def experiment(n_epochs, n_episodes):
np.random.seed()
logger = Logger(COPDAC_Q.__name__, results_dir=None)
logger.strong_line()
logger.info('Experiment Algorithm: ' + COPDAC_Q.__name__)
# MDP
n_steps = 5000
mdp = InvertedPendulum(horizon=n_steps)
# Agent
n_tilings = 10
alpha_theta = Parameter(5e-3 / n_tilings)
alpha_omega = Parameter(0.5 / n_tilings)
alpha_v = Parameter(0.5 / n_tilings)
tilings = Tiles.generate(n_tilings, [10, 10],
mdp.info.observation_space.low,
mdp.info.observation_space.high + 1e-3)
phi = Features(tilings=tilings)
input_shape = (phi.size, )
mu = Regressor(LinearApproximator,
input_shape=input_shape,
output_shape=mdp.info.action_space.shape)
sigma = 1e-1 * np.eye(1)
policy = GaussianPolicy(mu, sigma)
agent = COPDAC_Q(mdp.info,
policy,
mu,
alpha_theta,
alpha_omega,
alpha_v,
value_function_features=phi,
policy_features=phi)
# Train
dataset_callback = CollectDataset()
visualization_callback = Display(agent._V, mu,
mdp.info.observation_space.low,
mdp.info.observation_space.high, phi, phi)
core = Core(agent, mdp, callbacks_fit=[dataset_callback])
for i in trange(n_epochs, leave=False):
core.learn(n_episodes=n_episodes, n_steps_per_fit=1, render=False)
J = compute_J(dataset_callback.get(), gamma=1.0)
dataset_callback.clean()
visualization_callback()
logger.epoch_info(i + 1, R_mean=np.sum(J) / n_steps / n_episodes)
logger.info('Press a button to visualize the pendulum...')
input()
sigma = 1e-8 * np.eye(1)
policy.set_sigma(sigma)
core.evaluate(n_steps=n_steps, render=True)
def experiment(alg, params, n_epochs, n_episodes, n_ep_per_fit):
np.random.seed()
print('============ start experiment ============')
logger = Logger(alg.__name__, results_dir=None)
logger.strong_line()
logger.info('Experiment Algorithm: ' + alg.__name__)
# MDP
mdp = GraspEnv()
print('============ mdp ============')
# Policy
n_weights = 6
mu = np.array([-0.5, 0.0, 0.91, m.pi, 0, 0])
sigma = np.asarray([0.05, 0.05, 0.05, 0.1, 0.1,
0.1]) #np.asarray([0.15, 0.15, 0.15, 0.4, 0.4, 0.4])
policy = Own_policy()
dist = GaussianDiagonalDistribution(
mu, sigma) # TODO: is this distribution right? Yes.
agent = alg(mdp.info, dist, policy, **params)
# Train
dataset_callback = CollectDataset(
) # TODO: should we also collect the dataset? Just keep this.
core = Core(agent, mdp, callbacks_fit=[dataset_callback])
#core = Core(agent, mdp)
for i in range(n_epochs):
print('================ core learn ================')
core.learn(n_episodes=n_episodes, n_episodes_per_fit=n_ep_per_fit)
J = compute_J(dataset_callback.get(), gamma=mdp.info.gamma)
print('J:', J)
print('============================')
dataset_callback.clean() # Todo: learning curve? Done
p = dist.get_parameters()
print('p:', p)
mu_0.append(p[:n_weights][0])
mu_1.append(p[:n_weights][1])
mu_2.append(p[:n_weights][2])
mu_3.append(p[:n_weights][3])
mu_4.append(p[:n_weights][4])
mu_5.append(p[:n_weights][5])
current_avg_sigma = (p[n_weights:][0] + p[n_weights:][1] +
p[n_weights:][2] + p[n_weights:][3] +
p[n_weights:][4] + p[n_weights:][5]) / 6
avg_sigma.append(current_avg_sigma)
# record learning curve of cumulative rewards
logger.epoch_info(i + 1,
J=np.mean(J),
mu=p[:n_weights],
sigma=p[n_weights:])
list_J.append(np.mean(J))
def experiment(alg, params, n_epochs, n_episodes, n_ep_per_fit):
np.random.seed()
logger = Logger(alg.__name__, results_dir=None)
logger.strong_line()
logger.info('Experiment Algorithm: ' + alg.__name__)
# MDP
mdp = Segway()
# Policy
approximator = Regressor(LinearApproximator,
input_shape=mdp.info.observation_space.shape,
output_shape=mdp.info.action_space.shape)
n_weights = approximator.weights_size
mu = np.zeros(n_weights)
sigma = 2e-0 * np.ones(n_weights)
policy = DeterministicPolicy(approximator)
dist = GaussianDiagonalDistribution(mu, sigma)
agent = alg(mdp.info, dist, policy, **params)
# Train
dataset_callback = CollectDataset()
core = Core(agent, mdp, callbacks_fit=[dataset_callback])
for i in trange(n_epochs, leave=False):
core.learn(n_episodes=n_episodes,
n_episodes_per_fit=n_ep_per_fit,
render=False)
J = compute_J(dataset_callback.get(), gamma=mdp.info.gamma)
dataset_callback.clean()
p = dist.get_parameters()
logger.epoch_info(i + 1,
J=np.mean(J),
mu=p[:n_weights],
sigma=p[n_weights:])
logger.info('Press a button to visualize the segway...')
