def experiment(goal, use_muscles, n_epochs, n_steps, n_episodes_test):
np.random.seed(1)
# MDP
gamma = 0.99
horizon = 2000
mdp = create_mdp(gamma, horizon, goal, use_muscles=use_muscles)
# Agent
agent = create_SAC_agent(mdp)
# normalization callback
normalizer = MinMaxPreprocessor(mdp_info=mdp.info)
# plotting callback
plotter = PlotDataset(mdp.info)
# Algorithm(with normalization and plotting)
core = Core(agent, mdp, callback_step=plotter, preprocessors=[normalizer])
# training loop
for n in range(n_epochs):
core.learn(n_steps=n_steps, n_steps_per_fit=1)
dataset = core.evaluate(n_episodes=n_episodes_test, render=True)
print('Epoch: ', n, ' J: ', np.mean(compute_J(dataset, gamma)),
' Len_ep: ', int(np.round(np.mean(episodes_length(dataset)))))
print('Press a button to visualize humanoid')
input()
core.evaluate(n_episodes=10, render=True)
def experiment():
np.random.seed()
# MDP
mdp = generate_simple_chain(state_n=5, goal_states=[2], prob=.8, rew=1,
gamma=.9)
# Policy
epsilon = Parameter(value=.15)
pi = EpsGreedy(epsilon=epsilon)
# Agent
learning_rate = Parameter(value=.2)
algorithm_params = dict(learning_rate=learning_rate)
agent = QLearning(mdp.info, pi, **algorithm_params)
# Core
core = Core(agent, mdp)
# Initial policy Evaluation
dataset = core.evaluate(n_steps=1000)
J = np.mean(compute_J(dataset, mdp.info.gamma))
print('J start:', J)
# Train
core.learn(n_steps=10000, n_steps_per_fit=1)
# Final Policy Evaluation
dataset = core.evaluate(n_steps=1000)
J = np.mean(compute_J(dataset, mdp.info.gamma))
print('J final:', J)
def experiment(alg, params, n_epochs, fit_per_run, ep_per_run):
np.random.seed()
# MDP
mdp = LQR.generate(dimensions=1)
approximator = Regressor(LinearApproximator,
input_shape=mdp.info.observation_space.shape,
output_shape=mdp.info.action_space.shape)
policy = DeterministicPolicy(mu=approximator)
mu = np.zeros(policy.weights_size)
sigma = 1e-3 * np.eye(policy.weights_size)
distribution = GaussianCholeskyDistribution(mu, sigma)
# Agent
agent = alg(mdp.info, distribution, policy, **params)
# Train
core = Core(agent, mdp)
dataset_eval = core.evaluate(n_episodes=ep_per_run)
print('distribution parameters: ', distribution.get_parameters())
J = compute_J(dataset_eval, gamma=mdp.info.gamma)
print('J at start : ' + str(np.mean(J)))
for i in range(n_epochs):
core.learn(n_episodes=fit_per_run * ep_per_run,
n_episodes_per_fit=ep_per_run)
dataset_eval = core.evaluate(n_episodes=ep_per_run)
print('distribution parameters: ', distribution.get_parameters())
J = compute_J(dataset_eval, gamma=mdp.info.gamma)
print('J at iteration ' + str(i) + ': ' + str(np.mean(J)))
def experiment(n_epochs, n_episodes):
np.random.seed()
logger = Logger(COPDAC_Q.__name__, results_dir=None)
logger.strong_line()
logger.info('Experiment Algorithm: ' + COPDAC_Q.__name__)
# MDP
n_steps = 5000
mdp = InvertedPendulum(horizon=n_steps)
# Agent
n_tilings = 10
alpha_theta = Parameter(5e-3 / n_tilings)
alpha_omega = Parameter(0.5 / n_tilings)
alpha_v = Parameter(0.5 / n_tilings)
tilings = Tiles.generate(n_tilings, [10, 10],
mdp.info.observation_space.low,
mdp.info.observation_space.high + 1e-3)
phi = Features(tilings=tilings)
input_shape = (phi.size, )
mu = Regressor(LinearApproximator,
input_shape=input_shape,
output_shape=mdp.info.action_space.shape)
sigma = 1e-1 * np.eye(1)
policy = GaussianPolicy(mu, sigma)
agent = COPDAC_Q(mdp.info,
policy,
mu,
alpha_theta,
alpha_omega,
alpha_v,
value_function_features=phi,
policy_features=phi)
# Train
dataset_callback = CollectDataset()
visualization_callback = Display(agent._V, mu,
mdp.info.observation_space.low,
mdp.info.observation_space.high, phi, phi)
core = Core(agent, mdp, callbacks_fit=[dataset_callback])
for i in trange(n_epochs, leave=False):
core.learn(n_episodes=n_episodes, n_steps_per_fit=1, render=False)
J = compute_J(dataset_callback.get(), gamma=1.0)
dataset_callback.clean()
visualization_callback()
logger.epoch_info(i + 1, R_mean=np.sum(J) / n_steps / n_episodes)
logger.info('Press a button to visualize the pendulum...')
input()
sigma = 1e-8 * np.eye(1)
policy.set_sigma(sigma)
core.evaluate(n_steps=n_steps, render=True)
def experiment(alg, env_id, horizon, gamma, n_epochs, n_steps, n_steps_per_fit,
n_episodes_test, alg_params, policy_params):
print(alg.__name__)
mdp = Gym(env_id, horizon, gamma)
critic_params = dict(network=Network,
optimizer={
'class': optim.Adam,
'params': {
'lr': 3e-4
}
},
loss=F.mse_loss,
n_features=32,
batch_size=64,
input_shape=mdp.info.observation_space.shape,
output_shape=(1, ))
policy = GaussianTorchPolicy(Network, mdp.info.observation_space.shape,
mdp.info.action_space.shape, **policy_params)
alg_params['critic_params'] = critic_params
agent = alg(mdp.info, policy, **alg_params)
core = Core(agent, mdp)
dataset = core.evaluate(n_episodes=n_episodes_test, render=False)
J = np.mean(compute_J(dataset, mdp.info.gamma))
R = np.mean(compute_J(dataset))
E = agent.policy.entropy()
tqdm.write('END OF EPOCH 0')
tqdm.write('J: {}, R: {}, entropy: {}'.format(J, R, E))
tqdm.write(
'##################################################################################################'
)
for it in trange(n_epochs):
core.learn(n_steps=n_steps, n_steps_per_fit=n_steps_per_fit)
dataset = core.evaluate(n_episodes=n_episodes_test, render=False)
J = np.mean(compute_J(dataset, mdp.info.gamma))
R = np.mean(compute_J(dataset))
E = agent.policy.entropy()
tqdm.write('END OF EPOCH ' + str(it + 1))
tqdm.write('J: {}, R: {}, entropy: {}'.format(J, R, E))
tqdm.write(
'##################################################################################################'
)
print('Press a button to visualize')
input()
core.evaluate(n_episodes=5, render=True)
def show_agent(self, episodes=5, mdp_render=False):
"""
Method to run and visualize the best builders in the environment.
