Maze 3D Collaborative Learning on shared task

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Contact: ligerfotis@gmail.com

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Maze 3D game from: https://github.com/amengede/Marble-Maze

Reinforcement Learning (RL) Agent: Soft Actor Critic (SAC)

• based on SLM Lab code
• modifications based on Christodoulou for discrete action space

Learn the task collaboratively

• (Recommended) create a python virtual environment

    python3 -m venv env
    source venv/bin/activate
    pip install -r requirements.txt
  

• Adjust the hyperparameters in the config_sac.yaml or the config_human.yaml file

  • Note 1: Only discrete SAC is compatible with the game so far
  • Note 2: There are already configuration files set up based on the PETRA 21 short paper in the config/ directory

• Control

  • Use left and right arrows to control the tilt of the tray around its vertical(y) axis
  • Press once the spacekey to pause and a second time to resume
  • Press q to exit the experiment.

• Get Familiar with the game

  • Run the command bellow to play 10 trials with the game controlling both DOF (up, down , left, right) with the keyboard's arrows.

      python maze3d_human_only_test.py config/config_human_test.yaml
    

• Train

  • Notes before training:

    • substitute the participant_name in each config file with your own
    • the program will automatically create an identification number after your name on each folder name created

  • With the RL agent:

     python sac_maze3d_train.py config/config_sac_<experiment_specifications>.yaml
    

  • With a Second human:

    python sac_maze3d_train.py config/config_human.yaml  
    

Game Overview

Game Specifications

• Board

  • Square with side size: 320 pixels
  • Board Area: 102400 pixels
  • Free Board Area (excluding walls): 58368 pixels

• Wall Cubes

  • Cubes with edge size: 32 pixels
  • Cube bottom Area: 1024 pixels

• Ball

  • sphere with radius ρ₂: 16 pixels
  • ball Area: 805 pixels

• Goal

  • Circle with center c₁:(-104, -104) and radius ρ₁: 22 pixels
  • goal Area: 1521 pixels

• Ratios

  • Goal - Free Board: ~ 2.6%
  • Ball - Goal: ~ 53%

• Goal reached if ball's whole projection area on the board falls in the goal's area