def submit(actor, critic, args, act_update_fn):
act_fn, _, _ = act_update_fn(actor, critic, None, None, args)
client = Client(REMOTE_BASE)
all_episode_metrics = []
episode_metrics = {
"reward": 0.0,
"step": 0,
}
observation_handler = create_observation_handler(args)
action_handler = create_action_handler(args)
observation = client.env_create(args.token)
action = np.zeros(ACTION_SHAPE, dtype=np.float32)
observation = observation_handler(observation, action)
submitted = False
while not submitted:
print(episode_metrics["reward"])
action = act_fn(observation)
observation, reward, done, _ = client.env_step(
action_handler(action).tolist())
episode_metrics["reward"] += reward
episode_metrics["step"] += 1
if done:
all_episode_metrics.append(episode_metrics)
episode_metrics = {
"reward": 0.0,
"step": 0,
}
observation_handler = create_observation_handler(args)
action_handler = create_action_handler(args)
observation = client.env_create(args.token)
if not observation:
submitted = True
break
action = np.zeros(ACTION_SHAPE, dtype=np.float32)
observation = observation_handler(observation, action)
else:
observation = observation_handler(observation, action)
df = pd.DataFrame(all_episode_metrics)
pprint(df.describe())
if query_yes_no("Submit?"):
client.submit()
class RemoteProstheticsEnv(gym.Env):
def __init__(self, base, token, round):
self.base = base
self.token = token
self.client = None
## simulate local env
self.osim_model = OSmodel()
self.time_limit = 300 if round == 1 else 1000
def reset(self, project=True):
if self.client == None:
self.client = Client(self.base)
obs = self.client.env_create(self.token, env_id='ProstheticsEnv')
self.osim_model.istep = 0
return obs
else:
### It is not allowed to call reset() twice in submitting.
raise NotImplementedError
def step(self, action, project=True):
self.osim_model.istep += 1
[obs, reward, done, info] = self.client.env_step(action.tolist(), render=True)
if done:
self.osim_model.istep = 0
obs = self.client.env_reset()
if not obs:
done = True
else:
done = False
return obs, reward, done, info
def submit(agent, logger, jump=False):
token = None
assert token is not None, "You need to provide your token to submit()"
# Settings
remote_base = 'http://grader.crowdai.org:1729'
client = Client(remote_base)
# Create environment
new_ob = client.env_create(token)
agent.ob_processor.reset()
zero_action = np.zeros(agent.env.action_space.shape).tolist()
first_frame = True
done = False
# Run a single step
# The grader runs 3 simulations of at most 1000 steps each. We stop after the last one
episode_count = 0
episode_steps = 0
episode_reward = 0
all_rewards = []
while True:
# ignore first frame because it contains phantom obstacle
if first_frame:
new_ob, reward, done, info = client.env_step(zero_action, True)
episode_reward += reward
episode_steps += 1
first_frame = False
assert not done, "Episode finished in one step"
continue
new_ob = agent.ob_processor.process(new_ob)
observation = np.reshape(new_ob, [1, -1])
action, _ = agent.actor.predict(observation)
action = np.clip(action, agent.act_low, agent.act_high)
act_to_apply = action.squeeze()
if self.jump:
act_to_apply = np.tile(act_to_apply, 2)
[new_ob, reward, done, info] = client.env_step(act_to_apply.tolist(),
True)
episode_steps += 1
episode_reward += reward
logger.info("step={}, reward={}".format(episode_steps, reward))
if done:
episode_count += 1
logger.info("Episode={}, steps={}, reward={}".format(
episode_count, episode_steps, episode_reward))
all_rewards.append(episode_reward)
episode_steps = 0
episode_reward = 0
new_ob = client.env_reset()
agent.ob_processor.reset()
first_frame = True
if not new_ob:
break
client.submit()
logger.info("All rewards: {}".format(all_rewards))
def submit():
remote_base = "http://grader.crowdai.org:1729"
crowdai_token = "[YOUR_CROWD_AI_TOKEN_HERE]"
client = Client(remote_base)
task_fn = lambda: LTR()
task = task_fn()
state_dim = task.env.observation_space.shape[0]
action_dim = task.env.action_space.shape[0]
with open('data/ddpg-model-LearningToRun.bin', 'rb') as f:
model = pickle.load(f)
actor = DDPGActorNet(state_dim, action_dim)
actor.load_state_dict(model)
# Create environment
state = client.env_create(crowdai_token)
total_reward = 0.0
while True:
action = actor.predict(np.stack([state]), to_numpy=True).flatten()
[state, reward, done, info] = client.env_step(action, True)
total_reward += reward
print(observation)
if done:
observation = client.env_reset()
if not observation:
break
print total_reward
client.submit()
class Client_To_Env:
def __init__(self, remote_base, crowdai_token):
"""
Wrapper that reformats client environment to a local environment format,
complete with observation_space, action_space, reset, step, submit, and
time_limit.