"""
matplotlib.use(default_backend)
mdp = self.logger.load_environment_builder().build()
if mdp_render:
mdp.render()
agent = self.logger.load_best_agent()
core = Core(agent, mdp)
core.evaluate(n_episodes=episodes, render=True)
def experiment(alg, env_id, horizon, gamma, n_epochs, n_steps, n_steps_per_fit,
n_step_test, alg_params, policy_params):
logger = Logger(A2C.__name__, results_dir=None)
logger.strong_line()
logger.info('Experiment Algorithm: ' + A2C.__name__)
mdp = Gym(env_id, horizon, gamma)
critic_params = dict(network=Network,
optimizer={
'class': optim.RMSprop,
'params': {
'lr': 7e-4,
'eps': 1e-5
}
},
loss=F.mse_loss,
n_features=64,
batch_size=64,
input_shape=mdp.info.observation_space.shape,
output_shape=(1, ))
alg_params['critic_params'] = critic_params
policy = GaussianTorchPolicy(Network, mdp.info.observation_space.shape,
mdp.info.action_space.shape, **policy_params)
agent = alg(mdp.info, policy, **alg_params)
core = Core(agent, mdp)
dataset = core.evaluate(n_steps=n_step_test, render=False)
J = np.mean(compute_J(dataset, mdp.info.gamma))
R = np.mean(compute_J(dataset))
E = agent.policy.entropy()
logger.epoch_info(0, J=J, R=R, entropy=E)
for it in trange(n_epochs):
core.learn(n_steps=n_steps, n_steps_per_fit=n_steps_per_fit)
dataset = core.evaluate(n_steps=n_step_test, render=False)
J = np.mean(compute_J(dataset, mdp.info.gamma))
R = np.mean(compute_J(dataset))
E = agent.policy.entropy()
logger.epoch_info(it + 1, J=J, R=R, entropy=E)
logger.info('Press a button to visualize')
input()
core.evaluate(n_episodes=5, render=True)
def experiment():
np.random.seed()
# MDP
mdp = CarOnHill()
# Policy
epsilon = Parameter(value=1.)
pi = EpsGreedy(epsilon=epsilon)
# Approximator
approximator_params = dict(input_shape=mdp.info.observation_space.shape,
n_actions=mdp.info.action_space.n,
n_estimators=50,
min_samples_split=5,
min_samples_leaf=2)
approximator = ExtraTreesRegressor
# Agent
algorithm_params = dict(n_iterations=20)
agent = FQI(mdp.info,
pi,
approximator,
approximator_params=approximator_params,
**algorithm_params)
# Algorithm
core = Core(agent, mdp)
# Render
core.evaluate(n_episodes=1, render=True)
# Train
core.learn(n_episodes=1000, n_episodes_per_fit=1000)
# Test
test_epsilon = Parameter(0.)
agent.policy.set_epsilon(test_epsilon)
initial_states = np.zeros((289, 2))
cont = 0
for i in range(-8, 9):
for j in range(-8, 9):
initial_states[cont, :] = [0.125 * i, 0.375 * j]
cont += 1
dataset = core.evaluate(initial_states=initial_states)
# Render
core.evaluate(n_episodes=3, render=True)
return np.mean(compute_J(dataset, mdp.info.gamma))
def experiment(alg, params, n_epochs, fit_per_epoch, ep_per_fit):
np.random.seed()
logger = Logger(alg.__name__, results_dir=None)
logger.strong_line()
logger.info('Experiment Algorithm: ' + alg.__name__)
# MDP
mdp = ShipSteering()
# Policy
high = [150, 150, np.pi]
low = [0, 0, -np.pi]
n_tiles = [5, 5, 6]
low = np.array(low, dtype=np.float)
high = np.array(high, dtype=np.float)
n_tilings = 1
tilings = Tiles.generate(n_tilings=n_tilings,
n_tiles=n_tiles,
low=low,
high=high)
phi = Features(tilings=tilings)
input_shape = (phi.size, )
approximator = Regressor(LinearApproximator,
input_shape=input_shape,
output_shape=mdp.info.action_space.shape)
policy = DeterministicPolicy(approximator)
mu = np.zeros(policy.weights_size)
sigma = 4e-1 * np.ones(policy.weights_size)
distribution = GaussianDiagonalDistribution(mu, sigma)
# Agent
agent = alg(mdp.info, distribution, policy, features=phi, **params)
# Train
core = Core(agent, mdp)
dataset_eval = core.evaluate(n_episodes=ep_per_fit)
J = compute_J(dataset_eval, gamma=mdp.info.gamma)
logger.epoch_info(0, J=np.mean(J))
for i in range(n_epochs):
core.learn(n_episodes=fit_per_epoch * ep_per_fit,
n_episodes_per_fit=ep_per_fit)
dataset_eval = core.evaluate(n_episodes=ep_per_fit)
J = compute_J(dataset_eval, gamma=mdp.info.gamma)
logger.epoch_info(i + 1, J=np.mean(J))
def experiment(alg, params, n_epochs, n_iterations, ep_per_run):
np.random.seed()
# MDP
mdp = ShipSteering()
# Policy
high = [150, 150, np.pi]
low = [0, 0, -np.pi]
n_tiles = [5, 5, 6]
low = np.array(low, dtype=np.float)
high = np.array(high, dtype=np.float)
n_tilings = 1
tilings = Tiles.generate(n_tilings=n_tilings,
n_tiles=n_tiles,
low=low,
high=high)
phi = Features(tilings=tilings)
input_shape = (phi.size, )
approximator = Regressor(LinearApproximator,
input_shape=input_shape,
output_shape=mdp.info.action_space.shape)
policy = DeterministicPolicy(approximator)
mu = np.zeros(policy.weights_size)
sigma = 4e-1 * np.ones(policy.weights_size)
distribution = GaussianDiagonalDistribution(mu, sigma)
# Agent
agent = alg(mdp.info, distribution, policy, features=phi, **params)
# Train
print(alg.__name__)
core = Core(agent, mdp)
dataset_eval = core.evaluate(n_episodes=ep_per_run)
J = compute_J(dataset_eval, gamma=mdp.info.gamma)
print('J at start : ' + str(np.mean(J)))
for i in range(n_epochs):
core.learn(n_episodes=n_iterations * ep_per_run,
n_episodes_per_fit=ep_per_run)
dataset_eval = core.evaluate(n_episodes=ep_per_run)
J = compute_J(dataset_eval, gamma=mdp.info.gamma)
print('J at iteration ' + str(i) + ': ' + str(np.mean(J)))
def learn(alg, alg_params):
mdp = CarOnHill()
np.random.seed(1)
# Policy
epsilon = Parameter(value=1.)
pi = EpsGreedy(epsilon=epsilon)
# Approximator
approximator_params = dict(input_shape=mdp.info.observation_space.shape,
n_actions=mdp.info.action_space.n,
n_estimators=50,
min_samples_split=5,
min_samples_leaf=2)
approximator = ExtraTreesRegressor
# Agent
agent = alg(mdp.info,
pi,
approximator,
approximator_params=approximator_params,
**alg_params)
# Algorithm
core = Core(agent, mdp)
# Train
core.learn(n_episodes=5, n_episodes_per_fit=5)
test_epsilon = Parameter(0.75)
agent.policy.set_epsilon(test_epsilon)
dataset = core.evaluate(n_episodes=2)
return agent, np.mean(compute_J(dataset, mdp.info.gamma))
def experiment():
np.random.seed()
# MDP
mdp = CartPole()
# Policy
epsilon = Parameter(value=1.)
