def load_model(prefix, model_id, net_params, *args, **kwargs):
params = load_param((util.get_dir(prefix), model_id))
model = ModelFocusCNN(
image_shape=(84, 84),
net_params=net_params,
*args,
**kwargs,
)
model.set_parameters(params)
return model
def load_model(model_path, net_params_path, pmodel=None, *args, **kwargs):
net_params = json.loads(open(net_params_path).read())
params = load_param(model_path)
test_mode = ModelFocusCNN(
image_shape=(84, 84),
net_params=net_params,
*args,
**kwargs,
)
test_mode.set_parameters(params)
# construct model
model = ModelCollectionDAG()
if pmodel:
model.add_model('premise', pmodel, [])
model.add_model('test_model', test_mode, ['premise'])
else:
model.add_model('test_model', test_mode, [])
model.set_trainable('test_model')
return model
# get dataset
n_state = 500
offset_fix = 0
binarize = 0.01
GAME_NAME = 'atari'
dataset = parse_dataset(dataset_name=GAME_NAME,
n_state=n_state,
binarize=binarize,
offset_fix=offset_fix)
# get ball model
prev_net_params_path_1 = 'ObjectRecognition/net_params/attn_softmax.json'
prev_weight_path_1 = 'results/cmaes_soln/focus_atari_breakout/paddle_bin_smooth.pth'
prev_net_params_1 = json.loads(open(prev_net_params_path_1).read())
prev_model_1 = ModelFocusCNN(
image_shape=(84, 84),
net_params=prev_net_params_1,
)
prev_model_1.set_parameters(load_param(prev_weight_path_1))
prev_net_params_path_2 = 'ObjectRecognition/net_params/attn_softmax.json'
prev_weight_path_2 = 'results/cmaes_soln/focus_atari_breakout/42531_2_smooth_2.pth'
prev_net_params_2 = json.loads(open(prev_net_params_path_2).read())
prev_model_2 = ModelFocusCNN(
image_shape=(84, 84),
net_params=prev_net_params_2,
)
prev_model_2.set_parameters(load_param(prev_weight_path_2))
prev_model = ModelCollectionDAG()
prev_model.add_model('model_1',
prev_model_1, [],
augment_fn=partial(util.remove_mean_batch,
nb_size=(3, 8)))
# train baseline: python add_edge.py --model-form raw --optimizer-form A2C --record-rollouts "data/random/" --train-edge "Action->Reward" --num-stack 4 --train --num-iters 1000000 --state-forms raw --state-names Paddle --changepoint-dir ./data/rawgraph/ --reward-form raw --lr 7e-4 --greedy-epsilon 0 --value-loss-coef 0.5 --optim RMSprop --behavior-policy esp --gamma 0.99 --init-form orth --factor 16 --num-layers 1 --warm-up 0 --log-interval 100 --entropy-coef .01 --normalize --reward-check 5 --changepoint-queue 5 --env AtariBreakoutNoFrameskip-v0 --gpu 3 --true-environment --lag-num 0 --post-transform-form linear --return-form value > a2c.txt
# python add_edge.py --model-form raw --optimizer-form PPO --record-rollouts "data/random/" --train-edge "Action->Reward" --num-stack 4 --train --num-iters 1000000 --state-forms raw --state-names Paddle --changepoint-dir ./data/rawgraph/ --reward-form raw --lr 2.5e-4 --greedy-epsilon 0 --gamma 0.99 --value-loss-coef 0.5 --optim RMSprop --init-form orth --factor 16 --num-layers 1 --warm-up 0 --log-interval 10 --entropy-coef .01 --normalize --reward-check 128 --changepoint-queue 128 --buffer-clip 128 --num-grad-states 32 --grad-epoch 4 --clip-param 0.1 --env AtariBreakoutNoFrameskip-v0 --gpu 2 --true-environment --lag-num 0 --post-transform-form linear --return-form normal > ataribaseline.txt
# Action->Gripper: python add_edge.py --env SelfPusher --true-environment --model-form basic --optimizer-form DQN --record-rollouts "data/pusherrandom/" --changepoint-dir data/fullpusher/ --train-edge "Action->Gripper" --num-stack 2 --train --num-iters 500 --save-dir data/pusheraction --state-forms bounds --state-names Gripper --frameskip 3 --init-form smalluni --save-models --save-graph data/fullpusher/Action-\>Gripper/ > ./pusher/action_gripper.txt
# Gripper->Block (touch): python add_edge.py --model-form vector --optimizer-form PPO --record-rollouts "data/extragripper/" --train-edge "Gripper->Block" --num-stack 1 --train --num-iters 1000 --state-forms prox bounds bounds --state-names Gripper Block Block --env SelfPusher --true-environment --base-node Action --changepoint-dir ./data/pushergraph/ --lr 7e-5 --behavior-policy esp --gamma .99 --init-form xnorm --num-layers 1 --reward-check 128 --changepoint-queue-len 128 --greedy-epsilon .001 --log-interval 10 --num-steps 1 --frameskip 3 --factor 16 --key-dim 2048 --num-grad-states 32 --return-form value --grad-epoch 8 --acti sin --save-dir ../datasets/caleb_data/blockvec --save-graph data/blockvec --save-models > blockvec.txt
# Pusher Baseline: python add_edge.py --model-form vector --optimizer-form PPO --record-rollouts "data/gripperdir/" --train-edge "Action->Reward" --num-stack 1 --train --num-iters 100000 --state-forms bounds bounds bounds prox prox --state-names Gripper Block Target Gripper__Block Block__Target --changepoint-dir ./data/rawgraph/ --true-environment --reward-form rawdist --lr 7e-4 --greedy-epsilon 0 --value-loss-coef 0.5 --init-form orth --behavior-policy esp --gamma .99 --num-layers 1 --reward-check 128 --changepoint-queue-len 128 --greedy-epsilon .001 --log-interval 10 --num-steps 1 --frameskip 3 --factor 16 --key-dim 2048 --num-grad-states 32 --return-form value --env SelfPusher --grad-epoch 8 --acti tanh --gpu 2 --frameskip 2 --normalize > pusherppo.txt
args = get_args()
torch.cuda.set_device(args.gpu)
# loading vision model
paddle_model_net_params_path = 'ObjectRecognition/net_params/attn_base.json'
# paddle_model_net_params_path = 'ObjectRecognition/net_params/attn_softmax.json'
net_params = json.loads(open(paddle_model_net_params_path).read())
params = load_param('results/cmaes_soln/focus_self/paddle.pth')
# params = load_param('ObjectRecognition/models/atari/paddle_bin_smooth.pth')
paddle_model = ModelFocusCNN(image_shape=(84, 84),
net_params=net_params,
binarize=0.000)
paddle_model.set_parameters(params)
# ball_model_net_params_path = 'ObjectRecognition/net_params/attn_base.json'
ball_model_net_params_path = 'ObjectRecognition/net_params/attn_softmax.json'
net_params = json.loads(open(ball_model_net_params_path).read())
params = load_param('results/cmaes_soln/focus_self/ball.pth')
# params = load_param('ObjectRecognition/models/atari/42531_2_smooth_3_2.pth')
ball_model = ModelFocusCNN(image_shape=(84, 84),
net_params=net_params,
binarize=0.0)
ball_model.set_parameters(params)
model = ModelCollectionDAG()
model.add_model('Paddle',
paddle_model, [],
augment_fn=util.RemoveMeanMemory(nb_size=(8, 8)))
- specify changepoint detector which fits the dynamic of the object
"""
if args.champ:
cpd = CHAMPDetector('premise->object', CHAMP_params)
else:
logger.info('using simple linear changepoint detector')
cpd = LinearCPD(np.pi / 4.0)
"""
Model Template & Constructor
"""
model = ModelCollectionDAG()
net_params = json.loads(open(args.net).read())
if args.model_type == 'focus':
train_model = ModelFocusCNN(
image_shape=dataset.frame_shape,
net_params=net_params,
use_prior=args.prior,
argmax_mode=args.argmax_mode,
)
elif args.model_type == 'attn':
train_model = ModelAttentionCNN(
image_shape=dataset.frame_shape,
net_params=net_params,
)
logger.info('loaded net_params %s' % (str(net_params)))
# boosting with trained models
if args.boost:
# a model to be boosted
b_net_params_path, b_weight_path = args.boost
b_net_params = json.loads(open(b_net_params_path).read())
b_params = load_param(b_weight_path)
# state-forms
# state-names
# Usage Example:
# add Action->Paddle: python add_edge.py --model-form basic --optimizer-form DQN --record-rollouts "data/random/" --train-edge "Action->Paddle" --num-stack 2 --train --num-iters 10000 --save-dir data/action --state-forms bounds --state-names Paddle
# Using tabular Action->Paddle: python add_edge.py --model-form tab --optimizer-form TabQ --record-rollouts "data/random/" --train-edge "Action->Paddle" --num-stack 1 --train --num-iters 10000 --save-dir data/action --state-forms bounds --state-names Paddle --num-update-model 1
# Action->Paddle: python add_edge.py --model-form basic --optimizer-form DQN --record-rollouts "data/random/" --train-edge "Action->Paddle" --changepoint-dir data/integrationgraph --num-stack 2 --factor 6 --train --num-iters 1000 --save-dir data/action --state-forms bounds --state-names Paddle --num-steps 1 --reward-check 5 --num-update-model 1 --greedy-epsilon .1 --lr 1e-2 --init-form smalluni --behavior-policy egr --grad-epoch 5 --entropy-coef .01 --value-loss-coef 0.5 --gamma .9 --save-models --save-dir data/integrationpaddle --save-graph