Add score masking to seven atari environments (#62)

* Add score masking to seven atari environments

* Add option of masked or unmasked atari envs

* add final tests and cosmetic changes for masked score atari environments

* Add pytest match option to MaskScoreWrapper tests

* Fix test error due to incorrectly named unmasked envs

* Fix lint in test_envs.py

* Add test to make_atari_env to check for exception thrown on unavailable masked env

* Add type alias and dataclass for masked score region objects

* Pin pyglet version to workaround bug

Co-authored-by: Adam Gleave <[email protected]>

setup.py

@@ -115,7 +115,10 @@ def get_readme() -> str:
     "pytest-xdist",
     "pytype",
     "stable-baselines3>=0.9.0",
-    "pyglet>=1.4.0",
+    # TODO(adam): remove pyglet pin once Gym upgraded to >0.21
+    # Workaround for https://github.com/openai/gym/issues/2986
+    # Discussed in https://github.com/HumanCompatibleAI/imitation/pull/603
+    "pyglet==1.5.27",
     "setuptools_scm~=7.0.5",
     *ATARI_REQUIRE,
 ]

src/seals/atari.py

@@ -1,15 +1,54 @@
 """Adaptation of Atari environments for specification learning algorithms."""
 
-from typing import Iterable
+from typing import Dict, Iterable, Optional
 
 import gym
 
-from seals.util import AutoResetWrapper, get_gym_max_episode_steps
+from seals.util import (
+    AutoResetWrapper,
+    BoxRegion,
+    MaskedRegionSpecifier,
+    MaskScoreWrapper,
+    get_gym_max_episode_steps,
+)
 
+SCORE_REGIONS: Dict[str, MaskedRegionSpecifier] = {
+    "BeamRider": [
+        BoxRegion(x=(5, 20), y=(45, 120)),
+        BoxRegion(x=(28, 40), y=(15, 40)),
+    ],
+    "Breakout": [BoxRegion(x=(0, 16), y=(35, 80))],
+    "Enduro": [
+        BoxRegion(x=(163, 173), y=(55, 110)),
+        BoxRegion(x=(177, 188), y=(68, 107)),
+    ],
+    "Pong": [BoxRegion(x=(0, 24), y=(0, 160))],
+    "Qbert": [BoxRegion(x=(6, 15), y=(33, 71))],
+    "Seaquest": [BoxRegion(x=(7, 19), y=(80, 110))],
+    "SpaceInvaders": [BoxRegion(x=(10, 20), y=(0, 160))],
+}
 
-def fixed_length_atari(atari_env_id: str) -> gym.Env:
-    """Fixed-length variant of a given Atari environment."""
-    return AutoResetWrapper(gym.make(atari_env_id))
+
+def _get_score_region(atari_env_id: str) -> Optional[MaskedRegionSpecifier]:
+    basename = atari_env_id.split("/")[-1].split("-")[0]
+    basename = basename.replace("NoFrameskip", "")
+    return SCORE_REGIONS.get(basename)
+
+
+def make_atari_env(atari_env_id: str, masked: bool) -> gym.Env:
+    """Fixed-length, optionally masked-score variant of a given Atari environment."""
+    env = AutoResetWrapper(gym.make(atari_env_id))
+
+    if masked:
+        score_region = _get_score_region(atari_env_id)
+        if score_region is None:
+            raise ValueError(
+                "Requested environment does not yet support masking. "
+                "See https://github.com/HumanCompatibleAI/seals/issues/61.",
+            )
+        env = MaskScoreWrapper(env, score_region)
+
+    return env
 
 
 def _not_ram_or_det(env_id: str) -> bool:
@@ -37,20 +76,31 @@ def _supported_atari_env(gym_spec: gym.envs.registration.EnvSpec) -> bool:
     )
 
