def test_meta_evaluator_with_tf():
set_seed(100)
tasks = SetTaskSampler(lambda: GarageEnv(PointEnv()))
max_path_length = 200
env = GarageEnv(PointEnv())
n_traj = 3
with tempfile.TemporaryDirectory() as log_dir_name:
ctxt = SnapshotConfig(snapshot_dir=log_dir_name,
snapshot_mode='none',
snapshot_gap=1)
with LocalTFRunner(ctxt) as runner:
meta_eval = MetaEvaluator(test_task_sampler=tasks,
max_path_length=max_path_length,
n_test_tasks=10,
n_exploration_traj=n_traj)
policy = GaussianMLPPolicy(env.spec)
algo = MockTFAlgo(env, policy, max_path_length, n_traj, meta_eval)
runner.setup(algo, env)
log_file = tempfile.NamedTemporaryFile()
csv_output = CsvOutput(log_file.name)
logger.add_output(csv_output)
meta_eval.evaluate(algo)
algo_pickle = cloudpickle.dumps(algo)
tf.compat.v1.reset_default_graph()
with LocalTFRunner(ctxt) as runner:
algo2 = cloudpickle.loads(algo_pickle)
runner.setup(algo2, env)
runner.train(10, 0)
def test_session(self):
with LocalTFRunner(snapshot_config):
assert tf.compat.v1.get_default_session() is not None, (
'LocalTFRunner() should provide a default tf session.')
sess = tf.compat.v1.Session()
with LocalTFRunner(snapshot_config, sess=sess):
assert tf.compat.v1.get_default_session() is sess, (
'LocalTFRunner(sess) should use sess as default session.')
def trpo_cartpole(ctxt=None, seed=1):
"""Train TRPO with CartPole-v1 environment.
Args:
ctxt (garage.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
"""
set_seed(seed)
with LocalTFRunner(ctxt) as runner:
env = TfEnv(env_name='CartPole-v1')
policy = CategoricalMLPPolicy(name='policy',
env_spec=env.spec,
hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
max_kl_step=0.01)
runner.setup(algo, env)
runner.train(n_epochs=100, batch_size=4000)
def run_task(snapshot_config, *_):
"""Train CEM with Cartpole-v1 environment.
Args:
snapshot_config (garage.experiment.SnapshotConfig): The snapshot
configuration used by LocalRunner to create the snapshotter.
*_ (object): Ignored by this function.
"""
with LocalTFRunner(snapshot_config=snapshot_config) as runner:
env = TfEnv(env_name='CartPole-v1')
policy = CategoricalMLPPolicy(name='policy',
env_spec=env.spec,
hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
n_samples = 20
algo = CEM(env_spec=env.spec,
policy=policy,
baseline=baseline,
best_frac=0.05,
max_path_length=100,
n_samples=n_samples)
runner.setup(algo, env, sampler_cls=OnPolicyVectorizedSampler)
runner.train(n_epochs=100, batch_size=1000)
def run_task(snapshot_config, *_):
"""Run task.
Args:
snapshot_config (garage.experiment.SnapshotConfig): Configuration
values for snapshotting.
*_ (object): Hyperparameters (unused).
"""
with LocalTFRunner(snapshot_config=snapshot_config) as runner:
env = TfEnv(gym.make('Swimmer-v2'))
policy = GaussianMLPPolicy(env_spec=env.spec, hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=500,
discount=0.99,
max_kl_step=0.01)
runner.setup(algo,
env,
sampler_cls=RaySamplerTF,
sampler_args={'seed': seed})
runner.train(n_epochs=40, batch_size=4000)
def test_ppo_pendulum_wrong_worker(self):
with LocalTFRunner(snapshot_config, sess=self.sess) as runner:
with pytest.raises(ValueError):
algo = RL2PPO(rl2_max_path_length=self.max_path_length,
meta_batch_size=self.meta_batch_size,
task_sampler=self.tasks,
env_spec=self.env_spec,
policy=self.policy,
baseline=self.baseline,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
pg_loss='surrogate_clip',
optimizer_args=dict(
batch_size=32,
max_epochs=10,
),
stop_entropy_gradient=True,
entropy_method='max',
policy_ent_coeff=0.02,
center_adv=False,
max_path_length=self.max_path_length *
self.episode_per_task,
flatten_input=False)
runner.setup(algo,
self.tasks.sample(self.meta_batch_size),
sampler_cls=LocalSampler,
n_workers=self.meta_batch_size)
runner.train(n_epochs=10,
batch_size=self.episode_per_task *
self.max_path_length * self.meta_batch_size)
def ppo_cmb(env, seed, log_dir):
"""Create test continuous mlp baseline on ppo.
