def main(config):
set_seed(config['seed'])
#experiment_log_dir = setup_logger(config['env'], variant=config, exp_id=None,
# base_log_dir=config['base_log_dir'])
baseline = globals()[config['baseline']]() #instantiate baseline
env = globals()[config['env']]() # instantiate env
env = normalize(env) # apply normalize wrapper to env
policy = MetaGaussianMLPPolicy(
name="meta-policy",
obs_dim=np.prod(env.observation_space.shape),
action_dim=np.prod(env.action_space.shape),
meta_batch_size=config['meta_batch_size'],
hidden_sizes=config['hidden_sizes'],
)
sampler = MetaSampler(
env=env,
policy=policy,
rollouts_per_meta_task=config['rollouts_per_meta_task'], # This batch_size is confusing
meta_batch_size=config['meta_batch_size'],
max_path_length=config['max_path_length'],
parallel=config['parallel'],
)
sample_processor = MetaSampleProcessor(
baseline=baseline,
discount=config['discount'],
gae_lambda=config['gae_lambda'],
normalize_adv=config['normalize_adv'],
)
algo = ProMP(
policy=policy,
inner_lr=config['inner_lr'],
meta_batch_size=config['meta_batch_size'],
num_inner_grad_steps=config['num_inner_grad_steps'],
learning_rate=config['learning_rate'],
num_ppo_steps=config['num_promp_steps'],
clip_eps=config['clip_eps'],
target_inner_step=config['target_inner_step'],
init_inner_kl_penalty=config['init_inner_kl_penalty'],
adaptive_inner_kl_penalty=config['adaptive_inner_kl_penalty'],
)
trainer = Trainer(
algo=algo,
policy=policy,
env=env,
sampler=sampler,
sample_processor=sample_processor,
n_itr=config['n_itr'],
num_inner_grad_steps=config['num_inner_grad_steps'],
)
trainer.train()
def main(config):
set_seed(config['seed'])
reward_baseline = LinearTimeBaseline() # the usual baseline
return_baseline = LinearFeatureBaseline(
) # the additional baseline for DICE
env = globals()[config['env']]() # instantiate env
env = normalize(env) # apply normalize wrapper to env
meta_baseline = MetaNNBaseline(
input_size=env.observation_space.shape[0]) # the meta baseline
policy = MetaGaussianMLPPolicy(
name="meta-policy",
obs_dim=np.prod(env.observation_space.shape),
action_dim=np.prod(env.action_space.shape),
meta_batch_size=config['meta_batch_size'],
hidden_sizes=config['hidden_sizes'],
)
sampler = MetaSampler(
env=env,
policy=policy,
rollouts_per_meta_task=config['rollouts_per_meta_task'],
meta_batch_size=config['meta_batch_size'],
max_path_length=config['max_path_length'],
parallel=config['parallel'],
)
sample_processor = TMAMLMetaSampleProcessor(
baseline=reward_baseline,
max_path_length=config['max_path_length'],
discount=config['discount'],
normalize_adv=config['normalize_adv'],
positive_adv=config['positive_adv'],
return_baseline=return_baseline,
metabaseline=meta_baseline,
)
algo = TMAML(policy=policy,
max_path_length=config['max_path_length'],
meta_batch_size=config['meta_batch_size'],
num_inner_grad_steps=config['num_inner_grad_steps'],
inner_lr=config['inner_lr'],
learning_rate=config['learning_rate'])
trainer = Trainer(
algo=algo,
policy=policy,
env=env,
sampler=sampler,
sample_processor=sample_processor,
n_itr=config['n_itr'],
num_inner_grad_steps=config['num_inner_grad_steps'],
)
trainer.train()
def main(config):
set_seed(config['seed'])
baseline = globals()[config['baseline']]() #instantiate baseline
env = globals()[config['env']]() # instantiate env
env = normalize(env) # apply normalize wrapper to env
policy = MetaGaussianMLPPolicy(
