baselines算法库common/atari_wrappers.py模块分析

 

common/atari_wrappers.py模块代码如下；

 

import numpy as np
import os
os.environ.setdefault('PATH', '')
from collections import deque
import gym
from gym import spaces
import cv2
cv2.ocl.setUseOpenCL(False)
from .wrappers import TimeLimit


class NoopResetEnv(gym.Wrapper):
    def __init__(self, env, noop_max=30):
        """Sample initial states by taking random number of no-ops on reset.
        No-op is assumed to be action 0.
        """
        gym.Wrapper.__init__(self, env)
        self.noop_max = noop_max
        self.override_num_noops = None
        self.noop_action = 0
        assert env.unwrapped.get_action_meanings()[0] == 'NOOP'

    def reset(self, **kwargs):
        """ Do no-op action for a number of steps in [1, noop_max]."""
        self.env.reset(**kwargs)
        if self.override_num_noops is not None:
            noops = self.override_num_noops
        else:
            noops = self.unwrapped.np_random.randint(1, self.noop_max + 1) #pylint: disable=E1101
        assert noops > 0
        obs = None
        for _ in range(noops):
            obs, _, done, _ = self.env.step(self.noop_action)
            if done:
                obs = self.env.reset(**kwargs)
        return obs

    def step(self, ac):
        return self.env.step(ac)

class FireResetEnv(gym.Wrapper):
    def __init__(self, env):
        """Take action on reset for environments that are fixed until firing."""
        gym.Wrapper.__init__(self, env)
        assert env.unwrapped.get_action_meanings()[1] == 'FIRE'
        assert len(env.unwrapped.get_action_meanings()) >= 3

    def reset(self, **kwargs):
        self.env.reset(**kwargs)
        obs, _, done, _ = self.env.step(1)
        if done:
            self.env.reset(**kwargs)
        obs, _, done, _ = self.env.step(2)
        if done:
            self.env.reset(**kwargs)
        return obs

    def step(self, ac):
        return self.env.step(ac)

class EpisodicLifeEnv(gym.Wrapper):
    def __init__(self, env):
        """Make end-of-life == end-of-episode, but only reset on true game over.
        Done by DeepMind for the DQN and co. since it helps value estimation.
        """
        gym.Wrapper.__init__(self, env)
        self.lives = 0
        self.was_real_done  = True

    def step(self, action):
        obs, reward, done, info = self.env.step(action)
        self.was_real_done = done
        # check current lives, make loss of life terminal,
        # then update lives to handle bonus lives
        lives = self.env.unwrapped.ale.lives()
        if lives < self.lives and lives > 0:
            # for Qbert sometimes we stay in lives == 0 condition for a few frames
            # so it's important to keep lives > 0, so that we only reset once
            # the environment advertises done.
            done = True
        self.lives = lives
        return obs, reward, done, info

    def reset(self, **kwargs):
        """Reset only when lives are exhausted.
        This way all states are still reachable even though lives are episodic,
        and the learner need not know about any of this behind-the-scenes.
        """
        if self.was_real_done:
            obs = self.env.reset(**kwargs)
        else:
            # no-op step to advance from terminal/lost life state
            obs, _, _, _ = self.env.step(0)
        self.lives = self.env.unwrapped.ale.lives()
        return obs

class MaxAndSkipEnv(gym.Wrapper):
    def __init__(self, env, skip=4):
        """Return only every `skip`-th frame"""
        gym.Wrapper.__init__(self, env)
        # most recent raw observations (for max pooling across time steps)
        self._obs_buffer = np.zeros((2,)+env.observation_space.shape, dtype=np.uint8)
        self._skip       = skip

    def step(self, action):
        """Repeat action, sum reward, and max over last observations."""
        total_reward = 0.0
        done = None
        for i in range(self._skip):
            obs, reward, done, info = self.env.step(action)
            if i == self._skip - 2: self._obs_buffer[0] = obs
            if i == self._skip - 1: self._obs_buffer[1] = obs
            total_reward += reward
            if done:
                break
        # Note that the observation on the done=True frame
        # doesn't matter
        max_frame = self._obs_buffer.max(axis=0)

        return max_frame, total_reward, done, info

    def reset(self, **kwargs):
        return self.env.reset(**kwargs)

class ClipRewardEnv(gym.RewardWrapper):
    def __init__(self, env):
        gym.RewardWrapper.__init__(self, env)

    def reward(self, reward):
        """Bin reward to {+1, 0, -1} by its sign."""
        return np.sign(reward)


class WarpFrame(gym.ObservationWrapper):
    def __init__(self, env, width=84, height=84, grayscale=True, dict_space_key=None):
        """
        Warp frames to 84x84 as done in the Nature paper and later work.

