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definitionsOfObjects.md

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The Objects

There are 9 types of object split amongst four categories:

  • Immovable
    • Walls
    • Ramps
    • Tunnels
  • Movable
    • Cardboard Boxes
    • Shapes
  • Rewards
    • Food
    • Zones
  • Other/Unique
    • Spawners
    • Signs

For each object we describe the object name to be used in a configuration file or in Python directly, as well as their default characteristics and the range of values you can assign to them. All objects can be rotated 360 degrees.

The axis below corresponds to that shown in the images for each individual object.

Note: the Y axis is the vertical axis and Z is the forward axis (following conventions used in Unity).

Immovable

These objects are fixed and cannot be moved:

Wall

  • name: Wall
  • size range: (0.1,0.1,0.1)-(40,10,40)
  • can change color.

For simplicity, walls in most test problems will be grey and set to RGB (r: 153, g: 153, b: 153). If a wall is used as a platform it will be blue and set to RGB (r: 0, g: 0, b: 255).

Transparent Wall

  • name: WallTransparent
  • size range: (0.1,0.1,0.1)-(40,10,40)
  • cannot change color

Ramp

  • name: Ramp
  • size range: (0.5,0.1,0.5)-(40,10,40)
  • can change color.

For simplicity, ramps in most test problems will be pink and set to RGB (r: 255, g: 0, b: 255).

Tunnel

  • name: CylinderTunnel
  • size range: (2.5,2.5,2.5)-(10,10,10)
  • can change color

For simplicity, tunnels in most test problems will be grey and set to RGB (r: 153, g: 153, b: 153).

Transparent Tunnel

  • name: CylinderTunnelTransparent
  • size range: (2.5,2.5,2.5)-(10,10,10)
  • cannot change color

Movable

These are objects that are light enough to be easily moved by the agent (or other objects). Note that different object types weigh different amounts. Also note that since v0.6, all movable object have a fixed texture in order to make them easier to differentiate from non movable objects.

Light Cardboard Box

  • name: Cardbox1
  • size range: (0.5,0.5,0.5)-(10,10,10)
  • cannot change color

Heavy Cardboard Box

  • name: Cardbox2
  • size range: (0.5,0.5,0.5)-(10,10,10)
  • cannot change color

U-shaped Object

  • name: UObject
  • size range: (1,0.3,3)-(5,2,20)
  • cannot change color

L-shaped Object

a L-shaped object with a wooden texture

  • name: LObject
  • size range: (1,0.3,3)-(5,2,20)
  • cannot change color

L-shaped Object Variation

symmetric of the L-shaped object

  • name: LObject2
  • size range: (1,0.3,3)-(5,2,20)
  • cannot change color

Rewards

Objects that give a reward and may terminate the event if the agents collides with one. Important note: for sphere goals the y and z components of the provided sizes are ignored and only x is used.

Stationary Positive Goal

Green spheres with a positive reward equal to their size. Ends the episode on collection.
  • name: GoodGoal
  • size range: 0.5-5
  • cannot change color

Moving Positive Goal

Moving food with positive reward. Starts by moving in the direction provided by the rotation parameter.
  • name: GoodGoalBounce
  • size range: 0.5-5
  • cannot change color

Stationary Negative Goal

Red spheres with a negative reward equal to their size. Ends the episode on collection.
  • name: BadGoal
  • size range: 0.5-5
  • cannot change color

Moving Negative Goal

Moving food with negative reward. Starts by moving in the direction provided by the rotation parameter.
  • name: BadGoalBounce
  • size range: 0.5-5
  • cannot change color

Stationary Positive Reward

Golden spheres with a positive reward equal to their size. Does **not** terminate the episode. The episode **is** terminated if all goals are collected. So, in an episode with only these rewards the episode will terminate when the last one is obtained.
  • name: GoodGoalMulti
  • size range: 0.5-5
  • cannot change color

Moving Positive Reward

Moving food with positive reward (non-terminating). Starts by moving in the direction provided by the rotation parameter.
  • name: GoodGoalMultiBounce
  • size range: 0.5-5
  • cannot change color

DeathZone:

