def execute(env, init_state, steps, init_mean, init_var, model, config,
last_action_seq, task_likelihoods, pred_high, pred_low, recorder):
# current_state = env.reset()
current_state = copy.copy(env.state) if config['online'] else env.reset()
try:
config["goal"] = env.goal
except:
pass
trajectory = []
traject_cost = 0
sliding_mean = init_mean # np.zeros(config["sol_dim"])
temp_config = copy.deepcopy(config)
temp_config["popsize"] = 20000
optimizer = None
sol = None
bar = ProgBar(steps,
track_time=True,
title='\nExecuting....',
bar_char='▒')
for i in range(steps):
cost_object = Cost(model=model,
init_state=current_state,
horizon=config["horizon"],
task_likelihoods=task_likelihoods,
action_dim=env.action_space.shape[0],
goal=config["goal"],
pred_high=pred_high,
pred_low=pred_low)
config["cost_fn"] = cost_object.cost_fn
optimizer = RS_opt(config)
# sol = optimizer.obtain_solution(sliding_mean, init_var)
sol = optimizer.obtain_solution()
a = sol[0:env.action_space.shape[0]]
next_state, r = 0, 0
for k in range(1):
if config["record_video"]:
recorder.capture_frame()
next_state, r, _, _ = env.step(a)
# env.joint_reset()
trajectory.append(
[current_state.copy(),
a.copy(), next_state - current_state, -r])
current_state = next_state
traject_cost += -r
# sliding_mean = last_action_seq[i*config["sol_dim"] : (i+1) * config["sol_dim"]]
# sliding_mean[0:-len(a)] = sol[len(a)::]
# sliding_mean[-len(a)::] = sol[-len(a)::]
bar.update(item_id=" Step " + str(i) + " ")
if config["record_video"]:
recorder.capture_frame()
recorder.close()
return trajectory, traject_cost
def execute_random(env, steps, init_state):
current_state = env.reset()
trajectory = []
traject_cost = 0
for i in range(steps):
a = env.action_space.sample()
next_state, r = 0, 0
for k in range(1):
next_state, r, _, _ = env.step(a)
trajectory.append(
[current_state.copy(),
a.copy(), next_state - current_state, -r])
current_state = next_state
traject_cost += -r
return np.array(trajectory), traject_cost
def execute(env, init_state, steps, init_mean, init_var, model, config,
last_action_seq, pred_high, pred_low):
current_state = env.reset()
try:
config["goal"] = env.goal
except:
pass
trajectory = []
traject_cost = 0
model_error = 0
sliding_mean = np.zeros(config["sol_dim"])
rand = np.random.rand(config["sol_dim"])
bar = ProgBar(steps,
track_time=True,
title='\nExecuting....',
bar_char='▒')
for i in range(steps):
cost_object = Cost(ensemble_model=model,
init_state=current_state,
horizon=config["horizon"],
action_dim=env.action_space.shape[0],
goal=config["goal"],
pred_high=pred_high,
pred_low=pred_low)
config["cost_fn"] = cost_object.cost_fn
optimizer = RS_opt(config)
sol = optimizer.obtain_solution()
## Take soft action
a = sol[0:env.action_space.shape[
0]] #if i == 0 else sol[0:env.action_space.shape[0]] * 0.8 + a * 0.2
next_state, r = 0, 0
for k in range(1):
next_state, r, _, _ = env.step(a)
trajectory.append(
[current_state.copy(),
a.copy(), next_state - current_state, -r])
model_error += test_model(model, current_state.copy(), a.copy(),
next_state - current_state)
current_state = next_state
traject_cost += -r
sliding_mean[0:-len(a)] = sol[len(a)::]
bar.update(item_id=" Step " + str(i) + " ")
print("Model error: ", model_error)
return np.array(trajectory), traject_cost
def main(gym_args, config, mismatch_fn, gym_kwargs={}):
'''---------Prepare the directories------------------'''
now = datetime.now()
timestamp = now.strftime("%d_%m_%Y_%H_%M_%S")
experiment_name = timestamp + "_" + config["exp_suffix"]
res_dir = os.path.join(os.getcwd(), config["result_dir"],
config["env_name"], experiment_name)
try:
i = 0
while True:
res_dir += "_" + str(i)
i += 1
if not os.path.isdir(res_dir):
os.makedirs(res_dir)
os.makedirs(res_dir + "/videos")
break
except:
print("Could not make the result directory!!!")
