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INITIAL_MUSHROOMS = (
(1, 1), (1, 5), (1, 8), (2, 3), (2, 7),
(3, 1), (3, 5), (3, 9), (4, 2), (4, 6),
(5, 0), (5, 4), (5, 8), (6, 2), (6, 7),
)
class CentipedeEnvironment:
"""Four-wave mushroom-field shooter with splitting chains and specialist insects."""
score_cap = 9_528.0
def __init__(self, sticky_action_prob: float = 0.1, horizon: int = 2_000):
self.sticky_action_prob = sticky_action_prob
self.horizon = horizon
self.random = np.random.RandomState()
self.seed(0)
self.reset()
@classmethod
def normalize_score(cls, raw_score: float) -> float:
return min(max(raw_score, 0.0), cls.score_cap) / cls.score_cap
def seed(self, seed: int) -> None:
self.random.seed(seed)
def reset(self) -> None:
self.player = [9, 5]
self.previous_player = self.player.copy()
self.shot: list[int] | None = None
self.mushrooms = {position: {"health": 3, "poisoned": False} for position in INITIAL_MUSHROOMS}
self.lives = 3
self.wave = 0
self.steps = 0
self.last_action = 0
self.terminal = False
self._start_wave()
def _start_wave(self) -> None:
head_count = self.wave + 1
main_length = 10 - head_count
self.chains = [self._make_chain(main_length, 0, 1)]
for index in range(head_count - 1):
self.chains.append(self._make_chain(1, index + 1, -1 if index % 2 else 1))
self.spider: list[int] | None = [8, 9]
self.flea: dict[str, object] | None = {"position": [0, int(self.random.randint(10))], "health": 2}
self.scorpion: list[int] | None = [3, 0] if self.wave >= 3 else None
self.previous_insects: list[list[int]] = []
self.wave_steps = 0
@staticmethod
def _make_chain(length: int, row: int, direction: int) -> dict[str, object]:
start = 0 if direction > 0 else 9
segments = [[row, (start - direction * index) % 10] for index in range(length)]
return {"segments": segments, "direction": direction, "diving": False}
def act(self, action: int) -> tuple[float, bool]:
if self.terminal:
return 0.0, True
if self.random.rand() < self.sticky_action_prob:
action = self.last_action
self.last_action = action
self.previous_player = self.player.copy()
if action in (1, 2, 3, 4):
row_delta, column_delta = {1: (0, -1), 2: (-1, 0), 3: (0, 1), 4: (1, 0)}[action]
target = [self.player[0] + row_delta, self.player[1] + column_delta]
if 7 <= target[0] <= 9 and 0 <= target[1] < 10:
self.player = target
elif action == 5 and self.shot is None:
self.shot = [self.player[0] - 1, self.player[1]]
self.previous_insects = self._insect_positions()
self._move_centipedes()
self._move_specials()
if self.shot is not None:
self.shot[0] -= 1
if self.shot[0] < 0:
self.shot = None
reward = self._resolve_shot()
reward += self._resolve_contacts()
self.wave_steps += 1
self.steps += 1
if not self.chains:
self.wave += 1
if self.wave == 4:
self.terminal = True
else:
self._start_wave()
if self.steps >= self.horizon:
self.terminal = True
return reward, self.terminal
def _move_centipedes(self) -> None:
for chain in self.chains:
segments = chain["segments"]
previous = [segment.copy() for segment in segments]
head = segments[0]
if bool(chain["diving"]):
head[0] = min(9, head[0] + 1)
if head[0] >= 8:
chain["diving"] = False
chain["direction"] = -int(chain["direction"])
else:
target_column = head[1] + int(chain["direction"])
target = (head[0], target_column)
if target_column < 0 or target_column > 9 or target in self.mushrooms:
mushroom = self.mushrooms.get(target)
if mushroom is not None and bool(mushroom["poisoned"]):
chain["diving"] = True
head[0] = min(9, head[0] + 1)
chain["direction"] = -int(chain["direction"])
else:
head[1] = target_column
for index in range(1, len(segments)):
segments[index][:] = previous[index - 1]
def _move_specials(self) -> None:
if self.spider is not None:
self.spider[1] += -1 if self.wave_steps % 4 < 2 else 1
self.spider[0] = int(np.clip(self.spider[0] + (-1 if self.wave_steps % 3 == 0 else 1), 7, 9))
