def __init__(self, snapshot_config, max_cpus=1): self._snapshotter = Snapshotter(snapshot_config.snapshot_dir, snapshot_config.snapshot_mode, snapshot_config.snapshot_gap) parallel_sampler.initialize(max_cpus) seed = get_seed() if seed is not None: parallel_sampler.set_seed(seed) self._has_setup = False self._plot = False self._setup_args = None self._train_args = None self._stats = ExperimentStats(total_itr=0, total_env_steps=0, total_epoch=0, last_path=None) self._algo = None self._env = None self._policy = None self._sampler = None self._plotter = None self._start_time = None self._itr_start_time = None self.step_itr = None self.step_path = None
def __init__(self, snapshot_config, max_cpus=1): self._snapshotter = Snapshotter( snapshot_config.snapshot_dir, snapshot_config.snapshot_mode, snapshot_config.snapshot_gap, ) parallel_sampler.initialize(max_cpus) seed = get_seed() if seed is not None: parallel_sampler.set_seed(seed) self._has_setup = False self._plot = False self._setup_args = None self._train_args = None self._stats = ExperimentStats( total_itr=0, total_env_steps=0, total_epoch=0, last_path=None ) self._algo = None self._env = None self._sampler = None self._plotter = None self._start_time = None self._itr_start_time = None self.step_itr = None self.step_path = None # only used for off-policy algorithms self.enable_logging = True self._n_workers = None self._worker_class = None self._worker_args = None
def run_experiment(argv): """Run experiment. Args: argv (list[str]): Command line arguments. Raises: BaseException: Propagate any exception in the experiment. """ now = datetime.datetime.now(dateutil.tz.tzlocal()) # avoid name clashes when running distributed jobs rand_id = str(uuid.uuid4())[:5] timestamp = now.strftime('%Y_%m_%d_%H_%M_%S_%f_%Z') default_exp_name = 'experiment_%s_%s' % (timestamp, rand_id) parser = argparse.ArgumentParser() parser.add_argument( '--n_parallel', type=int, default=1, help=('Number of parallel workers to perform rollouts. ' "0 => don't start any workers")) parser.add_argument('--exp_name', type=str, default=default_exp_name, help='Name of the experiment.') parser.add_argument('--log_dir', type=str, default=None, help='Path to save the log and iteration snapshot.') parser.add_argument('--snapshot_mode', type=str, default='last', help='Mode to save the snapshot. Can be either "all" ' '(all iterations will be saved), "last" (only ' 'the last iteration will be saved), "gap" (every' '`snapshot_gap` iterations are saved), or "none" ' '(do not save snapshots)') parser.add_argument('--snapshot_gap', type=int, default=1, help='Gap between snapshot iterations.') parser.add_argument( '--resume_from_dir', type=str, default=None, help='Directory of the pickle file to resume experiment from.') parser.add_argument('--resume_from_epoch', type=str, default=None, help='Index of iteration to restore from. ' 'Can be "first", "last" or a number. ' 'Not applicable when snapshot_mode="last"') parser.add_argument('--tabular_log_file', type=str, default='progress.csv', help='Name of the tabular log file (in csv).') parser.add_argument('--text_log_file', type=str, default='debug.log', help='Name of the text log file (in pure text).') parser.add_argument('--tensorboard_step_key', type=str, default=None, help='Name of the step key in tensorboard_summary.') parser.add_argument('--params_log_file', type=str, default='params.json', help='Name of the parameter log file (in json).') parser.add_argument('--variant_log_file', type=str, default='variant.json', help='Name of the variant log file (in json).') parser.add_argument('--plot', type=ast.literal_eval, default=False, help='Whether to plot the iteration results') parser.add_argument( '--log_tabular_only', type=ast.literal_eval, default=False, help='Print only the tabular log information (in a horizontal format)') parser.add_argument('--seed', type=int, default=None, help='Random seed for numpy') parser.add_argument('--args_data', type=str, help='Pickled data for objects') parser.add_argument('--variant_data', type=str, help='Pickled data for variant configuration') args = parser.parse_args(argv[1:]) if args.seed is not None: deterministic.set_seed(args.seed) if args.n_parallel > 0: parallel_sampler.initialize(n_parallel=args.n_parallel) if args.seed is not None: parallel_sampler.set_seed(args.seed) if not