*12+j*6}": {
908
+ "goal": (5,5),
909
+ "train_config": (TD3, 400000),
910
+ "consecutive": cons,
911
+ "percentage": perc
912
+ },
913
+ f"I_0_{i*12+j*6+1}": {
914
+ "goal": (3,6),
915
+ "train_config": (TD3, 400000),
916
+ "consecutive": cons,
917
+ "percentage": perc
918
+ },
919
+ f"I_0_{i*12+j*6+2}": {
920
+ "goal": (6,3),
921
+ "train_config": (TD3, 400000),
922
+ "consecutive": cons,
923
+ "percentage": perc
924
+ },
925
+ f"I_0_{i*12+j*6+3}": {
926
+ "goal": (7,4),
927
+ "train_config": (TD3, 400000),
928
+ "consecutive": cons,
929
+ "percentage": perc
930
+ },
931
+ f"I_0_{i*12+j*6+4}": {
932
+ "goal": (4,7),
933
+ "train_config": (TD3, 400000),
934
+ "consecutive": cons,
935
+ "percentage": perc
936
+ },
937
+ f"I_0_{i*12+j*6+5}": {
938
+ "goal": (8,8),
939
+ "train_config": (TD3, 400000),
940
+ "consecutive": cons,
941
+ "percentage": perc
942
+ }})
943
+
944
+ ### MINIGRID ###
945
+
946
+ PROBLEMS[MINIGRID]["MiniGrid-SimpleCrossingS13N4"]["L1"].update(
947
+ {f"I_0_{i*6+j*3}": {
948
+ "goal": (11,1),
949
+ "train_config": (QLEARNING, 100000),
950
+ "consecutive": cons,
951
+ "percentage": perc
952
+ },
953
+ f"I_0_{i*6+j*3+1}": {
954
+ "goal": (1,11),
955
+ "train_config": (QLEARNING, 100000),
956
+ "consecutive": cons,
957
+ "percentage": perc
958
+ },
959
+ f"I_0_{i*6+j*3+2}": {
960
+ "goal": (11,11),
961
+ "train_config": (QLEARNING, 100000),
962
+ "consecutive": cons,
963
+ "percentage": perc
964
+ }})
965
+ PROBLEMS[MINIGRID]["MiniGrid-SimpleCrossingS13N4"]["L2"].update(
966
+ {f"I_0_{i*8+j*4}": {
967
+ "goal": (11,1),
968
+ "train_config": (QLEARNING, 100000),
969
+ "consecutive": cons,
970
+ "percentage": perc
971
+ },
972
+ f"I_0_{i*8+j*4+1}": {
973
+ "goal": (1,11),
974
+ "train_config": (QLEARNING, 100000),
975
+ "consecutive": cons,
976
+ "percentage": perc
977
+ },
978
+ f"I_0_{i*8+j*4+2}": {
979
+ "goal": (11,11),
980
+ "train_config": (QLEARNING, 100000),
981
+ "consecutive": cons,
982
+ "percentage": perc
983
+ },
984
+ f"I_0_{i*8+j*4+3}": {
985
+ "goal": (5,9),
986
+ "train_config": (QLEARNING, 100000),
987
+ "consecutive": cons,
988
+ "percentage": perc
989
+ }})
990
+ PROBLEMS[MINIGRID]["MiniGrid-SimpleCrossingS13N4"]["L3"].update(
991
+ {f"I_0_{i*10+j*5}": {
992
+ "goal": (11,1),
993
+ "train_config": (QLEARNING, 100000),
994
+ "consecutive": cons,
995
+ "percentage": perc
996
+ },
997
+ f"I_0_{i*10+j*5+1}": {
998
+ "goal": (1,11),
999
+ "train_config": (QLEARNING, 100000),
1000
+ "consecutive": cons,
1001
+ "percentage": perc
1002
+ },
1003
+ f"I_0_{i*10+j*5+2}": {
1004
+ "goal": (11,11),
1005
+ "train_config": (QLEARNING, 100000),
1006
+ "consecutive": cons,
1007
+ "percentage": perc
1008
+ },
1009
+ f"I_0_{i*10+j*5+3}": {
1010
+ "goal": (5,9),
1011
+ "train_config": (QLEARNING, 100000),
1012
+ "consecutive": cons,
1013
+ "percentage": perc
1014
+ },
1015
+ f"I_0_{i*10+j*5+4}": {
1016
+ "goal": (6,1),
1017
+ "train_config": (QLEARNING, 100000),
1018
+ "consecutive": cons,
1019
+ "percentage": perc
1020
+ }})
1021
+ PROBLEMS[MINIGRID]["MiniGrid-SimpleCrossingS13N4"]["L4"].update(
1022
+ {f"I_0_{i*12+j*6}": {
