def make_experiment(exp_id=1, path="./Results/Experiments/HalfReward/" + getTimeStr() + "/"):
"""
Each file specifying an experimental setup should contain a
make_experiment function which returns an instance of the Experiment
class with everything set up.
@param id: number used to seed the random number generators
@param path: output directory where logs and results are stored
"""
opt = {}
opt["exp_id"] = exp_id
opt["path"] = path
## Domain:
maze = os.path.join(GridWorldInter.default_map_dir, '11x11-RoomsSeg.txt')
domain = GridWorldInter(maze, noise=0.01)
opt["domain"] = domain
## Representation
# discretization only needed for continuous state spaces, discarded otherwise
representation = Tabular(domain, discretization=20)
## Policy
policy = eGreedy(representation, epsilon=0.1) ## Need to change this back, limiting noise ATM
## Agent
opt["agent"] = Q_Learning(representation=representation, policy=policy,
discount_factor=domain.discount_factor,
initial_learn_rate=0.3)
opt["checks_per_policy"] = 50
opt["max_steps"] = 12000
opt["num_policy_checks"] = 20
# experiment = ExperimentDelayed(**opt)
experiment = Experiment(**opt)
return experiment
def run_experiment_params(param_path='./params.yaml'):
params = type("Parameters", (), load_yaml(param_path))
def goalfn(state, goal, radius=0.1):
# Can be quickly modified to have a new radius per goal element
position = state[:2]
return (
np.linalg.norm(np.array(position)
- np.array(goal)) < radius
)
# # Load domain
def encode_trial():
rewards = list(params.domain_params['goalArray'])
encode = Encoding(rewards, goalfn)
return encode.strict_encoding
params.domain_params['goalfn'] = goalfn
params.domain_params['encodingFunction'] = encode_trial()
# params.domain_params['goalArray'] = params.domain_params['goalArray'][::4]
domain = eval(params.domain)(**params.domain_params)
# domain = eval(params.domain)()
#Load Representation
representation = eval(params.representation)(
domain,
**params.representation_params)
policy = eval(params.policy)(
representation,
**params.policy_params)
agent = eval(params.agent)(
policy,
representation,
discount_factor=domain.discount_factor,
**params.agent_params)
opt = {}
opt["exp_id"] = params.exp_id
opt["path"] = params.results_path + getTimeStr() + "/"
opt["max_steps"] = params.max_steps
# opt["max_eps"] = params.max_eps
opt["num_policy_checks"] = params.num_policy_checks
opt["checks_per_policy"] = params.checks_per_policy
opt["domain"] = domain
opt["agent"] = agent
if not os.path.exists(opt["path"]):
os.makedirs(opt["path"])
shutil.copy(param_path, opt["path"] + "params.yml")
shutil.copy(inspect.getfile(eval(params.domain)), opt["path"] + "domain.py")
shutil.copy(inspect.getfile(inspect.currentframe()), opt["path"] + "exper.py")
return eval(params.experiment)(**opt)
def run_experiment_params(param_path='./params.yaml'):
params = type("Parameters", (), load_yaml(param_path))
def goalfn(s, goal):
return -np.cos(s[0]) - np.cos(s[1] + s[0]) > goal
def allMarkovReward(ps, ga, sr, gr):
r = sr
last_state = ps[len(ps) - 1]
if any([goalfn(last_state, g) for g in ga]):
r = gr
return r
# # Load domain
def encode_trial():
rewards = list(params.domain_params['goalArray'])
print rewards
encode = Encoding(rewards, goalfn)
return encode.strict_encoding
params.domain_params['goalfn'] = goalfn
params.domain_params['rewardFunction'] = allMarkovReward
params.domain_params['encodingFunction'] = encode_trial()
# params.domain_params['goalArray'] = params.domain_params['goalArray'][::4]
domain = eval(params.domain)(**params.domain_params) #only for acrobot
#Load Representation
representation = eval(params.representation)(
domain, **params.representation_params)
policy = eval(params.policy)(representation, **params.policy_params)
agent = eval(params.agent)(policy,
representation,
discount_factor=domain.discount_factor,
**params.agent_params)
opt = {}
opt["exp_id"] = params.exp_id
opt["path"] = params.results_path + getTimeStr() + "/"
opt["max_steps"] = params.max_steps
# opt["max_eps"] = params.max_eps
opt["num_policy_checks"] = params.num_policy_checks
opt["checks_per_policy"] = params.checks_per_policy
opt["domain"] = domain
opt["agent"] = agent
if not os.path.exists(opt["path"]):
os.makedirs(opt["path"])
shutil.copy(param_path, opt["path"] + "params.yml")
shutil.copy(inspect.getfile(eval(params.domain)),