if self.spider[1] < 0 or self.spider[1] > 9:
self.spider[1] %= 10
if self.flea is not None:
position = self.flea["position"]
position[0] += 2 if int(self.flea["health"]) == 1 else 1
if position[0] in (2, 4, 6) and tuple(position) not in self.mushrooms:
self.mushrooms[tuple(position)] = {"health": 3, "poisoned": False}
if position[0] > 9:
self.flea = None
if self.scorpion is not None:
self.scorpion[1] += 1
position = tuple(self.scorpion)
if position in self.mushrooms:
self.mushrooms[position]["poisoned"] = True
if self.scorpion[1] > 9:
self.scorpion = None
def _resolve_shot(self) -> float:
if self.shot is None:
return 0.0
for chain in self.chains.copy():
segments = chain["segments"]
hit_index = next((index for index, segment in enumerate(segments) if segment == self.shot), None)
if hit_index is None:
continue
position = tuple(segments[hit_index])
reward = 100.0 if hit_index == 0 else 10.0
before = segments[:hit_index]
after = segments[hit_index + 1:]
self.chains.remove(chain)
if before:
self.chains.append({"segments": before, "direction": chain["direction"], "diving": chain["diving"]})
if after:
self.chains.append({"segments": after, "direction": -int(chain["direction"]), "diving": False})
self.mushrooms.setdefault(position, {"health": 3, "poisoned": False})
self.shot = None
return reward
if self.spider == self.shot:
distance = abs(self.spider[0] - self.player[0]) + abs(self.spider[1] - self.player[1])
self.spider = None
self.shot = None
return 900.0 if distance <= 2 else 600.0 if distance <= 4 else 300.0
if self.flea is not None and self.flea["position"] == self.shot:
self.flea["health"] = int(self.flea["health"]) - 1
self.shot = None
if int(self.flea["health"]) == 0:
self.flea = None
return 200.0
return 0.0
if self.scorpion == self.shot:
self.scorpion = None
self.shot = None
for mushroom in self.mushrooms.values():
mushroom["poisoned"] = False
return 1_000.0
shot_position = tuple(self.shot)
mushroom = self.mushrooms.get(shot_position)
if mushroom is not None:
mushroom["health"] = int(mushroom["health"]) - 1
self.shot = None
if int(mushroom["health"]) == 0:
del self.mushrooms[shot_position]
return 1.0
return 0.0
def _resolve_contacts(self) -> float:
hazards = self._insect_positions()
if self.player not in hazards:
return 0.0
bonus = float((len(self.mushrooms) // 2) * 5)
self.lives -= 1
self.player = [9, 5]
self.previous_player = self.player.copy()
self.shot = None
for mushroom in self.mushrooms.values():
mushroom["poisoned"] = False
mushroom["health"] = 3
if self.lives <= 0:
self.terminal = True
return bonus
def _insect_positions(self) -> list[list[int]]:
positions = [segment.copy() for chain in self.chains for segment in chain["segments"]]
if self.spider is not None:
positions.append(self.spider.copy())
if self.flea is not None:
positions.append(list(self.flea["position"]))
if self.scorpion is not None:
positions.append(self.scorpion.copy())
return positions
def state(self) -> np.ndarray:
state = np.zeros((10, 10, 6), dtype=bool)
state[*self.player, 0] = True
for chain in self.chains:
for index, segment in enumerate(chain["segments"]):
state[*segment, 1] = True
state[*segment, 2] = True
if index == 0:
state[segment[0], segment[1], 5] = True
for position in (self.spider, None if self.flea is None else self.flea["position"], self.scorpion):
if position is not None:
state[*position, 1] = True
state[*position, 2] = True
for position, mushroom in self.mushrooms.items():
state[*position, 2] = True
state[*position, 5] = True
if bool(mushroom["poisoned"]):
state[*position, 1] = True
if self.shot is not None:
state[*self.shot, 3] = True
state[*self.previous_player, 4] = True
for position in self.previous_insects:
if 0 <= position[0] < 10 and 0 <= position[1] < 10:
state[*position, 4] = True
state[9, : self.lives, 5] = True
state[8, : self.wave + 1, 5] = True
return state
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