def run_task(snapshot_config, *_):
"""Run task.
Args:
snapshot_config (metarl.experiment.SnapshotConfig): The snapshot
configuration used by LocalRunner to create the snapshotter.
_ (object): Ignored by this function.
"""
with LocalTFRunner(snapshot_config=snapshot_config) as runner:
env1 = TfEnv(normalize(PointEnv(goal=(-1., 0.))))
env2 = TfEnv(normalize(PointEnv(goal=(1., 0.))))
env = MultiEnvWrapper([env1, env2])
policy = GaussianMLPPolicy(env_spec=env.spec)
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
policy_ent_coeff=0.0)
runner.setup(algo, env)
runner.train(n_epochs=40, batch_size=2048, plot=False)
def multi_env_trpo(ctxt=None, seed=1):
"""Train TRPO on two different PointEnv instances.
Args:
ctxt (metarl.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
"""
set_seed(seed)
with LocalTFRunner(ctxt) as runner:
env1 = MetaRLEnv(normalize(PointEnv(goal=(-1., 0.))))
env2 = MetaRLEnv(normalize(PointEnv(goal=(1., 0.))))
env = MultiEnvWrapper([env1, env2])
policy = GaussianMLPPolicy(env_spec=env.spec)
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
policy_ent_coeff=0.0)
runner.setup(algo, env)
runner.train(n_epochs=40, batch_size=2048, plot=False)
def maml_trpo_metaworld_ml10(ctxt, seed, epochs, rollouts_per_task,
meta_batch_size):
"""Set up environment and algorithm and run the task.
Args:
ctxt (metarl.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
epochs (int): Number of training epochs.
rollouts_per_task (int): Number of rollouts per epoch per task
for training.
meta_batch_size (int): Number of tasks sampled per batch.
"""
set_seed(seed)
env = MetaRLEnv(
normalize(mwb.ML10.get_train_tasks(), expected_action_scale=10.))
policy = GaussianMLPPolicy(
env_spec=env.spec,
hidden_sizes=(100, 100),
hidden_nonlinearity=torch.tanh,
output_nonlinearity=None,
)
value_function = GaussianMLPValueFunction(env_spec=env.spec,
hidden_sizes=(32, 32),
hidden_nonlinearity=torch.tanh,
output_nonlinearity=None)
max_path_length = 100
test_task_names = mwb.ML10.get_test_tasks().all_task_names
test_tasks = [
MetaRLEnv(
normalize(mwb.ML10.from_task(task), expected_action_scale=10.))
for task in test_task_names
]
test_sampler = EnvPoolSampler(test_tasks)
meta_evaluator = MetaEvaluator(test_task_sampler=test_sampler,
max_path_length=max_path_length,
n_test_tasks=len(test_task_names))
runner = LocalRunner(ctxt)
algo = MAMLTRPO(env=env,
policy=policy,
value_function=value_function,
max_path_length=max_path_length,
meta_batch_size=meta_batch_size,
discount=0.99,
gae_lambda=1.,
inner_lr=0.1,
num_grad_updates=1,
meta_evaluator=meta_evaluator)
runner.setup(algo, env)
runner.train(n_epochs=epochs,
batch_size=rollouts_per_task * max_path_length)
def maml_vpg_half_cheetah_dir(ctxt, seed, epochs, rollouts_per_task,
meta_batch_size):
"""Set up environment and algorithm and run the task.
Args:
ctxt (metarl.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
epochs (int): Number of training epochs.
rollouts_per_task (int): Number of rollouts per epoch per task
for training.
meta_batch_size (int): Number of tasks sampled per batch.
"""
set_seed(seed)
env = MetaRLEnv(normalize(HalfCheetahDirEnv(), expected_action_scale=10.))
policy = GaussianMLPPolicy(
env_spec=env.spec,
hidden_sizes=(64, 64),
hidden_nonlinearity=torch.tanh,
output_nonlinearity=None,
)
value_function = GaussianMLPValueFunction(env_spec=env.spec,
hidden_sizes=(32, 32),
hidden_nonlinearity=torch.tanh,
output_nonlinearity=None)
max_path_length = 100
task_sampler = SetTaskSampler(lambda: MetaRLEnv(
normalize(HalfCheetahDirEnv(), expected_action_scale=10.)))
