def main():
np.set_printoptions(suppress=True, precision=5, linewidth=1000)
parser = argparse.ArgumentParser()
parser.add_argument('--mode', choices=MODES, required=True)
# Expert dataset
parser.add_argument('--data', type=str, required=True)
parser.add_argument('--resume_training', action='store_true', help="Resume training from a checkpoint: --policy_checkpoint. Currently only supports GAIL with nn policy, reward and vf")
parser.add_argument('--checkpoint', type=str, help="Load from checkpoint if provided and if --resume_training")
parser.add_argument('--limit_trajs', type=int, required=True, help="How many expert trajectories to be used for training. If None : full dataset is used.")
parser.add_argument('--data_subsamp_freq', type=int, required=True, help="A number between 0 and max_traj_len. Rate of subsampling of expert trajectories while creating the dataset of expert transitions (state-action)")
# MDP options
parser.add_argument('--env_name', type=str, required=True)
parser.add_argument('--max_traj_len', type=int, default=None)
# Policy architecture
parser.add_argument('--policy_hidden_spec', type=str, default=SIMPLE_ARCHITECTURE)
parser.add_argument('--tiny_policy', action='store_true')
parser.add_argument('--obsnorm_mode', choices=OBSNORM_MODES, default='expertdata')
# Behavioral cloning optimizer
parser.add_argument('--bclone_lr', type=float, default=1e-3)
parser.add_argument('--bclone_batch_size', type=int, default=128)
# parser.add_argument('--bclone_eval_nsa', type=int, default=128*100)
parser.add_argument('--bclone_eval_ntrajs', type=int, default=20)
parser.add_argument('--bclone_eval_freq', type=int, default=1000)
parser.add_argument('--bclone_train_frac', type=float, default=.7)
# Imitation optimizer
parser.add_argument('--discount', type=float, default=.995)
parser.add_argument('--lam', type=float, default=.97)
parser.add_argument('--max_iter', type=int, default=1000000)
parser.add_argument('--policy_max_kl', type=float, default=.01)
parser.add_argument('--policy_cg_damping', type=float, default=.1)
parser.add_argument('--no_vf', type=int, default=0)
parser.add_argument('--vf_max_kl', type=float, default=.01)
parser.add_argument('--vf_cg_damping', type=float, default=.1)
parser.add_argument('--policy_ent_reg', type=float, default=0.)
parser.add_argument('--reward_type', type=str, default='nn')
# parser.add_argument('--linear_reward_bin_features', type=int, default=0)
parser.add_argument('--reward_max_kl', type=float, default=.01)
parser.add_argument('--reward_lr', type=float, default=.01)
parser.add_argument('--reward_steps', type=int, default=1)
parser.add_argument('--reward_ent_reg_weight', type=float, default=.001)
parser.add_argument('--reward_include_time', type=int, default=0)
parser.add_argument('--sim_batch_size', type=int, default=None)
parser.add_argument('--min_total_sa', type=int, default=50000)
parser.add_argument('--favor_zero_expert_reward', type=int, default=0)
# Saving stuff
parser.add_argument('--print_freq', type=int, default=1)
parser.add_argument('--save_freq', type=int, default=20)
parser.add_argument('--plot_freq', type=int, default=0)
parser.add_argument('--log', type=str, required=False)
args = parser.parse_args()
# Initialize the MDP
if args.tiny_policy:
assert args.policy_hidden_spec == SIMPLE_ARCHITECTURE, 'policy_hidden_spec must remain unspecified if --tiny_policy is set'
args.policy_hidden_spec = TINY_ARCHITECTURE
argstr = json.dumps(vars(args), separators=(',', ':'), indent=2)
print(argstr)
print "\n\n========== Policy network specifications loaded ===========\n\n"
mdp = rlgymenv.RLGymMDP(args.env_name)
util.header('MDP observation space, action space sizes: %d, %d\n' % (mdp.obs_space.dim, mdp.action_space.storage_size))
print "\n\n========== MDP initialized ===========\n\n"
# Initialize the policy
enable_obsnorm = args.obsnorm_mode != 'none'
if isinstance(mdp.action_space, policyopt.ContinuousSpace):
policy_cfg = rl.GaussianPolicyConfig(
hidden_spec=args.policy_hidden_spec,
min_stdev=0.,
init_logstdev=0.,
enable_obsnorm=enable_obsnorm)
policy = rl.GaussianPolicy(policy_cfg, mdp.obs_space, mdp.action_space, 'GaussianPolicy')
else:
policy_cfg = rl.GibbsPolicyConfig(
hidden_spec=args.policy_hidden_spec,
enable_obsnorm=enable_obsnorm)
policy = rl.GibbsPolicy(policy_cfg, mdp.obs_space, mdp.action_space, 'GibbsPolicy')
#Load from checkpoint if provided <<<<<<<<<<<<<=============================>>>>>>>>>>>>>>>>.
if args.resume_training:
if args.checkpoint is not None:
file, policy_key = util.split_h5_name(args.checkpoint)
policy_file = file[:-3]+'_policy.h5'
policy.load_h5(policy_file, policy_key)
util.header('Policy architecture')
for v in policy.get_trainable_variables():
util.header('- %s (%d parameters)' % (v.name, v.get_value().size))
util.header('Total: %d parameters' % (policy.get_num_params(),))
print "\n\n========== Policy initialized ===========\n\n"
# Load expert data
exobs_Bstacked_Do, exa_Bstacked_Da, ext_Bstacked = load_dataset(
args.data, args.limit_trajs, args.data_subsamp_freq)
assert exobs_Bstacked_Do.shape[1] == mdp.obs_space.storage_size
assert exa_Bstacked_Da.shape[1] == mdp.action_space.storage_size
assert ext_Bstacked.ndim == 1
print "\n\n========== Expert data loaded ===========\n\n"
# Start optimization
max_traj_len = args.max_traj_len if args.max_traj_len is not None else mdp.env_spec.timestep_limit
print 'Max traj len:', max_traj_len
if args.mode == 'bclone':
# For behavioral cloning, only print output when evaluating
args.print_freq = args.bclone_eval_freq
args.save_freq = args.bclone_eval_freq
reward, vf = None, None #There is no role of the reward function or value function in behavioral cloning
opt = imitation.BehavioralCloningOptimizer(
mdp, policy,
lr=args.bclone_lr,
batch_size=args.bclone_batch_size,
obsfeat_fn=lambda o:o,
ex_obs=exobs_Bstacked_Do, ex_a=exa_Bstacked_Da,
eval_sim_cfg=policyopt.SimConfig(
min_num_trajs=args.bclone_eval_ntrajs, min_total_sa=-1,
batch_size=args.sim_batch_size, max_traj_len=max_traj_len),
eval_freq=args.bclone_eval_freq,
train_frac=args.bclone_train_frac)
print "======= Behavioral Cloning optimizer initialized ======="
elif args.mode == 'ga':
if args.reward_type == 'nn':
reward = imitation.TransitionClassifier( #Add resume training functionality
hidden_spec=args.policy_hidden_spec,
obsfeat_space=mdp.obs_space,
action_space=mdp.action_space,
max_kl=args.reward_max_kl,
adam_lr=args.reward_lr,
adam_steps=args.reward_steps,
ent_reg_weight=args.reward_ent_reg_weight,
enable_inputnorm=True,
include_time=bool(args.reward_include_time),
time_scale=1./mdp.env_spec.timestep_limit,
favor_zero_expert_reward=bool(args.favor_zero_expert_reward),
varscope_name='TransitionClassifier')
#Load from checkpoint if provided <<<<<<<<<<<<<=============================>>>>>>>>>>>>>>>>.