 
-def _seals_name(gym_spec: gym.envs.registration.EnvSpec) -> str:
+def _seals_name(gym_spec: gym.envs.registration.EnvSpec, masked: bool) -> str:
     """Makes a Gym ID for an Atari environment in the seals namespace."""
     slash_separated = gym_spec.id.split("/")
-    return "seals/" + slash_separated[-1]
+    name = "seals/" + slash_separated[-1]
+
+    if not masked:
+        last_hyphen_idx = name.rfind("-v")
+        name = name[:last_hyphen_idx] + "-Unmasked" + name[last_hyphen_idx:]
+    return name
 
 
 def register_atari_envs(
     gym_atari_env_specs: Iterable[gym.envs.registration.EnvSpec],
 ) -> None:
-    """Register wrapped gym Atari environments."""
-    for gym_spec in gym_atari_env_specs:
+    """Register masked and unmasked wrapped gym Atari environments."""
+
+    def register_gym(masked):
         gym.register(
-            id=_seals_name(gym_spec),
-            entry_point="seals.atari:fixed_length_atari",
+            id=_seals_name(gym_spec, masked=masked),
+            entry_point="seals.atari:make_atari_env",
             max_episode_steps=get_gym_max_episode_steps(gym_spec.id),
-            kwargs=dict(atari_env_id=gym_spec.id),
+            kwargs=dict(atari_env_id=gym_spec.id, masked=masked),
         )
+
+    for gym_spec in gym_atari_env_specs:
+        register_gym(masked=False)
+        if _get_score_region(gym_spec.id) is not None:
+            register_gym(masked=True)

src/seals/util.py

@@ -1,6 +1,7 @@
 """Miscellaneous utilities."""
 
-from typing import Optional, Tuple
+from dataclasses import dataclass
+from typing import List, Optional, Sequence, Tuple, Union
 
 import gym
 import numpy as np
@@ -23,6 +24,67 @@ def step(self, action):
         return obs, rew, False, info
 
 
+@dataclass
+class BoxRegion:
+    """A rectangular region dataclass used by MaskScoreWrapper."""
+
+    x: Tuple
+    y: Tuple
+
+
+MaskedRegionSpecifier = List[BoxRegion]
+
+
+class MaskScoreWrapper(gym.Wrapper):
+    """Mask a list of box-shaped regions in the observation to hide reward info.
+
+    Intended for environments whose observations are raw pixels (like Atari
+    environments). Used to mask regions of the observation that include information
+    that could be used to infer the reward, like the game score or enemy ship count.
+    """
+
+    def __init__(
+        self,
+        env: gym.Env,
+        score_regions: MaskedRegionSpecifier,
+        fill_value: Union[float, Sequence[float]] = 0,
+    ):
+        """Builds MaskScoreWrapper.
+
+        Args:
+            env: The environment to wrap.
+            score_regions: A list of box-shaped regions to mask, each denoted by
+                a dictionary `{"x": (x0, x1), "y": (y0, y1)}`, where `x0 < x1`
+                and `y0 < y1`.
+            fill_value: The fill_value for the masked region. By default is black.
+                Can support RGB colors by being a sequence of values [r, g, b].
+
+        Raises:
+            ValueError: If a score region does not conform to the spec.
+        """
+        super().__init__(env)
+        self.fill_value = np.array(fill_value, env.observation_space.dtype)
+
+        self.mask = np.ones(env.observation_space.shape, dtype=bool)
+        for r in score_regions:
+            if r.x[0] >= r.x[1] or r.y[0] >= r.y[1]:
+                raise ValueError('Invalid region: "x" and "y" must be increasing.')
+            self.mask[r.x[0] : r.x[1], r.y[0] : r.y[1]] = 0
+
+    def _mask_obs(self, obs):
+        return np.where(self.mask, obs, self.fill_value)
+
+    def step(self, action):
+        """Returns (obs, rew, done, info) with masked obs."""
+        obs, rew, done, info = self.env.step(action)
+        return self._mask_obs(obs), rew, done, info
+
+    def reset(self, **kwargs):
+        """Returns masked reset observation."""
+        obs = self.env.reset(**kwargs)
+        return self._mask_obs(obs)
+
+
 class ObsCastWrapper(gym.Wrapper):
     """Cast observations to specified dtype.
 

tests/test_envs.py

@@ -7,7 +7,7 @@
 import pytest
 
 import seals  # noqa: F401 required for env registration
-from seals.atari import _seals_name
+from seals.atari import SCORE_REGIONS, _get_score_region, _seals_name, make_atari_env
 from seals.testing import envs
 
 ENV_NAMES: List[str] = [
@@ -25,9 +25,15 @@
     "seals/InitShiftTest-v0",
 ]
 
-ATARI_ENVS: List[str] = [
-    _seals_name(gym_spec) for gym_spec in seals.GYM_ATARI_ENV_SPECS
+UNMASKED_ATARI_ENVS: List[str] = [
+    _seals_name(gym_spec, masked=False) for gym_spec in seals.GYM_ATARI_ENV_SPECS
 ]
+MASKED_ATARI_ENVS: List[str] = [
+    _seals_name(gym_spec, masked=True)
+    for gym_spec in seals.GYM_ATARI_ENV_SPECS
+    if _get_score_region(gym_spec.id) is not None
+]
+ATARI_ENVS = UNMASKED_ATARI_ENVS + MASKED_ATARI_ENVS
 
