def maml_trpo_metaworld_ml1_push(ctxt, seed, epochs, rollouts_per_task,
meta_batch_size):
"""Set up environment and algorithm and run the task.
Args:
ctxt (garage.experiment.ExperimentContext): The experiment
configuration used by Trainer to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
epochs (int): Number of training epochs.
rollouts_per_task (int): Number of rollouts per epoch per task
for training.
meta_batch_size (int): Number of tasks sampled per batch.
"""
set_seed(seed)
ml1 = metaworld.ML1('push-v1')
tasks = MetaWorldTaskSampler(ml1, 'train')
env = tasks.sample(1)[0]()
test_sampler = SetTaskSampler(MetaWorldSetTaskEnv,
env=MetaWorldSetTaskEnv(ml1, 'test'))
policy = GaussianMLPPolicy(
env_spec=env.spec,
hidden_sizes=(100, 100),
hidden_nonlinearity=torch.tanh,
output_nonlinearity=None,
)
value_function = GaussianMLPValueFunction(env_spec=env.spec,
hidden_sizes=[32, 32],
hidden_nonlinearity=torch.tanh,
output_nonlinearity=None)
meta_evaluator = MetaEvaluator(test_task_sampler=test_sampler,
n_test_tasks=1,
n_exploration_eps=rollouts_per_task)
sampler = RaySampler(agents=policy,
envs=env,
max_episode_length=env.spec.max_episode_length,
n_workers=meta_batch_size)
trainer = Trainer(ctxt)
algo = MAMLTRPO(env=env,
policy=policy,
sampler=sampler,
task_sampler=tasks,
value_function=value_function,
meta_batch_size=meta_batch_size,
discount=0.99,
gae_lambda=1.,
inner_lr=0.1,
num_grad_updates=1,
meta_evaluator=meta_evaluator)
trainer.setup(algo, env)
trainer.train(n_epochs=epochs,
batch_size=rollouts_per_task * env.spec.max_episode_length)
def maml_trpo_metaworld_ml45(ctxt, seed, epochs, episodes_per_task,
meta_batch_size):
"""Set up environment and algorithm and run the task.
Args:
ctxt (ExperimentContext): The experiment configuration used by
:class:`~Trainer` to create the :class:`~Snapshotter`.
seed (int): Used to seed the random number generator to produce
determinism.
epochs (int): Number of training epochs.
episodes_per_task (int): Number of episodes per epoch per task
for training.
meta_batch_size (int): Number of tasks sampled per batch.
"""
set_seed(seed)
ml45 = metaworld.ML45()
# pylint: disable=missing-return-doc,missing-return-type-doc
def wrap(env, _):
return normalize(env, expected_action_scale=10.0)
train_task_sampler = MetaWorldTaskSampler(ml45, 'train', wrap)
test_env = wrap(MetaWorldSetTaskEnv(ml45, 'test'), None)
test_task_sampler = SetTaskSampler(MetaWorldSetTaskEnv,
env=test_env,
wrapper=wrap)
env = train_task_sampler.sample(45)[0]()
policy = GaussianMLPPolicy(
env_spec=env.spec,
hidden_sizes=(100, 100),
hidden_nonlinearity=torch.tanh,
output_nonlinearity=None,
)
value_function = GaussianMLPValueFunction(env_spec=env.spec,
hidden_sizes=(32, 32),
hidden_nonlinearity=torch.tanh,
output_nonlinearity=None)
meta_evaluator = MetaEvaluator(test_task_sampler=test_task_sampler)
trainer = Trainer(ctxt)
algo = MAMLTRPO(env=env,
task_sampler=train_task_sampler,
policy=policy,
value_function=value_function,
meta_batch_size=meta_batch_size,
discount=0.99,
gae_lambda=1.,
inner_lr=0.1,
num_grad_updates=1,
meta_evaluator=meta_evaluator)
trainer.setup(algo, env, n_workers=meta_batch_size)
trainer.train(n_epochs=epochs,
batch_size=episodes_per_task * env.spec.max_episode_length)
def mtppo_metaworld_mt50(ctxt, seed, epochs, batch_size, n_workers, n_tasks):
"""Set up environment and algorithm and run the task.
Args:
ctxt (garage.experiment.ExperimentContext): The experiment
configuration used by Trainer to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
epochs (int): Number of training epochs.
batch_size (int): Number of environment steps in one batch.
n_workers (int): The number of workers the sampler should use.
n_tasks (int): Number of tasks to use. Should be a multiple of 50.