with open(res_dir + "/details.txt", "w+") as f:
f.write(config["exp_details"])
with open(res_dir + '/config.json', 'w') as fp:
import json
json.dump(config, fp)
'''---------Prepare the test environment---------------'''
env = gym.make(*gym_args, **gym_kwargs)
trained_mismatches = np.load(config["data_dir"] + "/mismatches.npy")
n_training_tasks = len(trained_mismatches)
try:
s = os.environ['DISPLAY']
print("Display available")
# env.render(mode="rgb_array")
env.render(mode="human")
env.reset()
except:
print("Display not available")
env.reset()
print("\n\n\n")
'''---------Initialize global variables------------------'''
data = []
models = []
best_action_seq = np.random.rand(config["sol_dim"]) * 2.0 - 1.0
best_cost = 10000
last_action_seq = None
all_action_seq = []
all_costs = []
with open(res_dir + "/costs.txt", "w+") as f:
f.write("")
'''--------------------Meta learn the models---------------------------'''
meta_model = None
if not path.exists(config["data_dir"] + "/" + config["model_name"] +
".pt"):
print("Model not found. Learning from data...")
meta_data = np.load(config["data_dir"] + "/trajectories.npy",
allow_pickle=True)
tasks_in, tasks_out = [], []
for n in range(n_training_tasks):
x, y, high, low = process_data(meta_data[n])
tasks_in.append(x)
tasks_out.append(y)
print("task ", n, " data: ", len(tasks_in[n]), len(tasks_out[n]))
meta_model = train_meta(tasks_in, tasks_out, config)
meta_model.save(config["data_dir"] + "/" + config["model_name"] +
".pt")
else:
print("Model found. Loading from '.pt' file...")
device = torch.device("cuda") if config["cuda"] else torch.device(
"cpu")
meta_model = nn_model.load_model(
config["data_dir"] + "/" + config["model_name"] + ".pt", device)
raw_models = [copy.deepcopy(meta_model) for _ in range(n_training_tasks)]
models = [copy.deepcopy(meta_model) for _ in range(n_training_tasks)]
for task_id, m in enumerate(raw_models):
m.fix_task(task_id)
for task_id, m in enumerate(models):
m.fix_task(task_id)
'''------------------------Test time------------------------------------'''
high, low = np.ones(config["dim_out"])*1000., - \
np.ones(config["dim_out"])*1000.
task_likelihoods = np.random.rand(n_training_tasks)
for index_iter in range(config["iterations"]):
print("Episode: ", index_iter)
new_mismatch = mismatch_fn(config)
print("Mismatch: ", new_mismatch.tolist())
env.set_mismatch(new_mismatch)
recorder = VideoRecorder(
env, res_dir + "/videos/" + str(index_iter) +
".mp4") if config["record_video"] else None
trajectory, c = execute(env=env,
init_state=config["init_state"],
model=models,
steps=config["episode_length"],
init_mean=np.zeros(config["sol_dim"]),
init_var=0.01 * np.ones(config["sol_dim"]),
config=config,
last_action_seq=None,
task_likelihoods=task_likelihoods,
pred_high=high,
pred_low=low,
recorder=recorder)
data += trajectory
'''-----------------Compute likelihood before relearning the models-------'''
task_likelihoods = compute_likelihood(data, raw_models,
config['adapt_steps'])
print("\nlikelihoods: ", task_likelihoods)
x, y, high, low = process_data(data)
task_index = sample_model_index(
task_likelihoods) if config["sample_model"] else np.argmax(
task_likelihoods)
print("\nEstimated task-id: ", task_index)
task_likelihoods = task_likelihoods * 0
task_likelihoods[task_index] = 1.0
data_size = config['adapt_steps']
if data_size is None:
data_size = len(x)
print("Learning model with recent ", data_size, " data")
models[task_index] = train_model(model=copy.deepcopy(
raw_models[task_index]),
train_in=x[-data_size::],
train_out=y[-data_size::],
task_id=task_index,
config=config)
print("\nCost : ", c)
with open(res_dir + "/costs.txt", "a+") as f:
f.write(str(c) + "\n")
if c < best_cost:
best_cost = c
best_action_seq = []
for d in trajectory:
best_action_seq += d[1].tolist()
best_action_seq = np.array(best_action_seq)
last_action_seq = extract_action_seq(trajectory)
all_action_seq.append(extract_action_seq(trajectory))
all_costs.append(c)
np.save(res_dir + "/trajectories.npy", data)
print("\n********************************************************\n")