"""
self.client = Client(remote_base)
self.crowdai_token = crowdai_token
self.reset_ = self.client.env_reset
self.step = self.client.env_step
self.submit = self.client.submit
self.time_limit = 300
self.action_space = gym.spaces.Box(low=0, high=1, shape=(19, ),dtype=np.float32)
self.first_reset = True
def reset(self):
if self.first_reset:
self.first_reset = False
obs = self.client.env_create(self.crowdai_token, env_id='ProstheticsEnv')
return obs
else:
obs = self.reset_()
return obs
def submit(pi):
remote_base = "http://grader.crowdai.org:1729"
crowdai_token = "0dd7c22f5eb61cb4453b5a5b8e510656"
client = Client(remote_base)
observation = client.env_create(crowdai_token, env_id="ProstheticsEnv")
frame = score = 0
while True:
a = pi.act(desc_to_list(observation))
[observation, reward, done, _] = client.env_step(a.tolist(), True)
score += reward
frame += 1
if done:
print("score=%0.2f in %i frames" % (score, frame))
frame = score = 0
observation = client.env_reset()
if not observation:
break
client.submit()
def up():
# uploading to CrowdAI
# global _stepsize
# _stepsize = 0.01
apikey = open('apikey.txt').read().strip('\n')
print('apikey is', apikey)
import opensim as osim
from osim.http.client import Client
from osim.env import RunEnv
# Settings
remote_base = "http://grader.crowdai.org:1729"
crowdai_token = apikey
client = Client(remote_base)
# Create environment
observation = client.env_create(crowdai_token)
# old_observation = None
stepno = 0
epino = 0
total_reward = 0
old_observation = None
def obg(plain_obs):
nonlocal old_observation, stepno
processed_observation, old_observation = go(plain_obs,
old_observation,
step=stepno)
return np.array(processed_observation)
print('environment created! running...')
# Run a single step
while True:
proc_observation = obg(observation)
[observation, reward, done, info] = client.env_step(
[float(i) for i in list(agent.act(proc_observation))], True)
stepno += 1
total_reward += reward
print('step', stepno, 'total reward', total_reward)
# print(observation)
if done:
observation = client.env_reset()
old_observation = None
print('>>>>>>>episode', epino, ' DONE after', stepno,
'got_reward', total_reward)
total_reward = 0
stepno = 0
epino += 1
if not observation:
break
print('submitting...')
