def get_states(args,
true_environment,
length_constraint=50000,
raws=None,
dumps=None):
dataset_path = args.record_rollouts
changepoint_path = args.changepoint_dir
option_chain = OptionChain(true_environment, args.changepoint_dir,
args.train_edge, args)
environments = option_chain.initialize(args)
print(environments)
proxy_environment = environments.pop(-1)
head, tail = get_edge(args.train_edge)
if len(
environments
) > 1: # there is a difference in the properties of a proxy environment and the true environment
num_actions = len(environments[-1].reward_fns)
else:
num_actions = environments[-1].num_actions
state_class = GetState(head,
state_forms=list(
zip(args.state_names, args.state_forms)))
use_raw = 'raw' in args.state_forms
state_class.minmax = compute_minmax(state_class, dataset_path)
states, resps, raws, dumps = load_states(
state_class.get_state,
dataset_path,
length_constraint=length_constraint,
use_raw=use_raw,
raws=raws,
dumps=dumps)
return states, resps, num_actions, state_class, environments, raws, dumps
def __init__(self, args):
super().__init__(None, args)
self.form = args.reward_form
self.state_class = GetState(target="Block",
state_forms=[
("Block", "multifull"),
("Ball", "bounds")
]) # should be a block state class
self.parameters = np.array([0, 0])
self.max_dist = np.linalg.norm([60, 20])
self.cuda = args.cuda
self.parameter_minmax = [np.array([0, 0]), np.array([84, 84])]
class BlockReward(ChangepointReward):
def __init__(self, args):
super().__init__(None, args)
self.form = args.reward_form
self.state_class = GetState(target="Block",
state_forms=[
("Block", "multifull"),
("Ball", "bounds")
]) # should be a block state class
self.parameters = np.array([0, 0])
self.max_dist = np.linalg.norm([60, 20])
self.cuda = args.cuda
self.parameter_minmax = [np.array([0, 0]), np.array([84, 84])]
def compute_reward(self, states, actions, resps):
rewards = torch.zeros(len(states))
change_indexes, ats, st = self.state_class.determine_delta_target(
pytorch_model.unwrap(states))
if len(change_indexes) > 0:
dists = np.linalg.norm(self.parameters - st[0])
rewards[change_indexes[0]] = (self.max_dist -
dists) / self.max_dist
rewards[states[:, -2] == 79] = -1.0
if self.cuda:
rewards = rewards.cuda()
return rewards
def determineChanged(self, states, actions, resps):
change_indexes, ats, states = self.state_class.determine_delta_target(
pytorch_model.unwrap(states))
change = len(change_indexes) > 0
if change:
return change, states[0]
return change, None
def get_possible_parameters(self, state):
last_shape = self.state_class.shapes[(self.state_class.names[0],
self.state_class.fnames[0])][0]
state = state[:last_shape]
# print(state, last_shape, state.shape, self.state_class.shapes[(self.state_class.names[-1], self.state_class.fnames[-1])])
state = state.view(-1, 3)
idxes = state[:, 2].nonzero()[:, 0].squeeze()
# print(idxes, state[idxes,:2])
return state[idxes, :2]
def get_trajectories(self, full_states):
states = []
resps = []
for state in full_states:
state, resp = self.state_class.get_state(state)
states.append(state)
resps.append(resp)
return pytorch_model.wrap(np.stack(states), cuda=self.cuda)
def __init__(self, model, args):
'''
model is a changepoint model
'''
self.name = args.train_edge
self.head, self.tail = get_edge(args.train_edge)
self.model = model
self.cuda = args.cuda
self.traj_dim = 2 #TODO: the dimension of the input trajectory is currently pre-set at 2, the dim of a location. Once we figure out dynamic setting, this can change
self.parameter_minmax = [np.array([0]), np.array([84])] # TODO: where does this come from?
self.state_class = GetState(0, self.head, state_forms=[(self.head, 'bounds'), *[(tail, 'bounds') for tail in self.tail]]) # TODO: technically, multibounds for both
def generate_soft_dataset(states, resps, true_environment, reward_fns, args):
pre_load_weights = args.load_weights
args.load_weights = True
option_chain = OptionChain(true_environment, args.changepoint_dir,
args.train_edge, args)
print(args.load_weights)
environments = option_chain.initialize(args)
proxy_environment = environments.pop(-1)
proxy_chain = environments
train_models = proxy_environment.models
head, tail = get_edge(args.train_edge)
if len(
environments
) > 1: # there is a difference in the properties of a proxy environment and the true environment
num_actions = len(environments[-1].reward_fns)
else:
num_actions = environments[-1].num_actions
state_class = GetState(head,
state_forms=list(
zip(args.state_names, args.state_forms)))
proxy_environment.initialize(args,
proxy_chain,
reward_fns,
state_class,
behavior_policy=None)
train_models.initialize(args, len(reward_fns), state_class, num_actions)
train_models.session(args)
proxy_environment.duplicate(args) # assumes that we are loading weights
args.load_weights = pre_load_weights
soft_actions = [[] for i in range(train_models.num_options)]
for oidx in range(train_models.num_options):
train_models.option_index = oidx
if args.model_form == 'population':
train_models.currentModel().use_mean = True
for i in range(len(states) // 30 + 1):
state = states[i * 30:(i + 1) * 30]
resp = resps[i * 30:(i + 1) * 30]