Args:
env (gym_env): Environment of the task.
seed (int): Random seed for the trial.
log_dir (str): Log dir path.
Returns:
str: training results in csv format.
"""
deterministic.set_seed(seed)
config = tf.compat.v1.ConfigProto(allow_soft_placement=True,
intra_op_parallelism_threads=num_proc,
inter_op_parallelism_threads=num_proc)
sess = tf.compat.v1.Session(config=config)
with LocalTFRunner(snapshot_config, sess=sess,
max_cpus=num_proc) as runner:
env = TfEnv(normalize(env))
policy = GaussianLSTMPolicy(
env_spec=env.spec,
hidden_dim=policy_params['policy_hidden_sizes'],
hidden_nonlinearity=policy_params['hidden_nonlinearity'],
)
baseline = ContinuousMLPBaseline(
env_spec=env.spec,
regressor_args=baseline_params['regressor_args'],
)
algo = PPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=algo_params['max_path_length'],
discount=algo_params['discount'],
gae_lambda=algo_params['gae_lambda'],
lr_clip_range=algo_params['lr_clip_range'],
entropy_method=algo_params['entropy_method'],
policy_ent_coeff=algo_params['policy_ent_coeff'],
optimizer_args=algo_params['optimizer_args'],
center_adv=algo_params['center_adv'],
stop_entropy_gradient=True)
# Set up logger since we are not using run_experiment
tabular_log_file = osp.join(log_dir, 'progress.csv')
dowel_logger.add_output(dowel.StdOutput())
dowel_logger.add_output(dowel.CsvOutput(tabular_log_file))
dowel_logger.add_output(dowel.TensorBoardOutput(log_dir))
runner.setup(algo,
env,
sampler_args=dict(n_envs=algo_params['n_envs']))
runner.train(n_epochs=algo_params['n_epochs'],
batch_size=algo_params['n_rollout_steps'])
dowel_logger.remove_all()
return tabular_log_file
def cma_es_cartpole(ctxt=None, seed=1):
"""Train CMA_ES with Cartpole-v1 environment.
Args:
ctxt (garage.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
"""
set_seed(seed)
with LocalTFRunner(ctxt) as runner:
env = TfEnv(env_name='CartPole-v1')
policy = CategoricalMLPPolicy(name='policy',
env_spec=env.spec,
hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
n_samples = 20
algo = CMAES(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
n_samples=n_samples)
runner.setup(algo, env, sampler_cls=OnPolicyVectorizedSampler)
runner.train(n_epochs=100, batch_size=1000)
def test_rl2_trpo_pendulum(self):
with LocalTFRunner(snapshot_config, sess=self.sess) as runner:
algo = RL2TRPO(
rl2_max_path_length=self.max_path_length,
meta_batch_size=self.meta_batch_size,
task_sampler=self.tasks,
env_spec=self.env_spec,
policy=self.policy,
baseline=self.baseline,
max_path_length=self.max_path_length * self.episode_per_task,
discount=0.99,
max_kl_step=0.01,
optimizer=ConjugateGradientOptimizer,
optimizer_args=dict(hvp_approach=FiniteDifferenceHvp(
base_eps=1e-5)))
runner.setup(algo,
self.tasks.sample(self.meta_batch_size),
sampler_cls=LocalSampler,
n_workers=self.meta_batch_size,
worker_class=RL2Worker)
last_avg_ret = runner.train(n_epochs=1,
batch_size=self.episode_per_task *
self.max_path_length *
self.meta_batch_size)
assert last_avg_ret > -40
def run_garage(env, seed, log_dir):
'''
Create garage model and training.
Replace the ddpg with the algorithm you want to run.
:param env: Environment of the task.
:param seed: Random seed for the trial.
:param log_dir: Log dir path.