client.submit()
def submit(identifier, policy_fn, seed, iter):
client = Client(remote_base)
# Create environment
observation = client.env_create(crowdai_token, env_id="ProstheticsEnv")
# IMPLEMENTATION OF YOUR CONTROLLER
pi = train(identifier,
policy_fn,
1,
1,
seed,
save_final=False,
play=True,
bend=0)
load_state(identifier, iter)
while True:
ob = state_desc_to_ob(observation)
action = pi.act(False, np.array(ob))[0].tolist()
for _ in range(param.action_repeat):
[observation, reward, done, info] = client.env_step(action, True)
if done:
break
if done:
observation = client.env_reset()
if not observation:
break
client.submit()
def submit_agent(args, model_params):
##########################################################
actor_fn, params_actor, params_crit = build_model_test(**model_params)
weights = [p.get_value() for p in params_actor]
actor = Agent(actor_fn, params_actor, params_crit)
actor.set_actor_weights(weights)
if args.weights is not None:
actor.load(args.weights)
env = RunEnv2(model=args.modeldim,
prosthetic=args.prosthetic,
difficulty=args.difficulty,
skip_frame=3)
# Settings
remote_base = "http://grader.crowdai.org:1729"
token = args.token
client = Client(remote_base)
# Create environment
di = client.env_create(token, env_id="ProstheticsEnv")
stat = []
ep = 1
ii = 0
reward_sum = 0
print('\n\n#################################################\n\n')
while True:
ii += 1
proj = env.dict_to_vec(di)
action = actor.act(proj)
action += np.random.rand(len(action)) / 10.
[di, reward, done, info] = client.env_step(action.tolist(), True)
reward_sum += reward
print('ep: ' + str(ep) + ' >> step: ' + str(int(ii)) +
' >> reward: ' + format(reward, '.2f') + ' \t' +
str(int(reward_sum)) + '\t >> pelvis X Y Z: \t' +
format(di['body_pos']['pelvis'][0], '.2f') + '\t' +
format(di['body_pos']['pelvis'][1], '.2f') + '\t' +
format(di['body_pos']['pelvis'][2], '.2f'))
if done:
print('\n\n#################################################\n\n')
stat.append([ep, ii, reward_sum])
di = client.env_reset()
ep += 1
ii = 0
reward_sum = 0
if not di:
break
for e in stat:
print(e)
print('\n\nclient.submit()\n\n')
client.submit()
##########################################################
print('\n\n#################################################\n\n')
print('DONE\n\n')
class NIPS(object):
def __init__(self, visualize=False, token=None, max_obstacles=3):
logger.info("max_obstacles={}".format(max_obstacles))
if token is None:
self.remote_env = False
self.env = RunEnv(visualize=visualize, max_obstacles=max_obstacles)
else:
self.remote_env = True
self.local_env = RunEnv(visualize=False, max_obstacles=max_obstacles)
self.token = token
self.env = Client(GRADER_URL)
self.env_created = False
@property
def observation_space(self):
if self.remote_env:
# because Client() has not observation_space
return self.local_env.observation_space
else:
return self.env.observation_space
@property
def action_space(self):
if self.remote_env:
# because Client() has not action_space
return self.local_env.action_space
else:
return self.env.action_space
def reset(self):
if self.remote_env:
if not self.env_created:
ob = self.env.env_create(self.token)
self.env_created = True
else:
ob = self.env.env_reset()
else:
ob = self.env.reset(difficulty=2)