meta_evaluator = MetaEvaluator(test_task_sampler=task_sampler,
max_path_length=max_path_length,
n_test_tasks=1,
n_test_rollouts=10)
runner = LocalRunner(ctxt)
algo = MAMLVPG(env=env,
policy=policy,
value_function=value_function,
max_path_length=max_path_length,
meta_batch_size=meta_batch_size,
discount=0.99,
gae_lambda=1.,
inner_lr=0.1,
num_grad_updates=1,
meta_evaluator=meta_evaluator)
runner.setup(algo, env)
runner.train(n_epochs=epochs,
batch_size=rollouts_per_task * max_path_length)
def setup_method(self):
super().setup_method()
self.max_path_length = 100
self.meta_batch_size = 10
self.episode_per_task = 4
self.tasks = task_sampler.SetTaskSampler(
lambda: RL2Env(env=normalize(HalfCheetahDirEnv())))
self.env_spec = RL2Env(env=normalize(HalfCheetahDirEnv())).spec
self.policy = GaussianGRUPolicy(env_spec=self.env_spec,
hidden_dim=64,
state_include_action=False)
self.baseline = LinearFeatureBaseline(env_spec=self.env_spec)
def test_benchmark_pearl(self):
'''
Compare benchmarks between metarl and baselines.
:return:
'''
env_sampler = SetTaskSampler(
lambda: MetaRLEnv(normalize(ML1.get_train_tasks('reach-v1'))))
env = env_sampler.sample(params['num_train_tasks'])
test_env_sampler = SetTaskSampler(
lambda: MetaRLEnv(normalize(ML1.get_test_tasks('reach-v1'))))
test_env = test_env_sampler.sample(params['num_train_tasks'])
env_id = 'reach-v1'
timestamp = datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S-%f')
benchmark_dir = osp.join(os.getcwd(), 'data', 'local', 'benchmarks',
'pearl', timestamp)
result_json = {}
seeds = random.sample(range(100), params['n_trials'])
task_dir = osp.join(benchmark_dir, env_id)
plt_file = osp.join(benchmark_dir, '{}_benchmark.png'.format(env_id))
metarl_csvs = []
for trial in range(params['n_trials']):
seed = seeds[trial]
trial_dir = task_dir + '/trial_%d_seed_%d' % (trial + 1, seed)
metarl_dir = trial_dir + '/metarl'
metarl_csv = run_metarl(env, test_env, seed, metarl_dir)
metarl_csvs.append(metarl_csv)
env.close()
benchmark_helper.plot_average_over_trials(
[metarl_csvs],
ys=['Test/Average/SuccessRate'],
plt_file=plt_file,
env_id=env_id,
x_label='TotalEnvSteps',
y_label='Test/Average/SuccessRate',
names=['metarl_pearl'],
)
factor_val = params['meta_batch_size'] * params['max_path_length']
result_json[env_id] = benchmark_helper.create_json(
[metarl_csvs],
seeds=seeds,
trials=params['n_trials'],
xs=['TotalEnvSteps'],
ys=['Test/Average/SuccessRate'],
factors=[factor_val],
names=['metarl_pearl'])
Rh.write_file(result_json, 'PEARL')
def test_benchmark_maml(self, _): # pylint: disable=no-self-use
"""Compare benchmarks between metarl and baselines."""
timestamp = datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S-%f')
benchmark_dir = './data/local/benchmarks/maml-ml1-push/%s/' % timestamp
result_json = {}
env_id = 'ML1-Push'
meta_env = TaskIdWrapper2(ML1WithPinnedGoal.get_train_tasks('push-v1'))
seeds = random.sample(range(100), hyper_parameters['n_trials'])
task_dir = osp.join(benchmark_dir, env_id)
plt_file = osp.join(benchmark_dir, '{}_benchmark.png'.format(env_id))
promp_csvs = []
metarl_csvs = []
for trial in range(hyper_parameters['n_trials']):
seed = seeds[trial]
trial_dir = task_dir + '/trial_%d_seed_%d' % (trial + 1, seed)
metarl_dir = trial_dir + '/metarl'
promp_dir = trial_dir + '/promp'
if test_metarl:
# Run metarl algorithm
env = MetaRLEnv(normalize(meta_env, expected_action_scale=10.))
metarl_csv = run_metarl(env, seed, metarl_dir)
metarl_csvs.append(metarl_csv)
env.close()
def vpgis_inverted_pendulum(ctxt=None, seed=1):
"""Train TRPO with InvertedPendulum-v2 environment.
