def experiment_meta_vs_random(meta_actor, meta_critic, save_directory,
xml_models, episodes, steps):
alpha = 1e-3
beta = 1e-2
env = gym.make("RoboschoolInvertedPendulum-v1")
env.reset()
(obs, reward, done, info) = env.step(env.action_space.sample())
num_features = obs.shape[0]
num_actions = env.action_space.low.shape[0]
if os.path.isdir(save_directory) == False:
os.mkdir(save_directory)
num_samples = 5
for k in range(1):
if k == 0:
meta = MetaPolicy(num_features=num_features,
num_actions=num_actions,
algo="PPO",
alpha=1e-3,
beta=1e-3,
env=env)
meta.learning_algorithm.load_model(meta_actor, meta_critic)
else:
meta = None
agents = []
for model in xml_models:
domain_agents = []
for _ in range(num_samples):
env = gym.make("RoboschoolInvertedPendulum-v1")
env.env.model_xml = model
agent = LinearAgent(env,
meta_policy=meta,
algo="PPO",
alpha=alpha,
beta=beta)
agent.learning_algorithm.t_length = 16
agent.learning_algorithm.update_steps = 64
agent.learning_algorithm.epochs = 8
domain_agents.append(agent)
agents.append(domain_agents)
domain_rewards_by_episode = {}
for ep in range(episodes):
null_actions = {}
trajectories_by_domain = ExperimentsInvertedPendulum._run_episode(
domain_agents=agents, num_steps=steps, optimize_meta=False)
domain_samples = []
for i in trajectories_by_domain.keys():
sample_returns = []
for j in range(len(trajectories_by_domain[i])):
sample_returns.append(sum(
trajectories_by_domain[i][j]))
domain_samples.append(sample_returns)
print("Episode %d / %d" % (ep, episodes))
domain_rewards_by_episode[ep] = domain_samples
if ep % 100 == 0:
filename = "meta_test_" + str(
ep) + ".pkl" if k == 0 else "no_meta_test_" + str(
ep) + ".pkl"
pickle.dump(domain_rewards_by_episode,
open(save_directory + "/" + filename, "wb"))
for ai, a in enumerate(agents):
type_ = "meta_" if k == 0 else "no_meta_"
type_ += str(ai) + "_"
a[0].learning_algorithm.save_model(
save_directory + "/" + type_, ep)
def experiment_train_meta(save_directory, meta_alpha, meta_beta,
xml_models):
alpha = 1e-3
beta = 1e-2
env = gym.make("RoboschoolInvertedPendulum-v1")
env.reset()
(obs, reward, done, info) = env.step(env.action_space.sample())
num_features = obs.shape[0]
num_actions = env.action_space.low.shape[0]
meta = MetaPolicy(num_features=num_features,
num_actions=num_actions,
algo="PPO",
alpha=meta_alpha,
beta=meta_beta,
env=env)
meta.learning_algorithm.t_length = 32
meta.learning_algorithm.update_steps = 64
if os.path.isdir(save_directory) == False:
os.mkdir(save_directory)
meta_train_episodes = 30
num_samples = 4
for k in range(meta_train_episodes):
agents = []
print("Loading environments...")
trial_by_domain = {}
for i, model in enumerate(xml_models):
domain_agents = []
for _ in range(num_samples):
env = gym.make("RoboschoolInvertedPendulum-v1")
env.env.model_xml = model
agent = LinearAgent(env,
meta_policy=meta,
algo="PPO",
alpha=alpha,
beta=beta)
domain_agents.append(agent)
agent.learning_algorithm.t_length = 16
agent.learning_algorithm.update_steps = 64
agent.learning_algorithm.epochs = 8
agents.append(domain_agents)
trial_by_domain[i] = [list() for _ in range(num_samples)]
print("Done loading...")