pi = EpsGreedy(epsilon=epsilon)
# Agent
basis = [PolynomialBasis()]
s1 = np.array([-np.pi, 0, np.pi]) * .25
s2 = np.array([-1, 0, 1])
for i in s1:
for j in s2:
basis.append(GaussianRBF(np.array([i, j]), np.array([1.])))
features = Features(basis_list=basis)
fit_params = dict()
approximator_params = dict(input_shape=(features.size, ),
output_shape=(mdp.info.action_space.n, ),
n_actions=mdp.info.action_space.n)
agent = LSPI(mdp.info,
pi,
approximator_params=approximator_params,
fit_params=fit_params,
features=features)
# Algorithm
core = Core(agent, mdp)
core.evaluate(n_episodes=3, render=True)
# Train
core.learn(n_episodes=100, n_episodes_per_fit=100)
# Test
test_epsilon = Parameter(0.)
agent.policy.set_epsilon(test_epsilon)
dataset = core.evaluate(n_episodes=1, quiet=True)
core.evaluate(n_steps=100, render=True)
return np.mean(episodes_length(dataset))
def experiment(n_epochs, n_iterations, ep_per_run, save_states_to_disk):
np.random.seed()
logger = Logger('plot_and_norm_example', results_dir=None)
logger.strong_line()
logger.info('Plotting and normalization example')
# MDP
mdp = LQR.generate(dimensions=2, max_pos=10., max_action=5., episodic=True)
approximator = Regressor(LinearApproximator,
input_shape=mdp.info.observation_space.shape,
output_shape=mdp.info.action_space.shape)
sigma = Regressor(LinearApproximator,
input_shape=mdp.info.observation_space.shape,
output_shape=mdp.info.action_space.shape)
sigma_weights = 2 * np.ones(sigma.weights_size)
sigma.set_weights(sigma_weights)
policy = StateStdGaussianPolicy(approximator, sigma)
# Agent
optimizer = AdaptiveOptimizer(eps=.01)
algorithm_params = dict(optimizer=optimizer)
agent = REINFORCE(mdp.info, policy, **algorithm_params)
# normalization callback
prepro = MinMaxPreprocessor(mdp_info=mdp.info)
# plotting callback
plotter = PlotDataset(mdp.info, obs_normalized=True)
# Train
core = Core(agent, mdp, callback_step=plotter, preprocessors=[prepro])
# training loop
for n in range(n_epochs):
core.learn(n_episodes=n_iterations * ep_per_run,
n_episodes_per_fit=ep_per_run)
dataset = core.evaluate(n_episodes=ep_per_run, render=False)
J = np.mean(compute_J(dataset, mdp.info.gamma))
logger.epoch_info(n + 1, J=J)
if save_states_to_disk:
# save normalization / plot states to disk path
logger.info('Saving plotting and normalization data')
os.makedirs("./logs/plot_and_norm", exist_ok=True)
prepro.save("./logs/plot_and_norm/preprocessor.msh")
plotter.save_state("./logs/plot_and_norm/plotting_state")
# load states from disk path
logger.info('Loading preprocessor and plotter')
prerpo = MinMaxPreprocessor.load(
"./logs/plot_and_norm/preprocessor.msh")
plotter.load_state("./logs/plot_and_norm/plotting_state")
def experiment(goal, use_muscles, n_epochs, n_steps, n_episodes_test):
np.random.seed(1)
logger = Logger('SAC', results_dir=None)
logger.strong_line()
logger.info('Humanoid Experiment, Algorithm: SAC')
# MDP
gamma = 0.99
horizon = 2000
mdp = create_mdp(gamma, horizon, goal, use_muscles=use_muscles)
# Agent
agent = create_SAC_agent(mdp)
# normalization callback
normalizer = MinMaxPreprocessor(mdp_info=mdp.info)
# plotting callback
plotter = PlotDataset(mdp.info)
# Algorithm(with normalization and plotting)
core = Core(agent, mdp, callback_step=plotter, preprocessors=[normalizer])
dataset = core.evaluate(n_episodes=n_episodes_test, render=True)
J = np.mean(compute_J(dataset, gamma))
L = int(np.round(np.mean(episodes_length(dataset))))
logger.epoch_info(0, J=J, episode_lenght=L)
# training loop
for n in trange(n_epochs, leave=False):
core.learn(n_steps=n_steps, n_steps_per_fit=1)
dataset = core.evaluate(n_episodes=n_episodes_test, render=True)
J = np.mean(compute_J(dataset, gamma))
L = int(np.round(np.mean(episodes_length(dataset))))
logger.epoch_info(n+1, J=J, episode_lenght=L)
logger.info('Press a button to visualize humanoid')
input()
core.evaluate(n_episodes=10, render=True)
def experiment(alg, params, n_epochs, n_episodes, n_ep_per_fit):
np.random.seed()
logger = Logger(alg.__name__, results_dir=None)
logger.strong_line()
logger.info('Experiment Algorithm: ' + alg.__name__)
# MDP
mdp = Segway()
# Policy
approximator = Regressor(LinearApproximator,
input_shape=mdp.info.observation_space.shape,
output_shape=mdp.info.action_space.shape)
n_weights = approximator.weights_size
mu = np.zeros(n_weights)
sigma = 2e-0 * np.ones(n_weights)
policy = DeterministicPolicy(approximator)
dist = GaussianDiagonalDistribution(mu, sigma)
agent = alg(mdp.info, dist, policy, **params)
# Train
dataset_callback = CollectDataset()
core = Core(agent, mdp, callbacks_fit=[dataset_callback])
for i in trange(n_epochs, leave=False):
core.learn(n_episodes=n_episodes,
n_episodes_per_fit=n_ep_per_fit,
render=False)
J = compute_J(dataset_callback.get(), gamma=mdp.info.gamma)
dataset_callback.clean()
p = dist.get_parameters()
logger.epoch_info(i + 1,
J=np.mean(J),
mu=p[:n_weights],
sigma=p[n_weights:])
logger.info('Press a button to visualize the segway...')
input()
core.evaluate(n_episodes=3, render=True)
def experiment(alg, n_epochs, n_iterations, ep_per_run):
np.random.seed()
logger = Logger(alg.__name__, results_dir=None)
logger.strong_line()
logger.info('Experiment Algorithm: ' + alg.__name__)
# MDP
mdp = LQR.generate(dimensions=2, max_action=1., max_pos=1.)