if args.resume_training:
if args.checkpoint is not None:
file, reward_key = util.split_h5_name(args.checkpoint)
reward_file = file[:-3]+'_reward.h5'
print reward_file
reward.load_h5(reward_file, reward_key)
elif args.reward_type in ['l2ball', 'simplex']:
reward = imitation.LinearReward(
obsfeat_space=mdp.obs_space,
action_space=mdp.action_space,
mode=args.reward_type,
enable_inputnorm=True,
favor_zero_expert_reward=bool(args.favor_zero_expert_reward),
include_time=bool(args.reward_include_time),
time_scale=1./mdp.env_spec.timestep_limit,
exobs_Bex_Do=exobs_Bstacked_Do,
exa_Bex_Da=exa_Bstacked_Da,
ext_Bex=ext_Bstacked)
else:
raise NotImplementedError(args.reward_type)
vf = None if bool(args.no_vf) else rl.ValueFunc( #Add resume training functionality
hidden_spec=args.policy_hidden_spec,
obsfeat_space=mdp.obs_space,
enable_obsnorm=args.obsnorm_mode != 'none',
enable_vnorm=True,
max_kl=args.vf_max_kl,
damping=args.vf_cg_damping,
time_scale=1./mdp.env_spec.timestep_limit,
varscope_name='ValueFunc')
if args.resume_training:
if args.checkpoint is not None:
file, vf_key = util.split_h5_name(args.checkpoint)
vf_file = file[:-3]+'_vf.h5'
vf.load_h5(vf_file, vf_key)
opt = imitation.ImitationOptimizer(
mdp=mdp,
discount=args.discount,
lam=args.lam,
policy=policy,
sim_cfg=policyopt.SimConfig(
min_num_trajs=-1, min_total_sa=args.min_total_sa,
batch_size=args.sim_batch_size, max_traj_len=max_traj_len),
step_func=rl.TRPO(max_kl=args.policy_max_kl, damping=args.policy_cg_damping),
reward_func=reward,
value_func=vf,
policy_obsfeat_fn=lambda obs: obs,
reward_obsfeat_fn=lambda obs: obs,
policy_ent_reg=args.policy_ent_reg,
ex_obs=exobs_Bstacked_Do,
ex_a=exa_Bstacked_Da,
ex_t=ext_Bstacked)
# Set observation normalization
if args.obsnorm_mode == 'expertdata':
policy.update_obsnorm(exobs_Bstacked_Do)
if reward is not None: reward.update_inputnorm(opt.reward_obsfeat_fn(exobs_Bstacked_Do), exa_Bstacked_Da)
if vf is not None: vf.update_obsnorm(opt.policy_obsfeat_fn(exobs_Bstacked_Do))
print "======== Observation normalization done ========"
# Run optimizer
print "======== Optimization begins ========"
# Trial: make checkpoints for policy, reward and vf
policy_log = nn.TrainingLog(args.log[:-3]+'_policy.h5', [('args', argstr)])
reward_log = nn.TrainingLog(args.log[:-3]+'_reward.h5', [('args', argstr)])
vf_log = nn.TrainingLog(args.log[:-3]+'_vf.h5', [('args', argstr)])
for i in xrange(args.max_iter):
#Optimization step
iter_info = opt.step()
#Log and plot
#pdb.set_trace()
policy_log.write(iter_info,
print_header=i % (20*args.print_freq) == 0,
display=i % args.print_freq == 0 ## FIXME: AS remove comment
)
reward_log.write(iter_info,
print_header=i % (20*args.print_freq) == 0,
display=i % args.print_freq == 0 ## FIXME: AS remove comment
)
vf_log.write(iter_info,
print_header=i % (20*args.print_freq) == 0,
display=i % args.print_freq == 0 ## FIXME: AS remove comment
)
if args.save_freq != 0 and i % args.save_freq == 0 and args.log is not None:
policy_log.write_snapshot(policy, i)
reward_log.write_snapshot(reward, i)
vf_log.write_snapshot(vf, i)
if args.plot_freq != 0 and i % args.plot_freq == 0:
exdata_N_Doa = np.concatenate([exobs_Bstacked_Do, exa_Bstacked_Da], axis=1)
pdata_M_Doa = np.concatenate([opt.last_sampbatch.obs.stacked, opt.last_sampbatch.a.stacked], axis=1)
# Plot reward
import matplotlib.pyplot as plt
_, ax = plt.subplots()
idx1, idx2 = 0,1
range1 = (min(exdata_N_Doa[:,idx1].min(), pdata_M_Doa[:,idx1].min()), max(exdata_N_Doa[:,idx1].max(), pdata_M_Doa[:,idx1].max()))
range2 = (min(exdata_N_Doa[:,idx2].min(), pdata_M_Doa[:,idx2].min()), max(exdata_N_Doa[:,idx2].max(), pdata_M_Doa[:,idx2].max()))
reward.plot(ax, idx1, idx2, range1, range2, n=100)
# Plot expert data
ax.scatter(exdata_N_Doa[:,idx1], exdata_N_Doa[:,idx2], color='blue', s=1, label='expert')
# Plot policy samples
ax.scatter(pdata_M_Doa[:,idx1], pdata_M_Doa[:,idx2], color='red', s=1, label='apprentice')
ax.legend()
plt.show()
def main():
np.set_printoptions(suppress=True, precision=5, linewidth=1000)
parser = argparse.ArgumentParser()
# MDP options
parser.add_argument('--discount', type=float, default=.995)
parser.add_argument('--lam', type=float, default=.97)
parser.add_argument('--max_traj_len', type=int, default=None)
parser.add_argument('--env_name', type=str, required=True)
# Policy architecture
parser.add_argument('--policy_hidden_spec',
type=str,
default=SIMPLE_ARCHITECTURE)
parser.add_argument('--enable_obsnorm', type=int, default=1)
parser.add_argument('--tiny_policy', action='store_true')
parser.add_argument('--use_tanh', type=int, default=0)
# Optimizer
parser.add_argument('--max_iter', type=int, default=1000000)
parser.add_argument('--policy_max_kl', type=float, default=.01)
parser.add_argument('--policy_cg_damping', type=float, default=.1)
parser.add_argument('--vf_max_kl', type=float, default=.01)
parser.add_argument('--vf_cg_damping', type=float, default=.1)
# Sampling
parser.add_argument('--sim_batch_size', type=int, default=None)
parser.add_argument('--min_total_sa', type=int, default=100000)
# Saving stuff
parser.add_argument('--save_freq', type=int, default=20)
parser.add_argument('--log', type=str, required=False)
args = parser.parse_args()
if args.tiny_policy or args.use_tanh:
assert args.policy_hidden_spec == SIMPLE_ARCHITECTURE, 'policy_hidden_spec must remain unspecified if --tiny_policy is set'
args.policy_hidden_spec = TINY_ARCHITECTURE
if args.use_tanh:
arch = json.loads(args.policy_hidden_spec)
for layer in arch:
if layer['type'] == 'nonlin':
layer['func'] = 'tanh'
args.policy_hidden_spec = json.dumps(arch)
print('Modified architecture:', args.policy_hidden_spec)
argstr = json.dumps(vars(args), separators=(',', ':'), indent=2)
print(argstr)
mdp = rlgymenv.RLGymMDP(args.env_name)
util.header('MDP observation space, action space sizes: %d, %d\n' %
(mdp.obs_space.dim, mdp.action_space.storage_size))
if isinstance(mdp.action_space, policyopt.ContinuousSpace):
policy_cfg = rl.GaussianPolicyConfig(
hidden_spec=args.policy_hidden_spec,
min_stdev=0.,
init_logstdev=0.,
enable_obsnorm=bool(args.enable_obsnorm))
policy = rl.GaussianPolicy(policy_cfg, mdp.obs_space, mdp.action_space,
'GaussianPolicy')
else:
policy_cfg = rl.GibbsPolicyConfig(hidden_spec=args.policy_hidden_spec,
enable_obsnorm=bool(
args.enable_obsnorm))
policy = rl.GibbsPolicy(policy_cfg, mdp.obs_space, mdp.action_space,
'GibbsPolicy')
util.header('Policy architecture')
policy.print_trainable_variables()
vf = rl.ValueFunc(hidden_spec=args.policy_hidden_spec,
obsfeat_space=mdp.obs_space,
enable_obsnorm=bool(args.enable_obsnorm),
enable_vnorm=True,
max_kl=args.vf_max_kl,
damping=args.vf_cg_damping,
time_scale=1. / mdp.env_spec.timestep_limit,
varscope_name='ValueFunc')
max_traj_len = args.max_traj_len if args.max_traj_len is not None else mdp.env_spec.timestep_limit
print('Max traj len:', max_traj_len)
opt = rl.SamplingPolicyOptimizer(
mdp=mdp,
discount=args.discount,
lam=args.lam,
policy=policy,
sim_cfg=SimConfig(min_num_trajs=-1,
min_total_sa=args.min_total_sa,
batch_size=args.sim_batch_size,
max_traj_len=max_traj_len),
step_func=rl.TRPO(max_kl=args.policy_max_kl,
damping=args.policy_cg_damping),
value_func=vf,
obsfeat_fn=lambda obs: obs,
)
log = nn.TrainingLog(args.log, [('args', argstr)])
for i in range(args.max_iter):
iter_info = opt.step()
log.write(iter_info, print_header=i % 20 == 0)
if args.save_freq != 0 and i % args.save_freq == 0 and args.log is not None:
log.write_snapshot(policy, i)
def main():
np.set_printoptions(suppress=True, precision=5, linewidth=1000)
parser = argparse.ArgumentParser()
parser.add_argument('--mode', choices=MODES, required=True)
# Expert dataset
parser.add_argument('--data', type=str, required=True)
parser.add_argument(
'--resume_training',
action='store_true',
help=
"Resume training from a checkpoint: --policy_checkpoint. Currently only supports GAIL with nn policy, reward and vf"
)
parser.add_argument(
'--checkpoint',
type=str,
help="Load from checkpoint if provided and if --resume_training")
parser.add_argument(
'--limit_trajs',
type=int,
required=True,
help=
"How many expert trajectories to be used for training. If None : full dataset is used."
)
parser.add_argument(
'--data_subsamp_freq',
type=int,
required=True,
help=
"A number between 0 and max_traj_len. Rate of subsampling of expert trajectories while creating the dataset of expert transitions (state-action)"
)
# MDP options
parser.add_argument('--env_name', type=str, required=True)
parser.add_argument('--max_traj_len', type=int, default=None)
# Policy architecture
parser.add_argument('--policy_hidden_spec',
type=str,
default=SIMPLE_ARCHITECTURE)
parser.add_argument('--tiny_policy', action='store_true')
parser.add_argument('--obsnorm_mode',
choices=OBSNORM_MODES,
default='expertdata')
# Behavioral cloning optimizer
parser.add_argument('--bclone_lr', type=float, default=1e-3)
parser.add_argument('--bclone_batch_size', type=int, default=128)
# parser.add_argument('--bclone_eval_nsa', type=int, default=128*100)
parser.add_argument('--bclone_eval_ntrajs', type=int, default=20)
parser.add_argument('--bclone_eval_freq', type=int, default=1000)
parser.add_argument('--bclone_train_frac', type=float, default=.7)
# Imitation optimizer
parser.add_argument('--discount', type=float, default=.995)
parser.add_argument('--lam', type=float, default=.97)
parser.add_argument('--max_iter', type=int, default=1000000)
parser.add_argument('--policy_max_kl', type=float, default=.01)
parser.add_argument('--policy_cg_damping',
type=float,
default=.1,
help="TRPO parameter")
parser.add_argument('--no_vf', type=int, default=0)
parser.add_argument('--vf_max_kl', type=float, default=.01)
parser.add_argument('--vf_cg_damping', type=float, default=.1)
parser.add_argument('--policy_ent_reg', type=float, default=0.)
parser.add_argument('--reward_type', type=str, default='nn')
# parser.add_argument('--linear_reward_bin_features', type=int, default=0)
parser.add_argument('--reward_max_kl',
type=float,
default=.01,
help="TRPO parameter")
parser.add_argument('--reward_lr', type=float, default=.01)
parser.add_argument('--reward_steps', type=int, default=1)
parser.add_argument('--reward_ent_reg_weight', type=float, default=.001)
parser.add_argument('--reward_include_time', type=int, default=0)
parser.add_argument('--sim_batch_size', type=int, default=None)
parser.add_argument('--min_total_sa', type=int, default=50000)
parser.add_argument('--favor_zero_expert_reward', type=int, default=0)
# Saving stuff
parser.add_argument('--print_freq', type=int, default=1)
parser.add_argument('--save_freq', type=int, default=20)
parser.add_argument('--plot_freq', type=int, default=0)
parser.add_argument('--log', type=str, required=False)
# CVaR parameters
parser.add_argument('--useCVaR', action='store_true')
parser.add_argument('--CVaR_alpha', type=float, default=0.9)
parser.add_argument('--CVaR_beta', type=float, default=0.)
parser.add_argument('--CVaR_lr', type=float, default=0.01)
# !!! The following argument --disc_CVaR_weight is not of use and should be removed
parser.add_argument(
'--disc_CVaR_weight',
type=float,
default=1.,
help=
"Weight given to CVaR loss for the discriminator. Added by Anirban for smooth convergence."