args.plot: garage.plotter.Plotter.disable() garage.tf.plotter.Plotter.disable() if args.log_dir is None: log_dir = os.path.join(os.path.join(os.getcwd(), 'data'), args.exp_name) else: log_dir = args.log_dir tabular_log_file = os.path.join(log_dir, args.tabular_log_file) text_log_file = os.path.join(log_dir, args.text_log_file) params_log_file = os.path.join(log_dir, args.params_log_file) if args.variant_data is not None: variant_data = pickle.loads(base64.b64decode(args.variant_data)) variant_log_file = os.path.join(log_dir, args.variant_log_file) dump_variant(variant_log_file, variant_data) else: variant_data = None log_parameters(params_log_file, args) logger.add_output(dowel.TextOutput(text_log_file)) logger.add_output(dowel.CsvOutput(tabular_log_file)) logger.add_output(dowel.TensorBoardOutput(log_dir, x_axis='TotalEnvSteps')) logger.add_output(dowel.StdOutput()) logger.push_prefix('[%s] ' % args.exp_name) snapshot_config = SnapshotConfig(snapshot_dir=log_dir, snapshot_mode=args.snapshot_mode, snapshot_gap=args.snapshot_gap) method_call = cloudpickle.loads(base64.b64decode(args.args_data)) try: method_call(snapshot_config, variant_data, args.resume_from_dir, args.resume_from_epoch) except BaseException: children = garage.plotter.Plotter.get_plotters() children += garage.tf.plotter.Plotter.get_plotters() if args.n_parallel > 0: children += [parallel_sampler] child_proc_shutdown(children) raise logger.remove_all() logger.pop_prefix()
def run_experiment(argv): default_log_dir = config.LOG_DIR now = datetime.datetime.now(dateutil.tz.tzlocal()) # avoid name clashes when running distributed jobs rand_id = str(uuid.uuid4())[:5] timestamp = now.strftime('%Y_%m_%d_%H_%M_%S_%f_%Z') default_exp_name = 'experiment_%s_%s' % (timestamp, rand_id) parser = argparse.ArgumentParser() parser.add_argument( '--n_parallel', type=int, default=1, help=("Number of parallel workers to perform rollouts. " "0 => don't start any workers")) parser.add_argument( '--exp_name', type=str, default=default_exp_name, help='Name of the experiment.') parser.add_argument( '--log_dir', type=str, default=None, help='Path to save the log and iteration snapshot.') parser.add_argument( '--snapshot_mode', type=str, default='all', help='Mode to save the snapshot. Can be either "all" ' '(all iterations will be saved), "last" (only ' 'the last iteration will be saved), "gap" (every' '`snapshot_gap` iterations are saved), or "none" ' '(do not save snapshots)') parser.add_argument( '--snapshot_gap', type=int, default=1, help='Gap between snapshot iterations.') parser.add_argument( '--tabular_log_file', type=str, default='progress.csv', help='Name of the tabular log file (in csv).') parser.add_argument( '--text_log_file', type=str, default='debug.log', help='Name of the text log file (in pure text).') parser.add_argument( '--tensorboard_step_key', type=str, default=None, help=("Name of the step key in tensorboard_summary.")) parser.add_argument( '--params_log_file', type=str, default='params.json', help='Name of the parameter log file (in json).') parser.add_argument( '--variant_log_file', type=str, default='variant.json', help='Name of the variant log file (in json).') parser.add_argument( '--resume_from', type=str, default=None, help='Name of the pickle file to resume experiment from.') parser.add_argument( '--plot', type=ast.literal_eval, default=False, help='Whether to plot the iteration results') parser.add_argument( '--log_tabular_only', type=ast.literal_eval, default=False, help='Print only the tabular log information (in a horizontal format)') parser.add_argument('--seed', type=int, help='Random seed for numpy') parser.add_argument( '--args_data', type=str, help='Pickled data for objects') parser.add_argument( '--variant_data', type=str, help='Pickled data for variant configuration') parser.add_argument( '--use_cloudpickle', type=ast.literal_eval, default=False) args = parser.parse_args(argv[1:]) if args.seed is not None: set_seed(args.seed) # SIGINT is blocked for all processes created in parallel_sampler to avoid # the creation of sleeping and zombie processes. # # If the user interrupts run_experiment, there's a chance some processes # won't die due to a dead lock condition where one of the children in the # parallel sampler exits without releasing a lock once after it catches # SIGINT. # # Later the parent tries