def train(args):
import gailtf.baselines.common.tf_util as U
sess = U.single_threaded_session()
sess.__enter__()
rank = MPI.COMM_WORLD.Get_rank()
if rank != 0:
logger.set_level(logger.DISABLED)
workerseed = args.seed + 10000 * MPI.COMM_WORLD.Get_rank()
set_global_seeds(workerseed)
env = gym.make(args.env_id)
def policy_fn(name, ob_space, ac_space):
return MlpPolicy(name=name,
ob_space=env.observation_space,
ac_space=env.action_space,
hid_size=32,
num_hid_layers=2)
env = bench.Monitor(
env,
logger.get_dir()
and osp.join(logger.get_dir(), "%i.monitor.json" % rank))
env.seed(workerseed)
gym.logger.setLevel(logging.WARN)
task_name = "trpo." + args.env_id.split("-")[0] + "." + ("%.2f" %
args.entcoeff)
args.checkpoint_dir = osp.join(args.checkpoint_dir, task_name)
trpo_mpi.learn(env,
policy_fn,
timesteps_per_batch=1024,
max_kl=0.01,
cg_iters=10,
cg_damping=0.1,
max_timesteps=args.num_timesteps,
gamma=0.99,
lam=0.98,
vf_iters=5,
vf_stepsize=1e-3,
sample_stochastic=args.sample_stochastic,
task_name=task_name,
save_per_iter=args.save_per_iter,
ckpt_dir=args.checkpoint_dir,
load_model_path=args.load_model_path,
task=args.task)
env.close()
def train(args):
from gailtf.baselines.ppo1 import mlp_policy, pposgd_simple
U.make_session(num_cpu=args.num_cpu).__enter__()
set_global_seeds(args.seed)
env = gym.make(args.env_id)
def policy_fn(name, ob_space, ac_space):
return mlp_policy.MlpPolicy(name=name,
ob_space=ob_space,
ac_space=ac_space,
hid_size=64,
num_hid_layers=2)
env = bench.Monitor(
env,
logger.get_dir() and osp.join(logger.get_dir(), "monitor.json"))
env.seed(args.seed)
gym.logger.setLevel(logging.WARN)
task_name = "ppo." + args.env_id.split("-")[0] + "." + ("%.2f" %
args.entcoeff)
args.checkpoint_dir = osp.join(args.checkpoint_dir, task_name)
pposgd_simple.learn(env,
policy_fn,
max_timesteps=args.num_timesteps,
timesteps_per_batch=2048,
clip_param=0.2,
entcoeff=args.entcoeff,
optim_epochs=10,
optim_stepsize=3e-4,
optim_batchsize=64,
gamma=0.99,
lam=0.95,
schedule='linear',
ckpt_dir=args.checkpoint_dir,
save_per_iter=args.save_per_iter,
task=args.task,
sample_stochastic=args.sample_stochastic,
load_model_path=args.load_model_path,
task_name=task_name)
env.close()
def main(args):
from gailtf.baselines.ppo1 import mlp_policy
U.make_session(num_cpu=args.num_cpu).__enter__()
set_global_seeds(args.seed)
env = gym.make(args.env_id)
def policy_fn(name, ob_space, ac_space, reuse=False):
return mlp_policy.MlpPolicy(name=name,
ob_space=ob_space,
ac_space=ac_space,
reuse=reuse,
hid_size=64,
num_hid_layers=2)
env = bench.Monitor(
env,
logger.get_dir() and osp.join(logger.get_dir(), "monitor.json"))
env.seed(args.seed)
gym.logger.setLevel(logging.WARN)
task_name = get_task_name(args)
args.checkpoint_dir = osp.join(args.checkpoint_dir, task_name)
args.log_dir = osp.join(args.log_dir, task_name)
cmd = hfo_py.get_hfo_path(
) + ' --offense-npcs=1 --defense-npcs=1 --log-dir /home/yupeng/Desktop/workspace/src2/GAMIL-tf0/gail-tf/log/soccer_data/ --record --frames=200'
print(cmd)
# os.system(cmd)
dataset = Mujoco_Dset(expert_data_path=args.expert_data_path,
ret_threshold=args.ret_threshold,
traj_limitation=args.traj_limitation)
# previous: dataset = Mujoco_Dset(expert_path=args.expert_path, ret_threshold=args.ret_threshold, traj_limitation=args.traj_limitation)
pretrained_weight = None
if (args.pretrained and args.task == 'train') or args.algo == 'bc':
# Pretrain with behavior cloning
from gailtf.algo import behavior_clone