opt["path"] + "domain.py")
shutil.copy(inspect.getfile(inspect.currentframe()),
opt["path"] + "exper.py")
return eval(params.experiment)(**opt)
def run_experiment_params(param_path="./params.yaml"):
params = type("Parameters", (), load_yaml(param_path))
def goalfn(s, goal):
return -np.cos(s[0]) - np.cos(s[1] + s[0]) > goal
def allMarkovReward(ps, ga, sr, gr):
r = sr
last_state = ps[len(ps) - 1]
if any([goalfn(last_state, g) for g in ga]):
r = gr
return r
# # Load domain
def encode_trial():
rewards = list(params.domain_params["goalArray"])
print rewards
encode = Encoding(rewards, goalfn)
return encode.strict_encoding
params.domain_params["goalfn"] = goalfn
params.domain_params["rewardFunction"] = allMarkovReward
params.domain_params["encodingFunction"] = encode_trial()
# params.domain_params['goalArray'] = params.domain_params['goalArray'][::4]
domain = eval(params.domain)(**params.domain_params) # only for acrobot
# Load Representation
representation = eval(params.representation)(domain, **params.representation_params)
policy = eval(params.policy)(representation, **params.policy_params)
agent = eval(params.agent)(policy, representation, discount_factor=domain.discount_factor, **params.agent_params)
opt = {}
opt["exp_id"] = params.exp_id
opt["path"] = params.results_path + getTimeStr() + "/"
opt["max_steps"] = params.max_steps
# opt["max_eps"] = params.max_eps
opt["num_policy_checks"] = params.num_policy_checks
opt["checks_per_policy"] = params.checks_per_policy
opt["domain"] = domain
opt["agent"] = agent
if not os.path.exists(opt["path"]):
os.makedirs(opt["path"])
shutil.copy(param_path, opt["path"] + "params.yml")
shutil.copy(inspect.getfile(eval(params.domain)), opt["path"] + "domain.py")
shutil.copy(inspect.getfile(inspect.currentframe()), opt["path"] + "exper.py")
return eval(params.experiment)(**opt)
def run_experiment_params(param_path='./params.yaml'):
params = type("Parameters", (), load_yaml(param_path))
def goalfn(state, goal, radius=0.1):
# Can be quickly modified to have a new radius per goal element
position = state[:2]
return (np.linalg.norm(np.array(position) - np.array(goal)) < radius)
# # Load domain
def encode_trial():
rewards = list(params.domain_params['goalArray'])
encode = Encoding(rewards, goalfn)
return encode.strict_encoding
params.domain_params['goalfn'] = goalfn
params.domain_params['encodingFunction'] = encode_trial()
# params.domain_params['goalArray'] = params.domain_params['goalArray'][::4]
domain = eval(params.domain)(**params.domain_params)
# domain = eval(params.domain)()
#Load Representation
representation = eval(params.representation)(
domain, **params.representation_params)
policy = eval(params.policy)(representation, **params.policy_params)
agent = eval(params.agent)(policy,
representation,
discount_factor=domain.discount_factor,
**params.agent_params)
opt = {}
opt["exp_id"] = params.exp_id
opt["path"] = params.results_path + getTimeStr() + "/"
opt["max_steps"] = params.max_steps
# opt["max_eps"] = params.max_eps
opt["num_policy_checks"] = params.num_policy_checks
opt["checks_per_policy"] = params.checks_per_policy
opt["domain"] = domain
opt["agent"] = agent
if not os.path.exists(opt["path"]):
os.makedirs(opt["path"])
shutil.copy(param_path, opt["path"] + "params.yml")
shutil.copy(inspect.getfile(eval(params.domain)),
opt["path"] + "domain.py")
shutil.copy(inspect.getfile(inspect.currentframe()),
opt["path"] + "exper.py")
return eval(params.experiment)(**opt)
def generate(mappath, goals=2, save=False, savepath="reward_locations"):
"""
Returns a numpy array of goal positions (without repeats nor ordering).
Goal positions are picked from empty spots on map.
:param mappath: Path to GridWorld Map
:param goals: Number of goals placed
:param save: Boolean for saving array for repeatability
"""
map_arr = np.loadtxt(mappath, dtype=np.uint8)
possibles = np.argwhere(map_arr == 0)
sample_indices = np.random.choice(len(possibles), goals, replace=False)
goals = possibles[sample_indices]
if save:
if not os.path.exists(savepath):
os.mkdir(savepath)
path = os.path.join(savepath, getTimeStr())
np.savetxt(path, goals, fmt="%1d")
return goals
def generate(mappath, goals=2, save=False, savepath="reward_locations"):
"""
Returns a numpy array of goal positions (without repeats nor ordering).