Args:
ctxt (metarl.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
"""
set_seed(seed)
with LocalTFRunner(ctxt) as runner:
env = MetaRLEnv(normalize(gym.make('InvertedPendulum-v2')))
policy = GaussianMLPPolicy(env_spec=env.spec, hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = VPG(
env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
max_kl_step=0.01,
)
runner.setup(algo,
env,
sampler_cls=ISSampler,
sampler_args=dict(n_backtrack=1))
runner.train(n_epochs=40, batch_size=4000)
def test_benchmark_sac(self):
'''
Compare benchmarks between metarl and baselines.
:return:
'''
mujoco1m = benchmarks.get_benchmark('Mujoco1M')
timestamp = datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S-%f')
benchmark_dir = osp.join(os.getcwd(), 'data', 'local', 'benchmarks',
'sac', timestamp)
mujoco_tasks = ['HalfCheetah-v2']
for task in mujoco_tasks:
env = MetaRLEnv(normalize(gym.make(task)))
seeds = [121, 524, 4]
task_dir = osp.join(benchmark_dir, task)
plt_file = osp.join(benchmark_dir, '{}_benchmark.png'.format(task))
relplt_file = osp.join(benchmark_dir,
'{}_benchmark_mean.png'.format(task))
metarl_csvs = []
for trial in range(3):
env.reset()
seed = seeds[trial]
trial_dir = osp.join(
task_dir, 'trial_{}_seed_{}'.format(trial + 1, seed))
metarl_dir = osp.join(trial_dir, 'metarl')
# Run metarl algorithms
metarl_csv = run_metarl(env, seed, metarl_dir)
metarl_csvs.append(metarl_csv)
env.close()
def ppo_cmb(env, seed, log_dir):
"""Create test continuous mlp baseline on ppo.
Args:
env (gym_env): Environment of the task.
seed (int): Random seed for the trial.
log_dir (str): Log dir path.
Returns:
str: training results in csv format.
"""
deterministic.set_seed(seed)
config = tf.ConfigProto(allow_soft_placement=True,
intra_op_parallelism_threads=num_proc,
inter_op_parallelism_threads=num_proc)
sess = tf.Session(config=config)
with LocalTFRunner(snapshot_config, sess=sess,
max_cpus=num_proc) as runner:
env = TfEnv(normalize(env))
policy = GaussianLSTMPolicy(
env_spec=env.spec,
hidden_dim=policy_params['policy_hidden_sizes'],
hidden_nonlinearity=policy_params['hidden_nonlinearity'],
)
baseline = ContinuousMLPBaseline(
env_spec=env.spec,
regressor_args=baseline_params['regressor_args'],
)
algo = PPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=algo_params['max_path_length'],
discount=algo_params['discount'],
gae_lambda=algo_params['gae_lambda'],
lr_clip_range=algo_params['lr_clip_range'],
entropy_method=algo_params['entropy_method'],
policy_ent_coeff=algo_params['policy_ent_coeff'],
optimizer_args=algo_params['optimizer_args'],
center_adv=algo_params['center_adv'],
stop_entropy_gradient=True)
# Set up logger since we are not using run_experiment
tabular_log_file = osp.join(log_dir, 'progress.csv')
dowel_logger.add_output(dowel.StdOutput())
dowel_logger.add_output(dowel.CsvOutput(tabular_log_file))
dowel_logger.add_output(dowel.TensorBoardOutput(log_dir))
runner.setup(algo,
env,
sampler_args=dict(n_envs=algo_params['n_envs']))
runner.train(n_epochs=algo_params['n_epochs'],
batch_size=algo_params['n_rollout_steps'])
dowel_logger.remove_all()
return tabular_log_file
def run_metarl(env, seed, log_dir):
'''
Create metarl model and training.
Replace the ddpg with the algorithm you want to run.
:param env: Environment of the task.
:param seed: Random seed for the trial.
:param log_dir: Log dir path.
