def make_exp(env_pairs,
cfg=None,
nor_diff={}, src_diff={}, tgt_diff={},
path='phd/dov', prefix=('dov',),
nor_ex_names=(),
src_ex_names=(),
tgt_ex_names=()):
nor_diff = copy.deepcopy(nor_diff)
src_diff = copy.deepcopy(src_diff)
tgt_diff = copy.deepcopy(tgt_diff)
trio_exps = []
for src_env_name, tgt_env_name in env_pairs:
# no reuse experiment confs
nor_exps = []
if len(nor_ex_names) == 0:
nor_exps.append(None)
# else
for nor_ex_name in nor_ex_names:
nor_cfg_i = cfg._deepcopy()
nor_cfg_i.exploration.explorer._update(exs.catalog[nor_ex_name], overwrite=False)
nor_cfg_i.exploration.env._update(envs.catalog[tgt_env_name], overwrite=False)
nor_cfg_i.exploration.seeds = factored.src_seeds
nor_cfg_i._update(nor_diff, overwrite=True)
nor_cfg_i.exploration.ex_name = nor_ex_name
nor_cfg_i.exploration.env_name = tgt_env_name
nor_exps.append(nor_cfg_i)
# source experiment confs
norsrc_exps = []
for nor_cfg_i in nor_exps:
if len(src_ex_names) == 0:
norsrc_exps.append((nor_cfg_i, None))
# else
for src_ex_name in src_ex_names:
src_cfg_i = cfg._deepcopy()
src_cfg_i.exploration.explorer._update(exs.catalog[src_ex_name], overwrite=False)
src_cfg_i.exploration.env._update(envs.catalog[src_env_name], overwrite=False)
src_cfg_i.exploration.seeds = factored.src_seeds
src_cfg_i._update(src_diff, overwrite=True)
src_cfg_i.exploration.ex_name = src_ex_name
src_cfg_i.exploration.env_name = src_env_name
norsrc_exps.append((nor_cfg_i, src_cfg_i))
# target experiment confs
for nor_cfg_i, src_cfg_i in norsrc_exps:
if len(tgt_ex_names) == 0:
trio_exps.append((nor_cfg_i, src_cfg_i, None))
# else
for tgt_ex_name in tgt_ex_names:
tgt_cfg_i = cfg._deepcopy()
tgt_cfg_i.exploration.explorer._update(exs.catalog[tgt_ex_name], overwrite=False)
tgt_cfg_i.exploration.env._update(envs.catalog[tgt_env_name], overwrite=False)
tgt_cfg_i.exploration.seeds = factored.tgt_seeds
tgt_cfg_i.exploration.deps = (experiments.expkey(src_cfg_i),)
tgt_cfg_i._update(tgt_diff, overwrite=True)
tgt_cfg_i.exp.prefix = tuple(tgt_cfg_i.exp.prefix) + (src_cfg_i.exploration.ex_name, src_cfg_i.exploration.env_name)
tgt_cfg_i.exploration.ex_name = tgt_ex_name
tgt_cfg_i.exploration.env_name = tgt_env_name
trio_exps.append((nor_cfg_i, src_cfg_i, tgt_cfg_i))
return trio_exps
r_ex = explorers.MetaExplorer.defcfg._deepcopy()
r_ex.eras = (mb, None)
r_ex.weights = ((1-p_reuse, 0.0, p_reuse), (0.0, 1.0, 0.0))
r_ex.ex_0 = explorers.RandomMotorExplorer.defcfg._deepcopy()
r_ex.ex_1 = explorers.RandomGoalExplorer.defcfg._deepcopy()
r_ex.ex_1.learner = learners.MutateNNLearner.defcfg._deepcopy()
r_ex.ex_1.learner.operator.name = 'uniform'
r_ex.ex_1.learner.operator.d = 0.05
r_ex.ex_2 = explorers.ReuseExplorer.defcfg._deepcopy()
r_ex.ex_2.reuse.res = res
r_ex.ex_2.reuse.algorithm = algorithm
alg_str = '' if algorithm == 'sensor_uniform' else '.' + algorithm
return 'reuse{}_{}_{}_{}_{}'.format(alg_str, mb, p_reuse, res, lrn_name), r_ex
tgt_cfg = cfg._deepcopy()
tgt_cfg.exp.path = 'unit_tests/'
tgt_cfg.exploration.ex_name, tgt_cfg.exploration.explorer = reuse_ex(50, 0.5)
tgt_cfg.exploration.deps = (experiments.expkey(cfg),)
tgt_cfg.exp.prefix = ('prefix2',) #, 'random.motor', 'kin7_150')
if __name__ == '__main__':
experiments.run_exps([cfg, tgt_cfg])
r_ex = explorers.MetaExplorer.defcfg._deepcopy()
r_ex.eras = (mb, None)
r_ex.weights = ((1 - p_reuse, 0.0, p_reuse), (0.0, 1.0, 0.0))
r_ex.ex_0 = explorers.RandomMotorExplorer.defcfg._deepcopy()
r_ex.ex_1 = explorers.RandomGoalExplorer.defcfg._deepcopy()
r_ex.ex_1.learner = learners.MutateNNLearner.defcfg._deepcopy()
r_ex.ex_1.learner.operator.name = 'uniform'
r_ex.ex_1.learner.operator.d = 0.05
r_ex.ex_2 = explorers.ReuseExplorer.defcfg._deepcopy()
r_ex.ex_2.reuse.res = res
r_ex.ex_2.reuse.algorithm = algorithm
alg_str = '' if algorithm == 'sensor_uniform' else '.' + algorithm
return 'reuse{}_{}_{}_{}_{}'.format(alg_str, mb, p_reuse, res,
lrn_name), r_ex
tgt_cfg = cfg._deepcopy()
tgt_cfg.exp.path = 'unit_tests/'
tgt_cfg.exploration.ex_name, tgt_cfg.exploration.explorer = reuse_ex(50, 0.5)
tgt_cfg.exploration.deps = (experiments.expkey(cfg), )
tgt_cfg.exp.prefix = ('prefix2', ) #, 'random.motor', 'kin7_150')
if __name__ == '__main__':
experiments.run_exps([cfg, tgt_cfg])