优化 PPO 清扫策略

agent_ppo/agent.py

@@ -192,18 +192,31 @@ class Agent(BaseAgent):
 
         合法动作掩码下的 softmax。
         """
-        _w, _e = 1e20, 1e-5
-        tmp = logits - _w * (1.0 - legal_action)
-        tmp_max = np.max(tmp, keepdims=True)
-        tmp = np.clip(tmp - tmp_max, -_w, 1)
-        tmp = (np.exp(tmp) + _e) * legal_action
-        return tmp / (np.sum(tmp, keepdims=True) * 1.00001)
+        legal = np.asarray(legal_action, dtype=np.float32) > 0.5
+        if not np.any(legal):
+            legal = np.ones(Config.ACTION_NUM, dtype=bool)
+
+        masked_logits = np.asarray(logits, dtype=np.float32).copy()
+        masked_logits[~legal] = -1e9
+        shifted = masked_logits - np.max(masked_logits)
+        probs = np.exp(shifted) * legal.astype(np.float32)
+        prob_sum = float(np.sum(probs))
+        if prob_sum <= 0.0 or not np.isfinite(prob_sum):
+            probs = legal.astype(np.float32)
+            prob_sum = float(np.sum(probs))
+        return probs / prob_sum
 
     def _legal_sample(self, probs, use_max=False):
         """Sample action from probability distribution (argmax if use_max=True).
 
         按概率分布采样动作（use_max=True 时取 argmax）。
         """
+        probs = np.asarray(probs, dtype=np.float64)
+        prob_sum = float(np.sum(probs))
+        if prob_sum <= 0.0 or not np.isfinite(prob_sum):
+            probs = np.ones(Config.ACTION_NUM, dtype=np.float64) / Config.ACTION_NUM
+        else:
+            probs = probs / prob_sum
         if use_max:
             return int(np.argmax(probs))
-        return int(np.argmax(np.random.multinomial(1, probs, size=1)))
+        return int(np.random.choice(len(probs), p=probs))

agent_ppo/algorithm/algorithm.py

@@ -43,14 +43,14 @@ class Algorithm:
 
         训练入口：接收一批 SampleData，执行一步梯度更新。
         """
-        obs = torch.stack([s.obs for s in list_sample_data]).to(self.device)
-        legal_action = torch.stack([s.legal_action for s in list_sample_data]).to(self.device)
-        act = torch.stack([s.act for s in list_sample_data]).to(self.device).view(-1, 1)
-        old_prob = torch.stack([s.prob for s in list_sample_data]).to(self.device)
-        old_value = torch.stack([s.value for s in list_sample_data]).to(self.device)
-        reward_sum = torch.stack([s.reward_sum for s in list_sample_data]).to(self.device)
-        advantage = torch.stack([s.advantage for s in list_sample_data]).to(self.device)
-        reward = torch.stack([s.reward for s in list_sample_data]).to(self.device)
+        obs = self._batch_tensor([s.obs for s in list_sample_data])
+        legal_action = self._batch_tensor([s.legal_action for s in list_sample_data])
+        act = self._batch_tensor([s.act for s in list_sample_data]).view(-1, 1)
+        old_prob = self._batch_tensor([s.prob for s in list_sample_data])
+        old_value = self._batch_tensor([s.value for s in list_sample_data])
+        reward_sum = self._batch_tensor([s.reward_sum for s in list_sample_data])
+        advantage = self._batch_tensor([s.advantage for s in list_sample_data])
+        reward = self._batch_tensor([s.reward for s in list_sample_data])
 
         if Config.NORMALIZE_ADVANTAGE and advantage.numel() > 1:
             advantage = (advantage - advantage.mean()) / (advantage.std(unbiased=False) + 1e-8)
@@ -194,9 +194,22 @@ class Algorithm:
         对 logits 应用合法动作掩码后计算 softmax。
         """
         legal_mask = legal_action > 0.5
+        all_illegal = ~legal_mask.any(dim=1, keepdim=True)
+        legal_mask = torch.where(all_illegal, torch.ones_like(legal_mask), legal_mask)
         safe_logits = logits.masked_fill(~legal_mask, -1e9)
         return F.softmax(safe_logits, dim=1)
 
