def main():
ap = argparse.ArgumentParser()
ap.add_argument('--arch', required=True, nargs='+', type=int)
ap.add_argument('--lr', required=False, type=int, default=.01)
ap.add_argument('--epochs', required=False, type=int, default=100)
ap.add_argument('--iters', required=True, type=int)
ap.add_argument('--trials', required=True, type=int)
ap.add_argument('--env', required=True)
ap.add_argument('--t', required=True, type=int)
ap.add_argument('--grads', required=True, type=int)
ap.add_argument('--weights',
required=True,
nargs='+',
type=float,
default=[1.0, .1, .5])
ap.add_argument('--ufact', required=True, default=4.0, type=float)
ap.add_argument('--id', required=True, default=4.0, type=int)
opt = Options()
args = ap.parse_args()
opt.load_args(args)
args = vars(args)
opt.envname = opt.env
opt.env = gym.envs.make(opt.envname).env
opt.sim = gym.envs.make(opt.envname).env
exp_id = args['id']
opt.env.my_weights = args['weights']
opt.env.ufact = args['ufact']
opt.pi = net.Network([64, 64], .01, 300)
suffix = '_' + utils.stringify(args['weights']) + '_' + str(args['ufact'])
weights_path = 'meta/' + 'test' + '/' + opt.envname + '_' + str(
exp_id) + '_weights' + suffix + '.txt'
stats_path = 'meta/' + 'test' + '/' + opt.envname + '_' + str(
exp_id) + '_stats' + suffix + '.txt'
opt.pi.load_weights(weights_path, stats_path)
opt.sup = Supervisor(opt.pi)
opt.misc = Options()
opt.misc.num_evaluations = 1
try:
for t in range(opt.trials):
start_time = timer.time()
results = run_trial(opt)
except KeyboardInterrupt:
pass
def main():
ap = argparse.ArgumentParser()
ap.add_argument('--arch', required=True, nargs='+', type=int)
ap.add_argument('--lr', required=False, type=float, default=.01)
ap.add_argument('--epochs', required=False, type=int, default=100)
ap.add_argument('--iters', required=True, type=int)
ap.add_argument('--trials', required=True, type=int)
ap.add_argument('--env', required=True)
ap.add_argument('--t', required=True, type=int)
ap.add_argument('--grads', required=True, type=int)
ap.add_argument('--weights',
required=True,
nargs='+',
type=float,
default=[1.0, .1, .5])
ap.add_argument('--ufact', required=True, default=4.0, type=float)
ap.add_argument('--id', required=True, default=4.0, type=int)
ap.add_argument('--nu', required=True, type=float)
ap.add_argument('--gamma', required=True, type=float)
opt = Options()
args = ap.parse_args()
opt.load_args(args)
args = vars(args)
opt.envname = opt.env
opt.env = gym.envs.make(opt.envname).env
opt.sim = gym.envs.make(opt.envname).env
exp_id = args['id']
opt.env.my_weights = args['weights']
opt.env.ufact = args['ufact']
opt.pi = net.Network([64, 64], .01, 300)
suffix = '_' + utils.stringify(args['weights']) + '_' + str(args['ufact'])
weights_path = 'meta/' + 'test' + '/' + opt.envname + '_' + str(
exp_id) + '_weights' + suffix + '.txt'
stats_path = 'meta/' + 'test' + '/' + opt.envname + '_' + str(
exp_id) + '_stats' + suffix + '.txt'
opt.pi.load_weights(weights_path, stats_path)
opt.sup = Supervisor(opt.pi)
opt.misc = Options()
opt.misc.num_evaluations = 1
opt.misc.samples = 5
rec_results = {}
lnr_results = {}
plot_dir = utils.generate_plot_dir('initial', 'experts', vars(opt))
data_dir = utils.generate_data_dir('initial', 'experts', vars(opt))
if not os.path.exists(plot_dir):
os.makedirs(plot_dir)
