def _build_env(self): import gym self._current_version = gym.__version__ if self._current_version in ['0.7.4', '0.9.4']: _env_name = { 'gym_fwalker2d': 'Walker2d-v1', 'gym_fhopper': 'Hopper-v1', 'gym_fant': 'Ant-v1', 'gym_fant2': 'Ant-v1', 'gym_fant5': 'Ant-v1', 'gym_fant10': 'Ant-v1', 'gym_fant20': 'Ant-v1', 'gym_fant30': 'Ant-v1', } else: _env_name = { 'gym_fwalker2d': 'Walker2d-v2', 'gym_fhopper': 'Hopper-v2', 'gym_fant': 'Ant-v2', 'gym_fant2': 'Ant-v2', 'gym_fant5': 'Ant-v2', 'gym_fant10': 'Ant-v2', 'gym_fant20': 'Ant-v2', 'gym_fant30': 'Ant-v2', } # make the environments self._env_info = env_register.get_env_info(self._env_name) self._env_name = self._env_name.split('-')[0] self._env = gym.make(_env_name[self._env_name])
def _build_env(self): import gym self._current_version = gym.__version__ _env_name = {'gym_mountain': 'MountainCarContinuous-v0'} # make the environments self._env = gym.make(_env_name[self._env_name]) self._env_info = env_register.get_env_info(self._env_name)
def _build_env(self): import gym self._current_version = gym.__version__ # make the environments self._env = gym.make('CartPole-v1') self._env_info = env_register.get_env_info(self._env_name)
def _build_env(self): import gym self._current_version = gym.__version__ if self._current_version in ['0.7.4', '0.9.4']: _env_name = { 'gym_cheetah': 'HalfCheetah-v1', 'gym_walker2d': 'Walker2d-v1', 'gym_hopper': 'Hopper-v1', 'gym_swimmer': 'Swimmer-v1', 'gym_ant': 'Ant-v1', } elif self._current_version == NotImplementedError: # TODO: other gym versions here _env_name = { 'gym_cheetah': 'HalfCheetah-v2', 'gym_walker2d': 'Walker2d-v2', 'gym_hopper': 'Hopper-v2', 'gym_swimmer': 'Swimmer-v2', 'gym_ant': 'Ant-v2', } else: raise ValueError("Invalid gym-{}".format(self._current_version)) # make the environments self._env_info = env_register.get_env_info(self._env_name) self._env_name = self._env_name.split('-')[0] self._env = gym.make(_env_name[self._env_name])
def _build_env(self): _env_name = { 'gym_point': 'Point-v0', } # make the environments self._env = gym.make(_env_name[self._env_name]) self._env_info = env_register.get_env_info(self._env_name)
def _build_env(self): import gym self._current_version = gym.__version__ _env_name = {'gym_pendulum': 'Pendulum-v0'} # make the environments self._env = gym.make(_env_name[self._env_name]) self._env_info = env_register.get_env_info(self._env_name)
def _build_env(self): import gym self._current_version = gym.__version__ # make the environments self._env_info = env_register.get_env_info(self._env_name) self._env_name = self._env_name.split('-')[0] self._env = gym.make('HalfCheetah-v1')
def _build_env(self): _env_name = { 'gym_lunar_lander': 'LunarLander-v2', 'gym_lunar_lander_continuous': 'LunarLanderContinuous-v2' }[self._env_name] # make the environments self._env = box2d_make(_env_name) self._env_info = env_register.get_env_info(self._env_name)
def _build_env(self): _env_name = { 'gym_bipedal_walker': 'BipedalWalker-v2', 'gym_bipedal_walker_hardcore': 'BipedalWalkerHardcore-v2' }[self._env_name] # make the environments self._env = box2d_make(_env_name) self._env_info = env_register.get_env_info(self._env_name)