+    def _batch_tensor(self, values):
+        """Stack framework tensors or raw numpy/list values into a float tensor."""
+        tensors = []
+        for value in values:
+            if isinstance(value, torch.Tensor):
+                tensor = value.to(self.device, dtype=torch.float32)
+            else:
+                tensor = torch.as_tensor(value, dtype=torch.float32, device=self.device)
+            tensors.append(tensor)
+        return torch.stack(tensors)
+
     def _entropy_beta(self):
         """Linearly decay entropy regularization for fast early exploration."""
         progress = min(float(self.train_step) / max(Config.BETA_DECAY_STEPS, 1), 1.0)

agent_ppo/conf/train_env_conf.toml

@@ -6,7 +6,7 @@ map = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
 # Whether to randomly select maps. Boolean. 
 # true = randomly pick one from configured maps per episode, false = used sequentially.
 # 是否随机抽取地图。布尔值。true表示每局从配置的地图中随机抽取一张，false表示按顺序抽取地图训练。
-map_random = false
+map_random = true
 
 # Number of official robots. Range: 1~4 (integer). 
 # In each round, official robots will be randomly generated on the road according to the configured.

agent_ppo/feature/definition.py

@@ -67,7 +67,19 @@ def _calc_gae(list_sample_data):
     gamma = Config.GAMMA
     lamda = Config.LAMDA
     for sample in reversed(list_sample_data):
-        delta = -sample.value + sample.reward + gamma * sample.next_value
-        gae = gae * gamma * lamda + delta
+        value = _scalar(sample.value)
+        reward = _scalar(sample.reward)
+        next_value = _scalar(sample.next_value)
+        nonterminal = 1.0 - _scalar(sample.done)
+        delta = reward + gamma * next_value * nonterminal - value
+        gae = delta + gamma * lamda * nonterminal * gae
         sample.advantage = gae
-        sample.reward_sum = gae + sample.value
+        sample.reward_sum = gae + value
+
+
+def _scalar(value):
+    """Read the first scalar from numpy/tensor/list values."""
+    if hasattr(value, "detach"):
+        value = value.detach().cpu().numpy()
+    arr = np.asarray(value, dtype=np.float32).reshape(-1)
+    return float(arr[0]) if arr.size else 0.0

agent_ppo/feature/preprocessor.py

@@ -10,6 +10,8 @@ Feature preprocessor for Robot Vacuum.
 清扫大作战特征预处理器。
 """
 
+from collections import deque
+
 import numpy as np
 
 
@@ -55,6 +57,7 @@ class Preprocessor:
         (0, 1),
         (1, 1),
     )
+    INF_DIST = 1e6
 
     def __init__(self):
         self.reset()
@@ -83,12 +86,12 @@ class Preprocessor:
         self.step_cleaned_count = 0
         self.max_step = 1000
 
-        # Global passable map (0=obstacle, 1=passable), used for ray computation
-        # 维护全局通行地图（0=障碍, 1=可通行），用于射线计算
+        # Global passable map (0=obstacle, 1=passable), indexed by [x, z].
+        # 维护全局通行地图（0=障碍, 1=可通行），索引为 [x, z]。
         self.passable_map = np.ones((self.GRID_SIZE, self.GRID_SIZE), dtype=np.int8)
 
-        # Nearest dirt distance
-        # 最近污渍距离
+        # Nearest dirt path distance in the current local view.
+        # 当前局部视野内最近污渍路径距离。
         self.nearest_dirt_dist = 200.0
         self.last_nearest_dirt_dist = 200.0
         self.visit_count_map = np.zeros((self.GRID_SIZE, self.GRID_SIZE), dtype=np.uint16)
@@ -114,6 +117,8 @@ class Preprocessor:
         self.nearest_charger_dist = float(self.GRID_SIZE)
         self.nearest_charger_range_dist = float(self.GRID_SIZE)
         self.last_nearest_charger_range_dist = float(self.GRID_SIZE)
+        self.nearest_charger_path_dist = float(self.GRID_SIZE)
+        self.last_nearest_charger_path_dist = float(self.GRID_SIZE)
         self.charger_energy_cost = float(self.GRID_SIZE)
         self.charger_safety_buffer = 0.0
         self.charger_safety_margin = 0.0
@@ -226,13 +231,33 @@ class Preprocessor:
 
