def run_eval_loop(sample_stochastically=True):
start_time = time.time()
prefix = "stochastic_" if sample_stochastically else ""
for i in range(num_episodes):
obs = env.reset()
video.init(enabled=(i == 0))
done = False
episode_reward = 0
while not done:
# center crop image
if args.encoder_type == "pixel" and "crop" in args.data_augs:
obs = utils.center_crop_image(obs, args.image_size)
if args.encoder_type == "pixel" and "translate" in args.data_augs:
# first crop the center with pre_image_size
obs = utils.center_crop_image(
obs, args.pre_transform_image_size)
# then translate cropped to center
obs = utils.center_translate(obs, args.image_size)
with utils.eval_mode(agent):
if sample_stochastically:
action = agent.sample_action(obs / 255.0)
else:
action = agent.select_action(obs / 255.0)
obs, reward, done, _ = env.step(action)
video.record(env)
episode_reward += reward
video.save("%d.mp4" % step)
L.log("eval/" + prefix + "episode_reward", episode_reward, step)
all_ep_rewards.append(episode_reward)
L.log("eval/" + prefix + "eval_time", time.time() - start_time, step)
mean_ep_reward = np.mean(all_ep_rewards)
best_ep_reward = np.max(all_ep_rewards)
std_ep_reward = np.std(all_ep_rewards)
L.log("eval/" + prefix + "mean_episode_reward", mean_ep_reward, step)
L.log("eval/" + prefix + "best_episode_reward", best_ep_reward, step)
filename = (args.work_dir + "/" + args.domain_name + "--" +
args.task_name + "-" + args.data_augs + "--s" +
str(args.seed) + "--eval_scores.npy")
key = args.domain_name + "-" + args.task_name + "-" + args.data_augs
try:
log_data = np.load(filename, allow_pickle=True)
log_data = log_data.item()
except:
log_data = {}
if key not in log_data:
log_data[key] = {}
log_data[key][step] = {}
log_data[key][step]["step"] = step
log_data[key][step]["mean_ep_reward"] = mean_ep_reward
log_data[key][step]["max_ep_reward"] = best_ep_reward
log_data[key][step]["std_ep_reward"] = std_ep_reward
log_data[key][step]["env_step"] = step * args.action_repeat
np.save(filename, log_data)
def run_eval_loop(sample_stochastically=True):
start_time = time.time()
prefix = 'stochastic_' if sample_stochastically else ''
for i in range(num_episodes):
obs = env.reset()
video.init(enabled=(i == 0))
done = False
episode_reward = 0
while not done:
# center crop image
if args.encoder_type == 'pixel' and 'crop' in args.data_augs:
obs = utils.center_crop_image(obs, args.image_size)
if args.encoder_type == 'pixel' and 'translate' in args.data_augs:
# first crop the center with pre_image_size
obs = utils.center_crop_image(
obs, args.pre_transform_image_size)
# then translate cropped to center
obs = utils.center_translate(obs, args.image_size)
with utils.eval_mode(agent):
if sample_stochastically:
action = agent.sample_action(obs / 255.)
else:
action = agent.select_action(obs / 255.)