:return:
'''
deterministic.set_seed(seed)
with LocalTFRunner(snapshot_config) as runner:
env = TfEnv(normalize(env))
# Set up params for ddpg
action_noise = OUStrategy(env.spec, sigma=params['sigma'])
policy = ContinuousMLPPolicy(
env_spec=env.spec,
hidden_sizes=params['policy_hidden_sizes'],
hidden_nonlinearity=tf.nn.relu,
output_nonlinearity=tf.nn.tanh)
qf = ContinuousMLPQFunction(env_spec=env.spec,
hidden_sizes=params['qf_hidden_sizes'],
hidden_nonlinearity=tf.nn.relu)
replay_buffer = SimpleReplayBuffer(
env_spec=env.spec,
size_in_transitions=params['replay_buffer_size'],
time_horizon=params['n_rollout_steps'])
ddpg = DDPG(env_spec=env.spec,
policy=policy,
qf=qf,
replay_buffer=replay_buffer,
steps_per_epoch=params['steps_per_epoch'],
policy_lr=params['policy_lr'],
qf_lr=params['qf_lr'],
target_update_tau=params['tau'],
n_train_steps=params['n_train_steps'],
discount=params['discount'],
min_buffer_size=int(1e4),
exploration_strategy=action_noise,
policy_optimizer=tf.train.AdamOptimizer,
qf_optimizer=tf.train.AdamOptimizer)
# Set up logger since we are not using run_experiment
tabular_log_file = osp.join(log_dir, 'progress.csv')
tensorboard_log_dir = osp.join(log_dir)
dowel_logger.add_output(dowel.StdOutput())
dowel_logger.add_output(dowel.CsvOutput(tabular_log_file))
dowel_logger.add_output(dowel.TensorBoardOutput(tensorboard_log_dir))
runner.setup(ddpg, env)
runner.train(n_epochs=params['n_epochs'],
batch_size=params['n_rollout_steps'])
dowel_logger.remove_all()
return tabular_log_file
def her_garage_tf(ctxt, env_id, seed):
"""Create garage TensorFlow HER model and training.
Args:
ctxt (garage.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the
snapshotter.
env_id (str): Environment id of the task.
seed (int): Random positive integer for the trial.
"""
deterministic.set_seed(seed)
with LocalTFRunner(ctxt) as runner:
env = TfEnv(normalize(gym.make(env_id)))
policy = ContinuousMLPPolicy(
env_spec=env.spec,
hidden_sizes=hyper_parameters['policy_hidden_sizes'],
hidden_nonlinearity=tf.nn.relu,
output_nonlinearity=tf.nn.tanh,
)
exploration_policy = AddOrnsteinUhlenbeckNoise(
env_spec=env.spec, policy=policy, sigma=hyper_parameters['sigma'])
qf = ContinuousMLPQFunction(
env_spec=env.spec,
hidden_sizes=hyper_parameters['qf_hidden_sizes'],
hidden_nonlinearity=tf.nn.relu,
)
replay_buffer = HerReplayBuffer(
env_spec=env.spec,
size_in_transitions=hyper_parameters['replay_buffer_size'],
time_horizon=hyper_parameters['n_rollout_steps'],
replay_k=0.4,
reward_fun=env.compute_reward,
)
algo = DDPG(
env_spec=env.spec,
policy=policy,
qf=qf,
replay_buffer=replay_buffer,
steps_per_epoch=hyper_parameters['steps_per_epoch'],
policy_lr=hyper_parameters['policy_lr'],
qf_lr=hyper_parameters['qf_lr'],
target_update_tau=hyper_parameters['tau'],
n_train_steps=hyper_parameters['n_train_steps'],
discount=hyper_parameters['discount'],
exploration_policy=exploration_policy,
policy_optimizer=tf.compat.v1.train.AdamOptimizer,
qf_optimizer=tf.compat.v1.train.AdamOptimizer,
buffer_batch_size=256,
)
runner.setup(algo, env)
runner.train(n_epochs=hyper_parameters['n_epochs'],
batch_size=hyper_parameters['n_rollout_steps'])
def run_task(snapshot_config, v):
"""
We wrap the main training loop in the run_task function so that
run_experiment can easily execute variants of the experiment on different
machines
"""
with LocalTFRunner(snapshot_config=snapshot_config) as runner:
env = TfEnv(env_name='CartPole-v1')
policy = CategoricalMLPPolicy(
env_spec=env.spec,
# The neural network policy should have two hidden layers,
# each with 32 hidden units.
hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(
env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
max_kl_step=v['step_size'],
)
runner.setup(algo=algo, env=env)
runner.train(
n_epochs=40,
batch_size=4000,
# Uncomment to enable plotting
# plot=True
)
def run_task(snapshot_config, *_):
"""Run task."""