1023
+ "goal": (11,1),
1024
+ "train_config": (QLEARNING, 100000),
1025
+ "consecutive": cons,
1026
+ "percentage": perc
1027
+ },
1028
+ f"I_0_{i*12+j*6+1}": {
1029
+ "goal": (1,11),
1030
+ "train_config": (QLEARNING, 100000),
1031
+ "consecutive": cons,
1032
+ "percentage": perc
1033
+ },
1034
+ f"I_0_{i*12+j*6+2}": {
1035
+ "goal": (11,11),
1036
+ "train_config": (QLEARNING, 100000),
1037
+ "consecutive": cons,
1038
+ "percentage": perc
1039
+ },
1040
+ f"I_0_{i*12+j*6+3}": {
1041
+ "goal": (5,9),
1042
+ "train_config": (QLEARNING, 100000),
1043
+ "consecutive": cons,
1044
+ "percentage": perc
1045
+ },
1046
+ f"I_0_{i*12+j*6+5}": {
1047
+ "goal": (11,3),
1048
+ "train_config": (QLEARNING, 100000),
1049
+ "consecutive": cons,
1050
+ "percentage": perc
1051
+ }})
1052
+ PROBLEMS[MINIGRID]["MiniGrid-SimpleCrossingS13N4"]["L5"].update(
1053
+ {f"I_0_{i*14+j*7}": {
1054
+ "goal": (11,1),
1055
+ "train_config": (QLEARNING, 100000),
1056
+ "consecutive": cons,
1057
+ "percentage": perc
1058
+ },
1059
+ f"I_0_{i*14+j*7+1}": {
1060
+ "goal": (1,11),
1061
+ "train_config": (QLEARNING, 100000),
1062
+ "consecutive": cons,
1063
+ "percentage": perc
1064
+ },
1065
+ f"I_0_{i*14+j*7+2}": {
1066
+ "goal": (11,11),
1067
+ "train_config": (QLEARNING, 100000),
1068
+ "consecutive": cons,
1069
+ "percentage": perc
1070
+ },
1071
+ f"I_0_{i*14+j*7+3}": {
1072
+ "goal": (5,9),
1073
+ "train_config": (QLEARNING, 100000),
1074
+ "consecutive": cons,
1075
+ "percentage": perc
1076
+ },
1077
+ f"I_0_{i*14+j*7+5}": {
1078
+ "goal": (11,3),
1079
+ "train_config": (QLEARNING, 100000),
1080
+ "consecutive": cons,
1081
+ "percentage": perc
1082
+ },
1083
+ f"I_0_{i*14+j*7+6}": {
1084
+ "goal": (11,5),
1085
+ "train_config": (QLEARNING, 100000),
1086
+ "consecutive": cons,
1087
+ "percentage": perc
1088
+ }})
1089
+
1090
+ PROBLEMS[MINIGRID]["MiniGrid-LavaCrossingS9N2"]["L1"].update(
1091
+ {f"I_0_{i*6+j*3}": {
1092
+ "goal": (1,3),
1093
+ "train_config": (QLEARNING, 100000),
1094
+ "consecutive": cons,
1095
+ "percentage": perc
1096
+ },
1097
+ f"I_0_{i*6+j*3+1}": {
1098
+ "goal": (6,5),
1099
+ "train_config": (QLEARNING, 100000),
1100
+ "consecutive": cons,
1101
+ "percentage": perc
1102
+ },
1103
+ f"I_0_{i*6+j*3+2}": {
1104
+ "goal": (4,7),
1105
+ "train_config": (QLEARNING, 100000),
1106
+ "consecutive": cons,
1107
+ "percentage": perc
1108
+ }})
1109
+ PROBLEMS[MINIGRID]["MiniGrid-LavaCrossingS9N2"]["L2"].update(
1110
+ {f"I_0_{i*8+j*4}": {
1111
+ "goal": (1,3),
1112
+ "train_config": (QLEARNING, 100000),
1113
+ "consecutive": cons,
1114
+ "percentage": perc
1115
+ },
1116
+ f"I_0_{i*8+j*4+1}": {
1117
+ "goal": (6,5),
1118
+ "train_config": (QLEARNING, 100000),
1119
+ "consecutive": cons,
1120
+ "percentage": perc
1121
+ },
1122
+ f"I_0_{i*8+j*4+2}": {
1123
+ "goal": (4,7),
1124
+ "train_config": (QLEARNING, 100000),
1125
+ "consecutive": cons,
1126
+ "percentage": perc
1127
+ },
1128
+ f"I_0_{i*8+j*4+3}": {
1129
+ "goal": (2,5),
1130
+ "train_config": (QLEARNING, 100000),
1131
+ "consecutive": cons,
1132
+ "percentage": perc
1133
+ }})
