Save env_helper and added states and actions labels

src/RL/Env.jl

@@ -10,12 +10,16 @@ mutable struct EnvSharedProps{n_state_dims}
     state_id_space::OneTo{Int64}
     state_id::Int64
 
+    action_spaces_labels::Vector{Vector{LaTeXStrings.LaTeXString}}
+    state_spaces_labels::Vector{Vector{LaTeXStrings.LaTeXString}}
+
     reward::Float64
     terminated::Bool
 
     function EnvSharedProps(
         n_states::Int64, # Can be different from the sum of state_id_tensor_dims
-        state_id_tensor_dims::NTuple{n_state_dims,Int64};
+        state_id_tensor_dims::NTuple{n_state_dims,Int64},
+        state_spaces_labels::Vector{Vector{LaTeXStrings.LaTeXString}};
         n_v_actions::Int64=2,
         n_ω_actions::Int64=3,
         max_v::Float64=40.0,
@@ -29,6 +33,10 @@ mutable struct EnvSharedProps{n_state_dims}
         v_action_space = range(; start=0.0, stop=max_v, length=n_v_actions)
         ω_action_space = range(; start=-max_ω, stop=max_ω, length=n_ω_actions)
 
+        action_spaces_labels = gen_action_spaces_labels(
+            ("v", "\\omega"), (v_action_space, ω_action_space)
+        )
+
         n_actions = n_v_actions * n_ω_actions
 
         action_space = Vector{SVector{2,Float64}}(undef, n_actions)
@@ -61,6 +69,8 @@ mutable struct EnvSharedProps{n_state_dims}
             state_id_tensor,
             state_id_space,
             INITIAL_STATE_IND,
+            action_spaces_labels,
+            state_spaces_labels,
             INITIAL_REWARD,
             false,
         )
@@ -92,3 +102,20 @@ end
 function RLBase.is_terminated(env::Env)
     return env.shared.terminated
 end
+
+function gen_action_space_labels(action_label::String, action_space::AbstractRange)
+    labels = Vector{LaTeXStrings.LaTeXString}(undef, length(action_space))
+    for (action_ind, action) in enumerate(action_space)
+        labels[action_ind] = LaTeXStrings.latexstring(
+            action_label * " = $(round(action; digits=2))"
+        )
+    end
+
+    return labels
+end
+
+function gen_action_spaces_labels(
+    actions_labels::NTuple{N,String}, action_spaces::NTuple{N,AbstractRange}
+) where {N}
+    return [gen_action_space_labels(actions_labels[i], action_spaces[i]) for i in 1:N]
+end

src/RL/Envs/OriginEnv.jl

@@ -9,7 +9,7 @@ struct OriginEnv <: Env
     direction_angle_state_space::Vector{Interval}
 
     function OriginEnv(;
-        n_distance_states::Int64=4, n_direction_angle_states::Int64=3, args
+        n_distance_states::Int64=3, n_direction_angle_states::Int64=3, args
     )
         @assert n_distance_states > 1
         @assert n_direction_angle_states > 1
@@ -25,7 +25,13 @@ struct OriginEnv <: Env
 
         n_states = n_distance_states * n_direction_angle_states
 
-        shared = EnvSharedProps(n_states, (n_distance_states, n_direction_angle_states))
+        state_spaces_labels = gen_state_spaces_labels(
+            ("d", "\\theta"), (distance_state_space, direction_angle_state_space)
+        )
+
+        shared = EnvSharedProps(
+            n_states, (n_distance_states, n_direction_angle_states), state_spaces_labels
+        )
 
         return new(shared, distance_state_space, direction_angle_state_space)
     end

src/RL/RL.jl

@@ -11,6 +11,8 @@ using StaticArrays: SVector
 using LoopVectorization: @turbo
 using Random: Random
 using ProgressMeter: ProgressMeter
+using JLD2: JLD2
+using LaTeXStrings: LaTeXStrings, @L_str
 
 using ..ReCo: ReCo
 
@@ -54,7 +56,7 @@ end
 
 function run_rl(;
     EnvType::Type{E},
-    parent_dir_appendix::String,
+    process_dir::String,
     elliptical_a_b_ratio::Float64=1.0,
     n_episodes::Int64=200,
     episode_duration::Float64=50.0,
@@ -85,7 +87,6 @@ function run_rl(;
     n_particles = sim_consts.n_particles # Not always equal to the input!
 
     env_args = (skin_radius=sim_consts.skin_radius, half_box_len=sim_consts.half_box_len)
-
     env = EnvType(; args=env_args)
 
     agent = gen_agent(env.shared.n_states, env.shared.n_actions, ϵ_stable)
@@ -104,7 +105,7 @@ function run_rl(;
 
     env_helper = gen_env_helper(env, env_helper_shared; args=env_helper_args)
 
-    parent_dir = "RL_" * parent_dir_appendix
+    parent_dir = "RL/" * process_dir
 
     # Pre experiment
     hook(PRE_EXPERIMENT_STAGE, agent, env)
@@ -137,9 +138,31 @@ function run_rl(;
     # Post experiment
     hook(POST_EXPERIMENT_STAGE, agent, env)
 
+    process_dir = ReCo.DEFAULT_EXPORTS_DIR * "/$parent_dir"
+
+    JLD2.save_object("$process_dir/env_helper.jld2", env_helper)
+
     return env_helper
 end
 
+function gen_state_space_labels(state_label::String, state_space::Vector{Interval})
+    labels = Vector{LaTeXStrings.LaTeXString}(undef, length(state_space))
+    for (state_ind, state) in enumerate(state_space)
+        labels[state_ind] = LaTeXStrings.latexstring(
+            state_label *
+            " = $(round(state.first; digits=2)):$(round(state.last, digits=2))",
+        )
+    end
+
+    return labels
+end
+
+function gen_state_spaces_labels(
+    states_labels::NTuple{N,String}, state_spaces::NTuple{N,Vector{Interval}}
+) where {N}
+    return [gen_state_space_labels(states_labels[i], state_spaces[i]) for i in 1:N]
+end
+
 include("Envs/LocalCOMWithAdditionalShapeRewardEnv.jl")
 include("Envs/OriginEnv.jl")
 

src/setup.jl

@@ -1,6 +1,6 @@
 const DEFAULT_PACKING_RATIO = 0.5
 const DEFAULT_δt = 1e-5
-const DEFAULT_SKIN_TO_INTERACTION_R_RATIO = 2.0
+const DEFAULT_SKIN_TO_INTERACTION_R_RATIO = 2.5
 const DEFAULT_EXPORTS_DIR = "exports"
 const DEFAULT_PARENT_DIR = ""
 const DEFAULT_COMMENT = ""
@@ -69,7 +69,7 @@ function gen_sim_consts(
 
     skin_radius = skin_to_interaction_radius_ratio * interaction_radius
 
-    buffer = 2.5
+    buffer = 3
     max_approach_after_one_integration_step = buffer * (2 * v₀ * δt)
     @assert skin_radius >= interaction_radius + max_approach_after_one_integration_step