Godot Environments

Agent

Godot agent : upon generating trajectories both the human user and the learning agent use 'Z' 'Q' 'S' 'D' 'SPACE' keys and the mouse to control the agent.

Raycast vision of the agent : alongside position and orientation information, the learning agent uses depth map images obtained using 11 × 11 raycasts at 180°.

We introduce a video-game like 3D navigation environments, implemented with Godot and offering diverse tasks with explainable spatial challenges.

There are two families of mazes : SimpleTown ones are relatively simple, with a size of 30 × 30 meters, the starting positions are randomly sampled on one side, and the goal positions on the other side ; AmazeVille ones, with a size of 60 × 60 meters, have a finite set of start and goal positions, and include two subsets of maps : some with high blocks, i.e. not jumpable obstacles ; others with low blocks, i.e. jumpable ones.

In the Godot-based environments, the episodes datasets were sampled manually over approximately 10 hours, resulting in 100 episodes for each AmazeVille maze and 250 episodes for each SimpleTown maze.