def main():
"""
Runs the test
"""
logger.configure()
parser = mujoco_arg_parser()
parser.add_argument('--model-path',
default=os.path.join(logger.get_dir(),
'humanoid_policy'))
parser.set_defaults(num_timesteps=int(2e7))
args = parser.parse_args()
if not args.play:
# train the model
train(num_timesteps=args.num_timesteps,
seed=args.seed,
model_path=args.model_path)
else:
# construct the model object, load pre-trained model and render
policy = train(num_timesteps=1, seed=args.seed)
tf_util.load_state(args.model_path)
env = make_mujoco_env('Humanoid-v2', seed=0)
obs = env.reset()
while True:
action = policy.act(stochastic=False, obs=obs)[0]
obs, _, done, _ = env.step(action)
env.render()
if done:
obs = env.reset()
def main():
logger.configure()
parser = mujoco_arg_parser()
parser.add_argument('--model-path', default=os.path.join(logger.get_dir(), 'policy'))
parser.set_defaults(num_timesteps=int(2e7))
args = parser.parse_args()
if not args.play:
# train the model
train(args.env, num_timesteps=args.num_timesteps, seed=args.seed, model_path=args.model_path)
else:
# construct the model object, load pre-trained model and render
pi = train(args.env, num_timesteps=1, seed=args.seed)
U.load_state(args.model_path)
env = make_mujoco_env(args.env, seed=0)
ob = env.reset()
while True:
action = pi.act(stochastic=False, ob=ob)[0]
ob, _, done, _ = env.step(action)
print(ob,action)
#env.render()
if done:
ob = env.reset()
def main():
args = mujoco_arg_parser().parse_args()
logger.configure()
train(args.env,
num_timesteps=args.num_timesteps,
seed=args.seed,
save=args.save_model)
def main():
args = mujoco_arg_parser().parse_args()
wandb.config.update(args)
wandb.config.algo = 'ppo2'
logger.configure()
model, env = train(args.env,
num_timesteps=args.num_timesteps,
seed=args.seed)
env_final = gym.make(args.env)
video_recorder = gym.wrappers.monitoring.video_recorder.VideoRecorder(
env=env_final,
base_path=os.path.join(wandb.run.dir, 'humanoid'),
enabled=True)
# obs = env_final.reset()
if True: # if args.play
logger.log("Running trained model")
obs = np.zeros((env.num_envs, ) + env.observation_space.shape)
obs[:] = env_final.reset()
while True:
actions = model.step(obs)[0]
print(actions.shape)
o, r, d, i = env_final.step(actions[0])
obs[:] = o
# env.render()
video_recorder.capture_frame()
if d:
obs[:] = env_final.reset()
video_recorder.close()
break
def main():
logger.configure()
parser = mujoco_arg_parser()
parser.add_argument('--model-path',
default='checkpoints_best/Humanoid-v2-6914')
parser.set_defaults(num_timesteps=int(2e8))
args = parser.parse_args()
if not args.play:
# train the model
train(num_timesteps=args.num_timesteps,
seed=args.seed,
model_path=args.model_path)
else:
# construct the model object, load pre-trained model and render
pi = train(num_timesteps=1, seed=args.seed)
U.load_state(args.model_path)
env = make_mujoco_env('Humanoid-v2', seed=123)
ob = env.reset()
while True:
action = pi.act(stochastic=False, ob=ob)[0]
ob, _, done, _ = env.step(action)
env.render()
time.sleep(0.01)
if done:
ob = env.reset()
def main():
"""
Runs the test
"""
args = mujoco_arg_parser().parse_args()
logger.configure()
train(args.env, num_timesteps=args.num_timesteps, seed=args.seed)
def main():
args = mujoco_arg_parser().parse_args()
logger.configure()
train(args.env,
num_timesteps=args.num_timesteps,