with LocalTFRunner(snapshot_config=snapshot_config) as runner:
env = TfEnv(normalize(gym.make('MemorizeDigits-v0')))
policy = CategoricalCNNPolicy(env_spec=env.spec,
conv_filters=(32, 64, 64),
conv_filter_sizes=(5, 3, 2),
conv_strides=(4, 2, 1),
conv_pad='VALID',
hidden_sizes=(256, ))
baseline = GaussianCNNBaseline(env_spec=env.spec,
regressor_args=dict(
num_filters=(32, 64, 64),
filter_dims=(5, 3, 2),
strides=(4, 2, 1),
padding='VALID',
hidden_sizes=(256, ),
use_trust_region=True))
algo = PPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
max_kl_step=0.01,
flatten_input=False)
runner.setup(algo, env)
runner.train(n_epochs=1000, batch_size=2048)
def test_resume(self):
sess = tf.compat.v1.Session(graph=tf.Graph())
with LocalTFRunner(self.snapshot_config, sess) as runner:
args = runner.restore(self.temp_dir.name)
assert np.equal(
runner._policy.get_param_values(),
self.policy_params).all(), 'Policy parameters should persist'
assert args.n_epochs == 5, (
'Snapshot should save training parameters')
assert args.start_epoch == 5, (
'Last experiment should end at 5th iterations')
batch_size = runner._train_args.batch_size
n_epoch_cycles = runner._train_args.n_epoch_cycles
runner.resume(n_epochs=10,
plot=False,
store_paths=True,
pause_for_plot=False)
assert runner._train_args.n_epochs == 10
assert runner._train_args.batch_size == batch_size
assert runner._train_args.n_epoch_cycles == n_epoch_cycles
assert not runner._train_args.plot
assert runner._train_args.store_paths
assert not runner._train_args.pause_for_plot
def test_cem_cartpole(self):
"""Test CEM with Cartpole-v1 environment."""
with LocalTFRunner() as runner:
env = TfEnv(env_name='CartPole-v1')
policy = CategoricalMLPPolicy(name='policy',
env_spec=env.spec,
hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
runner.initialize_tf_vars()
n_samples = 10
algo = CEM(env_spec=env.spec,
policy=policy,
baseline=baseline,
best_frac=0.1,
max_path_length=100,
n_samples=n_samples)
runner.setup(algo, env, sampler_cls=OnPolicyVectorizedSampler)
rtn = runner.train(n_epochs=10,
batch_size=2048,
n_epoch_cycles=n_samples)
assert rtn > 40
env.close()
def test_rl2_ppo_pendulum_adapted_policy(self):
with LocalTFRunner(snapshot_config, sess=self.sess):
algo = RL2PPO(rl2_max_path_length=self.max_path_length,
meta_batch_size=self.meta_batch_size,
task_sampler=self.tasks,
env_spec=self.env_spec,
policy=self.policy,
baseline=self.baseline,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
optimizer_args=dict(
batch_size=32,
max_epochs=10,
),
stop_entropy_gradient=True,
entropy_method='max',
policy_ent_coeff=0.02,
center_adv=False,
max_path_length=self.max_path_length *
self.episode_per_task)
exploration_policy = algo.get_exploration_policy()
adapted_policy = algo.adapt_policy(exploration_policy, [])
(params, hidden) = adapted_policy.get_param_values()
expected_new_params = np.zeros_like(params)
expected_hidden = np.zeros_like(hidden)
adapted_policy.set_param_values(
(expected_new_params, expected_hidden))
(new_params, new_hidden) = adapted_policy.get_param_values()
assert np.array_equal(expected_new_params, new_params)
assert np.array_equal(expected_hidden, new_hidden)
def test_rl2_ppo_pendulum(self):
with LocalTFRunner(snapshot_config, sess=self.sess) as runner:
algo = RL2PPO(rl2_max_path_length=self.max_path_length,
meta_batch_size=self.meta_batch_size,
task_sampler=self.tasks,
env_spec=self.env_spec,
policy=self.policy,
baseline=self.baseline,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
stop_entropy_gradient=True,
entropy_method='max',
policy_ent_coeff=0.02,
center_adv=False,
max_path_length=self.max_path_length *
self.episode_per_task)
runner.setup(
algo,
self.tasks.sample(self.meta_batch_size),
sampler_cls=LocalSampler,
n_workers=self.meta_batch_size,
worker_class=RL2Worker,
worker_args=dict(n_paths_per_trial=self.episode_per_task))
last_avg_ret = runner.train(n_epochs=1,
batch_size=self.episode_per_task *
self.max_path_length *
self.meta_batch_size)
assert last_avg_ret > -40
def test_ppo_pendulum_flatten_input(self):
"""Test PPO with CartPole to test observation flattening."""