name="meta-policy",
obs_dim=np.prod(env.observation_space.shape),
action_dim=np.prod(env.action_space.shape),
meta_batch_size=config['meta_batch_size'],
hidden_sizes=config['hidden_sizes'],
)
sampler = MetaSampler(
env=env,
policy=policy,
rollouts_per_meta_task=config[
'rollouts_per_meta_task'], # This batch_size is confusing
meta_batch_size=config['meta_batch_size'],
max_path_length=config['max_path_length'],
parallel=config['parallel'],
)
sample_processor = MetaSampleProcessor(
baseline=baseline,
discount=config['discount'],
gae_lambda=config['gae_lambda'],
normalize_adv=config['normalize_adv'],
)
algo = VPGMAML(
policy=policy,
learning_rate=config['learning_rate'],
inner_type=config['inner_type'],
inner_lr=config['inner_lr'],
meta_batch_size=config['meta_batch_size'],
num_inner_grad_steps=config['num_inner_grad_steps'],
exploration=False,
)
trainer = Trainer(
algo=algo,
policy=policy,
env=env,
sampler=sampler,
sample_processor=sample_processor,
n_itr=config['n_itr'],
num_inner_grad_steps=config['num_inner_grad_steps'],
)
trainer.train()
def main(config):
# config['seed'] = 4
experiment.set_name("short meta saving test")
set_seed(config['seed'])
experiment.log_parameters(config)
# experiment.log_parameter("task limit size", 3)
# experiment.log_metric("seed", config['seed'])
baseline = globals()[config['baseline']]() #instantiate baseline
env = globals()[config['env']]() # instantiate env
env = normalize(env) # apply normalize wrapper to env
policy = MetaGaussianMLPPolicy(
name="meta-policy",
obs_dim=np.prod(env.observation_space.shape),
action_dim=np.prod(env.action_space.shape),
meta_batch_size=config['meta_batch_size'],
hidden_sizes=config['hidden_sizes'],
)
sampler = MetaSampler(
env=env,
policy=policy,
rollouts_per_meta_task=config[
'rollouts_per_meta_task'], # This batch_size is confusing
meta_batch_size=config['meta_batch_size'],
max_path_length=config['max_path_length'],
parallel=config['parallel'],
)
sample_processor = MetaSampleProcessor(
baseline=baseline,
discount=config['discount'],
gae_lambda=config['gae_lambda'],
normalize_adv=config['normalize_adv'],
)
algo = ProMP(
policy=policy,
inner_lr=config['inner_lr'],
meta_batch_size=config['meta_batch_size'],
num_inner_grad_steps=config['num_inner_grad_steps'],
learning_rate=config['learning_rate'],
num_ppo_steps=config['num_promp_steps'],
clip_eps=config['clip_eps'],
target_inner_step=config['target_inner_step'],
init_inner_kl_penalty=config['init_inner_kl_penalty'],
adaptive_inner_kl_penalty=config['adaptive_inner_kl_penalty'],
)
trainer = Trainer(algo=algo,
policy=policy,
env=env,
sampler=sampler,
sample_processor=sample_processor,
n_itr=config['n_itr'],
num_inner_grad_steps=config['num_inner_grad_steps'],
experiment=experiment)
trainer.train()
with open('/saved_policies/mjvel.policy', 'wb') as policy_file:
pickle.dump(policy, policy_file)
print("saved policies")
def run_experiment(**kwargs):
exp_dir = os.getcwd() + '/data/' + EXP_NAME
logger.configure(dir=exp_dir,
format_strs=['stdout', 'log', 'csv'],
snapshot_mode='last_gap',
snapshot_gap=50)
json.dump(kwargs,
open(exp_dir + '/params.json', 'w'),
indent=2,
sort_keys=True,
cls=ClassEncoder)
# Instantiate classes
set_seed(kwargs['seed'])
baseline = kwargs['baseline']()
env = normalize(kwargs['env']()) # Wrappers?
policy = MetaGaussianMLPPolicy(
name="meta-policy",
obs_dim=np.prod(env.observation_space.shape), # Todo...?