episodes = 250
steps = 500
domain_rewards_by_episode = {}
for ep in range(episodes):
trajectories_by_domain = ExperimentsInvertedPendulum._run_episode(
domain_agents=agents, num_steps=steps, r_maxs=None)
domain_samples = []
for i in trajectories_by_domain.keys():
sample_returns = []
for j in range(len(trajectories_by_domain[i])):
sample_returns.append(sum(
trajectories_by_domain[i][j]))
domain_samples.append(sample_returns)
print("Episode %d - Trial %d" % (ep, k))
domain_rewards_by_episode[ep] = domain_samples
if ep % 100 == 0:
val = (k * episodes) + ep
meta.learning_algorithm.save_model(save_directory + "/",
val)
# pickle.dump(meta, open(save_directory+"/meta_iter_"+str(k)+".pkl", "wb"))
pickle.dump(
domain_rewards_by_episode,
open(
save_directory + "/trajectory_iter_" + str(val) +
".pkl", "wb"))
def experiment_meta_vs_random(meta_actor, meta_critic, save_directory,
setups, episodes, steps):
alpha = 1e-4
beta = 1e-3
basis_order = 3
env = AnimatEnv("./CustomEnvironments/maze1.txt")
env.reset()
(obs, reward, done, info) = env.step(env.action_space.sample())
obs = EnvWrapper.normalize_range(obs, env.env_range)
phi = fourier_basis(obs, order=basis_order)
num_features = phi.shape[0]
num_actions = env.action_space.n
env = EnvWrapper(env, basis_order=basis_order, normalization=1)
if os.path.isdir(save_directory) == False:
os.mkdir(save_directory)
num_samples = 3
for k in range(2):
k = 1
if k == 0:
meta = MetaPolicy(num_features=num_features,
num_actions=num_actions,
algo="PPO",
alpha=1e-3,
beta=1e-3,
env=env)
meta.learning_algorithm.load_model(meta_actor, meta_critic)
else:
meta = None
agents = []
for setup in setups:
domain_agents = []
for _ in range(num_samples):
gym_env = AnimatEnv(setup)
env = EnvWrapper(gym_env,
basis_order=basis_order,
normalization=1)
agent = LinearAgent(env,
meta_policy=meta,
algo="PPO",
alpha=alpha,
beta=beta)
agent.learning_algorithm.t_length = 8
agent.learning_algorithm.update_steps = 64
agent.learning_algorithm.epochs = 4
agent.learning_algorithm.batch_size = 16
domain_agents.append(agent)
agents.append(domain_agents)
domain_rewards_by_episode = {}
null_action_by_episode = {}
for ep in range(episodes):
null_actions = {}
trajectories_by_domain = ExperimentsAnimat._run_episode(
domain_agents=agents, num_steps=steps)
domain_samples = []
for i in trajectories_by_domain.keys():
sample_rewards = []
for j in range(len(trajectories_by_domain[i])):
t_rewards = []
for t in trajectories_by_domain[i][j]:
action, explore = t['action']
a = agents[i][j].env.env.action_space.actions[
action]
effect = agents[i][
j].env.env.animat._action_effect(a)
if math.fabs(effect[0]) < 0.1 and math.fabs(
effect[1]) < 0.1:
if action in null_actions:
null_actions[action] += 1
else:
null_actions[action] = 1
t_rewards.append(t['reward'])
sample_rewards.append(sum(t_rewards))
domain_samples.append(sample_rewards)
print("Episode %d" % (ep))
domain_rewards_by_episode[ep] = domain_samples
null_action_by_episode[ep] = null_actions
if ep % 10 == 0:
filename = "meta_test_" + str(
ep) + ".pkl" if k == 0 else "no_meta_test_" + str(
ep) + ".pkl"
filename2 = "null_actions_meta_" + str(
ep
) + ".pkl" if k == 0 else "null_actions_no_meta_" + str(
ep) + ".pkl"
pickle.dump(domain_rewards_by_episode,
open(save_directory + "/" + filename, "wb"))
pickle.dump(null_action_by_episode,
open(save_directory + "/" + filename2, "wb"))
for ai, a in enumerate(agents):
type_ = "meta_" if k == 0 else "no_meta_"
type_ += str(ai) + "_"
a[0].learning_algorithm.save_model(
save_directory + "/" + type_, ep)
def experiment_train_meta(save_directory, meta_alpha, meta_beta):
alpha = 1e-4
beta = 1e-3
gym_env = AnimatEnv("./CustomEnvironments/maze1.txt")
gym_env.reset()
basis_order = 0 # ExperimentsAnimat.RECORDED_DATA[0]['order']
(obs, reward, done, info) = gym_env.step(gym_env.action_space.sample())
# obs = EnvWrapper.normalize_range(obs, gym_env.env_range)
# phi = fourier_basis(obs, order=basis_order)
num_features = obs.shape[0]
num_actions = gym_env.action_space.n
env = EnvWrapper(gym_env, basis_order=basis_order, normalization=1)
meta = MetaPolicy(num_features=num_features,
num_actions=num_actions,
algo="PPO",
alpha=meta_alpha,
beta=meta_beta,
env=env)
meta.learning_algorithm.t_length = 32
meta.learning_algorithm.update_steps = 256
if os.path.isdir(save_directory) == False:
os.mkdir(save_directory)
meta_train_episodes = 30
num_samples = 3
for k in range(meta_train_episodes):
agents = []
print("Loading environments...")
