def main(argv):
del argv
environment_name = FLAGS.environment_name
if environment_name is None:
print('\n '.join(['Available environments:'] + _ALL_NAMES))
environment_name = prompt_environment_name(
'Please select an environment name: ', _ALL_NAMES)
index = _ALL_NAMES.index(environment_name)
domain_name, task_name = (suite.ALL_TASKS + custom_suite.ALL_TASKS)[index]
task_kwargs = {}
if not FLAGS.timeout:
task_kwargs['time_limit'] = float('inf')
def loader():
try:
env = suite.load(domain_name=domain_name,
task_name=task_name,
task_kwargs=task_kwargs)
except ValueError:
task_kwargs['params'] = [0.25, 1.0, 8]
env = custom_suite.load(domain_name=domain_name,
task_name=task_name,
task_kwargs=task_kwargs)
env.task.visualize_reward = FLAGS.visualize_reward
if FLAGS.action_noise > 0:
env = action_noise.Wrapper(env, scale=FLAGS.action_noise)
return env
viewer.launch(loader)
def main(unused_argv):
# The viewer calls the environment_loader on episode resets. However the task
# cycles through one clip per episode. To avoid replaying the first clip again
# and again we construct the environment outside the viewer to make it
# persistent across resets.
env = mocap_playback_env()
viewer.launch(environment_loader=lambda: env)
def main(_):
if FLAGS.suite == 'dm_control':
logging.info('Loading from dm_control...')
env = suite.load(domain_name=FLAGS.domain_name, task_name=FLAGS.task_name)
elif FLAGS.suite == 'rwrl':
logging.info('Loading from rwrl...')
env = rwrl.load(domain_name=FLAGS.domain_name, task_name=FLAGS.task_name)
random_policy = RandomAgent(env.action_spec()).action
viewer.launch(env, policy=random_policy)
def main(argv):
if len(argv) > 1:
raise app.UsageError("Too many command-line arguments.")
viewer.launch(environment_loader=functools.partial(
soccer.load,
team_size=2,
walker_type=soccer.WalkerType[FLAGS.walker_type],
disable_walker_contacts=FLAGS.disable_walker_contacts,
enable_field_box=FLAGS.enable_field_box,
keep_aspect_ratio=True,
terminate_on_goal=FLAGS.terminate_on_goal))
def test_interact(self, model_path, random=False):
"""load trained parameters"""
if not random:
self._actor.load_state_dict(torch.load(model_path))
if self.benchmark == "dm_control":
if random:
def random_policy(time_step):
del time_step # Unused.
return np.random.uniform(
low=self._env.action_spec().minimum,
high=self._env.action_spec().maximum,
size=self._env.action_spec().shape)
viewer.launch(self._env, policy=random_policy)
else:
def source_policy(time_step):
s = None
for k, v in time_step.observation.items():
if s is None:
s = v.flatten()
else:
s = np.hstack([s, v])
s_3d = np.reshape(s, [1, self.state_dim])
mu, std = self._actor(torch.Tensor(s_3d).to(self.dev))
action = self._actor.get_action(mu, std)
return action
viewer.launch(self._env, policy=source_policy)
elif self.benchmark == "gym":
for ep in range(self.test_iter):
score = 0
done = False
state = self._env.reset()
state = np.reshape(state, [1, self.state_dim])
while not done:
mu, std = self._actor(torch.Tensor(state).to(self.dev))
action = self._actor.get_action(mu, std)
if random:
next_state, reward, done, info = self._env.step(
np.random.randn(self.action_dim))
else:
next_state, reward, done, info = self._env.step(action)
self._env.render()
score = self.gamma * score + reward
next_state = np.reshape(next_state, [1, self.state_dim])
state = next_state
print(f"test iter : {ep}\tscore : {score}")
def make_env(self, args=None, kwargs=None, dm_task_name=None):
"""Create dm_control/metaworld environment"""
if self.metaworld_env:
env = mtw_envs_rand[self.env_name](*args, **kwargs)
if debug_mode:
env._max_episode_steps = 10000
env.reset()
env.render()
global action_to_take
glfw.set_key_callback(env.unwrapped.viewer.window, on_press)
while True:
env.render()
if not np.array_equal(action_to_take, np.zeros(6)):
_, _, d, _ = env.step(action_to_take)
if d:
env.seed(args.seed)
env.reset()
env.render()
# Commenting this out makes the mocap faster but
# introduces some instabilities.
# action_to_take = np.zeros(6)
else:
camera_id = 2 if self.domain_name == 'quadruped' else 0
if dm_task_name is not None:
task_name = dm_task_name
else:
task_name = self.task_name
env = dmc2gym.make(domain_name=self.domain_name,
task_name=task_name,
seed=self.cfg.seed,
visualize_reward=False,
from_pixels=False,
height=self.cfg.image_size,
width=self.cfg.image_size,
frame_skip=self.cfg.action_repeat,
camera_id=camera_id)
if debug_mode:
from dm_control import viewer
viewer.launch(env)
env = FrameStack(env, k=self.cfg.frame_stack)
env.seed(self.cfg.seed)
return env
def main(argv):
del argv
environment_name = FLAGS.environment_name
all_names = list(manipulation.ALL)
if environment_name is None:
print('\n '.join(['Available environments:'] + all_names))
environment_name = prompt_environment_name(
'Please select an environment name: ', all_names)
loader = functools.partial(
manipulation.load, environment_name=environment_name)
viewer.launch(loader)
def build_and_test(model_path, config_key):
import dmc_wrapper
from dm_control import viewer
from rlpyt.utils.buffer import buffer_from_example, torchify_buffer, numpify_buffer
import torch
config = configs[config_key]
reloaded = torch.load(model_path) if len(model_path) > 0 else None
# import pdb; pdb.set_trace()
agent = MultiFfAgent(model_kwargs=config["model"],
initial_model_state_dict=reloaded['agent_state_dict'],
**config["agent"])
dm_env = maw.load(team_size=args.team_size,
time_limit=args.time_limit,
terrain=not args.no_hfield,
agent_type=args.agent_type,
deterministic_spawn=not args.random_spawn,
raise_exception_on_physics_error=False,
task_id=args.task_id)
env = GymEnvWrapper(dmc2gym.DmControlWrapper('', '', env=dm_env))
agent.initialize(env.spaces)
agent.reset()
# agent.eval_mode(0)
prev_action = env.action_space.null_value()
def get_prev_action():
return prev_action
def policy(time_step):
obs = dmc_wrapper.convertObservation(time_step.observation)
reward = time_step.reward
reward = np.asarray(reward) if reward is not None else reward
obs_pyt, act_pyt, rew_pyt = torchify_buffer(
(obs, get_prev_action(), reward))
# obs_pyt, rew_pyt = torchify_buffer((obs, reward))
act_pyt, agent_info = agent.step(obs_pyt.float(), act_pyt, rew_pyt)
# prev_action = act_pyt
return act_pyt
viewer.launch(dm_env, policy=policy)
def main(argv):
if len(argv) > 1:
raise app.UsageError('Too many command-line arguments.')
environment_name = FLAGS.environment_name
if environment_name == 'mujoban':
walker = walkers.JumpingBallWithHead(add_ears=True, camera_height=0.25)
arena = MujobanLevel(boxoban_level_generator)
task = Mujoban(walker=walker,
maze=arena,
control_timestep=CONTROL_TIMESTEP,
top_camera_height=64,
top_camera_width=48)
env = composer.Environment(time_limit=TIME_LIMIT,
task=task,
strip_singleton_obs_buffer_dim=True)
else:
env = functools.partial(board_games.load,
environment_name=environment_name)
viewer.launch(env)
def main(argv):
del argv
environment_name = FLAGS.environment_name
if environment_name is None:
print('\n '.join(['Available environments:'] + _ALL_NAMES))
environment_name = prompt_environment_name(
'Please select an environment name: ', _ALL_NAMES)
index = _ALL_NAMES.index(environment_name.lower())
domain_name, task_name = suite.ALL_TASKS[index]
task_kwargs = {}
if not FLAGS.timeout:
task_kwargs['time_limit'] = float('inf')
def loader():
env = suite.load(
domain_name=domain_name, task_name=task_name, task_kwargs=task_kwargs)
env.task.visualize_reward = FLAGS.visualize_reward
return env
viewer.launch(loader)
def __init__(self, seed, difficulty="easy", render=False):
self.seed = seed
self.env_name = "reacher"
self.env = suite.load(self.env_name,
difficulty,
visualize_reward=True,
task_kwargs={"random": seed})
self.render = render
# Debug logs
self.committed_actions = []
self.time_step = 0
if render:
viewer.launch(self.env)
MDP.__init__(self,
range(self.env.action_spec().minimum.shape[0]),
self._transition_func,
self._reward_func,
init_state=FixedReacherState(
self.env.reset().observation))
def visualize_trajectory(argv):
env = build_env(
reward_type=FLAGS.reward_type,
ghost_offset=1,
clip_name=FLAGS.clip_name,
start_step=FLAGS.start_step,
)
actions = np.load(FLAGS.load_actions_path)
analyze_trajectory(env, actions)
def policy(time_step):
global step
if time_step.first():
step = 0
else:
step += 1
if step < len(actions):
return actions[step]
else:
print('{} Out of actions - returning zeros'.format(step))
return np.zeros_like(actions[0])
viewer.launch(env, policy=policy)
state_dict = torch.load(dump, map_location="cpu")
policy = Actor(*state_dict["args"].tolist())
policy.load_state_dict(state_dict)
policy.eval()
@torch.no_grad()
def _policy(time_step):
state = np.concatenate(list(time_step.observation.values()))
state_tensor = torch.tensor(state, dtype=torch.float)
p = policy(state_tensor).numpy()
return np.clip(p, action_spec.minimum, action_spec.maximum)
return _policy
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--dump", type=str, default="dumps/model.pth")
parser.add_argument("--env",
nargs=2,
type=str,
default=["cartpole", "swingup"])
args = parser.parse_args()
env = suite.load(domain_name=args.env[0], task_name=args.env[1])
action_spec = env.action_spec()
policy = get_policy(args.dump, action_spec)
viewer.launch(env, policy)
def main():
env = suite.load(domain_name="quadruped", task_name="escape")
viewer.launch(environment_loader=env)
def main():
# viewer.launch(environment_loader=ant_run)
# viewer.launch(environment_loader=ant_run_long)
# viewer.launch(environment_loader=ant_run_walls)
viewer.launch(environment_loader=ant_run_gaps)
from dm_control import suite
from dm_control import viewer
import numpy as np
# Load one task:
env = suite.load(domain_name="quadruped", task_name="fetch")
# Iterate over a task set:
for domain_name, task_name in suite.BENCHMARKING:
env = suite.load(domain_name, task_name)
#viewer.launch(env)
# Step through an episode and print out reward, discount and observation.
action_spec = env.action_spec()
time_step = env.reset()
#while not time_step.last():
#viewer.launch(env)
all_actions=[]
while not time_step.last():
action = np.random.uniform(action_spec.minimum,
action_spec.maximum,
size=action_spec.shape)
time_step = env.step(action)
print(time_step.reward, time_step.discount, time_step.observation)
all_actions.append(action)
viewer.launch(env,all_actions)
viewer.launch(env)
#viewer.render()
# Define a linear control policy.
def linear_control_policy(time_step):
# State Variables
x_dot = time_step.observation['velocity'][0]
theta_dot = time_step.observation['velocity'][1]
x = time_step.observation['position'][0]
theta = np.arccos(time_step.observation['position'][1])
# Calculate Control Input
x_vec = np.array([[theta], [theta_dot], [x], [x_dot]])
u = np.matmul(-np.transpose(K), x_vec)
# Apply Control Input
time_step = env.step(u)
return u
# Launch the viewer application.
viewer.launch(env, policy=linear_control_policy)
# Save K
with open(f"K_{int(time.time())}.pickle", "wb") as f:
pickle.dump(K, f)
# Plotting
plt.plot([i for i in range(num_ep)], ep_rewards)
plt.ylabel(f"Episode Rewards")
plt.xlabel(f"Episode #")
plt.show()
def random_policy(time_step=None):
del time_step # Unused.
# print(env.action_spec().minimum,env.action_spec().maximum,env.action_spec().shape)
lo = -0.3 * np.ones((2, 1))
hig = 0.3 * np.ones((2, 1))
return np.random.uniform(low=lo, high=hig, size=(2, 1))
if __name__ == '__main__':
env = RopeEnv(use_visual_observation=False,
use_image_goal=False,
n_substeps=20)
viewer.launch(ViewerWrapper(env), policy=random_policy)
# env.reset()
# print(env.physics.named.model.body_pos)
# print(env.goal_state)
# print(env.physics.get_state())
# action = random_policy().squeeze()
action = np.ones((2, )) * 100
while True:
# print(env.physics.data.ctrl)
pixels, _, _, _ = env.step(action.squeeze())
pixels = pixels['observation']
pixels = pixels / 255.0
pixels = pixels[:, :, ::-1] # BGR to RGB
print(action)
# Get new Discrete Step
new_discrete_state = get_discrete_state(observations)
if time_step.discount is None:
done = True
if not done:
max_future_q = np.max(q_table[new_discrete_state])
current_q = q_table[discrete_state + (action, )]
new_q = (1 - Learning_Rate) * current_q + Learning_Rate * (
time_step.reward + Discount * max_future_q)
q_table[discrete_state + (action, )] = new_q
discrete_state = new_discrete_state
# Print the Results of the Action
print("reward = {}, discount = {}, observations = {}.".format(
time_step.reward, time_step.discount, time_step.observation))
return action
plt.plot(aggr_ep_rewards['ep'], aggr_ep_rewards['avg'], Label="avg")
plt.plot(aggr_ep_rewards['ep'], aggr_ep_rewards['min'], Label="min")
plt.plot(aggr_ep_rewards['ep'], aggr_ep_rewards['max'], Label="max")
plt.legend(loc=4)
plt.show()
# Launch the viewer application.
viewer.launch(env, policy=random_action_policy)
def view_render(env, agent):
def random_policy(time_step):
return agent.get_best_action(get_state(time_step.observation))
viewer.launch(env.env, policy=random_policy)
def create_model(self):
model = Sequential()
model.add(Conv2D(256, (3,3), input_shape=OBSERVATION_SPACE_VALUES))
model.add(Activation("relu")
model.add(MaxPooling2D(2,2))
model.add(Dropout(0.2))
model.add(Conv2D(256, (3,3)))
model.add(Activation("relu")
model.add(MaxPooling2D(2,2))
model.add(Dropout(0.2))
model.add(Flatten())
model.add(Dense(64))
model.Dense(ACTION_SPACE_SIZE, activation="linear")
model.compile(Loss="mse", optimizer=Adam(Lr=0.001), metrics=['accuracy'])
return model
def update_replay_memory(self, transition)
self.replay_memory.append(transition)
def get_qs(self, terminal_state, step)
return self.model_predict(np.array(state).reshape(-1, *state.shape)/255)[0] # -- Probably change this (I believe this is to reshape q value)
def train(self, terminal_state, step)
if len(self.replay_memory) < MIN_REPLAY_MEMORY_SIZE:
return
minibatch = random.sample(self.replay_memory, MINIBATCH_SIZE)
current_states = np.array([transition[0] for transition in minibatch])/255
current_qs_list = self.model.predict(current_states)
new_current_states = np.array([transition[3] for transition in minibatch])/255
future_qs_list = self.target_model.predict(new_current_states)
X = []
y = []
for index, (current_state, action, reward, new_current_state, done) in enumerate(minibatch):
if not done:
max_future_q = np.max(future_qs_list[index])
new_q = reward + DISCOUNT * max_future_q
else:
new_q = reward
current_qs = current_qs_list[index]
current_qs[action] = new_q
X.append(current_state)
y.append(current_qs)
self.model.fit(np.array(X)/255, np.array(y), batch_size = MINIBATCH_SIZE, verbose = 0, shuffle=False, callbacks = [self.tensorboard] if terminal_state else None)
if terminal_state:
self.target_update_counter += 1
if self.target_update_counter > UPDATE_TARGET_EVERY:
self.target_model.set_weights(self.model.get_weights())
self.target_update_counter = 0
# Start DQN
agent = DQNAgent()
# Set up Environment
env = suite.load(domain_name="cartpole", task_name="balance_sparse")
initial_values = env.reset()
# Recording Performance
ep_rewards = []
aggr_ep_rewards = {'ep': [], 'avg': [], 'min': [], 'max': []}
for episode in tqdm(range(1, EPISODES+1), ascii=True, unit-"episode"):
agent.tensorboard.step = episode
episode_reward = 0
step = 1
time_step = env.reset()
current_state = np.concatenate((time_step.observation['position'],time_step.observation['velocity']))
while not done:
# Decide if taking a random action w/ epsilon
if np.random.random() > epsilon:
action = np.argmax(agent.get_qs(current_state))
else:
action = np.random.randint(0, ACTION_SPACE_SIZE)
# Perform the Action in the Environment
time_step = env.step(action)
reward = time_step.reward
new_state = np.concatenate((time_step.observation['position'],time_step.observation['velocity']))
if time_step.discount is None:
done = True
if not done:
episode_reward += time_step.reward
agent.update_replay_memory((current_state, action, reward, new_state, done))
agent.train(done, step)
current_state = new_state
step += 1
if END_EPSILON_DECAYING >= episode >= START_EPSILON_DECAYING:
epsilon -= epsilon_decay_value
ep_rewards.append(episode_reward)
if not episode % SHOW_EVERY:
average_reward = sum(ep_rewards[-SHOW_EVERY:])/len(ep_rewards[-SHOW_EVERY:])
aggr_ep_rewards['ep'].append(episode)
aggr_ep_rewards['avg'].append(average_reward)
aggr_ep_rewards['min'].append(min(ep_rewards[-SHOW_EVERY:]))
aggr_ep_rewards['max'].append(max(ep_rewards[-SHOW_EVERY:]))
# Set up Environment
env = suite.load(domain_name="cartpole", task_name="balance_sparse")
initial_values = env.reset()
# Get Possible Actions for Environment
action_spec = env.action_spec()
# Initialize Q Table
initial_observations = np.concatenate((initial_values.observation['position'],initial_values.observation['velocity']))
DISCRETE_OS_SIZE = np.array([30] * len(initial_observations))
guess_high_observation = 1.5
guess_low_observation = -1.5
discrete_os_win_size = np.array(([guess_high_observation - guess_low_observation] * 5)) / DISCRETE_OS_SIZE
action_space = np.array([50])
# Parameters
Learning_Rate = 0.1
Discount = 0.99
Episodes = 10000
SHOW_EVERY = 50
epsilon = 0.5
START_EPSILON_DECAYING = 1
END_EPSILON_DECAYING = Episodes // 1.5 # // Ensures no float
epsilon_decay_value = epsilon/(END_EPSILON_DECAYING - START_EPSILON_DECAYING)
q_table = np.random.uniform(low=-1,high=1,size=(np.concatenate((DISCRETE_OS_SIZE, action_space))))
# Recording Performance
ep_rewards = []
aggr_ep_rewards = {'ep': [], 'avg': [], 'min': [], 'max': []}
# Discretize State
def get_discrete_state(state):
discrete_state = (state - [guess_low_observation,guess_low_observation,guess_low_observation,guess_low_observation,guess_low_observation]) * discrete_os_win_size
return tuple(discrete_state.astype(np.int))
discrete_state = get_discrete_state(initial_observations)
#print(q_table[discrete_state])
# Go through Episodes for Training
for episode in range(Episodes):
done = False
episode_reward = 0.0
if episode % SHOW_EVERY == 0:
print(episode)
# Reset Environment
initial_values = env.reset()
initial_observations = np.concatenate((initial_values.observation['position'],initial_values.observation['velocity']))
discrete_state = get_discrete_state(initial_observations)
while not done:
# Take a Action within the range of Actions and correct size
if np.random.random() > epsilon:
action = np.argmax(q_table[discrete_state])
action_take = (action/25)-1
else:
action = np.random.randint(0,50)
action_take = (action/25)-1
# Perform the Action in the Environment
time_step = env.step(action_take)
observations = np.concatenate((time_step.observation['position'],time_step.observation['velocity']))
# Get new Discrete Step
new_discrete_state = get_discrete_state(observations)
if time_step.discount is None:
done = True
if not done:
max_future_q = np.max(q_table[new_discrete_state])
current_q = q_table[discrete_state + (action, )]
new_q = (1-Learning_Rate) * current_q + Learning_Rate * (time_step.reward + Discount * max_future_q)
q_table[discrete_state + (action, )] = new_q
episode_reward += time_step.reward
discrete_state = new_discrete_state
if END_EPSILON_DECAYING >= episode >= START_EPSILON_DECAYING:
epsilon -= epsilon_decay_value
ep_rewards.append(episode_reward)
if not episode % SHOW_EVERY:
average_reward = sum(ep_rewards[-SHOW_EVERY:])/len(ep_rewards[-SHOW_EVERY:])
aggr_ep_rewards['ep'].append(episode)
aggr_ep_rewards['avg'].append(average_reward)
aggr_ep_rewards['min'].append(min(ep_rewards[-SHOW_EVERY:]))
aggr_ep_rewards['max'].append(max(ep_rewards[-SHOW_EVERY:]))
# Reset Environment
initial_values = env.reset()
initial_observations = np.concatenate((initial_values.observation['position'],initial_values.observation['velocity']))
discrete_state = get_discrete_state(initial_observations)
