def experiment(variant):
ptu.set_gpu_mode(True, 0)
imsize = variant['imsize']
env = ImageForkReacher2dEnv(variant["arm_goal_distance_cost_coeff"],
variant["arm_object_distance_cost_coeff"],
[imsize, imsize, 3],
goal_object_distance_cost_coeff=variant[
"goal_object_distance_cost_coeff"],
ctrl_cost_coeff=variant["ctrl_cost_coeff"])
partial_obs_size = env.obs_dim - imsize * imsize * 3
print("partial dim was " + str(partial_obs_size))
env = NormalizedBoxEnv(env)
obs_dim = int(np.prod(env.observation_space.shape))
action_dim = int(np.prod(env.action_space.shape))
qf1 = MergedCNN(input_width=imsize,
input_height=imsize,
output_size=1,
input_channels=3,
added_fc_input_size=action_dim,
**variant['cnn_params'])
qf2 = MergedCNN(input_width=imsize,
input_height=imsize,
output_size=1,
input_channels=3,
added_fc_input_size=action_dim,
**variant['cnn_params'])
vf = CNN(input_width=imsize,
input_height=imsize,
output_size=1,
input_channels=3,
**variant['cnn_params'])
policy = TanhCNNGaussianPolicy(input_width=imsize,
input_height=imsize,
output_size=action_dim,
input_channels=3,
**variant['cnn_params'])
algorithm = TwinSAC(env=env,
policy=policy,
qf1=qf1,
qf2=qf2,
vf=vf,
**variant['algo_params'])
algorithm.to(ptu.device)
algorithm.train()
def experiment(variant):
from railrl.core import logger
import railrl.torch.pytorch_util as ptu
ptu.set_gpu_mode(True)
info = dict()
logger.save_extra_data(info)
logger.get_snapshot_dir()
net = CNN(**variant['cnn_kwargs'])
net.cuda()
num_divisions = variant['num_divisions']
images = np.zeros((num_divisions * 10000, 21168))
states = np.zeros((num_divisions * 10000, 7))
for i in range(num_divisions):
imgs = np.load(
'/home/murtaza/vae_data/sawyer_torque_control_images100000_' +
str(i + 1) + '.npy')
state = np.load(
'/home/murtaza/vae_data/sawyer_torque_control_states100000_' +
str(i + 1) + '.npy')[:, :7] % (2 * np.pi)
images[i * 10000:(i + 1) * 10000] = imgs
states[i * 10000:(i + 1) * 10000] = state
print(i)
if variant['normalize']:
std = np.std(states, axis=0)
mu = np.mean(states, axis=0)
states = np.divide((states - mu), std)
print(mu, std)
mid = int(num_divisions * 10000 * .9)
train_images, test_images = images[:mid], images[mid:]
train_labels, test_labels = states[:mid], states[mid:]
algo = SupervisedAlgorithm(train_images,
test_images,
train_labels,
test_labels,
net,
batch_size=variant['batch_size'],
lr=variant['lr'],
weight_decay=variant['weight_decay'])
for epoch in range(variant['num_epochs']):
algo.train_epoch(epoch)
algo.test_epoch(epoch)
def experiment(variant):
imsize = variant['imsize']
history = variant['history']
env = Pusher2DEnv()#gym.make(variant['env_id']).env
env = NormalizedBoxEnv(ImageMujocoEnv(env,
imsize=imsize,
keep_prev=history - 1,
init_camera=variant['init_camera']))
# es = GaussianStrategy(
# action_space=env.action_space,
# )
es = OUStrategy(action_space=env.action_space)
obs_dim = env.observation_space.low.size
action_dim = env.action_space.low.size
qf = MergedCNN(input_width=imsize,
input_height=imsize,
output_size=1,
input_channels= history,
added_fc_input_size=action_dim,
**variant['cnn_params'])
vf = CNN(input_width=imsize,
input_height=imsize,
output_size=1,
input_channels=history,
**variant['cnn_params'])
policy = TanhCNNGaussianPolicy(input_width=imsize,
input_height=imsize,
output_size=action_dim,
input_channels=history,
**variant['cnn_params'],
)
algorithm = SoftActorCritic(
env=env,
policy=policy,
qf=qf,
vf=vf,
**variant['algo_params']
)
algorithm.to(ptu.device)
algorithm.train()
def experiment(variant):
imsize = variant['imsize']
history = variant['history']
env = gym.make(variant['env_id']).env
training_env = gym.make(variant['env_id']).env
env = NormalizedBoxEnv(env)
training_env = NormalizedBoxEnv(training_env)
env = ImageMujocoEnv(env,
imsize=imsize,
keep_prev=history - 1,
init_camera=variant['init_camera'])
training_env = ImageMujocoEnv(training_env,
imsize=imsize,
keep_prev=history - 1,
init_camera=variant['init_camera'])
env = DiscretizeEnv(env, variant['bins'])
training_env = DiscretizeEnv(training_env, variant['bins'])
qf = CNN(output_size=env.action_space.n,
input_width=imsize,
input_height=imsize,
input_channels=history,
**variant['cnn_params'])
qf_criterion = variant['qf_criterion_class']()
algorithm = variant['algo_class'](env,
training_env=training_env,
qf=qf,
qf_criterion=qf_criterion,
**variant['algo_params'])
algorithm.to(ptu.device)
algorithm.train()
def experiment(variant):
import multiworld.envs.pygame
env = gym.make('Point2DEnv-ImageFixedGoal-v0')
input_width, input_height = env.image_shape
action_dim = int(np.prod(env.action_space.shape))
cnn_params = variant['cnn_params']
cnn_params.update(
input_width=input_width,
input_height=input_height,
input_channels=3,
output_conv_channels=True,
output_size=None,
)
if variant['shared_qf_conv']:
qf_cnn = CNN(**cnn_params)
qf1 = MlpQfWithObsProcessor(
obs_processor=qf_cnn,
output_size=1,
input_size=action_dim+qf_cnn.conv_output_flat_size,
**variant['qf_kwargs']
)
qf2 = MlpQfWithObsProcessor(
obs_processor=qf_cnn,
output_size=1,
input_size=action_dim+qf_cnn.conv_output_flat_size,
**variant['qf_kwargs']
)
target_qf_cnn = CNN(**cnn_params)
target_qf1 = MlpQfWithObsProcessor(
obs_processor=target_qf_cnn,
output_size=1,
input_size=action_dim+qf_cnn.conv_output_flat_size,
**variant['qf_kwargs']
)
target_qf2 = MlpQfWithObsProcessor(
obs_processor=target_qf_cnn,
output_size=1,
input_size=action_dim+qf_cnn.conv_output_flat_size,
**variant['qf_kwargs']
)
else:
qf1_cnn = CNN(**cnn_params)
cnn_output_dim = qf1_cnn.conv_output_flat_size
qf1 = MlpQfWithObsProcessor(
obs_processor=qf1_cnn,
output_size=1,