1134
+ PROBLEMS[MINIGRID]["MiniGrid-LavaCrossingS9N2"]["L3"].update(
1135
+ {f"I_0_{i*10+j*5}": {
1136
+ "goal": (1,3),
1137
+ "train_config": (QLEARNING, 100000),
1138
+ "consecutive": cons,
1139
+ "percentage": perc
1140
+ },
1141
+ f"I_0_{i*10+j*5+1}": {
1142
+ "goal": (6,5),
1143
+ "train_config": (QLEARNING, 100000),
1144
+ "consecutive": cons,
1145
+ "percentage": perc
1146
+ },
1147
+ f"I_0_{i*10+j*5+2}": {
1148
+ "goal": (4,7),
1149
+ "train_config": (QLEARNING, 100000),
1150
+ "consecutive": cons,
1151
+ "percentage": perc
1152
+ },
1153
+ f"I_0_{i*10+j*5+3}": {
1154
+ "goal": (2,5),
1155
+ "train_config": (QLEARNING, 100000),
1156
+ "consecutive": cons,
1157
+ "percentage": perc
1158
+ },
1159
+ f"I_0_{i*10+j*5+4}": {
1160
+ "goal": (5,2),
1161
+ "train_config": (QLEARNING, 100000),
1162
+ "consecutive": cons,
1163
+ "percentage": perc
1164
+ }})
1165
+ PROBLEMS[MINIGRID]["MiniGrid-LavaCrossingS9N2"]["L4"].update(
1166
+ {f"I_0_{i*12+j*6}": {
1167
+ "goal": (1,3),
1168
+ "train_config": (QLEARNING, 100000),
1169
+ "consecutive": cons,
1170
+ "percentage": perc
1171
+ },
1172
+ f"I_0_{i*12+j*6+1}": {
1173
+ "goal": (6,5),
1174
+ "train_config": (QLEARNING, 100000),
1175
+ "consecutive": cons,
1176
+ "percentage": perc
1177
+ },
1178
+ f"I_0_{i*12+j*6+2}": {
1179
+ "goal": (4,7),
1180
+ "train_config": (QLEARNING, 100000),
1181
+ "consecutive": cons,
1182
+ "percentage": perc
1183
+ },
1184
+ f"I_0_{i*12+j*6+3}": {
1185
+ "goal": (2,5),
1186
+ "train_config": (QLEARNING, 100000),
1187
+ "consecutive": cons,
1188
+ "percentage": perc
1189
+ },
1190
+ f"I_0_{i*12+j*6+4}": {
1191
+ "goal": (5,2),
1192
+ "train_config": (QLEARNING, 100000),
1193
+ "consecutive": cons,
1194
+ "percentage": perc
1195
+ },
1196
+ f"I_0_{i*12+j*6+5}": {
1197
+ "goal": (4,5),
1198
+ "train_config": (QLEARNING, 100000),
1199
+ "consecutive": cons,
1200
+ "percentage": perc
1201
+ }})
1202
+ PROBLEMS[MINIGRID]["MiniGrid-LavaCrossingS9N2"]["L5"].update(
1203
+ {f"I_0_{i*14+j*7}": {
1204
+ "goal": (1,3),
1205
+ "train_config": (QLEARNING, 100000),
1206
+ "consecutive": cons,
1207
+ "percentage": perc
1208
+ },
1209
+ f"I_0_{i*14+j*7+1}": {
1210
+ "goal": (6,5),
1211
+ "train_config": (QLEARNING, 100000),
1212
+ "consecutive": cons,
1213
+ "percentage": perc
1214
+ },
1215
+ f"I_0_{i*14+j*7+2}": {
1216
+ "goal": (4,7),
1217
+ "train_config": (QLEARNING, 100000),
1218
+ "consecutive": cons,
1219
+ "percentage": perc
1220
+ },
1221
+ f"I_0_{i*14+j*7+3}": {
1222
+ "goal": (2,5),
1223
+ "train_config": (QLEARNING, 100000),
1224
+ "consecutive": cons,
1225
+ "percentage": perc
1226
+ },
1227
+ f"I_0_{i*14+j*7+4}": {
1228
+ "goal": (5,2),
1229
+ "train_config": (QLEARNING, 100000),
1230
+ "consecutive": cons,
1231
+ "percentage": perc
1232
+ },
1233
+ f"I_0_{i*14+j*7+5}": {
1234
+ "goal": (4,5),
1235
+ "train_config": (QLEARNING, 100000),
1236
+ "consecutive": cons,
1237
+ "percentage": perc
1238
+ },
1239
+ f"I_0_{i*14+j*7+6}": {
1240
+ "goal": (1,1),
1241
+ "train_config": (QLEARNING, 100000),
1242
+ "consecutive": cons,
1243
+ "percentage": perc
1244
+ }})