def create_job(kwargs):
import warnings
warnings.filterwarnings("ignore")
# pendulum env
env = gym.make('Pendulum-TO-v0')
env._max_episode_steps = 10000
env.unwrapped.dt = 0.02
env.unwrapped.umax = np.array([2.5])
env.unwrapped.periodic = False
dm_state = env.observation_space.shape[0]
dm_act = env.action_space.shape[0]
state = env.reset()
init_state = tuple([state, 1e-4 * np.eye(dm_state)])
solver = MBGPS(env,
init_state=init_state,
init_action_sigma=25.,
nb_steps=300,
kl_bound=.1,
action_penalty=1e-3,
activation={
'shift': 250,
'mult': 0.5
})
solver.run(nb_iter=100, verbose=False)
solver.ctl.sigma = np.dstack([1e-1 * np.eye(dm_act)] * 300)
data = solver.rollout(nb_episodes=1, stoch=True, init=state)
obs, act = np.squeeze(data['x'], axis=-1).T, np.squeeze(data['u'],
axis=-1).T
return obs, act
def create_job(kwargs):
import warnings
warnings.filterwarnings("ignore")
# cartpole env
env = gym.make('Cartpole-TO-v0')
env._max_episode_steps = 10000
env.unwrapped._dt = 0.01
dm_state = env.observation_space.shape[0]
dm_act = env.action_space.shape[0]
horizon, nb_steps = 50, 500
state = np.zeros((dm_state, nb_steps + 1))
action = np.zeros((dm_act, nb_steps))
state[:, 0] = env.reset()
for t in range(nb_steps):
solver = MBGPS(env,
init_state=tuple(
[state[:, t], 1e-16 * np.eye(dm_state)]),
init_action_sigma=5.,
nb_steps=horizon,
kl_bound=0.1)
trace = solver.run(nb_iter=10, verbose=False)
_nominal_action = solver.udist.mu
action[:, t] = _nominal_action[:, 0]
state[:, t + 1], _, _, _ = env.step(action[:, t])
print('Time Step:', t, 'Cost:', trace[-1])
return state[:, :-1].T, action.T
def create_job(kwargs):
import warnings
warnings.filterwarnings("ignore")
# pendulum env
env = gym.make('Pendulum-TO-v1')
env._max_episode_steps = 10000
env.unwrapped._dt = 0.05
dm_state = env.observation_space.shape[0]
dm_act = env.action_space.shape[0]
horizon, nb_steps = 15, 150
state = np.zeros((dm_state, nb_steps + 1))
action = np.zeros((dm_act, nb_steps))
state[:, 0] = env.reset()
for t in range(nb_steps):
solver = MBGPS(env,
init_state=tuple([state[:, t],
1e-4 * np.eye(dm_state)]),
init_action_sigma=1.,
nb_steps=horizon,
kl_bound=2.)
trace = solver.run(nb_iter=10, verbose=False)
_act = solver.ctl.sample(state[:, t], 0, stoch=False)
action[:, t] = np.clip(_act, -env.ulim, env.ulim)
state[:, t + 1], _, _, _ = env.step(action[:, t])
print('Time Step:', t, 'Cost:', trace[-1])
return state[:, :-1].T, action.T
def create_job(kwargs):
import warnings
warnings.filterwarnings("ignore")
# pendulum env
env = gym.make('Pendulum-TO-v0')
env._max_episode_steps = 10000
env.unwrapped.dt = 0.02
env.unwrapped.umax = np.array([2.5])
env.unwrapped.periodic = True
dm_state = env.observation_space.shape[0]
dm_act = env.action_space.shape[0]
horizon, nb_steps = 15, 100
state = np.zeros((dm_state, nb_steps + 1))
action = np.zeros((dm_act, nb_steps))
state[:, 0] = env.reset()
for t in range(nb_steps):
init_state = tuple([state[:, t], 1e-4 * np.eye(dm_state)])
solver = MBGPS(env,
init_state=init_state,
init_action_sigma=2.5,
nb_steps=horizon,
kl_bound=1.,
action_penalty=1e-3)
trace = solver.run(nb_iter=5, verbose=False)
solver.ctl.sigma = np.dstack([1e-2 * np.eye(dm_act)] * horizon)
u = solver.ctl.sample(state[:, t], 0, stoch=True)
action[:, t] = np.clip(u, -env.ulim, env.ulim)
state[:, t + 1], _, _, _ = env.step(action[:, t])
# print('Time Step:', t, 'Cost:', trace[-1])
return state[:, :-1].T, action.T
def create_job(kwargs):
import warnings
warnings.filterwarnings("ignore")
# cartpole env
env = gym.make('Cartpole-TO-v0')
env._max_episode_steps = 10000
env.unwrapped.dt = 0.05
env.unwrapped.umax = np.array([5.])