input()
core.evaluate(n_episodes=3, render=True)
def experiment(alg, params, n_epochs, n_episodes, n_ep_per_fit):
np.random.seed()
# MDP
mdp = Segway()
# Policy
approximator = Regressor(LinearApproximator,
input_shape=mdp.info.observation_space.shape,
output_shape=mdp.info.action_space.shape)
n_weights = approximator.weights_size
mu = np.zeros(n_weights)
sigma = 2e-0 * np.ones(n_weights)
policy = DeterministicPolicy(approximator)
dist = GaussianDiagonalDistribution(mu, sigma)
agent = alg(mdp.info, dist, policy, **params)
# Train
print(alg.__name__)
dataset_callback = CollectDataset()
core = Core(agent, mdp, callbacks=[dataset_callback])
for i in range(n_epochs):
core.learn(n_episodes=n_episodes,
n_episodes_per_fit=n_ep_per_fit,
render=False)
J = compute_J(dataset_callback.get(), gamma=mdp.info.gamma)
dataset_callback.clean()
p = dist.get_parameters()
print('mu: ', p[:n_weights])
print('sigma: ', p[n_weights:])
print('Reward at iteration ' + str(i) + ': ' + str(np.mean(J)))
print('Press a button to visualize the segway...')
input()
core.evaluate(n_episodes=3, render=True)
def experiment(n_epochs, n_episodes):
np.random.seed()
# MDP
n_steps = 5000
mdp = InvertedPendulum(horizon=n_steps)
# Agent
n_tilings = 11
alpha_r = Parameter(.0001)
alpha_theta = Parameter(.001 / n_tilings)
alpha_v = Parameter(.1 / n_tilings)
tilings = Tiles.generate(n_tilings-1, [10, 10],
mdp.info.observation_space.low,
mdp.info.observation_space.high + 1e-3)
phi = Features(tilings=tilings)
tilings_v = tilings + Tiles.generate(1, [1, 1],
mdp.info.observation_space.low,
mdp.info.observation_space.high + 1e-3)
psi = Features(tilings=tilings_v)
input_shape = (phi.size,)
mu = Regressor(LinearApproximator, input_shape=input_shape,
output_shape=mdp.info.action_space.shape)
std = Regressor(LinearApproximator, input_shape=input_shape,
output_shape=mdp.info.action_space.shape)
std_0 = np.sqrt(1.)
std.set_weights(np.log(std_0) / n_tilings * np.ones(std.weights_size))
policy = StateLogStdGaussianPolicy(mu, std)
agent = StochasticAC_AVG(mdp.info, policy,
alpha_theta, alpha_v, alpha_r,
lambda_par=.5,
value_function_features=psi,
policy_features=phi)
# Train
dataset_callback = CollectDataset()
display_callback = Display(agent._V, mu, std,
mdp.info.observation_space.low,
mdp.info.observation_space.high,
phi, psi)
core = Core(agent, mdp, callbacks_fit=[dataset_callback])
for i in range(n_epochs):
core.learn(n_episodes=n_episodes,
n_steps_per_fit=1, render=False)
J = compute_J(dataset_callback.get(), gamma=1.)
dataset_callback.clean()
display_callback()
print('Mean Reward at iteration ' + str(i) + ': ' +
str(np.sum(J) / n_steps/n_episodes))
print('Press a button to visualize the pendulum...')
input()
core.evaluate(n_steps=n_steps, render=True)