def main(map_name, planner):
gmap = np.loadtxt(map_name)
with GridWorld(gmap=gmap) as world:
# R = GReward(rmax=1.0)
R = GRewardLFA(weights=[-0.01, -10.0, 1.0], rmax=1.0)
T = GTransition(wind=0.1)
g_mdp = GridWorldMDP(reward=R, transition=T, discount=0.95)
# ------------------------
mdp_planner = PolicyIteration(max_iter=200, random_state=None)
if planner == 'VI':
mdp_planner = ValueIteration(verbose=2)
res = mdp_planner.solve(g_mdp)
V = res['V']
print('Policy: ', res['pi'])
fig = plt.figure(figsize=(8, 8))
ax = fig.gca()
ax = world.visualize(ax, policy=res['pi'])
plt.figure(figsize=(8, 8))
plt.imshow(V.reshape(gmap.shape),
interpolation='nearest', cmap='viridis', origin='lower',
vmin=np.min(V), vmax=np.max(V))
plt.grid(False)
plt.title('Value function')
plt.colorbar(orientation='horizontal')
plt.show()
def main():
gmap = np.loadtxt('maps/map_a.txt')
w_expert = np.array([-0.01, -10.0, 1.0])
w_expert /= (w_expert.max() - w_expert.min())
with GridWorld(gmap=gmap) as world:
rfunc = GRewardLFA(weights=w_expert, rmax=1.0)
# rfunc = GReward()
T = GTransition()
g = GridWorldMDP(reward=rfunc, transition=T, discount=0.95)
# ------------------------
planner = PolicyIteration(random_state=SEED)
plan = planner.solve(g)
policy = plan['pi']
demos = world.generate_trajectories(policy, num=50, random_state=SEED)
# IRL
r_prior = GaussianRewardPrior(dim=len(rfunc), mean=0.0, sigma=0.15)
irl_solver = PolicyWalkBIRL(prior=r_prior, delta=0.2, planner=planner,
beta=0.8, max_iter=1000, burn=0.3,
random_state=SEED)
trace = irl_solver.solve(demos=demos, mdp=g)
trace.save('pw_trace')
r = trace['r_mean'][-1]
g.reward.update_parameters(reward=r)
r_plan = planner.solve(g)
print('Found reward: {}'.format(r))
V = r_plan['V']
# w_expert = rfunc._R
# compute the loss
L = RewardLoss(order=2)
# L = PolicyLoss(mdp=g, planner=planner, order=2)
loss = [L.evaluate(w_expert, w_pi) for w_pi in trace['r']]
loss_m = [L.evaluate(w_expert, w_pi) for w_pi in trace['r_mean']]
# ------------------------
fig = plt.figure(figsize=(8, 8))
ax = fig.gca()
ax = world.visualize(ax, policy=r_plan['pi'])
plt.figure(figsize=(8, 8))
plt.imshow(V.reshape(gmap.shape),
interpolation='nearest', cmap='viridis', origin='lower',
vmin=np.min(V), vmax=np.max(V))
plt.grid(False)
plt.title('Value function')
plt.colorbar()
plt.figure(figsize=(8, 6))
plt.plot(trace['step'], loss)
plt.plot(trace['step'], loss_m)
plt.ylabel('Loss function $\mathcal{L}_{\pi}$')
plt.xlabel('Iteration')
plt.tight_layout()
import corner
corner.corner(trace['r'])
corner.corner(trace['r_mean'])
plt.show()
def main():
gmap = np.loadtxt('maps/map_a.txt')
w_expert = np.array([-0.01, -10.0, 1.0])
w_expert /= (w_expert.max() - w_expert.min())
with GridWorld(gmap=gmap) as world:
rfunc = GRewardLFA(weights=w_expert, rmax=1.0)
# rfunc = GReward()
T = GTransition()
g = GridWorldMDP(reward=rfunc, transition=T, discount=0.95)
# ------------------------
planner = PolicyIteration(random_state=SEED)
plan = planner.solve(g)
policy = plan['pi']
demos = world.generate_trajectories(policy, num=50, random_state=SEED)
# IRL
r_prior = GaussianRewardPrior(dim=len(rfunc), mean=0.0, sigma=0.15)
irl_solver = PolicyWalkBIRL(prior=r_prior,
delta=0.2,
planner=planner,
beta=0.8,
max_iter=1000,
burn=0.3,
random_state=SEED)
trace = irl_solver.solve(demos=demos, mdp=g)
trace.save('pw_trace')
r = trace['r_mean'][-1]
g.reward.update_parameters(reward=r)
r_plan = planner.solve(g)
print('Found reward: {}'.format(r))
V = r_plan['V']
# w_expert = rfunc._R
# compute the loss
L = RewardLoss(order=2)
# L = PolicyLoss(mdp=g, planner=planner, order=2)
loss = [L.evaluate(w_expert, w_pi) for w_pi in trace['r']]
loss_m = [L.evaluate(w_expert, w_pi) for w_pi in trace['r_mean']]
# ------------------------
fig = plt.figure(figsize=(8, 8))
ax = fig.gca()
ax = world.visualize(ax, policy=r_plan['pi'])
plt.figure(figsize=(8, 8))
plt.imshow(V.reshape(gmap.shape),
interpolation='nearest',
cmap='viridis',
origin='lower',
vmin=np.min(V),
vmax=np.max(V))
plt.grid(False)
plt.title('Value function')
plt.colorbar()
plt.figure(figsize=(8, 6))
plt.plot(trace['step'], loss)
plt.plot(trace['step'], loss_m)
plt.ylabel('Loss function $\mathcal{L}_{\pi}$')
plt.xlabel('Iteration')
plt.tight_layout()
import corner
corner.corner(trace['r'])
corner.corner(trace['r_mean'])
plt.show()