data/intnetpaddle > integration/paddle.txt
# python add_edge.py --model-form population --optimizer-form CMAES --record-rollouts "data/integrationpaddle/" --train-edge "Paddle->Ball" --num-stack 1 --train --num-iters 30 --state-forms prox vel --state-names Paddle Ball --changepoint-dir ./data/integrationgraph/ --lr 5e-3 --behavior-policy esp --reward-form bounce --gamma .87 --init-form xuni --factor 8 --num-layers 1 --base-form basic --select-ratio .2 --num-population 10 --sample-duration 100 --sample-schedule 12 --warm-up 0 --log-interval 1 --scale 2 --reward-check 10 --save-models --save-dir data/integrationbounce > integration/ball.txt
args = get_args()
torch.cuda.set_device(args.gpu)
# loading vision model
paddle_model_net_params_path = 'ObjectRecognition/net_params/attn_base.json'
net_params = json.loads(open(paddle_model_net_params_path).read())
params = load_param('ObjectRecognition/models/paddle_bin_long_smooth_2.pth')
paddle_model = ModelFocusCNN(
image_shape=(84, 84),
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.RemoveMeanMemory(nb_size=(3, 9)))
model.add_model('Ball', ball_model, ['Paddle'])
####
'filter': 2,
'channel': [3, 1],
'kernel_size': [3, 5],
'stride': [1, 1],
'padding': [2, 4],
'activation_fn': ['ReLU', 'Tanh']
}
net_params_2 = {
'filter': 2,
'channel': [10, 1],
'kernel_size': [3, 5],
'stride': [1, 1],
'padding': [2, 4],
'activation_fn': ['ReLU6', 'Tanh']
}
model_1 = ModelFocusCNN((84, 84), net_params=net_params_1)
model_2 = ModelFocusCNN((84, 84), net_params=net_params_2)
model_boost = ModelFocusBoost(
LinearCPD(np.pi / 4),
model_1,
model_2,
train_flags=[True, False],
)
# parameters
print(model_boost.count_parameters())
ones = np.arange(model_boost.count_parameters())
model_boost.set_parameters(ones)
print(list(model_boost.parameters()))
# forward
use_prior=args.prior,
argmax_mode=args.argmax_mode,
)
save_path = util.get_dir(os.path.join(prefix, 'focus_img_%s'%model_id))
if plot_flags['plot_filter']:
plot_model_filter(r_model, save_path)
# boosting with trained models
if args.boost:
# partial ball model to be boosted
ball_model_id = 'results/cmaes_soln/focus_atari_breakout/42080_16.npy'
ball_net_params_text = open('objRecog/net_params/two_layer.json').read()
ball_net_params = json.loads(ball_net_params_text)
ball_params = load_param(ball_model_id)
ball_model = ModelFocusCNN(
image_shape=(84, 84),
net_params=ball_net_params,
)
ball_model.set_parameters(ball_params)
# boosting ensemble
r_model = ModelFocusBoost(
ball_model,
r_model,
train_flags=[False, True],
cp_detector=cpd,
)
model = ModelCollectionDAG()
if args.premise_path:
pmodel_weight_path = args.premise_path
pmodel_net_params_text = open(args.premise_net).read()
pmodel_net_params = json.loads(pmodel_net_params_text)
import numpy as np
import torch
from ObjectRecognition.model import ModelFocusCNN
net_params = {
'filter': 2,
'channel': [3, 1],
'kernel_size': [3, 5],
'stride': [1, 1],
'padding': [2, 4],
'activation_fn': ['ReLU', 'Tanh']
}
model = ModelFocusCNN((84, 84), net_params=net_params)
# forward
out = model.forward(torch.zeros([100, 1, 84, 84]))
print(out, out.shape)
# parameters
print(model.count_parameters())
ones = np.arange(model.count_parameters())
model.set_parameters(ones)
print(list(model.parameters()))
# action micp
micplosses = []
action_micploss = ActionMICPLoss(
game,
mi_match_coeff=1.0,
mi_diffs_coeff=0.2,
verbose=True,
)
# micplosses.append(action_micploss)
# premise loss
pmodel_net_params_path = 'ObjectRecognition/net_params/two_layer_5_5.json'
net_params = json.loads(open(pmodel_net_params_path).read())
params = load_param('results/cmaes_soln/focus_self/paddle_bin_long.npy')
pmodel = ModelFocusCNN(
image_shape=(84, 84),
net_params=net_params,
)
pmodel.set_parameters(params)
paddle_model = load_model('results/cmaes_soln/focus_self/paddle_bin.npy',
'ObjectRecognition/net_params/two_layer.json',
pmodel=pmodel)
ball_model = load_model('results/cmaes_soln/focus_self/ball_bin.npy',
'ObjectRecognition/net_params/two_layer.json',
pmodel=pmodel)
comp_model = load_model('results/cmaes_soln/focus_self/42068_40.npy',
'ObjectRecognition/net_params/two_layer.json',
pmodel=pmodel)
premise_micploss = PremiseMICPLoss(
game,
'premise',