if args.algo == 'bc' and args.task == 'evaluate':
behavior_clone.evaluate(env,
policy_fn,
args.load_model_path_high,
args.load_model_path_low,
stochastic_policy=args.stochastic_policy)
sys.exit()
if args.task == 'train' and args.action_space_level == 'high':
print("training high level policy")
pretrained_weight_high = behavior_clone.learn(
env,
policy_fn,
dataset,
max_iters=args.BC_max_iter,
pretrained=args.pretrained,
ckpt_dir=args.checkpoint_dir + '/high_level',
log_dir=args.log_dir + '/high_level',
task_name=task_name,
high_level=True)
if args.task == 'train' and args.action_space_level == 'low':
print("training low level policy")
pretrained_weight_low = behavior_clone.learn(
env,
policy_fn,
dataset,
max_iters=args.BC_max_iter,
pretrained=args.pretrained,
ckpt_dir=args.checkpoint_dir + '/low_level',
log_dir=args.log_dir + '/low_level',
task_name=task_name,
high_level=False)
if args.algo == 'bc':
sys.exit()
from gailtf.network.adversary import TransitionClassifier
# discriminator
discriminator = TransitionClassifier(env,
args.adversary_hidden_size,
entcoeff=args.adversary_entcoeff)
if args.algo == 'trpo':
# Set up for MPI seed
from mpi4py import MPI
rank = MPI.COMM_WORLD.Get_rank()
if rank != 0:
logger.set_level(logger.DISABLED)
workerseed = args.seed + 10000 * MPI.COMM_WORLD.Get_rank()
set_global_seeds(workerseed)
env.seed(workerseed)
from gailtf.algo import trpo_mpi
if args.task == 'train':
trpo_mpi.learn(env,
policy_fn,
discriminator,
dataset,
pretrained=args.pretrained,
pretrained_weight=pretrained_weight,
g_step=args.g_step,
d_step=args.d_step,
timesteps_per_batch=1024,
max_kl=args.max_kl,
cg_iters=10,
cg_damping=0.1,
max_timesteps=args.num_timesteps,
entcoeff=args.policy_entcoeff,
gamma=0.995,
lam=0.97,
vf_iters=5,
vf_stepsize=1e-3,
ckpt_dir=args.checkpoint_dir,
log_dir=args.log_dir,
save_per_iter=args.save_per_iter,
load_model_path=args.load_model_path,
task_name=task_name)
elif args.task == 'evaluate':
trpo_mpi.evaluate(env,
policy_fn,
args.load_model_path,
timesteps_per_batch=1024,
number_trajs=10,
stochastic_policy=args.stochastic_policy)
else:
raise NotImplementedError
else:
raise NotImplementedError
env.close()
def main(args):
from gailtf.baselines.ppo1 import mlp_policy
U.make_session(num_cpu=args.num_cpu).__enter__()
set_global_seeds(args.seed)
env = gym.make(args.env_id)
def policy_fn(name, ob_space, ac_space, reuse=False):
return mlp_policy.MlpPolicy(name=name, ob_space=ob_space, ac_space=ac_space,
reuse=reuse, hid_size=64, num_hid_layers=2)
env = bench.Monitor(env, logger.get_dir() and
osp.join(logger.get_dir(), "monitor.json"))
env.seed(args.seed)
gym.logger.setLevel(logging.WARN)
task_name = get_task_name(args)
args.checkpoint_dir = osp.join(args.checkpoint_dir, task_name)
args.log_dir = osp.join(args.log_dir, task_name)
dataset = Mujoco_Traj_Dset(expert_path=args.expert_path, ret_threshold=args.ret_threshold, traj_limitation=args.traj_limitation, sentence_size = args.adversary_seq_size)
if args.adversary_seq_size is None:
args.adversary_seq_size = dataset.sentence_size
pretrained_weight = None
if (args.pretrained and args.task == 'train') or args.algo == 'bc':
# Pretrain with behavior cloning
from gailtf.algo import behavior_clone
if args.algo == 'bc' and args.task == 'evaluate':
behavior_clone.evaluate(env, policy_fn, args.load_model_path, stochastic_policy=args.stochastic_policy)
sys.exit()
pretrained_weight = behavior_clone.learn(env, policy_fn, dataset,