approximator = Regressor(LinearApproximator,
input_shape=mdp.info.observation_space.shape,
output_shape=mdp.info.action_space.shape)
sigma = Regressor(LinearApproximator,
input_shape=mdp.info.observation_space.shape,
output_shape=mdp.info.action_space.shape)
sigma_weights = 0.25 * np.ones(sigma.weights_size)
sigma.set_weights(sigma_weights)
policy = StateStdGaussianPolicy(approximator, sigma)
# Agent
optimizer = AdaptiveOptimizer(eps=1e-2)
algorithm_params = dict(optimizer=optimizer)
agent = alg(mdp.info, policy, **algorithm_params)
# Train
core = Core(agent, mdp)
dataset_eval = core.evaluate(n_episodes=ep_per_run)
J = compute_J(dataset_eval, gamma=mdp.info.gamma)
logger.epoch_info(0,
J=np.mean(J),
policy_weights=policy.get_weights().tolist())
for i in trange(n_epochs, leave=False):
core.learn(n_episodes=n_iterations * ep_per_run,
n_episodes_per_fit=ep_per_run)
dataset_eval = core.evaluate(n_episodes=ep_per_run)
J = compute_J(dataset_eval, gamma=mdp.info.gamma)
logger.epoch_info(i + 1,
J=np.mean(J),
policy_weights=policy.get_weights().tolist())
def test_dataset_utils():
np.random.seed(88)
mdp = GridWorld(3, 3, (2, 2))
epsilon = Parameter(value=0.)
alpha = Parameter(value=0.)
pi = EpsGreedy(epsilon=epsilon)
agent = SARSA(mdp.info, pi, alpha)
core = Core(agent, mdp)
dataset = core.evaluate(n_episodes=10)
J = compute_J(dataset, mdp.info.gamma)
J_test = np.array([
1.16106307e-03, 2.78128389e-01, 1.66771817e+00, 3.09031544e-01,
1.19725152e-01, 9.84770902e-01, 1.06111661e-02, 2.05891132e+00,
2.28767925e+00, 4.23911583e-01
])
assert np.allclose(J, J_test)
L = episodes_length(dataset)
L_test = np.array([87, 35, 18, 34, 43, 23, 66, 16, 15, 31])
assert np.array_equal(L, L_test)
dataset_ep = select_first_episodes(dataset, 3)
J = compute_J(dataset_ep, mdp.info.gamma)
assert np.allclose(J, J_test[:3])
L = episodes_length(dataset_ep)
assert np.allclose(L, L_test[:3])
samples = select_random_samples(dataset, 2)
s, a, r, ss, ab, last = parse_dataset(samples)
s_test = np.array([[6.], [1.]])
a_test = np.array([[0.], [1.]])
r_test = np.zeros(2)
ss_test = np.array([[3], [4]])
ab_test = np.zeros(2)
last_test = np.zeros(2)
assert np.array_equal(s, s_test)
assert np.array_equal(a, a_test)
assert np.array_equal(r, r_test)
assert np.array_equal(ss, ss_test)
assert np.array_equal(ab, ab_test)
assert np.array_equal(last, last_test)
index = np.sum(L_test[:2]) + L_test[2] // 2
min_J, max_J, mean_J, n_episodes = compute_metrics(dataset[:index],
mdp.info.gamma)
assert min_J == 0.0011610630703530948
assert max_J == 0.2781283894436937
assert mean_J == 0.1396447262570234
assert n_episodes == 2
def experiment(alg, params, n_epochs, n_episodes, n_ep_per_fit):
np.random.seed()
# MDP
mdp = Segway()
# Policy
approximator = Regressor(LinearApproximator,
input_shape=mdp.info.observation_space.shape,
output_shape=mdp.info.action_space.shape)
n_weights = approximator.weights_size
mu = np.zeros(n_weights)
sigma = 2e-0 * np.ones(n_weights)
policy = DeterministicPolicy(approximator)
dist = GaussianDiagonalDistribution(mu, sigma)
agent = alg(mdp.info, dist, policy, **params)
# Train
print(alg.__name__)
dataset_callback = CollectDataset()
core = Core(agent, mdp, callbacks=[dataset_callback])
for i in range(n_epochs):
core.learn(n_episodes=n_episodes,
n_episodes_per_fit=n_ep_per_fit,
render=False)
J = compute_J(dataset_callback.get(), gamma=mdp.info.gamma)
dataset_callback.clean()
p = dist.get_parameters()
print('mu: ', p[:n_weights])
print('sigma: ', p[n_weights:])
print('Reward at iteration ' + str(i) + ': ' + str(np.mean(J)))
print('Press a button to visualize the segway...')
input()
core.evaluate(n_episodes=3, render=True)
def experiment(alg, params, n_epochs, fit_per_epoch, ep_per_fit):
np.random.seed()
logger = Logger(alg.__name__, results_dir=None)
logger.strong_line()
logger.info('Experiment Algorithm: ' + alg.__name__)
# MDP
mdp = LQR.generate(dimensions=1)
approximator = Regressor(LinearApproximator,
input_shape=mdp.info.observation_space.shape,
output_shape=mdp.info.action_space.shape)
policy = DeterministicPolicy(mu=approximator)
mu = np.zeros(policy.weights_size)
sigma = 1e-3 * np.eye(policy.weights_size)
distribution = GaussianCholeskyDistribution(mu, sigma)
# Agent
agent = alg(mdp.info, distribution, policy, **params)
# Train
core = Core(agent, mdp)
dataset_eval = core.evaluate(n_episodes=ep_per_fit)
J = compute_J(dataset_eval, gamma=mdp.info.gamma)
logger.epoch_info(0,
J=np.mean(J),
distribution_parameters=distribution.get_parameters())
for i in trange(n_epochs, leave=False):
core.learn(n_episodes=fit_per_epoch * ep_per_fit,
n_episodes_per_fit=ep_per_fit)
dataset_eval = core.evaluate(n_episodes=ep_per_fit)
J = compute_J(dataset_eval, gamma=mdp.info.gamma)
logger.epoch_info(
i + 1,
J=np.mean(J),
distribution_parameters=distribution.get_parameters())
def experiment():
np.random.seed()
logger = Logger(QLearning.__name__, results_dir=None)
logger.strong_line()
logger.info('Experiment Algorithm: ' + QLearning.__name__)
# MDP
mdp = generate_simple_chain(state_n=5,
goal_states=[2],
prob=.8,
rew=1,
gamma=.9)
# Policy
epsilon = Parameter(value=.15)
pi = EpsGreedy(epsilon=epsilon)
# Agent
learning_rate = Parameter(value=.2)
algorithm_params = dict(learning_rate=learning_rate)
agent = QLearning(mdp.info, pi, **algorithm_params)
# Core
core = Core(agent, mdp)
# Initial policy Evaluation
dataset = core.evaluate(n_steps=1000)
J = np.mean(compute_J(dataset, mdp.info.gamma))
logger.info(f'J start: {J}')
# Train
core.learn(n_steps=10000, n_steps_per_fit=1)
# Final Policy Evaluation
dataset = core.evaluate(n_steps=1000)
J = np.mean(compute_J(dataset, mdp.info.gamma))
logger.info(f'J final: {J}')
def experiment(alg, n_epochs, n_iterations, ep_per_run):
np.random.seed()
# MDP
mdp = LQR.generate(dimensions=1)
approximator = Regressor(LinearApproximator,
input_shape=mdp.info.observation_space.shape,
output_shape=mdp.info.action_space.shape)
sigma = Regressor(LinearApproximator,
input_shape=mdp.info.observation_space.shape,
output_shape=mdp.info.action_space.shape)
sigma_weights = 2 * np.ones(sigma.weights_size)
sigma.set_weights(sigma_weights)
policy = StateStdGaussianPolicy(approximator, sigma)
# Agent
learning_rate = AdaptiveParameter(value=.01)
algorithm_params = dict(learning_rate=learning_rate)
agent = alg(mdp.info, policy, **algorithm_params)
# Train
core = Core(agent, mdp)
dataset_eval = core.evaluate(n_episodes=ep_per_run)
print('policy parameters: ', policy.get_weights())
J = compute_J(dataset_eval, gamma=mdp.info.gamma)
print('J at start : ' + str(np.mean(J)))