action_dim=np.prod(env.action_space.shape),
meta_batch_size=kwargs['meta_batch_size'],
hidden_sizes=kwargs['hidden_sizes'],
learn_std=kwargs['learn_std'],
hidden_nonlinearity=kwargs['hidden_nonlinearity'],
output_nonlinearity=kwargs['output_nonlinearity'],
)
# Load policy here
sampler = MAMLSampler(
env=env,
policy=policy,
rollouts_per_meta_task=kwargs['rollouts_per_meta_task'],
meta_batch_size=kwargs['meta_batch_size'],
max_path_length=kwargs['max_path_length'],
parallel=kwargs['parallel'],
envs_per_task=1,
)
sample_processor = MAMLSampleProcessor(
baseline=baseline,
discount=kwargs['discount'],
gae_lambda=kwargs['gae_lambda'],
normalize_adv=kwargs['normalize_adv'],
positive_adv=kwargs['positive_adv'],
)
algo = TRPOMAML(
policy=policy,
step_size=kwargs['step_size'],
inner_type=kwargs['experiment_tuple'][1],
inner_lr=kwargs['inner_lr'],
meta_batch_size=kwargs['meta_batch_size'],
num_inner_grad_steps=kwargs['num_inner_grad_steps'],
exploration=kwargs['experiment_tuple'][2],
)
trainer = Trainer(
algo=algo,
policy=policy,
env=env,
sampler=sampler,
sample_processor=sample_processor,
n_itr=kwargs['n_itr'],
num_inner_grad_steps=kwargs['num_inner_grad_steps'],
)
trainer.train()
def main(config):
set_seed(config['seed'])
baseline = globals()[config['baseline']]() #instantiate baseline
env = globals()[config['env']]() # instantiate env
env = normalize(env) # apply normalize wrapper to env
policy = MetaGaussianMLPPolicy(
name="meta-policy",
obs_dim=np.prod(env.observation_space.shape),
action_dim=np.prod(env.action_space.shape),
meta_batch_size=config['meta_batch_size'],
hidden_sizes=config['hidden_sizes'],
)
sampler = MetaSampler(
env=env,
policy=policy,
rollouts_per_meta_task=config[
'rollouts_per_meta_task'], # This batch_size is confusing
meta_batch_size=config['meta_batch_size'],
max_path_length=config['max_path_length'],
parallel=config['parallel'],
)
sample_processor = MetaSampleProcessor(
baseline=baseline,
discount=config['discount'],
gae_lambda=config['gae_lambda'],
normalize_adv=config['normalize_adv'],
)
algo = ProMP(
policy=policy,
inner_lr=config['inner_lr'],
meta_batch_size=config['meta_batch_size'],
num_inner_grad_steps=config['num_inner_grad_steps'],
learning_rate=config['learning_rate'],
num_ppo_steps=config['num_promp_steps'],
clip_eps=config['clip_eps'],
target_inner_step=config['target_inner_step'],
init_inner_kl_penalty=config['init_inner_kl_penalty'],
adaptive_inner_kl_penalty=config['adaptive_inner_kl_penalty'],
)
gpu_config = tf.ConfigProto()
gpu_config.gpu_options.allow_growth = True # pylint: disable=E1101
sess = tf.Session(config=gpu_config)
saver = tf.train.Saver(
keep_checkpoint_every_n_hours=config['keep_checkpoint_every_n_hours'],
max_to_keep=config['max_checkpoints_to_keep'])
save_path = os.path.join(args.dump_path, 'model.ckpt')
if config['restore_path'] is not None:
logger.log('Restoring parameters from {}'.format(
config['restore_path']))
saver.restore(sess, config['restore_path'])
logger.log('Restored')
trainer = Trainer(
algo=algo,
policy=policy,
env=env,
sampler=sampler,