return ob
def step(self, action):
if self.remote_env:
ob, reward, done, info = self.env.env_step(action.tolist(), True)
else:
ob, reward, done, info = self.env.step(action)
return ob, reward, done, info
def close(self):
if self.remote_env:
self.env.submit()
else:
self.env.close()
class WrapperClient():
def __init__(self, remote_base):
self.client = Client(remote_base)
self.ob_0 = np.array(41)
self.ob_1 = np.zeros(14)
# self.ob_2 = np.zeros(41)
def env_create(self, token):
self.ob_0 = self.preprocess(
np.array(
self.client.env_create("7be35dd3a64deac826068d37c2258847")))
# return np.concatenate((self.ob_0,self.ob_1,self.ob_2),axis=0)
return np.concatenate((self.ob_0, self.ob_1), axis=0)
def env_reset(self):
ob = self.client.env_reset()
if ob is None:
return None
self.ob_0 = self.preprocess(np.array(ob))
self.ob_0[1] = 0
self.ob_1 = np.zeros(14)
# self.ob_2 = np.zeros(41)
# return np.concatenate((self.ob_0,self.ob_1,self.ob_2),axis=0)
return np.concatenate((self.ob_0, self.ob_1), axis=0)
def env_step(self, action):
res = self.client.env_step(action)
ob_0_post = self.ob_0
# ob_1_post = self.ob_1
# ob_2_post = self.ob_2
self.ob_0 = self.preprocess(np.array(res[0]))
self.ob_0[1] = 0
self.ob_1 = (self.ob_0[22:36] - ob_0_post[22:36]) / 0.01
# self.ob_2 = self.ob_1 - ob_1_post
# res[0] = np.concatenate((self.ob_0,self.ob_1,self.ob_2),axis=0)
return np.concatenate((self.ob_0, self.ob_1), axis=0)
return res
def submit(self):
self.client.submit()
def preprocess(self, v):
n = [1, 18, 22, 24, 26, 28, 30, 32, 34]
m = [19, 23, 25, 27, 29, 31, 33, 35]
for i in n:
v[i] = v[i] - v[1]
for i in m:
v[i] = v[i] - v[2]
v[20] = v[20] - v[4]
v[21] = v[21] - v[5]
return v
def submit():
from osim.http.client import Client
remote_base = "http://grader.crowdai.org:1729"
crowdai_token = "01342e360022c2def5c2cc04c5843381"
Client = Client(remote_base)
observation = Client.env_create(env_id="ProstheticsEnv", token=crowdai_token)
while True:
k = np.reshape(np.array(observation), newshape=(-1, len(observation)))
ac_ind = sess.run(sy_sampled_ac, feed_dict={sy_ob_no: k})
ac_ind = np.reshape(ac_ind, newshape=(ac_ind.shape[1]))
action = bins[ac_ind]
[observation, reward, done, info] = Client.env_step(action, True)
if done:
observation = Client.env_reset()
if not observation:
break
Client.submit()
class RobotControlNipsClient(RobotControlNipsLocal):
'''
Initiates the simulator and the connection
'''
def __init__(self):
# Settings
self.remote_base = "http://osim-rl-grader.aicrowd.com/"
self.aicrowd_token = "a66245c8324e2d37b92f098a57ef3f99" # use your aicrowd token
# your aicrowd token (API KEY) can be found at your prorfile page at https://www.aicrowd.com
self.client = Client(self.remote_base)
# Create environment
self.observation = self.client.env_create(self.aicrowd_token, env_id='L2M2019Env')
self.reward = 0
def submit(args):
print('start submitting')
remote_base = 'http://grader.crowdai.org:1733'
client = Client(remote_base)
ddpg = DDPG()
ddpg.load_model(args.model, load_memory=False)
state = client.env_create(TOKEN)
fg = FeatureGenerator()
state = fg.gen(state)
step = 0
ep_reward = 0
while True:
print('selecting action ...', end=' ')
action = ddpg.select_action(list(state))
print('client.env_step ...')