seed=args.seed,
soc=args.soc,
psi=args.psi)
def main():
args = mujoco_arg_parser().parse_args()
logger.configure()
train(args.env,
num_timesteps=args.num_timesteps,
seed=args.seed,
p=args.p,
alpha=args.alpha)
def main():
args = mujoco_arg_parser().parse_args()
logger.configure(dir=args.filepath)
train(args.env,
num_timesteps=args.num_timesteps,
timesteps_per_actor_batch=args.timesteps_per_episode,
seed=args.seed,
entropy_coeff=args.entropy_coeff,
filepath=args.filepath)
def main():
parser = mujoco_arg_parser()
parser.add_argument('--logdir')
parser.add_argument('--load-path', default=None)
args = parser.parse_args()
logger.configure(dir=args.logdir)
train(args.env,
num_timesteps=args.num_timesteps,
seed=args.seed,
load_path=args.load_path)
def main():
args = mujoco_arg_parser().parse_args()
logger.configure(dir='geo/v{}/{}/{}/{}/{}'.format(
args.version, args.alg, args.env, args.lr, args.seed))
train(args.env,
num_timesteps=args.num_timesteps,
seed=args.seed,
alg=args.alg,
lr=args.lr,
momentum=args.mom)
def main():
args = mujoco_arg_parser().parse_args()
logger.configure()
train(args.env,
gamma=args.gamma,
lam=args.lam,
save=args.save,
desired_kl=args.desired_kl,
num_timesteps=args.num_timesteps,
seed=args.seed)
def main():
parser = mujoco_arg_parser()
parser.add_argument('--log-dir',
help='Log directory where all logs will be written',
default=None)
parser.add_argument('--log-formats',
help='Formats in which the logs will be written.',
default=None)
args = parser.parse_args()
logger.configure(args.log_dir, args.log_formats)
train(args.env, num_timesteps=args.num_timesteps, seed=args.seed)
def main():
parser = mujoco_arg_parser()
parser.add_argument('--load-path')
parser.add_argument('--save-video')
args = parser.parse_args()
logger.configure()
infer(args.env,
load_path=args.load_path,
num_timesteps=args.num_timesteps,
seed=args.seed,
save_video=args.save_video)
def main():
args = mujoco_arg_parser().parse_args()
logger.configure()
train(args.env,
num_timesteps=args.num_timesteps,
seed=args.seed,
clip_param=args.clip_param,
optim_stepsize=args.stepsize,
optim_batchsize=args.batch_size,
gamma=args.gamma,
lam=args.lam,
save=args.save)
def main():
parser = mujoco_arg_parser()
parser.add_argument('--cpu', type=int, default=1)
parser.add_argument('--lr', type=float, default=3e-4)
parser.add_argument('--batch', type=int, default=2048)
args = parser.parse_args()
logdir = './results/mappo/' + args.env + '/l-{}-b-{}/seed-{}'.format(args.lr, args.batch, args.seed)
try:
logger.configure(logdir, format_strs=['stdout', 'log', 'json', 'tensorboard'])
except:
logger.configure()
train(args.env, num_timesteps=1e7, seed=args.seed, num_cpu=args.cpu, batch=args.batch, lr=args.lr)
def main():
args = mujoco_arg_parser().parse_args()
logger.configure()
pi = train(args.env, num_timesteps=args.num_timesteps, seed=args.seed)
env = make_mujoco_env('Walker2d-v2', seed=0)
ob = env.reset()
while True:
action = pi.act(stochastic=False, ob=ob)[0]
ob, _, done, _ = env.step(action)
env.render()
time.sleep(0.01)
if done:
env.reset()
def main():
args = mujoco_arg_parser().parse_args()
logger.configure()
model, env = train(args.env, num_timesteps=args.num_timesteps, seed=args.seed)
if args.play:
logger.log("Running trained model")
obs = np.zeros((env.num_envs,) + env.observation_space.shape)
obs[:] = env.reset()
while True:
