def test_finite_difference_hvp_2x2_non_diagonal(self, a_val, b_val, x_val,
y_val, vector):
"""Test Hessian-vector product for a function with two variables whose Hessian
is non-diagonal.
"""
a_val = [a_val]
b_val = [b_val]
vector = np.array([vector], dtype=np.float32)
policy = HelperPolicy(n_vars=2)
params = policy.get_params()
x, y = params[0], params[1]
a = tf.constant(a_val)
b = tf.constant(b_val)
f = a * (x**3) + b * (y**3) + (x**2) * y + (y**2) * x
expected_hessian = compute_hessian(f, [x, y])
expected_hvp = tf.matmul(vector, expected_hessian)
reg_coeff = 1e-5
hvp = FiniteDifferenceHvp(base_eps=1)
self.sess.run(tf.compat.v1.global_variables_initializer())
self.sess.run(x.assign([x_val]))
self.sess.run(y.assign([y_val]))
hvp.update_hvp(f, policy, (a, b), reg_coeff)
hx = hvp.build_eval((np.array(a_val), np.array(b_val)))
hvp = hx(vector[0])
expected_hvp = expected_hvp.eval()
assert np.allclose(hvp, expected_hvp)
def test_finite_difference_hvp(self):
"""Test Hessian-vector product for a function with one variable."""
policy = HelperPolicy(n_vars=1)
x = policy.get_params()[0]
a_val = np.array([5.0])
a = tf.constant([0.0])
f = a * (x**2)
expected_hessian = 2 * a_val
vector = np.array([10.0])
expected_hvp = expected_hessian * vector
reg_coeff = 1e-5
hvp = FiniteDifferenceHvp()
self.sess.run(tf.compat.v1.global_variables_initializer())
hvp.update_hvp(f, policy, (a, ), reg_coeff)
hx = hvp.build_eval(np.array([a_val]))
computed_hvp = hx(vector)
assert np.allclose(computed_hvp, expected_hvp)
def run_task(snapshot_config, *_):
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
with tf.Session(config=config) as sess:
with tf.variable_scope('AST', reuse=tf.AUTO_REUSE):
with LocalTFRunner(
snapshot_config=snapshot_config, max_cpus=4, sess=sess) as local_runner:
# Instantiate the example classes
sim = ExampleAVSimulator(**sim_args)
reward_function = ExampleAVReward(**reward_args)
spaces = ExampleAVSpaces(**spaces_args)
# Create the environment
if 'id' in env_args:
env_args.pop('id')
env = TfEnv(normalize(ASTEnv(simulator=sim,
reward_function=reward_function,
spaces=spaces,
**env_args
)))
# Instantiate the garage objects
policy = GaussianLSTMPolicy(env_spec=env.spec, **policy_args)
baseline = LinearFeatureBaseline(env_spec=env.spec, **baseline_args)
optimizer = ConjugateGradientOptimizer
optimizer_args = {'hvp_approach': FiniteDifferenceHvp(base_eps=1e-5)}
algo = PPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
optimizer=optimizer,
optimizer_args=optimizer_args,
**algo_args)
sampler_cls = ASTVectorizedSampler
local_runner.setup(
algo=algo,
env=env,
sampler_cls=sampler_cls,
sampler_args={"open_loop": False,
"sim": sim,
"reward_function": reward_function,
'n_envs': n_parallel})
# Run the experiment
local_runner.train(**runner_args)
def test_pickleable(self):
policy = HelperPolicy(n_vars=1)
x = policy.get_params()[0]
a_val = np.array([5.0])
a = tf.constant([0.0])
f = a * (x**2)
vector = np.array([10.0])
reg_coeff = 1e-5
hvp = FiniteDifferenceHvp()
self.sess.run(tf.compat.v1.global_variables_initializer())
hvp.update_hvp(f, policy, (a, ), reg_coeff)
hx = hvp.build_eval(np.array([a_val]))
before_pickle = hx(vector)
hvp = pickle.loads(pickle.dumps(hvp))
hvp.update_hvp(f, policy, (a, ), reg_coeff)
after_pickle = hx(vector)
assert np.equal(before_pickle, after_pickle)
if trial > args.trial_start:
old_log_dir = args.log_dir + '/' + str(trial - 1)
logger.pop_prefix()
logger.remove_text_output(osp.join(old_log_dir, 'text.txt'))
logger.remove_tabular_output(osp.join(old_log_dir, 'process.csv'))
logger.add_text_output(text_log_file)
logger.add_tabular_output(tabular_log_file)
logger.push_prefix("[" + args.exp_name + '_trial ' + str(trial) + "]")
np.random.seed(trial)
params = policy.get_params()
sess.run(tf.variables_initializer(params))
baseline = LinearFeatureBaseline(env_spec=env.spec)
optimizer = ConjugateGradientOptimizer
optimizer_args = {'hvp_approach': FiniteDifferenceHvp(base_eps=1e-5)}
top_paths = BPQ.BoundedPriorityQueue(top_k)
algo = TRPO(
env=env,
policy=policy,
baseline=baseline,
batch_size=args.batch_size,
step_size=args.step_size,
n_itr=args.n_itr,
store_paths=True,
optimizer=optimizer,
optimizer_args=optimizer_args,
max_path_length=max_path_length,
top_paths=top_paths,
