def __init__(self, start_loc='all',
include_holdout_obj=True, num_meta_tasks=2,
persist_agent=True, persist_goal=True, persist_objs=True,
feedback_type=None, feedback_always=False, feedback_freq=False, intermediate_reward=False,
cartesian_steps=1, **kwargs):
"""
:param start_loc: which part of the grid to start the agent in. ['top', 'bottom', 'all']
:param include_holdout_obj: If true, uses all objects. If False, doesn't use grey objects or boxes
:param persist_agent: Whether to keep agent position the same across runs within a meta-task
:param persist_goal: Whether to keep the goal (i.e. textual mission string) the same across runs in a meta-task
:param persist_objs: Whether to keep object positions the same across runs within a meta-task
:param feedback_type: Type of teacher feedback, string
:param feedback_always: Whether to give that feedback type every time (rather than just when the agent needs help)
:param kwargs: Additional arguments passed to the parent class
"""
assert start_loc in ['top', 'bottom', 'all']
self.start_loc = start_loc
self.intermediate_reward = intermediate_reward
self.include_holdout_obj = include_holdout_obj
self.persist_agent = persist_agent
self.persist_goal = persist_goal
self.persist_objs = persist_objs
self.num_meta_tasks = num_meta_tasks
self.task = {}
self.itr = 0
self.feedback_type = feedback_type
super().__init__(**kwargs)
if feedback_type is not None:
self.oracle = {}
teachers = {}
for ft in feedback_type:
if ft == 'PostActionAdvice':
teacher = PostActionAdvice(Bot, self, feedback_always=feedback_always,
feedback_frequency=feedback_freq, cartesian_steps=cartesian_steps)
elif ft == 'PreActionAdvice':
teacher = PreActionAdvice(Bot, self, feedback_always=feedback_always,
feedback_frequency=feedback_freq, cartesian_steps=cartesian_steps)
elif ft == 'CartesianCorrections':
teacher = CartesianCorrections(Bot, self, feedback_always=feedback_always,
feedback_frequency=feedback_freq, cartesian_steps=cartesian_steps)
elif ft == 'SubgoalCorrections':
teacher = SubgoalCorrections(Bot, self, feedback_always=feedback_always,
feedback_frequency=feedback_freq, cartesian_steps=cartesian_steps)
else:
raise NotImplementedError
teachers[ft] = teacher
self.oracle[ft] = Bot(self)
teacher = BatchTeacher(teachers)
else:
teacher = None
self.teacher = teacher
def __init__(self, args):
self.args = args
# seeding
utils.seed(args.seed)
self.env = gym.make(id=args.env)
self.episodes = 300 # args.episodes
self.horizon = self.env.max_steps
self.initial_decay = 0.99 # args.decay
self.observation_preprocessor = utils.ObssPreprocessor(
model_name=args.model,
obs_space=self.env.observation_space,
load_vocab_from=getattr(self.args, 'pretrained_model', None))
# TODO: for now I am only running the small model
self.model = models.ACModel(obs_space=self.env.observation_space,
action_space=self.env.action_space)
self.learner = ModelAgent(
model_or_name=self.model,
obss_preprocessor=self.observation_preprocessor,
argmax=True)
self.teacher = Bot(self.env)
self.data = []
self.observation_preprocessor.vocab.save()
utils.save_model(self.model, args.model)
self.model.train()
if torch.cuda.is_available():
self.model.cuda()
self.optimizer = torch.optim.Adam(self.model.parameters(),
self.args.lr,
eps=self.args.optim_eps)
self.scheduler = torch.optim.lr_scheduler.StepLR(self.optimizer,
step_size=100,
gamma=0.9)
self.device = torch.device(
"cuda" if torch.cuda.is_available() else "cpu")
if self.device.type == 'cpu':
print('running on cpu...')
def on_reset(self):
self.bot = Bot(self.env)
num_success = 0
total_reward = 0
total_steps = []
total_bfs = 0
total_episode_steps = 0
total_bfs_steps = 0
for run_no in range(options.num_runs):
level = level_dict[level_name]
mission_seed = options.seed + run_no
mission = level(seed=mission_seed)
if not run_no % 1:
print(run_no, mission.mission)
expert = Bot(mission)
if options.verbose:
print(
'%s/%s: %s, seed=%d' %
(run_no + 1, options.num_runs, mission.surface, mission_seed))
optimal_actions = []
before_optimal_actions = []
non_optimal_steps = options.non_optimal_steps or int(
mission.max_steps // 3)
rng = Random(mission_seed)
try:
episode_steps = 0
last_action = None
def on_reset(self):
self.bot = Bot(self.env, forget=self.forget)
level_list = [options.level]
start_time = time.time()
for level_name in level_list:
num_success = 0
total_reward = 0
total_steps = 0
for run_no in range(options.num_runs):
level = level_dict[level_name]
mission_seed = options.seed + run_no
mission = level(seed=mission_seed)
expert = Bot(mission, forget=options.forget)
if options.verbose:
print(
'%s/%s: %s, seed=%d' %
(run_no + 1, options.num_runs, mission.surface, mission_seed))
try:
episode_steps = 0
while True:
action = expert.step()
obs, reward, done, info = mission.step(action)
total_reward += reward
episode_steps += 1
def replan(self, action_taken=None):
# Create an entirely new bot each time we need to plan
bot = Bot(self.mission)
action = bot.replan()
return action
