def validation(env):
env = make_env(env)
env = Monitor(env, './video',force=True)
sonic = SonicAgent(env,TIMESTEPS_PER_EPISODE* EPISODES, True)
sonic.load_model('sonic_model_final.h5')
obs = env.reset()
while True:
action = sonic.policy(obs)
#action = random.choice([a for a in range(env.action_space.n)])
next_obs, reward, done, info = env.step(action)
print("Para la accion #{} la recompensa es {}".format(action, reward))
env.render()
obs = next_obs
if done:
obs = env.close()
def training(env):
total_reward = 0.0
reward_per_episode = []
env = make_env(env)
sonic = SonicAgent(env,TIMESTEPS_PER_EPISODE * EPISODES)
file = Path('sonic_model_final.h5')
if file.is_file():
sonic.load_model('sonic_model_final.h5')
obs = env.reset()
for episodes in range(EPISODES):
done = False
print("Empieza Episodio #{}".format(episodes + 1))
while not done:
action = sonic.policy(obs)
next_obs, reward, done, info = env.step(action)
sonic.save_memory(obs,action,reward,next_obs,done)
if (len(sonic.memory) > sonic.batch_size):
sonic.replay_and_learn()
total_reward += reward
obs = next_obs
if done:
break
if episodes % 50 == 0:
sonic.save_model('models/' + str(episodes) + '_sonic_model.h5')
reward_per_episode.append(total_reward)
sonic.update_target_model()
print("Episodio #{} finalizado con recompensa {}".format(episodes + 1, total_reward))
obs = env.reset()
total_reward = 0.0
#print(reward_per_episode)
env.close()
sonic.save_model('sonic_model_final.h5')
if __name__ == "__main__":
import tensorflow as tf
from a2c.A2C import A2C
from utils.utils import make_env
from env.subproc_vec_env import SubprocVecEnv
envs = SubprocVecEnv([make_env(i) for i in range(4)])
sess = tf.Session()
a2c = A2C(sess,
envs,
num_iterations=1000,
save_step=1000,
checkpoint_dir="./a2c/checkpoints/")
a2c.train()
env = SubprocVecEnv([make_env(0)])
a2c.test(env, 100000)
sess.close()
n_timesteps = args.n_timesteps
else:
n_timesteps = int(hyperparams['n_timesteps'])
del hyperparams['n_timesteps']
normalize = False
normalize_kwargs = {}
if 'normalize' in hyperparams.keys():
normalize = hyperparams['normalize']
if isinstance(normalize, str):
normalize_kwargs = eval(normalize)
normalize = True
del hyperparams['normalize']
if not args.teleop:
env = DummyVecEnv([make_env(args.seed, vae=vae, teleop=args.teleop)])
else:
env = make_env(args.seed,
vae=vae,
teleop=args.teleop,
n_stack=hyperparams.get('frame_stack', 1))()
if normalize:
if hyperparams.get('normalize', False) and args.algo in ['ddpg']:
print("WARNING: normalization not supported yet for DDPG")
else:
print("Normalizing input and return")
env = VecNormalize(env, **normalize_kwargs)
# Optional Frame-stacking
n_stack = 1
for key in SIM_PARAMS:
saved_hyperparams[key] = eval(key)
print(saved_hyperparams)
#########################################################
################# number of timesteps ###################
# hyperparamsからn_timestepsを読み込む
# parserで指定されたら上書き
if args.n_timesteps > 0:
n_timesteps = args.n_timesteps
else:
n_timesteps = int(hyperparams["n_timesteps"])
del hyperparams["n_timesteps"]
#########################################################
env = DummyVecEnv([make_env(args.seed, vae=vae)])
##################### normalize #########################
# If normalize exsists in hyperparams, add in normalize_kwargs
# and set normalize to True
normalize = False
normalize_kwargs = {}
if "normalize" in hyperparams.keys():
normalize = hyperparams["normalize"]
if isinstance(normalize, str):
normalize_kwargs = eval(normalize)
normalize = True
del hyperparams["normalize"]
# Normalize the input image
if normalize:
hyperparams[key] = linear_schedule(initial_value)
elif isinstance(hyperparams[key], float):
hyperparams[key] = constfn(hyperparams[key])
else:
raise ValueError('Invalid valid for {}: {}'.format(key, hyperparams[key]))
if args.n_timesteps > 0:
n_timesteps = args.n_timesteps
else:
n_timesteps = int(hyperparams['n_timesteps'])
del hyperparams['n_timesteps']
with make_carla_client('localhost', 2000) as client:
print("CarlaClient connected")
env = DummyVecEnv([make_env(client, args.seed, vae=vae)])
# Optional Frame-stacking
n_stack = 1
if hyperparams.get('frame_stack', False):
n_stack = hyperparams['frame_stack']
env = VecFrameStack(env, n_stack)
print("Stacking {} frames".format(n_stack))
del hyperparams['frame_stack']
# Parse noise string for DDPG
if args.algo == 'ddpg' and hyperparams.get('noise_type') is not None:
noise_type = hyperparams['noise_type'].strip()
noise_std = hyperparams['noise_std']
n_actions = env.action_space.shape[0]
if 'adaptive-param' in noise_type:
del hyperparams['n_timesteps']
normalize = False
normalize_kwargs = {}
if 'normalize' in hyperparams.keys():
normalize = hyperparams['normalize']
if isinstance(normalize, str):
normalize_kwargs = eval(normalize)
normalize = True
del hyperparams['normalize']
if not args.teleop and not args.local_control:
env = DummyVecEnv([
make_env(
args.seed,
vae=vae,
teleop=args.teleop,
local_control=args.local_control,
)
])
else:
env = make_env(args.seed,
vae=vae,
teleop=args.teleop,
local_control=args.local_control,
n_stack=hyperparams.get('frame_stack', 1))()
if normalize:
if hyperparams.get('normalize', False) and args.algo in ['ddpg']:
print("WARNING: normalization not supported yet for DDPG")
else:
print("Normalizing input and return")
del hyperparams['n_timesteps']
normalize = False
normalize_kwargs = {}
if 'normalize' in hyperparams.keys():
normalize = hyperparams['normalize']
if isinstance(normalize, str):
normalize_kwargs = eval(normalize)
normalize = True
del hyperparams['normalize']
if 'policy_kwargs' in hyperparams.keys():
hyperparams['policy_kwargs'] = eval(hyperparams['policy_kwargs'])
if not args.teleop:
env = DummyVecEnv([make_env(args.level, args.seed, vae=vae, teleop=args.teleop, obs_res=(IMAGE_WIDTH, IMAGE_HEIGHT))])
# env_fn = make_env(args.level, args.seed, vae=vae, teleop=args.teleop, obs_res=(IMAGE_WIDTH, IMAGE_HEIGHT))
# env = env_fn()
else:
env = make_env(args.level, args.seed, vae=vae, teleop=args.teleop,
n_stack=hyperparams.get('frame_stack', 1), obs_res=(IMAGE_WIDTH, IMAGE_HEIGHT))()
if normalize:
if hyperparams.get('normalize', False) and args.algo in ['ddpg']:
print("WARNING: normalization not supported yet for DDPG")
else:
print("Normalizing input and return")
env = VecNormalize(env, **normalize_kwargs)
# Optional Frame-stacking
n_stack = 1