done = False
# Define a uniform random policy.
def random_action_policy(time_step, done = False, discrete_state = get_discrete_state(initial_observations)):
# Take a Action within the range of Actions and correct size
action = np.argmax(q_table[discrete_state])
# Perform the Action in the Environment
time_step = env.step(action)
observations = np.concatenate((time_step.observation['position'],time_step.observation['velocity']))
# Get new Discrete Step
new_discrete_state = get_discrete_state(observations)
if time_step.discount is None:
done = True
if not done:
max_future_q = np.max(q_table[new_discrete_state])
current_q = q_table[discrete_state + (action, )]
new_q = (1-Learning_Rate) * current_q + Learning_Rate * (time_step.reward + Discount * max_future_q)
q_table[discrete_state + (action, )] = new_q
discrete_state = new_discrete_state
# Print the Results of the Action
print("reward = {}, discount = {}, observations = {}.".format(
time_step.reward, time_step.discount, time_step.observation))
return action
plt.plot(aggr_ep_rewards['ep'], aggr_ep_rewards['avg'], Label = "avg")
plt.plot(aggr_ep_rewards['ep'], aggr_ep_rewards['min'], Label = "min")
plt.plot(aggr_ep_rewards['ep'], aggr_ep_rewards['max'], Label = "max")
plt.legend(loc=4)
plt.show()
# Launch the viewer application.
viewer.launch(env, policy=random_action_policy)
def play_control_suite(agent, environment):
'''Launches an agent in a DeepMind Control Suite-based environment.'''
from dm_control import viewer
class Wrapper:
'''Wrapper used to plug a Tonic environment in a dm_control viewer.'''
def __init__(self, environment):
self.environment = environment
self.unwrapped = environment.unwrapped
self.action_spec = self.unwrapped.environment.action_spec
self.physics = self.unwrapped.environment.physics
self.infos = None
self.episodes = 0
def reset(self):
'''Mimics a dm_control reset for the viewer.'''
self.observations = self.environment.reset()[None]
self.score = 0
self.length = 0
return self.unwrapped.last_time_step
def step(self, actions):
'''Mimics a dm_control step for the viewer.'''
ob, rew, term, _ = self.environment.step(actions)
self.score += rew
self.length += 1
timeout = self.length == self.environment.max_episode_steps
done = term or timeout
if done:
print()
self.episodes += 1
print('Episodes:', self.episodes)
print('Score:', self.score)
print('Length:', self.length)
self.observations = ob[None]
self.infos = dict(observations=ob[None],
rewards=np.array([rew]),
resets=np.array([done]),
terminations=[term])
return self.unwrapped.last_time_step
# Wrap the environment for the viewer.
environment = Wrapper(environment)
def policy(timestep):
'''Mimics a dm_control policy for the viewer.'''
if environment.infos is not None:
agent.test_update(**environment.infos)
return agent.test_step(environment.observations)
