RayCastWorlds

This package provides simple first-person 3D games that can also be used as reinforcement learning environments. It is inspired by DeepMind Lab.

Table of Contents

• Getting Started
• Notes

List of Environments

1. SingleRoom

Getting Started

import RayCastWorlds as RCW

env = RCW.SingleRoomModule.SingleRoom()

# reset the game. All environments are randomized

RCW.reset!(env)

# get names of actions that can be performed in this environment

RCW.get_action_names(env)

# perform actions in the environment

RCW.act!(env, 1) # move forward
RCW.act!(env, 2) # move backward
RCW.act!(env, 3) # turn left
RCW.act!(env, 4) # turn right

# interactively play the game
# keybindings:
# `q`: quit
# `r`: reset
# `w`: move forward
# `s`: move backward
# `a`: turn left
# `d`: turn right
# `v`: toggle top view and camera view

RCW.play!(env)

# use the RLBase API

import ReinforcementLearningBase as RLBase

# wrap a game instance from this package to create an RLBase compatible environment

rlbase_env = RCW.RLBaseEnv(env)

# perform RLBase operations on the wrapped environment

RLBase.reset!(rlbase_env)
state = RLBase.state(rlbase_env)
action_space = RLBase.action_space(rlbase_env)
reward = RLBase.reward(rlbase_env)
done = RLBase.is_terminated(rlbase_env)

rlbase_env(1) # move forward
rlbase_env(2) # move backward
rlbase_env(3) # turn left
rlbase_env(4) # turn right

Notes

RayCaster

The core raycasting algorithm is implemented in the RayCaster package.

Units

There are 4 types of units used throughout the code:

1. wu: Stands for world units. These are usually floating point numbers representing positions in the real world.
2. tu: Stands for tile units. These are integers representing positions on the tile map.
3. pu: Stands for pixel units. These are integers representing positions on the visualization image.
4. au: Stands for angle units. These are integers representing angles from 0 to num_directions.

The height of the tile map correponds to the x-axis of the coordinate system (often indexed with i) and width correponds to the y-axis (often indexed with j). This keeps the coordinate system right-handed.

List of Environments

1. SingleRoom

   The objective of the agent is to navigate its way to the goal. When the agent tries to move into the goal tile, it receives a reward of 1 and the environment terminates.

   Camera view:

   

   Top view: