def train_eval(log_dir="DDPG",
prev_log="",
google_colab=False,
seed=123,
gpu_id=0,
env_name="HalfCheetah-v2",
num_frames=10000,
tau=1e-2,
memory_size=5000,
hot_start=100,
batch_size=200,
interval_MAR=10,
gamma=0.99,
L2_reg=0.5,
random_process="ou",
mu=0.3,
sigma=0.2,
num_eval_episodes=1,
eval_interval=1000):
tf.compat.v1.set_random_seed(seed)
np.random.seed(seed=seed)
# prep for training
log_dir = set_up_for_training(env_name=env_name,
seed=seed,
gpu_id=gpu_id,
log_dir=log_dir,
prev_log=prev_log,
google_colab=google_colab)
env = gym.make(env_name)
env = Monitor(env=env, directory=log_dir["video_path"], force=True)
replay_buffer = ReplayBuffer(memory_size, traj_dir=log_dir["traj_path"])
reward_buffer = deque(maxlen=interval_MAR)
summary_writer = tf.compat.v2.summary.create_file_writer(
log_dir["summary_path"])
if random_process == "ou":
random_process = OrnsteinUhlenbeckProcess(
size=env.action_space.shape[0], theta=0.15, mu=mu, sigma=sigma)
elif random_process == "gaussian":
random_process = GaussianNoise(mu=mu, sigma=sigma)
else:
random_process = False
assert False, "choose the random process from either gaussian or ou"
agent = DDPG(actor=Actor,
critic=Critic,
num_action=env.action_space.shape[0],
random_process=random_process,
gamma=gamma,
L2_reg=L2_reg,
actor_model_dir=log_dir["model_path"] + "/actor",
critic_model_dir=log_dir["model_path"] + "/critic")
train(agent, env, replay_buffer, reward_buffer, summary_writer,
num_eval_episodes, num_frames, tau, eval_interval, hot_start,
batch_size, interval_MAR, log_dir, google_colab)
def prep_env(env_name, video_path):
if env_name.lower() == "cartpole":
env = gym.make("CartPole-v0")
env.record_start = lambda: None
env.record_end = lambda: None
else:
env = wrap_deepmind(
make_atari(env_name +
"NoFrameskip-v4")) # make sure to add NoFrameskip-v4
env = Monitor(env=env, directory=video_path, force=True)
return env
mu = str(params.mu).split(".")
mu = str(mu[0] + mu[1])
params.log_dir = "../../logs/logs/DDPG_batchnorm-{}-seed{}/{}-mu{}".format(
params.train_flg, params.seed, str(params.env_name.split("-")[0]), mu)
params.actor_model_dir = "../../logs/models/DDPG_batchnorm-{}-seed{}/{}/actor-mu{}/".format(
params.train_flg, params.seed, str(params.env_name.split("-")[0]), mu)
params.critic_model_dir = "../../logs/models/DDPG_batchnorm-{}-seed{}/{}/critic-mu{}/".format(
params.train_flg, params.seed, str(params.env_name.split("-")[0]), mu)
params.video_dir = "../../logs/video/DDPG_batchnorm-{}-seed{}/{}-mu{}/".format(
params.train_flg, params.seed, str(params.env_name.split("-")[0]), mu)
params.plot_path = "../../logs/plots/DDPG_batchnorm-{}-seed{}/{}-mu{}/".format(
params.train_flg, params.seed, str(params.env_name.split("-")[0]), mu)
env = gym.make(params.env_name)
env = Monitor(env, params.video_dir)
# set seed
env.seed(params.seed)
tf.random.set_random_seed(params.seed)
replay_buffer = ReplayBuffer(params.memory_size)
reward_buffer = deque(maxlen=params.reward_buffer_ep)
summary_writer = tf.contrib.summary.create_file_writer(params.log_dir)
random_process = OrnsteinUhlenbeckProcess(size=env.action_space.shape[0],
theta=0.15,
mu=params.mu,
sigma=params.sigma)
# random_process = GaussianNoise(mu=params.mu, sigma=params.sigma)
agent = DDPG(Actor, Critic, env.action_space.shape[0], random_process, params)
train_DDPG_original(agent, env, replay_buffer, reward_buffer, summary_writer)
# run this from the terminal and make sure you are loading appropriate environment variables
# $ echo $LD_LIBRARY_PATH
import gym
from tf_rl.common.monitor import Monitor
import environments.register as register
video_dir = "./video/"
temp = 5
env = gym.make("CentipedeSix-v1")
env = Monitor(env, video_dir, force=True)
for ep in range(10):
if ep % temp == 0:
print("recording")
env.record_start()
env.reset()
done = False
while not done:
# env.render()
action = env.action_space.sample()
s, r, done, info = env.step(action) # take a random action
if ep % temp == 0:
env.record_end()
default=0.05,
type=float,
help="magnitude of randomness")
parser.add_argument("--n_trial", default=10, type=int, help="num of eval ep")
parser.add_argument("--action_range",
default=[-1., 1.],
type=list,
help="magnitude of L2 regularisation")
params = parser.parse_args()
params.actor_model_dir = "../../logs/models/20190731-181814-DDPG-GGNN_actor/"
params.critic_model_dir = "../../logs/models/20190731-181814-DDPG-GGNN_critic/"
params.video_dir = "./video_{}".format(str(params.env_name))
env = gym.make(params.env_name)
env = Monitor(env, params.video_dir, force=True)
random_process = GaussianNoise(mu=0.0, sigma=0.0)
agent = DDPG(Actor, Critic, env.action_space.shape[0], random_process, params)
global_timestep = tf.compat.v1.train.get_or_create_global_step()
all_distances, all_rewards, all_actions = list(), list(), list()
distance_func = get_distance(
agent.params.env_name) # create the distance measure func
print("=== Evaluation Mode ===")
for ep in range(params.n_trial):
env.record_start()
obs = env.reset()
state = obs["flat_obs"]
done = False
import gym
from tf_rl.common.monitor import Monitor
ENVS = [
"Ant-v2",
"HalfCheetah-v2",
"Hopper-v2",
"Humanoid-v2",
# "Reacher-v2",
# "Swimmer-v2",
"Walker2d-v2"
]
DEFAULT = 250
for env_name in ENVS:
env = gym.make(env_name)
env = Monitor(env, "./video/{}".format(env_name), force=True)
print(env_name)
env.record_start()
env.reset()
done = False
while not done:
# env.render(mode="human", annotation_flg=False)
s, r, done, i = env.step(env.action_space.sample())
env.record_end()
env.close()
now = datetime.datetime.now()
params.log_dir = "../logs/logs/DDPG-GGNN-seed{}/{}".format(
params.seed, str(params.env_name.split("-")[0]))
params.actor_model_dir = "../logs/models/DDPG-GGNN-seed{}/{}/actor/".format(
params.seed, str(params.env_name.split("-")[0]))
params.critic_model_dir = "../logs/models/DDPG-GGNN-seed{}/{}/critic/".format(
params.seed, str(params.env_name.split("-")[0]))
params.video_dir = "../logs/video/DDPG-GGNN-seed{}/{}/".format(
params.seed, str(params.env_name.split("-")[0]))
params.plot_path = "../logs/plots/DDPG-GGNN-seed{}/{}/".format(
params.seed, str(params.env_name.split("-")[0]))
# Instantiate Env
env = gym.make(params.env_name)
env = Monitor(env, params.video_dir, force=True)
# set seed
env.seed(params.seed)
tf.random.set_random_seed(params.seed)
# Invoke components
replay_buffer = ReplayBuffer(params.memory_size)
reward_buffer = deque(maxlen=params.reward_buffer_ep)
summary_writer = tf.contrib.summary.create_file_writer(params.log_dir)
# Reading out the information regarding the robot from the XML
node_info = parse_mujoco_graph(task_name=params.env_name)
node_info = gnn_util.add_node_info(node_info,
input_feat_dim=params.input_feat_dim)
import gym
from tf_rl.common.monitor import Monitor
env = gym.make('CartPole-v0')
env = Monitor(env=env, directory="./video/cartpole", force=True)
for ep in range(20):
if ep == 0: env.record_start()
state = env.reset()
for t in range(1000):
action = env.action_space.sample()
state, reward, done, info = env.step(action)
if done:
if ep == 0: env.record_end()
break
env.close()
import itertools
from tf_rl.common.monitor import Monitor
from tf_rl.common.wrappers import wrap_deepmind, make_atari
env_name = "PongNoFrameskip-v4"
env = wrap_deepmind(make_atari(env_name))
env = Monitor(env=env, directory="./video/{}".format(env_name), force=True)
env.record_start()
state = env.reset()
for t in itertools.count():
action = env.action_space.sample()
next_state, reward, done, info = env.step(action)
state = next_state
if done:
break
print("End at {}".format(t + 1))
env.record_end()
env.close()
params.test_episodes = 1
env_name = str(params.env_name.split("-")[0])
params.log_dir = "../../logs/logs/DDPG-debug-seed{}/{}".format(
params.seed, env_name)
params.actor_model_dir = "../../logs/models/DDPG-debug-seed{}/{}/actor/".format(
params.seed, env_name)
params.critic_model_dir = "../../logs/models/DDPG-debug-seed{}/{}/critic/".format(
params.seed, env_name)
params.video_dir = "../../logs/video/DDPG-debug-seed{}/{}/".format(
params.seed, env_name)
params.plot_path = "../../logs/plots/DDPG-debug-seed{}/{}/".format(
params.seed, env_name)
env = gym.make(params.env_name)
env = Monitor(env, params.video_dir, force=True)
# set seed
env.seed(params.seed)
tf.random.set_random_seed(params.seed)
replay_buffer = ReplayBuffer(params.memory_size)
reward_buffer = deque(maxlen=params.reward_buffer_ep)
summary_writer = tf.contrib.summary.create_file_writer(params.log_dir)
random_process = OrnsteinUhlenbeckProcess(size=env.action_space.shape[0],
theta=0.15,
mu=params.mu,
sigma=params.sigma)
agent = DDPG_debug(Actor, Critic, env.action_space.shape[0], random_process,