obs, reward, done, _ = env.step(action)
video.record(env)
episode_reward += reward
video.save('%d.mp4' % step)
L.log('eval/' + prefix + 'episode_reward', episode_reward, step)
all_ep_rewards.append(episode_reward)
L.log('eval/' + prefix + 'eval_time', time.time() - start_time, step)
mean_ep_reward = np.mean(all_ep_rewards)
best_ep_reward = np.max(all_ep_rewards)
std_ep_reward = np.std(all_ep_rewards)
L.log('eval/' + prefix + 'mean_episode_reward', mean_ep_reward, step)
L.log('eval/' + prefix + 'best_episode_reward', best_ep_reward, step)
filename = args.work_dir + '/' + args.domain_name + '--' + args.task_name + '-' + args.data_augs + '--s' + str(
args.seed) + '--eval_scores.npy'
key = args.domain_name + '-' + args.task_name + '-' + args.data_augs
try:
log_data = np.load(filename, allow_pickle=True)
log_data = log_data.item()
except:
log_data = {}
if key not in log_data:
log_data[key] = {}
log_data[key][step] = {}
log_data[key][step]['step'] = step
log_data[key][step]['mean_ep_reward'] = mean_ep_reward
log_data[key][step]['max_ep_reward'] = best_ep_reward
log_data[key][step]['std_ep_reward'] = std_ep_reward
log_data[key][step]['env_step'] = step * args.action_repeat
np.save(filename, log_data)
return log_data[key][step]
def sample_action(self, obs, goal_obs):
if obs.shape[-1] != self.image_size:
obs = utils.center_crop_image(obs, self.image_size)
goal_obs = utils.center_crop_image(goal_obs, self.image_size)
with torch.no_grad():
obs = torch.FloatTensor(obs).to(self.device)
obs = obs.unsqueeze(0)
goal_obs = torch.FloatTensor(goal_obs).to(self.device)
goal_obs = goal_obs.unsqueeze(0)
mu, pi, _, _ = self.actor(obs, goal_obs, compute_log_pi=False)
return pi.cpu().data.numpy().flatten()
def __getitem__(self, idx): # Nawid - Obtains item from replay buffer
''' Remove the randomness in the dataloading of each sample as the dataloader itself should be able to find the different values
idx = np.random.randint(
0, self.capacity if self.full else self.idx, size=1
)
idx = idx[0]
'''
obses = np.expand_dims(
self.obses[idx], 0
) # Need to expand dim to allow it to be the shape for cropping, then need to squeeze so its a 4d tensor rather than 5d with an extra dim so it can be used with the dataloader
next_obses = np.expand_dims(self.next_obses[idx], 0)
pos = obses.copy()
#obs and next_obs
if self.rand_crop:
obses_input = random_crop(
obses,
self.image_size) #center_crop_image(obses,self.image_size) #
next_obses_input = random_crop(next_obses, self.image_size)
else:
obses_input = center_crop_image(obses, self.image_size)
next_obses_input = center_crop_image(next_obses, self.image_size)
# random crop images
obses_anc = random_crop(obses, self.image_size)
pos = random_crop(pos, self.image_size)
next_obses_anc = random_crop(
next_obses, self.image_size
) # Set anchor for the next observation in order to contrast with the contrastive loss
# Squeeze shape
obses_input = np.squeeze(obses_input)
next_obses_input = np.squeeze(next_obses_input)
obses_anc = np.squeeze(obses_anc)
pos = np.squeeze(pos)
next_obses_anc = np.squeeze(next_obses_anc)
action = self.actions[idx]
if self.transform:
obses_input = self.transform(obses_input)
next_obses_input = self.transform(next_obses_input)
obses_anc = self.transform(obses_anc)
pos = self.transform(pos)
next_obses_anc = self.transform(next_obses_anc)
cpc_kwargs = dict(
obs_anchor=obses_anc, obs_pos=pos, next_obs_anchor=next_obses_anc
) # Nawid Postitive example is pos whilst anchor is obses
return obses_input, action, next_obses_input, cpc_kwargs
def sample_action(self, obs):
if isinstance(obs, list):
if obs[0].shape[-1] != self.image_size:
obs = [
utils.center_crop_image(obs[0], self.image_size), obs[1]
]
else:
if obs.shape[-1] != self.image_size:
obs = utils.center_crop_image(obs, self.image_size)