with LocalTFRunner(snapshot_config, sess=self.sess) as runner:
env = TfEnv(
normalize(ReshapeObservation(gym.make('CartPole-v1'), (2, 2))))
policy = CategoricalMLPPolicy(
env_spec=env.spec,
hidden_nonlinearity=tf.nn.tanh,
)
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = PPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
policy_ent_coeff=0.0,
optimizer_args=dict(
batch_size=32,
max_epochs=10,
tf_optimizer_args=dict(learning_rate=1e-3),
))
runner.setup(algo, env)
last_avg_ret = runner.train(n_epochs=10, batch_size=2048)
assert last_avg_ret > 80
def her_ddpg_fetchreach(ctxt=None, seed=1):
"""Train DDPG + HER on the goal-conditioned FetchReach env.
Args:
ctxt (garage.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
"""
set_seed(seed)
with LocalTFRunner(snapshot_config=ctxt) as runner:
env = TfEnv(gym.make('FetchReach-v1'))
policy = ContinuousMLPPolicy(
env_spec=env.spec,
name='Policy',
hidden_sizes=[256, 256, 256],
hidden_nonlinearity=tf.nn.relu,
output_nonlinearity=tf.nn.tanh,
)
exploration_policy = AddOrnsteinUhlenbeckNoise(env.spec,
policy,
sigma=0.2)
qf = ContinuousMLPQFunction(
env_spec=env.spec,
name='QFunction',
hidden_sizes=[256, 256, 256],
hidden_nonlinearity=tf.nn.relu,
)
replay_buffer = HerReplayBuffer(env_spec=env.spec,
size_in_transitions=int(1e6),
time_horizon=100,
replay_k=0.4,
reward_fun=env.compute_reward)
ddpg = DDPG(
env_spec=env.spec,
policy=policy,
policy_lr=1e-3,
qf_lr=1e-3,
qf=qf,
replay_buffer=replay_buffer,
target_update_tau=0.05,
steps_per_epoch=20,
max_path_length=100,
n_train_steps=40,
discount=0.9,
exploration_policy=exploration_policy,
policy_optimizer=tf.compat.v1.train.AdamOptimizer,
qf_optimizer=tf.compat.v1.train.AdamOptimizer,
buffer_batch_size=256,
)
runner.setup(algo=ddpg, env=env)
runner.train(n_epochs=50, batch_size=100)
def reps_gym_cartpole(ctxt=None, seed=1):
"""Train REPS with CartPole-v0 environment.
Args:
ctxt (garage.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
"""
set_seed(seed)
with LocalTFRunner(snapshot_config=ctxt) as runner:
env = TfEnv(gym.make('CartPole-v0'))
policy = CategoricalMLPPolicy(env_spec=env.spec, hidden_sizes=[32, 32])
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = REPS(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99)
runner.setup(algo, env)
runner.train(n_epochs=100, batch_size=4000, plot=False)
def multi_env_trpo(ctxt=None, seed=1):
"""Train TRPO on two different PointEnv instances.
Args:
ctxt (garage.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
"""
set_seed(seed)
with LocalTFRunner(ctxt) as runner:
env1 = TfEnv(normalize(PointEnv(goal=(-1., 0.))))
env2 = TfEnv(normalize(PointEnv(goal=(1., 0.))))
env = MultiEnvWrapper([env1, env2])
policy = GaussianMLPPolicy(env_spec=env.spec)
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
policy_ent_coeff=0.0)
runner.setup(algo, env)
runner.train(n_epochs=40, batch_size=2048, plot=False)
def test_cma_es_cartpole(self):
"""Test CMAES with Cartpole-v1 environment."""
