def enjoy():
env = make_env(args.env_name, args.seed, 0, True)
env = DummyVecEnv([env])
actor_critic, ob_rms = torch.load(
os.path.join(save_path, args.env_name + ".pt"))
render_func = env.envs[0].render
obs_shape = env.observation_space.shape
obs_shape = (obs_shape[0] * args.num_stack, *obs_shape[1:])
current_obs = torch.zeros(1, *obs_shape)
states = torch.zeros(1, actor_critic.state_size)
masks = torch.zeros(1, 1)
def update_current_obs(obs):
shape_dim0 = env.observation_space.shape[0]
obs = torch.from_numpy(obs).float()
if args.num_stack > 1:
current_obs[:, :-shape_dim0] = current_obs[:, shape_dim0:]
current_obs[:, -shape_dim0:] = obs
render_func('human')
obs = env.reset()
update_current_obs(obs)
while True:
value, action, _, states = actor_critic.act(Variable(current_obs,
volatile=True),
Variable(states,
volatile=True),
Variable(masks,
volatile=True),
deterministic=True)
states = states.data
cpu_actions = action.data.squeeze(1).cpu().numpy()
# Observation, reward and next obs
obs, reward, done, _ = env.step(cpu_actions)
time.sleep(0.05)
masks.fill_(0.0 if done else 1.0)
if current_obs.dim() == 4:
current_obs *= masks.unsqueeze(2).unsqueeze(2)
else:
current_obs *= masks
update_current_obs(obs)
renderer = render_func('human')
if not renderer.window:
sys.exit(0)
obs_shape = env.observation_space.shape
obs_shape = (obs_shape[0] * args.num_stack, *obs_shape[1:])
current_obs = torch.zeros(1, *obs_shape)
states = torch.zeros(1, actor_critic.state_size)
masks = torch.zeros(1, 1)
def update_current_obs(obs):
shape_dim0 = env.observation_space.shape[0]
obs = torch.from_numpy(obs).float()
if args.num_stack > 1:
current_obs[:, :-shape_dim0] = current_obs[:, shape_dim0:]
current_obs[:, -shape_dim0:] = obs
render_func('human')
obs = env.reset()
update_current_obs(obs)
while True:
value, action, _, states = actor_critic.act(Variable(current_obs,
volatile=True),
Variable(states,
volatile=True),
Variable(masks,
volatile=True),
deterministic=True)
states = states.data
cpu_actions = action.data.squeeze(1).cpu().numpy()
# Observation, reward and next obs
obs, reward, done, _ = env.step(cpu_actions)