sample_processor=sample_processor,
saver=saver,
save_path=save_path,
save_steps=config['save_steps'],
n_itr=config['n_itr'],
num_inner_grad_steps=config['num_inner_grad_steps'],
sess=sess,
)
trainer.train()
def main(config):
# config['seed'] = 4ß
# experiment.set_name("pos task only, size = 15, logging vel")
set_seed(config['seed'])
# experiment.log_parameters(config)
# experiment.log_parameter("task limit size", 3)
# experiment.log_metric("seed", config['seed'])
baseline = globals()[config['baseline']]() #instantiate baseline
env = globals()[config['env']]() # instantiate env
print("env: ", env.sample_tasks)
TASKSL1 = np.array([0, -0.3])
env.set_tasks(TASKSL1)
env = normalize(env) # apply normalize wrapper to env
policy = MetaGaussianMLPPolicy(
name="meta-policy",
obs_dim=np.prod(env.observation_space.shape),
action_dim=np.prod(env.action_space.shape),
meta_batch_size=config['meta_batch_size'],
hidden_sizes=config['hidden_sizes'],
)
sampler = MetaSampler(
env=env,
policy=policy,
rollouts_per_meta_task=config[
'rollouts_per_meta_task'], # This batch_size is confusing
meta_batch_size=config['meta_batch_size'],
max_path_length=config['max_path_length'],
parallel=config['parallel'],
)
sample_processor = MetaSampleProcessor(
baseline=baseline,
discount=config['discount'],
gae_lambda=config['gae_lambda'],
normalize_adv=config['normalize_adv'],
)
algo = ProMP(
policy=policy,
inner_lr=config['inner_lr'],
meta_batch_size=config['meta_batch_size'],
num_inner_grad_steps=config['num_inner_grad_steps'],
learning_rate=config['learning_rate'],
num_ppo_steps=config['num_promp_steps'],
clip_eps=config['clip_eps'],
target_inner_step=config['target_inner_step'],
init_inner_kl_penalty=config['init_inner_kl_penalty'],
adaptive_inner_kl_penalty=config['adaptive_inner_kl_penalty'],
)
trainer = Trainer(
algo=algo,
policy=policy,
env=env,
sampler=sampler,
sample_processor=sample_processor,
n_itr=config['n_itr'],
num_inner_grad_steps=config['num_inner_grad_steps'],
)
trainer.train()
def main(args=None):
idx = int(time.time())
args = parse_args(args)
config = {
'seed': args.seed,
'baseline': 'LinearFeatureBaseline',
'env': 'ReachWorld', # not used
'rollouts_per_meta_task': args.rollout_per_meta_task,
'max_path_length': args.max_path_length, # 100
'parallel': not args.seq,
'discount': args.discount,
'gae_lambda': args.gae_lambda,
'normalize_adv': True,
'hidden_sizes': args.hidden_sizes,
'inner_lr': args.inner_lr, # adaptation step size
'learning_rate': args.learning_rate, # meta-policy gradient step size
'num_promp_steps':
args.num_promp_steps, # number of ProMp steps without re-sampling
'clip_eps': args.clip_eps, # clipping range
'target_inner_step': args.target_inner_step,
'init_inner_kl_penalty': args.init_inner_kl_penalty,
'adaptive_inner_kl_penalty': args.
adaptive_inner_kl_penalty, # whether to use an adaptive or fixed KL-penalty coefficient
'n_itr': args.n_itr, # number of overall training iterations
'meta_batch_size':
args.meta_batch_size, # number of sampled meta-tasks per iterations
'num_inner_grad_steps': args.
