def train(self):
next_v = 1e6
v = self.value_fun.get_values()
itr = 0
videos = []
contours = []
returns = []
delay_cs = []
fig = None
while not self._stop_condition(itr, next_v, v) and itr < self.max_itr:
log = itr % self.log_itr == 0
render = (itr % self.render_itr == 0) and self.render
if log:
next_pi = self.get_next_policy()
self.policy.update(next_pi)
average_return, avg_delay_cost, video = rollout(self.env, self.policy, render=render,
num_rollouts=self.num_rollouts, max_path_length=self.max_path_length,iteration=itr)
if render:
contour, fig = plot_contour(self.env, self.value_fun, fig=fig, iteration=itr)
contours += [contour] * len(video)
videos += video
returns.append(average_return)
delay_cs.append(avg_delay_cost)
logger.logkv('Iteration', itr)
logger.logkv('Average Returns', average_return)
logger.logkv('Average Delayed Costs', avg_delay_cost)
logger.dumpkvs()
next_v = self.get_next_values()
self.value_fun.update(next_v)
itr += 1
next_pi = self.get_next_policy()
self.policy.update(next_pi)
contour, fig = plot_contour(self.env, self.value_fun, save=True, fig=fig, iteration=itr)
average_return, avg_delay_cost, video = rollout(self.env, self.policy,
render=True, num_rollouts=self.num_rollouts, max_path_length=self.max_path_length, iteration=itr)
self.env.close()
plot_returns(returns)
plot_returns(delay_cs,'delayed_cost')
videos += video
if self.render:
contours += [contour]
logger.logkv('Iteration', itr)
logger.logkv('Average Returns', average_return)
logger.logkv('Average Delayed Costs', avg_delay_cost)
fps = int(4/getattr(self.env, 'dt', 0.1))
if contours and contours[0] is not None:
clip = mpy.ImageSequenceClip(contours, fps=fps)
clip.write_videofile('%s/contours_progress.mp4' % logger.get_dir())
if videos:
clip = mpy.ImageSequenceClip(videos, fps=fps)
clip.write_videofile('%s/roll_outs.mp4' % logger.get_dir())
plt.close()
def train(self):
params = self.value_fun._params
videos = []
contours = []
returns = []
fig = None
for itr in range(self.max_itr):
params = self.optimizer.grad_step(self.objective, params)
self.value_fun.update(params)
log = itr % self.log_itr == 0 or itr == self.max_itr - 1
render = (itr % self.render_itr == 0) and self.render
if log:
average_return, video = rollout(self.env,
self.policy,
render=render,
iteration=itr)
if render:
contour, fig = plot_contour(self.env,
self.value_fun,
fig=fig,
iteration=itr)
contours += [contour]
videos += video
returns.append(average_return)
logger.logkv('Iteration', itr)
logger.logkv('Average Returns', average_return)
logger.dumpkvs()
plot_returns(returns)
plot_contour(self.env, self.value_fun, save=True, fig=fig)
if contours and contours[0] is not None:
contours = list(upsample(np.array(contours), 10))
clip = mpy.ImageSequenceClip(contours, fps=10)
clip.write_videofile('%s/contours_progress.mp4' % logger.get_dir())
if videos:
fps = int(10 / getattr(self.env, 'dt', 0.1))
clip = mpy.ImageSequenceClip(videos, fps=fps)
clip.write_videofile('%s/learning_progress.mp4' % logger.get_dir())
plt.close()
with open(filename, 'rb') as f:
raw = pickle.load(f)
plot_mesh(num_nodes_x, num_nodes_y, length_x, length_y)
if quad_order is not None:
fill = raw['fill'].reshape((
(num_nodes_y - 1) * quad_order,
(num_nodes_x - 1) * quad_order,
))
boundary = raw['boundary'].reshape((
(num_nodes_y - 1) * quad_order,
(num_nodes_x - 1) * quad_order,
))
plot_contour(gpt_mesh, fill, plot_fill=True)
plot_contour(gpt_mesh, boundary, plot_boundary=True)
elif 0: # param
multipliers = raw['multipliers'].reshape((num_nodes_y, num_nodes_x))
plot_contour(mesh, multipliers, plot_fill=True)
else: # SIMP
multipliers = raw['multipliers'].reshape((num_nodes_y-1, num_nodes_x-1))
plot_contour(mesh, multipliers, plot_fill=True)
plot_save(save='save/save%03i.png'%counter)
counter += 1
filename = 'save/data%03i.pkl' % counter
# import movie