to acquire the same lock to proceed with his # cleanup, but it remains sleeping waiting for the lock to be released. # In the meantime, all the process in parallel sampler remain in the zombie # state since the parent cannot proceed with their clean up. with mask_signals([signal.SIGINT]): if args.n_parallel > 0: parallel_sampler.initialize(n_parallel=args.n_parallel) if args.seed is not None: parallel_sampler.set_seed(args.seed) if not args.plot: garage.plotter.Plotter.disable() garage.tf.plotter.Plotter.disable() if args.log_dir is None: log_dir = osp.join(default_log_dir, args.exp_name) else: log_dir = args.log_dir tabular_log_file = osp.join(log_dir, args.tabular_log_file) text_log_file = osp.join(log_dir, args.text_log_file) params_log_file = osp.join(log_dir, args.params_log_file) if args.variant_data is not None: variant_data = pickle.loads(base64.b64decode(args.variant_data)) variant_log_file = osp.join(log_dir, args.variant_log_file) logger.log_variant(variant_log_file, variant_data) else: variant_data = None if not args.use_cloudpickle: logger.log_parameters_lite(params_log_file, args) logger.add_text_output(text_log_file) logger.add_tabular_output(tabular_log_file) logger.set_tensorboard_dir(log_dir) prev_snapshot_dir = logger.get_snapshot_dir() prev_mode = logger.get_snapshot_mode() logger.set_snapshot_dir(log_dir) logger.set_snapshot_mode(args.snapshot_mode) logger.set_snapshot_gap(args.snapshot_gap) logger.set_log_tabular_only(args.log_tabular_only) logger.set_tensorboard_step_key(args.tensorboard_step_key) logger.push_prefix("[%s] " % args.exp_name) if args.resume_from is not None: data = joblib.load(args.resume_from) assert 'algo' in data algo = data['algo'] algo.train() else: # read from stdin if args.use_cloudpickle: import cloudpickle method_call = cloudpickle.loads(base64.b64decode(args.args_data)) try: method_call(variant_data) except BaseException: children = garage.plotter.Plotter.get_plotters() children += garage.tf.plotter.Plotter.get_plotters() if args.n_parallel > 0: children += [parallel_sampler] child_proc_shutdown(children) raise else: data = pickle.loads(base64.b64decode(args.args_data)) maybe_iter = concretize(data) if is_iterable(maybe_iter): for _ in maybe_iter: pass logger.set_snapshot_mode(prev_mode) logger.set_snapshot_dir(prev_snapshot_dir) logger.remove_tabular_output(tabular_log_file) logger.remove_text_output(text_log_file) logger.pop_prefix()
def run_experiment(argv): now = datetime.datetime.now(dateutil.tz.tzlocal()) # avoid name clashes when running distributed jobs rand_id = str(uuid.uuid4())[:5] timestamp = now.strftime('%Y_%m_%d_%H_%M_%S_%f_%Z') default_exp_name = 'experiment_%s_%s' % (timestamp, rand_id) parser = argparse.ArgumentParser() parser.add_argument( '--n_parallel', type=int, default=1, help=('Number of parallel workers to perform rollouts. ' "0 => don't start any workers")) parser.add_argument( '--exp_name', type=str, default=default_exp_name, help='Name of the experiment.') parser.add_argument( '--log_dir', type=str, default=None, help='Path to save the log and iteration snapshot.') parser.add_argument( '--snapshot_mode', type=str, default='last', help='Mode to save the snapshot. Can be either "all" ' '(all iterations will be saved), "last" (only ' 'the last iteration will be saved), "gap" (every' '`snapshot_gap` iterations are saved), or "none" ' '(do not save snapshots)') parser.add_argument( '--snapshot_gap', type=int, default=1, help='Gap between snapshot iterations.') parser.add_argument( '--resume_from_dir', type=str, default=None, help='Directory of the pickle file to resume experiment from.') parser.add_argument( '--resume_from_epoch', type=str, default=None, help='Index of iteration to restore from. ' 'Can be "first", "last" or a number. ' 'Not applicable when snapshot_mode="last"') parser.add_argument( '--tabular_log_file', type=str, default='progress.csv', help='Name of the tabular log file (in csv).') parser.add_argument( '--text_log_file', type=str, default='debug.log', help='Name of the text log file (in pure text).') parser.add_argument( '--tensorboard_step_key', type=str, default=None, help='Name of the step key in tensorboard_summary.') parser.add_argument( '--params_log_file', type=str, default='params.json', help='Name of the parameter log file (in