with torch.no_grad():
obs = self.obs_to_torch(obs)
mu, pi, _, _ = self.actor(obs, compute_log_pi=False)
return pi.cpu().data.numpy().flatten()
def run_eval_loop(sample_stochastically=True):
start_time = time.time()
prefix = 'stochastic_' if sample_stochastically else ''
for i in range(num_episodes):
obs = env.reset()
video.init(enabled=(i == 0))
done = False
episode_reward = 0
while not done:
# center crop image
if args.encoder_type == 'pixel':
obs = utils.center_crop_image(obs, args.image_size)
with utils.eval_mode(agent):
if sample_stochastically:
action = agent.sample_action(obs)
else:
action = agent.select_action(obs)
obs, reward, done, _ = env.step(action)
video.record(env)
episode_reward += reward
video.save('%d.mp4' % step)
L.log('eval/' + prefix + 'episode_reward', episode_reward, step)
all_ep_rewards.append(episode_reward)
L.log('eval/' + prefix + 'eval_time', time.time() - start_time, step)
mean_ep_reward = np.mean(all_ep_rewards)
best_ep_reward = np.max(all_ep_rewards)
L.log('eval/' + prefix + 'mean_episode_reward', mean_ep_reward, step)
L.log('eval/' + prefix + 'best_episode_reward', best_ep_reward, step)
def run_eval_loop(sample_stochastically=True):
start_time = time.time()
prefix = 'stochastic_' if sample_stochastically else ''
for i in range(num_episodes):
obs = env.reset()
done = False
episode_reward = 0
while not done:
# center crop image
if args.encoder_type == 'pixel':
obs = utils.center_crop_image(obs, args.image_size)
with utils.eval_mode(agent):
if sample_stochastically:
action = agent.sample_action(obs)
else:
action = agent.select_action(obs)
obs, reward, done, _ = env.step(action)
episode_reward += reward
all_ep_rewards.append(episode_reward)
mean_ep_reward = np.mean(all_ep_rewards)
best_ep_reward = np.max(all_ep_rewards)
logger.log({
'mean_reward': mean_ep_reward,
'max_reward': best_ep_reward,
})
def run_eval_loop(sample_stochastically=True):
start_time = time.time()
prefix = 'stochastic_' if sample_stochastically else ''
for i in range(num_episodes):
obs = env.reset()
done = False
episode_reward = 0
while not done:
# center crop image
if args.encoder_type == 'pixel':
obs = utils.center_crop_image(obs, args.image_size)
with utils.eval_mode(agent):
if sample_stochastically:
print("sample_stochastically")
action = random.randint(0, 11)
else:
print("agent selected")
action = agent.select_action(obs)
obs, reward, done = env.step(action)
episode_reward += reward
L.log('eval/' + prefix + 'episode_reward', episode_reward, step)
all_ep_rewards.append(episode_reward)
L.log('eval/' + prefix + 'eval_time', time.time() - start_time, step)
mean_ep_reward = np.mean(all_ep_rewards)
best_ep_reward = np.max(all_ep_rewards)
L.log('eval/' + prefix + 'mean_episode_reward', mean_ep_reward, step)
L.log('eval/' + prefix + 'best_episode_reward', best_ep_reward, step)
def run_eval_loop2(sample_stochastically=True,
cor_func="no_cor",
cor_sev=1):
cor = Corruptor(cor_func=cor_func, severity=cor_sev)
start_time = time.time()
prefix = 'stochastic_' if sample_stochastically else ''
all_ep_rewards = []
for i in range(num_episodes):
obs = env.reset()
obs = cor.corrupt_stacked_images(
obs, args.frame_stack) # added corruption after env
done = False
episode_reward = 0
while not done:
# center crop image
if args.encoder_type == 'pixel' and 'crop' in args.data_augs:
obs = utils.center_crop_image(obs, args.image_size)
if args.encoder_type == 'pixel' and 'translate' in args.data_augs:
# first crop the center with pre_image_size
obs = utils.center_crop_image(
obs, args.pre_transform_image_size)
# then translate cropped to center
obs = utils.center_translate(obs, args.image_size)
with utils.eval_mode(agent):
if sample_stochastically:
action = agent.sample_action(obs / 255.)
else:
action = agent.select_action(obs / 255.)