actions = model.step(obs)[0]
obs[:] = env.step(actions)[0]
env.render()
def main():
args = mujoco_arg_parser().parse_args()
logger.configure()
model, env = train(args.env, num_timesteps=args.num_timesteps, seed=args.seed)
if 1:
logger.log("Running trained model")
obs = np.zeros((env.num_envs,) + env.observation_space.shape)
obs[:] = env.reset()
while True:
actions = model.step(obs)[0]
obs[:] = env.step(actions)[0]
env.render()
def start(fold, env_id):
from baselines import logger
from baselines.common.cmd_util import mujoco_arg_parser
from baselines.trpo_replay.acktr_cont import train
from algorithm_parameters import algorithm_parameters
import os
import tensorflow as tf
tf.reset_default_graph()
os.environ['OPENAI_LOGDIR'] = 'logs_' + env_id + '_' + str(fold)
args = mujoco_arg_parser().parse_args()
logger.configure()
parameters = algorithm_parameters()
train(env_id, parameters=parameters, seed=args.seed)
def main():
parser = mujoco_arg_parser()
parser.add_argument('--model-path')
parser.add_argument('--sim', default=False, action='store_true')
parser.add_argument('--hessians', default=False, action='store_true')
parser.add_argument('--logdir', type=str, default=None)
args = parser.parse_args()
logger.configure(args.logdir)
if not args.model_path:
raise ValueError('You have to provide a model path.')
if not args.play:
# train the model
train(args.env,
num_timesteps=args.num_timesteps,
seed=args.seed,
model_path=args.model_path,
target1=args.target1,
target2=args.target2,
target3=args.target3,
output_prefix=args.output_prefix,
input_file=args.input_file,
sim=args.sim,
hessians=args.hessians)
else:
# construct the model object, load pre-trained model and render
pi = train(args.env,
num_timesteps=1,
seed=args.seed,
target1=args.target1,
target2=args.target2,
target3=args.target3,
output_prefix=args.output_prefix,
input_file=args.input_file,
sim=False)
U.load_state('models/' + args.model_path)
env = make_pareto_mujoco_env(args.env,
seed=0,
target1=args.target1,
target2=args.target2,
target3=args.target3)
ob = env.reset()
while True:
action = pi.act(stochastic=False, ob=ob)[0]
ob, _, done, _ = env.step(action)
env.render()
if done:
ob = env.reset()
def main():
parser = mujoco_arg_parser()
args = parser.parse_args()
if 'ext-v2' in args.env:
import gym
cost = gym.make(args.env).messageCost
logdir = 'TRY_logs/env=%s-c-%d/seed=%d_%s' % (
args.env, cost, args.seed, datetime.now().strftime('%d_%H:%M:%S'))
else:
logdir = 'TRY_logs/env=%s/seed=%d_%s' % (
args.env, args.seed, datetime.now().strftime('%d_%H:%M:%S'))
logger.configure(logdir)
train(args.env, num_timesteps=args.num_timesteps, seed=args.seed)
def main():
from time import strftime
pydart.init()
args = mujoco_arg_parser().parse_args()
logger.configure(dir='./log'+strftime("%Y%m%d%H%M")+'/')
model, env = train(args.env, num_timesteps=10000000, seed=args.seed)
logger.log("Running trained model")
obs = np.zeros((env.num_envs,) + env.observation_space.shape)
obs[:] = env.reset()
while True:
actions = model.step(obs)
res = env.step(actions)
obs[:] = res[0]
done = res[2]
if done[0]:
break
def main():
parser = mujoco_arg_parser()
parser.add_argument('--use-penal', help='enable penal', default=False)
parser.add_argument('--gpu', type=int, default=0, help='GPU selection')
parser.add_argument('--pg-rate', type=float, default=0.0)
args = parser.parse_args()
