- Task Description
- Feature Vector Format
- Action Label
- Performance
- Novelty Indicator
- Novelty Characterization
- Sample (Mock) Novelty
- Phase 1 Revealed Novelty
- Frequently Asked Questions
For the Phase 2 novelty-level-0 VizDoom task, the agent (player) must kill all the enemies in the environment. The map for all Phase 2 levels is fixed and shown below. The agent has eight actions: forward, backward, left, right, turn left 45 degrees, turn right 45 degrees, shoot and do nothing. The enemies have the same actions (except do nothing). In level 0, the agent and 2-4 enemies spawn in random locations in the map. Enemies move randomly, but can shoot at the agent if facing them. The agent and enemies all use the pistol for a weapon and bullets for ammo. The agent begins with some amount of health and ammo. Enemies also begin with some amount of health, but infinite ammo. There are objects in the environment: health packs, ammo packs, traps (negative health packs), and fixed obstacles. The player collects packs by moving over them. The enemies do not collect packs.
On each turn, the agent receives sensor information about the state of the game, including the agent's location, orientation, health and ammo; each enemy's location, orientation and health; and the locations of all packs and obstacles. The geometry (walls) of the map are provided in the first set of sensor information. An optional image is also available.
The agent has 2000 game ticks to kill all the enemies. A game tick corresponds to 0.02 seconds in the game. An episode ends when either all the enemies are dead, the agent dies, or a time limit is exceeded. The score for the episode is (2000 - T) / 2000, where T is the time at which the agent wins the game (kills all the enemies). If the agent dies, or runs out of time, the score is zero.
See the vizdoom.json file for a precise specification of the domain, including ranges on sensor values.
The feature vector provides a value for each sensor and is sent in JSON format. The high-level sensor information includes "enemies", "items", "player", "timestamp" and "image". The "enemies" array includes an entry for each live enemy, which includes their ID, orientation, position, and health. The player object includes the agent's ID, orientation, position, health and ammo. The "items" array includes subarrays for "health", "ammo", "trap" and "obstacle". Each of these subarrays includes ID, position and orientation information for uncollected items. See below for an example.
{
"enemies": [
{
"id": 1,
"angle": 270.0,
"x_position": 235.0094,
"y_position": 17.6364,
"z_position": 0.0,
"name": "ZombieMan",
"health": 20.0
}
],
"items": {
"health": [
{
"id": 9,
"angle": 0.0,
"x_position": 447.5784,
"y_position": 195.6249,
"z_position": 0.0
},
{
"id": 10,
"angle": 0.0,
"x_position": -287.9644,
"y_position": 85.8104,
"z_position": 0.0
},
{
"id": 11,
"angle": 0.0,
"x_position": -18.8223,
"y_position": 76.51,
"z_position": 0.0
}
],
"ammo": [
{
"id": 12,
"angle": 0.0,
"x_position": 462.2229,
"y_position": -174.2259,
"z_position": 0.0
},
{
"id": 13,
"angle": 0.0,
"x_position": 482.8499,
"y_position": -8.8603,
"z_position": 0.0
},
{
"id": 14,
"angle": 0.0,
"x_position": -227.0497,
"y_position": 123.6179,
"z_position": 0.0
},
{
"id": 15,
"angle": 0.0,
"x_position": -86.8704,
"y_position": 71.5086,
"z_position": 0.0
}
],
"trap": [
{
"id": 5,
"angle": 0.0,
"x_position": 105.1622,
"y_position": -409.6578,
"z_position": 0.0
},
{
"id": 6,
"angle": 0.0,
"x_position": 218.5878,
"y_position": 474.754,
"z_position": 0.0
},
{
"id": 7,
"angle": 0.0,
"x_position": 208.1536,
"y_position": 117.6079,
"z_position": 0.0
},
{
"id": 8,
"angle": 0.0,
"x_position": 218.2329,
"y_position": 5.6266,
"z_position": 0.0
}
],
"obstacle": [
{
"id": 3,
"angle": 0.0,
"x_position": -25.2912,
"y_position": 208.6945,
"z_position": 0.0
},
{
"id": 4,
"angle": 0.0,
"x_position": -52.338,
"y_position": 473.5073,
"z_position": 0.0
}
]
},
"player": {
"id": 16,
"angle": 180.0,
"x_position": 118.7994,
"y_position": -284.8702,
"z_position": 0.0,
"health": 65.0
"ammo": 20.0
},
"time_stamp": 1627669530.0396042,
"image": null
}
Additional wall sensor will be sent on the intial feature_vector:
"walls": [
{
"x1": -320.0,
"x2": -64.0,
"y1": 320.0,
"y2": 320.0
},
{
"x1": 320.0,
"x2": 320.0,
"y1": 320.0,
"y2": 64.0
},
...