r_maxs = []
trial_by_domain = {}
for i, d in enumerate(ExperimentsAnimat.RECORDED_DATA):
print("Setup: " + str(d['setup']))
setup = d['setup']
max_r = d['max_r']
episodes = d['episodes']
# steps = 500 #d['max_steps']
# episodes = 1000
steps = 600
basis_order = d['order']
domain_agents = []
for _ in range(num_samples):
gym_env = AnimatEnv(setup)
env = EnvWrapper(gym_env,
basis_order=basis_order,
normalization=1)
agent = LinearAgent(env,
meta_policy=meta,
algo="PPO",
alpha=alpha,
beta=beta)
domain_agents.append(agent)
agent.learning_algorithm.t_length = 32
agent.learning_algorithm.update_steps = 128
agent.learning_algorithm.epochs = 4
agent.learning_algorithm.batch_size = 16
agents.append(domain_agents)
r_maxs.append(max_r)
trial_by_domain[i] = [list() for _ in range(num_samples)]
print("Done loading...")
domain_rewards_by_episode = {}
for ep in range(episodes):
trajectories_by_domain = ExperimentsAnimat._run_episode(
domain_agents=agents, num_steps=steps, r_maxs=r_maxs)
domain_samples = []
for i in trajectories_by_domain.keys():
sample_rewards = []
for j in range(len(trajectories_by_domain[i])):
t_rewards = []
for t in trajectories_by_domain[i][j]:
t_rewards.append(t['reward'])
t['reward'] = t['reward'] / r_maxs[i]
trial_by_domain[i][j].append(t)
sample_rewards.append(sum(t_rewards))
domain_samples.append(sample_rewards)
print("Episode %d - Trial %d" % (ep, k))
domain_rewards_by_episode[ep] = domain_samples
if ep % 10 == 0:
val = (k * episodes) + ep
meta.learning_algorithm.save_model(save_directory + "/",
val)
# pickle.dump(meta, open(save_directory+"/meta_iter_"+str(k)+".pkl", "wb"))
pickle.dump(
domain_rewards_by_episode,
open(
save_directory + "/trajectory_iter_" + str(val) +
".pkl", "wb"))
trajectories = []
for key in trial_by_domain.keys():
for traj in trial_by_domain[key]:
trajectories.append(traj)
if meta.algo == "REINFORCE":
print("Updating meta....")
meta.montecarlo_update(trajectories)
def experiment_meta_vs_random(meta_actor, meta_critic, save_directory, setups, episodes, steps):
alpha = 0.001
basis_order = 3
env = gym.make('CartPole-v0')
env.reset()
(obs, reward, done, info) = env.step(env.action_space.sample())
obs = EnvWrapper.modified_sigmoid(obs)
phi = fourier_basis(obs, order=basis_order)
num_features = phi.shape[0]
num_actions = env.action_space.n
if os.path.isdir(save_directory) == False:
os.mkdir(save_directory)
num_samples = 5
for k in range(2):
if k == 0:
meta = MetaPolicy(num_features=num_features, num_actions=num_actions, algo="PPO", alpha=1e-3, beta=1e-3, env=env)
meta.learning_algorithm.load_model(meta_actor, meta_critic)
else:
meta = None
agents = []
for setup in setups:
domain_agents = []
for _ in range(num_samples):
gym_env = gym.make('CartPole-v0')
gym_env.env.force_mag = setup["force"]
gym_env.env.length = setup["pole_length"]
gym_env.env.masscart = setup["masscart"]
gym_env.env.masspole = setup["masspole"]
env = EnvWrapper(gym_env, basis_order=basis_order, normalization=0)
agent = LinearAgent(env, meta_policy=meta, alpha=alpha, algo="PPO")
if meta is None:
agent.random_action_prob = 0.0
domain_agents.append( agent )
agents.append( domain_agents )
domain_rewards_by_episode = {}
for ep in range(episodes):
trajectories_by_domain = ExperimentsCartpole._run_episode(domain_agents=agents, num_steps=steps, optimize_meta=False)