:return:
'''
deterministic.set_seed(seed)
with LocalTFRunner(snapshot_config) as runner:
env = TfEnv(normalize(env))
# Set up params for ddpg
action_noise = OUStrategy(env.spec, sigma=params['sigma'])
policy = ContinuousMLPPolicy(
env_spec=env.spec,
hidden_sizes=params['policy_hidden_sizes'],
hidden_nonlinearity=tf.nn.relu,
output_nonlinearity=tf.nn.tanh)
qf = ContinuousMLPQFunction(env_spec=env.spec,
hidden_sizes=params['qf_hidden_sizes'],
hidden_nonlinearity=tf.nn.relu)
replay_buffer = SimpleReplayBuffer(
env_spec=env.spec,
size_in_transitions=params['replay_buffer_size'],
time_horizon=params['n_rollout_steps'])
ddpg = DDPG(env_spec=env.spec,
policy=policy,
qf=qf,
replay_buffer=replay_buffer,
steps_per_epoch=params['steps_per_epoch'],
policy_lr=params['policy_lr'],
qf_lr=params['qf_lr'],
target_update_tau=params['tau'],
n_train_steps=params['n_train_steps'],
discount=params['discount'],
min_buffer_size=int(1e4),
exploration_strategy=action_noise,
policy_optimizer=tf.train.AdamOptimizer,
qf_optimizer=tf.train.AdamOptimizer)
# Set up logger since we are not using run_experiment
tabular_log_file = osp.join(log_dir, 'progress.csv')
tensorboard_log_dir = osp.join(log_dir)
dowel_logger.add_output(dowel.StdOutput())
dowel_logger.add_output(dowel.CsvOutput(tabular_log_file))
dowel_logger.add_output(dowel.TensorBoardOutput(tensorboard_log_dir))
runner.setup(ddpg, env)
runner.train(n_epochs=params['n_epochs'],
batch_size=params['n_rollout_steps'])
dowel_logger.remove_all()
return tabular_log_file
def test_ppo_pendulum(self):
"""Test PPO with Pendulum environment."""
deterministic.set_seed(0)
rollouts_per_task = 5
max_path_length = 100
task_sampler = SetTaskSampler(lambda: MetaRLEnv(
normalize(HalfCheetahDirEnv(), expected_action_scale=10.)))
meta_evaluator = MetaEvaluator(test_task_sampler=task_sampler,
max_path_length=max_path_length,
n_test_tasks=1,
n_test_rollouts=10)
runner = LocalRunner(snapshot_config)
algo = MAMLVPG(env=self.env,
policy=self.policy,
value_function=self.value_function,
max_path_length=max_path_length,
meta_batch_size=5,
discount=0.99,
gae_lambda=1.,
inner_lr=0.1,
num_grad_updates=1,
meta_evaluator=meta_evaluator)
runner.setup(algo, self.env)
last_avg_ret = runner.train(n_epochs=10,
batch_size=rollouts_per_task *
max_path_length)
assert last_avg_ret > -5
def test_maml_trpo_dummy_named_env():
"""Test with dummy environment that has env_name."""
env = MetaRLEnv(
normalize(DummyMultiTaskBoxEnv(), expected_action_scale=10.))
policy = GaussianMLPPolicy(
env_spec=env.spec,
hidden_sizes=(64, 64),
hidden_nonlinearity=torch.tanh,
output_nonlinearity=None,
)
value_function = GaussianMLPValueFunction(env_spec=env.spec,
hidden_sizes=(32, 32))
rollouts_per_task = 2
max_path_length = 100
runner = LocalRunner(snapshot_config)
algo = MAMLTRPO(env=env,
policy=policy,
value_function=value_function,
max_path_length=max_path_length,
meta_batch_size=5,
discount=0.99,
gae_lambda=1.,
inner_lr=0.1,
num_grad_updates=1)
runner.setup(algo, env)
runner.train(n_epochs=2, batch_size=rollouts_per_task * max_path_length)
def test_maml_trpo_pendulum():
"""Test PPO with Pendulum environment."""
env = MetaRLEnv(normalize(HalfCheetahDirEnv(), expected_action_scale=10.))
policy = GaussianMLPPolicy(
env_spec=env.spec,
hidden_sizes=(64, 64),
hidden_nonlinearity=torch.tanh,
output_nonlinearity=None,
)
value_function = GaussianMLPValueFunction(env_spec=env.spec,
hidden_sizes=(32, 32))
rollouts_per_task = 5
max_path_length = 100
runner = LocalRunner(snapshot_config)
algo = MAMLTRPO(env=env,
policy=policy,
value_function=value_function,
max_path_length=max_path_length,
meta_batch_size=5,
discount=0.99,
gae_lambda=1.,
inner_lr=0.1,
num_grad_updates=1)
runner.setup(algo, env)
last_avg_ret = runner.train(n_epochs=5,
batch_size=rollouts_per_task * max_path_length)
assert last_avg_ret > -5
env.close()
def run_task(snapshot_config, *_):
"""Run the job.
Args:
snapshot_config (metarl.experiment.SnapshotConfig): Configuration
values for snapshotting.
*_ (object): Hyperparameters (unused).