if not os.path.exists(data_dir):
os.makedirs(data_dir)
if not os.path.exists(data_dir + '/full'):
os.makedirs(data_dir + '/full')
if not os.path.exists(plot_dir + '/full'):
os.makedirs(plot_dir + '/full')
opt.data_dir = data_dir
opt.plot_dir = plot_dir
trials_data = run_trial(opt)
def main():
ap = argparse.ArgumentParser()
ap.add_argument('--arch', required=True, nargs='+', type=int)
ap.add_argument('--lr', required=False, type=float, default=.01)
ap.add_argument('--epochs', required=False, type=int, default=100)
ap.add_argument('--iters', required=True, type=int)
ap.add_argument('--trials', required=True, type=int)
ap.add_argument('--env', required=True)
ap.add_argument('--t', required=True, type=int)
ap.add_argument('--grads', required=True, type=int)
ap.add_argument('--weights', required=True, nargs='+', type=float, default=[1.0, .1, .5])
ap.add_argument('--ufact', required=True, default=4.0, type=float)
ap.add_argument('--id', required=True, default=4.0, type=int)
ap.add_argument('--nu', required=True, type=float)
ap.add_argument('--gamma', required=True, type=float)
opt = Options()
args = ap.parse_args()
opt.load_args(args)
args = vars(args)
opt.envname = opt.env
opt.env = gym.envs.make(opt.envname).env
opt.sim = gym.envs.make(opt.envname).env
exp_id = args['id']
opt.env.my_weights = args['weights']
opt.env.ufact = args['ufact']
opt.pi = net.Network([64, 64], .01, 300)
suffix = '_' + utils.stringify(args['weights']) + '_' + str(args['ufact'])
weights_path = 'meta/' + 'test' + '/' + opt.envname + '_' + str(exp_id) + '_weights' + suffix + '.txt'
stats_path = 'meta/' + 'test' + '/' + opt.envname + '_' + str(exp_id) + '_stats' + suffix + '.txt'
opt.pi.load_weights(weights_path, stats_path)
opt.sup = Supervisor(opt.pi)
opt.misc = Options()
opt.misc.num_evaluations = 1
opt.misc.samples = 5
rec_results = {}
lnr_results = {}
plot_dir = utils.generate_plot_dir('initial', 'experts', vars(opt))
data_dir = utils.generate_data_dir('initial', 'experts', vars(opt))
if not os.path.exists(plot_dir):
os.makedirs(plot_dir)
if not os.path.exists(data_dir):
os.makedirs(data_dir)
if not os.path.exists(data_dir + '/opt'):
os.makedirs(data_dir + '/opt')
if not os.path.exists(plot_dir + '/opt'):
os.makedirs(plot_dir + '/opt')
trials_data = []
try:
for t in range(opt.trials):
print "Trial: " + str(t)
start_time = timer.time()
results = run_trial(opt)
trials_data.append(results)
pickle.dump(trials_data, open(data_dir + 'opt/trials_data.pkl', 'w'))
except KeyboardInterrupt:
pass
envname = 'Pusher6-v0'
exp_id = args['id']
env = gym.envs.make(envname).env
env.my_weights = args['weights']
env.ufact = args['ufact']
net = net.Network([64, 64], .01, 300)
#net.load_weights('meta/weights.txt', 'meta/stats.txt')
suffix = '_' + utils.stringify(args['weights']) + '_' + str(args['ufact'])
weights_path = 'meta/' + 'test' + '/' + envname + '_' + str(
exp_id) + '_weights' + suffix + '.txt'
stats_path = 'meta/' + 'test' + '/' + envname + '_' + str(
exp_id) + '_stats' + suffix + '.txt'
net.load_weights(weights_path, stats_path)
net_sup = Supervisor(net)
opt = Options
opt.env = env
opt.sup = net_sup
opt.t = 100
est = knet.Network([64, 64], learning_rate=.01, epochs=100)
lnr = learner.Learner(est)
oc = OneClassSVM(kernel='rbf', gamma=.01, nu=.01)
ITERATIONS = 500
print "\n\nSup rollouts\n\n"