)
parser.add_argument('--CVaR_Lambda_not_trainable', action='store_false')
parser.add_argument('--CVaR_Lambda_val_if_not_trainable',
type=float,
default=0.5)
#Filtering expert trajectories
parser.add_argument('--use_expert_traj_filtering', action='store_true')
parser.add_argument('--expert_traj_filt_percentile_threshold',
type=float,
default=20)
# Additive state prior formulation
parser.add_argument('--use_additiveStatePrior', action='store_true')
parser.add_argument('--additiveStatePrior_weight', type=float, default=1.)
parser.add_argument('--n_gmm_components', type=int, default=5)
parser.add_argument('--cov_type_gmm', type=str, default='diag')
parser.add_argument('--familiarity_alpha', type=float, default=10000000)
parser.add_argument('--familiarity_beta', type=float, default=100)
parser.add_argument('--kickThreshold_percentile',
type=float,
default=100.0)
parser.add_argument('--appendFlag', action='store_true')
args = parser.parse_args()
if args.useCVaR:
print ">>>>>>>>>>>>>>>>>>> TRAINING RAIL <<<<<<<<<<<<<<<<<<<"
elif args.use_additiveStatePrior:
print ">>>>>>>>>>>>>>>>>>> USING ADDITIVE STATE PRIOR <<<<<<<<<<<<<<<<<<<"
else:
print ">>>>>>>>> TRAINING GAIL <<<<<<<<<<"
# Initialize the MDP
if args.tiny_policy:
assert args.policy_hidden_spec == SIMPLE_ARCHITECTURE, 'policy_hidden_spec must remain unspecified if --tiny_policy is set'
args.policy_hidden_spec = TINY_ARCHITECTURE
argstr = json.dumps(vars(args), separators=(',', ':'), indent=2)
print(argstr)
print "\n\n========== Policy network specifications loaded ===========\n\n"
mdp = rlgymenv.RLGymMDP(args.env_name)
util.header('MDP observation space, action space sizes: %d, %d\n' %
(mdp.obs_space.dim, mdp.action_space.storage_size))
print "\n\n========== MDP initialized ===========\n\n"
# Initialize the policy
enable_obsnorm = args.obsnorm_mode != 'none'
if isinstance(mdp.action_space, policyopt.ContinuousSpace):
policy_cfg = rl.GaussianPolicyConfig(
hidden_spec=args.policy_hidden_spec,
min_stdev=0.,
init_logstdev=0.,
enable_obsnorm=enable_obsnorm)
policy = rl.GaussianPolicy(policy_cfg, mdp.obs_space, mdp.action_space,
'GaussianPolicy', args.useCVaR)
else:
policy_cfg = rl.GibbsPolicyConfig(hidden_spec=args.policy_hidden_spec,
enable_obsnorm=enable_obsnorm)
policy = rl.GibbsPolicy(policy_cfg, mdp.obs_space, mdp.action_space,
'GibbsPolicy', args.useCVaR)
offset = 0
#Load from checkpoint if provided <<<<<<<<<<<<<=============================>>>>>>>>>>>>>>>>.
if args.resume_training:
if args.checkpoint is not None:
file, policy_key = util.split_h5_name(args.checkpoint)
offset = int(policy_key.split('/')[-1][4:])
print '\n**************************************************'
print 'Resuming from checkpoint : %d of %s' % (offset, file)
print '**************************************************\n'
if args.appendFlag and file != args.log:
raise RuntimeError(
'Log file and checkpoint should have the same name if appendFlag is on. %s vs %s'
% file, args.log)
policy_file = file[:-3] + '_policy.h5' # Because we're naming the file as *_policy.h5 itself
policy.load_h5(policy_file, policy_key)
util.header('Policy architecture')
for v in policy.get_trainable_variables():
util.header('- %s (%d parameters)' % (v.name, v.get_value().size))
util.header('Total: %d parameters' % (policy.get_num_params(), ))
print "\n\n========== Policy initialized ===========\n\n"
# Load expert data
exobs_Bstacked_Do, exa_Bstacked_Da, ext_Bstacked = load_dataset(
args.data,
args.limit_trajs,
args.data_subsamp_freq,
len_filtering=args.use_expert_traj_filtering,
len_filter_threshold=args.expert_traj_filt_percentile_threshold)
assert exobs_Bstacked_Do.shape[1] == mdp.obs_space.storage_size
assert exa_Bstacked_Da.shape[1] == mdp.action_space.storage_size
assert ext_Bstacked.ndim == 1
print "\n\n========== Expert data loaded ===========\n\n"
print '\n==================== Hyperparams ===================='
print '\texpert_traj_filt_percentile_threshold = %f' % args.expert_traj_filt_percentile_threshold
print '\tfamiliarity_alpha = %f' % args.familiarity_alpha
print '\tfamiliarity_beta = %f' % args.familiarity_beta
print '\tkickThreshold_percentile = %f' % args.kickThreshold_percentile
print '==============================================\n'
# Start optimization
max_traj_len = args.max_traj_len if args.max_traj_len is not None else mdp.env_spec.timestep_limit
print 'Max traj len:', max_traj_len
if args.mode == 'bclone':
# For behavioral cloning, only print output when evaluating
args.print_freq = args.bclone_eval_freq
args.save_freq = args.bclone_eval_freq
reward, vf = None, None #There is no role of the reward function or value function in behavioral cloning
opt = imitation.BehavioralCloningOptimizer(
mdp,
policy,
lr=args.bclone_lr,
batch_size=args.bclone_batch_size,
obsfeat_fn=lambda o: o,
ex_obs=exobs_Bstacked_Do,
ex_a=exa_Bstacked_Da,
eval_sim_cfg=policyopt.SimConfig(
min_num_trajs=args.bclone_eval_ntrajs,
min_total_sa=-1,
batch_size=args.sim_batch_size,
max_traj_len=max_traj_len),
eval_freq=args.bclone_eval_freq,
train_frac=args.bclone_train_frac)
print "======= Behavioral Cloning optimizer initialized ======="
elif args.mode == 'ga':
if args.reward_type == 'nn':
reward = imitation.TransitionClassifier( #Add resume training functionality
hidden_spec=args.policy_hidden_spec,
obsfeat_space=mdp.obs_space,
action_space=mdp.action_space,
max_kl=args.reward_max_kl,
adam_lr=args.reward_lr,
adam_steps=args.reward_steps,
ent_reg_weight=args.reward_ent_reg_weight,
enable_inputnorm=True,
include_time=bool(args.reward_include_time),
time_scale=1. / mdp.env_spec.timestep_limit,
favor_zero_expert_reward=bool(args.favor_zero_expert_reward),
varscope_name='TransitionClassifier',
useCVaR=args.useCVaR,
CVaR_loss_weightage=args.disc_CVaR_weight)
#Load from checkpoint if provided <<<<<<<<<<<<<=============================>>>>>>>>>>>>>>>>.
if args.resume_training:
if args.checkpoint is not None:
file, reward_key = util.split_h5_name(args.checkpoint)
reward_file = file[:-3] + '_reward.h5'
print reward_file
reward.load_h5(reward_file, reward_key)
elif args.reward_type in ['l2ball', 'simplex']:
reward = imitation.LinearReward(
obsfeat_space=mdp.obs_space,
action_space=mdp.action_space,
mode=args.reward_type,
enable_inputnorm=True,
favor_zero_expert_reward=bool(args.favor_zero_expert_reward),
include_time=bool(args.reward_include_time),
time_scale=1. / mdp.env_spec.timestep_limit,
exobs_Bex_Do=exobs_Bstacked_Do,
exa_Bex_Da=exa_Bstacked_Da,
ext_Bex=ext_Bstacked)
else:
raise NotImplementedError(args.reward_type)
vf = None if bool(
args.no_vf) else rl.ValueFunc( #Add resume training functionality
hidden_spec=args.policy_hidden_spec,
obsfeat_space=mdp.obs_space,
enable_obsnorm=args.obsnorm_mode != 'none',
enable_vnorm=True,
max_kl=args.vf_max_kl,
damping=args.vf_cg_damping,
time_scale=1. / mdp.env_spec.timestep_limit,
varscope_name='ValueFunc')
if args.resume_training:
if args.checkpoint is not None:
file, vf_key = util.split_h5_name(args.checkpoint)
vf_file = file[:-3] + '_vf.h5'
vf.load_h5(vf_file, vf_key)
if args.useCVaR:
opt = imitation.ImitationOptimizer_CVaR(
mdp=mdp,
discount=args.discount,
lam=args.lam,
policy=policy,
sim_cfg=policyopt.SimConfig(min_num_trajs=-1,
min_total_sa=args.min_total_sa,
batch_size=args.sim_batch_size,
max_traj_len=max_traj_len),
step_func=rl.TRPO(max_kl=args.policy_max_kl,
damping=args.policy_cg_damping,
useCVaR=True),
reward_func=reward,
value_func=vf,
policy_obsfeat_fn=lambda obs: obs,
reward_obsfeat_fn=lambda obs: obs,
policy_ent_reg=args.policy_ent_reg,
ex_obs=exobs_Bstacked_Do,
ex_a=exa_Bstacked_Da,
ex_t=ext_Bstacked,
#For CVaR
CVaR_alpha=args.CVaR_alpha,
CVaR_beta=args.CVaR_beta,
CVaR_lr=args.CVaR_lr,
CVaR_Lambda_trainable=args.CVaR_Lambda_not_trainable,
CVaR_Lambda_val_if_not_trainable=args.
