refactor: migrate gymnasia from v1 to v3

Cargo.toml

@@ -25,7 +25,7 @@ itertools = "0.10"
 tracing = { version = "0.1", default-features = false }
 tracing-appender = "0.2"
 tracing-subscriber = { version = "0.3", default-features = false, features = ["env-filter", "fmt", "json", "std"] }
-gymnasia = { version = "1.0", default-features = false }
+gymnasia = { version = "3.0", default-features = false }
 uuid = { version = "1.2.2", features = ["v4", "serde"] }
 clap = { version = "4.1.8", features = ["derive"] }
 config = "0.13"

crates/lgp-cli/Cargo.toml

@@ -21,7 +21,7 @@ serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"
 csv = "1.1"
 itertools = "0.10"
-gymnasia = { version = "1.0", default-features = false }
+gymnasia = { version = "3.0", default-features = false }
 rayon = "1.7"
 tracing = { version = "0.1", features = ["attributes"] }
 tracing-subscriber = { version = "0.3", default-features = false, features = ["env-filter", "fmt", "json", "std", "ansi"] }

crates/lgp/Cargo.toml

@@ -25,7 +25,7 @@ itertools = "0.10"
 tracing = { version = "0.1", features = ["attributes"] }
 tracing-appender = "0.2"
 tracing-subscriber = { version = "0.3", default-features = false, features = ["env-filter", "fmt", "json", "std", "ansi"] }
-gymnasia = { version = "1.0", default-features = false, optional = true }
+gymnasia = { version = "3.0", default-features = false, optional = true }
 uuid = { version = "1.2.2", features = ["v4", "serde"] }
 clap = { version = "4.1.8", features = ["derive"] }
 config = "0.13"

crates/lgp/benches/performance_after_training.rs

@@ -6,39 +6,33 @@ use lgp::{
     utils::benchmark_tools::load_and_run_program,
 };
 
-const TYPES: &[&str] = &[
-    "mountain_car_q",
-    "mountain_car_lgp",
-    "cart_pole_q",
-    "cart_pole_lgp",
+/// Maps benchmark type to the config directory name used by the experiment runner.
+const TYPES: &[(&str, &str)] = &[
+    ("mountain_car_q", "mountain_car_with_q"),
+    ("mountain_car_lgp", "mountain_car_lgp"),
+    ("cart_pole_q", "cart_pole_with_q"),
+    ("cart_pole_lgp", "cart_pole_lgp"),
 ];
 
 fn performance_benchmark(c: &mut Criterion) {
     let n_trials = 5;
-    let n_iterations = 100;
 
-    for program_type in TYPES {
+    for (program_type, config_dir) in TYPES {
         let mut better_count = 0;
-        let mut improvement_values = Vec::with_capacity(n_iterations);
-
-        for path in glob(&format!(
-            "assets/experiments/**/benchmarks/{}/best.json",
-            program_type
-        ))
-        .unwrap()
-        .flatten()
-        {
-            let parent = path.parent().unwrap().parent().unwrap().parent().unwrap();
-            let iteration_count = parent
-                .file_name()
-                .unwrap()
-                .to_str()
-                .unwrap()
-                .replace("iteration_", "")
-                .parse::<u32>()
-                .unwrap();
-
-            let bench_id = format!("perf_{}_iteration_{}", program_type, iteration_count);
+        let mut improvement_values = Vec::new();
+
+        let pattern = format!("outputs/{}/**/outputs/best.json", config_dir);
+
+        for path in glob(&pattern).unwrap().flatten() {
+            // Layout: outputs/<name>/<run_id>/outputs/best.json
+            let run_id = path
+                .parent()
+                .and_then(|p| p.parent())
+                .and_then(|p| p.file_name())
+                .and_then(|n| n.to_str())
+                .unwrap_or("unknown");
+
+            let bench_id = format!("perf_{}_{}", program_type, run_id);
 
             c.bench_function(&bench_id, |b| {
                 b.iter(|| {
@@ -75,6 +69,14 @@ fn performance_benchmark(c: &mut Criterion) {
             });
         }
 
+        if improvement_values.is_empty() {
+            eprintln!(
+                "No benchmark data found for '{}' (glob: {}). Skipping.",
+                program_type, pattern
+            );
+            continue;
+        }
+
         let mean =
             improvement_values.iter().cloned().sum::<f64>() / improvement_values.len() as f64;
         let median = {

crates/lgp/examples/cart_pole.rs

@@ -5,9 +5,8 @@
 //!
 //! Run with: `cargo run -p lgp-core --example cart_pole --features gym`
 
-use itertools::Itertools;
-
 use gymnasia::envs::classical_control::cartpole::CartPoleEnv;
+use itertools::Itertools;
 
 use lgp::core::engines::core_engine::HyperParametersBuilder;
 use lgp::core::engines::status_engine::{Status, StatusEngine};

crates/lgp/src/problems/gym.rs

@@ -1,9 +1,10 @@
 use std::marker::PhantomData;
 
 use gymnasia::core::Env;
+use gymnasia::core::Flatten;
+use gymnasia::core::StepResult;
 use gymnasia::envs::classical_control::cartpole::CartPoleEnv;
 use gymnasia::envs::classical_control::mountain_car::MountainCarEnv;
-use gymnasia::utils::renderer::RenderMode;
 
 use crate::core::engines::breed_engine::BreedEngine;
 use crate::core::engines::core_engine::Core;
@@ -23,9 +24,9 @@ use crate::extensions::interactive::UseRlFitness;
 use crate::extensions::q_learning::QProgram;
 use crate::extensions::q_learning::QProgramGeneratorParameters;
 