max_iters=args.BC_max_iter, pretrained=args.pretrained,
ckpt_dir=args.checkpoint_dir, log_dir=args.log_dir, task_name=task_name)
if args.algo == 'bc':
sys.exit()
from gailtf.network.adversary_traj import TrajectoryClassifier
# discriminator
discriminator = TrajectoryClassifier(env, args.adversary_hidden_size, args.adversary_seq_size, args.adversary_attn_size, cell_type = args.adversary_cell_type, entcoeff=args.adversary_entcoeff)
if args.algo == 'trpo':
# Set up for MPI seed
from mpi4py import MPI
rank = MPI.COMM_WORLD.Get_rank()
if rank != 0:
logger.set_level(logger.DISABLED)
workerseed = args.seed + 10000 * MPI.COMM_WORLD.Get_rank()
set_global_seeds(workerseed)
env.seed(workerseed)
from gailtf.algo import trpo_traj_mpi
if args.task == 'train':
trpo_traj_mpi.learn(env, policy_fn, discriminator, dataset,
pretrained=args.pretrained, pretrained_weight=pretrained_weight,
g_step=args.g_step, d_step=args.d_step,
episodes_per_batch=100,
dropout_keep_prob = 0.5, sequence_size = args.adversary_seq_size,
max_kl=args.max_kl, cg_iters=10, cg_damping=0.1,
max_timesteps=args.num_timesteps,
entcoeff=args.policy_entcoeff, gamma=0.995, lam=0.97,
vf_iters=5, vf_stepsize=1e-3,
ckpt_dir=args.checkpoint_dir, log_dir=args.log_dir,
save_per_iter=args.save_per_iter, load_model_path=args.load_model_path,
task_name=task_name)
elif args.task == 'evaluate':
trpo_mpi.evaluate(env, policy_fn, args.load_model_path, timesteps_per_batch=1024,
number_trajs=10, stochastic_policy=args.stochastic_policy)
else: raise NotImplementedError
else: raise NotImplementedError
env.close()
def train(args):
global env
if args.expert_path is not None:
assert osp.exists(args.expert_path)
if args.load_model_path is not None:
assert osp.exists(args.load_model_path + '.meta')
args.pretrained = False
printArgs(args)
# ================================================ ENVIRONMENT =====================================================
U.make_session(num_cpu=args.num_cpu).__enter__()
set_global_seeds(args.seed)
if args.networkName == "MLP":
env = gym.make(args.env_id)
env = ActionWrapper(env, args.discrete)
elif args.networkName == "CNN":
env = make_atari(args.env_id)
env = ActionWrapper(env, args.discrete)
if args.deepmind:
from gailtf.baselines.common.atari_wrappers import wrap_deepmind
env = wrap_deepmind(env, False)
env.metadata = 0
env = bench.Monitor(env,
logger.get_dir()
and osp.join(logger.get_dir(), "monitor.json"),
allow_early_resets=True)
env.seed(args.seed)
gym.logger.setLevel(logging.WARN)
discrete = (".D." if args.discrete else ".MD")
# ============================================== PLAY AGENT ========================================================
# ==================================================================================================================
if args.task == 'play_agent':
logger.log("Playing agent...")
from environments.atari.atari_agent import playAtari
agent = policy_fn(args, PI, env, reuse=False)
playAtari(env,
agent,
U,
modelPath=args.load_model_path,
fps=15,
stochastic=args.stochastic_policy,
zoom=2,
delay=10)
env.close()
sys.exit()
# ========================================== SAMPLE TRAJECTORY FROM RL =============================================
# ==================================================================================================================
if args.task == 'RL_expert':
logger.log("Sampling trajectory...")
stoch = 'stochastic.' if args.stochastic_policy else 'deterministic.'