obs, reward, done, _ = env.step(action)
obs = cor.corrupt_stacked_images(
obs, args.frame_stack) # added corruption after env
episode_reward += reward
all_ep_rewards.append(episode_reward)
mean_ep_reward = np.mean(all_ep_rewards)
best_ep_reward = np.max(all_ep_rewards)
std_ep_reward = np.std(all_ep_rewards)
end_time = time.time()
return step, mean_ep_reward, best_ep_reward, std_ep_reward, end_time - start_time
def sample_action(self, obs_tuple):
[obs, image_obs] = obs_tuple
if image_obs.shape[-1] != self.image_size:
image_obs = utils.center_crop_image(image_obs, self.image_size)
with torch.no_grad():
image_obs = torch.FloatTensor(image_obs).to(self.device)
image_obs = image_obs.unsqueeze(0)
#print("test shape sample_action: ", image_obs.shape, ": ", obs.shape)
mu, pi, _, _ = self.actor([obs, image_obs], compute_log_pi=False)
return pi.cpu().data.numpy().flatten()
def sample_action(self, obs):
if obs['img'].shape[-1] != self.image_size:
state, img = utils.split_obs(obs)
img = utils.center_crop_image(img, self.image_size)
obs = utils.combine_obs(state, img)
with torch.no_grad():
obs['img'] = torch.FloatTensor(obs['img']).to(
self.device).unsqueeze(0)
obs['state'] = torch.FloatTensor(obs['state']).to(
self.device).unsqueeze(0)
mu, pi, _, _ = self.actor(obs, compute_log_pi=False)
return pi.cpu().data.numpy().flatten()
def sample_cpc(self): # Nawid - samples images I believe
start = time.time()
idxs = np.random.randint(
0, self.capacity if self.full else self.idx,
size=self.batch_size) # Used to randomly sample indices
obses = self.obses[idxs] # Nawid - Samples observation
pos = obses.copy() # Nawid -
next_obses = self.next_obses[idxs]
# Random crop or centre crops the image
if self.rand_crop:
obses_input = random_crop(obses, self.image_size)
next_obses_input = random_crop(next_obses, self.image_size)
else:
obses_input = center_crop_image(obses, self.image_size)
next_obses_input = centre_crop_image(next_obses, self.image_size)
# Nawid - Crop images randomly
obses_anc = random_crop(obses, self.image_size)
pos = random_crop(pos, self.image_size)
obses_input, next_obses_input = np.transpose(
obses_input, (0, 3, 1, 2)), np.transpose(next_obses_input,
(0, 3, 1, 2))
obses_anc, pos = np.transpose(obses_anc, (0, 3, 1, 2)), np.transpose(
pos, (0, 3, 1, 2))
obses_input = torch.tensor(obses_input,
device=self.device).float() / 255
actions = torch.as_tensor(self.actions[idxs], device=self.device)
next_obses_input = torch.tensor(next_obses_input,
device=self.device).float() / 255
obses_anc = torch.as_tensor(obses_anc, device=self.device).float(
) / 255 # Random color jitter turns the values already into torch tenros
pos = torch.as_tensor(pos, device=self.device).float() / 255
obses_anc = random_color_jitter(obses_anc,
batch_size=self.batch_size,
frames=self.frames)
pos = random_color_jitter(pos,
batch_size=self.batch_size,
frames=self.frames)
cpc_kwargs = dict(
obs_anchor=obses_anc, obs_pos=pos, time_anchor=None, time_pos=None
) # Nawid Postitive example is pos whilst anchor is obses
return obses_input, actions, next_obses_input, cpc_kwargs