values, dist_entropy, action_probs, Q_vals = train_models.determine_action(
pytorch_model.wrap(state, cuda=args.cuda),
pytorch_model.wrap(resp, cuda=args.cuda))
# print (action_probs)
values, action_probs, Q_vals = train_models.get_action(
values, action_probs, Q_vals)
soft_actions[oidx] += pytorch_model.unwrap(action_probs).tolist()
print("soft actions", np.sum(np.array(soft_actions[0]), axis=0))
for i in range(len(soft_actions)):
soft_actions[i] = smooth_weight(soft_actions[i], args.weighting_lambda)
return np.array(soft_actions)
if args.load_weights:
print(proxy_environment.models.cuda)
proxy_environment.models.cuda(device=args.gpu)
train_models = proxy_environment.models
else:
train_models = MultiOption(len(reward_paths), models[args.model_form])
proxy_chain = environments
if len(
environments
) > 1: # there is a difference in the properties of a proxy environment and the true environment
num_actions = len(environments[-1].reward_fns)
else:
num_actions = environments[-1].num_actions
print(args.state_names, args.state_forms)
state_class = GetState(head,
state_forms=list(
zip(args.state_names, args.state_forms)))
state_class.minmax = compute_minmax(state_class,
dataset_path,
filename=args.focus_dumps_name)
if args.normalize:
minv = []
maxv = []
for f in args.state_forms:
if f == 'prox':
minv += [-84, -84]
maxv += [84, 84]
elif f == 'bounds':
minv += [0, 0]
maxv += [84, 84]
state_class.minmax = np.stack((np.array(minv), np.array(maxv)))
dataset_path = args.record_rollouts
changepoint_path = args.changepoint_dir
option_chain = OptionChain(true_environment, args.changepoint_dir, args.train_edge, args)
reward_paths = glob.glob(os.path.join(option_chain.save_dir, "*rwd.pkl"))
print(reward_paths)
reward_paths.sort(key=lambda x: int(x.split("__")[2]))
head, tail = get_edge(args.train_edge)
reward_classes = [load_from_pickle(pth) for pth in reward_paths]
# train_models = MultiOption(1, BasicModel)
train_models = MultiOption(len(reward_paths), models[args.model_form])
# learning_algorithm = DQN_optimizer()
learning_algorithm = learning_algorithms[args.optimizer_form]()
# learning_algorithm = DDPG_optimizer()
environments = option_chain.initialize(args)
print(environments)
proxy_environment = environments.pop(-1)
proxy_chain = environments
if len(environments) > 1: # there is a difference in the properties of a proxy environment and the true environment
num_actions = len(environments[-1].reward_fns)
else:
num_actions = environments[-1].num_actions
print(args.state_names, args.state_forms)
state_class = GetState(head, state_forms=list(zip(args.state_names, args.state_forms)))
state_class.minmax = compute_minmax(state_class, dataset_path)
behavior_policy = behavior_policies[args.behavior_policy]()
# behavior_policy = EpsilonGreedyProbs()
trainRL(args, option_chain.save_dir, true_environment, train_models, learning_algorithm, proxy_environment,
proxy_chain, reward_classes, state_class, behavior_policy=behavior_policy)
net_params=net_params,
)
paddle_model.set_parameters(params)
ball_model_net_params_path = 'ObjectRecognition/net_params/two_layer.json'
net_params = json.loads(open(ball_model_net_params_path).read())
params = load_param('ObjectRecognition/models/ball.npy')
ball_model = ModelFocusCNN(
image_shape=(84, 84),
net_params=net_params,
)
ball_model.set_parameters(params)
model = ModelCollectionDAG()
model.add_model('Paddle', paddle_model, [], augment_fn=util.remove_mean)
model.add_model('Ball', ball_model, ['Paddle'])
print(model)
state_function = GetState('Action', state_forms=[("Action", "feature")])
states, resps, raws, dumps = load_states(state_function.get_state,
args.record_rollouts,
use_raw=True)
print(states)
raws = pytorch_model.wrap(np.array(raws), cuda=False).unsqueeze(1)
dumps = model.forward(raws, ret_numpy=True)
focus_dumps = [{} for _ in range(len(states))]
for key in dumps:
for i, val in enumerate(dumps[key]):
focus_dumps[i][key] = val
focus_dumps_file = open(
os.path.join(args.record_rollouts, "focus_dumps.txt"), 'w')
for action, factor_state in zip(states, focus_dumps):
for key in factor_state.keys():
focus_dumps_file.write(
reward_classes = [block_rewards()]
# reward_classes = [bounce_rewards(0), bounce_rewards(1), bounce_rewards(2), bounce_rewards(3)]
train_models = MultiOption(len(reward_paths), models[args.model_form])
learning_algorithm = learning_algorithms[args.optimizer_form]()
environments = option_chain.initialize(args)
environments.pop(-1)
proxy_chain = environments
if len(
environments
) > 1: # there is a difference in the properties of a proxy environment and the true environment
num_actions = len(environments[-1].reward_fns)
else:
num_actions = environments[-1].num_actions
print(args.state_names, args.state_forms)
state_class = GetState(num_actions,
tail,
state_forms=list(
zip(args.state_names, args.state_forms)))
state_class.minmax = compute_minmax(state_class, dataset_path)
print(state_class.minmax)
behavior_policy = EpsilonGreedyQ()
# behavior_policy = EpsilonGreedyProbs()
trainRL(args,
option_chain.save_dir,
true_environment,
train_models,
learning_algorithm,
proxy_chain,
reward_classes,
state_class,
behavior_policy=behavior_policy)