os.environ["CUDA_VISIBLE_DEVICES"] = '%d' % args.gpu
print("game %s run on GPU: %d" % (args.env, args.gpu))
logger.configure(
args.env + '_seed_' + str(args.seed) + '_nopen' + '_pg' +
str(args.pg_rate) if not args.use_penal else args.env + '_seed_' +
str(args.seed) + '_pen' + '_pg' + str(args.pg_rate),
['log', 'tensorboard'])
train(args.env,
num_timesteps=args.num_timesteps,
seed=args.seed,
args=args)
def main():
args = mujoco_arg_parser().parse_args()
args.env = 'RoboschoolWalker2d-v1'
args.save_file = ''
args.load_file = 'ppo_walker2d'
args.num_timesteps = 10000000
args.render = True
args.stochastic = False
print(args)
logger.configure()
train(args.env,
num_timesteps=args.num_timesteps,
seed=args.seed,
save_file=args.save_file,
load_file=args.load_file,
render=args.render,
stochastic=args.stochastic)
def main():
args = mujoco_arg_parser().parse_args()
logger.configure(
dir=
'/home/jonasrothfuss/Dropbox/Eigene_Dateien/UC_Berkley/2_Code/model_ensemble_meta_learning/data/local/ppo-baselines'
)
model, env = train(args.env,
num_timesteps=args.num_timesteps,
seed=args.seed)
if args.play:
logger.log("Running trained model")
obs = np.zeros((env.num_envs, ) + env.observation_space.shape)
obs[:] = env.reset()
while True:
actions = model.step(obs)[0]
obs[:] = env.step(actions)[0]
env.render()
def main():
parser = mujoco_arg_parser()
parser.add_argument('--log_dir',
help='the directory to save log file',
default='log')
parser.add_argument('--lr', type=float, default=3e-4, help="Learning rate")
parser.add_argument('--sil-update',
type=float,
default=10,
help="Number of updates per iteration")
parser.add_argument('--sil-value',
type=float,
default=0.01,
help="Weight for value update")
parser.add_argument('--sil-alpha',
type=float,
default=0.6,
help="Alpha for prioritized replay")
parser.add_argument('--sil-beta',
type=float,
default=0.1,
help="Beta for prioritized replay")
args = parser.parse_args()
logger.configure(dir=args.log_dir)
model, env = train(args.env,
num_timesteps=args.num_timesteps,
seed=args.seed,
lr=args.lr,
sil_update=args.sil_update,
sil_value=args.sil_value,
sil_alpha=args.sil_alpha,
sil_beta=args.sil_beta)
if args.play:
logger.log("Running trained model")
obs = np.zeros((env.num_envs, ) + env.observation_space.shape)
obs[:] = env.reset()
while True:
actions = model.step(obs)[0]
obs[:] = env.step(actions)[0]
env.render()
def main():
args = mujoco_arg_parser().parse_args()
logger.configure()
pi = train(args.env, num_timesteps=1, seed=args.seed, play=False)
run = 'run-20180703_034952-1a24a6ik/'
run_home = '/home/ubuntu/wandb_baselines/wandb/' + run #run-20180702_220411-4xtopfue/'
model_path = run_home + 'humanoid_policy'
# model_path = '/home/ubuntu/wandb_baselines/wandb/run-20180702_220411-4xtopfue/humanoid_policy'
U.load_state(model_path)
seed = random.randint(1, 1000)
env = make_mujoco_env('RoboschoolHumanoid-v1', seed=seed)
tot_r = 0
ob = env.reset()
runs = 0
video = True
if video:
video_recorder = gym.wrappers.monitoring.video_recorder.VideoRecorder(
env=env,
base_path=os.path.join('/home/ubuntu/wandb_baselines',
'humanoid_run2_%i' % seed),
enabled=True)
while True:
action = pi.act(stochastic=False, ob=ob)[0]
ob, r, done, _ = env.step(action)
if video:
video_recorder.capture_frame()
tot_r += r
if done:
ob = env.reset()
runs += 1