input_size=action_dim+cnn_output_dim,
**variant['qf_kwargs']
)
qf2 = MlpQfWithObsProcessor(
obs_processor=CNN(**cnn_params),
output_size=1,
input_size=action_dim+cnn_output_dim,
**variant['qf_kwargs']
)
target_qf1 = MlpQfWithObsProcessor(
obs_processor=CNN(**cnn_params),
output_size=1,
input_size=action_dim+cnn_output_dim,
**variant['qf_kwargs']
)
target_qf2 = MlpQfWithObsProcessor(
obs_processor=CNN(**cnn_params),
output_size=1,
input_size=action_dim+cnn_output_dim,
**variant['qf_kwargs']
)
action_dim = int(np.prod(env.action_space.shape))
policy_cnn = CNN(**cnn_params)
policy = TanhGaussianPolicyAdapter(
policy_cnn,
policy_cnn.conv_output_flat_size,
action_dim,
**variant['policy_kwargs']
)
eval_env = expl_env = env
eval_policy = MakeDeterministic(policy)
eval_path_collector = MdpPathCollector(
eval_env,
eval_policy,
**variant['eval_path_collector_kwargs']
)
replay_buffer = EnvReplayBuffer(
variant['replay_buffer_size'],
expl_env,
)
trainer = SACTrainer(
env=eval_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**variant['trainer_kwargs']
)
if variant['collection_mode'] == 'batch':
expl_path_collector = MdpPathCollector(
expl_env,
policy,
**variant['expl_path_collector_kwargs']
)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs']
)
elif variant['collection_mode'] == 'online':
expl_path_collector = MdpStepCollector(
expl_env,
policy,
**variant['expl_path_collector_kwargs']
)
algorithm = TorchOnlineRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs']
)
algorithm.to(ptu.device)
algorithm.train()
def experiment(variant):
#expl_env = carla_env.CarlaObsDictEnv(args=variant['env_args'])
import gym
import d4rl.carla
expl_env = gym.make('carla-lane-dict-v0')
eval_env = expl_env
#num_channels, img_width, img_height = eval_env._wrapped_env.image_shape
num_channels, img_width, img_height = eval_env.image_shape
# num_channels = 3
action_dim = int(np.prod(eval_env.action_space.shape))
# obs_dim = 11
cnn_params = variant['cnn_params']
cnn_params.update(
input_width=img_width,
input_height=img_height,
input_channels=num_channels,
added_fc_input_size=0,
output_conv_channels=True,
output_size=None,
)
qf_cnn = CNN(**cnn_params)
qf_obs_processor = nn.Sequential(
qf_cnn,
Flatten(),
)
qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
qf_kwargs['obs_processor'] = qf_obs_processor
qf_kwargs['output_size'] = 1
qf_kwargs['input_size'] = (action_dim + qf_cnn.conv_output_flat_size)
qf1 = MlpQfWithObsProcessor(**qf_kwargs)
qf2 = MlpQfWithObsProcessor(**qf_kwargs)
target_qf_cnn = CNN(**cnn_params)
target_qf_obs_processor = nn.Sequential(
target_qf_cnn,
Flatten(),
)
target_qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
target_qf_kwargs['obs_processor'] = target_qf_obs_processor
target_qf_kwargs['output_size'] = 1
target_qf_kwargs['input_size'] = (action_dim +
target_qf_cnn.conv_output_flat_size)
target_qf1 = MlpQfWithObsProcessor(**target_qf_kwargs)
target_qf2 = MlpQfWithObsProcessor(**target_qf_kwargs)
action_dim = int(np.prod(eval_env.action_space.shape))
policy_cnn = CNN(**cnn_params)
policy_obs_processor = nn.Sequential(
policy_cnn,
Flatten(),
)
policy = TanhGaussianPolicyAdapter(policy_obs_processor,
policy_cnn.conv_output_flat_size,
action_dim, **variant['policy_kwargs'])
eval_policy = MakeDeterministic(policy)
observation_key = 'image'
eval_path_collector = ObsDictPathCollector(
eval_env,
eval_policy,
observation_key=observation_key,
**variant['eval_path_collector_kwargs'])
expl_path_collector = CustomObsDictPathCollector(
expl_env,
observation_key=observation_key,
)
observation_key = 'image'
replay_buffer = ObsDictReplayBuffer(
variant['replay_buffer_size'],
expl_env,
observation_key=observation_key,
)
load_hdf5(expl_env, replay_buffer)
#load_buffer(buffer_path=variant['buffer'], replay_buffer=replay_buffer)
# import ipdb; ipdb.set_trace()
trainer = SACTrainer(env=eval_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
behavior_policy=None,
**variant['trainer_kwargs'])
variant['algo_kwargs']['max_path_length'] = expl_env._max_episode_steps
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
eval_both=True,
batch_rl=True,
**variant['algorithm_kwargs'])
video_func = VideoSaveFunctionBullet(variant)
algorithm.post_train_funcs.append(video_func)
algorithm.to(ptu.device)
algorithm.train()
def experiment(variant):
# from softlearning.environments.gym import register_image_reach
# register_image_reach()
# env = gym.envs.make(
# 'Pusher2d-ImageReach-v0',
# )
from softlearning.environments.gym.mujoco.image_pusher_2d import (
ImageForkReacher2dEnv)
env_kwargs = {
'image_shape': (32, 32, 3),
'arm_goal_distance_cost_coeff': 1.0,
'arm_object_distance_cost_coeff': 0.0,
}
eval_env = ImageForkReacher2dEnv(**env_kwargs)
expl_env = ImageForkReacher2dEnv(**env_kwargs)
input_width, input_height, input_channels = eval_env.image_shape
image_dim = input_width * input_height * input_channels
action_dim = int(np.prod(eval_env.action_space.shape))
cnn_params = variant['cnn_params']
cnn_params.update(
input_width=input_width,
input_height=input_height,
input_channels=input_channels,
added_fc_input_size=4,
output_conv_channels=True,
output_size=None,
)
non_image_dim = int(np.prod(eval_env.observation_space.shape)) - image_dim
if variant['shared_qf_conv']:
qf_cnn = CNN(**cnn_params)
qf_obs_processor = nn.Sequential(
Split(qf_cnn, identity, image_dim),
FlattenEach(),
Concat(),
)
qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
qf_kwargs['obs_processor'] = qf_obs_processor
qf_kwargs['output_size'] = 1
qf_kwargs['input_size'] = (action_dim + qf_cnn.conv_output_flat_size +
non_image_dim)
qf1 = MlpQfWithObsProcessor(**qf_kwargs)
qf2 = MlpQfWithObsProcessor(**qf_kwargs)