CVaR_Lambda_val_if_not_trainable,
offset=offset + 1)
elif args.use_additiveStatePrior:
opt = imitation.ImitationOptimizer_additiveStatePrior(
mdp=mdp,
discount=args.discount,
lam=args.lam,
policy=policy,
sim_cfg=policyopt.SimConfig(min_num_trajs=-1,
min_total_sa=args.min_total_sa,
batch_size=args.sim_batch_size,
max_traj_len=max_traj_len),
step_func=rl.TRPO(max_kl=args.policy_max_kl,
damping=args.policy_cg_damping,
useCVaR=False),
reward_func=reward,
value_func=vf,
policy_obsfeat_fn=lambda obs: obs,
reward_obsfeat_fn=lambda obs: obs,
policy_ent_reg=args.policy_ent_reg,
ex_obs=exobs_Bstacked_Do,
ex_a=exa_Bstacked_Da,
ex_t=ext_Bstacked,
n_gmm_components=args.n_gmm_components,
cov_type_gmm=args.cov_type_gmm,
additiveStatePrior_weight=args.additiveStatePrior_weight,
alpha=args.familiarity_alpha,
beta=args.familiarity_beta,
kickThreshold_percentile=args.kickThreshold_percentile,
offset=offset + 1)
else:
opt = imitation.ImitationOptimizer(
mdp=mdp,
discount=args.discount,
lam=args.lam,
policy=policy,
sim_cfg=policyopt.SimConfig(min_num_trajs=-1,
min_total_sa=args.min_total_sa,
batch_size=args.sim_batch_size,
max_traj_len=max_traj_len),
step_func=rl.TRPO(max_kl=args.policy_max_kl,
damping=args.policy_cg_damping,
useCVaR=False),
reward_func=reward,
value_func=vf,
policy_obsfeat_fn=lambda obs: obs,
reward_obsfeat_fn=lambda obs: obs,
policy_ent_reg=args.policy_ent_reg,
ex_obs=exobs_Bstacked_Do,
ex_a=exa_Bstacked_Da,
ex_t=ext_Bstacked)
# Set observation normalization
if args.obsnorm_mode == 'expertdata':
policy.update_obsnorm(exobs_Bstacked_Do)
if reward is not None:
reward.update_inputnorm(opt.reward_obsfeat_fn(exobs_Bstacked_Do),
exa_Bstacked_Da)
if vf is not None:
vf.update_obsnorm(opt.policy_obsfeat_fn(exobs_Bstacked_Do))
print "======== Observation normalization done ========"
# Run optimizer
print "======== Optimization begins ========"
# Trial: make checkpoints for policy, reward and vf
policy_log = nn.TrainingLog(args.log[:-3] + '_policy.h5',
[('args', argstr)], args.appendFlag)
reward_log = nn.TrainingLog(args.log[:-3] + '_reward.h5',
[('args', argstr)], args.appendFlag)
vf_log = nn.TrainingLog(args.log[:-3] + '_vf.h5', [('args', argstr)],
args.appendFlag)
kickStatesData = []
print '\n**************************************'
print 'Running iterations from %d to %d' % (offset + 1, args.max_iter)
for i in xrange(offset + 1, args.max_iter):
# for i in range(1): #FIXME: this is just for studying the insides of the training algo
# All training a.k.a. optimization happens in the next line!!! -_-
# pdb.set_trace()
iter_info = opt.step(
i, kickStatesData) if args.use_additiveStatePrior else opt.step(i)
#========= The rest is fluff =============
#Log and plot
#pdb.set_trace()
policy_log.write(
iter_info,
print_header=i % (20 * args.print_freq) == 0,
# display=False
display=i % args.print_freq == 0 ## FIXME: AS remove comment
)
# reward_log.write(iter_info,
# print_header=i % (20*args.print_freq) == 0,
# display=False
# # display=i % args.print_freq == 0 ## FIXME: AS remove comment
# )
# vf_log.write(iter_info,
# print_header=i % (20*args.print_freq) == 0,
# display=False
# # display=i % args.print_freq == 0 ## FIXME: AS remove comment
# )
#FIXME: problem running this on 211 and 138. No problem on 151
if args.save_freq != 0 and i % args.save_freq == 0 and args.log is not None:
policy_log.write_snapshot(policy, i)
reward_log.write_snapshot(reward, i)
vf_log.write_snapshot(vf, i)
# analysisFile=open(args.log[:-3]+'_kickedStates' + str(i) + '.pkl', 'wb')
analysisFile = open(args.log[:-3] + '_kickedStates.pkl', 'wb')
pkl.dump({'kickStatesData': kickStatesData},
analysisFile,
protocol=2)
analysisFile.close()
if args.plot_freq != 0 and i % args.plot_freq == 0:
exdata_N_Doa = np.concatenate([exobs_Bstacked_Do, exa_Bstacked_Da],
axis=1)
pdata_M_Doa = np.concatenate(
[opt.last_sampbatch.obs.stacked, opt.last_sampbatch.a.stacked],
axis=1)
# Plot reward
import matplotlib.pyplot as plt
_, ax = plt.subplots()
idx1, idx2 = 0, 1
range1 = (min(exdata_N_Doa[:, idx1].min(),
pdata_M_Doa[:, idx1].min()),
max(exdata_N_Doa[:, idx1].max(),
pdata_M_Doa[:, idx1].max()))
range2 = (min(exdata_N_Doa[:, idx2].min(),
pdata_M_Doa[:, idx2].min()),
max(exdata_N_Doa[:, idx2].max(),
pdata_M_Doa[:, idx2].max()))
reward.plot(ax, idx1, idx2, range1, range2, n=100)
# Plot expert data
ax.scatter(exdata_N_Doa[:, idx1],
exdata_N_Doa[:, idx2],
color='blue',
s=1,
label='expert')
# Plot policy samples
ax.scatter(pdata_M_Doa[:, idx1],
pdata_M_Doa[:, idx2],
color='red',
s=1,
label='apprentice')
ax.legend()
plt.show()
def main():
np.set_printoptions(suppress=True, precision=5, linewidth=1000)
parser = argparse.ArgumentParser()
parser.add_argument('--mode', choices=MODES, required=True)
# Expert dataset
parser.add_argument('--data', type=str, required=True)
parser.add_argument('--limit_trajs', type=int, required=True)
parser.add_argument('--data_subsamp_freq', type=int, required=True)
# MDP options
parser.add_argument('--env_name', type=str, required=True)
parser.add_argument('--max_traj_len', type=int, default=None)
# Policy architecture
parser.add_argument('--policy_hidden_spec',
type=str,
default=SIMPLE_ARCHITECTURE)
parser.add_argument('--tiny_policy', action='store_true')
parser.add_argument('--obsnorm_mode',
choices=OBSNORM_MODES,
default='expertdata')
# add a spec for transition classifier
parser.add_argument('--clf_hidden_spec',
type=str,
default=SIMPLE_ARCHITECTURE)
# Behavioral cloning optimizer
parser.add_argument('--bclone_lr', type=float, default=1e-3)
parser.add_argument('--bclone_batch_size', type=int, default=128)
# parser.add_argument('--bclone_eval_nsa', type=int, default=128*100)
parser.add_argument('--bclone_eval_ntrajs', type=int, default=20)
parser.add_argument('--bclone_eval_freq', type=int, default=1000)
parser.add_argument('--bclone_train_frac', type=float, default=.7)
# Imitation optimizer
parser.add_argument('--discount', type=float, default=.995)
parser.add_argument('--lam', type=float, default=.97)
parser.add_argument('--max_iter', type=int, default=1000000)
parser.add_argument('--policy_max_kl', type=float, default=.01)
parser.add_argument('--policy_cg_damping', type=float, default=.1)
parser.add_argument('--no_vf', type=int, default=0)
parser.add_argument('--vf_max_kl', type=float, default=.01)
parser.add_argument('--vf_cg_damping', type=float, default=.1)
parser.add_argument('--policy_ent_reg', type=float, default=0.)
parser.add_argument('--reward_type', type=str, default='nn')
# parser.add_argument('--linear_reward_bin_features', type=int, default=0)
parser.add_argument('--reward_max_kl', type=float, default=.01)
parser.add_argument('--reward_lr', type=float, default=.01)
parser.add_argument('--reward_steps', type=int, default=1)
parser.add_argument('--reward_ent_reg_weight', type=float, default=.001)
parser.add_argument('--reward_include_time', type=int, default=0)
parser.add_argument('--sim_batch_size', type=int, default=None)
parser.add_argument('--min_total_sa', type=int, default=50000)
parser.add_argument('--favor_zero_expert_reward', type=int, default=0)
# Saving stuff
parser.add_argument('--print_freq', type=int, default=1)
parser.add_argument('--save_freq', type=int, default=20)
parser.add_argument('--plot_freq', type=int, default=100)
parser.add_argument('--log', type=str, required=False)
# Sequential model
parser.add_argument('--seq_model', type=int, default=0)
parser.add_argument('--time_step', type=int, default=10)
args = parser.parse_args()
# Initialize the MDP
if not args.seq_model:
if args.tiny_policy:
assert args.policy_hidden_spec == SIMPLE_ARCHITECTURE, 'policy_hidden_spec must remain unspecified if --tiny_policy is set'
args.policy_hidden_spec = TINY_ARCHITECTURE
argstr = json.dumps(vars(args), separators=(',', ':'), indent=2)
print(argstr)
# Add sequential model
else:
if args.tiny_policy:
assert args.policy_hidden_spec == SEQ_SIMPLE_ARCHITECTURE, 'policy_hidden_spec must remain unspecified if --tiny_policy is set'
args.policy_hidden_spec = SEQ_TINY_ARCHITECTURE
# # change the default architecture to fit sequential model
# if args.policy_hidden_spec == SIMPLE_ARCHITECTURE:
# args.policy_hidden_spec = SEQ_SIMPLE_ARCHITECTURE
if args.clf_hidden_spec == SIMPLE_ARCHITECTURE:
args.clf_hidden_spec = SEQ_SIMPLE_ARCHITECTURE
argstr = json.dumps(vars(args), separators=(',', ':'), indent=2)
mdp = rlgymenv.RLGymMDP(args.env_name)
util.header('MDP observation space, action space sizes: %d, %d\n' %
(mdp.obs_space.dim, mdp.action_space.storage_size))
# Initialize the policy
enable_obsnorm = args.obsnorm_mode != 'none'
if not args.seq_model:
if isinstance(mdp.action_space, policyopt.ContinuousSpace):
policy_cfg = rl.GaussianPolicyConfig(
hidden_spec=args.policy_hidden_spec,
min_stdev=0.,
init_logstdev=0.,
enable_obsnorm=enable_obsnorm)
policy = rl.GaussianPolicy(policy_cfg, mdp.obs_space,
mdp.action_space, 'GaussianPolicy')
else:
policy_cfg = rl.GibbsPolicyConfig(
hidden_spec=args.policy_hidden_spec,
enable_obsnorm=enable_obsnorm)
policy = rl.GibbsPolicy(policy_cfg, mdp.obs_space,
mdp.action_space, 'GibbsPolicy')
# Add squential model
else:
if isinstance(mdp.action_space, policyopt.ContinuousSpace):
policy_cfg = rl.SeqGaussianPolicyConfig(
hidden_spec=args.policy_hidden_spec,
time_step=args.time_step, # add time step
min_stdev=0.,
init_logstdev=0.,
enable_obsnorm=enable_obsnorm,
enable_actnorm=False) # XXX not implement actnorm yet
policy = rl.SeqGaussianPolicy(policy_cfg, mdp.obs_space,
mdp.action_space,
'SeqGaussianPolicy')
else:
policy_cfg = rl.SeqGibbsPolicyConfig(
hidden_spec=args.policy_hidden_spec,
time_step=args.time_step, # add time step
enable_obsnorm=enable_obsnorm,
enable_actnorm=False) # XXX not implement actnorm yet
policy = rl.SeqGibbsPolicy(policy_cfg, mdp.obs_space,
mdp.action_space, 'SeqGibbsPolicy')
util.header('Policy architecture')
for v in policy.get_trainable_variables():
util.header('- %s (%d parameters)' % (v.name, v.get_value().size))
util.header('Total: %d parameters' % (policy.get_num_params(), ))
# Load expert data
exobs_Bstacked_Do, exa_Bstacked_Da, ext_Bstacked = load_dataset(
args.data, args.limit_trajs, args.data_subsamp_freq)
assert exobs_Bstacked_Do.shape[1] == mdp.obs_space.storage_size
assert exa_Bstacked_Da.shape[1] == mdp.action_space.storage_size
assert ext_Bstacked.ndim == 1
# print 'Debug: exobs_Bstacked_Do dtype:', exobs_Bstacked_Do.dtype
# print 'Debug: exa_Bstacked_Da dtype:', exa_Bstacked_Da.dtype
# print 'Debug: ext_Bstacked dtype:', ext_Bstacked.dtype
# assert 1 == 0
# Start optimization
max_traj_len = args.max_traj_len if args.max_traj_len is not None else mdp.env_spec.timestep_limit
print('Max traj len:', max_traj_len)
if args.mode == 'bclone':
# For behavioral cloning, only print output when evaluating
# args.print_freq = args.bclone_eval_freq
# args.save_freq = args.bclone_eval_freq
reward, vf = None, None
opt = imitation.BehavioralCloningOptimizer(
mdp,
policy,
lr=args.bclone_lr,
batch_size=args.bclone_batch_size,
obsfeat_fn=lambda o: o,
ex_obs=exobs_Bstacked_Do,
ex_a=exa_Bstacked_Da,
eval_sim_cfg=policyopt.SimConfig(
min_num_trajs=args.bclone_eval_ntrajs,
min_total_sa=-1,
batch_size=args.sim_batch_size,
max_traj_len=max_traj_len,
smp_traj_len=-1),
eval_freq=args.