"""
set_seed(seed)
mt10 = metaworld.MT10()
train_task_sampler = MetaWorldTaskSampler(mt10,
'train',
lambda env, _: normalize(env),
add_env_onehot=True)
assert n_tasks % 50 == 0
assert n_tasks <= 2500
envs = [env_up() for env_up in train_task_sampler.sample(n_tasks)]
env = MultiEnvWrapper(envs,
sample_strategy=round_robin_strategy,
mode='vanilla')
policy = GaussianMLPPolicy(
env_spec=env.spec,
hidden_sizes=(64, 64),
hidden_nonlinearity=torch.tanh,
output_nonlinearity=None,
)
value_function = GaussianMLPValueFunction(env_spec=env.spec,
hidden_sizes=(32, 32),
hidden_nonlinearity=torch.tanh,
output_nonlinearity=None)
sampler = RaySampler(agents=policy,
envs=env,
max_episode_length=env.spec.max_episode_length,
n_workers=n_workers)
algo = PPO(env_spec=env.spec,
policy=policy,
value_function=value_function,
sampler=sampler,
discount=0.99,
gae_lambda=0.95,
center_adv=True,
lr_clip_range=0.2)
trainer = Trainer(ctxt)
trainer.setup(algo, env)
trainer.train(n_epochs=epochs, batch_size=batch_size)
def sparse_mlp_mtsac_metaworld_mt1_pick_place(ctxt=None, *, seed, timesteps, _gpu):
"""Train MTSAC with the MT1 pick-place-v1 environment.
Args:
ctxt (garage.experiment.ExperimentContext): The experiment
configuration used by Trainer to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
_gpu (int): The ID of the gpu to be used (used on multi-gpu machines).
timesteps (int): Number of timesteps to run.
"""
deterministic.set_seed(seed)
mt1 = metaworld.MT1('pick-place-v1')
mt1_test = metaworld.MT1('pick-place-v1')
train_task_sampler = MetaWorldTaskSampler(mt1, 'train',
lambda env, _: normalize(env))
test_task_sampler = MetaWorldTaskSampler(mt1_test, 'train',
lambda env, _: normalize(env))
n_tasks = 50
train_envs = train_task_sampler.sample(n_tasks)
env = train_envs[0]()
test_envs = [env_up() for env_up in test_task_sampler.sample(n_tasks)]
trainer = Trainer(ctxt)
policy = TanhGaussianSparseMLPPolicy(
env_spec=env.spec,
hidden_sizes=[400, 400, 400],
linear_activity_percent_on=(0.1, 0.1, 0.1),
linear_weight_percent_on=(0.4, 0.4, 0.4),
mean_nonlinearity=None,
std_nonlinearity=None,
min_std=np.exp(-20.),
max_std=np.exp(2.),
)
qf1 = ContinuousSparseMLPQFunction(
env_spec=env.spec,
hidden_sizes=(400, 400, 400),
linear_activity_percent_on=(0.1, 0.1, 0.1,),
linear_weight_percent_on=(0.4, 0.4, 0.4,),
)
qf2 = ContinuousSparseMLPQFunction(
env_spec=env.spec,
hidden_sizes=(400, 400, 400),
linear_activity_percent_on=(0.1, 0.1, 0.1),
linear_weight_percent_on=(0.4, 0.4, 0.4),
)
replay_buffer = PathBuffer(capacity_in_transitions=int(1e6), )
sampler = LocalSampler(agents=policy,
envs=train_envs,
max_episode_length=env.spec.max_episode_length,
n_workers=n_tasks,
worker_class=FragmentWorker)
batch_size = int(env.spec.max_episode_length * n_tasks)
num_evaluation_points = 500
epochs = timesteps // batch_size
epoch_cycles = epochs // num_evaluation_points
epochs = epochs // epoch_cycles
mtsac = SparseWeightsMTSAC(
policy=policy,
qf1=qf1,
qf2=qf2,
sampler=sampler,
gradient_steps_per_itr=150,
eval_env=test_envs,
env_spec=env.spec,
num_tasks=1,
steps_per_epoch=epoch_cycles,
replay_buffer=replay_buffer,
min_buffer_size=1500,
target_update_tau=5e-3,
discount=0.99,
buffer_batch_size=1280)
if _gpu is not None:
set_gpu_mode(True, _gpu)
mtsac.to()
trainer.setup(algo=mtsac, env=train_envs)
trainer.train(n_epochs=epochs, batch_size=batch_size)
def rl2_ppo_metaworld_ml1_push(ctxt, seed, meta_batch_size, n_epochs,
episode_per_task):
"""Train RL2 PPO with ML1 environment.