         for ri in range(vsize):
             for ci in range(vsize):
-                gx = hx - half + ri
-                gz = hz - half + ci
+                gx = hx + ci - half
+                gz = hz + ri - half
                 if 0 <= gx < self.GRID_SIZE and 0 <= gz < self.GRID_SIZE:
                     # 0 = obstacle, 1/2 = passable
                     # 0 = 障碍, 1/2 = 可通行
                     self.passable_map[gx, gz] = 1 if view[ri, ci] != 0 else 0
 
+    def _view_index_to_global(self, ri, ci):
+        """Convert local view row/col to global x/z coordinates."""
+        half = self._view_map.shape[0] // 2
+        hx, hz = self.cur_pos
+        return hx + ci - half, hz + ri - half
+
+    def _view_delta_to_index(self, dx, dz):
+        """Convert global-coordinate dx/dz to local view row/col."""
+        return self.VIEW_HALF + dz, self.VIEW_HALF + dx
+
+    def _view_cell(self, dx, dz, default=None):
+        """Read a local-view cell by global-coordinate delta.
+
+        `map_info` is row-major: row follows z/down, col follows x/right.
+        """
+        ri, ci = self._view_delta_to_index(dx, dz)
+        if not (0 <= ri < self._view_map.shape[0] and 0 <= ci < self._view_map.shape[1]):
+            return default
+        return int(self._view_map[ri, ci])
+
     def _update_local_map_stats(self):
         """Cache coarse 21x21 map statistics."""
         view = self._view_map
@@ -247,6 +272,7 @@ class Preprocessor:
     def _update_charger_state(self, hx, hz, organs):
         """Find nearest charger and cache distance/direction features."""
         self.last_nearest_charger_range_dist = self.nearest_charger_range_dist
+        self.last_nearest_charger_path_dist = self.nearest_charger_path_dist
         self.has_charger = False
         self.on_charger = False
         self.nearest_charger_dx = 0.0
@@ -255,6 +281,7 @@ class Preprocessor:
         self.nearest_charger_center_dz = 0.0
         self.nearest_charger_dist = float(self.GRID_SIZE)
         self.nearest_charger_range_dist = float(self.GRID_SIZE)
+        self.nearest_charger_path_dist = float(self.GRID_SIZE)
         self.charger_energy_cost = float(self.GRID_SIZE)
         self.charger_safety_buffer = 0.0
         self.charger_safety_margin = 0.0
@@ -295,9 +322,11 @@ class Preprocessor:
         self.nearest_charger_center_dz = float(center_dz)
         self.nearest_charger_dist = float(dist)
         self.nearest_charger_range_dist = float(range_dist)
-        self.charger_energy_cost = float(range_dist)
+        path_dist = self._local_path_dist_to_charger(hx, hz)
+        self.nearest_charger_path_dist = float(path_dist if path_dist < self.INF_DIST else range_dist)
+        self.charger_energy_cost = self.nearest_charger_path_dist
         self.on_charger = range_dist <= 0.0
-        self.battery_margin = float(self.battery) - self.nearest_charger_range_dist
+        self.battery_margin = float(self.battery) - self.nearest_charger_path_dist
 
     def _relative_vector_to_rect(self, x, z, rx, rz, w, h):
         """Relative vector from point to the nearest cell in a rectangle."""
@@ -355,7 +384,7 @@ class Preprocessor:
             self.charger_safety_margin = float(self.battery)
             return
 
-        self.charger_energy_cost = float(max(self.nearest_charger_range_dist, 0.0))
+        self.charger_energy_cost = float(max(self.nearest_charger_path_dist, 0.0))
         self.charger_safety_buffer = self._charger_safety_buffer()
         self.charger_safety_margin = float(self.battery) - self.charger_energy_cost - self.charger_safety_buffer
 