def _build_env(self): import gym, roboschool self._env_info = env_register.get_env_info(self._env_name) self._VIDEO_H, self._VIDEO_W = \ self._env_info['image_height'], self._env_info['image_width'] roboschool_env_name = self._env_name.split('-') roboschool_env_name = \ roboschool_env_name[0] + '-' + roboschool_env_name[1] self._env = gym.make(roboschool_env_name)
def _build_env(self): import gym self._current_version = gym.__version__ _env_name = { 'gym_cartpole': 'CartPole-v1', 'gym_cartpole_continuous': 'CartPole-v1' } # make the environments self._env = gym.make(_env_name[self._env_name]) self._env_info = env_register.get_env_info(self._env_name)
def _build_env(self): import gym self._current_version = gym.__version__ if self._current_version in ['0.7.4', '0.9.4']: _env_name = {'gym_reacher': 'Reacher-v1'} else: _env_name = {'gym_reacher': 'Reacher-v2'} # make the environments self._env = gym.make(_env_name[self._env_name]) self._env_info = env_register.get_env_info(self._env_name)
def _build_env(self): import gym self._current_version = gym.__version__ _env_name = { 'gym_acrobot': 'Acrobot-v1', 'gym_acrobot_sparse': 'Acrobot-v1' } # make the environments self._env = gym.make(_env_name[self._env_name]) self._env_info = env_register.get_env_info(self._env_name)
def _build_env(self): import gym import mbbl.env.gym_env.pets_env self._current_version = gym.__version__ _env_name = { 'gym_petsReacher': 'MBRLReacher3D-v0', 'gym_petsCheetah': 'MBRLHalfCheetah-v0', 'gym_petsPusher': 'MBRLPusher-v0' } print(self._env_name) # make the environments self._env = gym.make(_env_name[self._env_name]) self._env_info = env_register.get_env_info(self._env_name)
def _build_env(self): import gym self._current_version = gym.__version__ if self._current_version in ['0.7.4', '0.9.4']: _env_name = {'gym_reacher': 'Reacher-v1'} elif self._current_version == NotImplementedError: # TODO: other gym versions here _env_name = {'gym_reacher': 'Reacher-v2'} else: raise ValueError("Invalid gym-{}".format(self._current_version)) # make the environments self._env = gym.make(_env_name[self._env_name]) self._env_info = env_register.get_env_info(self._env_name)
def _build_env(self): import gym self._current_version = gym.__version__ if self._current_version in ['0.7.4', '0.9.4']: _env_name = { 'gym_dfwalker2d': 'Walker2d-v1', 'gym_dfhopper': 'Hopper-v1', 'gym_dfant': 'Ant-v1', } else: raise NotImplementedError # make the environments self._env_info = env_register.get_env_info(self._env_name) self._env_name = self._env_name.split('-')[0] self._env = gym.make(_env_name[self._env_name])
def _build_env(self): import gym self._current_version = gym.__version__ if self._current_version in ['0.7.4', '0.9.4']: _env_name = { 'gym_humanoid': 'Humanoid-v1', 'gym_slimhumanoid': 'Humanoid-v1', 'gym_nostopslimhumanoid': 'Humanoid-v1', } else: _env_name = { 'gym_humanoid': 'Humanoid-v2', 'gym_slimhumanoid': 'Humanoid-v2', 'gym_nostopslimhumanoid': 'Humanoid-v2', } # make the environments self._env_info = env_register.get_env_info(self._env_name) self._env_name = self._env_name.split('-')[0] self._env = gym.make(_env_name[self._env_name])
