Merge pull request #54 from automl/context_mask_#53

Context mask #53

carl/envs/box2d/carl_bipedal_walker.py

@@ -89,6 +89,7 @@ def __init__(
         scale_context_features: str = "no",
         default_context: Optional[Dict] = DEFAULT_CONTEXT,
         state_context_features: Optional[List[str]] = None,
+        context_mask: Optional[List[str]] = None,
         dict_observation_space: bool = False,
         context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
         context_selector_kwargs: Optional[Dict] = None,
@@ -119,7 +120,8 @@ def __init__(
             state_context_features=state_context_features,
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
-            context_selector_kwargs=context_selector_kwargs
+            context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
 
         )
         self.whitelist_gaussian_noise = list(

carl/envs/box2d/carl_lunarlander.py

@@ -113,6 +113,7 @@ def __init__(
         scale_context_features: str = "no",
         default_context: Optional[Dict] = DEFAULT_CONTEXT,
         state_context_features: Optional[List[str]] = None,
+        context_mask: Optional[List[str]] = None,
         max_episode_length: int = 1000,
         high_gameover_penalty: bool = False,
         dict_observation_space: bool = False,
@@ -147,7 +148,8 @@ def __init__(
             max_episode_length=max_episode_length,
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
-            context_selector_kwargs=context_selector_kwargs
+            context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.whitelist_gaussian_noise = list(
             DEFAULT_CONTEXT.keys()

carl/envs/box2d/carl_vehicle_racing.py

@@ -194,6 +194,7 @@ def __init__(
         scale_context_features: str = "no",
         default_context: Optional[Dict] = DEFAULT_CONTEXT,
         state_context_features: Optional[List[str]] = None,
+        context_mask: Optional[List[str]] = None,
         dict_observation_space: bool = False,
         context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
         context_selector_kwargs: Optional[Dict] = None,
@@ -230,6 +231,7 @@ def __init__(
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.whitelist_gaussian_noise = [
             k for k in DEFAULT_CONTEXT.keys() if k not in CATEGORICAL_CONTEXT_FEATURES

carl/envs/brax/carl_ant.py

@@ -49,6 +49,7 @@ def __init__(
             scale_context_features: str = "no",
             default_context: Optional[Dict] = DEFAULT_CONTEXT,
             state_context_features: Optional[List[str]] = None,
+            context_mask: Optional[List[str]] = None,
             dict_observation_space: bool = False,
             context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
             context_selector_kwargs: Optional[Dict] = None,
@@ -78,6 +79,7 @@ def __init__(
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.whitelist_gaussian_noise = list(
             DEFAULT_CONTEXT.keys()

carl/envs/brax/carl_fetch.py

@@ -53,6 +53,7 @@ def __init__(
         scale_context_features: str = "no",
         default_context: Optional[Dict] = DEFAULT_CONTEXT,
         state_context_features: Optional[List[str]] = None,
+        context_mask: Optional[List[str]] = None,
         dict_observation_space: bool = False,
         context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
         context_selector_kwargs: Optional[Dict] = None,
@@ -81,6 +82,7 @@ def __init__(
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.whitelist_gaussian_noise = list(
             DEFAULT_CONTEXT.keys()

carl/envs/brax/carl_grasp.py

@@ -53,6 +53,7 @@ def __init__(
         scale_context_features: str = "no",
         default_context: Optional[Dict] = DEFAULT_CONTEXT,
         state_context_features: Optional[List[str]] = None,
+        context_mask: Optional[List[str]] = None,
         dict_observation_space: bool = False,
         context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
         context_selector_kwargs: Optional[Dict] = None,
@@ -81,6 +82,7 @@ def __init__(
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.whitelist_gaussian_noise = list(
             DEFAULT_CONTEXT.keys()

carl/envs/brax/carl_halfcheetah.py

@@ -47,6 +47,7 @@ def __init__(
         scale_context_features: str = "no",
         default_context: Optional[Dict] = DEFAULT_CONTEXT,
         state_context_features: Optional[List[str]] = None,
+        context_mask: Optional[List[str]] = None,
         dict_observation_space: bool = False,
         context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
         context_selector_kwargs: Optional[Dict] = None,
@@ -75,6 +76,7 @@ def __init__(
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.whitelist_gaussian_noise = list(
             DEFAULT_CONTEXT.keys()

carl/envs/brax/carl_humanoid.py

@@ -48,6 +48,7 @@ def __init__(
         scale_context_features: str = "no",
         default_context: Optional[Dict] = DEFAULT_CONTEXT,
         state_context_features: Optional[List[str]] = None,
+        context_mask: Optional[List[str]] = None,
         dict_observation_space: bool = False,
         context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
         context_selector_kwargs: Optional[Dict] = None,
@@ -76,6 +77,7 @@ def __init__(
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.whitelist_gaussian_noise = list(
             DEFAULT_CONTEXT.keys()