@@ -450,30 +479,20 @@ class Preprocessor:
         ray_dirt = []
         max_ray = 30
         for dx, dz in ray_dirs:
-            x, z = hx, hz
             found = max_ray
             for step in range(1, max_ray + 1):
-                x += dx
-                z += dz
-                if not (0 <= x < self.GRID_SIZE and 0 <= z < self.GRID_SIZE):
+                gx = hx + dx * step
+                gz = hz + dz * step
+                if not (0 <= gx < self.GRID_SIZE and 0 <= gz < self.GRID_SIZE):
+                    break
+                cell = self._view_cell(dx * step, dz * step, default=0)
+                if cell == 2:
+                    found = step
                     break
-                if self._view_map is not None:
-                    cell = (
-                        int(
-                            self._view_map[
-                                np.clip(x - (hx - self.VIEW_HALF), 0, 20), np.clip(z - (hz - self.VIEW_HALF), 0, 20)
-                            ]
-                        )
-                        if (0 <= x - hx + self.VIEW_HALF < 21 and 0 <= z - hz + self.VIEW_HALF < 21)
-                        else 0
-                    )
-                    if cell == 2:
-                        found = step
-                        break
             ray_dirt.append(_norm(found, max_ray))
 
-        # Nearest dirt Euclidean distance (estimated from 7×7 crop)
-        # 最近污渍欧氏距离（视野内 7×7 粗估）
+        # Nearest dirt path distance in the visible map.
+        # 视野内最近污渍路径距离。
         self.last_nearest_dirt_dist = self.nearest_dirt_dist
         self.nearest_dirt_dist = self._calc_nearest_dirt_dist()
         nearest_dirt_norm = _norm(self.nearest_dirt_dist, 180)
@@ -500,7 +519,7 @@ class Preprocessor:
                 dirt_delta,
                 _signed_norm(self.nearest_charger_dx, self.GRID_SIZE),
                 _signed_norm(self.nearest_charger_dz, self.GRID_SIZE),
-                _norm(self.nearest_charger_range_dist, self.GRID_SIZE),
+                _norm(self.nearest_charger_path_dist, self.GRID_SIZE),
                 battery_margin_norm,
                 1.0 if self.low_battery else 0.0,
                 1.0 if self.recharge_mode else 0.0,
@@ -519,19 +538,73 @@ class Preprocessor:
         )
 
     def _calc_nearest_dirt_dist(self):
-        """Find nearest dirt Euclidean distance from local view.
+        """Find nearest dirt path distance from local view.
 
-        从局部视野中找最近污渍的欧氏距离。
+        从局部视野中找最近污渍路径距离。
         """
-        view = self._view_map
-        if view is None:
-            return 200.0
-        dirt_coords = np.argwhere(view == 2)
+        dist = self._local_bfs_distances()
+        dirt_coords = np.argwhere(self._view_map == 2)
         if len(dirt_coords) == 0:
             return 200.0
-        center = self.VIEW_HALF
-        dists = np.sqrt((dirt_coords[:, 0] - center) ** 2 + (dirt_coords[:, 1] - center) ** 2)
-        return float(np.min(dists))
+        best = min(float(dist[ri, ci]) for ri, ci in dirt_coords)
+        if best >= self.INF_DIST:
+            return 200.0
+        return best
+
+    def _local_bfs_distances(self, start_dx=0, start_dz=0):
+        """Shortest path distances inside the current 21x21 local view."""
+        view = self._view_map
+        shape = view.shape
+        dist = np.full(shape, self.INF_DIST, dtype=np.float32)
+        start_ri, start_ci = self._view_delta_to_index(start_dx, start_dz)
+        if not (0 <= start_ri < shape[0] and 0 <= start_ci < shape[1]):
+            return dist
+        if int(view[start_ri, start_ci]) == 0:
+            return dist
+
+        dist[start_ri, start_ci] = 0.0
+        queue = deque([(start_ri, start_ci)])
+        while queue:
+            ri, ci = queue.popleft()
+            base = dist[ri, ci]
+            for dx, dz in self.ACTION_DIRS:
+                nri = ri + dz
+                nci = ci + dx
+                if not (0 <= nri < shape[0] and 0 <= nci < shape[1]):
+                    continue
+                if int(view[nri, nci]) == 0 or dist[nri, nci] < self.INF_DIST:
+                    continue
+                if dx != 0 and dz != 0:
+                    side_a = int(view[ri, nci]) != 0
+                    side_b = int(view[nri, ci]) != 0
+                    if not (side_a or side_b):
+                        continue
+                dist[nri, nci] = base + 1.0
+                queue.append((nri, nci))
+        return dist
+
+    def _local_path_dist_to_charger(self, gx, gz):
+        """Visible-map BFS distance from global x/z to nearest charger cell."""
+        best = self.INF_DIST
+        start_dx = gx - self.cur_pos[0]
+        start_dz = gz - self.cur_pos[1]
+        dist = self._local_bfs_distances(start_dx, start_dz)
+        for rx, rz, w, h in self.charger_rects:
+            for tx in range(rx, rx + w):
+                for tz in range(rz, rz + h):
+                    dx = tx - self.cur_pos[0]
+                    dz = tz - self.cur_pos[1]
+                    ri, ci = self._view_delta_to_index(dx, dz)
+                    if 0 <= ri < dist.shape[0] and 0 <= ci < dist.shape[1]:
+                        best = min(best, float(dist[ri, ci]))
+        return best
+
+    def _charger_move_distance(self, gx, gz):
+        """Use visible BFS to the charger when available, otherwise Chebyshev distance."""
+        path_dist = self._local_path_dist_to_charger(gx, gz)
+        if path_dist < self.INF_DIST:
+            return path_dist
+        return self._min_charger_range_dist(gx, gz)
 
