Fix the demonstrate experiment and backport

experiments/zelda/demonstrate/nars_zelda.py

@@ -318,6 +318,14 @@ def abs_to_rel(avatar, op):
     return ["^rotate_right"] * dor + ["^move_forwards"]
 
 
+def last_avatar_event(history: list[dict]) -> Optional[dict]:
+    """Return the last avatar event in the history"""
+    for event in reversed(history):
+        if event["SourceObjectName"] == "avatar":
+            return event
+    return None
+
+
 def object_reached(obj_type: str, env_state: dict, info: dict) -> bool:
     """Check if an object has been reached
 
@@ -337,16 +345,14 @@ def object_reached(obj_type: str, env_state: dict, info: dict) -> bool:
     if len(history) == 0:
         return False
 
-    last_event = history[-1]
-    if (
-        last_event["SourceObjectName"] == "avatar"
-        and last_event["DestinationObjectName"] == obj_type
-    ):
-        send_input(
-            agent.process,
-            nal_now(f"<{ext(last_event['DestinationObjectName'])} --> [reached]>"),
-        )
-        return True
+    last_avent = last_avatar_event(history)
+    if last_avent is not None:
+        if last_avent["DestinationObjectName"] == obj_type:
+            send_input(
+                agent.process,
+                nal_now(f"<{ext(last_avent['DestinationObjectName'])} --> [reached]>"),
+            )
+            return True
 
     return False
 
@@ -389,15 +395,27 @@ def demo_reach_key(symbol: str) -> None:
         gym_actions = agent.determine_actions(
             {"executions": [{"operator": action, "arguments": []}]}
         )
-        _, _, done, _ = agent.env.step(gym_actions[0])
-        send_observation(agent.process, agent.env.get_state())  # type: ignore
+        _, reward, done, info = agent.env.step(gym_actions[0])
+        agent.observe()
+
+        env_state = agent.env.get_state()  # type: ignore
+        env_state["reward"] = reward
+
+        satisfied_goals = [g.satisfied(env_state, info) for g in goals]
+        for g, sat in zip(goals, satisfied_goals):
+            if sat:
+                print(f"{g.symbol} satisfied.")
+                send_input(agent.process, nal_now(g.symbol))
+                get_raw_output(agent.process)
 
-        env.render(observer="global")  # type: ignore
+                if g.symbol == key_goal_sym:
+                    agent.has_key = True
+
+        agent.env.render(observer="global")  # type: ignore
         sleep(1)
         if done:
-            env.reset()
+            agent.reset()
             demo_reach_key(symbol)
-    send_input(agent.process, nal_now(symbol))
 
 
 def make_loc_goal(process: pexpect.spawn, pos, goal_symbol):
@@ -461,9 +479,15 @@ def key_check(_, info) -> bool:
         think_ticks=10,
         background_knowledge=background_knowledge,
     )
+
+    # DEMONSTRATE
+    agent.reset()
+    print("Demonstration: reaching a key...")
+    demo_reach_key(KEY_GOAL.symbol)
+
     total_reward = 0.0
     episode_reward = 0.0
-    tb_writer = SummaryWriter(comment="-nars-zelda")
+    tb_writer = SummaryWriter(comment="-nars-zelda-demonstrate")
     done = False
     # TRAINING LOOP
     for episode in range(NUM_EPISODES):

experiments/zelda/main/nars_zelda.py

@@ -318,35 +318,31 @@ def abs_to_rel(avatar, op):
     return ["^rotate_right"] * dor + ["^move_forwards"]
 
 
+def last_avatar_event(history: list[dict]) -> Optional[dict]:
+    """Return the last avatar event in the history"""
+    for event in reversed(history):
+        if event["SourceObjectName"] == "avatar":
+            return event
+    return None
+
+
 def object_reached(obj_type: str, env_state: dict, info: dict) -> bool:
     """Check if an object has been reached
 
     Assumes that if the object does not exist, then it must have been reached.
     """
-    # try:
-    #     avatar = next(obj for obj in env_state["Objects"] if obj["Name"] == "avatar")
-    # except StopIteration:
-    #     ic("No avatar found. Goal unsatisfiable.")
-    #     return False
-    # try:
-    #     target = next(obj for obj in env_state["Objects"] if obj["Name"] == obj_type)
-    # except StopIteration:
-    #     return True
-    # return avatar["Location"] == target["Location"]
     history = info["History"]
     if len(history) == 0:
         return False
 
-    last_event = history[-1]
-    if (
-        last_event["SourceObjectName"] == "avatar"
-        and last_event["DestinationObjectName"] == obj_type
-    ):
-        send_input(
-            agent.process,
-            nal_now(f"<{ext(last_event['DestinationObjectName'])} --> [reached]>"),
-        )
-        return True
+    last_avent = last_avatar_event(history)
+    if last_avent is not None:
+        if last_avent["DestinationObjectName"] == obj_type:
+            send_input(
+                agent.process,
+                nal_now(f"<{ext(last_avent['DestinationObjectName'])} --> [reached]>"),
+            )
+            return True
 
     return False