-pub trait GymRsEnvExt: Env<Action = usize> + Send + Sync
+pub trait GymRsEnvExt: Env<Action = i64> + Clone + Send + Sync
 where
-    Self::Observation: Copy + Into<Vec<f64>> + Send + Sync,
+    Self::Observation: Copy + Flatten + Send + Sync,
 {
     fn create() -> Self;
     fn max_steps() -> usize;
@@ -34,7 +35,7 @@ where
 
 impl GymRsEnvExt for CartPoleEnv {
     fn create() -> Self {
-        CartPoleEnv::new(RenderMode::None)
+        CartPoleEnv::new()
     }
     fn max_steps() -> usize {
         500
@@ -46,7 +47,7 @@ impl GymRsEnvExt for CartPoleEnv {
 
 impl GymRsEnvExt for MountainCarEnv {
     fn create() -> Self {
-        MountainCarEnv::new(RenderMode::None)
+        MountainCarEnv::new()
     }
     fn max_steps() -> usize {
         200
@@ -59,7 +60,7 @@ impl GymRsEnvExt for MountainCarEnv {
 #[derive(Clone, Debug)]
 pub struct GymRsInput<E: GymRsEnvExt>
 where
-    E::Observation: Copy + Into<Vec<f64>> + Send + Sync,
+    E::Observation: Copy + Flatten + Send + Sync,
 {
     environment: E,
     terminated: bool,
@@ -71,19 +72,19 @@ where
 impl<E> State for GymRsInput<E>
 where
     E: GymRsEnvExt,
-    E::Observation: Copy + Into<Vec<f64>> + Send + Sync,
+    E::Observation: Copy + Flatten + Send + Sync,
 {
     fn get_value(&self, idx: usize) -> f64 {
         self.observation[idx]
     }
 
     fn execute_action(&mut self, action: usize) -> f64 {
-        let action_reward = self.environment.step(action);
+        let step_result: StepResult<E::Observation> = self.environment.step(action as i64);
         self.episode_idx += 1;
-        self.observation = action_reward.observation.into();
+        self.observation = step_result.observation.flatten();
         self.terminated =
-            self.episode_idx >= E::max_steps() || action_reward.done || action_reward.truncated;
-        action_reward.reward.into_inner()
+            self.episode_idx >= E::max_steps() || step_result.terminated || step_result.truncated;
+        step_result.reward
     }
 
     fn get(&mut self) -> Option<&mut Self> {
@@ -98,26 +99,26 @@ where
 impl<T> RlState for GymRsInput<T>
 where
     T: GymRsEnvExt,
-    T::Observation: Copy + Into<Vec<f64>> + Send + Sync,
+    T::Observation: Copy + Flatten + Send + Sync,
 {
     fn is_terminal(&mut self) -> bool {
         self.terminated
     }
 
     fn get_initial_state(&self) -> Vec<f64> {
-        self.initial_state.into()
+        self.initial_state.flatten()
     }
 }
 
 impl<T> Reset<GymRsInput<T>> for ResetEngine
 where
     T: GymRsEnvExt,
-    T::Observation: Copy + Into<Vec<f64>> + Send + Sync,
+    T::Observation: Copy + Flatten + Send + Sync,
 {
     fn reset(item: &mut GymRsInput<T>) {
-        item.environment.reset(None, false, None);
+        item.environment.reset(None, Default::default());
         item.environment.set_state(item.initial_state);
-        item.observation = item.initial_state.into();
+        item.observation = item.initial_state.flatten();
         item.terminated = false;
         item.episode_idx = 0;
     }
@@ -126,12 +127,12 @@ where
 impl<T> Generate<(), GymRsInput<T>> for GenerateEngine
 where
     T: GymRsEnvExt,
-    T::Observation: Copy + Into<Vec<f64>> + Send + Sync,
+    T::Observation: Copy + Flatten + Send + Sync,
 {
     fn generate(_from: ()) -> GymRsInput<T> {
         let mut environment: T = T::create();
-        let (initial_state, _) = environment.reset(None, false, None);
-        let observation = initial_state.into();
+        let initial_state = environment.reset(None, Default::default());
+        let observation = initial_state.flatten();
 
         GymRsInput {
             environment,
@@ -151,7 +152,7 @@ pub struct GymRsEngine<T>(PhantomData<T>);
 impl<T> Core for GymRsQEngine<T>
 where
     T: GymRsEnvExt,
-    T::Observation: Copy + Into<Vec<f64>> + Send + Sync,
+    T::Observation: Copy + Flatten + Send + Sync,
 {
     type Individual = QProgram;
     type ProgramParameters = QProgramGeneratorParameters;
@@ -169,7 +170,7 @@ where
 impl<T> Core for GymRsEngine<T>
 where
     T: GymRsEnvExt,
-    T::Observation: Copy + Into<Vec<f64>> + Send + Sync,
+    T::Observation: Copy + Flatten + Send + Sync,
 {
     type Individual = Program;
     type ProgramParameters = ProgramGeneratorParameters;