tested navigation (0d0ce9ca) · Commits · 张泽凯 / VAGEN

vagen/env/init.py

+4 −2

Original line number	Diff line number	Diff line
		from .sokoban import SokobanEnv,SokobanEnvConfig
		from .frozenlake import FrozenLakeEnv,FrozenLakeEnvConfig, FrozenLakeService
		from .navigation import NavigationEnv, NavigationEnvConfig
		from .navigation import NavigationEnv, NavigationEnvConfig, NavigationServiceConfig, NavigationService
		from .svg import SVGEnv, SvgEnvConfig, SVGService

		REGISTERED_ENV = {
		@@ -15,7 +15,9 @@ REGISTERED_ENV = {
		},
		"navigation": {
		"env_cls": NavigationEnv,
		"config_cls": NavigationEnvConfig
		"config_cls": NavigationEnvConfig,
		"service_cls": NavigationService,
		"service_config_cls": NavigationServiceConfig
		},
		"svg": {
		"env_cls": SVGEnv,

vagen/env/navigation/init.py

+2 −0

Original line number	Diff line number	Diff line
		from .env import NavigationEnv
		from .env_config import NavigationEnvConfig
		from .service_config import NavigationServiceConfig
		from .service import NavigationService
		No newline at end of file

vagen/env/navigation/env_config.py

+2 −1

Original line number	Diff line number	Diff line
		@@ -11,9 +11,10 @@ class NavigationEnvConfig(BaseEnvConfig):
		fov: int = 100
		multiview: bool = False
		visual_env: bool = True
		max_actions_per_step: int = 1
		max_actions_per_step: int = 10
		max_action_penalty: float = -0.1
		format_reward: float = 0.5
		gpu_device: int = 0

		def config_id(self) -> str:
		"""Generate a unique identifier for this configuration."""

vagen/env/navigation/service.py

+8 −41

Original line number	Diff line number	Diff line
		@@ -42,24 +42,16 @@ class NavigationService(BaseService):
		if env_name != 'navigation':
		return env_id, None, f"Expected environment type 'navigation', got '{env_name}'"

		try:
		# Get Navigation specific configuration
		env_config_dict = config.get('env_config', {})

		# Create environment config
		env_config_dict = config['env_config']
		env_config = NavigationEnvConfig(**env_config_dict)

		# Create environment
		env = NavigationEnv(env_config)

		return env_id, (env, env_config), None
		except Exception as e:
		return env_id, None, str(e)


		for i, env_id in enumerate(ids2configs.keys()):
		# Select GPU with the least load
		selected_gpu = min(self.device_status, key=lambda x: len(self.device_status[x]))
		ids2configs[env_id]['gpu_device'] = selected_gpu
		ids2configs[env_id]['env_config']['gpu_device'] = selected_gpu
		self.device_status[selected_gpu].add(env_id)

		# Use ThreadPoolExecutor for parallel creation
		@@ -97,16 +89,11 @@ class NavigationService(BaseService):

		# Define worker function
		def reset_single_env(env_id, seed):
		try:
		if env_id not in self.environments:
		return env_id, None, f"Environment {env_id} not found"

		env = self.environments[env_id]
		observation, info = env.reset(seed=seed)
		serialized_observation = serialize_observation(observation)
		return env_id, (serialized_observation, info), None
		except Exception as e:
		return env_id, None, str(e)


		# Use ThreadPoolExecutor for parallel reset
		with ThreadPoolExecutor(max_workers=self.max_workers) as executor:
		@@ -143,16 +130,11 @@ class NavigationService(BaseService):

		# Define worker function
		def step_single_env(env_id, action):
		try:
		if env_id not in self.environments:
		return env_id, None, f"Environment {env_id} not found"

		env = self.environments[env_id]
		observation, reward, done, info = env.step(action)
		serialized_observation = serialize_observation(observation)
		return env_id, (serialized_observation, reward, done, info), None
		except Exception as e:
		return env_id, None, str(e)


		# Use ThreadPoolExecutor for parallel step
		with ThreadPoolExecutor(max_workers=self.max_workers) as executor:
		@@ -188,14 +170,9 @@ class NavigationService(BaseService):

		# Define worker function
		def compute_reward_single_env(env_id):
		try:
		if env_id not in self.environments:
		return env_id, None, f"Environment {env_id} not found"

		env = self.environments[env_id]
		return env_id, env.compute_reward(), None
		except Exception as e:
		return env_id, None, str(e)


		# Use ThreadPoolExecutor for parallel computation
		with ThreadPoolExecutor(max_workers=self.max_workers) as executor:
		@@ -231,14 +208,9 @@ class NavigationService(BaseService):

		# Define worker function
		def get_system_prompt_single_env(env_id):
		try:
		if env_id not in self.environments:
		return env_id, None, f"Environment {env_id} not found"

		env = self.environments[env_id]
		return env_id, env.system_prompt(), None
		except Exception as e:
		return env_id, None, str(e)


		# Use ThreadPoolExecutor for parallel retrieval
		with ThreadPoolExecutor(max_workers=self.max_workers) as executor:
		@@ -273,15 +245,10 @@ class NavigationService(BaseService):

		# Define worker function
		def close_single_env(env_id):
		try:
		if env_id not in self.environments:
		return f"Environment {env_id} not found"

		env = self.environments[env_id]
		env.close()
		return None
		except Exception as e:
		return str(e)


		# Use ThreadPoolExecutor for parallel closing
		with ThreadPoolExecutor(max_workers=self.max_workers) as executor:

vagen/env/navigation/service_config.py

+1 −1

Original line number	Diff line number	Diff line
		@@ -3,4 +3,4 @@ from dataclasses import dataclass, fields,field

		@dataclass
		class NavigationServiceConfig(BaseServiceConfig):
		devices=[0]
		No newline at end of file
		devices: list = field(default_factory=lambda: [0])
		No newline at end of file

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