sup_failures = 0
initial_states = []
def main():
ap = argparse.ArgumentParser()
ap.add_argument('--arch', required=True, nargs='+', type=int)
ap.add_argument('--lr', required=False, type=float, default=.01)
ap.add_argument('--epochs', required=False, type=int, default=100)
ap.add_argument('--iters', required=True, type=int)
ap.add_argument('--trials', required=True, type=int)
ap.add_argument('--env', required=True)
ap.add_argument('--t', required=True, type=int)
ap.add_argument('--grads', required=True, type=int)
ap.add_argument('--weights', required=True, nargs='+', type=float, default=[1.0, .1, .5])
ap.add_argument('--ufact', required=True, default=4.0, type=float)
ap.add_argument('--id', required=True, default=4.0, type=int)
ap.add_argument('--nu', required=True, type=float)
ap.add_argument('--gamma', required=True, type=float)
opt = Options()
args = ap.parse_args()
opt.load_args(args)
args = vars(args)
opt.envname = opt.env
opt.env = gym.envs.make(opt.envname).env
opt.sim = gym.envs.make(opt.envname).env
exp_id = args['id']
opt.env.my_weights = args['weights']
opt.env.ufact = args['ufact']
opt.pi = net.Network([64, 64], .01, opt.epochs)
suffix = '_' + utils.stringify(args['weights']) + '_' + str(args['ufact'])
weights_path = 'meta/' + 'test' + '/' + opt.envname + '_' + str(exp_id) + '_weights' + suffix + '.txt'
stats_path = 'meta/' + 'test' + '/' + opt.envname + '_' + str(exp_id) + '_stats' + suffix + '.txt'
opt.pi.load_weights(weights_path, stats_path)
opt.sup = Supervisor(opt.pi)
opt.misc = Options()
opt.misc.num_evaluations = 1
opt.misc.samples = 1
rec_results = {}
lnr_results = {}
plot_dir = utils.generate_plot_dir('initial', 'experts', vars(opt))
data_dir = utils.generate_data_dir('initial', 'experts', vars(opt))
if not os.path.exists(plot_dir):
os.makedirs(plot_dir)
if not os.path.exists(data_dir):
os.makedirs(data_dir)
if not os.path.exists(data_dir + '/multiple_trials'):
os.makedirs(data_dir + '/multiple_trials')
if not os.path.exists(plot_dir + '/multiple_trials'):
os.makedirs(plot_dir + '/multiple_trials')
opt.data_dir = data_dir
opt.plot_dir = plot_dir
trials_data = []
rec_scores = []
rec_cutoffs = []
for t in range(opt.trials):
print "\n\nTrial: " + str(t) + "\n\n"
opt.t_value = t
trial_data, info = run_trial(opt)
trials_data.append(trial_data)
rec_scores += info['rec_scores']
rec_cutoffs += info['rec_cutoffs']
print "Saving to: " + str(opt.data_dir + 'multiple_trials/trials_data.pkl')
pickle.dump(trials_data, open(opt.data_dir + 'multiple_trials/trials_data.pkl', 'w'))
pickle.dump(rec_scores, open(opt.data_dir + 'multiple_trials/rec_scores.pkl', 'w'))
pickle.dump(rec_cutoffs, open(opt.data_dir + 'multiple_trials/rec_cutoffs.pkl', 'w'))
def main():
ap = argparse.ArgumentParser()
ap.add_argument('--arch', required=True, nargs='+', type=int)
ap.add_argument('--lr', required=False, type=int, default=.01)
ap.add_argument('--epochs', required=False, type=int, default=100)
ap.add_argument('--iters', required=True, type=int)
ap.add_argument('--trials', required=True, type=int)
ap.add_argument('--env', required=True)
ap.add_argument('--t', required=True, type=int)
ap.add_argument('--grads', required=True, type=int)
ap.add_argument('--weights',
required=True,
nargs='+',
type=float,
default=[1.0, .1, .5])