Args:
ctxt (ExperimentContext): The experiment configuration used by
:class:`~Trainer` to create the :class:`~Snapshotter`.
seed (int): Used to seed the random number generator to produce
determinism.
meta_batch_size (int): Meta batch size.
n_epochs (int): Total number of epochs for training.
episode_per_task (int): Number of training episode per task.
"""
set_seed(seed)
ml1 = metaworld.ML1('push-v1')
task_sampler = MetaWorldTaskSampler(ml1, 'train',
lambda env, _: RL2Env(env))
env = task_sampler.sample(1)[0]()
test_task_sampler = SetTaskSampler(MetaWorldSetTaskEnv,
env=MetaWorldSetTaskEnv(ml1, 'test'),
wrapper=lambda env, _: RL2Env(env))
env_spec = env.spec
with TFTrainer(snapshot_config=ctxt) as trainer:
policy = GaussianGRUPolicy(name='policy',
hidden_dim=64,
env_spec=env_spec,
state_include_action=False)
meta_evaluator = MetaEvaluator(test_task_sampler=test_task_sampler)
baseline = LinearFeatureBaseline(env_spec=env_spec)
algo = RL2PPO(meta_batch_size=meta_batch_size,
task_sampler=task_sampler,
env_spec=env_spec,
policy=policy,
baseline=baseline,
discount=0.99,
gae_lambda=0.95,
lr_clip_range=0.2,
optimizer_args=dict(batch_size=32,
max_optimization_epochs=10),
stop_entropy_gradient=True,
entropy_method='max',
policy_ent_coeff=0.02,
center_adv=False,
meta_evaluator=meta_evaluator,
episodes_per_trial=episode_per_task)
trainer.setup(algo,
task_sampler.sample(meta_batch_size),
sampler_cls=LocalSampler,
n_workers=meta_batch_size,
worker_class=RL2Worker,
worker_args=dict(n_episodes_per_trial=episode_per_task))
trainer.train(n_epochs=n_epochs,
batch_size=episode_per_task *
env_spec.max_episode_length * meta_batch_size)
def te_ppo_mt10(ctxt, seed, n_epochs, batch_size_per_task, n_tasks):
"""Train Task Embedding PPO with PointEnv.
Args:
ctxt (ExperimentContext): The experiment configuration used by
:class:`~Trainer` to create the :class:`~Snapshotter`.
seed (int): Used to seed the random number generator to produce
determinism.
n_epochs (int): Total number of epochs for training.
batch_size_per_task (int): Batch size of samples for each task.
n_tasks (int): Number of tasks to use. Should be a multiple of 10.
"""
set_seed(seed)
mt10 = metaworld.MT10()
train_task_sampler = MetaWorldTaskSampler(mt10,
'train',
lambda env, _: normalize(env),
add_env_onehot=False)
assert n_tasks % 10 == 0
assert n_tasks <= 500
envs = [env_up() for env_up in train_task_sampler.sample(n_tasks)]
env = MultiEnvWrapper(envs,
sample_strategy=round_robin_strategy,
mode='vanilla')
latent_length = 4
inference_window = 6
batch_size = batch_size_per_task * len(envs)
policy_ent_coeff = 2e-2
encoder_ent_coeff = 2e-4
inference_ce_coeff = 5e-2
embedding_init_std = 0.1
embedding_max_std = 0.2
embedding_min_std = 1e-6
policy_init_std = 1.0
policy_max_std = None
policy_min_std = None
with TFTrainer(snapshot_config=ctxt) as trainer:
task_embed_spec = TEPPO.get_encoder_spec(env.task_space,
latent_dim=latent_length)
task_encoder = GaussianMLPEncoder(
name='embedding',
embedding_spec=task_embed_spec,
hidden_sizes=(20, 20),
std_share_network=True,
init_std=embedding_init_std,
max_std=embedding_max_std,
output_nonlinearity=tf.nn.tanh,
min_std=embedding_min_std,
)
traj_embed_spec = TEPPO.get_infer_spec(
env.spec,
latent_dim=latent_length,
inference_window_size=inference_window)
inference = GaussianMLPEncoder(
name='inference',
embedding_spec=traj_embed_spec,
hidden_sizes=(20, 10),
std_share_network=True,
init_std=2.0,
output_nonlinearity=tf.nn.tanh,
min_std=embedding_min_std,
)