def run_eval_loop(sample_stochastically=True):
start_time = time.time()
prefix = "stochastic_" if sample_stochastically else ""
for i in tqdm(range(num_episodes), desc='eval', unit='ep'):
obs = env.reset()
video.init(enabled=(i == 0))
done = False
episode_reward = 0
episode_info = defaultdict(int)
while not done:
# center crop image
if args.encoder_type == "mixed":
state, img = utils.split_obs(obs)
img = utils.center_crop_image(img, args.image_size)
obs = utils.combine_obs(state, img)
with utils.eval_mode(agent):
if sample_stochastically:
action = agent.sample_action(obs)
else:
action = agent.select_action(obs)
obs, reward, done, info = env.step(action)
for k in keys_to_monitor:
episode_info[k] += info[k]
video.record(env, yaw=i)
episode_reward += reward
for k in keys_to_monitor:
L.log("eval/" + prefix + k, np.sum(episode_info[k]), step)
video.save("%d.mp4" % step)
L.log("eval/" + prefix + "episode_reward", episode_reward, step)
all_ep_rewards.append(episode_reward)
L.log("eval/" + prefix + "eval_time", time.time() - start_time, step)
mean_ep_reward = np.mean(all_ep_rewards)
best_ep_reward = np.max(all_ep_rewards)
L.log("eval/" + prefix + "mean_episode_reward", mean_ep_reward, step)
L.log("eval/" + prefix + "best_episode_reward", best_ep_reward, step)
def run_eval_loop(sample_stochastically=True):
start_time = time.time()
prefix = 'stochastic_' if sample_stochastically else ''
num_successes = 0
for i in range(num_episodes):
obs = env.reset()
video.init(enabled=(i == 0))
done = False
episode_reward = 0
episode_success = False
while not done:
# center crop image
if (args.agent == 'curl_sac' and args.encoder_type == 'pixel') or\
(args.agent == 'rad_sac' and (args.encoder_type == 'pixel' or 'crop' in args.data_augs or 'translate' in args.data_augs)):
if isinstance(obs, list):
obs[0] = utils.center_crop_image(
obs[0], args.image_size)
else:
obs = utils.center_crop_image(obs, args.image_size)
with utils.eval_mode(agent):
if sample_stochastically:
action = agent.sample_action(obs)
else:
action = agent.select_action(obs)
obs, reward, done, info = env.step(action)
if info.get('is_success'):
episode_success = True
video.record(env)
episode_reward += reward
num_successes += episode_success
video.save('%d.mp4' % step)
L.log('eval/' + prefix + 'episode_reward', episode_reward, step)
all_ep_rewards.append(episode_reward)
L.log('eval/' + prefix + 'eval_time', time.time() - start_time, step)
if num_episodes > 0:
mean_ep_reward = np.mean(all_ep_rewards)
best_ep_reward = np.max(all_ep_rewards)
std_ep_reward = np.std(all_ep_rewards)
success_rate = num_successes / num_episodes
else:
mean_ep_reward = 0
best_ep_reward = 0
std_ep_reward = 0
success_rate = 0
L.log('eval/' + prefix + 'mean_episode_reward', mean_ep_reward, step)
L.log('eval/' + prefix + 'best_episode_reward', best_ep_reward, step)
L.log('eval/' + prefix + 'success_rate', success_rate, step)
filename = args.work_dir + '/eval_scores.npy'
key = args.domain_name + '-' + str(
args.task_name) + '-' + args.data_augs
try:
log_data = np.load(filename, allow_pickle=True)
