def setup(self,
numTrajectoriesPerSim,
trajectoryLength,
simulationParamsIn={},
cliffordParamsIn={},
terrainMapParamsIn={},
terrainParamsIn={},
senseParamsIn={}):
# start sim
physicsClientId = p.connect(p.DIRECT)
# initialize clifford robot
robot = Clifford(params=cliffordParams,
physicsClientId=physicsClientId)
# initialize simulation controller
self.sim = simController(robot,
simulationParamsIn=simulationParamsIn,
senseParamsIn=senseParamsIn,
terrainMapParamsIn=terrainMapParamsIn,
terrainParamsIn=terrainParamsIn,
physicsClientId=physicsClientId)
data = self.sim.controlLoopStep([0, 0])
bufferLength = numTrajectoriesPerSim * trajectoryLength
self.replayBuffer = sequentialReplayBuffer(bufferLength, data[0],
data[1])
self.trajectoryLength = trajectoryLength
self.numTrajectoriesPerSim = numTrajectoriesPerSim
reconstruction[0], input[0]) + F.mse_loss(
reconstruction[1], input[1]) + F.mse_loss(
reconstruction[2], input[2])
KLD = -0.5 * torch.sum(1 + latentLogVar - latentMu.pow(2) -
latentLogVar.exp())
totalLoss = self.reconstructionLossWeight * reconstructionLoss + self.KLDWeight * KLD
return totalLoss, reconstructionLoss, KLD
if __name__ == '__main__':
# check if cuda available
device = 'cuda:0' if torch.cuda.is_available() else 'cpu'
writer = SummaryWriter()
# load replay buffer
cpuReplayBuffer = sequentialReplayBuffer(loadDataPrefix='simData/v2')
cpuReplayBuffer.loadData()
# remove all joint states
cpuReplayBuffer.inputData[0] = cpuReplayBuffer.inputData[0][:, 0:-14]
cpuReplayBuffer.inputData[3] = cpuReplayBuffer.inputData[3][:, 0:-14]
cpuReplayBuffer.outputData[0] = cpuReplayBuffer.outputData[0][:, 0:-14]
inStateDim = 9 # (3 gravity vector) + (6 twist)
inMapDim = cpuReplayBuffer.inputData[1].shape[2]
inActionDim = cpuReplayBuffer.inputData[2].shape[1]
outStateDim = 13 # (7 relative position) + (6 twist)
latentDim = 32
# training/ neural network parameters
learningRate = 0.00025
lrDecay_stepSize = 10000
lrDecay_gamma = 0.9
sims = []
replayBuffers = []
# set up simulations
for i in range(numParallelSims):
if i == -1:
physicsClientId = p.connect(p.GUI)
else:
physicsClientId = p.connect(p.DIRECT)
sims.append(
simController(timeStep=1. / 500.,
stepsPerControlLoop=50,
numSolverIterations=300,
physicsClientId=physicsClientId))
data = sims[-1].controlLoopStep([0, 0])
replayBuffers.append(
sequentialReplayBuffer(replayBufferLength, data[0], data[1]))
allDataReplayBuffer = sequentialReplayBuffer(replayBufferLength *
numParallelSims,
data[0],
data[1],
saveDataPrefix='simData/v2')
executor = concurrent.futures.ProcessPoolExecutor()
results = executor.map(runSim, [[sims[i], replayBuffers[i]]
for i in range(numParallelSims)])
for otherBuffer in results:
print(otherBuffer.bufferIndex)
if otherBuffer.bufferFilled:
allDataReplayBuffer.inheritData(otherBuffer)
else:
print("one buffer not filled")
allDataReplayBuffer.saveData()