bclone_eval_freq, # XXX set a value when using bclone
train_frac=args.bclone_train_frac)
elif args.mode == 'ga':
if args.reward_type == 'nn':
reward = imitation.TransitionClassifier(
hidden_spec=args.policy_hidden_spec,
obsfeat_space=mdp.obs_space,
action_space=mdp.action_space,
max_kl=args.reward_max_kl,
adam_lr=args.reward_lr,
adam_steps=args.reward_steps,
ent_reg_weight=args.reward_ent_reg_weight,
enable_inputnorm=True,
include_time=bool(args.reward_include_time),
time_scale=1. / mdp.env_spec.timestep_limit,
favor_zero_expert_reward=bool(args.favor_zero_expert_reward),
varscope_name='TransitionClassifier')
elif args.reward_type in ['l2ball', 'simplex']:
reward = imitation.LinearReward(
obsfeat_space=mdp.obs_space,
action_space=mdp.action_space,
mode=args.reward_type,
enable_inputnorm=True,
favor_zero_expert_reward=bool(args.favor_zero_expert_reward),
include_time=bool(args.reward_include_time),
time_scale=1. / mdp.env_spec.timestep_limit,
exobs_Bex_Do=exobs_Bstacked_Do,
exa_Bex_Da=exa_Bstacked_Da,
ext_Bex=ext_Bstacked)
else:
raise NotImplementedError(args.reward_type)
vf = None if bool(args.no_vf) else rl.ValueFunc(
hidden_spec=args.policy_hidden_spec,
obsfeat_space=mdp.obs_space,
enable_obsnorm=args.obsnorm_mode != 'none',
enable_vnorm=True,
max_kl=args.vf_max_kl,
damping=args.vf_cg_damping,
time_scale=1. / mdp.env_spec.timestep_limit,
varscope_name='ValueFunc')
opt = imitation.ImitationOptimizer(
mdp=mdp,
discount=args.discount,
lam=args.lam,
policy=policy,
sim_cfg=policyopt.SimConfig(min_num_trajs=-1,
min_total_sa=args.min_total_sa,
batch_size=args.sim_batch_size,
max_traj_len=max_traj_len,
smp_traj_len=-1),
step_func=rl.TRPO(max_kl=args.policy_max_kl,
damping=args.policy_cg_damping,
sequential_model=False), # add sequential model
reward_func=reward,
value_func=vf,
policy_obsfeat_fn=lambda obs: obs,
reward_obsfeat_fn=lambda obs: obs,
policy_ent_reg=args.policy_ent_reg,
ex_obs=exobs_Bstacked_Do,
ex_a=exa_Bstacked_Da,
ex_t=ext_Bstacked)
# Add Sequential Model
elif args.mode == 'sga':
if args.reward_type == 'nn':
reward = imitation.SequentialTransitionClassifier(
hidden_spec=args.clf_hidden_spec,
obsfeat_space=mdp.obs_space,
action_space=mdp.action_space,
max_kl=args.reward_max_kl,
adam_lr=args.reward_lr,
adam_steps=args.reward_steps,
ent_reg_weight=args.reward_ent_reg_weight,
time_step=args.time_step, # add time step
enable_inputnorm=True,
include_time=bool(args.reward_include_time),
time_scale=1. / mdp.env_spec.timestep_limit,
favor_zero_expert_reward=bool(args.favor_zero_expert_reward),
varscope_name='SequentialTransitionClassifier')
# elif args.reward_type in ['l2ball', 'simplex']:
# reward = imitation.LinearReward(
# obsfeat_space=mdp.obs_space,
# action_space=mdp.action_space,
# mode=args.reward_type,
# enable_inputnorm=True,
# favor_zero_expert_reward=bool(args.favor_zero_expert_reward),
# include_time=bool(args.reward_include_time),
# time_scale=1./mdp.env_spec.timestep_limit,
# exobs_Bex_Do=exobs_Bstacked_Do,
# exa_Bex_Da=exa_Bstacked_Da,
# ext_Bex=ext_Bstacked)
else:
raise NotImplementedError(args.reward_type)
vf = None if bool(args.no_vf) else rl.SequentialValueFunc(
hidden_spec=args.policy_hidden_spec,
obsfeat_space=mdp.obs_space,
time_step=args.time_step, # add time step
enable_obsnorm=args.obsnorm_mode != 'none',
enable_vnorm=True,
max_kl=args.vf_max_kl,
damping=args.vf_cg_damping,
time_scale=1. / mdp.env_spec.timestep_limit,
varscope_name='SequentialValueFunc')
opt = imitation.SequentialImitationOptimizer(
mdp=mdp,
discount=args.discount,
lam=args.lam,
policy=policy,
sim_cfg=policyopt.SeqSimConfig(
min_num_trajs=-1,
min_total_sa=args.min_total_sa,
batch_size=args.sim_batch_size,
max_traj_len=max_traj_len,
time_step=args.time_step), # add time step
step_func=rl.TRPO(
max_kl=args.policy_max_kl,
damping=args.policy_cg_damping,
sequential_model=False), # XXX not use sequential trpo
reward_func=reward,
value_func=vf,
policy_obsfeat_fn=lambda obs: obs,
reward_obsfeat_fn=lambda obs: obs,
policy_ent_reg=args.policy_ent_reg,
ex_obs=exobs_Bstacked_Do,
ex_a=exa_Bstacked_Da,
ex_t=ext_Bstacked)
# Set observation normalization
if args.obsnorm_mode == 'expertdata':
if not args.seq_model:
policy.update_obsnorm(exobs_Bstacked_Do)
if reward is not None:
reward.update_inputnorm(
opt.reward_obsfeat_fn(exobs_Bstacked_Do), exa_Bstacked_Da)
if vf is not None:
vf.update_obsnorm(opt.policy_obsfeat_fn(exobs_Bstacked_Do))
# Add sequential model
else:
Bstacked, Do, T = exobs_Bstacked_Do.shape[
0], exobs_Bstacked_Do.shape[1], args.time_step
exobs_BT_Do = exobs_Bstacked_Do[:T * (Bstacked // T), :]
exa_BT_Da = exa_Bstacked_Da[:T * (Bstacked // T), :]