domain_samples = []
for i in trajectories_by_domain.keys():
sample_rewards = []
for j in range(len(trajectories_by_domain[i])):
t_rewards = []
for t in trajectories_by_domain[i][j]:
t_rewards.append( t['reward'] )
sample_rewards.append( t_rewards )
domain_samples.append( sample_rewards )
print("Episode %d" %(ep))
domain_rewards_by_episode[ep] = domain_samples
if ep % 100 == 0:
filename = "meta_test"+str(ep)+".pkl" if k == 0 else "no_meta_test_"+str(ep)+".pkl"
pickle.dump(domain_rewards_by_episode, open(save_directory+"/"+filename, "wb"))
def experiment_train_meta(save_directory, meta_alpha, meta_beta):
gym_env = gym.make('CartPole-v0')
gym_env.reset()
basis_order = ExperimentsCartpole.RECORDED_DATA[0]['order']
(obs, reward, done, info) = gym_env.step(gym_env.env.action_space.sample())
obs = EnvWrapper.modified_sigmoid(obs)
phi = fourier_basis(obs, order=basis_order)
num_features = phi.shape[0]
num_actions = gym_env.env.action_space.n
env = EnvWrapper(gym_env, basis_order=basis_order, normalization=0)
meta = MetaPolicy(num_features=num_features, num_actions=num_actions, algo="PPO", alpha=meta_alpha, beta=meta_beta, env=env)
if os.path.isdir(save_directory) == False:
os.mkdir(save_directory)
meta_train_episodes = 500
num_samples = 3
for k in range(meta_train_episodes):
agents = []
print("Loading environments...")
r_maxs = []
trial_by_domain = {}
for i, d in enumerate(ExperimentsCartpole.RECORDED_DATA):
print("Setup: " + str(d['setup']))
setup = d['setup']
max_r = d['max_r']
episodes = d['episodes']
steps = d['max_steps']
basis_order = d['order']
# alpha = d['alpha']
alpha = 0.0001
domain_agents = []
for _ in range(num_samples):
gym_env = gym.make('CartPole-v0')
gym_env.env.force_mag = setup["force"]
gym_env.env.length = setup["pole_length"]
gym_env.env.masscart = setup["masscart"]
gym_env.env.masspole = setup["masspole"]
env = EnvWrapper(gym_env, basis_order=basis_order, normalization=0)
agent = LinearAgent(env, meta_policy=meta, alpha=alpha, algo="PPO")
domain_agents.append( agent )
agents.append( domain_agents )
r_maxs.append( max_r )
trial_by_domain[i] = [ list() for _ in range(num_samples) ]
print("Done loading...")
domain_rewards_by_episode = {}
for ep in range(episodes):
trajectories_by_domain = ExperimentsCartpole._run_episode(domain_agents=agents, num_steps=steps, r_maxs=r_maxs)
domain_samples = []
for i in trajectories_by_domain.keys():
sample_rewards = []
for j in range(len(trajectories_by_domain[i])):
t_rewards = []
for t in trajectories_by_domain[i][j]:
t_rewards.append( t['reward'] )
t['reward'] = t['reward'] / r_maxs[i]
trial_by_domain[i][j].append( t )
sample_rewards.append( t_rewards )
domain_samples.append( sample_rewards )
print("Episode %d - Trial %d" %(ep, k))
domain_rewards_by_episode[ep] = domain_samples
trajectories = []
for key in trial_by_domain.keys():
for traj in trial_by_domain[key]:
trajectories.append( traj )
if meta.algo == "REINFORCE":
print("Updating meta....")
meta.montecarlo_update(trajectories)
meta.learning_algorithm.save_model(save_directory+"/", k)
# pickle.dump(meta, open(save_directory+"/meta_iter_"+str(k)+".pkl", "wb"))
pickle.dump(domain_rewards_by_episode, open(save_directory+"/trajectory_iter_"+str(k)+".pkl", "wb"))