target_qf_cnn = CNN(**cnn_params)
target_qf_obs_processor = nn.Sequential(
Split(target_qf_cnn, identity, image_dim),
FlattenEach(),
Concat(),
)
target_qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
target_qf_kwargs['obs_processor'] = target_qf_obs_processor
target_qf_kwargs['output_size'] = 1
target_qf_kwargs['input_size'] = (action_dim +
target_qf_cnn.conv_output_flat_size +
non_image_dim)
target_qf1 = MlpQfWithObsProcessor(**target_qf_kwargs)
target_qf2 = MlpQfWithObsProcessor(**target_qf_kwargs)
else:
qf1_cnn = CNN(**cnn_params)
cnn_output_dim = qf1_cnn.conv_output_flat_size
qf1 = MlpQfWithObsProcessor(obs_processor=qf1_cnn,
output_size=1,
input_size=action_dim + cnn_output_dim,
**variant['qf_kwargs'])
qf2 = MlpQfWithObsProcessor(obs_processor=CNN(**cnn_params),
output_size=1,
input_size=action_dim + cnn_output_dim,
**variant['qf_kwargs'])
target_qf1 = MlpQfWithObsProcessor(obs_processor=CNN(**cnn_params),
output_size=1,
input_size=action_dim +
cnn_output_dim,
**variant['qf_kwargs'])
target_qf2 = MlpQfWithObsProcessor(obs_processor=CNN(**cnn_params),
output_size=1,
input_size=action_dim +
cnn_output_dim,
**variant['qf_kwargs'])
action_dim = int(np.prod(eval_env.action_space.shape))
policy_cnn = CNN(**cnn_params)
policy_obs_processor = nn.Sequential(
Split(policy_cnn, identity, image_dim),
FlattenEach(),
Concat(),
)
policy = TanhGaussianPolicyAdapter(
policy_obs_processor, policy_cnn.conv_output_flat_size + non_image_dim,
action_dim, **variant['policy_kwargs'])
eval_policy = MakeDeterministic(policy)
eval_path_collector = MdpPathCollector(
eval_env, eval_policy, **variant['eval_path_collector_kwargs'])
replay_buffer = EnvReplayBuffer(
variant['replay_buffer_size'],
expl_env,
)
trainer = SACTrainer(env=eval_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**variant['trainer_kwargs'])
if variant['collection_mode'] == 'batch':
expl_path_collector = MdpPathCollector(
expl_env, policy, **variant['expl_path_collector_kwargs'])
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs'])
elif variant['collection_mode'] == 'online':
expl_path_collector = MdpStepCollector(
expl_env, policy, **variant['expl_path_collector_kwargs'])
algorithm = TorchOnlineRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs'])
algorithm.to(ptu.device)
algorithm.train()
def experiment(variant):
expl_env = roboverse.make(variant['env'], gui=False, randomize=True,
observation_mode=variant['obs'], reward_type='shaped',
transpose_image=True)
eval_env = expl_env
img_width, img_height = eval_env.image_shape
num_channels = 3
action_dim = int(np.prod(eval_env.action_space.shape))
cnn_params = variant['cnn_params']
cnn_params.update(
input_width=img_width,
input_height=img_height,
input_channels=num_channels,
added_fc_input_size=0,
output_conv_channels=True,
output_size=None,
)
qf_cnn = CNN(**cnn_params)
qf_obs_processor = nn.Sequential(
qf_cnn,
Flatten(),
)
qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
qf_kwargs['obs_processor'] = qf_obs_processor
qf_kwargs['output_size'] = 1
qf_kwargs['input_size'] = (
action_dim + qf_cnn.conv_output_flat_size
)
qf1 = MlpQfWithObsProcessor(**qf_kwargs)
qf2 = MlpQfWithObsProcessor(**qf_kwargs)
target_qf_cnn = CNN(**cnn_params)
target_qf_obs_processor = nn.Sequential(
target_qf_cnn,
Flatten(),
)
target_qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
target_qf_kwargs['obs_processor'] = target_qf_obs_processor
target_qf_kwargs['output_size'] = 1
target_qf_kwargs['input_size'] = (
action_dim + target_qf_cnn.conv_output_flat_size
)
target_qf1 = MlpQfWithObsProcessor(**target_qf_kwargs)
target_qf2 = MlpQfWithObsProcessor(**target_qf_kwargs)
action_dim = int(np.prod(eval_env.action_space.shape))
policy_cnn = CNN(**cnn_params)
policy_obs_processor = nn.Sequential(
policy_cnn,
Flatten(),
)
policy = GaussianMixtureObsProcessorPolicy(
obs_dim=policy_cnn.conv_output_flat_size,
action_dim=action_dim,
obs_processor=policy_obs_processor,
**variant['policy_kwargs']
)
buffer_policy = GaussianMixtureObsProcessorPolicy(
obs_dim=policy_cnn.conv_output_flat_size,
action_dim=action_dim,
obs_processor=policy_obs_processor,
**variant['policy_kwargs']
)
# policy = TanhGaussianPolicyAdapter(
# policy_obs_processor,
# policy_cnn.conv_output_flat_size,
# action_dim,
# **variant['policy_kwargs']
# )
# buffer_policy = TanhGaussianPolicyAdapter(
# policy_obs_processor,
# policy_cnn.conv_output_flat_size,
# action_dim,
# **variant['policy_kwargs']
# )
observation_key = 'image'
replay_buffer = ObsDictReplayBuffer(
variant['replay_buffer_size'],
expl_env,
observation_key=observation_key,
)
trainer = AWRSACTrainer(
env=eval_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
buffer_policy=buffer_policy,
**variant['trainer_kwargs']
)
expl_policy = policy
expl_path_collector = ObsDictPathCollector(
expl_env,
expl_policy,
observation_key=observation_key,
**variant['expl_path_collector_kwargs']
)
eval_policy = MakeDeterministic(policy)
eval_path_collector = ObsDictPathCollector(
eval_env,
eval_policy,
observation_key=observation_key,
**variant['eval_path_collector_kwargs']
)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=variant['max_path_length'],
batch_size=variant['batch_size'],
num_epochs=variant['num_epochs'],
num_eval_steps_per_epoch=variant['num_eval_steps_per_epoch'],
num_expl_steps_per_train_loop=variant['num_expl_steps_per_train_loop'],
num_trains_per_train_loop=variant['num_trains_per_train_loop'],
min_num_steps_before_training=variant['min_num_steps_before_training'],
)
algorithm.to(ptu.device)
demo_train_buffer = ObsDictReplayBuffer(
variant['replay_buffer_size'],
expl_env,
observation_key=observation_key,
)