     def get_legal_action(self):
         """Return legal action mask (8D list).
@@ -569,11 +642,8 @@ class Preprocessor:
 
     def _is_visible_cell_passable(self, dx, dz):
         """Whether a relative 21x21-view cell is passable."""
-        ri = self.VIEW_HALF + dx
-        ci = self.VIEW_HALF + dz
-        if not (0 <= ri < self._view_map.shape[0] and 0 <= ci < self._view_map.shape[1]):
-            return True
-        return int(self._view_map[ri, ci]) != 0
+        cell = self._view_cell(dx, dz, default=None)
+        return True if cell is None else cell != 0
 
     def _filter_npc_danger_actions(self, legal_action):
         """Avoid actions that would enter any NPC 3x3 danger zone."""
@@ -608,42 +678,43 @@ class Preprocessor:
             return list(legal_action)
 
         hx, hz = self.cur_pos
-        current_dist = self._min_charger_range_dist(hx, hz)
+        current_range_dist = self._min_charger_range_dist(hx, hz)
+        current_move_dist = self._charger_move_distance(hx, hz)
         scored = []
         for action, (dx, dz) in enumerate(self.ACTION_DIRS):
             if legal_action[action] <= 0:
                 continue
             nx, nz = hx + dx, hz + dz
-            next_dist = self._min_charger_range_dist(nx, nz)
+            next_dist = self._charger_move_distance(nx, nz)
             alignment = dx * self.nearest_charger_dx + dz * self.nearest_charger_dz
-            scored.append((next_dist, alignment, action))
+            next_range_dist = self._min_charger_range_dist(nx, nz)
+            scored.append((next_dist, alignment, next_range_dist, action))
 
         if not scored:
             return list(legal_action)
 
         # When already inside the charger range, stay inside until recharge mode exits.
         # 已经在充电区域内时，回充模式退出前不要离开充电区域。
-        if current_dist <= 0.0:
+        if current_range_dist <= 0.0:
             stay = [0] * 8
-            for next_dist, _, action in scored:
-                if next_dist <= 0.0:
+            for _, _, next_range_dist, action in scored:
+                if next_range_dist <= 0.0:
                     stay[action] = 1
             if any(stay):
                 return stay
 
-        best_next_dist = min(item[0] for item in scored)
-        best_alignment = max(alignment for next_dist, alignment, _ in scored if next_dist <= best_next_dist + 0.1)
-
         recharge = [0] * 8
-        for next_dist, alignment, action in scored:
-            if next_dist <= best_next_dist + 0.1 and alignment >= best_alignment - 0.1:
+        best_next_dist = min(item[0] for item in scored)
+        ranked = sorted(scored, key=lambda item: (item[0], -item[1]))
+        for next_dist, _, _, action in ranked:
+            if next_dist <= best_next_dist + 2.0 and next_dist <= current_move_dist + 0.1:
                 recharge[action] = 1
+            if sum(recharge) >= 3:
+                break
 
         if not any(recharge):
-            best_alignment = max(item[1] for item in scored)
-            for _, alignment, action in scored:
-                if alignment >= best_alignment - 0.1:
-                    recharge[action] = 1
+            for _, _, _, action in ranked[: min(3, len(ranked))]:
+                recharge[action] = 1
 
         return recharge if any(recharge) else list(legal_action)
 