"""
with LocalTFRunner(snapshot_config=snapshot_config) as runner:
env = TfEnv(normalize(gym.make('InvertedPendulum-v2')))
policy = GaussianMLPPolicy(env_spec=env.spec, hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
max_kl_step=0.01)
runner.setup(algo,
env,
sampler_cls=ISSampler,
sampler_args=dict(n_backtrack=1))
runner.train(n_epochs=200, batch_size=4000)
def test_trpo_cnn_cubecrash(self):
with LocalTFRunner(snapshot_config, sess=self.sess) as runner:
env = MetaRLEnv(normalize(gym.make('CubeCrash-v0')))
policy = CategoricalCNNPolicy(env_spec=env.spec,
filters=((32, (8, 8)), (64, (4, 4))),
strides=(4, 2),
padding='VALID',
hidden_sizes=(32, 32))
baseline = GaussianCNNBaseline(
env_spec=env.spec,
regressor_args=dict(filters=((32, (8, 8)), (64, (4, 4))),
strides=(4, 2),
padding='VALID',
hidden_sizes=(32, 32),
use_trust_region=True))
algo = TRPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
gae_lambda=0.98,
max_kl_step=0.01,
policy_ent_coeff=0.0,
flatten_input=False)
runner.setup(algo, env)
last_avg_ret = runner.train(n_epochs=10, batch_size=2048)
assert last_avg_ret > -1.5
env.close()
def test_ppo_pendulum_gru(self):
"""Test PPO with Pendulum environment and recurrent policy."""
with LocalTFRunner(snapshot_config) as runner:
env = MetaRLEnv(normalize(gym.make('InvertedDoublePendulum-v2')))
gru_policy = GaussianGRUPolicy(env_spec=env.spec)
baseline = GaussianMLPBaseline(
env_spec=env.spec,
regressor_args=dict(hidden_sizes=(32, 32)),
)
algo = PPO(
env_spec=env.spec,
policy=gru_policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
optimizer_args=dict(
batch_size=32,
max_epochs=10,
),
stop_entropy_gradient=True,
entropy_method='max',
policy_ent_coeff=0.02,
center_adv=False,
)
runner.setup(algo, env)
last_avg_ret = runner.train(n_epochs=10, batch_size=2048)
assert last_avg_ret > 80
def test_ppo_pendulum_flatten_input(self):
"""Test PPO with CartPole to test observation flattening."""
with LocalTFRunner(snapshot_config, sess=self.sess) as runner:
env = MetaRLEnv(
normalize(ReshapeObservation(gym.make('CartPole-v1'), (2, 2))))
policy = CategoricalMLPPolicy(
env_spec=env.spec,
hidden_nonlinearity=tf.nn.tanh,
)
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = PPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
policy_ent_coeff=0.0,
optimizer_args=dict(
batch_size=32,
max_epochs=10,
learning_rate=1e-3,
))
runner.setup(algo, env)
last_avg_ret = runner.train(n_epochs=10, batch_size=2048)
assert last_avg_ret > 80
def her_metarl_tf(ctxt, env_id, seed):
"""Create metarl TensorFlow HER model and training.
Args:
ctxt (metarl.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the
snapshotter.
env_id (str): Environment id of the task.
seed (int): Random positive integer for the trial.
"""
deterministic.set_seed(seed)
with LocalTFRunner(ctxt) as runner:
env = MetaRLEnv(normalize(gym.make(env_id)))
policy = ContinuousMLPPolicy(
env_spec=env.spec,
hidden_sizes=hyper_parameters['policy_hidden_sizes'],
hidden_nonlinearity=tf.nn.relu,
output_nonlinearity=tf.nn.tanh,
)
exploration_policy = AddOrnsteinUhlenbeckNoise(
env_spec=env.spec, policy=policy, sigma=hyper_parameters['sigma'])
qf = ContinuousMLPQFunction(
env_spec=env.spec,
hidden_sizes=hyper_parameters['qf_hidden_sizes'],
hidden_nonlinearity=tf.nn.relu,
)
replay_buffer = HERReplayBuffer(
env_spec=env.spec,
capacity_in_transitions=hyper_parameters['replay_buffer_size'],
replay_k=4,
reward_fn=env.compute_reward,
)
algo = DDPG(
env_spec=env.spec,
policy=policy,
qf=qf,
replay_buffer=replay_buffer,
steps_per_epoch=hyper_parameters['steps_per_epoch'],
policy_lr=hyper_parameters['policy_lr'],
qf_lr=hyper_parameters['qf_lr'],
target_update_tau=hyper_parameters['tau'],
n_train_steps=hyper_parameters['n_train_steps'],
discount=hyper_parameters['discount'],
exploration_policy=exploration_policy,
policy_optimizer=tf.compat.v1.train.AdamOptimizer,
qf_optimizer=tf.compat.v1.train.AdamOptimizer,
buffer_batch_size=256,
)
runner.setup(algo, env)
runner.train(n_epochs=hyper_parameters['n_epochs'],
batch_size=hyper_parameters['n_rollout_steps'])
def setup_method(self):
"""Setup method which is called before every test."""