 ATARI_V5_ENVS: List[str] = list(filter(lambda name: name.endswith("-v5"), ATARI_ENVS))
 ATARI_NO_FRAMESKIP_ENVS: List[str] = list(
@@ -46,14 +52,53 @@ def test_some_atari_envs():
 
 
 def test_atari_space_invaders():
-    """Tests if there's an Atari environment called space invaders."""
-    space_invader_environments = list(
+    """Tests for masked and unmasked Atari space invaders environments."""
+    masked_space_invader_environments = list(
         filter(
-            lambda name: "SpaceInvaders" in name,
+            lambda name: "SpaceInvaders" in name and "Unmasked" not in name,
             ATARI_ENVS,
         ),
     )
-    assert len(space_invader_environments) > 0
+    assert len(masked_space_invader_environments) > 0
+
+    unmasked_space_invader_environments = list(
+        filter(
+            lambda name: "SpaceInvaders" in name and "Unmasked" in name,
+            ATARI_ENVS,
+        ),
+    )
+    assert len(unmasked_space_invader_environments) > 0
+
+
+def test_atari_unmasked_env_naming():
+    """Tests that all unmasked Atari envs have the appropriate name qualifier."""
+    noncompliant_envs = list(
+        filter(
+            lambda name: _get_score_region(name) is None and "Unmasked" not in name,
+            ATARI_ENVS,
+        ),
+    )
+    assert len(noncompliant_envs) == 0
+
+
+def test_make_unsupported_masked_atari_env_throws_error():
+    """Tests that making an unsupported masked Atari env throws an error."""
+    match_str = (
+        "Requested environment does not yet support masking. "
+        "See https://github.com/HumanCompatibleAI/seals/issues/61."
+    )
+    with pytest.raises(ValueError, match=match_str):
+        make_atari_env("ALE/Bowling-v5", masked=True)
+
+
+def test_atari_masks_satisfy_spec():
+    """Tests that all Atari masks satisfy the spec."""
+    masks_satisfy_spec = [
+        mask.x[0] < mask.x[1] and mask.y[0] < mask.y[1]
+        for env_regions in SCORE_REGIONS.values()
+        for mask in env_regions
+    ]
+    assert all(masks_satisfy_spec)
 
 
 @pytest.mark.parametrize("env_name", ENV_NAMES)
@@ -70,11 +115,11 @@ def test_seed(self, env: gym.Env, env_name: str):
         if env_name in ATARI_ENVS:
             # these environments take a while for their non-determinism to show.
             slow_random_envs = [
-                "seals/Bowling-v5",
-                "seals/Frogger-v5",
-                "seals/KingKong-v5",
-                "seals/Koolaid-v5",
-                "seals/NameThisGame-v5",
+                "seals/Bowling-Unmasked-v5",
+                "seals/Frogger-Unmasked-v5",
+                "seals/KingKong-Unmasked-v5",
+                "seals/Koolaid-Unmasked-v5",
+                "seals/NameThisGame-Unmasked-v5",
             ]
             rollout_len = 100 if env_name not in slow_random_envs else 400
             num_seeds = 2 if env_name in ATARI_NO_FRAMESKIP_ENVS else 10

tests/test_util.py

@@ -2,9 +2,21 @@
 
 import collections
 
+import gym
 import numpy as np
+import pytest
 
-from seals import util
+from seals import GYM_ATARI_ENV_SPECS, util
+
+
+def test_mask_score_wrapper_enforces_spec():
+    """Test that MaskScoreWrapper enforces the spec."""
+    atari_env = gym.make(GYM_ATARI_ENV_SPECS[0].id)
+    desired_error_message = 'Invalid region: "x" and "y" must be increasing.'
+    with pytest.raises(ValueError, match=desired_error_message):
+        util.MaskScoreWrapper(atari_env, [util.BoxRegion(x=(0, 1), y=(1, 0))])
+    with pytest.raises(ValueError, match=desired_error_message):
+        util.MaskScoreWrapper(atari_env, [util.BoxRegion(x=(1, 0), y=(0, 1))])
 
 
 def test_sample_distribution():