demo_test_buffer = ObsDictReplayBuffer(
variant['replay_buffer_size'],
expl_env,
observation_key=observation_key,
)
path_loader_kwargs = variant.get("path_loader_kwargs", {})
video_func = VideoSaveFunctionBullet(variant)
algorithm.post_train_funcs.append(video_func)
save_paths = None # FIXME(avi)
if variant.get('save_paths', False):
algorithm.post_train_funcs.append(save_paths)
if variant.get('load_demos', False):
path_loader_class = variant.get('path_loader_class', MDPPathLoader)
path_loader = path_loader_class(trainer,
replay_buffer=replay_buffer,
demo_train_buffer=demo_train_buffer,
demo_test_buffer=demo_test_buffer,
**path_loader_kwargs
)
path_loader.load_demos()
if variant.get('pretrain_policy', False):
trainer.pretrain_policy_with_bc()
if variant.get('pretrain_rl', False):
trainer.pretrain_q_with_bc_data()
if variant.get('save_pretrained_algorithm', False):
p_path = osp.join(logger.get_snapshot_dir(), 'pretrain_algorithm.p')
pt_path = osp.join(logger.get_snapshot_dir(), 'pretrain_algorithm.pt')
data = algorithm._get_snapshot()
data['algorithm'] = algorithm
torch.save(data, open(pt_path, "wb"))
torch.save(data, open(p_path, "wb"))
if variant.get('train_rl', True):
algorithm.train()
def experiment(variant):
ptu.set_gpu_mode(True, 0)
from softlearning.environments.gym import register_image_reach
register_image_reach()
env = gym.make('Pusher2d-ImageReach-v0', arm_goal_distance_cost_coeff=1.0, arm_object_distance_cost_coeff=0.0)
#import ipdb; ipdb.set_trace()
input_width, input_height = env.image_shape
action_dim = int(np.prod(env.action_space.shape))
cnn_params = variant['cnn_params']
cnn_params.update(
input_width=input_width,
input_height=input_height,
input_channels=3,
added_fc_input_size=4,
output_conv_channels=True,
output_size=None,
)
if variant['shared_qf_conv']:
qf_cnn = CNN(**cnn_params)
qf1 = MlpQfWithObsProcessor(
obs_processor=qf_cnn,
output_size=1,
input_size=action_dim+qf_cnn.conv_output_flat_size,
**variant['qf_kwargs']
)
qf2 = MlpQfWithObsProcessor(
obs_processor=qf_cnn,
output_size=1,
input_size=action_dim+qf_cnn.conv_output_flat_size,
**variant['qf_kwargs']
)
target_qf_cnn = CNN(**cnn_params)
target_qf1 = MlpQfWithObsProcessor(
obs_processor=target_qf_cnn,
output_size=1,
input_size=action_dim+qf_cnn.conv_output_flat_size,
**variant['qf_kwargs']
)
target_qf2 = MlpQfWithObsProcessor(
obs_processor=target_qf_cnn,
output_size=1,
input_size=action_dim+qf_cnn.conv_output_flat_size,
**variant['qf_kwargs']
)
else:
qf1_cnn = CNN(**cnn_params)
cnn_output_dim = qf1_cnn.conv_output_flat_size
qf1 = MlpQfWithObsProcessor(
obs_processor=qf1_cnn,
output_size=1,
input_size=action_dim+cnn_output_dim,
**variant['qf_kwargs']
)
qf2 = MlpQfWithObsProcessor(
obs_processor=CNN(**cnn_params),
output_size=1,
input_size=action_dim+cnn_output_dim,
**variant['qf_kwargs']
)
target_qf1 = MlpQfWithObsProcessor(
obs_processor=CNN(**cnn_params),
output_size=1,
input_size=action_dim+cnn_output_dim,
**variant['qf_kwargs']
)
target_qf2 = MlpQfWithObsProcessor(
obs_processor=CNN(**cnn_params),
output_size=1,
input_size=action_dim+cnn_output_dim,
**variant['qf_kwargs']
)
action_dim = int(np.prod(env.action_space.shape))
policy_cnn = CNN(**cnn_params)
policy = TanhGaussianPolicyAdapter(
policy_cnn,
policy_cnn.conv_output_flat_size,
action_dim,
)
eval_env = expl_env = env
eval_policy = MakeDeterministic(policy)
eval_path_collector = MdpPathCollector(
eval_env,
eval_policy,
**variant['eval_path_collector_kwargs']
)
replay_buffer = EnvReplayBuffer(
variant['replay_buffer_size'],
expl_env,
)
trainer = SACTrainer(
env=eval_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**variant['trainer_kwargs']
)
if variant['collection_mode'] == 'batch':
expl_path_collector = MdpPathCollector(
expl_env,
policy,
**variant['expl_path_collector_kwargs']
)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs']
)
elif variant['collection_mode'] == 'online':
expl_path_collector = MdpStepCollector(
expl_env,
policy,
**variant['expl_path_collector_kwargs']
)
algorithm = TorchOnlineRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs']
)
elif variant['collection_mode'] == 'parallel':
expl_path_collector = MdpPathCollector(
expl_env,
policy,
**variant['expl_path_collector_kwargs']
)
algorithm = TorchParallelRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs']
)
algorithm.to(ptu.device)
algorithm.train()
def experiment(variant):
from multiworld.envs.mujoco import register_goal_example_envs
register_goal_example_envs()
eval_env = gym.make('Image48SawyerPushForwardEnv-v0')
expl_env = gym.make('Image48SawyerPushForwardEnv-v0')
# Hack for now
eval_env.wrapped_env.transpose = True
expl_env.wrapped_env.transpose = True
# More hacks, use a dense reward instead
eval_env.wrapped_env.wrapped_env.reward_type = 'puck_distance'
expl_env.wrapped_env.wrapped_env.reward_type = 'puck_distance'
img_width, img_height = eval_env.image_shape
num_channels = 3
action_dim = int(np.prod(eval_env.action_space.shape))
cnn_params = variant['cnn_params']
cnn_params.update(
input_width=img_width,
input_height=img_height,
input_channels=num_channels,
added_fc_input_size=4,
output_conv_channels=True,
output_size=None,
)
qf_cnn = CNN(**cnn_params)
qf_obs_processor = nn.Sequential(
qf_cnn,
Flatten(),
)
qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
qf_kwargs['obs_processor'] = qf_obs_processor
qf_kwargs['output_size'] = 1
qf_kwargs['input_size'] = (action_dim + qf_cnn.conv_output_flat_size)
qf1 = MlpQfWithObsProcessor(**qf_kwargs)
qf2 = MlpQfWithObsProcessor(**qf_kwargs)
target_qf_cnn = CNN(**cnn_params)
target_qf_obs_processor = nn.Sequential(
target_qf_cnn,
Flatten(),
)