json).') parser.add_argument( '--variant_log_file', type=str, default='variant.json', help='Name of the variant log file (in json).') parser.add_argument( '--plot', type=ast.literal_eval, default=False, help='Whether to plot the iteration results') parser.add_argument( '--log_tabular_only', type=ast.literal_eval, default=False, help='Print only the tabular log information (in a horizontal format)') parser.add_argument( '--seed', type=int, default=None, help='Random seed for numpy') parser.add_argument( '--args_data', type=str, help='Pickled data for objects') parser.add_argument( '--variant_data', type=str, help='Pickled data for variant configuration') args = parser.parse_args(argv[1:]) if args.seed is not None: deterministic.set_seed(args.seed) # SIGINT is blocked for all processes created in parallel_sampler to avoid # the creation of sleeping and zombie processes. # # If the user interrupts run_experiment, there's a chance some processes # won't die due to a dead lock condition where one of the children in the # parallel sampler exits without releasing a lock once after it catches # SIGINT. # # Later the parent tries to acquire the same lock to proceed with his # cleanup, but it remains sleeping waiting for the lock to be released. # In the meantime, all the process in parallel sampler remain in the zombie # state since the parent cannot proceed with their clean up. with mask_signals([signal.SIGINT]): if args.n_parallel > 0: parallel_sampler.initialize(n_parallel=args.n_parallel) if args.seed is not None: parallel_sampler.set_seed(args.seed) if not args.plot: garage.plotter.Plotter.disable() garage.tf.plotter.Plotter.disable() if args.log_dir is None: log_dir = os.path.join( os.path.join(os.getcwd(), 'data'), args.exp_name) else: log_dir = args.log_dir tabular_log_file = os.path.join(log_dir, args.tabular_log_file) text_log_file = os.path.join(log_dir, args.text_log_file) params_log_file = os.path.join(log_dir, args.params_log_file) if args.variant_data is not None: variant_data = pickle.loads(base64.b64decode(args.variant_data)) variant_log_file = os.path.join(log_dir, args.variant_log_file) dump_variant(variant_log_file, variant_data) else: variant_data = None log_parameters(params_log_file, args) logger.add_output(dowel.TextOutput(text_log_file)) logger.add_output(dowel.CsvOutput(tabular_log_file)) logger.add_output(dowel.TensorBoardOutput(log_dir)) logger.add_output(dowel.StdOutput()) logger.push_prefix('[%s] ' % args.exp_name) snapshot_config = SnapshotConfig( snapshot_dir=log_dir, snapshot_mode=args.snapshot_mode, snapshot_gap=args.snapshot_gap) method_call = pickle.loads(base64.b64decode(args.args_data)) try: method_call(snapshot_config, variant_data, args.resume_from_dir, args.resume_from_epoch) except BaseException: children = garage.plotter.Plotter.get_plotters() children += garage.tf.plotter.Plotter.get_plotters() if args.n_parallel > 0: children += [parallel_sampler] child_proc_shutdown(children) raise logger.remove_all() logger.pop_prefix()
def run_experiment(argv): default_log_dir = config.LOG_DIR now = datetime.datetime.now(dateutil.tz.tzlocal()) # avoid name clashes when running distributed jobs rand_id = str(uuid.uuid4())[:5] timestamp = now.strftime('%Y_%m_%d_%H_%M_%S_%f_%Z') default_exp_name = 'experiment_%s_%s' % (timestamp, rand_id) parser = argparse.ArgumentParser() parser.add_argument( '--n_parallel', type=int, default=1, help=("Number of parallel workers to perform rollouts. " "0 => don't start any workers")) parser.add_argument( '--exp_name', type=str, default=default_exp_name, help='Name of the experiment.') parser.add_argument( '--log_dir', type=str, default=None, help='Path to save the log and iteration snapshot.') parser.add_argument( '--snapshot_mode', type=str, default='all', help='Mode to save the snapshot. Can be either "all" ' '(all iterations will be saved), "last" (only ' 'the last iteration will be saved), "gap" (every' '`snapshot_gap` iterations are saved), or "none" ' '(do not save snapshots)') parser.add_argument( '--snapshot_gap', type=int, default=1, help='Gap between snapshot iterations.') parser.add_argument( '--tabular_log_file', type=str, default='progress.csv', help='Name of the tabular log file (in csv).') parser.add_argument( '--text_log_file', type=str, default='debug.log', help='Name of the text log file (in pure text).') parser.add_argument( '--tensorboard_step_key', type=str, default=None, help=("Name