        If the environment uses dictionary observations, `dict_space_key` can be specified which indicates which
        observation should be warped.
        """
        super().__init__(env)
        self._width = width
        self._height = height
        self._grayscale = grayscale
        self._key = dict_space_key
        if self._grayscale:
            num_colors = 1
        else:
            num_colors = 3

        new_space = gym.spaces.Box(
            low=0,
            high=255,
            shape=(self._height, self._width, num_colors),
            dtype=np.uint8,
        )
        if self._key is None:
            original_space = self.observation_space
            self.observation_space = new_space
        else:
            original_space = self.observation_space.spaces[self._key]
            self.observation_space.spaces[self._key] = new_space
        assert original_space.dtype == np.uint8 and len(original_space.shape) == 3

    def observation(self, obs):
        if self._key is None:
            frame = obs
        else:
            frame = obs[self._key]

        if self._grayscale:
            frame = cv2.cvtColor(frame, cv2.COLOR_RGB2GRAY)
        frame = cv2.resize(
            frame, (self._width, self._height), interpolation=cv2.INTER_AREA
        )
        if self._grayscale:
            frame = np.expand_dims(frame, -1)

        if self._key is None:
            obs = frame
        else:
            obs = obs.copy()
            obs[self._key] = frame
        return obs


class FrameStack(gym.Wrapper):
    def __init__(self, env, k):
        """Stack k last frames.

        Returns lazy array, which is much more memory efficient.

        See Also
        --------
        baselines.common.atari_wrappers.LazyFrames
        """
        gym.Wrapper.__init__(self, env)
        self.k = k
        self.frames = deque([], maxlen=k)
        shp = env.observation_space.shape
        self.observation_space = spaces.Box(low=0, high=255, shape=(shp[:-1] + (shp[-1] * k,)), dtype=env.observation_space.dtype)

    def reset(self):
        ob = self.env.reset()
        for _ in range(self.k):
            self.frames.append(ob)
        return self._get_ob()

    def step(self, action):
        ob, reward, done, info = self.env.step(action)
        self.frames.append(ob)
        return self._get_ob(), reward, done, info

    def _get_ob(self):
        assert len(self.frames) == self.k
        return LazyFrames(list(self.frames))

class ScaledFloatFrame(gym.ObservationWrapper):
    def __init__(self, env):
        gym.ObservationWrapper.__init__(self, env)
        self.observation_space = gym.spaces.Box(low=0, high=1, shape=env.observation_space.shape, dtype=np.float32)

    def observation(self, observation):
        # careful! This undoes the memory optimization, use
        # with smaller replay buffers only.
        return np.array(observation).astype(np.float32) / 255.0

class LazyFrames(object):
    def __init__(self, frames):
        """This object ensures that common frames between the observations are only stored once.
        It exists purely to optimize memory usage which can be huge for DQN's 1M frames replay
        buffers.

        This object should only be converted to numpy array before being passed to the model.

        You'd not believe how complex the previous solution was."""
        self._frames = frames
        self._out = None

    def _force(self):
        if self._out is None:
            self._out = np.concatenate(self._frames, axis=-1)
            self._frames = None
        return self._out

    def __array__(self, dtype=None):
        out = self._force()
        if dtype is not None:
            out = out.astype(dtype)
        return out

    def __len__(self):
        return len(self._force())

    def __getitem__(self, i):
        return self._force()[i]

    def count(self):
        frames = self._force()
        return frames.shape[frames.ndim - 1]

    def frame(self, i):
        return self._force()[..., i]

def make_atari(env_id, max_episode_steps=None):
    env = gym.make(env_id)
    assert 'NoFrameskip' in env.spec.id
    env = NoopResetEnv(env, noop_max=30)
    env = MaxAndSkipEnv(env, skip=4)
    if max_episode_steps is not None:
        env = TimeLimit(env, max_episode_steps=max_episode_steps)
    return env

def wrap_deepmind(env, episode_life=True, clip_rewards=True, frame_stack=False, scale=False):
    """Configure environment for DeepMind-style Atari.
    """
    if episode_life:
        env = EpisodicLifeEnv(env)
    if 'FIRE' in env.unwrapped.get_action_meanings():
        env = FireResetEnv(env)
    env = WarpFrame(env)
    if scale:
        env = ScaledFloatFrame(env)
    if clip_rewards:
        env = ClipRewardEnv(env)
    if frame_stack:
        env = FrameStack(env, 4)
    return env

 

 

该模块功能为对gym的env进行包装，也就是修改reset函数，step函数，同时也可以直接修改observation和reward的值，其实现原理为继承gym环境类的gym.Wrapper 和gym.RewardWrapper和gym.ObservationWrapper

其中，覆盖gym.Wrapper中的reset函数和step函数可以实现对env的操作包装，对gym.ObservationWrapper中的observation函数进行覆盖可以实现对环境返回的状态进行修改，对gym.RewardWrapper中的reward函数进行覆盖则可以实现对环境返回的奖励值进行修改的目的。

 

NoopResetEnv类只对reset函数进行覆盖，操作为在reset的时候随机进行一定数量的noop操作，目的是使游戏开始时的初始状态具有一定的变动。

FireResetEnv类只对reset函数进行覆盖，在reset操作的时候加入动作1和动作2，因为有的游戏需要有动作1作为开始键。

需要注意的是上面两个类在reset操作的时候不会出现游戏终止的情况，即dong=True，但是也写了done=True情况的处理操作，不过该部分可以忽略。

至于FireResetEnv为什么在reset的时候加入动作2，也就是env.step(2)还是没有找到解释的地方。

 