self.env = MetaRLEnv(normalize(gym.make('InvertedDoublePendulum-v2')))
self.policy = GaussianMLPPolicy(
env_spec=self.env.spec,
hidden_sizes=(64, 64),
hidden_nonlinearity=torch.tanh,
output_nonlinearity=None,
)
self.value_function = GaussianMLPValueFunction(env_spec=self.env.spec)
def gaussian_gru_policy(ctxt, env_id, seed):
"""Create Gaussian GRU Policy on TF-PPO.
Args:
ctxt (metarl.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the
snapshotter.
env_id (str): Environment id of the task.
seed (int): Random positive integer for the trial.
"""
deterministic.set_seed(seed)
with LocalTFRunner(ctxt) as runner:
env = MetaRLEnv(normalize(gym.make(env_id)))
policy = GaussianGRUPolicy(
env_spec=env.spec,
hidden_dim=32,
hidden_nonlinearity=tf.nn.tanh,
output_nonlinearity=None,
)
baseline = GaussianMLPBaseline(
env_spec=env.spec,
regressor_args=dict(
hidden_sizes=(64, 64),
use_trust_region=False,
optimizer=FirstOrderOptimizer,
optimizer_args=dict(
batch_size=32,
max_epochs=10,
learning_rate=1e-3,
),
),
)
algo = PPO(
env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
policy_ent_coeff=0.0,
optimizer_args=dict(
batch_size=32,
max_epochs=10,
learning_rate=1e-3,
),
)
runner.setup(algo, env, sampler_args=dict(n_envs=12))
runner.train(n_epochs=5, batch_size=2048)
def setup_method(self):
"""Setup method which is called before every test."""
self.env = MetaRLEnv(
normalize(HalfCheetahDirEnv(), expected_action_scale=10.))
self.policy = GaussianMLPPolicy(
env_spec=self.env.spec,
hidden_sizes=(64, 64),
hidden_nonlinearity=torch.tanh,
output_nonlinearity=None,
)
self.baseline = LinearFeatureBaseline(env_spec=self.env.spec)
def tf_ppo_pendulum(ctxt=None, seed=1):
"""Train PPO with InvertedDoublePendulum-v2 environment.
Args:
ctxt (metarl.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
"""
set_seed(seed)
with LocalTFRunner(snapshot_config=ctxt) as runner:
env = TfEnv(normalize(gym.make('InvertedDoublePendulum-v2')))
policy = GaussianMLPPolicy(
env_spec=env.spec,
hidden_sizes=(64, 64),
hidden_nonlinearity=tf.nn.tanh,
output_nonlinearity=None,
)
baseline = GaussianMLPBaseline(
env_spec=env.spec,
regressor_args=dict(
hidden_sizes=(64, 64),
use_trust_region=True,
),
)
# NOTE: make sure when setting entropy_method to 'max', set
# center_adv to False and turn off policy gradient. See
# tf.algos.NPO for detailed documentation.
algo = RL2PPO(
env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
optimizer_args=dict(
batch_size=32,
max_epochs=10,
learning_rate=1e-3,
),
stop_entropy_gradient=True,
entropy_method='max',
policy_ent_coeff=0.002,
center_adv=False,
)
runner.setup(algo, env)
runner.train(n_epochs=120, batch_size=4096, plot=False)
def sac_half_cheetah_batch(ctxt=None, seed=1):
"""Set up environment and algorithm and run the task.