with LocalTFRunner() as runner:
env = TfEnv(env_name='CartPole-v1')
policy = CategoricalMLPPolicy(
name='policy', env_spec=env.spec, hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
runner.initialize_tf_vars()
n_samples = 20
algo = CMAES(
env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
n_samples=n_samples)
runner.setup(algo, env, sampler_cls=OnPolicyVectorizedSampler)
runner.train(n_epochs=1, batch_size=1000, n_epoch_cycles=n_samples)
# No assertion on return because CMAES is not stable.
env.close()
def test_dm_control_tf_policy(self):
task = ALL_TASKS[0]
with LocalTFRunner(snapshot_config, sess=self.sess) as runner:
env = TfEnv(DmControlEnv.from_suite(*task))
policy = GaussianMLPPolicy(
env_spec=env.spec,
hidden_sizes=(32, 32),
)
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(
env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=5,
discount=0.99,
max_kl_step=0.01,
)
runner.setup(algo, env)
runner.train(n_epochs=1, batch_size=10)
env.close()
def test_vpg_cartpole(self):
"""Test VPG with CartPole-v1 environment."""
with LocalTFRunner(snapshot_config, sess=self.sess) as runner:
env = TfEnv(env_name='CartPole-v1')
policy = CategoricalMLPPolicy(name='policy',
env_spec=env.spec,
hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = VPG(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
optimizer_args=dict(
tf_optimizer_args=dict(learning_rate=0.01, )))
runner.setup(algo, env)
last_avg_ret = runner.train(n_epochs=10, batch_size=10000)
assert last_avg_ret > 90
env.close()
def td3_pendulum(ctxt=None, seed=1):
"""Wrap TD3 training task in the run_task function.
Args:
ctxt (garage.experiment.ExperimentContext): The experiment
configuration used by LocalRunner to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
"""
set_seed(seed)
with LocalTFRunner(ctxt) as runner:
env = TfEnv(gym.make('InvertedDoublePendulum-v2'))
policy = ContinuousMLPPolicy(env_spec=env.spec,
hidden_sizes=[400, 300],
hidden_nonlinearity=tf.nn.relu,
output_nonlinearity=tf.nn.tanh)
exploration_policy = AddGaussianNoise(env.spec,
policy,
max_sigma=0.1,
min_sigma=0.1)
qf = ContinuousMLPQFunction(name='ContinuousMLPQFunction',
env_spec=env.spec,
hidden_sizes=[400, 300],
action_merge_layer=0,
hidden_nonlinearity=tf.nn.relu)
qf2 = ContinuousMLPQFunction(name='ContinuousMLPQFunction2',
env_spec=env.spec,
hidden_sizes=[400, 300],
action_merge_layer=0,
hidden_nonlinearity=tf.nn.relu)
replay_buffer = SimpleReplayBuffer(env_spec=env.spec,
size_in_transitions=int(1e6),
time_horizon=250)
td3 = TD3(env_spec=env.spec,
policy=policy,
policy_lr=1e-4,
qf_lr=1e-3,
qf=qf,
qf2=qf2,
replay_buffer=replay_buffer,
target_update_tau=1e-2,
steps_per_epoch=20,
n_train_steps=1,
smooth_return=False,
discount=0.99,
buffer_batch_size=100,
min_buffer_size=1e4,
exploration_policy=exploration_policy,
policy_optimizer=tf.compat.v1.train.AdamOptimizer,
qf_optimizer=tf.compat.v1.train.AdamOptimizer)
runner.setup(td3, env)
runner.train(n_epochs=500, batch_size=250)
def test_process_samples_continuous_recurrent(self):
env = TfEnv(DummyBoxEnv())
policy = GaussianLSTMPolicy(env_spec=env.spec)
baseline = GaussianMLPBaseline(env_spec=env.spec)
max_path_length = 100
with LocalTFRunner(snapshot_config, sess=self.sess) as runner:
algo = BatchPolopt2(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=max_path_length,
flatten_input=True)
runner.setup(algo, env, sampler_args=dict(n_envs=1))
runner.train(n_epochs=1, batch_size=max_path_length)
paths = runner.obtain_samples(0)
samples = algo.process_samples(0, paths)
# Since there is only 1 vec_env in the sampler and DummyBoxEnv
# never terminate until it reaches max_path_length, batch size
# must be max_path_length, i.e. 100
assert samples['observations'].shape == (
max_path_length, env.observation_space.flat_dim)
assert samples['actions'].shape == (max_path_length,
env.action_space.flat_dim)
assert samples['rewards'].shape == (max_path_length, )
assert samples['baselines'].shape == (max_path_length, )
assert samples['returns'].shape == (max_path_length, )
# there is only 1 path
assert samples['lengths'].shape == (1, )
for key, shape in policy.state_info_specs:
assert samples['agent_infos'][key].shape == (max_path_length,
np.prod(shape))
# DummyBoxEnv has env_info dummy
assert samples['env_infos']['dummy'].shape == (max_path_length, )
assert isinstance(samples['average_return'], float)
def test_ppo_pendulum_gru_with_model(self):
"""Test PPO with model, with Pendulum environment."""