# reshape:(B*T, ...) => (B, T, ...)
exobs_B_T_Do = np.reshape(
exobs_BT_Do, (Bstacked // T, T, exobs_Bstacked_Do.shape[1]))
exa_B_T_Da = np.reshape(
exa_BT_Da, (Bstacked // T, T, exa_Bstacked_Da.shape[1]))
print("Debug: exobs_Bstacked_Do:", exobs_Bstacked_Do.shape[0],
exobs_Bstacked_Do.shape[1])
print("Debug: exobs_B_T_Do:", exobs_B_T_Do.shape[0],
exobs_B_T_Do.shape[1], exobs_B_T_Do.shape[2])
# XXX use original policy (not sequential)
policy.update_obsnorm(exobs_Bstacked_Do)
if reward is not None:
reward.update_inputnorm(opt.reward_obsfeat_fn(exobs_B_T_Do),
exa_B_T_Da)
if vf is not None:
vf.update_obsnorm(opt.policy_obsfeat_fn(exobs_Bstacked_Do))
# Run optimizer
# log = nn.TrainingLog(args.log, [('args', argstr)])
log = nn.BasicTrainingLog(args.log, [('args', argstr)])
for i in xrange(args.max_iter):
iter_info = opt.step()
# log.write(iter_info, print_header=i % (20*args.print_freq) == 0, display=i % args.print_freq == 0)
log.add_log(iter_info,
print_header=i % (20 * args.print_freq) == 0,
display=i % args.print_freq == 0)
if args.save_freq != 0 and i % args.save_freq == 0 and args.log is not None:
print('%i/%i iters is done. Save snapshot.' % (i, args.max_iter))
# log.write_snapshot(policy, i)
log.write_snapshot(policy, i)
if args.mode == 'ga' and args.plot_freq != 0 and i % args.plot_freq == 0:
print('%i/%i iters is done. Save plot.' % (i, args.max_iter))
exdata_N_Doa = np.concatenate([exobs_Bstacked_Do, exa_Bstacked_Da],
axis=1)
pdata_M_Doa = np.concatenate(
[opt.last_sampbatch.obs.stacked, opt.last_sampbatch.a.stacked],
axis=1)
# convert dtype to follow theano config
exdata_N_Doa = exdata_N_Doa.astype(theano.config.floatX)
pdata_M_Doa = pdata_M_Doa.astype(theano.config.floatX)
# print 'Debug: exobs_Bstacked_Do dtype:', exobs_Bstacked_Do.dtype # float32
# print 'Debug: exa_Bstacked_Da dtype:', exa_Bstacked_Da.dtype # int64
# print 'Debug: opt.last_sampbatch.obs.stacked dtype:', opt.last_sampbatch.obs.stacked.dtype # float32
# print 'Debug: opt.last_sampbatch.a.stacked dtype:', opt.last_sampbatch.a.stacked.dtype # int64
# print 'Debug: exdata_N_Doa dtype:', exdata_N_Doa.dtype # float32
# print 'Debug: pdata_M_Doa dtype:', pdata_M_Doa.dtype # float32
# Plot reward
# import matplotlib
# matplotlib.use('Agg')
# import matplotlib.pyplot as plt
_, ax = plt.subplots()
idx1, idx2 = 0, 1
range1 = (min(exdata_N_Doa[:, idx1].min(),
pdata_M_Doa[:, idx1].min()),
max(exdata_N_Doa[:, idx1].max(),
pdata_M_Doa[:, idx1].max()))
range2 = (min(exdata_N_Doa[:, idx2].min(),
pdata_M_Doa[:, idx2].min()),
max(exdata_N_Doa[:, idx2].max(),
pdata_M_Doa[:, idx2].max()))
# print 'Debug: range1 types:', type(range1[0]), type(range1[1]) # float32, float32
# print 'Debug: range2 types:', type(range2[0]), type(range2[1]) # float32, float32
x, y, z = reward.plot(ax, idx1, idx2, range1, range2, n=100)
plot = [
x, y, z, exdata_N_Doa[:, idx1], exdata_N_Doa[:, idx2],
pdata_M_Doa[:, idx1], pdata_M_Doa[:, idx2]
]
log.write_plot(plot, i)
# Plot expert data
# ax.scatter(exdata_N_Doa[:,idx1], exdata_N_Doa[:,idx2], color='blue', s=1, label='expert')
# Plot policy samples
# ax.scatter(pdata_M_Doa[:,idx1], pdata_M_Doa[:,idx2], color='red', s=1, label='apprentice')
# ax.legend()
# plt.show()
# plt.savefig()
# plot = [x, y, z, exdata_N_Doa[:,idx1], exdata_N_Doa[:,idx2], pdata_M_Doa[:,idx1], pdata_M_Doa[:,idx2]]
# log.write_plot(plot, i)
# if args.mode == 'sga' and args.plot_freq != 0 and i % args.plot_freq == 0:
# print ('%i/%i iters is done. Save plot.' %(i, args.max_iter))
# exdata_N_Doa = np.concatenate([exobs_Bstacked_Do, exa_Bstacked_Da], axis=1)
# # reshape: (B, T, ...) => (B*T, ...)
## B, T, Df = opt.last_sampbatch.obs.stacked.shape
## obs_flatten = np.reshape(opt.last_sampbatch.obs.stacked, (B*T, opt.last_sampbatch.obs.stacked.shape[2]))
## a_flatten = np.reshape(opt.last_sampbatch.a.stacked, (B*T, opt.last_sampbatch.a.stacked.shape[2]))
### pdata_M_Doa = np.concatenate([opt.last_sampbatch.obs.stacked, opt.last_sampbatch.a.stacked], axis=1)
# pdata_M_Doa = np.concatenate([opt.last_sampbatch.obs.stacked, opt.last_sampbatch.a.stacked], axis=1)
# # convert dtype to follow theano config
# exdata_N_Doa = exdata_N_Doa.astype(theano.config.floatX)
# pdata_M_Doa = pdata_M_Doa.astype(theano.config.floatX)
## print 'Debug: exobs_Bstacked_Do dtype:', exobs_Bstacked_Do.dtype # float32
## print 'Debug: exa_Bstacked_Da dtype:', exa_Bstacked_Da.dtype # int64
## print 'Debug: opt.last_sampbatch.obs.stacked dtype:', opt.last_sampbatch.obs.stacked.dtype # float32
## print 'Debug: opt.last_sampbatch.a.stacked dtype:', opt.last_sampbatch.a.stacked.dtype # int64
## print 'Debug: exdata_N_Doa dtype:', exdata_N_Doa.dtype # float32
## print 'Debug: pdata_M_Doa dtype:', pdata_M_Doa.dtype # float32
# # Plot reward
## import matplotlib
## matplotlib.use('Agg')
## import matplotlib.pyplot as plt
# _, ax = plt.subplots()
# idx1, idx2 = 0,1
# range1 = (min(exdata_N_Doa[:,idx1].min(), pdata_M_Doa[:,idx1].min()), max(exdata_N_Doa[:,idx1].max(), pdata_M_Doa[:,idx1].max()))
# range2 = (min(exdata_N_Doa[:,idx2].min(), pdata_M_Doa[:,idx2].min()), max(exdata_N_Doa[:,idx2].max(), pdata_M_Doa[:,idx2].max()))
## print 'Debug: range1 types:', type(range1[0]), type(range1[1]) # float32, float32
## print 'Debug: range2 types:', type(range2[0]), type(range2[1]) # float32, float32
# # for sequential model, input the length of sequence
# # XXX take care of the usage of memory !!
# x, y, z = reward.plot(ax, idx1, idx2, range1, range2, args.time_step, n=100)
# plot = [x, y, z, exdata_N_Doa[:,idx1], exdata_N_Doa[:,idx2], pdata_M_Doa[:,idx1], pdata_M_Doa[:,idx2]]
# log.write_plot(plot, i)
# # Plot expert data
## ax.scatter(exdata_N_Doa[:,idx1], exdata_N_Doa[:,idx2], color='blue', s=1, label='expert')
# # Plot policy samples
## ax.scatter(pdata_M_Doa[:,idx1], pdata_M_Doa[:,idx2], color='red', s=1, label='apprentice')
## ax.legend()
## plt.show()
## plt.savefig()
## plot = [x, y, z, exdata_N_Doa[:,idx1], exdata_N_Doa[:,idx2], pdata_M_Doa[:,idx1], pdata_M_Doa[:,idx2]]
## log.write_plot(plot, i)
# write log
print('Training is done. Save log.')
log.write_log()
log.close()
def main():
"""
NOTE! Don't forget that these are effectively called directly from the yaml
files. They call imitate_mj.py with their own arguments, so check there if
some of the values differ from the default ones.
"""
np.set_printoptions(suppress=True, precision=5, linewidth=1000)
parser = argparse.ArgumentParser()
parser.add_argument('--mode', choices=MODES, required=True)
# Expert dataset
parser.add_argument('--data', type=str, required=True)
parser.add_argument('--limit_trajs', type=int, required=True)
parser.add_argument('--data_subsamp_freq', type=int, required=True)
# MDP options
parser.add_argument('--env_name', type=str, required=True)
parser.add_argument('--max_traj_len', type=int, default=None)
# Policy architecture
parser.add_argument('--policy_hidden_spec',
type=str,
default=SIMPLE_ARCHITECTURE)
parser.add_argument('--tiny_policy', action='store_true')
parser.add_argument('--obsnorm_mode',
choices=OBSNORM_MODES,
default='expertdata')
# Behavioral cloning optimizer (ok ... 128 and 0.7 settings are in the paper).
parser.add_argument('--bclone_lr', type=float, default=1e-3)
parser.add_argument('--bclone_batch_size', type=int, default=128)
# parser.add_argument('--bclone_eval_nsa', type=int, default=128*100)
parser.add_argument('--bclone_eval_ntrajs', type=int, default=20)
parser.add_argument('--bclone_eval_freq', type=int, default=1000)
parser.add_argument('--bclone_train_frac', type=float, default=.7)
# Imitation optimizer
parser.add_argument('--discount', type=float, default=.995)
parser.add_argument('--lam', type=float, default=.97)
parser.add_argument('--max_iter', type=int, default=1000000)
parser.add_argument('--policy_max_kl', type=float, default=.01)
parser.add_argument('--policy_cg_damping', type=float, default=.1)
parser.add_argument('--no_vf', type=int, default=0)
parser.add_argument('--vf_max_kl', type=float, default=.01)
parser.add_argument('--vf_cg_damping', type=float, default=.1)
parser.add_argument('--policy_ent_reg', type=float, default=0.)