Args:
ctxt (metarl.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
"""
deterministic.set_seed(seed)
runner = LocalRunner(snapshot_config=ctxt)
env = MetaRLEnv(normalize(gym.make('HalfCheetah-v2')))
policy = TanhGaussianMLPPolicy(
env_spec=env.spec,
hidden_sizes=[256, 256],
hidden_nonlinearity=nn.ReLU,
output_nonlinearity=None,
min_std=np.exp(-20.),
max_std=np.exp(2.),
)
qf1 = ContinuousMLPQFunction(env_spec=env.spec,
hidden_sizes=[256, 256],
hidden_nonlinearity=F.relu)
qf2 = ContinuousMLPQFunction(env_spec=env.spec,
hidden_sizes=[256, 256],
hidden_nonlinearity=F.relu)
replay_buffer = PathBuffer(capacity_in_transitions=int(1e6))
sac = SAC(env_spec=env.spec,
policy=policy,
qf1=qf1,
qf2=qf2,
gradient_steps_per_itr=1000,
max_path_length=500,
replay_buffer=replay_buffer,
min_buffer_size=1e4,
target_update_tau=5e-3,
discount=0.99,
buffer_batch_size=256,
reward_scale=1.,
steps_per_epoch=1)
if torch.cuda.is_available():
set_gpu_mode(True)
else:
set_gpu_mode(False)
sac.to()
runner.setup(algo=sac, env=env, sampler_cls=LocalSampler)
runner.train(n_epochs=1000, batch_size=1000)
def ppo_memorize_digits(ctxt=None, seed=1, batch_size=4000):
"""Train PPO on MemorizeDigits-v0 environment.
Args:
ctxt (metarl.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
batch_size (int): Number of timesteps to use in each training step.
"""
set_seed(seed)
with LocalTFRunner(ctxt) as runner:
env = MetaRLEnv(normalize(gym.make('MemorizeDigits-v0')),
is_image=True)
policy = CategoricalCNNPolicy(env_spec=env.spec,
filters=(
(32, (5, 5)),
(64, (3, 3)),
(64, (2, 2)),
),
strides=(4, 2, 1),
padding='VALID',
hidden_sizes=(256, )) # yapf: disable
baseline = GaussianCNNBaseline(
env_spec=env.spec,
regressor_args=dict(filters=(
(32, (5, 5)),
(64, (3, 3)),
(64, (2, 2)),
),
strides=(4, 2, 1),
padding='VALID',
hidden_sizes=(256, ),
use_trust_region=True)) # yapf: disable
algo = PPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
policy_ent_coeff=0.0,
optimizer_args=dict(
batch_size=32,
max_epochs=10,
learning_rate=1e-3,
),
flatten_input=False)
runner.setup(algo, env)
runner.train(n_epochs=1000, batch_size=batch_size)
def ppo_metarl_tf(ctxt, env_id, seed):
"""Create metarl TensorFlow PPO model and training.
Args:
ctxt (metarl.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the
snapshotter.
env_id (str): Environment id of the task.
seed (int): Random positive integer for the trial.
"""
deterministic.set_seed(seed)
with LocalTFRunner(ctxt) as runner:
env = MetaRLEnv(normalize(gym.make(env_id)))
policy = TF_GMP(
env_spec=env.spec,
hidden_sizes=(32, 32),
hidden_nonlinearity=tf.nn.tanh,
output_nonlinearity=None,
)
baseline = TF_GMB(
env_spec=env.spec,
regressor_args=dict(
hidden_sizes=(32, 32),
use_trust_region=False,
optimizer=FirstOrderOptimizer,
optimizer_args=dict(
batch_size=32,
max_epochs=10,
learning_rate=3e-4,
),
),
)
algo = TF_PPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=hyper_parameters['max_path_length'],
discount=0.99,
gae_lambda=0.95,
center_adv=True,
lr_clip_range=0.2,
optimizer_args=dict(batch_size=32,
max_epochs=10,
learning_rate=3e-4,
verbose=True))
runner.setup(algo, env)
runner.train(n_epochs=hyper_parameters['n_epochs'],
batch_size=hyper_parameters['batch_size'])
def continuous_mlp_q_function(ctxt, env_id, seed):
"""Create Continuous MLP QFunction on TF-DDPG.
Args:
ctxt (metarl.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the
snapshotter.
env_id (str): Environment id of the task.
seed (int): Random positive integer for the trial.