ap.add_argument('--ufact', required=True, default=4.0, type=float)
ap.add_argument('--id', required=True, default=4.0, type=int)
opt = Options()
args = ap.parse_args()
opt.load_args(args)
args = vars(args)
opt.envname = opt.env
opt.env = gym.envs.make(opt.envname).env
opt.sim = gym.envs.make(opt.envname).env
exp_id = args['id']
opt.env.my_weights = args['weights']
opt.env.ufact = args['ufact']
opt.pi = net.Network([64, 64], .01, 300)
suffix = '_' + utils.stringify(args['weights']) + '_' + str(args['ufact'])
weights_path = 'meta/' + 'test' + '/' + opt.envname + '_' + str(
exp_id) + '_weights' + suffix + '.txt'
stats_path = 'meta/' + 'test' + '/' + opt.envname + '_' + str(
exp_id) + '_stats' + suffix + '.txt'
opt.pi.load_weights(weights_path, stats_path)
opt.sup = Supervisor(opt.pi)
opt.misc = Options()
opt.misc.num_evaluations = 1
opt.misc.samples = 600
rec_results = {}
lnr_results = {}
try:
for t in range(opt.trials):
start_time = timer.time()
results = run_trial(opt)
for key in results['rec'].keys():
if key in rec_results:
rec_results[key].append(results['rec'][key])
else:
rec_results[key] = [results['rec'][key]]
for key in results['lnr'].keys():
if key in lnr_results:
lnr_results[key].append(results['lnr'][key])
else:
lnr_results[key] = [results['lnr'][key]]
except KeyboardInterrupt:
pass
labels = sorted(list(rec_results.keys()))
for key in rec_results.keys():
rec_results[key] = np.array(rec_results[key]) / float(opt.misc.samples)
lnr_results[key] = np.array(lnr_results[key]) / float(opt.misc.samples)
rec_means = [
np.mean(rec_results[key]) for key in sorted(rec_results.keys())
]
rec_sems = [
scipy.stats.sem(rec_results[key]) for key in sorted(rec_results.keys())
]
lnr_means = [
np.mean(lnr_results[key]) for key in sorted(lnr_results.keys())
]
lnr_sems = [
scipy.stats.sem(lnr_results[key]) for key in sorted(lnr_results.keys())
]
plt.style.use('ggplot')
width = .4
index = np.arange(len(rec_means))
plt.bar(index + 0 * width, rec_means, width, label='recovery')
plt.bar(index + 1 * width, lnr_means, width, label='no recovery')
plt.legend()
plt.xticks(index, labels)
plt.ylim(0, 1)
plt.show()
def main():
ap = argparse.ArgumentParser()
ap.add_argument('--arch', required=True, nargs='+', type=int)
ap.add_argument('--lr', required=False, type=int, default=.01)
ap.add_argument('--epochs', required=False, type=int, default=100)
ap.add_argument('--iters', required=True, type=int)
ap.add_argument('--trials', required=True, type=int)
ap.add_argument('--env', required=True)
ap.add_argument('--t', required=True, type=int)
ap.add_argument('--grads', required=True, type=int)
opt = Options()
opt.load_args(ap.parse_args())
opt.envname = opt.env
opt.filename = '/Users/JonathanLee/experts/' + opt.envname + '.pkl'
opt.env = gym.envs.make(opt.envname).env
opt.sim = gym.envs.make(opt.envname).env
opt.pi = net.Network([64, 64], opt.lr, opt.epochs)
opt.pi.load_weights('meta/Pusher3-v0/weights_1.0-0.1-0.5_5.0.txt',
'meta/Pusher3-v0/stats_1.0-0.1-0.5_5.0.txt')
opt.sess = None
opt.sup = Supervisor(opt.pi)
opt.misc = Options()
opt.misc.num_evaluations = 1
plot_dir = utils.generate_plot_dir('initial', 'experts', vars(opt))
data_dir = utils.generate_data_dir('initial', 'experts', vars(opt))
if not os.path.exists(plot_dir):
os.makedirs(plot_dir)
if not os.path.exists(data_dir):