parser.add_argument('--reward_type', type=str, default='nn')
# parser.add_argument('--linear_reward_bin_features', type=int, default=0)
parser.add_argument('--reward_max_kl', type=float, default=.01)
parser.add_argument('--reward_lr', type=float, default=.01)
parser.add_argument('--reward_steps', type=int, default=1)
parser.add_argument('--reward_ent_reg_weight', type=float, default=.001)
parser.add_argument('--reward_include_time', type=int, default=0)
parser.add_argument('--sim_batch_size', type=int, default=None)
parser.add_argument('--min_total_sa', type=int, default=50000)
parser.add_argument('--favor_zero_expert_reward', type=int, default=0)
# Saving stuff
parser.add_argument('--print_freq', type=int, default=1)
parser.add_argument('--save_freq', type=int, default=20)
parser.add_argument('--plot_freq', type=int, default=0)
parser.add_argument('--log', type=str, required=False)
args = parser.parse_args()
# Initialize the MDP
if args.tiny_policy:
assert args.policy_hidden_spec == SIMPLE_ARCHITECTURE, 'policy_hidden_spec must remain unspecified if --tiny_policy is set'
args.policy_hidden_spec = TINY_ARCHITECTURE
argstr = json.dumps(vars(args), separators=(',', ':'), indent=2)
print(argstr)
mdp = rlgymenv.RLGymMDP(args.env_name)
util.header('MDP observation space, action space sizes: %d, %d\n' %
(mdp.obs_space.dim, mdp.action_space.storage_size))
# Initialize the policy
print("\n\tNow initializing the policy:")
enable_obsnorm = args.obsnorm_mode != 'none'
if isinstance(mdp.action_space, policyopt.ContinuousSpace):
policy_cfg = rl.GaussianPolicyConfig(
hidden_spec=args.policy_hidden_spec,
min_stdev=0.,
init_logstdev=0.,
enable_obsnorm=enable_obsnorm)
policy = rl.GaussianPolicy(policy_cfg, mdp.obs_space, mdp.action_space,
'GaussianPolicy')
else:
policy_cfg = rl.GibbsPolicyConfig(hidden_spec=args.policy_hidden_spec,
enable_obsnorm=enable_obsnorm)
policy = rl.GibbsPolicy(policy_cfg, mdp.obs_space, mdp.action_space,
'GibbsPolicy')
util.header('Policy architecture')
for v in policy.get_trainable_variables():
util.header('- %s (%d parameters)' % (v.name, v.get_value().size))
util.header('Total: %d parameters' % (policy.get_num_params(), ))
print("\tFinished initializing the policy.\n")
# Load expert data
exobs_Bstacked_Do, exa_Bstacked_Da, ext_Bstacked = load_dataset(
args.data, args.limit_trajs, args.data_subsamp_freq)
assert exobs_Bstacked_Do.shape[1] == mdp.obs_space.storage_size
assert exa_Bstacked_Da.shape[1] == mdp.action_space.storage_size
assert ext_Bstacked.ndim == 1
# Start optimization
max_traj_len = args.max_traj_len if args.max_traj_len is not None else mdp.env_spec.timestep_limit
print 'Max traj len:', max_traj_len
if args.mode == 'bclone':
# For behavioral cloning, only print output when evaluating
args.print_freq = args.bclone_eval_freq
args.save_freq = args.bclone_eval_freq
reward, vf = None, None
opt = imitation.BehavioralCloningOptimizer(
mdp,
policy,
lr=args.bclone_lr,
batch_size=args.bclone_batch_size,
obsfeat_fn=lambda o: o,
ex_obs=exobs_Bstacked_Do,
ex_a=exa_Bstacked_Da,
eval_sim_cfg=policyopt.SimConfig(
min_num_trajs=args.bclone_eval_ntrajs,
min_total_sa=-1,
batch_size=args.sim_batch_size,
max_traj_len=max_traj_len),
eval_freq=args.bclone_eval_freq,
train_frac=args.bclone_train_frac)
elif args.mode == 'ga':
if args.reward_type == 'nn':
# FYI: this is the GAIL case. Note that it doesn't take in any of
# the raw expert data, unlike the other reward types. And we call
# them `reward types` since the optimize can use their output in
# some way to impove itself.
reward = imitation.TransitionClassifier(
hidden_spec=args.policy_hidden_spec,
obsfeat_space=mdp.obs_space,
action_space=mdp.action_space,
max_kl=args.reward_max_kl,
adam_lr=args.reward_lr,
adam_steps=args.reward_steps,
ent_reg_weight=args.reward_ent_reg_weight,
enable_inputnorm=True,
include_time=bool(args.reward_include_time),
time_scale=1. / mdp.env_spec.timestep_limit,
favor_zero_expert_reward=bool(args.favor_zero_expert_reward),
varscope_name='TransitionClassifier')
elif args.reward_type in ['l2ball', 'simplex']:
# FEM or game-theoretic apprenticeship learning, respectively.
reward = imitation.LinearReward(
obsfeat_space=mdp.obs_space,
action_space=mdp.action_space,
mode=args.reward_type,
enable_inputnorm=True,
favor_zero_expert_reward=bool(args.favor_zero_expert_reward),
include_time=bool(args.reward_include_time),
time_scale=1. / mdp.env_spec.timestep_limit,
exobs_Bex_Do=exobs_Bstacked_Do,
exa_Bex_Da=exa_Bstacked_Da,
ext_Bex=ext_Bstacked)
else:
raise NotImplementedError(args.reward_type)
# All three of these 'advanced' IL algorithms use neural network value
# functions to reduce variance for policy gradient estimates.
print("\n\tThe **VALUE** function (may have action concatenated):")
vf = None if bool(args.no_vf) else rl.ValueFunc(
hidden_spec=args.policy_hidden_spec,
obsfeat_space=mdp.obs_space,
enable_obsnorm=args.obsnorm_mode != 'none',
enable_vnorm=True,
max_kl=args.vf_max_kl,
damping=args.vf_cg_damping,
time_scale=1. / mdp.env_spec.timestep_limit,
varscope_name='ValueFunc')
opt = imitation.ImitationOptimizer(
mdp=mdp,
discount=args.discount,
lam=args.lam,
policy=policy,
sim_cfg=policyopt.SimConfig(min_num_trajs=-1,
min_total_sa=args.min_total_sa,
batch_size=args.sim_batch_size,
max_traj_len=max_traj_len),
step_func=rl.TRPO(max_kl=args.policy_max_kl,
damping=args.policy_cg_damping),
reward_func=reward,
value_func=vf,
policy_obsfeat_fn=lambda obs: obs,
reward_obsfeat_fn=lambda obs: obs,
policy_ent_reg=args.policy_ent_reg,
ex_obs=exobs_Bstacked_Do,
ex_a=exa_Bstacked_Da,
ex_t=ext_Bstacked)
# Set observation normalization
if args.obsnorm_mode == 'expertdata':
policy.update_obsnorm(exobs_Bstacked_Do)
if reward is not None:
reward.update_inputnorm(opt.reward_obsfeat_fn(exobs_Bstacked_Do),
exa_Bstacked_Da)
if vf is not None:
vf.update_obsnorm(opt.policy_obsfeat_fn(exobs_Bstacked_Do))
# Run optimizer, i.e. {BehavioralCloning,Imitation}Optimizer.
log = nn.TrainingLog(args.log, [('args', argstr)])
for i in xrange(args.max_iter):
iter_info = opt.step()
log.write(iter_info,
print_header=i % (20 * args.print_freq) == 0,
display=i % args.print_freq == 0)
if args.save_freq != 0 and i % args.save_freq == 0 and args.log is not None:
log.write_snapshot(policy, i)
if args.plot_freq != 0 and i % args.plot_freq == 0:
exdata_N_Doa = np.concatenate([exobs_Bstacked_Do, exa_Bstacked_Da],
axis=1)
pdata_M_Doa = np.concatenate(
[opt.last_sampbatch.obs.stacked, opt.last_sampbatch.a.stacked],
axis=1)
# Plot reward
import matplotlib.pyplot as plt
_, ax = plt.subplots()
idx1, idx2 = 0, 1
range1 = (min(exdata_N_Doa[:, idx1].min(),
pdata_M_Doa[:, idx1].min()),
max(exdata_N_Doa[:, idx1].max(),
pdata_M_Doa[:, idx1].max()))
range2 = (min(exdata_N_Doa[:, idx2].min(),
pdata_M_Doa[:, idx2].min()),
max(exdata_N_Doa[:, idx2].max(),
pdata_M_Doa[:, idx2].max()))
reward.plot(ax, idx1, idx2, range1, range2, n=100)
# Plot expert data
ax.scatter(exdata_N_Doa[:, idx1],
exdata_N_Doa[:, idx2],
color='blue',
s=1,
label='expert')
# Plot policy samples
ax.scatter(pdata_M_Doa[:, idx1],
pdata_M_Doa[:, idx2],
color='red',
s=1,
label='apprentice')
ax.legend()
plt.show()
def main():
np.set_printoptions(suppress=True, precision=5, linewidth=1000)
parser = argparse.ArgumentParser()
parser.add_argument('--mode', choices=MODES, required=True)
parser.add_argument('--seed', type=int, default=0)
# Expert dataset
parser.add_argument('--data', type=str, required=True)
parser.add_argument('--limit_trajs', type=int, required=True)
parser.add_argument('--data_subsamp_freq', type=int, required=True)
# MDP options
parser.add_argument('--env_name', type=str, required=True)
parser.add_argument('--max_traj_len', type=int, default=None)
# Policy architecture
parser.add_argument('--policy_hidden_spec',
type=str,
default=SIMPLE_ARCHITECTURE)
parser.add_argument('--tiny_policy', action='store_true')
parser.add_argument('--obsnorm_mode',
choices=OBSNORM_MODES,
default='expertdata')
# Behavioral cloning optimizer
parser.add_argument('--bclone_lr', type=float, default=1e-3)
parser.add_argument('--bclone_batch_size', type=int, default=128)
# parser.add_argument('--bclone_eval_nsa', type=int, default=128*100)
parser.add_argument('--bclone_eval_ntrajs', type=int, default=20)
parser.add_argument('--bclone_eval_freq', type=int, default=1000)
parser.add_argument('--bclone_train_frac', type=float, default=.7)
# Imitation optimizer
parser.add_argument('--discount', type=float, default=.995)
parser.add_argument('--lam', type=float, default=.97)
parser.add_argument('--max_iter', type=int, default=1000000)
parser.add_argument('--policy_max_kl', type=float, default=.01)
parser.add_argument('--policy_cg_damping', type=float, default=.1)
parser.add_argument('--no_vf', type=int, default=0)
parser.add_argument('--vf_max_kl', type=float, default=.01)
parser.add_argument('--vf_cg_damping', type=float, default=.1)
parser.add_argument('--policy_ent_reg', type=float, default=0.)
parser.add_argument('--reward_type', type=str, default='nn')
# parser.add_argument('--linear_reward_bin_features', type=int, default=0)
parser.add_argument('--reward_max_kl', type=float, default=.01)
parser.add_argument('--reward_lr', type=float, default=.01)
parser.add_argument('--reward_steps', type=int, default=1)
parser.add_argument('--reward_ent_reg_weight', type=float, default=.001)
parser.add_argument('--reward_include_time', type=int, default=0)
parser.add_argument('--sim_batch_size', type=int, default=None)
parser.add_argument('--min_total_sa', type=int, default=50000)
parser.add_argument('--favor_zero_expert_reward', type=int, default=0)
parser.add_argument('--use_shared_std_network', type=int, default=0)
# Generative Moment matching
parser.add_argument('--kernel_batchsize', type=int, default=1000)
parser.add_argument('--kernel_reg_weight', type=float, default=0.)