for i in range(n_epochs):
core.learn(n_episodes=n_iterations * ep_per_run,
n_episodes_per_fit=ep_per_run)
dataset_eval = core.evaluate(n_episodes=ep_per_run)
print('policy parameters: ', policy.get_weights())
J = compute_J(dataset_eval, gamma=mdp.info.gamma)
print('J at iteration ' + str(i) + ': ' + str(np.mean(J)))
def experiment(n_epochs, n_iterations, ep_per_run, save_states_to_disk):
np.random.seed()
# MDP
mdp = LQR.generate(dimensions=2, max_pos=10., max_action=5., episodic=True)
approximator = Regressor(LinearApproximator,
input_shape=mdp.info.observation_space.shape,
output_shape=mdp.info.action_space.shape)
sigma = Regressor(LinearApproximator,
input_shape=mdp.info.observation_space.shape,
output_shape=mdp.info.action_space.shape)
sigma_weights = 2 * np.ones(sigma.weights_size)
sigma.set_weights(sigma_weights)
policy = StateStdGaussianPolicy(approximator, sigma)
# Agent
learning_rate = AdaptiveParameter(value=.01)
algorithm_params = dict(learning_rate=learning_rate)
agent = REINFORCE(mdp.info, policy, **algorithm_params)
# normalization callback
prepro = MinMaxPreprocessor(mdp_info=mdp.info)
# plotting callback
plotter = PlotDataset(mdp.info, obs_normalized=True)
# Train
core = Core(agent, mdp, callback_step=plotter, preprocessors=[prepro])
# training loop
for n in range(n_epochs):
core.learn(n_episodes=n_iterations * ep_per_run,
n_episodes_per_fit=ep_per_run)
dataset = core.evaluate(n_episodes=ep_per_run, render=False)
print('Epoch: ', n, ' J: ', np.mean(compute_J(dataset,
mdp.info.gamma)))
if save_states_to_disk:
# save normalization / plot states to disk path
os.makedirs("./temp/", exist_ok=True)
prepro.save_state("./temp/normalization_state")
plotter.save_state("./temp/plotting_state")
# load states from disk path
prepro.load_state("./temp/normalization_state")
plotter.load_state("./temp/plotting_state")
def experiment(alpha):
np.random.seed()
# MDP
mdp = Gym(name='Acrobot-v1', horizon=np.inf, gamma=1.)
# Policy
epsilon = Parameter(value=1.)
pi = EpsGreedy(epsilon=epsilon)
# Agent
n_tilings = 10
tilings = Tiles.generate(n_tilings, [10, 10, 10, 10, 10, 10],
mdp.info.observation_space.low,
mdp.info.observation_space.high)
features = Features(tilings=tilings)
learning_rate = Parameter(alpha / n_tilings)
approximator_params = dict(input_shape=(features.size, ),
output_shape=(mdp.info.action_space.n, ),
n_actions=mdp.info.action_space.n)
algorithm_params = {'learning_rate': learning_rate, 'lambda_coeff': .9}
agent = TrueOnlineSARSALambda(mdp.info,
pi,
approximator_params=approximator_params,
features=features,
**algorithm_params)
#shape = agent.approximator.Q
#print(agent.Q)
# Algorithm
core = Core(agent, mdp)
# Train
core.learn(n_episodes=10, n_steps_per_fit=1, render=True)
dataset = core.evaluate(n_episodes=1, render=False)
#print(dataset)
print(episodes_length(dataset))
return np.mean(compute_J(dataset, .96))
def experiment(exp_id, comm, args, folder_name):
rank = comm.Get_rank()
n_threads = comm.Get_size()
np.random.seed()
# MDP
mdp = FetchEnv(args.name, args.reward_type)
n_actions = mdp.info.action_space.shape[0]
# Policy
policy_class = EpsilonGaussianPolicy
sigma_train = np.eye(n_actions) * (args.max_action * args.scale_noise)**2
sigma_test = np.eye(n_actions) * 1e-10
policy_params = dict(sigma=sigma_test,
epsilon=args.epsilon_policy,
max_action=np.ones(n_actions) * args.max_action)
# Settings
if args.debug:
train_episodes = 16
n_cycles = 4
max_epochs = 32
test_episodes = 4
max_replay_size = 1000
batch_size = 4
else:
train_episodes = args.train_episodes
n_cycles = args.n_cycles
max_epochs = args.max_epochs
test_episodes = args.test_episodes
max_replay_size = args.max_replay_size
batch_size = args.batch_size
# Approximator
actor_input_shape = (mdp.info.observation_space.shape[0] +
mdp.goal_space.shape[0], )
actor_params = dict(network=ActorNetwork,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
max_action=args.max_action,
use_cuda=args.use_cuda)
actor_optimizer = {'class': optim.Adam, 'params': {'lr': .001}}
critic_input_shape = (actor_input_shape[0] +
mdp.info.action_space.shape[0], )
critic_params = dict(network=CriticNetwork,
optimizer={
'class': optim.Adam,
'params': {
'lr': .001
}
},
loss=F.mse_loss,
input_shape=critic_input_shape,
output_shape=(1, ),
max_action=args.max_action,
use_cuda=args.use_cuda)
if args.replay == 'her':
replay_memory = HER(mdp.info.horizon, mdp.info.observation_space,
mdp.goal_space, mdp.info.action_space,
max_replay_size, mdp.compute_reward,
args.n_additional_goals)
else:
raise ValueError
# Agent
if args.alg == 'ddpg':
agent = DDPG(mdp.info, policy_class, policy_params, actor_params,
actor_optimizer, critic_params, batch_size, replay_memory,
args.tau, args.optimization_steps, comm)
else:
raise ValueError
# Algorithm
core = Core(agent, mdp)
# RUN
scores = list()
successes = list()
if rank == 0:
print_epoch(0)
agent.policy.set_epsilon(0)
if rank == 0:
dataset = core.evaluate(n_episodes=test_episodes,
render=args.render,
quiet=args.quiet)
for i in range(1, n_threads):
dataset += comm.recv(source=i)
j, s = get_stats(dataset, mdp.info.gamma)
scores.append(j)
successes.append(s)
np.save(folder_name + '/scores_%d.npy' % exp_id, scores)
np.save(folder_name + '/successes_%d.npy' % exp_id, successes)
comm.Barrier()
else:
dataset = core.evaluate(n_episodes=test_episodes,
render=args.render,
quiet=args.quiet)
comm.send(dataset, dest=0)
comm.Barrier()
train_episodes_per_thread = train_episodes // n_threads
for i in range(1, max_epochs):
if rank == 0:
print_epoch(i)
agent.policy.set_sigma(sigma_train)
agent.policy.set_epsilon(args.epsilon_policy)
core.learn(n_episodes=train_episodes_per_thread * n_cycles,
n_episodes_per_fit=train_episodes_per_thread,
quiet=args.quiet)
agent.policy.set_sigma(sigma_test)
agent.policy.set_epsilon(0)
if rank == 0:
dataset = core.evaluate(n_episodes=test_episodes,
render=args.render,
quiet=args.quiet)
for th in range(1, n_threads):
dataset += comm.recv(source=th)
j, s = get_stats(dataset, mdp.info.gamma)
scores.append(j)
successes.append(s)
np.save(folder_name + '/scores_%d.npy' % exp_id, scores)
np.save(folder_name + '/successes_%d.npy' % exp_id, successes)
comm.Barrier()
else:
dataset = core.evaluate(n_episodes=test_episodes,
render=args.render,
quiet=args.quiet)
comm.send(dataset, dest=0)
comm.Barrier()
return scores, successes
def experiment():
np.random.seed()
# Argument parser
parser = argparse.ArgumentParser()
arg_game = parser.add_argument_group('Game')
arg_game.add_argument("--name",
type=str,
default='BreakoutDeterministic-v4',
help='Gym ID of the Atari game.')