os.makedirs(data_dir)
if not os.path.exists(plot_dir + '/scores'):
os.makedirs(plot_dir + '/scores')
if not os.path.exists(plot_dir + '/mags'):
os.makedirs(plot_dir + '/mags')
opt.plot_dir = plot_dir
opt.data_dir = data_dir
sup_rewards = np.zeros((opt.trials, opt.misc.num_evaluations))
lnr_rewards = np.zeros((opt.trials, opt.misc.num_evaluations))
rob_rewards = np.zeros((opt.trials, opt.misc.num_evaluations))
train_err = np.zeros((opt.trials, opt.misc.num_evaluations, opt.t))
valid_err = np.zeros((opt.trials, opt.misc.num_evaluations, opt.t))
test_err = np.zeros((opt.trials, opt.misc.num_evaluations, opt.t))
robust_err = np.zeros((opt.trials, opt.misc.num_evaluations, opt.t))
freq = np.zeros((opt.trials, opt.misc.num_evaluations))
train_bar_errs = np.zeros((opt.trials, opt.t))
valid_bar_errs = np.zeros((opt.trials, opt.t))
test_bar_errs = np.zeros((opt.trials, opt.t))
print "Running Trials:\n\n"
try:
for t in range(opt.trials):
start_time = timer.time()
results = run_trial(opt)
sup_rewards[t, :] = results['sup_reward']
lnr_rewards[t, :] = results['lnr_reward']
rob_rewards[t, :] = results['rob_reward']
train_err[t, :, :] = results['train_err']
valid_err[t, :, :] = results['valid_err']
test_err[t, :, :] = results['test_err']
robust_err[t, :, :] = results['robust_err']
freq[t, :] = results['correction_freq']
train_bar_errs[t], valid_bar_errs[t], test_bar_errs[t] = results[
'bar_errs']
sup_rewards_save, lnr_rewards_save, rob_rewards_save = sup_rewards[:
t
+
1, :], lnr_rewards[:
t
+
1, :], rob_rewards[:
t
+
1, :]
train_err_save, valid_err_save, test_err_save, robust_err_save = train_err[:
t
+
1, :, :], valid_err[:
t
+
1, :, :], test_err[:
t
+
1, :, :], robust_err[:
t
+
1, :, :]
freq_save = freq[:t + 1, :]
pd.DataFrame(sup_rewards_save).to_csv(opt.data_dir +
'sup_rewards.csv',
index=False)
pd.DataFrame(lnr_rewards_save).to_csv(opt.data_dir +
'lnr_rewards.csv',
index=False)
pd.DataFrame(rob_rewards_save).to_csv(opt.data_dir +
'rob_rewards.csv',
index=False)
for tau in range(opt.t):
pd.DataFrame(train_err_save[:, :, tau]).to_csv(
opt.data_dir + 'train_err_t' + str(tau) + '.csv',
index=False)
pd.DataFrame(valid_err_save[:, :, tau]).to_csv(
opt.data_dir + 'valid_err_t' + str(tau) + '.csv',
index=False)
pd.DataFrame(test_err_save[:, :, tau]).to_csv(
opt.data_dir + 'test_err_t' + str(tau) + '.csv',
index=False)
pd.DataFrame(robust_err_save[:, :, tau]).to_csv(
opt.data_dir + 'robust_err_t' + str(tau) + '.csv',
index=False)
pd.DataFrame(freq_save).to_csv(opt.data_dir + 'freq.csv',
index=False)
train_err_avg = np.mean(train_err_save, axis=2)
valid_err_avg = np.mean(valid_err_save, axis=2)
test_err_avg = np.mean(test_err_save, axis=2)
robust_err_avg = np.mean(robust_err_save, axis=2)
utils.plot([sup_rewards_save, lnr_rewards_save, rob_rewards_save],
['Supervisor', 'Learner', 'Robust Learner'],
opt,
"Reward",
colors=['red', 'blue', 'green'])
utils.plot(
[train_err_avg, valid_err_avg, test_err_avg, robust_err_avg],
['Training', 'Validation', 'Learner', 'Robust Learner'],
opt,
"Error",
colors=['red', 'orange', 'blue', 'green'])
utils.plot([freq_save], ['Frequency'],
opt,
'Correction Frequency',
colors=['green'])
bar_errs = [
np.mean(train_bar_errs, axis=0),
np.mean(valid_bar_errs, axis=0),
np.mean(test_bar_errs, axis=0)
]
labels = ['train', 'valid', 'test']