parser.add_argument('--use_median_heuristic', type=int, default=1)
parser.add_argument('--use_logscale_reward', type=int)
parser.add_argument('--reward_epsilon', type=float, default=0.0001)
# Auto-Encoder Information
# Saving stuff
parser.add_argument('--print_freq', type=int, default=1)
parser.add_argument('--save_freq', type=int, default=20)
parser.add_argument('--plot_freq', type=int, default=0)
parser.add_argument('--log', type=str, required=False)
parser.add_argument('--save_reward', type=int, default=0)
args = parser.parse_args()
# Initialize the MDP
if args.tiny_policy:
assert args.policy_hidden_spec == SIMPLE_ARCHITECTURE, 'policy_hidden_spec must remain unspecified if --tiny_policy is set'
args.policy_hidden_spec = TINY_ARCHITECTURE
argstr = json.dumps(vars(args), separators=(',', ':'), indent=2)
print(argstr)
mdp = rlgymenv.RLGymMDP(args.env_name)
util.header('MDP observation space, action space sizes: %d, %d\n' %
(mdp.obs_space.dim, mdp.action_space.storage_size))
# Initialize the policy
enable_obsnorm = args.obsnorm_mode != 'none'
if isinstance(mdp.action_space, policyopt.ContinuousSpace):
policy_cfg = rl.GaussianPolicyConfig(
hidden_spec=args.policy_hidden_spec,
min_stdev=0.,
init_logstdev=0.,
enable_obsnorm=enable_obsnorm)
policy = rl.GaussianPolicy(policy_cfg, mdp.obs_space, mdp.action_space,
'GaussianPolicy',
bool(args.use_shared_std_network))
else:
policy_cfg = rl.GibbsPolicyConfig(hidden_spec=args.policy_hidden_spec,
enable_obsnorm=enable_obsnorm)
policy = rl.GibbsPolicy(policy_cfg, mdp.obs_space,
mdp.action_space, 'GibbsPolicy',
bool(args.use_shared_std_network))
util.header('Policy architecture')
for v in policy.get_trainable_variables():
util.header('- %s (%d parameters)' % (v.name, v.get_value().size))
util.header('Total: %d parameters' % (policy.get_num_params(), ))
# Load expert data
exobs_Bstacked_Do, exa_Bstacked_Da, ext_Bstacked = load_dataset(
args.data, args.limit_trajs, args.data_subsamp_freq, args.seed)
assert exobs_Bstacked_Do.shape[1] == mdp.obs_space.storage_size
assert exa_Bstacked_Da.shape[1] == mdp.action_space.storage_size
assert ext_Bstacked.ndim == 1
# Start optimization
max_traj_len = args.max_traj_len if args.max_traj_len is not None else mdp.env_spec.timestep_limit
print 'Max traj len:', max_traj_len
if args.mode == 'bclone':
# For behavioral cloning, only print output when evaluating
args.print_freq = args.bclone_eval_freq
args.save_freq = args.bclone_eval_freq
reward, vf = None, None
opt = imitation.BehavioralCloningOptimizer(
mdp,
policy,
lr=args.bclone_lr,
batch_size=args.bclone_batch_size,
obsfeat_fn=lambda o: o,
ex_obs=exobs_Bstacked_Do,
ex_a=exa_Bstacked_Da,
eval_sim_cfg=policyopt.SimConfig(
min_num_trajs=args.bclone_eval_ntrajs,
min_total_sa=-1,
batch_size=args.sim_batch_size,
max_traj_len=max_traj_len),
eval_freq=args.bclone_eval_freq,
train_frac=args.bclone_train_frac)
elif args.mode == 'ga':
if args.reward_type == 'nn':
reward = imitation.TransitionClassifier(
hidden_spec=args.policy_hidden_spec,
obsfeat_space=mdp.obs_space,
action_space=mdp.action_space,
max_kl=args.reward_max_kl,
adam_lr=args.reward_lr,
adam_steps=args.reward_steps,
ent_reg_weight=args.reward_ent_reg_weight,
enable_inputnorm=True,
include_time=bool(args.reward_include_time),
time_scale=1. / mdp.env_spec.timestep_limit,
favor_zero_expert_reward=bool(args.favor_zero_expert_reward),
varscope_name='TransitionClassifier')
elif args.reward_type in ['l2ball', 'simplex']:
reward = imitation.LinearReward(
obsfeat_space=mdp.obs_space,
action_space=mdp.action_space,
mode=args.reward_type,
enable_inputnorm=True,
favor_zero_expert_reward=bool(args.favor_zero_expert_reward),
include_time=bool(args.reward_include_time),
time_scale=1. / mdp.env_spec.timestep_limit,
exobs_Bex_Do=exobs_Bstacked_Do,
exa_Bex_Da=exa_Bstacked_Da,
ext_Bex=ext_Bstacked)
else:
raise NotImplementedError(args.reward_type)
vf = None if bool(args.no_vf) else rl.ValueFunc(
hidden_spec=args.policy_hidden_spec,
obsfeat_space=mdp.obs_space,
enable_obsnorm=args.obsnorm_mode != 'none',
enable_vnorm=True,
max_kl=args.vf_max_kl,
damping=args.vf_cg_damping,
time_scale=1. / mdp.env_spec.timestep_limit,
varscope_name='ValueFunc')
opt = imitation.ImitationOptimizer(
mdp=mdp,
discount=args.discount,
lam=args.lam,
policy=policy,
sim_cfg=policyopt.SimConfig(min_num_trajs=-1,
min_total_sa=args.min_total_sa,
batch_size=args.sim_batch_size,
max_traj_len=max_traj_len),
step_func=rl.TRPO(max_kl=args.policy_max_kl,
damping=args.policy_cg_damping),
reward_func=reward,
value_func=vf,
policy_obsfeat_fn=lambda obs: obs,
reward_obsfeat_fn=lambda obs: obs,
policy_ent_reg=args.policy_ent_reg,
ex_obs=exobs_Bstacked_Do,
ex_a=exa_Bstacked_Da,
ex_t=ext_Bstacked)
elif args.mode == 'gmmil':
if args.use_median_heuristic == 0:
bandwidth_params = [
1.0, 1.0 / 2.0, 1.0 / 5.0, 1.0 / 10.0, 1.0 / 40.0, 1.0 / 80.0
]
else:
bandwidth_params = []
if args.reward_type == 'mmd':
reward = gmmil.MMDReward(
obsfeat_space=mdp.obs_space,
action_space=mdp.action_space,
enable_inputnorm=True,
favor_zero_expert_reward=bool(args.favor_zero_expert_reward),
include_time=bool(args.reward_include_time),
time_scale=1. / mdp.env_spec.timestep_limit,
exobs_Bex_Do=exobs_Bstacked_Do,
exa_Bex_Da=exa_Bstacked_Da,
ext_Bex=ext_Bstacked,
kernel_bandwidth_params=bandwidth_params,
kernel_reg_weight=args.kernel_reg_weight,
kernel_batchsize=args.kernel_batchsize,
use_median_heuristic=args.use_median_heuristic,
use_logscale_reward=bool(args.use_logscale_reward),
save_reward=bool(args.save_reward),
epsilon=args.reward_epsilon)
else:
raise NotImplementedError(args.reward_type)
vf = None if bool(args.no_vf) else rl.ValueFunc(
hidden_spec=args.policy_hidden_spec,
obsfeat_space=mdp.obs_space,
enable_obsnorm=args.obsnorm_mode != 'none',
enable_vnorm=True,
max_kl=args.vf_max_kl,
damping=args.vf_cg_damping,
time_scale=1. / mdp.env_spec.timestep_limit,
varscope_name='ValueFunc')
opt = imitation.ImitationOptimizer(
mdp=mdp,
discount=args.discount,
lam=args.lam,
policy=policy,
sim_cfg=policyopt.SimConfig(min_num_trajs=-1,
min_total_sa=args.min_total_sa,
batch_size=args.sim_batch_size,
max_traj_len=max_traj_len),
step_func=rl.TRPO(max_kl=args.policy_max_kl,
damping=args.policy_cg_damping),
reward_func=reward,
value_func=vf,
policy_obsfeat_fn=lambda obs: obs,
reward_obsfeat_fn=lambda obs: obs,
policy_ent_reg=args.policy_ent_reg,
ex_obs=exobs_Bstacked_Do,
ex_a=exa_Bstacked_Da,
ex_t=ext_Bstacked)
# Set observation normalization
if args.obsnorm_mode == 'expertdata':
policy.update_obsnorm(exobs_Bstacked_Do)
if reward is not None:
reward.update_inputnorm(opt.reward_obsfeat_fn(exobs_Bstacked_Do),
exa_Bstacked_Da)
if vf is not None:
vf.update_obsnorm(opt.policy_obsfeat_fn(exobs_Bstacked_Do))
# Run optimizer
log = nn.TrainingLog(args.log, [('args', argstr)])
for i in xrange(args.max_iter):
iter_info = opt.step()
log.write(iter_info,
print_header=i % (20 * args.print_freq) == 0,
display=i % args.print_freq == 0)
if args.save_freq != 0 and i % args.save_freq == 0 and args.log is not None:
log.write_snapshot(policy, i)
if args.plot_freq != 0 and i % args.plot_freq == 0:
exdata_N_Doa = np.concatenate([exobs_Bstacked_Do, exa_Bstacked_Da],
axis=1)
pdata_M_Doa = np.concatenate(
[opt.last_sampbatch.obs.stacked, opt.last_sampbatch.a.stacked],
axis=1)
# Plot reward
import matplotlib.pyplot as plt
_, ax = plt.subplots()
idx1, idx2 = 0, 1
range1 = (min(exdata_N_Doa[:, idx1].min(),
pdata_M_Doa[:, idx1].min()),
max(exdata_N_Doa[:, idx1].max(),
pdata_M_Doa[:, idx1].max()))
range2 = (min(exdata_N_Doa[:, idx2].min(),
pdata_M_Doa[:, idx2].min()),
max(exdata_N_Doa[:, idx2].max(),
pdata_M_Doa[:, idx2].max()))
reward.plot(ax, idx1, idx2, range1, range2, n=100)
# Plot expert data
ax.scatter(exdata_N_Doa[:, idx1],
exdata_N_Doa[:, idx2],
color='blue',
s=1,
label='expert')
# Plot policy samples
ax.scatter(pdata_M_Doa[:, idx1],
pdata_M_Doa[:, idx2],
color='red',
s=1,
label='apprentice')
ax.legend()
plt.show()