arg_game.add_argument("--screen-width",
type=int,
default=84,
help='Width of the game screen.')
arg_game.add_argument("--screen-height",
type=int,
default=84,
help='Height of the game screen.')
arg_mem = parser.add_argument_group('Replay Memory')
arg_mem.add_argument("--initial-replay-size",
type=int,
default=50000,
help='Initial size of the replay memory.')
arg_mem.add_argument("--max-replay-size",
type=int,
default=500000,
help='Max size of the replay memory.')
arg_mem.add_argument("--prioritized",
action='store_true',
help='Whether to use prioritized memory or not.')
arg_net = parser.add_argument_group('Deep Q-Network')
arg_net.add_argument(
"--optimizer",
choices=['adadelta', 'adam', 'rmsprop', 'rmspropcentered'],
default='rmsprop',
help='Name of the optimizer to use.')
arg_net.add_argument("--learning-rate",
type=float,
default=.00025,
help='Learning rate value of the optimizer.')
arg_net.add_argument("--decay",
type=float,
default=.95,
help='Discount factor for the history coming from the'
'gradient momentum in rmspropcentered and'
'rmsprop')
arg_net.add_argument("--epsilon",
type=float,
default=1e-8,
help='Epsilon term used in rmspropcentered and'
'rmsprop')
arg_alg = parser.add_argument_group('Algorithm')
arg_alg.add_argument("--algorithm",
choices=['dqn', 'ddqn', 'adqn', 'mmdqn', 'cdqn'],
default='dqn',
help='Name of the algorithm. dqn is for standard'
'DQN, ddqn is for Double DQN and adqn is for'
'Averaged DQN.')
arg_alg.add_argument(
"--n-approximators",
type=int,
default=1,
help="Number of approximators used in the ensemble for"
"AveragedDQN or MaxminDQN.")
arg_alg.add_argument("--batch-size",
type=int,
default=32,
help='Batch size for each fit of the network.')
arg_alg.add_argument("--history-length",
type=int,
default=4,
help='Number of frames composing a state.')
arg_alg.add_argument("--target-update-frequency",
type=int,
default=10000,
help='Number of collected samples before each update'
'of the target network.')
arg_alg.add_argument("--evaluation-frequency",
type=int,
default=250000,
help='Number of collected samples before each'
'evaluation. An epoch ends after this number of'
'steps')
arg_alg.add_argument("--train-frequency",
type=int,
default=4,
help='Number of collected samples before each fit of'
'the neural network.')
arg_alg.add_argument("--max-steps",
type=int,
default=50000000,
help='Total number of collected samples.')
arg_alg.add_argument(
"--final-exploration-frame",
type=int,
default=1000000,
help='Number of collected samples until the exploration'
'rate stops decreasing.')
arg_alg.add_argument("--initial-exploration-rate",
type=float,
default=1.,
help='Initial value of the exploration rate.')
arg_alg.add_argument("--final-exploration-rate",
type=float,
default=.1,
help='Final value of the exploration rate. When it'
'reaches this values, it stays constant.')
arg_alg.add_argument("--test-exploration-rate",
type=float,
default=.05,
help='Exploration rate used during evaluation.')
arg_alg.add_argument("--test-samples",
type=int,
default=125000,
help='Number of collected samples for each'
'evaluation.')
arg_alg.add_argument(
"--max-no-op-actions",
type=int,
default=30,
help='Maximum number of no-op actions performed at the'
'beginning of the episodes.')
arg_alg.add_argument("--n-atoms",
type=int,
default=51,
help='Number of atoms for Categorical DQN.')
arg_alg.add_argument("--v-min",
type=int,
default=-10,
help='Minimum action-value for Categorical DQN.')
arg_alg.add_argument("--v-max",
type=int,
default=10,
help='Maximum action-value for Categorical DQN.')
arg_utils = parser.add_argument_group('Utils')
arg_utils.add_argument('--use-cuda',
action='store_true',
help='Flag specifying whether to use the GPU.')
arg_utils.add_argument('--save',
action='store_true',
help='Flag specifying whether to save the model.')
arg_utils.add_argument('--load-path',
type=str,
help='Path of the model to be loaded.')
arg_utils.add_argument('--render',
action='store_true',
help='Flag specifying whether to render the game.')
arg_utils.add_argument('--quiet',
action='store_true',
help='Flag specifying whether to hide the progress'
'bar.')
arg_utils.add_argument('--debug',
action='store_true',
help='Flag specifying whether the script has to be'
'run in debug mode.')