env.unwrapped.periodic = True
dm_state = env.observation_space.shape[0]
dm_act = env.action_space.shape[0]
horizon, nb_steps = 20, 100
env_sigma = env.unwrapped.sigma
state = np.zeros((dm_state, nb_steps + 1))
action = np.zeros((dm_act, nb_steps))
state[:, 0] = env.reset()
for t in range(nb_steps):
solver = MBGPS(env,
init_state=tuple([state[:, t], env_sigma]),
init_action_sigma=1.,
nb_steps=horizon,
kl_bound=2.,
action_penalty=1e-5)
trace = solver.run(nb_iter=10, verbose=False)
_act = solver.ctl.sample(state[:, t], 0, stoch=False)
action[:, t] = np.clip(_act, -env.ulim, env.ulim)
state[:, t + 1], _, _, _ = env.step(action[:, t])
print('Time Step:', t, 'Cost:', trace[-1])
return state[:, :-1].T, action.T
import warnings
warnings.filterwarnings("ignore")
# pendulum env
env = gym.make('QQube-TO-v1')
env._max_episode_steps = 500
alg = MBGPS(env, nb_steps=500,
kl_bound=0.01,
init_ctl_sigma=100.,
activation={'shift': 450, 'mult': 0.5})
# run gps
trace = alg.run(nb_iter=10, verbose=True)
# plot dists
alg.plot()
# plot objective
import matplotlib.pyplot as plt
plt.figure()
plt.plot(trace)
plt.show()
# sample and plot one trajectory
data = alg.sample(nb_episodes=1, stoch=True)
plt.figure()
# pendulum env
env = gym.make('Pendulum-TO-v0')
env._max_episode_steps = 100
env.unwrapped.dt = 0.05
env.seed(1337)
solver = MBGPS(env,
nb_steps=100,
init_state=env.init(),
init_action_sigma=5.0,
kl_bound=1e1,
slew_rate=False,
action_penalty=1,
activation={
'mult': 1.,
'shift': 80
})
trace = solver.run(nb_iter=25, verbose=True)
# plot dists
solver.plot()
# plot objective
plt.figure()
plt.plot(trace)
plt.show()
horizon, nb_steps = 100, 500
env_sigma = env.unwrapped._sigma
state = np.zeros((dm_state, nb_steps + 1))
action = np.zeros((dm_act, nb_steps))
state[:, 0] = env.reset()
for t in range(nb_steps):
solver = MBGPS(env,
init_state=tuple([state[:, t], env_sigma]),
init_action_sigma=1.,
nb_steps=horizon,
kl_bound=2.)
trace = solver.run(nb_iter=10, verbose=False)
_act = solver.ctl.sample(state[:, t], 0, stoch=False)
action[:, t] = np.clip(_act, -env.ulim, env.ulim)
state[:, t + 1], _, _, _ = env.step(action[:, t])
print('Time Step:', t, 'Cost:', trace[-1])
import matplotlib.pyplot as plt
plt.figure()
plt.subplot(7, 1, 1)
plt.plot(state[0, :], '-b')
plt.subplot(7, 1, 2)
plt.plot(state[1, :], '-b')
import gym
from trajopt.rgps import LRGPS
from trajopt.gps import MBGPS
import warnings
warnings.filterwarnings("ignore")
# lqr task
env = gym.make('LQR-TO-v1')
env.env._max_episode_steps = 100
# mass-damper
rgps = LRGPS(env,
nb_steps=100,
policy_kl_bound=0.25,
param_kl_bound=25e2,
init_state=env.init(),
init_action_sigma=100.)
rgps.run(nb_iter=50, verbose=True)
gps = MBGPS(env,
nb_steps=100,
init_state=env.init(),
init_action_sigma=100.,
kl_bound=0.25)
gps.run(nb_iter=100, verbose=True)
rgps.compare(std_ctl=gps.ctl)
# @Date: 2019-06-16-18-38 # @Author: Hany Abdulsamad # @Contact: [email protected] import gym from trajopt.gps import MBGPS # double cartpole env env = gym.make('DoubleCartpole-TO-v0') env._max_episode_steps = 200 alg = MBGPS(env, nb_steps=200, kl_bound=10., init_ctl_sigma=5.0, activation=range(150, 200)) # run gps trace = alg.run() # plot dists alg.plot() # plot objective import matplotlib.pyplot as plt plt.figure() plt.plot(trace) plt.show()
warnings.filterwarnings("ignore")
# lqr task
env = gym.make('LQR-TO-v0')
env.env._max_episode_steps = 100
dm_state = env.unwrapped.dm_state
dm_act = env.unwrapped.dm_act
mbgps = MBGPS(env,
nb_steps=100,
init_state=env.init(),
init_action_sigma=100.,
kl_bound=5.)
mbgps.run(nb_iter=15, verbose=True)
riccati = Riccati(env, nb_steps=100, init_state=env.init())
riccati.run()
np.random.seed(1337)
env.seed(1337)
gps_data = mbgps.rollout(250, stoch=False)
np.random.seed(1337)
env.seed(1337)
riccati_data = riccati.rollout(250)
print('GPS Cost: ', np.mean(np.sum(gps_data['c'], axis=0)), ', Riccati Cost',
np.mean(np.sum(riccati_data['c'], axis=0)))
# @Date: 2019-06-16-18-38 # @Author: Hany Abdulsamad # @Contact: [email protected] import gym from trajopt.gps import MBGPS # cartpole env env = gym.make('Cartpole-TO-v1') env._max_episode_steps = 501 alg = MBGPS(env, nb_steps=200, kl_bound=1., init_ctl_sigma=5.0, activation=range(150, 200)) # run gps trace = alg.run(nb_iter=50) # plot dists alg.plot() # plot objective import matplotlib.pyplot as plt plt.figure() plt.plot(trace) plt.show()