with LocalTFRunner(sess=self.sess) as runner:
env = TfEnv(normalize(gym.make('InvertedDoublePendulum-v2')))
policy = GaussianGRUPolicyWithModel(env_spec=env.spec, )
baseline = GaussianMLPBaselineWithModel(
env_spec=env.spec,
regressor_args=dict(hidden_sizes=(32, 32)),
)
algo = PPO(
env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
optimizer_args=dict(
batch_size=32,
max_epochs=10,
),
stop_entropy_gradient=True,
entropy_method='max',
policy_ent_coeff=0.02,
center_adv=False,
)
runner.setup(algo, env)
last_avg_ret = runner.train(n_epochs=10, batch_size=2048)
assert last_avg_ret > 80
env.close()
def test_process_samples_discrete_non_recurrent(self):
env = TfEnv(DummyDiscreteEnv())
policy = CategoricalMLPPolicy(env_spec=env.spec)
baseline = LinearFeatureBaseline(env_spec=env.spec)
max_path_length = 100
with LocalTFRunner(snapshot_config, sess=self.sess) as runner:
algo = BatchPolopt2(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=max_path_length,
flatten_input=True)
runner.setup(algo, env, sampler_args=dict(n_envs=1))
runner.train(n_epochs=1, batch_size=max_path_length)
paths = runner.obtain_samples(0)
samples = algo.process_samples(0, paths)
# Since there is only 1 vec_env in the sampler and DummyDiscreteEnv
# always terminate, number of paths must be max_path_length, and
# batch size must be max_path_length as well, i.e. 100
assert samples['observations'].shape == (
max_path_length, env.observation_space.flat_dim)
assert samples['actions'].shape == (max_path_length,
env.action_space.n)
assert samples['rewards'].shape == (max_path_length, )
assert samples['baselines'].shape == (max_path_length, )
assert samples['returns'].shape == (max_path_length, )
# there is 100 path
assert samples['lengths'].shape == (max_path_length, )
# non-recurrent policy has empty agent info
assert samples['agent_infos'] == {}
assert isinstance(samples['average_return'], float)
def test_trpo_cnn_cubecrash(self):
with LocalTFRunner(snapshot_config, sess=self.sess) as runner:
env = TfEnv(normalize(gym.make('CubeCrash-v0')))
policy = CategoricalCNNPolicy(env_spec=env.spec,
conv_filters=(32, 64),
conv_filter_sizes=(8, 4),
conv_strides=(4, 2),
conv_pad='VALID',
hidden_sizes=(32, 32))
baseline = GaussianCNNBaseline(env_spec=env.spec,
regressor_args=dict(
num_filters=(32, 64),
filter_dims=(8, 4),
strides=(4, 2),
padding='VALID',
hidden_sizes=(32, 32),
use_trust_region=True))
algo = TRPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
gae_lambda=0.98,
max_kl_step=0.01,
policy_ent_coeff=0.0,
flatten_input=False)
runner.setup(algo, env)
last_avg_ret = runner.train(n_epochs=10, batch_size=2048)
assert last_avg_ret > -0.9
env.close()
def run_task(snapshot_config, *_):
"""Run the job.
Args:
snapshot_config (garage.experiment.SnapshotConfig): Configuration
values for snapshotting.
*_ (object): Hyperparameters (unused).
"""
with LocalTFRunner(snapshot_config=snapshot_config) as runner:
env = TfEnv(normalize(gym.make('InvertedPendulum-v2')))
policy = GaussianMLPPolicy(env_spec=env.spec, hidden_sizes=(32, 32))
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = TRPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
max_path_length=100,
discount=0.99,
max_kl_step=0.01)
runner.setup(algo,
env,
sampler_cls=ISSampler,
sampler_args=dict(n_backtrack=1))
runner.train(n_epochs=200, batch_size=4000)