width = .2
index = np.arange(opt.t)
for i, (err, label) in enumerate(zip(bar_errs, labels)):
plt.bar(index + i * width, err, width, label=label)
plt.legend()
plt.ylim(0, .75)
plt.savefig('/Users/JonathanLee/Desktop/bar_new_avg.png')
utils.clear()
end_time = timer.time()
print "Trial time: " + str(end_time - start_time)
except KeyboardInterrupt:
pass
def main():
ap = argparse.ArgumentParser()
ap.add_argument('--arch', required=True, nargs='+', type=int)
ap.add_argument('--lr', required=False, type=float, default=.01)
ap.add_argument('--epochs', required=False, type=int, default=100)
ap.add_argument('--iters', required=True, type=int)
ap.add_argument('--trials', required=True, type=int)
ap.add_argument('--env', required=True)
ap.add_argument('--t', required=True, type=int)
ap.add_argument('--grads', required=True, type=int)
ap.add_argument('--weights',
required=True,
nargs='+',
type=float,
default=[1.0, .1, .5])
ap.add_argument('--ufact', required=True, default=4.0, type=float)
ap.add_argument('--id', required=True, default=4.0, type=int)
ap.add_argument('--nu', required=True, type=float)
ap.add_argument('--gamma', required=True, type=float)
opt = Options()
args = ap.parse_args()
opt.load_args(args)
args = vars(args)
opt.envname = opt.env
opt.env = gym.envs.make(opt.envname).env
opt.sim = gym.envs.make(opt.envname).env
exp_id = args['id']
opt.env.my_weights = args['weights']
opt.env.ufact = args['ufact']
opt.pi = net.Network([64, 64], .01, 300)
suffix = '_' + utils.stringify(args['weights']) + '_' + str(args['ufact'])
weights_path = 'meta/' + 'test' + '/' + opt.envname + '_' + str(
exp_id) + '_weights' + suffix + '.txt'
stats_path = 'meta/' + 'test' + '/' + opt.envname + '_' + str(
exp_id) + '_stats' + suffix + '.txt'
opt.pi.load_weights(weights_path, stats_path)
opt.sup = Supervisor(opt.pi)
opt.misc = Options()
opt.misc.num_evaluations = 1
opt.misc.samples = 200
rec_results = {}
lnr_results = {}
plot_dir = utils.generate_plot_dir('initial', 'experts', vars(opt))
data_dir = utils.generate_data_dir('initial', 'experts', vars(opt))
if not os.path.exists(plot_dir):
os.makedirs(plot_dir)
if not os.path.exists(data_dir):
os.makedirs(data_dir)
if not os.path.exists(plot_dir + '/scores'):
os.makedirs(plot_dir + '/scores')
if not os.path.exists(plot_dir + '/mags'):
os.makedirs(plot_dir + '/mags')
try:
for t in range(opt.trials):
start_time = timer.time()
results = run_trial(opt)
for key in results['rec'].keys():
if key in rec_results:
rec_results[key].append(results['rec'][key])
else:
rec_results[key] = [results['rec'][key]]
for key in results['lnr'].keys():
if key in lnr_results:
lnr_results[key].append(results['lnr'][key])
else:
lnr_results[key] = [results['lnr'][key]]
except KeyboardInterrupt:
pass
labels = sorted(list(rec_results.keys()))
for key in rec_results.keys():
rec_results[key] = np.array(rec_results[key]) / float(opt.misc.samples)
lnr_results[key] = np.array(lnr_results[key]) / float(opt.misc.samples)
rec_means = [
np.mean(rec_results[key]) for key in sorted(rec_results.keys())
]
rec_sems = [
scipy.stats.sem(rec_results[key]) for key in sorted(rec_results.keys())
]
lnr_means = [
np.mean(lnr_results[key]) for key in sorted(lnr_results.keys())
]
lnr_sems = [
scipy.stats.sem(lnr_results[key]) for key in sorted(lnr_results.keys())
]