def _build_env(self): import gym self._current_version = gym.__version__ if self._current_version in ['0.7.4', '0.9.4']: _env_name = { 'gym_humanoid': 'Humanoid-v1', 'gym_slimhumanoid': 'Humanoid-v1', 'gym_nostopslimhumanoid': 'Humanoid-v1', } elif self._current_version == NotImplementedError: _env_name = { 'gym_slimhumanoid': 'Humanoid-v2', 'gym_humanoid': 'Humanoid-v2', 'gym_nostophumanoid': 'Humanoid-v2', } else: raise ValueError("Invalid gym-{}".format(self._current_version)) # make the environments self._env_info = env_register.get_env_info(self._env_name) self._env_name = self._env_name.split('-')[0] self._env = gym.make(_env_name[self._env_name])
def _build_env(self): import gym self._current_version = gym.__version__ if self._current_version in ['0.7.4', '0.9.4']: _env_name = { 'gym_cheetah': 'HalfCheetah-v1', 'gym_walker2d': 'Walker2d-v1', 'gym_hopper': 'Hopper-v1', 'gym_swimmer': 'Swimmer-v1', 'gym_ant': 'Ant-v1', } else: _env_name = { 'gym_cheetah': 'HalfCheetah-v2', 'gym_walker2d': 'Walker2d-v2', 'gym_hopper': 'Hopper-v2', 'gym_swimmer': 'Swimmer-v2', 'gym_ant': 'Ant-v2', } # make the environments self._env_info = env_register.get_env_info(self._env_name) self._env_name = self._env_name.split('-')[0] self._env = gym.make(_env_name[self._env_name])
from gps.algorithm.dynamics.dynamics_lr_prior import DynamicsLRPrior from gps.algorithm.dynamics.dynamics_prior_gmm import DynamicsPriorGMM from gps.algorithm.traj_opt.traj_opt_lqr_python import TrajOptLQRPython from gps.algorithm.policy_opt.tf_model_example import tf_network from gps.algorithm.policy_opt.policy_opt_tf import PolicyOptTf from gps.algorithm.policy.lin_gauss_init import init_lqr from gps.algorithm.policy.policy_prior_gmm import PolicyPriorGMM from gps.gui.config import generate_experiment_info from gps.agent.gym_env_util import get_x0 from mbbl.env.env_register import get_env_info env_name = 'gym_reacher' num_samples = 5 iterations = 2000 rand_seed = 1234 env_info = get_env_info(env_name) SENSOR_DIMS = { "observation": env_info['ob_size'], 'action': env_info['action_size'], } # PR2_GAINS = np.array([3.09, 1.08, 0.393, 0.674, 0.111, 0.152, 0.098]) PR2_GAINS = np.ones(SENSOR_DIMS['action']) BASE_DIR = '/'.join(str.split(gps_filepath, '/')[:-2]) EXP_DIR = BASE_DIR + '/../experiments/' + env_name + '_mdgps_example/' common = { 'experiment_name': env_name + '_experiments' + '_' +
# TEST = 'REWARD_DERIVATIVE' # candidate_names = invertedPendulum.env.PENDULUM # candidate_names = pendulum.env.PENDULUM # candidate_names = pets.env.ENV candidate_names = humanoid.env.ENV if __name__ == '__main__' and TEST == 'REWARD_DERIVATIVE': DERIVATIVE_EPS = 1e-6 # test the walker # candidate_names = walker.env.WALKER # candidate_names = reacher.env.ARM_2D max_error = 0.0 for env_name in candidate_names: env, _ = env_register.make_env(env_name, 123, {}) env_info = env_register.get_env_info(env_name) derivative_env, _ = env_register.make_env(env_name, 234, {}) data_dict = \ {'action': np.random.uniform(-1, 1, [1, env_info['action_size']])} data_dict['start_state'], _, _, _ = env.reset() data_dict['start_state'] = data_dict['start_state'].reshape(1, -1) data_dict['start_state'] = data_dict['start_state'].reshape(1, -1) r_u = derivative_env.reward_derivative(data_dict, 'action') r_uu = derivative_env.reward_derivative(data_dict, 'action-action') r_x = derivative_env.reward_derivative(data_dict, 'state') r_xx = derivative_env.reward_derivative(data_dict, 'state-state') # test the derivative of the reward wrt action for i_elem in range(env_info['action_size']):