carl/envs/brax/carl_ur5e.py

@@ -53,6 +53,7 @@ def __init__(
             scale_context_features: str = "no",
             default_context: Optional[Dict] = DEFAULT_CONTEXT,
             state_context_features: Optional[List[str]] = None,
+            context_mask: Optional[List[str]] = None,
             dict_observation_space: bool = False,
             context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
             context_selector_kwargs: Optional[Dict] = None,
@@ -81,6 +82,7 @@ def __init__(
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.whitelist_gaussian_noise = list(
             DEFAULT_CONTEXT.keys()

carl/envs/carl_env.py

@@ -63,6 +63,8 @@ class CARLEnv(Wrapper):
         If the context is visible to the agent (hide_context=False), the context features are appended to the state.
         state_context_features specifies which of the context features are appended to the state. The default is
         appending all context features.
+    context_mask: Optional[List[str]]
+        Name of context features to be ignored when appending context features to the state.
     context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]]
         Context selector (object of) class, e.g., can be RoundRobinSelector (default) or RandomSelector.
         Should subclass AbstractSelector.
@@ -94,6 +96,7 @@ def __init__(
         scale_context_features: str = "no",
         default_context: Optional[Dict] = None,
         state_context_features: Optional[List[str]] = None,
+        context_mask: Optional[List[str]] = None,
         dict_observation_space: bool = False,
         context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
         context_selector_kwargs: Optional[Dict] = None,
@@ -104,6 +107,7 @@ def __init__(
         self._contexts: Optional[Dict[Any, Dict[Any, Any]]] = None  # init for property
         self.default_context = default_context
         self.contexts = contexts
+        self.context_mask = context_mask
         self.hide_context = hide_context
         self.dict_observation_space = dict_observation_space
         self.cutoff = max_episode_length
@@ -153,7 +157,14 @@ def __init__(
                             json.dump(data, file, indent="\t")
                 else:
                     state_context_features = []
-        self.state_context_features = state_context_features
+        else:
+            state_context_features = list(self.contexts[list(self.contexts.keys())[0]].keys())
+        self.state_context_features: List[str] = state_context_features
+        # state_context_features contains the names of the context features that should be appended to the state
+        # However, if context_mask is set, we want to update staet_context_feature_names so that the context features
+        # in context_mask are not appended to the state anymore.
+        if self.context_mask:
+            self.state_context_features = [s for s in self.state_context_features if s not in self.context_mask]
 
         self.step_counter = 0  # type: int # increased in/after step
         self.total_timestep_counter = 0  # type: int

carl/envs/classic_control/carl_acrobot.py

@@ -101,6 +101,7 @@ def __init__(
         default_context: Optional[Dict] = DEFAULT_CONTEXT,
         max_episode_length: int = 500,  # from https://github.com/openai/gym/blob/master/gym/envs/__init__.py
         state_context_features: Optional[List[str]] = None,
+        context_mask: Optional[List[str]] = None,
         dict_observation_space: bool = False,
         context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
         context_selector_kwargs: Optional[Dict] = None,
@@ -121,6 +122,7 @@ def __init__(
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.whitelist_gaussian_noise = list(
             DEFAULT_CONTEXT.keys()

carl/envs/classic_control/carl_cartpole.py

@@ -70,6 +70,7 @@ def __init__(
         default_context: Optional[Dict] = DEFAULT_CONTEXT,
         max_episode_length: int = 500,  # from https://github.com/openai/gym/blob/master/gym/envs/__init__.py
         state_context_features: Optional[List[str]] = None,
+        context_mask: Optional[List[str]] = None,
         dict_observation_space: bool = False,
         context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
         context_selector_kwargs: Optional[Dict] = None,
@@ -90,6 +91,7 @@ def __init__(
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.whitelist_gaussian_noise = list(
             DEFAULT_CONTEXT.keys()

carl/envs/classic_control/carl_mountaincar.py

@@ -80,6 +80,7 @@ def __init__(
         default_context: Optional[Dict] = DEFAULT_CONTEXT,
         max_episode_length: int = 200,  # from https://github.com/openai/gym/blob/master/gym/envs/__init__.py
         state_context_features: Optional[List[str]] = None,
+        context_mask: Optional[List[str]] = None,
         dict_observation_space: bool = False,
         context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
         context_selector_kwargs: Optional[Dict] = None,
@@ -110,6 +111,7 @@ def __init__(
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.whitelist_gaussian_noise = list(
             DEFAULT_CONTEXT.keys()