policy = GaussianMLPTaskEmbeddingPolicy(
name='policy',
env_spec=env.spec,
encoder=task_encoder,
hidden_sizes=(32, 16),
std_share_network=True,
max_std=policy_max_std,
init_std=policy_init_std,
min_std=policy_min_std,
)
baseline = LinearMultiFeatureBaseline(
env_spec=env.spec, features=['observations', 'tasks', 'latents'])
sampler = LocalSampler(agents=policy,
envs=env,
max_episode_length=env.spec.max_episode_length,
is_tf_worker=True,
worker_class=TaskEmbeddingWorker)
algo = TEPPO(env_spec=env.spec,
policy=policy,
baseline=baseline,
sampler=sampler,
inference=inference,
discount=0.99,
lr_clip_range=0.2,
policy_ent_coeff=policy_ent_coeff,
encoder_ent_coeff=encoder_ent_coeff,
inference_ce_coeff=inference_ce_coeff,
use_softplus_entropy=True,
optimizer_args=dict(
batch_size=32,
max_optimization_epochs=10,
learning_rate=1e-3,
),
inference_optimizer_args=dict(
batch_size=32,
max_optimization_epochs=10,
),
center_adv=True,
stop_ce_gradient=True)
trainer.setup(algo, env)
trainer.train(n_epochs=n_epochs, batch_size=batch_size, plot=False)
def mtppo_metaworld_mt10(ctxt, experiment_name, config_pth, seed, n_workers, n_tasks, use_wandb,
wandb_username, use_gpu):
"""Set up environment and algorithm and run the task.
Args:
ctxt (garage.experiment.ExperimentContext): The experiment
configuration used by Trainer to create the snapshotter.
seed (int): Used to seed the random number generator to produce
determinism.
epochs (int): Number of training epochs.
batch_size (int): Number of environment steps in one batch.
n_workers (int): The number of workers the sampler should use.
n_tasks (int): Number of tasks to use. Should be a multiple of 10.
"""
params = get_params(config_pth)
set_seed(seed)
mt10 = metaworld.MT10()
train_task_sampler = MetaWorldTaskSampler(mt10,
'train',
lambda env, _: normalize(env),
add_env_onehot=True)
if use_wandb == 'True':
use_wandb = True
wandb.init(
name=experiment_name,
entity=wandb_username,
project="mt10",
group="Baselines{}".format("mt10"),
reinit=True,
config=params,
)
else:
use_wandb = False
assert n_tasks % 10 == 0
assert n_tasks <= 500
envs = [env_up() for env_up in train_task_sampler.sample(n_tasks)]
env = envs[0]
policy = create_policy_net(env_spec=env.spec,
net_params=params["net"]
)
value_function = create_vf_net(env_spec=env.spec,
net_params=params["net"]
)
sampler = RaySampler(agents=policy,
envs=env,
max_episode_length=env.spec.max_episode_length,
n_workers=n_workers,
worker_class=DefaultWorker)
gpu_training = True if use_gpu else False
algo = CustomMTPPO(env_spec=env.spec,
policy=policy,
value_function=value_function,
sampler=sampler,
train_task_sampler=train_task_sampler,
num_tasks=n_tasks,
task_update_frequency=params["training"]["task_update_frequency"],
num_eval_eps=params["general_setting"]["eval_episodes"],
policy_lr=params["training"]["policy_lr"],
vf_lr=params["training"]["vf_lr"],
ppo_eps=params["training"]["ppo_eps"],
minibatch_size=params["training"]["minibatch_size"],
ppo_epochs=params["training"]["ppo_epochs"],
num_train_per_epoch=params["training"]["num_train_per_epoch"],
discount=params["general_setting"]["discount"],
gae_lambda=params["training"]["gae_lambda"],
center_adv=False,
wandb_logging=use_wandb,
eval_freq=params["general_setting"]["eval_freq"],
stop_entropy_gradient=True,
entropy_method='max',
gpu_training=gpu_training
)
trainer = Trainer(ctxt)
trainer.setup(algo, env)
trainer.train(n_epochs=params["training"]["epochs"],
batch_size=params["training"]["batch_episodes_per_task"],
plot=False)