taskName = stoch + "" + args.alg + "." + args.env_id + discrete + "." + str(
args.maxSampleTrajectories)
taskName = osp.join("data/expert", taskName)
currentPolicy = policy_fn(args, PI, env, reuse=False)
episodesGenerator = traj_episode_generator(
currentPolicy,
env,
args.trajectoriesPerBatch,
stochastic=args.stochastic_policy,
render=args.visualize,
downsample=args.downsample)
sample_trajectory(args.load_model_path,
episodesGenerator,
taskName,
args.stochastic_policy,
max_sample_traj=args.maxSampleTrajectories)
sys.exit()
# ======================================== SAMPLE TRAJECTORY FROM HUMAN ============================================
# ==================================================================================================================
if args.task == 'human_expert':
logger.log("Human plays...")
taskName = "human." + args.env_id + "_" + args.networkName + "." + "50.pkl"
args.checkpoint_dir = osp.join(args.checkpoint_dir, taskName)
taskName = osp.join("data/expert", taskName)
from environments.atari.atari_human import playAtari
sampleTrajectories = playAtari(env, fps=15, zoom=2, taskName=taskName)
pkl.dump(sampleTrajectories, open(taskName, "wb"))
env.close()
sys.exit()
# =========================================== TRAIN RL EXPERT ======================================================
# ==================================================================================================================
if args.task == "train_RL_expert":
logger.log("Training RL expert...")
if args.alg == 'trpo':
from gailtf.baselines.trpo_mpi import trpo_mpi
taskName = args.alg + "." + args.env_id + "." + str(
args.policy_hidden_size) + discrete + "." + str(
args.maxSampleTrajectories)
rank = MPI.COMM_WORLD.Get_rank()
if rank != 0:
logger.set_level(logger.DISABLED)
workerseed = args.seed + 10000 * MPI.COMM_WORLD.Get_rank()
set_global_seeds(workerseed)
env = gym.make(args.env_id)
env = bench.Monitor(
env,
logger.get_dir()
and osp.join(logger.get_dir(), "%i.monitor.json" % rank))
env.seed(workerseed)
gym.logger.setLevel(logging.WARN)
args.checkpoint_dir = osp.join("data/training", taskName)
trpo_mpi.learn(args,
env,
policy_fn,
timesteps_per_batch=1024,
max_iters=50_000,
vf_iters=5,
vf_stepsize=1e-3,
task_name=taskName)
env.close()
sys.exit()
else:
return NotImplementedError
# =================================================== GAIL =========================================================
# ==================================================================================================================
if args.task == 'train_gail':
taskName = get_task_name(args)
args.checkpoint_dir = osp.join(args.checkpoint_dir, taskName)
args.log_dir = osp.join(args.log_dir, taskName)
args.task_name = taskName
dataset = Mujoco_Dset(expert_path=args.expert_path,
ret_threshold=args.ret_threshold,
traj_limitation=args.traj_limitation)
# discriminator
if len(env.observation_space.shape) > 2:
from gailtf.network.adversary_cnn import TransitionClassifier
else:
if args.wasserstein:
from gailtf.network.w_adversary import TransitionClassifier
else:
from gailtf.network.adversary import TransitionClassifier
discriminator = TransitionClassifier(env,
args.adversary_hidden_size,
entcoeff=args.adversary_entcoeff)
pretrained_weight = None
# pre-training with BC (optional):
if (args.pretrained and args.task == 'train_gail') or args.alg == 'bc':
# Pretrain with behavior cloning
from gailtf.algo import behavior_clone
if args.load_model_path is None:
pretrained_weight = behavior_clone.learn(
args, env, policy_fn, dataset)
if args.alg == 'bc':
sys.exit()
if args.alg == 'trpo':
# Set up for MPI seed
rank = MPI.COMM_WORLD.Get_rank()
if rank != 0:
logger.set_level(logger.DISABLED)
workerseed = args.seed + 10000 * MPI.COMM_WORLD.Get_rank()
set_global_seeds(workerseed)
env.seed(workerseed)
# if args.wasserstein:
# from gailtf.algo import w_trpo_mpi as trpo
# else:
from gailtf.algo import trpo_mpi as trpo
trpo.learn(args,
env,
policy_fn,
discriminator,
dataset,
pretrained_weight=pretrained_weight,
cg_damping=0.1,
vf_iters=5,
vf_stepsize=1e-3)
else:
raise NotImplementedError
env.close()
sys.exit()