carl/envs/classic_control/carl_mountaincarcontinuous.py

@@ -75,6 +75,7 @@ def __init__(
         default_context: Optional[Dict] = DEFAULT_CONTEXT,
         max_episode_length: int = 999,  # from https://github.com/openai/gym/blob/master/gym/envs/__init__.py
         state_context_features: Optional[List[str]] = None,
+        context_mask: Optional[List[str]] = None,
         dict_observation_space: bool = False,
         context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
         context_selector_kwargs: Optional[Dict] = None,
@@ -105,6 +106,7 @@ def __init__(
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.whitelist_gaussian_noise = list(
             DEFAULT_CONTEXT.keys()

carl/envs/classic_control/carl_pendulum.py

@@ -68,6 +68,7 @@ def __init__(
         default_context: Optional[Dict] = DEFAULT_CONTEXT,
         max_episode_length: int = 200,  # from https://github.com/openai/gym/blob/master/gym/envs/__init__.py
         state_context_features: Optional[List[str]] = None,
+        context_mask: Optional[List[str]] = None,
         dict_observation_space: bool = False,
         context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
         context_selector_kwargs: Optional[Dict] = None,
@@ -100,6 +101,7 @@ def __init__(
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.whitelist_gaussian_noise = list(
             DEFAULT_CONTEXT.keys()

carl/envs/dmc/carl_dmcontrol.py

@@ -43,7 +43,6 @@ def __init__(
                 environment_kwargs={"flat_observation": True}
             )
             env = MujocoToGymWrapper(env)
-        self.context_mask = context_mask
         super().__init__(
             env=env,
             contexts=contexts,
@@ -58,6 +57,7 @@ def __init__(
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         # TODO check gaussian noise on context features
         self.whitelist_gaussian_noise = list(

carl/envs/mario/carl_mario.py

@@ -26,6 +26,7 @@ def __init__(
         scale_context_features: str = "no",
         default_context: Optional[Dict] = DEFAULT_CONTEXT,
         state_context_features: Optional[List[str]] = None,
+        context_mask: Optional[List[str]] = None,
         dict_observation_space: bool = False,
         context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
         context_selector_kwargs: Optional[Dict] = None,
@@ -44,6 +45,7 @@ def __init__(
             dict_observation_space=dict_observation_space,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.levels = []
         self._update_context()

carl/envs/rna/carl_rna.py

@@ -54,6 +54,7 @@ def __init__(
         default_context: Optional[Dict] = DEFAULT_CONTEXT,
         context_selector: Optional[Union[AbstractSelector, type(AbstractSelector)]] = None,
         context_selector_kwargs: Optional[Dict] = None,
+        context_mask: Optional[List[str]] = None,
     ):
         """
 
@@ -98,6 +99,7 @@ def __init__(
             default_context=default_context,
             context_selector=context_selector,
             context_selector_kwargs=context_selector_kwargs,
+            context_mask=context_mask,
         )
         self.whitelist_gaussian_noise = list(DEFAULT_CONTEXT)
 

test/test_CARLEnv.py

@@ -152,6 +152,19 @@ def test_dict_observation_space(self):
         next_obs, reward, done, info = env.step(action=action)
         env.close()
 
+    def test_state_context_feature_population(self):
+        env = (  # noqa: F841 local variable is assigned to but never used
+            CARLPendulumEnv(
+                contexts={},
+                hide_context=False,
+                add_gaussian_noise_to_context=False,
+                gaussian_noise_std_percentage=0.01,
+                state_context_features=None,
+                scale_context_features="no",
+            )
+        )
+        self.assertIsNotNone(env.state_context_features)
+
 
 class TestEpisodeTermination(unittest.TestCase):
     def test_episode_termination(self):
@@ -289,6 +302,26 @@ def test_context_feature_scaling_unknown_step(self):
         with self.assertRaises(ValueError):
             next_obs, reward, done, info = env.step(action=action)
 
+    def test_context_mask(self):
+        context_mask = ["dt", "g"]
+        env = (  # noqa: F841 local variable is assigned to but never used
+            CARLPendulumEnv(
+                contexts={},
+                hide_context=False,
+                context_mask=context_mask,
+                dict_observation_space=True,
+                add_gaussian_noise_to_context=False,
+                gaussian_noise_std_percentage=0.01,
+                state_context_features=None,
+                scale_context_features="no",
+            )
+        )
+        s = env.reset()
+        s_c = s["context"]
+        forbidden_in_context = [f for f in env.state_context_features if f in context_mask]
+        self.assertTrue(len(s_c) == len(list(env.default_context.keys())) - 2)
+        self.assertTrue(len(forbidden_in_context) == 0)
+
 
 class TestContextSelection(unittest.TestCase):
     @staticmethod