args = parser.parse_args()
scores = list()
optimizer = dict()
if args.optimizer == 'adam':
optimizer['class'] = optim.Adam
optimizer['params'] = dict(lr=args.learning_rate, eps=args.epsilon)
elif args.optimizer == 'adadelta':
optimizer['class'] = optim.Adadelta
optimizer['params'] = dict(lr=args.learning_rate, eps=args.epsilon)
elif args.optimizer == 'rmsprop':
optimizer['class'] = optim.RMSprop
optimizer['params'] = dict(lr=args.learning_rate,
alpha=args.decay,
eps=args.epsilon)
elif args.optimizer == 'rmspropcentered':
optimizer['class'] = optim.RMSprop
optimizer['params'] = dict(lr=args.learning_rate,
alpha=args.decay,
eps=args.epsilon,
centered=True)
else:
raise ValueError
# Summary folder
folder_name = './logs/atari_' + args.algorithm + '_' + args.name +\
'_' + datetime.datetime.now().strftime('%Y-%m-%d_%H-%M-%S')
pathlib.Path(folder_name).mkdir(parents=True)
# Settings
if args.debug:
initial_replay_size = 50
max_replay_size = 500
train_frequency = 5
target_update_frequency = 10
test_samples = 20
evaluation_frequency = 50
max_steps = 1000
else:
initial_replay_size = args.initial_replay_size
max_replay_size = args.max_replay_size
train_frequency = args.train_frequency
target_update_frequency = args.target_update_frequency
test_samples = args.test_samples
evaluation_frequency = args.evaluation_frequency
max_steps = args.max_steps
# MDP
mdp = Atari(args.name,
args.screen_width,
args.screen_height,
ends_at_life=True,
history_length=args.history_length,
max_no_op_actions=args.max_no_op_actions)
if args.load_path:
# Agent
agent = DQN.load(args.load_path)
epsilon_test = Parameter(value=args.test_exploration_rate)
agent.policy.set_epsilon(epsilon_test)
# Algorithm
core_test = Core(agent, mdp)
# Evaluate model
dataset = core_test.evaluate(n_steps=args.test_samples,
render=args.render,
quiet=args.quiet)
get_stats(dataset)
else:
# Policy
epsilon = LinearParameter(value=args.initial_exploration_rate,
threshold_value=args.final_exploration_rate,
n=args.final_exploration_frame)
epsilon_test = Parameter(value=args.test_exploration_rate)
epsilon_random = Parameter(value=1)
pi = EpsGreedy(epsilon=epsilon_random)
class CategoricalLoss(nn.Module):
def forward(self, input, target):
input = input.clamp(1e-5)
return -torch.sum(target * torch.log(input))
# Approximator
approximator_params = dict(
network=Network if args.algorithm != 'cdqn' else FeatureNetwork,
input_shape=mdp.info.observation_space.shape,
output_shape=(mdp.info.action_space.n, ),
n_actions=mdp.info.action_space.n,
n_features=Network.n_features,
optimizer=optimizer,
loss=F.smooth_l1_loss
if args.algorithm != 'cdqn' else CategoricalLoss(),
use_cuda=args.use_cuda)
approximator = TorchApproximator
if args.prioritized:
replay_memory = PrioritizedReplayMemory(
initial_replay_size,
max_replay_size,
alpha=.6,
beta=LinearParameter(.4,
threshold_value=1,
n=max_steps // train_frequency))
else:
replay_memory = None
# Agent
algorithm_params = dict(
batch_size=args.batch_size,
target_update_frequency=target_update_frequency // train_frequency,
replay_memory=replay_memory,
initial_replay_size=initial_replay_size,
max_replay_size=max_replay_size)
if args.algorithm == 'dqn':
agent = DQN(mdp.info,
pi,
approximator,
approximator_params=approximator_params,
**algorithm_params)
elif args.algorithm == 'ddqn':
agent = DoubleDQN(mdp.info,
pi,
approximator,
approximator_params=approximator_params,
**algorithm_params)
elif args.algorithm == 'adqn':
agent = AveragedDQN(mdp.info,
pi,
approximator,
approximator_params=approximator_params,
n_approximators=args.n_approximators,
**algorithm_params)
elif args.algorithm == 'mmdqn':
agent = MaxminDQN(mdp.info,
pi,
approximator,
approximator_params=approximator_params,
n_approximators=args.n_approximators,
**algorithm_params)
elif args.algorithm == 'cdqn':
agent = CategoricalDQN(mdp.info,
pi,
approximator_params=approximator_params,
n_atoms=args.n_atoms,
v_min=args.v_min,
v_max=args.v_max,
**algorithm_params)
# Algorithm
core = Core(agent, mdp)
# RUN
# Fill replay memory with random dataset
print_epoch(0)
core.learn(n_steps=initial_replay_size,
n_steps_per_fit=initial_replay_size,
quiet=args.quiet)
if args.save:
agent.save(folder_name + '/agent_0.msh')
# Evaluate initial policy
pi.set_epsilon(epsilon_test)
mdp.set_episode_end(False)
dataset = core.evaluate(n_steps=test_samples,
render=args.render,
quiet=args.quiet)
scores.append(get_stats(dataset))
np.save(folder_name + '/scores.npy', scores)
for n_epoch in range(1, max_steps // evaluation_frequency + 1):
print_epoch(n_epoch)
print('- Learning:')
# learning step
pi.set_epsilon(epsilon)
mdp.set_episode_end(True)
core.learn(n_steps=evaluation_frequency,
n_steps_per_fit=train_frequency,
quiet=args.quiet)
if args.save:
agent.save(folder_name + '/agent_' + str(n_epoch) + '.msh')
print('- Evaluation:')
# evaluation step
pi.set_epsilon(epsilon_test)
mdp.set_episode_end(False)
dataset = core.evaluate(n_steps=test_samples,
render=args.render,
quiet=args.quiet)
scores.append(get_stats(dataset))
np.save(folder_name + '/scores.npy', scores)
return scores
start_timer_on_battle_start=True)
# Training loop
# Fill replay memory with random dataset
print_epoch(0)
mdp.start_battles(nme)
# core.learn(n_steps=initial_replay_size,
# n_steps_per_fit=initial_replay_size)
core.learn(n_episodes=initial_replay_size,
n_episodes_per_fit=initial_replay_size)
mdp.end_battles()
# Evaluate initial policy
pi.set_epsilon(epsilon_test)
# mdp.set_episode_end(False)
mdp.start_battles(nme)
dataset = core.evaluate(n_episodes=test_episodes)
mdp.end_battles()
scores.append(get_stats(dataset))
N_STEPS = max_steps // evaluation_frequency + 1
for n_epoch in range(1, N_STEPS):
if n_epoch % 5 == 0 or n_epoch == N_STEPS-1:
torch.save(core.agent.approximator.model.network, f'checkpoints/torch/checkpt_epoch{n_epoch}')
core.agent.save(f'checkpoints/mushroom/checkpt_epoch{n_epoch}')
print_epoch(n_epoch)
print('- Learning:')
# learning step
pi.set_epsilon(epsilon)
# mdp.set_episode_end(True)
mdp.start_battles(nme)
# core.learn(n_steps=evaluation_frequency,
def experiment(alg, n_epochs, n_steps, n_steps_test):
np.random.seed()
# MDP
horizon = 200
gamma = 0.99
mdp = Gym('Pendulum-v0', horizon, gamma)
# Settings
initial_replay_size = 64
max_replay_size = 50000
batch_size = 64
n_features = 64
warmup_transitions = 100
tau = 0.005
lr_alpha = 3e-4
use_cuda = torch.cuda.is_available()
# Approximator
actor_input_shape = mdp.info.observation_space.shape
actor_mu_params = dict(network=ActorNetwork,
n_features=n_features,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