# Launch the viewer with the wrapped environment and policy.
viewer.launch(environment, policy)
def main(unused_argv): viewer.launch(environment_loader=basic_cmu_2019.cmu_humanoid_run_gaps)
def main():
args = parse_args()
if not (bool(args.viewer) ^ bool(args.save_path)):
raise Exception("you need to provide --viewer xor --save-dir "
"arguments for this to do anything useful :)")
if args.threads is not None:
torch.set_num_threads(args.threads)
# TODO: The next few calls are copy-pasted out of train.py. Consider
# refactoring so that you don't have to copy-paste (otoh not very important
# since this code only needs to be run once)
if torch.cuda.is_available():
dev = torch.device('cuda')
else:
dev = torch.device('cpu')
pre_transform_image_size = args.pre_transform_image_size if 'crop' \
in args.data_augs else args.image_size
env = dmc2gym.make(
domain_name=args.domain_name,
task_name=args.task_name,
seed=args.seed,
visualize_reward=False,
from_pixels=(args.encoder_type == 'pixel'),
height=pre_transform_image_size,
width=pre_transform_image_size,
frame_skip=args.action_repeat)
env.seed(args.seed)
action_shape = env.action_space.shape
obs_shape = (3 * args.frame_stack, args.image_size, args.image_size)
agent = RadSacAgent(
obs_shape=obs_shape,
action_shape=action_shape,
device=dev,
hidden_dim=args.hidden_dim,
encoder_type=args.encoder_type,
encoder_feature_dim=args.encoder_feature_dim,
num_layers=args.num_layers,
num_filters=args.num_filters,
latent_dim=args.latent_dim,
data_augs=args.data_augs, )
agent.load_ac(actor_path=args.actor_path)
if args.viewer:
dmc_env = unwrap(env)
frames = collections.deque(maxlen=args.frame_stack or 1)
def loaded_policy(time_step):
# time_step just contains joint angles; we want image observation
obs = env.env._get_obs(time_step)
frames.append(obs)
while len(frames) < frames.maxlen:
# for init
frames.append(obs)
stacked_obs = np.concatenate(frames, axis=0) / 255.
return agent.sample_action(stacked_obs)
viewer.launch(dmc_env, policy=loaded_policy)
return # done
# otherwise, we need to save a bunch of imitation.data.TrajectoryWithRew
# instance to some directory somewhere…
all_traj = []
for t in range(args.ntraj):
traj = sample_traj_stacked(env, agent,
frame_stack=args.frame_stack or 1)
all_traj.append(traj)
# for now I'm just going to save all trajectories in one file
print(f"Saving to '{args.save_path}'")
save_compressed_pickle(all_traj, args.save_path)
env.close()
from dm_control import composer
from dm_control.locomotion.examples import basic_cmu_2019
from dm_control import viewer
import numpy as np
# Build an example environment.
env = basic_cmu_2019.cmu_humanoid_run_walls()
viewer.launch(environment_loader=basic_cmu_2019.cmu_humanoid_run_walls)
action_spec = env.action_spec()
# Step through the environment for one episode with random actions.
time_step = env.reset()
while not time_step.last():
action = np.random.uniform(action_spec.minimum, action_spec.maximum,
size=action_spec.shape)
time_step = env.step(action)
print("reward = {}, discount = {}, observations = {}.".format(
time_step.reward, time_step.discount, time_step.observation))
#viewer.launch(environment_loader=basic_cmu_2019.cmu_humanoid_run_walls)
from lib.dm_control import suite # This hack is so that we can define and use our own envs
from dm_control import viewer
import numpy as np
env = suite.load(domain_name="humanoid_CMU", task_name="stand")
action_spec = env.action_spec()
# Define a uniform random policy.
def random_policy(time_step):
del time_step # Unused.
return np.random.uniform(low=action_spec.minimum,
high=action_spec.maximum,
size=action_spec.shape)
# Launch the viewer application.
viewer.launch(env, policy=None, width=1024, height=768)
def main(unused_argv):
viewer.launch(environment_loader=TASKS[FLAGS.task])
def main(argv):
if len(argv) > 1:
raise app.UsageError('Too many command-line arguments.')
viewer.launch(
environment_loader=functools.partial(soccer.load, team_size=2))
from optimal_agents.morphology import Morphology
from optimal_agents.morphology import random2d
from optimal_agents.envs.dm_control_env import dm_control_test_env
from optimal_agents.morphology import arenas
global_kwargs = {"option.timestep": 0.01}
geom_kwargs = {
"contype": 1,
"conaffinity": 1,
"condim": 3,
"friction": [0.4, 0.1, 0.1],
}
joint_kwargs = {"damping": 2, "armature": 0.1, "stiffness": 20}
morphology = random2d(mutation_kwargs={})
env = dm_control_test_env(morphology, arena=arenas.GM_Terrain())
action_spec = env.action_spec()
def random_policy(time_step):
del time_step # Unused.
return np.random.uniform(low=action_spec.minimum,
high=action_spec.maximum,
size=action_spec.shape)
viewer.launch(env, policy=random_policy)
from dm_control import suite from dm_control import viewer # Load an environment from the Control Suite. env = suite.load(domain_name="humanoid", task_name="stand") # Launch the viewer application. viewer.launch(env)