num_inner_grad_steps, # number of inner / adaptation gradient steps
}
# configure logger
logger.configure(dir=args.dump_path,
format_strs=['stdout', 'log', 'csv'],
snapshot_mode='last_gap')
# dump run configuration before starting training
json.dump(config,
open(args.dump_path + '/params.json', 'w'),
cls=ClassEncoder)
set_seed(config['seed'])
baseline = globals()[config['baseline']]() #instantiate baseline
env = get_env()
#env = normalize(env) # apply normalize wrapper to env
if isinstance(env.action_space, gym.spaces.Box):
action_dim = np.prod(env.action_space.shape)
elif isinstance(env.action_space, gym.spaces.Discrete):
action_dim = env.action_space.n
else:
raise Exception('unknown action space, cannot get action dim')
policy = MetaCategoricalMLPPolicy(
name="meta-policy",
obs_dim=np.prod(env.observation_space.shape),
action_dim=action_dim,
meta_batch_size=config['meta_batch_size'],
hidden_sizes=config['hidden_sizes'],
)
sampler = MetaSampler(
env=env,
policy=policy,
rollouts_per_meta_task=config[
'rollouts_per_meta_task'], # This batch_size is confusing
meta_batch_size=config['meta_batch_size'],
max_path_length=config['max_path_length'],
parallel=config['parallel'],
)
sample_processor = MetaSampleProcessor(
baseline=baseline,
discount=config['discount'],
gae_lambda=config['gae_lambda'],
normalize_adv=config['normalize_adv'],
)
algo = ProMP(
policy=policy,
inner_lr=config['inner_lr'],
meta_batch_size=config['meta_batch_size'],
num_inner_grad_steps=config['num_inner_grad_steps'],
learning_rate=config['learning_rate'],
num_ppo_steps=config['num_promp_steps'],
clip_eps=config['clip_eps'],
target_inner_step=config['target_inner_step'],
init_inner_kl_penalty=config['init_inner_kl_penalty'],
adaptive_inner_kl_penalty=config['adaptive_inner_kl_penalty'],
)
trainer = Trainer(
algo=algo,
policy=policy,
env=env,
sampler=sampler,
sample_processor=sample_processor,
n_itr=config['n_itr'],
num_inner_grad_steps=config['num_inner_grad_steps'],
)
trainer.train()
def main(config):
experiment.set_name("short meta saving test")
set_seed(config['seed'])
experiment.log_parameters(config)
baseline = globals()[config['baseline']]() #instantiate baseline
env = terrainRLSim.getEnv(env_name=None, render=False)
# env = normalize(env) # apply normalize wrapper to env
policy = MetaGaussianMLPPolicy(
name="meta-policy",
obs_dim=np.prod((104, )),
action_dim=np.prod((11, )),
meta_batch_size=config['meta_batch_size'],
hidden_sizes=config['hidden_sizes'],
)
sampler = MetaSampler(
env=('terrianrlSim', config['env']),
policy=policy,
rollouts_per_meta_task=config[
'rollouts_per_meta_task'], # This batch_size is confusing
meta_batch_size=config['meta_batch_size'],
max_path_length=config['max_path_length'],
parallel=config['parallel'],
)
env = terrainRLSim.getEnv(env_name=config['env'], render=False)
# env = globals()[config['env']]() # instantiate env
env = normalize(env) # apply normalize wrapper to env
print("env.observation_space.shape: ", env.observation_space.shape)
print("env.action_space.shape: ", env.action_space.shape)
sampler.set_env(env)
sample_processor = MetaSampleProcessor(
baseline=baseline,
discount=config['discount'],
gae_lambda=config['gae_lambda'],
normalize_adv=config['normalize_adv'],
)
algo = ProMP(
policy=policy,
inner_lr=config['inner_lr'],
meta_batch_size=config['meta_batch_size'],
num_inner_grad_steps=config['num_inner_grad_steps'],
learning_rate=config['learning_rate'],
num_ppo_steps=config['num_promp_steps'],
clip_eps=config['clip_eps'],
target_inner_step=config['target_inner_step'],
init_inner_kl_penalty=config['init_inner_kl_penalty'],
adaptive_inner_kl_penalty=config['adaptive_inner_kl_penalty'],
)
trainer = Trainer(algo=algo,
policy=policy,
env=env,
sampler=sampler,
sample_processor=sample_processor,
n_itr=config['n_itr'],
num_inner_grad_steps=config['num_inner_grad_steps'],
experiment=experiment)
trainer.train()