log_data = log_data.item()
except FileNotFoundError:
log_data = {}
if key not in log_data:
log_data[key] = {}
log_data[key][step] = {}
log_data[key][step]['step'] = step
log_data[key][step]['mean_ep_reward'] = mean_ep_reward
log_data[key][step]['max_ep_reward'] = best_ep_reward
log_data[key][step]['success_rate'] = success_rate
log_data[key][step]['std_ep_reward'] = std_ep_reward
log_data[key][step]['env_step'] = step * args.action_repeat
np.save(filename, log_data)
def run_eval_loop(sample_stochastically=True):
start_time = time.time()
prefix = 'stochastic_' if sample_stochastically else ''
for i in range(num_episodes):
image_log_dir = utils.make_dir(os.path.join(image_dir, str(i)))
obs = env.reset()
video.init(enabled=(i == 0))
done = False
episode_reward = 0
episode_step = 0
while not done:
# center crop image
if episode_step % 100 == 0:
observation = env.render("rgb_array")
plt.imsave(
image_log_dir + "/result_" + str(episode_step) +
".png", observation)
if args.encoder_type == 'pixel':
obs = utils.center_crop_image(obs, args.image_size)
goal_obs = utils.center_crop_image(goal_sample,
args.image_size)
else:
goal_obs = goal_sample
with utils.eval_mode(agent):
if sample_stochastically:
action = agent.sample_action(obs, goal_obs)
else:
action = agent.select_action(obs, goal_obs)
obs, reward, done, distance = env.step(action)
if args.reward_type == 'dist':
reward = agent.dist_reward(obs, goal_sample)
video.record(env)
episode_reward += reward
episode_step += 1
if done:
observation = env.render("rgb_array")
plt.imsave(image_log_dir + "/result_final.png",
observation)
video.save('%d.mp4' % step)
L.log('eval/' + prefix + 'episode_reward', episode_reward, step)
all_ep_rewards.append(episode_reward)
all_ep_distance.append(distance)
L.log('eval/' + prefix + 'eval_time', time.time() - start_time, step)
mean_ep_reward = np.mean(all_ep_rewards)
best_ep_reward = np.max(all_ep_rewards)
std_ep_reward = np.std(all_ep_rewards)
mean_ep_distance = np.mean(all_ep_distance)
best_ep_distance = np.max(all_ep_distance)
std_ep_distance = np.std(all_ep_distance)
L.log('eval/' + prefix + 'mean_episode_reward', mean_ep_reward, step)
L.log('eval/' + prefix + 'best_episode_reward', best_ep_reward, step)
L.log('eval/' + prefix + 'mean_distance_to_goal', mean_ep_distance,
step)
L.log('eval/' + prefix + 'best_distance_to_goal', best_ep_distance,
step)
# Log to csv.
log_csv["step"].append(step)
log_csv["mean_reward"].append(mean_ep_reward)
log_csv["mean_distance_to_goal"].append(mean_ep_distance)
log_csv["std_distance_to_goal"].append(std_ep_distance)
pd.DataFrame(log_csv).to_csv(csv_dir + "/log.csv", index=False)
def main():
import logging
from rich.logging import RichHandler
logging.basicConfig(
level=logging.INFO,
handlers=[RichHandler(rich_tracebacks=True, markup=True)])
args = parse_args()
if args.seed == -1:
args.__dict__["seed"] = np.random.randint(1, 1000000)
print('seed', args.__dict__["seed"])
print(args)
utils.set_seed_everywhere(args.seed)
env = gym.make(args.domain_name, render=args.render)
print(env)