Goal positions are picked from empty spots on map.
:param mappath: Path to GridWorld Map
:param goals: Number of goals placed
:param save: Boolean for saving array for repeatability
"""
map_arr = np.loadtxt(mappath, dtype=np.uint8)
possibles = np.argwhere(map_arr == 0)
sample_indices = np.random.choice(len(possibles), goals, replace=False)
goals = possibles[sample_indices]
if save:
if not os.path.exists(savepath):
os.mkdir(savepath)
path = os.path.join(savepath, getTimeStr())
np.savetxt(path, goals, fmt="%1d")
return goals
opt["max_steps"] = 5000
opt["num_policy_checks"] = 50
experiment = ExperimentSegment(**opt)
return experiment
# ## DEBUG
# import ipdb; ipdb.set_trace()
# ########
if __name__ == '__main__':
dirname, filename = os.path.split(os.path.abspath(__file__))
experiment = make_experiment(
1,
path=dirname + "/Results/Experiments/9x9_2PathR1/" + getTimeStr() +
"/")
experiment.run(
visualize_steps=False, # should each learning step be shown?
visualize_learning=False, # show policy / value function?
saveTrajectories=False) # show performance runs?
# visual.saveDomain(experiment, GridWorldInter, maze)
# import ipdb; ipdb.set_trace()
experiment.domain.showLearning(experiment.agent.representation)
# experiment.plotTrials(save=True)
experiment.saveWeights()
experiment.plot(save=True) #, y="reward")
experiment.save()
import numpy as np
import rlpy.Tools.results
from rlpy.Tools import getTimeStr
import pickle
import json
import os
'''TODOS:
- Replace loads with default commands
- Remove pickle, replace with JSON
- Save Parameters'''
EPS, ENV_NOISE, SEG_RW, STEP_REW = range(4)
get_AUC = lambda res: trapz(res, dx=1) ##setting dx = 1 but shouldn't matter
DEFAULT_PATH = "./TwoPathExperiments/RESETResults/" + getTimeStr() + "/"
def default_params(params=None):
if params is None:
params = {}
if 'max_eps' not in params:
params['max_eps'] = 400
if 'num_policy_checks' not in params:
params['num_policy_checks'] = 40
##DO NOT CHANGE
params['eval_map'] = "9x9-2Path0.txt"
######
return params
## Agent
opt["agent"] = Q_Learning(representation=representation, policy=policy,
discount_factor=domain.discount_factor,
initial_learn_rate=0.3, learn_rate_decay_mode='const')
opt["max_eps"] = max_eps
opt["checks_per_policy"] = checks_per_policy
opt["num_policy_checks"] = num_policy_checks
experiment = ExperimentSegment(**opt)
return experiment
if __name__ == '__main__':
dirname, filename = os.path.split(os.path.abspath(__file__))
experiment = make_experiment(1, path=dirname +"/ResetResults/Experiments/9x9_2PathR1/" + getTimeStr() + "/")
experiment.run(visualize_steps=False, # should each learning step be shown?
visualize_learning=False, # show policy / value function?
saveTrajectories=False) # show performance runs?
# visual.saveDomain(experiment, GridWorldInter, maze)
# import ipdb; ipdb.set_trace()
experiment.domain.showLearning(experiment.agent.representation)
# experiment.plotTrials(save=True)
# experiment.saveWeights()
experiment.plot(save=True, x="learning_episode") #, y="reward")
# experiment.save()
opt["agent"] = Q_Learning(representation=representation, policy=policy,
discount_factor=domain.discount_factor,
initial_learn_rate=0.3)
opt["checks_per_policy"] = 50
opt["max_steps"] = 5000
opt["num_policy_checks"] = 50
experiment = ExperimentSegment(**opt)
return experiment
# ## DEBUG
# import ipdb; ipdb.set_trace()
# ########
if __name__ == '__main__':
experiment = make_experiment(1, path="./Results/Experiments/9x9_2Path0/" + getTimeStr() + "/")
experiment.run(visualize_steps=False, # should each learning step be shown?
visualize_learning=False, # show policy / value function?
saveTrajectories=False) # show performance runs?
# visual.saveDomain(experiment, GridWorldInter, maze)
# import ipdb; ipdb.set_trace()
experiment.domain.showLearning(experiment.agent.representation)
# experiment.plotTrials(save=True)
experiment.plot(save=True) #, y="reward")
experiment.save()