# if video:
# video_recorder.close()
# video_recorder = gym.wrappers.monitoring.video_recorder.VideoRecorder(env=env, base_path=os.path.join(run_home, 'humanoid_run_%i'%runs), enabled=True)
print(tot_r)
tot_r = 0
print("@@@@@@@@@@@@@@@")
if runs > 0:
break
def main():
parser = mujoco_arg_parser()
parser.add_argument('--log-dir',
type=str,
default='./log',
help="Log directory")
parser.add_argument('--exp-scale',
type=float,
default=0.5,
help="Exp scale of confidence score")
args = parser.parse_args()
#fig_path = os.path.join(args.log_dir, args.env_id+'.png')
# Single processing for testing
#arguments = [args.env, 0, args.log_dir, args.num_timesteps, args.exp_scale]
#run(arguments)
exp_num = 3
# Multiprocessing
pool = Pool(processes=exp_num)
arguments = [[
args.env_id, seed, args.log_dir, args.num_timesteps, args.exp_scale
] for seed in range(exp_num)]
pool.map(run, arguments)
#stats_dict = {'timestep': [], 'reward': []}
stats_dict = {'timestep': [], 'reward': [], 'agent': []}
# Read Logs
print('Reading logs...')
for seed in range(exp_num):
filename = os.path.join(args.log_dir, args.env_id + '_' + str(seed),
'progress.csv')
with open(filename, 'r') as csvfile:
csvreader = csv.reader(csvfile)
fields = next(csvreader)
for row in csvreader:
reward = row[fields.index('eprewmean')]
timestep = row[fields.index('total_timesteps')]
agent = row[fields.index('agent')]
stats_dict['timestep'].append(int(timestep) * 2)
stats_dict['reward'].append(float(reward))
stats_dict['agent'].append(agent)
def main():
parser = mujoco_arg_parser()
parser.add_argument('--log_dir',
help='the directory to save log file',
default='log')
parser.add_argument('--lr', type=float, default=3e-4, help="Learning rate")
args = parser.parse_args()
logger.configure(dir=args.log_dir)
model, env = train(args.env,
num_timesteps=args.num_timesteps,
seed=args.seed,
lr=args.lr)
if args.play:
logger.log("Running trained model")
obs = np.zeros((env.num_envs, ) + env.observation_space.shape)
obs[:] = env.reset()
while True:
actions = model.step(obs)[0]
obs[:] = env.step(actions)[0]
env.render()
def main(*args, **kwargs):
if "env" in kwargs.keys():
game = kwargs["env"]
else:
game = "Hopper"
parser = mujoco_arg_parser()
parser.add_argument('--attention',
help='attention or not',
type=str,
default="NoAttention",
choices=["Attention,NoAttention,StateAttention"])
parser.add_argument('--env',
help='environment ID',
type=str,
default=game + "-v2")
args = parser.parse_args()
print("Going to train.")
train(args.env,
num_timesteps=args.num_timesteps,
seed=args.seed,
method=args.attention)
def main():
logger.configure()
parser = mujoco_arg_parser()
parser.add_argument('--model-path', default=os.path.join(logger.get_dir(), 'humanoid_policy'))
parser.set_defaults(num_timesteps=int(2e7))
args = parser.parse_args()
if not args.play:
# train the model
train(num_timesteps=args.num_timesteps, seed=args.seed, model_path=args.model_path)
else:
# construct the model object, load pre-trained model and render
pi = train(num_timesteps=1, seed=args.seed)
U.load_state(args.model_path)
env = make_mujoco_env('Humanoid-v2', seed=0)
ob = env.reset()
while True:
action = pi.act(stochastic=False, ob=ob)[0]
ob, _, done, _ = env.step(action)
env.render()
if done:
ob = env.reset()
def main():
args = mujoco_arg_parser().parse_args()
train(args.env, num_timesteps=args.num_timesteps, seed=args.seed)