def init_env_sampler(env_name,
seed=None,
experiment_id=None,
default_env=False,
init_dist_params=None,
test_dist_params=[[0.0, 0.1], 100],
dist_type='gaussian',
rescale=True):
if env_name == "cartpole":
# the context distribution corresponds to the cart mass, pole mass and
# pole length
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian([1.0, 0.1, 0.5], 1e-1)
env_constructor = cartpole.Cartpole
elif env_name == "reacher1D":
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian([1.0], 1e-1)
env_constructor = reacher_constructor
elif env_name == 'lunar-lander':
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian([120.0, 20.0, 0.6], 1e-1)
env_constructor = lunar_lander_constructor if not default_env \
else lunar_lander.LunarLander
elif env_name == 'mountain-car':
# the conxtext distribution corresponds to min_position, max_position,
# max_speed, goal_position, thrust magnitude and gravity
if dist_type == 'gaussian' and init_dist_params is None:
# Is the 1e-2 important?
# S = 1e-1 * S.mm(S.t()) + 1e-2 * ...
init_dist_params = create_def_gaussian(
[1.2, 0.6, 0.07, 0.001, -0.0025], 1e-1)
env_constructor = mountain_car.MountainCarEnv
elif env_name.startswith('cartpole-swingup-pole-only'):
env_constructor = cartpole_swingup_pole_only_constructor
default_params = [0.5, 1.0]
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian(default_params, 1e-2)
elif env_name.startswith('cartpole-swingup'):
if env_name.endswith('-pl'):
env_constructor = cartpole_swingup_pole_length_constructor
idx = slice(0, 1)
elif env_name.endswith('-pm'):
env_constructor = cartpole_swingup_pole_mass_constructor
idx = slice(1, 2)
elif env_name.endswith('-cm'):
env_constructor = cartpole_swingup_cart_mass_constructor
idx = slice(2, 3)
elif env_name.endswith('-cd'):
env_constructor = cartpole_swingup_cart_damp_constructor
idx = slice(3, 4)
else:
env_constructor = cartpole_swingup_constructor
idx = slice(0, 4)
default_params = [0.5, 0.5, 1.0, 0.1]
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian(default_params[idx], 1e-2)
elif env_name == 'hopper':
# Context order : foot friction, torso size, joint damping
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian([2.0, 0.05, 1.0], 1e-1)
env_constructor = partial(hopper_constructor,
experiment_id=experiment_id
) if not default_env else hopper.HopperEnv()
elif env_name == 'hopper-torso-only':
# Context is only torso size
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian([0.05], 1e-1)
env_constructor = partial(hopper_torso_only_constructor,
experiment_id=experiment_id
) if not default_env else hopper.HopperEnv()
elif env_name == 'hopper-density-only':
# Context is only torso size
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian([1000.0], 1e-1)
env_constructor = partial(hopper_density_only_constructor,
experiment_id=experiment_id
) if not default_env else hopper.HopperEnv()
elif env_name == 'hopper-damping-only':
# Context is only damping
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian([0.0], 1e-1)
env_constructor = partial(hopper_damping_only_constructor,
experiment_id=experiment_id
) if not default_env else hopper.HopperEnv()
elif env_name == 'hopper-friction-only':
# Context is only friction
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian([2.0], 1e-1)
env_constructor = partial(hopper_friction_only_constructor,
experiment_id=experiment_id
) if not default_env else hopper.HopperEnv()
elif env_name == 'half-cheetah':
# Context order : torso_size, joint damping, friction
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian([0.046, 0.01, 0.0], 1e-1)
env_constructor = partial(
half_cheetah_constructor, experiment_id=experiment_id
) if not default_env else half_cheetah.HalfCheetahEnv()
elif env_name == 'half-cheetah-torso':
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian([0.046], 1e-1)
env_constructor = partial(
half_cheetah_torso_only_constructor, experiment_id=experiment_id
) if not default_env else half_cheetah.HalfCheetahEnv()
elif env_name == 'half-cheetah-density':
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian([1000.0], 1e-1)
env_constructor = partial(
half_cheetah_density_constructor, experiment_id=experiment_id
) if not default_env else half_cheetah.HalfCheetahEnv()
elif env_name == 'half-cheetah-damping':
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian([0.0], 1e-1)
env_constructor = partial(
half_cheetah_damping_only_constructor, experiment_id=experiment_id
) if not default_env else half_cheetah.HalfCheetahEnv()
elif env_name == 'half-cheetah-friction':
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian([0.4], 1e-1)
env_constructor = partial(
half_cheetah_friction_constructor, experiment_id=experiment_id
) if not default_env else half_cheetah.HalfCheetahEnv()
elif env_name == 'humanoid':
if dist_type == 'gaussian' and init_dist_params is None:
init_dist_params = create_def_gaussian([40, 9.8, 0.1], 1e-1)
env_constructor = humanoid_constructor
else:
raise ValueError('Environment not supported!')
dist, init_dist_params, test_dist = init_dist(init_dist_params,
test_dist_params,
dist_type,
rescale=rescale)
init_dist_params = list(init_dist_params)
return EnvSampler(env_constructor, dist, init_dist_params, seed, env_name,
test_dist)
def hopper_friction_only_constructor(z1, experiment_id=None):
return hopper.HopperEnv(foot_friction=z1, experiment_id=experiment_id)
def hopper_damping_only_constructor(z1, experiment_id=None):
return hopper.HopperEnv(joint_damping=z1, experiment_id=experiment_id)
def hopper_density_only_constructor(z1, experiment_id=None):
return hopper.HopperEnv(torso_density=z1, experiment_id=experiment_id)
def hopper_torso_only_constructor(z1, experiment_id=None):
return hopper.HopperEnv(torso_size=z1, experiment_id=experiment_id)
def hopper_constructor(z1, z2, z3, experiment_id=None):
return hopper.HopperEnv(foot_friction=z1,
torso_size=z2,
joint_damping=z3,
experiment_id=experiment_id)