@@ -733,7 +804,7 @@ class Preprocessor:
 
         if self.has_charger and (self.recharge_mode or self.low_battery):
             dist_delta = float(
-                np.clip(self.last_nearest_charger_range_dist - self.nearest_charger_range_dist, -4.0, 4.0)
+                np.clip(self.last_nearest_charger_path_dist - self.nearest_charger_path_dist, -4.0, 4.0)
             )
             approach_scale = 0.06 if self.charger_safety_margin <= 0 else 0.04
             retreat_scale = 0.03 if self.charger_safety_margin <= 0 else 0.02

agent_ppo/model/model.py

@@ -6,7 +6,7 @@
 """
 Author: Tencent AI Arena Authors
 
-Simple MLP policy network for Robot Vacuum.
+CNN + MLP policy network for Robot Vacuum.
 清扫大作战策略网络。
 """
 
@@ -28,9 +28,9 @@ def _make_fc(in_dim, out_dim, gain=1.41421):
 
 
 class Model(nn.Module):
-    """Dual-head MLP for Robot Vacuum.
+    """Dual-head CNN+MLP actor-critic for Robot Vacuum.
 
-    清扫大作战双头 MLP 策略网络。
+    清扫大作战双头 CNN+MLP 策略网络。
     """
 
     def __init__(self, device=None):
@@ -38,12 +38,36 @@ class Model(nn.Module):
         self.model_name = "robot_vacuum"
         self.device = device
 
-        obs_dim = Config.DIM_OF_OBSERVATION  # 157
+        map_dim, scalar_dim, last_action_dim = Config.FEATURES
+        map_size = int(map_dim**0.5)
+        if map_size * map_size != map_dim:
+            raise ValueError(f"local map feature must be square, got {map_dim}")
+        self.map_size = map_size
+        self.map_dim = map_dim
+        self.scalar_dim = scalar_dim + last_action_dim
         act_num = Config.ACTION_NUM  # 8
 
-        # Shared backbone / 共享骨干网络
+        # Local map encoder keeps spatial obstacle/dirt patterns.
+        # 局部地图编码器保留障碍/污渍空间结构。
+        self.map_encoder = nn.Sequential(
+            nn.Conv2d(1, 16, kernel_size=3, padding=1),
+            nn.ReLU(),
+            nn.Conv2d(16, 32, kernel_size=3, padding=1),
+            nn.ReLU(),
+            nn.AdaptiveAvgPool2d((3, 3)),
+            nn.Flatten(),
+        )
+
+        # Scalar encoder for battery, charger, NPC and last-action features.
+        # 标量编码器处理电量、充电桩、NPC、上一步动作等特征。
+        self.scalar_encoder = nn.Sequential(
+            _make_fc(self.scalar_dim, 64),
+            nn.ReLU(),
+        )
+
+        # Shared fusion backbone / 共享融合骨干网络
         self.backbone = nn.Sequential(
-            _make_fc(obs_dim, 256),
+            _make_fc(32 * 3 * 3 + 64, 256),
             nn.ReLU(),
             _make_fc(256, 128),
             nn.ReLU(),
@@ -61,7 +85,11 @@ class Model(nn.Module):
         前向传播。
         """
         x = s.to(torch.float32)
-        h = self.backbone(x)
+        local_map = x[:, : self.map_dim].view(-1, 1, self.map_size, self.map_size)
+        scalar = x[:, self.map_dim :]
+        map_h = self.map_encoder(local_map)
+        scalar_h = self.scalar_encoder(scalar)
+        h = self.backbone(torch.cat([map_h, scalar_h], dim=1))
         logits = self.actor_head(h)
         value = self.critic_head(h)
         return [logits, value]