target_qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
target_qf_kwargs['obs_processor'] = target_qf_obs_processor
target_qf_kwargs['output_size'] = 1
target_qf_kwargs['input_size'] = (action_dim +
target_qf_cnn.conv_output_flat_size)
target_qf1 = MlpQfWithObsProcessor(**target_qf_kwargs)
target_qf2 = MlpQfWithObsProcessor(**target_qf_kwargs)
action_dim = int(np.prod(eval_env.action_space.shape))
policy_cnn = CNN(**cnn_params)
policy_obs_processor = nn.Sequential(
policy_cnn,
Flatten(),
)
policy = TanhGaussianPolicyAdapter(policy_obs_processor,
policy_cnn.conv_output_flat_size,
action_dim, **variant['policy_kwargs'])
eval_policy = MakeDeterministic(policy)
eval_path_collector = MdpPathCollector(
eval_env, eval_policy, **variant['eval_path_collector_kwargs'])
replay_buffer = EnvReplayBuffer(
variant['replay_buffer_size'],
expl_env,
)
trainer = SACTrainer(env=eval_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**variant['trainer_kwargs'])
if variant['collection_mode'] == 'batch':
expl_path_collector = MdpPathCollector(
expl_env, policy, **variant['expl_path_collector_kwargs'])
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs'])
elif variant['collection_mode'] == 'online':
expl_path_collector = MdpStepCollector(
expl_env, policy, **variant['expl_path_collector_kwargs'])
algorithm = TorchOnlineRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs'])
algorithm.to(ptu.device)
algorithm.train()
def experiment(variant):
import multiworld
multiworld.register_all_envs()
env = gym.make('Image48SawyerReachXYEnv-v1')
observation_key = 'image_proprio_observation'
input_width, input_height = env.image_shape
action_dim = int(np.prod(env.action_space.shape))
cnn_params = variant['cnn_params']
cnn_params.update(
input_width=input_width,
input_height=input_height,
input_channels=3,
added_fc_input_size=3,
output_conv_channels=True,
output_size=None,
)
if variant['shared_qf_conv']:
qf_cnn = CNN(**cnn_params)
qf1 = MlpQfWithObsProcessor(
obs_processor=nn.Sequential(qf_cnn, Flatten()),
output_size=1,
input_size=action_dim + qf_cnn.conv_output_flat_size,
**variant['qf_kwargs'])
qf2 = MlpQfWithObsProcessor(
obs_processor=nn.Sequential(qf_cnn, Flatten()),
output_size=1,
input_size=action_dim + qf_cnn.conv_output_flat_size,
**variant['qf_kwargs'])
target_qf_cnn = CNN(**cnn_params)
target_qf1 = MlpQfWithObsProcessor(
obs_processor=nn.Sequential(target_qf_cnn, Flatten()),
output_size=1,
input_size=action_dim + target_qf_cnn.conv_output_flat_size,
**variant['qf_kwargs'])
target_qf2 = MlpQfWithObsProcessor(
obs_processor=nn.Sequential(target_qf_cnn, Flatten()),
output_size=1,
input_size=action_dim + target_qf_cnn.conv_output_flat_size,
**variant['qf_kwargs'])
else:
qf1_cnn = CNN(**cnn_params)
cnn_output_dim = qf1_cnn.conv_output_flat_size
qf1 = MlpQfWithObsProcessor(obs_processor=nn.Sequential(
qf1_cnn, Flatten()),
output_size=1,
input_size=action_dim + cnn_output_dim,
**variant['qf_kwargs'])
qf2 = MlpQfWithObsProcessor(obs_processor=nn.Sequential(
CNN(**cnn_params), Flatten()),
output_size=1,
input_size=action_dim + cnn_output_dim,
**variant['qf_kwargs'])
target_qf1 = MlpQfWithObsProcessor(
obs_processor=nn.Sequential(CNN(**cnn_params), Flatten()),
output_size=1,
input_size=action_dim + cnn_output_dim,
**variant['qf_kwargs'])
target_qf2 = MlpQfWithObsProcessor(
obs_processor=nn.Sequential(CNN(**cnn_params), Flatten()),
output_size=1,
input_size=action_dim + cnn_output_dim,
**variant['qf_kwargs'])
policy_cnn = CNN(**cnn_params)
policy = TanhGaussianPolicyAdapter(nn.Sequential(policy_cnn, Flatten()),
policy_cnn.conv_output_flat_size,
action_dim, **variant['policy_kwargs'])
eval_env = expl_env = env
eval_policy = MakeDeterministic(policy)
eval_path_collector = ObsDictPathCollector(
eval_env,
eval_policy,
observation_key=observation_key,
**variant['eval_path_collector_kwargs'])
replay_buffer = ObsDictReplayBuffer(
variant['replay_buffer_size'],
expl_env,
observation_key=observation_key,
**variant['replay_buffer_kwargs'],
)
trainer = SACTrainer(env=eval_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**variant['trainer_kwargs'])
if variant['collection_mode'] == 'batch':
expl_path_collector = ObsDictPathCollector(
expl_env,
policy,
observation_key=observation_key,
**variant['expl_path_collector_kwargs'])
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs'])
elif variant['collection_mode'] == 'online':
expl_path_collector = ObsDictStepCollector(
expl_env,
policy,
observation_key=observation_key,
**variant['expl_path_collector_kwargs'])
algorithm = TorchOnlineRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs'])
algorithm.to(ptu.device)
algorithm.train()
def HER_baseline_twin_sac_experiment(variant):
import railrl.torch.pytorch_util as ptu
from railrl.data_management.obs_dict_replay_buffer import \
ObsDictRelabelingBuffer
from railrl.exploration_strategies.base import (
PolicyWrappedWithExplorationStrategy)
from railrl.torch.her.her_twin_sac import HerTwinSAC
from railrl.torch.sac.policies import TanhCNNGaussianPolicy
from railrl.torch.networks import MergedCNN, CNN
import torch
from multiworld.core.image_env import ImageEnv
from railrl.misc.asset_loader import load_local_or_remote_file
init_camera = variant.get("init_camera", None)
presample_goals = variant.get('presample_goals', False)
presampled_goals_path = get_presampled_goals_path(
variant.get('presampled_goals_path', None))
if 'env_id' in variant:
import gym
import multiworld
multiworld.register_all_envs()
env = gym.make(variant['env_id'])
else:
env = variant["env_class"](**variant['env_kwargs'])
image_env = ImageEnv(
env,
variant.get('imsize'),
reward_type='image_sparse',
init_camera=init_camera,