"""
deterministic.set_seed(seed)
with LocalTFRunner(ctxt, max_cpus=12) as runner:
env = MetaRLEnv(normalize(gym.make(env_id)))
policy = ContinuousMLPPolicy(
env_spec=env.spec,
name='ContinuousMLPPolicy',
hidden_sizes=hyper_params['policy_hidden_sizes'],
hidden_nonlinearity=tf.nn.relu,
output_nonlinearity=tf.nn.tanh)
exploration_policy = AddOrnsteinUhlenbeckNoise(
env.spec, policy, sigma=hyper_params['sigma'])
qf = ContinuousMLPQFunction(
env_spec=env.spec,
hidden_sizes=hyper_params['qf_hidden_sizes'],
hidden_nonlinearity=tf.nn.relu,
name='ContinuousMLPQFunction')
replay_buffer = PathBuffer(
capacity_in_transitions=hyper_params['replay_buffer_size'])
ddpg = DDPG(env_spec=env.spec,
policy=policy,
qf=qf,
replay_buffer=replay_buffer,
steps_per_epoch=hyper_params['steps_per_epoch'],
policy_lr=hyper_params['policy_lr'],
qf_lr=hyper_params['qf_lr'],
target_update_tau=hyper_params['tau'],
n_train_steps=hyper_params['n_train_steps'],
discount=hyper_params['discount'],
min_buffer_size=int(1e4),
exploration_policy=exploration_policy,
policy_optimizer=tf.compat.v1.train.AdamOptimizer,
qf_optimizer=tf.compat.v1.train.AdamOptimizer)
runner.setup(ddpg, env, sampler_args=dict(n_envs=12))
runner.train(n_epochs=hyper_params['n_epochs'],
batch_size=hyper_params['n_rollout_steps'])
def run_metarl(env, seed, log_dir):
'''
Create metarl model and training.
Replace the ppo with the algorithm you want to run.
:param env: Environment of the task.
:param seed: Random seed for the trial.
:param log_dir: Log dir path.
:return:
'''
deterministic.set_seed(seed)
config = tf.ConfigProto(allow_soft_placement=True,
intra_op_parallelism_threads=12,
inter_op_parallelism_threads=12)
sess = tf.Session(config=config)
with LocalTFRunner(snapshot_config, sess=sess, max_cpus=12) as runner:
env = TfEnv(normalize(env))
policy = CategoricalLSTMPolicy(
env_spec=env.spec,
hidden_dim=32,
hidden_nonlinearity=tf.nn.tanh,
)
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = PPO(
env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
policy_ent_coeff=0.0,
optimizer_args=dict(
batch_size=32,
max_epochs=10,
tf_optimizer_args=dict(learning_rate=1e-3),
),
)
# Set up logger since we are not using run_experiment
tabular_log_file = osp.join(log_dir, 'progress.csv')
dowel_logger.add_output(dowel.StdOutput())
dowel_logger.add_output(dowel.CsvOutput(tabular_log_file))
dowel_logger.add_output(dowel.TensorBoardOutput(log_dir))
runner.setup(algo, env, sampler_args=dict(n_envs=12))
runner.train(n_epochs=488, batch_size=2048)
dowel_logger.remove_all()
return tabular_log_file
def categorical_cnn_policy(ctxt, env_id, seed):
"""Create Categorical CNN Policy on TF-PPO.
Args:
ctxt (metarl.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the
snapshotter.
env_id (str): Environment id of the task.
seed (int): Random positive integer for the trial.
"""
deterministic.set_seed(seed)
with LocalTFRunner(ctxt, max_cpus=12) as runner:
env = MetaRLEnv(normalize(gym.make(env_id)))
policy = CategoricalCNNPolicy(
env_spec=env.spec,
conv_filters=hyper_params['conv_filters'],
conv_strides=hyper_params['conv_strides'],
conv_pad=hyper_params['conv_pad'],
hidden_sizes=hyper_params['hidden_sizes'])
baseline = GaussianCNNBaseline(
env_spec=env.spec,
regressor_args=dict(
filters=hyper_params['conv_filters'],
strides=hyper_params['conv_strides'],
padding=hyper_params['conv_pad'],
hidden_sizes=hyper_params['hidden_sizes'],
use_trust_region=hyper_params['use_trust_region']))
algo = PPO(
env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
policy_ent_coeff=0.0,
optimizer_args=dict(
batch_size=32,
max_epochs=10,
learning_rate=1e-3,
),
flatten_input=False,
)
runner.setup(algo, env)
runner.train(n_epochs=hyper_params['n_epochs'],
batch_size=hyper_params['batch_size'])
def setup_method(self):
super().setup_method()
self.env = MetaRLEnv(normalize(gym.make('InvertedDoublePendulum-v2')))
self.policy = GaussianMLPPolicy(
env_spec=self.env.spec,
hidden_sizes=(64, 64),
hidden_nonlinearity=tf.nn.tanh,
output_nonlinearity=None,
)
self.baseline = GaussianMLPBaseline(
env_spec=self.env.spec,
regressor_args=dict(hidden_sizes=(32, 32)),
)