Each turn, the agent provides an action to be performed, which is one of ['nothing', 'left', 'right', 'forward', 'backward', 'shoot', 'turn_left', 'turn_right']. The returned action is referred to as the "label", which is an artifact of other domains in which the task is classification.
The current performance of the agent on the current episode is provided as feedback after each agent response and is sent in JSON format. For VizDoom, performance is defined as the amount of time left in the episode divided by the maximium time for the episode. The performance at the end of the episode is recorded as the performance for that entire episode.
After each sensor fecture vector, the novelty generator sends a novelty indicator, which indicates if the current episode is novel "true", not novel "false" (i.e., novelty level 0), or unknown "null". The novelty indicator will be the same for every turn during an episode.
At the end of each episode, the agent provides a novelty characterization for the episode, which includes a probability of novelty, probability threshold, novelty level, and a characterization string.
The VizDoom novelty generator includes sample Phase 2 novelties for levels 1-5, also called Mock novelties. These are described below.
- Level 1: Change in number of health packs.
- Level 2: Enemies have increased speed.
- Level 3: Enemies move toward player.
- Level 4: Enemy damage increases as closer to player.
- Level 5: Enemies spread out.
The implementations of these mock novelties can be found in the folder WSU-Portable-Generator/source/partial_env_generator/envs/vizdoom/wad_reduced/SCRIPTS.txt.
-
Level 1 (Class): Change in size of enemy hit box (smaller means harder to hit)
- No novelty: Size = 20
- Easy: Size = 15
- Medium: Size = 10
- Hard: Size = 5
-
Level 2 (Attribute): Change in enemy health and available ammo packs (+15 ammo each)
- No novelty: Health = 10hp (3 shots to kill), 2-4 ammo packs
- Easy: Health = 20hp (~5 shots to kill)
- Medium: Health = 30hp (~7 shots to kill)
- Hard: Health = 40hp (~9 shots to kill)
-
Level 3 (Representation): Decrease position precision by bucketizing position values
- No novelty: Maximum floating point precision
- Easy: Discretize position values into 50 buckets
- Medium: Health = Discretize position values into 40 buckets
- Hard: Health = Discretize position values into 30 buckets
The below FAQ refers to Phase 2. Answers may change for Phase 3.
-
Why doesn't the sensor data include information on projectiles?
- Projectiles have been removed from the game. There is only one weapon (pistol) and one ammo type (bullets).
-
How will novel objects and attributes appear in the JSON sensor information?
- The object types and their attributes, as shown in the sample JSON above, are fixed. No new object types or attributes will appear in the JSON.
-
Can the player shoot over ammo/health packs and traps? Is this the same for enemies?
- Yes, the player and enemies can shoot over health/ammo/traps but not through obstacles or walls.
-
Do bullets penetrate enemies? Can enemies damage each other?
- Bullets do not pass through enemies. Enemies can damage each other.
-
Can enemies hit traps?
- No. Enemies do not pick up health packs, ammo packs, or traps. This may change post-novelty.
-
How much damage does each bullet do?
- Each bullet (player and enemy) does approximately 5 damage, depending on the armor level. Enemies start with 10hp and 5points of armor, which results in 3-4 shots to kill. These values may change post-novelty.
-
Does a player have a maximum ammo cap?
- The player has a maximum cap of 200 for both health and ammo. The enemy has infinite ammo.
-
How large (x,y) are each of the items and agents?
- Objects in the game are defined by a radius R and height H. The (x,y) size of an object is (2R x 2R). The H and R for VizDoom objects are defined in
ViZDoom/src/vizdoom/wadsrc/static/actors/on the VizDoom GitHub. For the player, R = 16 and H = 56. For the enemies (ZombieMan), R = 20 and H = 56. Obstacles, R = 16 and H = 52. For health packs, ammo packs and traps, R = 20 and H = 52.
- Objects in the game are defined by a radius R and height H. The (x,y) size of an object is (2R x 2R). The H and R for VizDoom objects are defined in
-
Is the ID counter global (i.e., playerID and enemyID cannot be the same value)?
- ID's are unique per object. So, no two object have the same ID. However, objects may not have the same ID from game to game.
-
Can we setup levels in a specific configuration (objects, agents in specific locations)?
- You can do this by modifying or replacing the novelty level WAD file (
WSU-SAILON-NG/WSU-Portable-Generator/source/partial_env_generator/envs/vizdoom/phase_2_reduced.wad). A more readable version of the WAD file is in the directoryWSU-SAILON-NG/WSU-Portable-Generator/source/partial_env_generator/envs/vizdoom/wad_reduced. To get started with editing Doom scenarios, see Custom Scenarios.
- You can do this by modifying or replacing the novelty level WAD file (
-
Are obstacles fixed?
- Obstacles have a large mass but can move a very small amount when moved into or when shot.