transpose=True,
normalize=True,
)
if presample_goals:
if presampled_goals_path is None:
image_env.non_presampled_goal_img_is_garbage = True
presampled_goals = variant['generate_goal_dataset_fctn'](
env=image_env, **variant['goal_generation_kwargs'])
else:
presampled_goals = load_local_or_remote_file(
presampled_goals_path).item()
del image_env
env = ImageEnv(
env,
variant.get('imsize'),
reward_type='image_distance',
init_camera=init_camera,
transpose=True,
normalize=True,
presampled_goals=presampled_goals,
)
else:
env = image_env
es = get_exploration_strategy(variant, env)
observation_key = variant.get('observation_key', 'image_observation')
desired_goal_key = variant.get('desired_goal_key', 'image_desired_goal')
achieved_goal_key = desired_goal_key.replace("desired", "achieved")
imsize = variant['imsize']
action_dim = env.action_space.low.size
qf1 = MergedCNN(input_width=imsize,
input_height=imsize,
output_size=1,
input_channels=3 * 2,
added_fc_input_size=action_dim,
**variant['cnn_params'])
qf2 = MergedCNN(input_width=imsize,
input_height=imsize,
output_size=1,
input_channels=3 * 2,
added_fc_input_size=action_dim,
**variant['cnn_params'])
policy = TanhCNNGaussianPolicy(
input_width=imsize,
input_height=imsize,
added_fc_input_size=0,
output_size=action_dim,
input_channels=3 * 2,
output_activation=torch.tanh,
**variant['cnn_params'],
)
vf = CNN(input_width=imsize,
input_height=imsize,
output_size=1,
input_channels=3 * 2,
**variant['cnn_params'])
target_vf = CNN(input_width=imsize,
input_height=imsize,
output_size=1,
input_channels=3 * 2,
**variant['cnn_params'])
replay_buffer = ObsDictRelabelingBuffer(
env=env,
observation_key=observation_key,
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
**variant['replay_buffer_kwargs'])
exploration_policy = PolicyWrappedWithExplorationStrategy(
exploration_strategy=es,
policy=policy,
)
algo_kwargs = variant['algo_kwargs']
algo_kwargs['replay_buffer'] = replay_buffer
base_kwargs = algo_kwargs['base_kwargs']
base_kwargs['training_env'] = env
base_kwargs['render'] = variant["render"]
base_kwargs['render_during_eval'] = variant["render"]
her_kwargs = algo_kwargs['her_kwargs']
her_kwargs['observation_key'] = observation_key
her_kwargs['desired_goal_key'] = desired_goal_key
algorithm = HerTwinSAC(env,
qf1=qf1,
qf2=qf2,
vf=vf,
target_vf=target_vf,
policy=policy,
exploration_policy=exploration_policy,
**variant['algo_kwargs'])
algorithm.to(ptu.device)
algorithm.train()
def experiment(variant):
expl_env = roboverse.make(variant['env'],
gui=False,
randomize=True,
observation_mode=variant['obs'],
reward_type='shaped',
transpose_image=True)
eval_env = expl_env
img_width, img_height = eval_env.image_shape
num_channels = 3
action_dim = int(np.prod(eval_env.action_space.shape))
# obs_dim = 11
cnn_params = variant['cnn_params']
cnn_params.update(
input_width=img_width,
input_height=img_height,
input_channels=num_channels,
added_fc_input_size=0,
output_conv_channels=True,
output_size=None,
)
qf_cnn = CNN(**cnn_params)
qf_obs_processor = nn.Sequential(
qf_cnn,
Flatten(),
)
qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
qf_kwargs['obs_processor'] = qf_obs_processor
qf_kwargs['output_size'] = 1
qf_kwargs['input_size'] = (action_dim + qf_cnn.conv_output_flat_size)
qf1 = MlpQfWithObsProcessor(**qf_kwargs)
qf2 = MlpQfWithObsProcessor(**qf_kwargs)
target_qf_cnn = CNN(**cnn_params)
target_qf_obs_processor = nn.Sequential(
target_qf_cnn,
Flatten(),
)
target_qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
target_qf_kwargs['obs_processor'] = target_qf_obs_processor
target_qf_kwargs['output_size'] = 1
target_qf_kwargs['input_size'] = (action_dim +
target_qf_cnn.conv_output_flat_size)
target_qf1 = MlpQfWithObsProcessor(**target_qf_kwargs)
target_qf2 = MlpQfWithObsProcessor(**target_qf_kwargs)
action_dim = int(np.prod(eval_env.action_space.shape))
policy_cnn = CNN(**cnn_params)
policy_obs_processor = nn.Sequential(
policy_cnn,
Flatten(),
)
policy = TanhGaussianPolicyAdapter(policy_obs_processor,
policy_cnn.conv_output_flat_size,
action_dim, **variant['policy_kwargs'])
eval_policy = MakeDeterministic(policy)
observation_key = 'image'
eval_path_collector = ObsDictPathCollector(
eval_env,
eval_policy,
observation_key=observation_key,
**variant['eval_path_collector_kwargs'])
expl_path_collector = CustomObsDictPathCollector(
expl_env,
observation_key=observation_key,
)
with open(variant['buffer'], 'rb') as f:
replay_buffer = pickle.load(f)
trainer = SACTrainer(env=eval_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
behavior_policy=None,
**variant['trainer_kwargs'])
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
eval_both=True,
batch_rl=variant['load_buffer'],
**variant['algorithm_kwargs'])
video_func = VideoSaveFunctionBullet(variant)
algorithm.post_train_funcs.append(video_func)
algorithm.to(ptu.device)
algorithm.train()
def experiment(variant):
expl_env = roboverse.make(variant['env'],
gui=False,
randomize=variant['randomize_env'],
observation_mode=variant['obs'],
reward_type='shaped',
transpose_image=True)
if variant['obs'] == 'pixels_debug':
robot_state_dims = 11
elif variant['obs'] == 'pixels':
robot_state_dims = 4
else:
raise NotImplementedError
expl_env = FlatEnv(expl_env,
use_robot_state=variant['use_robot_state'],
robot_state_dims=robot_state_dims)
eval_env = expl_env
img_width, img_height = eval_env.image_shape
num_channels = 3
action_dim = int(np.prod(eval_env.action_space.shape))
cnn_params = variant['cnn_params']
cnn_params.update(
input_width=img_width,
input_height=img_height,
input_channels=num_channels,
)
if variant['use_robot_state']:
cnn_params.update(