use_cuda=use_cuda)
actor_sigma_params = dict(network=ActorNetwork,
n_features=n_features,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
use_cuda=use_cuda)
actor_optimizer = {'class': optim.Adam, 'params': {'lr': 3e-4}}
critic_input_shape = (actor_input_shape[0] +
mdp.info.action_space.shape[0], )
critic_params = dict(network=CriticNetwork,
optimizer={
'class': optim.Adam,
'params': {
'lr': 3e-4
}
},
loss=F.mse_loss,
n_features=n_features,
input_shape=critic_input_shape,
output_shape=(1, ),
use_cuda=use_cuda)
# Agent
agent = alg(mdp.info,
actor_mu_params,
actor_sigma_params,
actor_optimizer,
critic_params,
batch_size,
initial_replay_size,
max_replay_size,
warmup_transitions,
tau,
lr_alpha,
critic_fit_params=None)
# Algorithm
core = Core(agent, mdp)
core.learn(n_steps=initial_replay_size,
n_steps_per_fit=initial_replay_size)
# RUN
dataset = core.evaluate(n_steps=n_steps_test, render=False)
J = compute_J(dataset, gamma)
print('J: ', np.mean(J))
for n in range(n_epochs):
print('Epoch: ', n)
core.learn(n_steps=n_steps, n_steps_per_fit=1)
dataset = core.evaluate(n_steps=n_steps_test, render=False)
J = compute_J(dataset, gamma)
print('J: ', np.mean(J))
print('Press a button to visualize pendulum')
input()
core.evaluate(n_episodes=5, render=True)
def experiment(alg, n_epochs, n_steps, n_episodes_test):
np.random.seed()
logger = Logger(alg.__name__, results_dir=None)
logger.strong_line()
logger.info('Experiment Algorithm: ' + alg.__name__)
# MDP
gamma = 0.99
habitat_root_path = Habitat.root_path()
config_file = os.path.join(
habitat_root_path, 'habitat_baselines/config/rearrange/rl_pick.yaml')
base_config_file = os.path.join(habitat_root_path,
'configs/tasks/rearrange/pick.yaml')
wrapper = 'HabitatRearrangeWrapper'
mdp = Habitat(wrapper, config_file, base_config_file, gamma=gamma)
# Settings
initial_replay_size = 64
max_replay_size = 50000
batch_size = 64
n_features = 64
warmup_transitions = 100
tau = 0.005
lr_alpha = 3e-4
use_cuda = torch.cuda.is_available()
# Approximator
actor_input_shape = mdp.info.observation_space.shape
actor_mu_params = dict(network=ActorNetwork,
n_features=n_features,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
use_cuda=use_cuda)
actor_sigma_params = dict(network=ActorNetwork,
n_features=n_features,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
use_cuda=use_cuda)
actor_optimizer = {'class': optim.Adam, 'params': {'lr': 3e-4}}
critic_input_shape = actor_input_shape + mdp.info.action_space.shape
critic_params = dict(network=CriticNetwork,
optimizer={
'class': optim.Adam,
'params': {
'lr': 3e-4
}
},
loss=F.mse_loss,
n_features=n_features,
input_shape=critic_input_shape,
output_shape=(1, ),
use_cuda=use_cuda)
# Agent
agent = alg(mdp.info,
actor_mu_params,
actor_sigma_params,
actor_optimizer,
critic_params,
batch_size,
initial_replay_size,
max_replay_size,
warmup_transitions,
tau,
lr_alpha,
critic_fit_params=None)
# Algorithm
core = Core(agent, mdp)
# RUN
dataset = core.evaluate(n_episodes=n_episodes_test, render=False)
s, *_ = parse_dataset(dataset)
J = np.mean(compute_J(dataset, mdp.info.gamma))
R = np.mean(compute_J(dataset))
E = agent.policy.entropy(s)
logger.epoch_info(0, J=J, R=R, entropy=E)
core.learn(n_steps=initial_replay_size,
n_steps_per_fit=initial_replay_size)
for n in trange(n_epochs, leave=False):
core.learn(n_steps=n_steps, n_steps_per_fit=1)
dataset = core.evaluate(n_episodes=n_episodes_test, render=False)
s, *_ = parse_dataset(dataset)
J = np.mean(compute_J(dataset, mdp.info.gamma))
R = np.mean(compute_J(dataset))
E = agent.policy.entropy(s)
logger.epoch_info(n + 1, J=J, R=R, entropy=E)
logger.info('Press a button to visualize the robot')
input()
core.evaluate(n_episodes=5, render=True)
potential_violation_times, env.resource_edges
],
dtype=object)
mdp = StrictResourceTargetTopEnvironment("dataset.db",
params['area'],
observation,
gamma=params['gamma'],
allow_wait=True,
start_hour=params['start_hour'],
end_hour=params['end_hour'],
add_time=params['gamma'] < 1,
speed=speed)
# days = [i for i in range(1, 356) if i % 13 == 1] # validation
days = [i for i in range(1, 356) if i % 13 == 0] # test
agent = Agent(mdp.info, Greedy(mdp, speed))
core = Core(agent, mdp)
value = np.mean(compute_J(core.evaluate(initial_states=days, render=True)))
print("avg J Greedy", value)
# mdp.save_rendered("greedy.mp4", 10000)
t, h = .1, 600.0
agent = Agent(mdp.info, ACO(mdp, sys.maxsize, t, speed, max_time=h))
core = Core(agent, mdp)
value = np.mean(compute_J(core.evaluate(initial_states=days, render=True)))
print("avg J ACO", t, h, value)
# mdp.save_rendered("aco_%d_%d.mp4" % (t * 60, h))
mdp.close()
def experiment(alg, n_epochs, n_steps, n_steps_test):
np.random.seed()
logger = Logger(alg.__name__, results_dir=None)
logger.strong_line()
logger.info('Experiment Algorithm: ' + alg.__name__)
use_cuda = torch.cuda.is_available()
# MDP
horizon = 200
gamma = 0.99
mdp = Gym('Pendulum-v1', horizon, gamma)
# Policy
policy_class = OrnsteinUhlenbeckPolicy
policy_params = dict(sigma=np.ones(1) * .2, theta=.15, dt=1e-2)
# Settings
initial_replay_size = 500
max_replay_size = 5000
batch_size = 200
n_features = 80
tau = .001
# Approximator
actor_input_shape = mdp.info.observation_space.shape
actor_params = dict(network=ActorNetwork,
n_features=n_features,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
use_cuda=use_cuda)
actor_optimizer = {'class': optim.Adam,
'params': {'lr': .001}}
critic_input_shape = (actor_input_shape[0] + mdp.info.action_space.shape[0],)
critic_params = dict(network=CriticNetwork,
optimizer={'class': optim.Adam,
'params': {'lr': .001}},
loss=F.mse_loss,
n_features=n_features,
input_shape=critic_input_shape,
output_shape=(1,),
use_cuda=use_cuda)
# Agent
agent = alg(mdp.info, policy_class, policy_params,
actor_params, actor_optimizer, critic_params, batch_size,
initial_replay_size, max_replay_size, tau)
# Algorithm
core = Core(agent, mdp)
core.learn(n_steps=initial_replay_size, n_steps_per_fit=initial_replay_size)
# RUN
dataset = core.evaluate(n_steps=n_steps_test, render=False)
J = np.mean(compute_J(dataset, gamma))
R = np.mean(compute_J(dataset))
logger.epoch_info(0, J=J, R=R)
for n in trange(n_epochs, leave=False):
core.learn(n_steps=n_steps, n_steps_per_fit=1)
dataset = core.evaluate(n_steps=n_steps_test, render=False)
J = np.mean(compute_J(dataset, gamma))
R = np.mean(compute_J(dataset))
logger.epoch_info(n+1, J=J, R=R)
logger.info('Press a button to visualize pendulum')
input()
core.evaluate(n_episodes=5, render=True)