of the step key in tensorboard_summary.")) parser.add_argument( '--params_log_file', type=str, default='params.json', help='Name of the parameter log file (in json).') parser.add_argument( '--variant_log_file', type=str, default='variant.json', help='Name of the variant log file (in json).') parser.add_argument( '--resume_from', type=str, default=None, help='Name of the pickle file to resume experiment from.') parser.add_argument( '--plot', type=ast.literal_eval, default=False, help='Whether to plot the iteration results') parser.add_argument( '--log_tabular_only', type=ast.literal_eval, default=False, help='Print only the tabular log information (in a horizontal format)') parser.add_argument('--seed', type=int, help='Random seed for numpy') parser.add_argument( '--args_data', type=str, help='Pickled data for stub objects') parser.add_argument( '--variant_data', type=str, help='Pickled data for variant configuration') parser.add_argument( '--use_cloudpickle', type=ast.literal_eval, default=False) args = parser.parse_args(argv[1:]) assert (os.environ.get("JOBLIB_START_METHOD", None) == "forkserver") if args.seed is not None: set_seed(args.seed) if args.n_parallel > 0: from garage.sampler import parallel_sampler parallel_sampler.initialize(n_parallel=args.n_parallel) if args.seed is not None: parallel_sampler.set_seed(args.seed) if not args.plot: garage.plotter.Plotter.disable() garage.tf.plotter.Plotter.disable() if args.log_dir is None: log_dir = osp.join(default_log_dir, args.exp_name) else: log_dir = args.log_dir tabular_log_file = osp.join(log_dir, args.tabular_log_file) text_log_file = osp.join(log_dir, args.text_log_file) params_log_file = osp.join(log_dir, args.params_log_file) if args.variant_data is not None: variant_data = pickle.loads(base64.b64decode(args.variant_data)) variant_log_file = osp.join(log_dir, args.variant_log_file) logger.log_variant(variant_log_file, variant_data) else: variant_data = None if not args.use_cloudpickle: logger.log_parameters_lite(params_log_file, args) logger.add_text_output(text_log_file) logger.add_tabular_output(tabular_log_file) logger.set_tensorboard_dir(log_dir) prev_snapshot_dir = logger.get_snapshot_dir() prev_mode = logger.get_snapshot_mode() logger.set_snapshot_dir(log_dir) logger.set_snapshot_mode(args.snapshot_mode) logger.set_snapshot_gap(args.snapshot_gap) logger.set_log_tabular_only(args.log_tabular_only) logger.set_tensorboard_step_key(args.tensorboard_step_key) logger.push_prefix("[%s] " % args.exp_name) if args.resume_from is not None: data = joblib.load(args.resume_from) assert 'algo' in data algo = data['algo'] algo.train() else: # read from stdin if args.use_cloudpickle: import cloudpickle method_call = cloudpickle.loads(base64.b64decode(args.args_data)) try: method_call(variant_data) except BaseException: if args.n_parallel > 0: parallel_sampler.terminate() raise else: data = pickle.loads(base64.b64decode(args.args_data)) maybe_iter = concretize(data) if is_iterable(maybe_iter): for _ in maybe_iter: pass logger.set_snapshot_mode(prev_mode) logger.set_snapshot_dir(prev_snapshot_dir) logger.remove_tabular_output(tabular_log_file) logger.remove_text_output(text_log_file) logger.pop_prefix()
import theano.tensor as TT from garage.envs import normalize from garage.envs.box2d import CartpoleEnv from garage.theano.envs import TheanoEnv from garage.theano.policies import GaussianMLPPolicy from garage.sampler import parallel_sampler # normalize() makes sure that the actions for the environment lies within the # range [-1, 1] (only works for environments with continuous actions) env = TheanoEnv(normalize(CartpoleEnv())) # Initialize a neural network policy with a single hidden layer of 8 hidden # units policy = GaussianMLPPolicy(env.spec, hidden_sizes=(8, )) parallel_sampler.populate_task(env, policy) parallel_sampler.initialize(10) paths = parallel_sampler.sample_paths(policy.get_param_values(), 100) # We will collect 100 trajectories per iteration N = 100 # Each trajectory will have at most 100 time steps T = 100 # Number of iterations n_itr = 100 # Set the discount factor for the problem discount = 0.99 # Learning rate for the gradient update learning_rate = 0.01 # Construct the computation graph # Create a Theano variable for storing the observations We could have simply