bitrl

bitrl is an effort to provide implementations and wrappers of environments suitable for training reinforcement learning agents using C++.

Furthermore, there is some minimal support for working with Arduino UNO boards over USB or WiFi. See also Working with Webots for how to integrate bitrl with Webots.

Various RL algorithms using the environments can be found at cuberl.

The documentation for the library can be found here. The following is an example how to use the FrozenLake environment from Gymnasium.

#include "bitrl/bitrl_types.h"
#include "bitrl/envs/gymnasium/toy_text/frozen_lake_env.h"
#include "bitrl/envs/api_server/apiserver.h"

#include <iostream>
#include <string>
#include <unordered_map>
#include <any>

namespace example_1{

const std::string SERVER_URL = "http://0.0.0.0:8001/api";

using bitrl::envs::gymnasium::FrozenLake;
using bitrl::envs::RESTApiServerWrapper;


void test_frozen_lake(const RESTApiServerWrapper& server){

    FrozenLake<4> env(server);

    std::cout<<"Environame URL: "<<env.get_url()<<std::endl;

    // make the environment
    std::unordered_map<std::string, std::any> options;
    options.insert({"is_slippery", false});
    env.make("v1", options);

    std::cout<<"Is environment created? "<<env.is_created()<<std::endl;
    std::cout<<"Is environment alive? "<<env.is_alive()<<std::endl;
    std::cout<<"Number of valid actions? "<<env.n_actions()<<std::endl;
    std::cout<<"Number of states? "<<env.n_states()<<std::endl;

    // reset the environment
    auto time_step = env.reset(42, std::unordered_map<std::string, std::any>());

    std::cout<<"Reward on reset: "<<time_step.reward()<<std::endl;
    std::cout<<"Observation on reset: "<<time_step.observation()<<std::endl;
    std::cout<<"Is terminal state: "<<time_step.done()<<std::endl;

    //...print the time_step
    std::cout<<time_step<<std::endl;

    // take an action in the environment
	// 2 = RIGHT
    auto new_time_step = env.step(2);

    std::cout<<new_time_step<<std::endl;

    // get the dynamics of the environment for the given state and action
    auto state = 0;
    auto action = 1;
    auto dynamics = env.p(state, action);

    std::cout<<"Dynamics for state="<<state<<" and action="<<action<<std::endl;

    for(auto item:dynamics){

        std::cout<<std::get<0>(item)<<std::endl;
        std::cout<<std::get<1>(item)<<std::endl;
        std::cout<<std::get<2>(item)<<std::endl;
        std::cout<<std::get<3>(item)<<std::endl;
    }
	
	action = env.sample_action();
	std::cout<<"Action sampled: "<<action<<std::endl;
	
	new_time_step = env.step(action);
    std::cout<<new_time_step<<std::endl;
	
	std::cout<<"env cidx: "<<env.cidx()<<std::endl;

    // close the environment
    env.close();
}

}


int main(){

	using namespace example_1;
	
	RESTApiServerWrapper server(SERVER_URL, true);

    std::cout<<"Testing FrozenLake..."<<std::endl;
    example_1::test_frozen_lake(server);
    std::cout<<"===================="<<std::endl;
  
    return 0;
}