A red zone with reward -1 that terminates the episode on contact.
  • name: DeathZone
  • size range: (1,0.5,1)-(40,10,40)
  • terminates an episode
  • cannot change color

HotZone:

An orange zone with reward `min(-10/T,-1e-5)` (or `-1e-5` if `T=0`) that **does not** end an episode.
  • name: HotZone
  • size range: (1,0.5,1)-(40,10,40)
  • does not terminate an episode
  • cannot change color
  • if a DeathZone and a HotZone overlap the DeathZone prevails

Decay Goal:

Variable-reward spheres whose reward 'decays' over time, following a (configurable) delay time. Colour changes (from purple to grey) and a radial-timer depletes over time during decay process. **Does not** end an episode except if all goals collected.
  • name: DecayGoal
  • initial/final reward value range: 0-5
  • size automatically sets to initial reward value
  • fixed frame delay value range: 0-inf (default is 150 frames)

Anti-Decay Goal:

Variable-reward spheres whose reward 'ripens' over time, following a (configurable) delay time. Colour changes (from grey to purple) and a radial-timer fills up over time during anti-decay process. **Does not** end an episode except if all goals collected.
  • name: AntiDecayGoal
  • initial/final reward value range: 0-5
  • size automatically sets to final reward value
  • fixed frame delay value range: 0-inf (default is 150 frames)

Grow Goal:

Variable-reward spheres whose physical size grows over time, following a (configurable) delay time. Reward tracks size change. **Does not** end an episode except if all goals collected.
  • name: GrowGoal
  • initial/final reward value range: 0-5
  • reward increases along with size value
  • fixed frame delay value range: 0-inf (default is 0 frames)
  • growth halts when GrowGoal is trapped between/underneath other objects

Shrink Goal:

Variable-reward spheres whose physical size shrinks over time, following a (configurable) delay time. Reward tracks size change. **Does not** end an episode except if all goals collected.
  • name: ShrinkGoal
  • initial/final reward value range: 0-5
  • reward decreases along with size value
  • fixed frame delay value range: 0-inf (default is 0 frames)

Other/Unique

Special objects with unique functionality. Spawners create and deposit new food into the arena, whilst Signs communicate visual information to the agent. These objects tend to have fixed dimensions (that may still be scaled by the size parameter).

Tree Spawner

Tree that grows new food over time. Food objects spawn and grow in the tree branches, then fall to the ground after a configurable 'ripening' time.
  • name: SpawnerTree
  • fixed size: dimensions 5.19 x 5.95 x 5.02 (may be scalable in future version)
  • spawned goal size range: 0.2-3
  • #spawns range: 0-inf (leave blank or set to -1 to spawn infinitely)
  • cannot change color of spawner; can change color of spawned goals

Goal Dispenser

Spawns new goal objects (finitely or otherwise) like a vending machine. After an optional, configurable time delay, the dispenser door can open and close at a regular specified interval. Food rolls out of the machine whenever the door is open.
  • name: SpawnerDispenser
  • fixed size: dimensions 1.67 x 4.46 x 1.67 (may be scalable in future version)
  • spawned goal size range: 0.2-1
  • #spawns range: 0-inf (leave blank or set to -1 to spawn infinitely)
  • can change color of spawner/goals

Goal Container

Spawns new goal objects (finitely or otherwise) in a small transparent container. After an optional, configurable time delay, the container door can open and close at a regular specified interval. Food stays within the container and can only be accessed by the agent when the door is open.
  • name: SpawnerContainer
  • fixed size: dimensions 1.67 x 1.67 x 1.67 (may be scalable in future version)
  • spawned goal size range: 0.2-1
  • #spawns range: 0-inf (leave blank or set to -1 to spawn infinitely)
  • can change color of spawner/goals

Sign Posterboard

Posterboard communicating visual information to the agent. Features a 'symbol' that can be chosen from a list of presets, or generated as a matrix of pixels from a special code (see [configFile.md](configFile.md)).
  • name: SignPosterboard
  • size range: 0.5-2.5 (note: x is posterboard thickness, y is height, z is width - size values for posterboards are a scale factor, not the actual size)
  • color change overrides the color of the symbol, not the posterboard itself - leave empty for the symbol's default color to be used
  • symbol is specified using the symbolNames parameter