added_fc_input_size=robot_state_dims,
output_conv_channels=False,
hidden_sizes=[400, 400],
output_size=200,
)
else:
cnn_params.update(
added_fc_input_size=0,
output_conv_channels=True,
output_size=None,
)
qf_cnn = CNN(**cnn_params)
if variant['use_robot_state']:
qf_obs_processor = qf_cnn
else:
qf_obs_processor = nn.Sequential(
qf_cnn,
Flatten(),
)
qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
qf_kwargs['obs_processor'] = qf_obs_processor
qf_kwargs['output_size'] = 1
if variant['use_robot_state']:
qf_kwargs['input_size'] = (action_dim + qf_cnn.output_size)
else:
qf_kwargs['input_size'] = (action_dim + qf_cnn.conv_output_flat_size)
qf1 = MlpQfWithObsProcessor(**qf_kwargs)
qf2 = MlpQfWithObsProcessor(**qf_kwargs)
target_qf_cnn = CNN(**cnn_params)
if variant['use_robot_state']:
target_qf_obs_processor = target_qf_cnn
else:
target_qf_obs_processor = nn.Sequential(
target_qf_cnn,
Flatten(),
)
target_qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
target_qf_kwargs['obs_processor'] = target_qf_obs_processor
target_qf_kwargs['output_size'] = 1
if variant['use_robot_state']:
target_qf_kwargs['input_size'] = (action_dim +
target_qf_cnn.output_size)
else:
target_qf_kwargs['input_size'] = (action_dim +
target_qf_cnn.conv_output_flat_size)
target_qf1 = MlpQfWithObsProcessor(**target_qf_kwargs)
target_qf2 = MlpQfWithObsProcessor(**target_qf_kwargs)
action_dim = int(np.prod(eval_env.action_space.shape))
policy_cnn = CNN(**cnn_params)
if variant['use_robot_state']:
policy_obs_processor = policy_cnn
else:
policy_obs_processor = nn.Sequential(
policy_cnn,
Flatten(),
)
if variant['use_robot_state']:
policy = TanhGaussianPolicyAdapter(policy_obs_processor,
policy_cnn.output_size, action_dim,
**variant['policy_kwargs'])
else:
policy = TanhGaussianPolicyAdapter(policy_obs_processor,
policy_cnn.conv_output_flat_size,
action_dim,
**variant['policy_kwargs'])
eval_policy = MakeDeterministic(policy)
eval_path_collector = MdpPathCollector(
eval_env, eval_policy, **variant['eval_path_collector_kwargs'])
replay_buffer = EnvReplayBuffer(
variant['replay_buffer_size'],
expl_env,
)
trainer = SACTrainer(env=eval_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**variant['trainer_kwargs'])
if variant['collection_mode'] == 'batch':
expl_path_collector = MdpPathCollector(
expl_env, policy, **variant['expl_path_collector_kwargs'])
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs'])
elif variant['collection_mode'] == 'online':
expl_path_collector = MdpStepCollector(
expl_env, policy, **variant['expl_path_collector_kwargs'])
algorithm = TorchOnlineRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs'])
else:
raise NotImplementedError
video_func = VideoSaveFunctionBullet(variant)
algorithm.post_train_funcs.append(video_func)
algorithm.to(ptu.device)
algorithm.train()
def experiment(variant):
expl_env = FlatEnv(PointmassBaseEnv(observation_mode='pixels',
transpose_image=True),
use_robot_state=False)
eval_env = expl_env
img_width, img_height = (48, 48)
num_channels = 3
action_dim = int(np.prod(eval_env.action_space.shape))
cnn_params = variant['cnn_params']
cnn_params.update(
input_width=img_width,
input_height=img_height,
input_channels=num_channels,
added_fc_input_size=4,
output_conv_channels=True,
output_size=None,
)
qf_cnn = CNN(**cnn_params)
qf_obs_processor = nn.Sequential(
qf_cnn,
Flatten(),
)
qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
qf_kwargs['obs_processor'] = qf_obs_processor
qf_kwargs['output_size'] = 1
qf_kwargs['input_size'] = (action_dim + qf_cnn.conv_output_flat_size)
qf1 = MlpQfWithObsProcessor(**qf_kwargs)
qf2 = MlpQfWithObsProcessor(**qf_kwargs)
target_qf_cnn = CNN(**cnn_params)
target_qf_obs_processor = nn.Sequential(
target_qf_cnn,
Flatten(),
)
target_qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
target_qf_kwargs['obs_processor'] = target_qf_obs_processor
target_qf_kwargs['output_size'] = 1
target_qf_kwargs['input_size'] = (action_dim +
target_qf_cnn.conv_output_flat_size)
target_qf1 = MlpQfWithObsProcessor(**target_qf_kwargs)
target_qf2 = MlpQfWithObsProcessor(**target_qf_kwargs)
action_dim = int(np.prod(eval_env.action_space.shape))
policy_cnn = CNN(**cnn_params)
policy_obs_processor = nn.Sequential(
policy_cnn,
Flatten(),
)
policy = TanhGaussianPolicyAdapter(policy_obs_processor,
policy_cnn.conv_output_flat_size,
action_dim, **variant['policy_kwargs'])
eval_policy = MakeDeterministic(policy)
eval_path_collector = MdpPathCollector(
eval_env, eval_policy, **variant['eval_path_collector_kwargs'])
replay_buffer = EnvReplayBuffer(
variant['replay_buffer_size'],
expl_env,
)
trainer = SACTrainer(env=eval_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**variant['trainer_kwargs'])
if variant['collection_mode'] == 'batch':
expl_path_collector = MdpPathCollector(
expl_env, policy, **variant['expl_path_collector_kwargs'])
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs'])
elif variant['collection_mode'] == 'online':
expl_path_collector = MdpStepCollector(
expl_env, policy, **variant['expl_path_collector_kwargs'])
algorithm = TorchOnlineRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs'])
algorithm.to(ptu.device)
algorithm.train()
def experiment(variant):
expl_env = gym.make('carla-lane-dict-v0')
eval_env = expl_env
num_channels, img_width, img_height = eval_env.image_shape
num_channels = 3
action_dim = int(np.prod(eval_env.action_space.shape))
cnn_params = variant['cnn_params']
cnn_params.update(
input_width=img_width,
input_height=img_height,
input_channels=num_channels,
added_fc_input_size=0,
output_conv_channels=True,
output_size=None,
)
qf_cnn = CNN(**cnn_params)
qf_obs_processor = nn.Sequential(
qf_cnn,
