def main(params):
config = vars(parser.parse_args())
# env = gym.make(config['env'])
env = make_env(config['env'])
env.seed(seed)
agent = PPO(env, cfg['agent'])
tag = params['tag']
# Initiate the tracker for stats
tracker = Tracker(
config['env'], #env.unwrapped.spec.id,
tag,
seed,
cfg['agent'],
['Epoch', 'Ep_Reward', 'Cost'])
# Train the agent
agent.train(tracker,
n_episodes=config['epochs'],
n_step=config['stepmax'],
verbose=config['verbose'],
params=cfg['agent'],
hyperp=config)
def _thunk():
env = make_env(
cube_goal_pose=goal_dict,
goal_difficulty=goal_difficulty,
action_space=action_space,
frameskip=frameskip,
sim=sim,
visualization=visualization,
reward_fn=reward_fn,
termination_fn=termination_fn,
initializer=initializer,
episode_length=10 *
episode_length, # make this long enough to ensure that we have "episode_length" steps in the residual_state.
rank=rank,
monitor=monitor,
)
if domain_randomization:
env = RandomizedEnvWrapper(env)
env = ResidualWrapper(env,
state_machine,
frameskip,
max_torque,
residual_state,
max_length=episode_length)
env = EpisodeInfo(env)
env.seed(seed + rank)
return env
def init(env_name, args, final_init=True):
if env_name == 'levers':
env = gym.make('Levers-v0')
env.multi_agent_init(args.total_agents, args.nagents)
env = GymWrapper(env)
elif env_name == 'number_pairs':
env = gym.make('NumberPairs-v0')
m = args.max_message
env.multi_agent_init(args.nagents, m)
env = GymWrapper(env)
elif env_name == 'predator_prey':
env = gym.make('PredatorPrey-v0')
if args.display:
env.init_curses()
env.multi_agent_init(args)
env = GymWrapper(env)
elif env_name == 'traffic_junction':
from ic3net_envs.ic3net_envs.traffic_junction_env import TrafficJunctionEnv
env = TrafficJunctionEnv()
#env = gym.make('TrafficJunction-v0')
if args.display:
env.init_curses()
env.multi_agent_init(args)
env = GymWrapper(env)
elif env_name == 'starcraft':
env = gym.make('StarCraftWrapper-v0')
env.multi_agent_init(args, final_init)
env = GymWrapper(env.env)
elif env_name == 'simple_tag':
env = make_env(env_name, args)
env = EnvWrapper(env)
elif env_name == 'simple_spread':
env = make_env(env_name, args)
env = EnvWrapper(env)
else:
raise RuntimeError("wrong env name")
return env
def _init_env(goal_pose_dict, difficulty):
eval_config = {
'action_space': 'torque_and_position',
'frameskip': 3,
'reward_fn': 'competition_reward',
'termination_fn': 'no_termination',
'initializer': 'random_init',
'monitor': False,
'visualization': True,
'sim': True,
'rank': 0
}
set_seed(0)
env = make_env(goal_pose_dict, difficulty, **eval_config)
return env
def _init_env(goal_pose_json, difficulty, path=None):
eval_config = {
'action_space': 'torque_and_position',
'frameskip': 3,
'reward_fn': 'competition_reward',
'termination_fn': 'no_termination',
'initializer': 'bo_init',
'monitor': False,
'visualization': False,
'sim': True,
'rank': 0,
'episode_length': EPISODE_LEN_SIM
}
set_seed(0)
goal_pose_dict = json.loads(goal_pose_json)
env = make_env(goal_pose_dict, difficulty, path=path, **eval_config)
return env
def main(args):
env = make_env(args.scenario)
n_agents = env.n
n_actions = env.world.dim_p
# env = ActionNormalizedEnv(env)
# env = ObsEnv(env)
n_states = env.observation_space[0].shape[0]
torch.manual_seed(args.seed)
if args.tensorboard and args.mode == "train":
writer = SummaryWriter(log_dir='runs/' + args.algo + "/" +
args.log_dir)
if args.algo == "bicnet":
model = BiCNet(n_states, n_actions, n_agents, args)
if args.algo == "commnet":
model = CommNet(n_states, n_actions, n_agents, args)
if args.algo == "maddpg":
model = MADDPG(n_states, n_actions, n_agents, args)
print(model)
model.load_model()
episode = 0
total_step = 0
while episode < args.max_episodes:
state = env.reset()
episode += 1
step = 0
accum_reward = 0
rewardA = 0
rewardB = 0
rewardC = 0
while True:
if args.mode == "train":
action = model.choose_action(state, noisy=True)
next_state, reward, done, info = env.step(action)
step += 1
total_step += 1
reward = np.array(reward)
rew1 = reward_from_state(next_state)
reward = rew1 + (np.array(reward, dtype=np.float32) / 100.)