EpisodicLifeEnv类对step函数和reset函数都进行了覆盖，也就是考虑了游戏中有多条命的情况，如果是总游戏没有结束但是一个游戏live结束也对其进行reset操作，不过如果是总的游戏结束则调用包装的内层类reset，如果是lives减一但是不等于0的情况则进行0动作的操作，也就是fire操作，即 env.step(0)。在step函数中判断是总游戏回合结束还是丢失了一个游戏生命。

 

 

MaxAndSkipEnv类，进行重复动作并对得到的最近的两个observation进行取最大值，如默认的skip输入值为4，则进行4次的动作重复，也就是MaxAndSkipEnv类对象接受到一个动作的step则会调用内层包装的env进行4次相同action的step。

由于调用内层的env进行skip数量的step会得到4个observation，对最新得到的两个observation进行取max操作后作为最终的observation返回。

对于这个里面的step操作有一些个人的看法，感觉这个官方给出的设计有些瑕疵，自己的修改如下：

 

    def step(self, action):
        """Repeat action, sum reward, and max over last observations."""
        total_reward = 0.0
        done = None
        for i in range(self._skip):
            obs, reward, done, info = self.env.step(action)
            self._obs_buffer[i%2] = obs
            total_reward += reward
            if done:
                break
        # Note that the observation on the done=True frame
        # doesn't matter
        max_frame = self._obs_buffer.max(axis=0)

        return max_frame, total_reward, done, info

 

个人的修改主要是考虑了当done=True时还没有对_obs_buffer进行填充的情况，其实这个修改对性能是没有影响的，这样改并不会提升性能，这个只不过可能有些强迫症类型的修改了。同时我们需要注意在step操作中调用内层env进行的skip次的step所得的奖励进行的加和。

 

 

 

 

 

类ClipRewardEnv，对step返回的reward进行了处理，也就是说如果有其他的Env类对ClipRewardEnv进行包装，那么ClipRewardEnv向上返回的reward只会为-1，0， +1 。

 

 

类WarpFrame(gym.ObservationWrapper)对所有内层的Env的observation进行处理，进行rgb转为灰度图后进行resize操作。需要注意的是rgb图转为灰度图后为保持ndim维度不变会在-1维度上进行扩充。

该类中需要注意的一个地方：

 

If the environment uses dictionary observations, `dict_space_key` can be specified which indicates which
observation should be warped.

 dict_space_key可能是给某种环境类型使用的，该种类型的环境返回的observation不是np.array类型而是dict类型，如果需要获得observation中的np.array就需要调用dict_space_key，即observation[dict_space_key]。

把rgb图片转为gray灰度图后维度变少了，需要在-1维度上进行维度扩展。

        if self._grayscale:
            frame = np.expand_dims(frame, -1)

 

 

 

 

 

 

类FrameStack(gym.Wrapper) ， 将多个图片在-1维度上进行拼接，在reset函数时将内部传入进行包装的env的reset后返回的observation进行k次copy，其中k个图片的存储使用队列形式  deque([], maxlen=k) 。

    def step(self, action):
        ob, reward, done, info = self.env.step(action)
        self.frames.append(ob)
        return self._get_ob(), reward, done, info

每个step得到的observation都用队列存储，最后向上返回的observation则是使用self._get_ob()生成的。

 

    def _get_ob(self):
        assert len(self.frames) == self.k
        return LazyFrames(list(self.frames))

可以看到每个observation都是k个图片构成的队列生成的LazyFrames对象。

 

 

 

 

 

类class LazyFrames(object)， 将需要拼接的图片队列转为np.array类型。

 

 

 

 

 

类ScaledFloatFrame(gym.ObservationWrapper)，将np.uint8类型转为np.float32，范围由0~255转为0~1 。

 

 

 

------------------------------------------------

 

 

def make_atari(env_id, max_episode_steps=None):
    env = gym.make(env_id)
    assert 'NoFrameskip' in env.spec.id
    env = NoopResetEnv(env, noop_max=30)
    env = MaxAndSkipEnv(env, skip=4)
    if max_episode_steps is not None:
        env = TimeLimit(env, max_episode_steps=max_episode_steps)
    return env

def wrap_deepmind(env, episode_life=True, clip_rewards=True, frame_stack=False, scale=False):
    """Configure environment for DeepMind-style Atari.
    """
    if episode_life:
        env = EpisodicLifeEnv(env)
    if 'FIRE' in env.unwrapped.get_action_meanings():
        env = FireResetEnv(env)
    env = WarpFrame(env)
    if scale:
        env = ScaledFloatFrame(env)
    if clip_rewards:
        env = ClipRewardEnv(env)
    if frame_stack:
        env = FrameStack(env, 4)
    return env

上面这两个类非标选择不同的包装器对env进行包装，也就是deepmind类型的atari环境包装和非deepmind的atari环境包装，这两个用法暂时不是很明白。

 

 

 

 

 

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