def test_collect_demonstrations(self):
params = ParameterServer()
bp = DiscreteHighwayBlueprint(params,
number_of_senarios=10,
random_seed=0)
env = SingleAgentRuntime(blueprint=bp, render=False)
env._observer = NearestAgentsObserver(params)
env._action_wrapper = BehaviorDiscreteMacroActionsML(params)
env._evaluator = TestEvaluator()
demo_behavior = bark_ml.library_wrappers.lib_fqf_iqn_qrdqn.\
tests.test_demo_behavior.TestDemoBehavior(params)
collector = DemonstrationCollector()
collection_result = collector.CollectDemonstrations(env, demo_behavior, 4, "./test_demo_collected", \
use_mp_runner=False, runner_init_params={"deepcopy" : False})
self.assertTrue(
os.path.exists("./test_demo_collected/collection_result"))
print(collection_result.get_data_frame().to_string())
experiences = collector.ProcessCollectionResult(
eval_criteria={"goal_r1": lambda x: x})
# expected length = 2 scenarios (only every second reaches goal) x 3 steps (4 executed, but first not counted)
self.assertEqual(len(experiences), 2 * 3)
collector.dump("./final_collections")
loaded_collector = DemonstrationCollector.load("./final_collections")
experiences_loaded = loaded_collector.GetDemonstrationExperiences()
print(experiences_loaded)
self.assertEqual(len(experiences_loaded), 2 * 3)
def generate_demonstrations(params, env, eval_criteria, demo_behavior=None, use_mp_runner=True, db=None):
demo_collector = DemonstrationCollector()
save_dir = os.path.join(params["Experiment"]["dir"], "demonstrations")
demo_generator = DemonstrationGenerator(env, params, demo_behavior, demo_collector, save_dir)
if not os.path.exists(save_dir):
os.makedirs(save_dir)
demo_generator.generate_demonstrations(num_demo_episodes, eval_criteria, save_dir, use_mp_runner=use_mp_runner, db=db)
demo_generator.dump_demonstrations(save_dir)
return demo_generator.demonstrations
def dump():
ckpt_dir = [
os.path.join('/home/ekumar/master_thesis/code/hythe-src/checkpoints/',
ck) for ck in
os.listdir("/home/ekumar/master_thesis/code/hythe-src/checkpoints/")
]
eval_criteria = {"goal_reached": lambda x: x}
print(ckpt_dir)
demos_dir = os.path.join('/home/ekumar/demos/')
list_of_demos = []
for cdir in ckpt_dir:
print(f"Extracting result {cdir}")
result = BenchmarkResult.load_results(cdir)
democ = DemonstrationCollector()
democ._collection_result = result
democ._directory = demos_dir
demos = democ.ProcessCollectionResult(eval_criteria)
list_of_demos.extend(demos)
# make the demonstrations dir in the exp root
os.makedirs(
"/home/ekumar/output/experiments/exp_c76fc949-e95f-4774-91ba-6bec575ada37/demonstrations/generated_demonstrations"
)
to_pickle(
list_of_demos,
"/home/ekumar/output/experiments/exp_c76fc949-e95f-4774-91ba-6bec575ada37/demonstrations/generated_demonstrations",
"demonstrations")
collector = DemonstrationCollector.load(
"/home/ekumar/output/experiments/exp_c76fc949-e95f-4774-91ba-6bec575ada37/demonstrations/generated_demonstrations"
)
print("Total demonstations found:",
len(collector.GetDemonstrationExperiences()))
return
def unpack_load_demonstrations(demo_root):
demo_dir = os.path.join(demo_root,
"demonstrations/generated_demonstrations")
collector = DemonstrationCollector.load(demo_dir)
return collector, collector.GetDemonstrationExperiences()