def test_benchmark_her(self):
'''
Compare benchmarks between garage and baselines.
:return:
'''
mujoco1m = benchmarks.get_benchmark('HerDdpg')
timestamp = datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S-%f')
benchmark_dir = osp.join(os.getcwd(), 'data', 'local', 'benchmarks',
'her', timestamp)
for task in mujoco1m['tasks']:
env_id = task['env_id']
env = gym.make(env_id)
seeds = random.sample(range(100), task['trials'])
task_dir = osp.join(benchmark_dir, env_id)
plt_file = osp.join(benchmark_dir,
'{}_benchmark.png'.format(env_id))
baselines_csvs = []
garage_csvs = []
for trial in range(task['trials']):
seed = seeds[trial]
trial_dir = osp.join(
task_dir, 'trial_{}_seed_{}'.format(trial + 1, seed))
garage_dir = osp.join(trial_dir, 'garage')
baselines_dir = osp.join(trial_dir, 'baselines')
with tf.Graph().as_default():
garage_csv = run_garage(env, seed, garage_dir)
CACHED_ENVS.clear()
baselines_csv = run_baselines(env_id, seed, baselines_dir)
garage_csvs.append(garage_csv)
baselines_csvs.append(baselines_csv)
env.close()
plot(
b_csvs=baselines_csvs,
g_csvs=garage_csvs,
g_x='Epoch',
g_y='AverageSuccessRate',
b_x='epoch',
b_y='train/success_rate',
trials=task['trials'],
seeds=seeds,
plt_file=plt_file,
env_id=env_id)
def test_benchmark_her(self):
"""
Compare benchmarks between garage and baselines.
:return:
"""
mujoco1m = benchmarks.get_benchmark("HerDdpg")
timestamp = datetime.datetime.now().strftime("%Y-%m-%d-%H-%M-%S-%f")
benchmark_dir = "./data/local/benchmarks/her/%s/" % timestamp
for task in mujoco1m["tasks"]:
env_id = task["env_id"]
env = gym.make(env_id)
seeds = random.sample(range(100), task["trials"])
task_dir = osp.join(benchmark_dir, env_id)
plt_file = osp.join(benchmark_dir,
"{}_benchmark.png".format(env_id))
baselines_csvs = []
garage_csvs = []
for trial in range(task["trials"]):
seed = seeds[trial]
trial_dir = task_dir + "/trial_%d_seed_%d" % (trial + 1, seed)
garage_dir = trial_dir + "/garage"
baselines_dir = trial_dir + "/baselines"
with tf.Graph().as_default():
garage_csv = run_garage(env, seed, garage_dir)
CACHED_ENVS.clear()
baselines_csv = run_baselines(env_id, seed, baselines_dir)
garage_csvs.append(garage_csv)
baselines_csvs.append(baselines_csv)
env.close()
plot(
b_csvs=baselines_csvs,
g_csvs=garage_csvs,
g_x="Epoch",
g_y="AverageSuccessRate",
b_x="epoch",
b_y="train/success_rate",
trials=task["trials"],
seeds=seeds,
plt_file=plt_file,
env_id=env_id)