Flatten(),
)
qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
qf_kwargs['obs_processor'] = qf_obs_processor
qf_kwargs['output_size'] = 1
qf_kwargs['input_size'] = (
action_dim + qf_cnn.conv_output_flat_size
)
qf1 = MlpQfWithObsProcessor(**qf_kwargs)
qf2 = MlpQfWithObsProcessor(**qf_kwargs)
target_qf_cnn = CNN(**cnn_params)
target_qf_obs_processor = nn.Sequential(
target_qf_cnn,
Flatten(),
)
target_qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
target_qf_kwargs['obs_processor'] = target_qf_obs_processor
target_qf_kwargs['output_size'] = 1
target_qf_kwargs['input_size'] = (
action_dim + target_qf_cnn.conv_output_flat_size
)
target_qf1 = MlpQfWithObsProcessor(**target_qf_kwargs)
target_qf2 = MlpQfWithObsProcessor(**target_qf_kwargs)
action_dim = int(np.prod(eval_env.action_space.shape))
policy_cnn = CNN(**cnn_params)
policy_obs_processor = nn.Sequential(
policy_cnn,
Flatten(),
)
policy = TanhGaussianPolicyAdapter(
policy_obs_processor,
policy_cnn.conv_output_flat_size,
action_dim,
**variant['policy_kwargs']
)
cnn_vae_params = variant['cnn_vae_params']
cnn_vae_params['conv_args'].update(
input_width=img_width,
input_height=img_height,
input_channels=num_channels,
)
vae_policy = ConvVAEPolicy(
representation_size=cnn_vae_params['representation_size'],
architecture=cnn_vae_params,
action_dim=action_dim,
input_channels=3,
imsize=img_width,
)
observation_key = 'image'
eval_path_collector = CustomObsDictPathCollector(
eval_env,
observation_key=observation_key,
**variant['eval_path_collector_kwargs']
)
vae_eval_path_collector = CustomObsDictPathCollector(
eval_env,
# eval_policy,
observation_key=observation_key,
**variant['eval_path_collector_kwargs']
)
#with open(variant['buffer'], 'rb') as f:
# replay_buffer = pickle.load(f)
observation_key = 'image'
replay_buffer = ObsDictReplayBuffer(
variant['replay_buffer_size'],
expl_env,
observation_key=observation_key,
)
load_hdf5(expl_env, replay_buffer)
trainer = BEARTrainer(
env=eval_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
vae=vae_policy,
**variant['trainer_kwargs']
)
expl_path_collector = ObsDictPathCollector(
expl_env,
policy,
observation_key=observation_key,
**variant['expl_path_collector_kwargs']
)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
vae_evaluation_data_collector=vae_eval_path_collector,
replay_buffer=replay_buffer,
q_learning_alg=True,
batch_rl=variant['batch_rl'],
**variant['algo_kwargs']
)
video_func = VideoSaveFunctionBullet(variant)
# dump_buffer_func = BufferSaveFunction(variant)
algorithm.post_train_funcs.append(video_func)
# algorithm.post_train_funcs.append(dump_buffer_func)
algorithm.to(ptu.device)
algorithm.train()
def experiment(variant):
env_params = dict(
block_random=0.3,
camera_random=0,
simple_observations=False,
continuous=True,
remove_height_hack=True,
render_mode="DIRECT",
# render_mode="GUI",
num_objects=5,
max_num_training_models=900,
target=False,
test=False,
)
expl_env = FlatEnv(KukaGraspingProceduralEnv(**env_params))
eval_env = expl_env
img_width, img_height = eval_env.image_shape
num_channels = 3
action_dim = int(np.prod(eval_env.action_space.shape))
cnn_params = variant['cnn_params']
cnn_params.update(
input_width=img_width,
input_height=img_height,
input_channels=num_channels,
added_fc_input_size=0,
output_conv_channels=True,
output_size=None,
)
qf_cnn = CNN(**cnn_params)
qf_obs_processor = nn.Sequential(
qf_cnn,
Flatten(),
)
qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
qf_kwargs['obs_processor'] = qf_obs_processor
qf_kwargs['output_size'] = 1
qf_kwargs['input_size'] = (action_dim + qf_cnn.conv_output_flat_size)
qf1 = MlpQfWithObsProcessor(**qf_kwargs)
qf2 = MlpQfWithObsProcessor(**qf_kwargs)
target_qf_cnn = CNN(**cnn_params)
target_qf_obs_processor = nn.Sequential(
target_qf_cnn,
Flatten(),
)
target_qf_kwargs = copy.deepcopy(variant['qf_kwargs'])
target_qf_kwargs['obs_processor'] = target_qf_obs_processor
target_qf_kwargs['output_size'] = 1
target_qf_kwargs['input_size'] = (action_dim +
target_qf_cnn.conv_output_flat_size)
target_qf1 = MlpQfWithObsProcessor(**target_qf_kwargs)
target_qf2 = MlpQfWithObsProcessor(**target_qf_kwargs)
action_dim = int(np.prod(eval_env.action_space.shape))
policy_cnn = CNN(**cnn_params)
policy_obs_processor = nn.Sequential(
policy_cnn,
Flatten(),
)
policy = TanhGaussianPolicyAdapter(policy_obs_processor,
policy_cnn.conv_output_flat_size,
action_dim, **variant['policy_kwargs'])
observation_key = 'image'
eval_policy = MakeDeterministic(policy)
eval_path_collector = ObsDictPathCollector(
eval_env,
eval_policy,
observation_key=observation_key,
**variant['eval_path_collector_kwargs'])
replay_buffer = ObsDictReplayBuffer(
variant['replay_buffer_size'],
expl_env,
observation_key=observation_key,
)
trainer = SACTrainer(env=eval_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**variant['trainer_kwargs'])
if variant['collection_mode'] == 'batch':
expl_path_collector = ObsDictPathCollector(
expl_env,
policy,
observation_key=observation_key,
**variant['expl_path_collector_kwargs'])
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs'])
elif variant['collection_mode'] == 'online':
expl_path_collector = ObsDictStepCollector(
expl_env,
policy,
observation_key=observation_key,
**variant['expl_path_collector_kwargs'])
algorithm = TorchOnlineRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
**variant['algo_kwargs'])
else:
raise NotImplementedError
video_func = VideoSaveFunctionBullet(variant)
algorithm.post_train_funcs.append(video_func)
# dump_buffer_func = BufferSaveFunction(variant)
# algorithm.post_train_funcs.append(dump_buffer_func)
algorithm.to(ptu.device)
algorithm.train()