plot=False,
def run_task(snapshot_config, *_):
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
with tf.Session(config=config) as sess:
with tf.variable_scope('AST', reuse=tf.AUTO_REUSE):
with LocalTFRunner(snapshot_config=snapshot_config,
max_cpus=4,
sess=sess) as local_runner:
# Instantiate the example classes
sim = ExampleAVSimulator(**sim_args)
reward_function = ExampleAVReward(**reward_args)
spaces = ExampleAVSpaces(**spaces_args)
# Create the environment
if 'id' in env_args:
env_args.pop('id')
env = TfEnv(
normalize(
ASTEnv(simulator=sim,
reward_function=reward_function,
spaces=spaces,
**env_args)))
# Instantiate the garage objects
policy = GaussianLSTMPolicy(env_spec=env.spec,
**policy_args)
baseline = LinearFeatureBaseline(env_spec=env.spec,
**baseline_args)
optimizer = ConjugateGradientOptimizer
optimizer_args = {
'hvp_approach': FiniteDifferenceHvp(base_eps=1e-5)
}
algo = PPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
optimizer=optimizer,
optimizer_args=optimizer_args,
**algo_args)
sampler_cls = ASTVectorizedSampler
sampler_args['sim'] = sim
sampler_args['reward_function'] = reward_function
local_runner.setup(algo=algo,
env=env,
sampler_cls=sampler_cls,
sampler_args=sampler_args)
# Run the experiment
local_runner.train(**runner_args)
if save_expert_trajectory:
load_convert_and_save_drl_expert_trajectory(
last_iter_filename=os.path.join(
run_experiment_args['log_dir'], 'itr_' +
str(runner_args['n_epochs'] - 1) + '.pkl'),
expert_trajectory_filename=os.path.join(
run_experiment_args['log_dir'],
'expert_trajectory.pkl'))
print('done!')
def run_task(snapshot_config, *_):
config = tf.ConfigProto(device_count={'GPU': 0})
# config.gpu_options.allow_growth = True
with tf.Session(config=config) as sess:
with tf.variable_scope('AST', reuse=tf.AUTO_REUSE):
# Instantiate the example classes
sim = ExampleAVSimulator(**sim_args)
reward_function = ExampleAVReward(**reward_args)
spaces = ExampleAVSpaces(**spaces_args)
# Create the environment
# env1 = GoExploreASTEnv(open_loop=False,
# blackbox_sim_state=True,
# fixed_init_state=True,
# s_0=[-0.5, -4.0, 1.0, 11.17, -35.0],
# simulator=sim,
# reward_function=reward_function,
# spaces=spaces
# )
env1 = gym.make(id=env_args.pop('id'),
simulator=sim,
reward_function=reward_function,
spaces=spaces,
**env_args)
env2 = normalize(env1)
env = TfEnv(env2)
sampler_cls = BatchSampler
# sampler_args = {'n_envs': n_parallel}
sampler_args = {}
# expert_trajectory_file = log_dir + '/expert_trajectory.p'
# with open(expert_trajectory_file, 'rb') as f:
# expert_trajectory = pickle.load(f)
#
# #Run backwards algorithm to robustify
with LocalTFRunner(snapshot_config=snapshot_config,
sess=sess) as local_runner:
policy = GaussianLSTMPolicy(env_spec=env.spec,
**policy_args)
# name='lstm_policy',
# env_spec=env.spec,
# hidden_dim=64,
# use_peepholes=True)
baseline = LinearFeatureBaseline(env_spec=env.spec,
**baseline_args)
optimizer = ConjugateGradientOptimizer
optimizer_args = {
'hvp_approach': FiniteDifferenceHvp(base_eps=1e-5)
}
algo = BackwardAlgorithm(env=env,
env_spec=env.spec,
policy=policy,
baseline=baseline,
optimizer=optimizer,
optimizer_args=optimizer_args,
**algo_args)
# expert_trajectory=expert_trajectory[-1],
# epochs_per_step = 10,
# scope=None,
# max_path_length=max_path_length,
# discount=discount,
# gae_lambda=1,
# center_adv=True,
# positive_adv=False,
# fixed_horizon=False,
# pg_loss='surrogate_clip',
# lr_clip_range=1.0,
# max_kl_step=1.0,
# policy_ent_coeff=0.0,
# use_softplus_entropy=False,
# use_neg_logli_entropy=False,
# stop_entropy_gradient=False,
# entropy_method='no_entropy',
# name='PPO',
# )
local_runner.setup(algo=algo,
env=env,
sampler_cls=sampler_cls,
sampler_args=sampler_args)
results = local_runner.train(**runner_args)
# pdb.set_trace()
print('done')
log_dir = run_experiment_args['log_dir']
with open(log_dir + '/paths.gz', 'wb') as f:
try:
compress_pickle.dump(results,
f,
compression="gzip",
set_default_extension=False)
except MemoryError:
print('1')
# pdb.set_trace()
for idx, result in enumerate(results):
with open(
log_dir + '/path_' + str(idx) + '.gz',
'wb') as ff:
try:
compress_pickle.dump(
result,
ff,
compression="gzip",
set_default_extension=False)
except MemoryError:
print('2')
