def run_metarl(env, envs, tasks, seed, log_dir):
"""Create metarl Tensorflow PPO model and training.
Args:
env (dict): Environment of the task.
seed (int): Random positive integer for the trial.
log_dir (str): Log dir path.
Returns:
str: Path to output csv file
"""
deterministic.set_seed(seed)
snapshot_config = SnapshotConfig(snapshot_dir=log_dir,
snapshot_mode='gap',
snapshot_gap=10)
with LocalTFRunner(snapshot_config) as runner:
policy = GaussianGRUPolicy(
hidden_dims=hyper_parameters['hidden_sizes'],
env_spec=env.spec,
state_include_action=False)
baseline = MetaRLLinearFeatureBaseline(env_spec=env.spec)
inner_algo = RL2PPO(
env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=hyper_parameters['max_path_length'] * hyper_parameters['rollout_per_task'],
discount=hyper_parameters['discount'],
gae_lambda=hyper_parameters['gae_lambda'],
lr_clip_range=hyper_parameters['lr_clip_range'],
optimizer_args=dict(
max_epochs=hyper_parameters['optimizer_max_epochs'],
tf_optimizer_args=dict(
learning_rate=hyper_parameters['optimizer_lr'],
),
)
)
# Need to pass this if meta_batch_size < num_of_tasks
task_names = list(ML45_ENVS['train'].keys())
algo = RL2(
policy=policy,
inner_algo=inner_algo,
max_path_length=hyper_parameters['max_path_length'],
meta_batch_size=hyper_parameters['meta_batch_size'],
task_sampler=tasks,
task_names=None if hyper_parameters['meta_batch_size'] >= len(task_names) else task_names)
# Set up logger since we are not using run_experiment
tabular_log_file = osp.join(log_dir, 'progress.csv')
text_log_file = osp.join(log_dir, 'debug.log')
dowel_logger.add_output(dowel.TextOutput(text_log_file))
dowel_logger.add_output(dowel.CsvOutput(tabular_log_file))
dowel_logger.add_output(dowel.StdOutput())
dowel_logger.add_output(dowel.TensorBoardOutput(log_dir))
runner.setup(
algo,
envs,
sampler_cls=hyper_parameters['sampler_cls'],
n_workers=hyper_parameters['meta_batch_size'],
worker_class=RL2Worker,
sampler_args=dict(
use_all_workers=hyper_parameters['use_all_workers']),
worker_args=dict(
n_paths_per_trial=hyper_parameters['rollout_per_task']))
# meta evaluator
env_obs_dim = [env().observation_space.shape[0] for (_, env) in ML45_ENVS['test'].items()]
max_obs_dim = max(env_obs_dim)
ML_test_envs = [
TaskIdWrapper(NormalizedRewardEnv(RL2Env(env(*ML45_ARGS['test'][task]['args'],
**ML45_ARGS['test'][task]['kwargs']), max_obs_dim)), task_id=task_id, task_name=task)
for (task_id, (task, env)) in enumerate(ML45_ENVS['test'].items())
]
test_tasks = task_sampler.EnvPoolSampler(ML_test_envs)
test_tasks.grow_pool(hyper_parameters['n_test_tasks'])
test_task_names = list(ML45_ENVS['test'].keys())
runner.setup_meta_evaluator(test_task_sampler=test_tasks,
n_exploration_traj=hyper_parameters['rollout_per_task'],
n_test_rollouts=hyper_parameters['test_rollout_per_task'],
n_test_tasks=hyper_parameters['n_test_tasks'],
n_workers=hyper_parameters['n_test_tasks'],
test_task_names=None if hyper_parameters['n_test_tasks'] >= len(test_task_names) else test_task_names)
runner.train(n_epochs=hyper_parameters['n_itr'],
batch_size=hyper_parameters['meta_batch_size'] * hyper_parameters['rollout_per_task'] * hyper_parameters['max_path_length'])
dowel_logger.remove_all()
return tabular_log_file
def run_metarl(env, test_env, seed, log_dir):
"""Create metarl model and training."""