accum_reward += sum(reward)
rewardA += reward[0]
rewardB += reward[1]
rewardC += reward[2]
if args.algo == "maddpg" or args.algo == "commnet":
obs = torch.from_numpy(np.stack(state)).float().to(device)
obs_ = torch.from_numpy(
np.stack(next_state)).float().to(device)
if step != args.episode_length - 1:
next_obs = obs_
else:
next_obs = None
rw_tensor = torch.FloatTensor(reward).to(device)
ac_tensor = torch.FloatTensor(action).to(device)
if args.algo == "commnet" and next_obs is not None:
model.memory.push(obs.data, ac_tensor, next_obs,
rw_tensor)
if args.algo == "maddpg":
model.memory.push(obs.data, ac_tensor, next_obs,
rw_tensor)
obs = next_obs
else:
model.memory(state, action, reward, next_state, done)
state = next_state
if args.episode_length < step or (True in done):
c_loss, a_loss = model.update(episode)
print("[Episode %05d] reward %6.4f" %
(episode, accum_reward))
if args.tensorboard:
writer.add_scalar(tag='agent/reward',
global_step=episode,
scalar_value=accum_reward.item())
writer.add_scalar(tag='agent/reward_0',
global_step=episode,
scalar_value=rewardA.item())
writer.add_scalar(tag='agent/reward_1',
global_step=episode,
scalar_value=rewardB.item())
writer.add_scalar(tag='agent/reward_2',
global_step=episode,
scalar_value=rewardC.item())
if c_loss and a_loss:
writer.add_scalars('agent/loss',
global_step=episode,
tag_scalar_dict={
'actor': a_loss,
'critic': c_loss
})
if c_loss and a_loss:
print(" a_loss %3.2f c_loss %3.2f" % (a_loss, c_loss),
end='')
if episode % args.save_interval == 0 and args.mode == "train":
model.save_model(episode)
env.reset()
# model.reset()
break
elif args.mode == "eval":
action = model.choose_action(state, noisy=False)
next_state, reward, done, info = env.step(action)
step += 1
total_step += 1
state = next_state
reward = np.array(reward)
import time
time.sleep(0.02)
env.render()
rew1 = reward_from_state(next_state)
reward = rew1 + (np.array(reward, dtype=np.float32) / 100.)
accum_reward += sum(reward)
rewardA += reward[0]
rewardB += reward[1]
rewardC += reward[2]
if args.episode_length < step or (True in done):
print("[Episode %05d] reward %6.4f " %
(episode, accum_reward))
env.reset()
break
if args.tensorboard:
writer.close()
path = Path(cube_path, joint_conf_path, tip_path, grasp)
path.set_min_height(self.env, path_min_height)
return path
if __name__ == '__main__':
from trifinger_simulation.tasks import move_cube
from env.make_env import make_env
reward_fn = 'competition_reward'
termination_fn = 'position_close_to_goal'
initializer = 'small_rot_init'
env = make_env(move_cube.sample_goal(-1).to_dict(),
4,
reward_fn=reward_fn,
termination_fn=termination_fn,
initializer=initializer,
action_space='position',
sim=True,
visualization=True)
for i in range(1):
obs = env.reset()
pos = obs["object_position"]
quat = obs["object_orientation"]
goal_pos = obs["goal_object_position"]
goal_quat = obs["goal_object_orientation"]
planner = WholeBodyPlanner(env)
path = planner.plan(pos,
quat,
goal_pos,
def main(args):
env = make_env('simple_spread')
# env = make_env('simple')
# env = gym.make('Pendulum-v0')
env = ActionNormalizedEnv(env)
env = ObsEnv(env)
kwargs = dict()
kwargs['config'] = args
torch.manual_seed(args.seed)
if args.tensorboard:
writer = SummaryWriter(log_dir='runs/'+args.log_dir)
model = BiCNet(14, 2, 3, **kwargs)
# model = BiCNet(4, 2, 1, **kwargs)
episode = 0
total_step = 0
while episode < args.max_episodes:
state = env.reset()
episode += 1
step = 0
accum_reward = 0
rewardA = 0
rewardB = 0
rewardC = 0
prev_reward = np.zeros((3), dtype=np.float32)
while True:
# action = agent.random_action()
if episode > args.warmup:
action = model.choose_action(state, noisy=True)
else:
action = model.random_action()
next_state, reward, done, info = env.step(action)
step += 1
total_step += 1
reward = np.array(reward)
'''KeyboardInterrupt
Reward Shaping
- Distance to landmarks
'''
rew1 = reward_from_state(next_state)
#if step % 5 == 0:
# rew1 -= 0.1
reward = rew1 + (np.array(reward, dtype=np.float32) / 100.)
accum_reward += sum(reward)
rewardA += reward[0]
rewardB += reward[1]
rewardC += reward[2]
if args.render and episode % 100 == 0:
env.render(mode='rgb_array')
model.memory(state, action, reward, next_state, done)
state = next_state
if len(model.replay_buffer) >= args.batch_size and total_step % args.steps_per_update == 0:
model.prep_train()
model.train()
model.prep_eval()
if args.episode_length < step or (True in done):
c_loss, a_loss = model.get_loss()
action_std = model.get_action_std()
print("[Episode %05d] reward %6.4f eps %.4f" % (episode, accum_reward, model.epsilon), end='')
if args.tensorboard:
writer.add_scalar(tag='agent/reward', global_step=episode, scalar_value=accum_reward.item())
writer.add_scalar(tag='agent/reward_0', global_step=episode, scalar_value=rewardA.item())
writer.add_scalar(tag='agent/reward_1', global_step=episode, scalar_value=rewardB.item())
writer.add_scalar(tag='agent/reward_2', global_step=episode, scalar_value=rewardC.item())
writer.add_scalar(tag='agent/epsilon', global_step=episode, scalar_value=model.epsilon)
if c_loss and a_loss:
writer.add_scalars('agent/loss', global_step=episode, tag_scalar_dict={'actor':a_loss, 'critic':c_loss})
if action_std:
writer.add_scalar(tag='agent/action_std', global_step=episode, scalar_value=action_std)
if c_loss and a_loss:
print(" a_loss %3.2f c_loss %3.2f" % (a_loss, c_loss), end='')
if action_std:
print(" action_std %3.2f" % (action_std), end='')
print()
env.reset()
model.reset()
break
if args.tensorboard:
writer.close()