# TODO action repeat wrapper?
env.seed(args.seed)
# # stack several consecutive frames together
if args.encoder_type == "mixed":
from apple_gym.env.wrappers import FrameStack, ImageState, PermuteImages
env = FrameStack(
PermuteImages(ImageState(env), keys=["img"]),
n=args.frame_stack,
keys=["img"],
)
if args.load == 'auto':
load_dirs = Path(args.work_dir).glob('*/model/curl*.pt')
load_dirs = sorted(set([str(d.parent) for d in load_dirs]))
print('load_dirs', load_dirs)
args.load = str(load_dirs[-1])
print('auto load', load_dirs)
# make directory
ts = time.gmtime()
ts = time.strftime("%m-%d", ts)
env_name = args.domain_name
exp_name = (env_name + "-" + ts + "-im" + str(args.image_size) + "-b" +
str(args.batch_size) + "-s" + str(args.seed) + "-" +
args.encoder_type)
args.work_dir = args.work_dir + "/" + exp_name
print('work_dir', args.work_dir)
utils.make_dir(args.work_dir)
video_dir = utils.make_dir(os.path.join(args.work_dir, "video"))
model_dir = utils.make_dir(os.path.join(args.work_dir, "model"))
buffer_dir = utils.make_dir(os.path.join(args.work_dir, "buffer"))
video = VideoRecorder(video_dir if args.save_video else None)
with open(os.path.join(args.work_dir, "args.json"), "w") as f:
json.dump(vars(args), f, sort_keys=True, indent=4)
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
print(f'device {device}')
# shapes
action_shape = env.action_space.shape
img = env.observation_space.sample()["img"]
img_aug = utils.center_crop_image(img, args.image_size)
obs_shape = {
"img": img_aug.shape,
"state": env.observation_space["state"].shape
}
replay_buffer = utils.ReplayBuffer(
obs_space=env.observation_space,
action_space=env.action_space,
capacity=args.replay_buffer_capacity,
batch_size=args.batch_size,
device=device,
image_size=args.image_size,
)
agent = make_agent(obs_shape=obs_shape,
action_shape=action_shape,
args=args,
device=device)
if args.load is not None:
agent.load_curl(args.load)
# summarize
obs = env.observation_space.sample()
state, img = utils.split_obs(obs)
img_crop = utils.center_crop_image(img, agent.image_size)
obs_crop = utils.combine_obs(state, img_crop)
obs_crop['img'] = torch.FloatTensor(obs_crop['img']).to(
agent.device).unsqueeze(0)
obs_crop['state'] = torch.FloatTensor(obs_crop['state']).to(
agent.device).unsqueeze(0)
action = agent.sample_action(obs)
action = torch.FloatTensor(action).to(agent.device).unsqueeze(0)
from torchsummaryX import summary
with torch.no_grad():
print(agent.critic)
summary(agent.critic, obs_crop, action)
print(agent.actor)
summary(agent.actor, obs_crop)
L = Logger(args.work_dir, use_tb=args.save_tb)
episode, episode_reward, done = 0, 0, True
episode_info = defaultdict(int)
start_time = time.time()
for step in tqdm(range(args.num_train_steps),
desc="train",
unit="step",
mininterval=360):
# evaluate agent periodically
if (step % args.eval_freq == 0) and (step >= args.eval_freq):
L.log("eval/episode", episode, step)
evaluate(env, agent, video, args.num_eval_episodes, L, step, args)
if args.save_model:
agent.save_curl(model_dir, step)
if args.save_buffer:
replay_buffer.save(buffer_dir)
if done:
if step > 0:
if step % args.log_interval == 0:
L.log("train/duration", time.time() - start_time, step)
L.dump(step)
start_time = time.time()
if step % args.log_interval == 0:
L.log("train/episode_reward", episode_reward, step)
for k in keys_to_monitor:
L.log("train/episode_info" + k, np.sum(episode_info[k]), step)
obs = env.reset()
assert env.observation_space.contains(
obs
), f"obs should be in space. ob={obs} space={env.observation_space}"
done = False
episode_reward = 0
episode_info = defaultdict(int)
episode_step = 0
episode += 1
if step % args.log_interval == 0:
L.log("train/episode", episode, step)
# sample action for data collection
if step < args.init_steps:
action = env.action_space.sample()
else:
with utils.eval_mode(agent):
action = agent.sample_action(obs)
assert env.action_space.contains(
action
), f"obs should be in space. ob={action} space={env.action_space}"
if step % 10 == 0:
# run training update
if step >= args.init_steps:
num_updates = 1
for _ in range(num_updates):
agent.update(replay_buffer, L, step)
next_obs, reward, done, info = env.step(action)
# allow infinite bootstrap
done_bool = 0 if episode_step + 1 == env._max_episode_steps else float(
done)
episode_reward += reward
replay_buffer.add(obs, action, reward, next_obs, done_bool)
for k in keys_to_monitor:
episode_info[k] += info[k]
obs = next_obs
episode_step += 1