deterministic.set_seed(seed)
snapshot_config = SnapshotConfig(snapshot_dir=log_dir,
snapshot_mode='gap',
snapshot_gap=10)
runner = LocalRunner(snapshot_config)
obs_dim = int(np.prod(env[0]().observation_space.shape))
action_dim = int(np.prod(env[0]().action_space.shape))
reward_dim = 1
# instantiate networks
encoder_in_dim = obs_dim + action_dim + reward_dim
encoder_out_dim = params['latent_size'] * 2
net_size = params['net_size']
context_encoder = MLPEncoder(input_dim=encoder_in_dim,
output_dim=encoder_out_dim,
hidden_sizes=[200, 200, 200])
space_a = akro.Box(low=-1,
high=1,
shape=(obs_dim + params['latent_size'], ),
dtype=np.float32)
space_b = akro.Box(low=-1, high=1, shape=(action_dim, ), dtype=np.float32)
augmented_env = EnvSpec(space_a, space_b)
qf1 = ContinuousMLPQFunction(env_spec=augmented_env,
hidden_sizes=[net_size, net_size, net_size])
qf2 = ContinuousMLPQFunction(env_spec=augmented_env,
hidden_sizes=[net_size, net_size, net_size])
obs_space = akro.Box(low=-1, high=1, shape=(obs_dim, ), dtype=np.float32)
action_space = akro.Box(low=-1,
high=1,
shape=(params['latent_size'], ),
dtype=np.float32)
vf_env = EnvSpec(obs_space, action_space)
vf = ContinuousMLPQFunction(env_spec=vf_env,
hidden_sizes=[net_size, net_size, net_size])
policy = TanhGaussianMLPPolicy2(
env_spec=augmented_env, hidden_sizes=[net_size, net_size, net_size])
context_conditioned_policy = ContextConditionedPolicy(
latent_dim=params['latent_size'],
context_encoder=context_encoder,
policy=policy,
use_ib=params['use_information_bottleneck'],
use_next_obs=params['use_next_obs_in_context'],
)
train_task_names = ML10.get_train_tasks()._task_names
test_task_names = ML10.get_test_tasks()._task_names
pearlsac = PEARLSAC(
env=env,
test_env=test_env,
policy=context_conditioned_policy,
qf1=qf1,
qf2=qf2,
vf=vf,
num_train_tasks=params['num_train_tasks'],
num_test_tasks=params['num_test_tasks'],
latent_dim=params['latent_size'],
meta_batch_size=params['meta_batch_size'],
num_steps_per_epoch=params['num_steps_per_epoch'],
num_initial_steps=params['num_initial_steps'],
num_tasks_sample=params['num_tasks_sample'],
num_steps_prior=params['num_steps_prior'],
num_extra_rl_steps_posterior=params['num_extra_rl_steps_posterior'],
num_evals=params['num_evals'],
num_steps_per_eval=params['num_steps_per_eval'],
batch_size=params['batch_size'],
embedding_batch_size=params['embedding_batch_size'],
embedding_mini_batch_size=params['embedding_mini_batch_size'],
max_path_length=params['max_path_length'],
reward_scale=params['reward_scale'],
train_task_names=train_task_names,
test_task_names=test_task_names,
)
tu.set_gpu_mode(params['use_gpu'], gpu_id=0)
if params['use_gpu']:
pearlsac.to()
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(algo=pearlsac,
env=env,
sampler_cls=PEARLSampler,
sampler_args=dict(max_path_length=params['max_path_length']))
runner.train(n_epochs=params['num_epochs'],
batch_size=params['batch_size'])
dowel_logger.remove_all()
return tabular_log_file
import gc
import os
from dowel import logger
import tensorflow as tf
from metarl.experiment import deterministic
from metarl.experiment.snapshotter import SnapshotConfig
from tests.fixtures.logger import NullOutput
path = os.path.join(os.getcwd(), 'data/local/experiment')
snapshot_config = SnapshotConfig(snapshot_dir=path,
snapshot_mode='last',
snapshot_gap=1)
class TfTestCase:
def setup_method(self):
self.sess = tf.compat.v1.Session()
self.sess.__enter__()
def teardown_method(self):
self.sess.__exit__(None, None, None)
self.sess.close()
del self.sess
gc.collect()
class TfGraphTestCase:
def setup_method(self):
self.graph = tf.Graph()
def run_metarl(env, seed, log_dir):
"""Create metarl Tensorflow PPO model and training.
Args:
env (dict): Environment of the task.
seed (int): Random positive integer for the trial.
log_dir (str): Log dir path.
Returns:
str: Path to output csv file
"""
deterministic.set_seed(seed)
snapshot_config = SnapshotConfig(snapshot_dir=log_dir,
snapshot_mode='gap',
snapshot_gap=10)
with LocalTFRunner(snapshot_config) as runner:
env, task_samplers = _prepare_meta_env(env)
policy = GaussianGRUPolicy(
hidden_dims=hyper_parameters['hidden_sizes'],
env_spec=env.spec,
state_include_action=False)
baseline = MetaRLLinearFeatureBaseline(env_spec=env.spec)
inner_algo = RL2PPO(
env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=hyper_parameters['max_path_length'] *
hyper_parameters['rollout_per_task'],
discount=hyper_parameters['discount'],
gae_lambda=hyper_parameters['gae_lambda'],
lr_clip_range=hyper_parameters['lr_clip_range'],
optimizer_args=dict(
max_epochs=hyper_parameters['optimizer_max_epochs'],
tf_optimizer_args=dict(
learning_rate=hyper_parameters['optimizer_lr'], ),
))
algo = RL2(policy=policy,
inner_algo=inner_algo,
max_path_length=hyper_parameters['max_path_length'],
meta_batch_size=hyper_parameters['meta_batch_size'],
task_sampler=task_samplers)
# Set up logger since we are not using run_experiment
tabular_log_file = osp.join(log_dir, 'progress.csv')
text_log_file = osp.join(log_dir, 'debug.log')
dowel_logger.add_output(dowel.TextOutput(text_log_file))
dowel_logger.add_output(dowel.CsvOutput(tabular_log_file))
dowel_logger.add_output(dowel.StdOutput())
dowel_logger.add_output(dowel.TensorBoardOutput(log_dir))
runner.setup(
algo,
task_samplers.sample(hyper_parameters['meta_batch_size']),
sampler_cls=hyper_parameters['sampler_cls'],
n_workers=hyper_parameters['meta_batch_size'],
worker_class=RL2Worker,
sampler_args=dict(
use_all_workers=hyper_parameters['use_all_workers']),
worker_args=dict(
n_paths_per_trial=hyper_parameters['rollout_per_task']))
runner.setup_meta_evaluator(
test_task_sampler=task_samplers,
n_exploration_traj=hyper_parameters['rollout_per_task'],
n_test_rollouts=hyper_parameters['test_rollout_per_task'],
n_test_tasks=hyper_parameters['n_test_tasks'],
n_workers=hyper_parameters['n_test_tasks'])
runner.train(n_epochs=hyper_parameters['n_itr'],
batch_size=hyper_parameters['meta_batch_size'] *
hyper_parameters['rollout_per_task'] *
hyper_parameters['max_path_length'])
dowel_logger.remove_all()
return tabular_log_file