next_state, reward, done, info = client.env_step(action.tolist())
next_state = fg.gen(next_state)
print('step: {0:03d}, ep_reward: {1:02.08f}'.format(step, ep_reward))
state = next_state
ep_reward += reward
step += 1
if done:
print('done')
state = client.env_reset()
if not state:
break
step = 0
ep_reward = 0
fg = FeatureGenerator()
state = fg.gen(state)
client.submit()
def submit(self):
remote_base = 'http://grader.crowdai.org:1729'
env = RunEnv(visualize=self.visualize)
client = Client(remote_base)
# Create environment
observation = client.env_create(self.submit_token)
# Run a single step
#
# The grader runs 3 simulations of at most 1000 steps each. We stop after the last one
while True:
[observation, reward, done,
info] = client.env_step(self.agent.forward(observation))
if done:
observation = client.env_reset()
if not observation:
break
client.submit()
class RemoteSubmit(object):
def __init__(self, token, agent_type):
self.token = token
self.remote_base = "http://grader.crowdai.org:1729"
self.client = Client(self.remote_base)
# TODO:: Add agent selector
if agent_type == 'random':
self.agent = RandomAgent()
elif agent_type == 'fixed-action':
self.agent = FixedActionAgent()
elif agent_type == 'a3c':
self.agent = A3CAgent(num_envs=2, num_steps=50, max_frames=1000)
else:
status = {
'status': 'ERROR',
'error_msg': 'Not supported agent-type'
}
raise Exception(status)
def run(self):
try:
status = self.agent.run()
observation = self.client.env_create(self.token,
env_id="ProstheticsEnv")
while True:
action = self.agent.get_action(observation)
[observation, reward, done,
info] = self.client.env_step(action, False)
if done:
observation = self.client.env_reset()
if not observation:
break
self.client.submit()
except Exception as e:
status = {'status': 'ERROR', 'error_msg': e}
raise Exception(status)
def main():
# Settings
remote_base = 'http://grader.crowdai.org'
# Command line parameters
parser = argparse.ArgumentParser(
description='Submit the result to crowdAI')
parser.add_argument("hdf")
parser.add_argument('--token', dest='token', action='store', required=True)
args = parser.parse_args()
hdf = h5py.File(args.hdf, 'r')
env = GaitEnv(visualize=False)
agent = cPickle.loads(hdf['agent_snapshots']['0995'].value)
agent.stochastic = False
client = Client(remote_base)
# Create environment
observation = client.env_create(args.token)
total_reward = 0
# Run a single step
for i in range(501):
ob = agent.obfilt(observation)
a, _info = agent.act(ob)
[observation, reward, done, info] = client.env_step(a.tolist(), True)
print i, reward, done
total_reward += reward
if done:
break
print 'TOTAL REWARD: ', total_reward
raw_input('press ENTER to submit')
client.submit()
import numpy as np
import argparse
# Settings
remote_base = 'http://grader.crowdai.org:1729'
# Command line parameters
parser = argparse.ArgumentParser(description='Submit the result to crowdAI')
parser.add_argument('--token', dest='token', action='store', required=True)
args = parser.parse_args()
env = RunEnv(visualize=False)
client = Client(remote_base)
# Create environment
observation = client.env_create(args.token)
# Run a single step
#
# The grader runs 3 simulations of at most 1000 steps each. We stop after the last one
while True:
v = np.array(observation).reshape((-1,1,env.observation_space.shape[0]))
[observation, reward, done, info] = client.env_step(env.action_space.sample().tolist())
print(observation)
if done:
observation = client.env_reset()
if not observation:
break
client.submit()
def upload(frameskip = 1):
from osim.http.client import Client
apikey = open('apikey.txt').read().strip('\n')
print('Using apikey:', apikey)
remote_base = "http://grader.crowdai.org:1729"
crowdai_token = apikey
print('connecting...')
client = Client(remote_base)
observation_d = client.env_create(crowdai_token, env_id="ProstheticsEnv")
#observation = process_obs_dict(observation_d)
print('environment created! running...')
#obs_collect = []
#a_collect = []
stepno= 0
epino = 0
total_reward = 0
while True:
#a = AGENT OUTPUT
observation = process_obs_dict(observation_d)
a, q = agent.act(observation)
a = [float(i) for i in list(a)]
#obs_collect.append(observation)
#a_collect.append(a)
for _ in range(frameskip):
[observation_d, reward, done, info] = client.env_step(a, True)
stepno += 1
total_reward += reward
print('step',stepno,'total reward',total_reward)
if done:
'''
print('')
print('saving...')
print('')
with open('upload_saves/upload_a_collect_' + str(epino) + '.p', 'wb') as f:
pickle.dump(a_collect, f)
with open('upload_saves/upload_obs_collect_' + str(epino) + '.p', 'wb') as f:
pickle.dump(obs_collect, f)
'''
observation_d = client.env_reset()
print('>> episode',epino,' Done after',stepno,'got reward:',total_reward)
print('')
total_reward = 0
stepno = 0
epino += 1
break
if not observation_d:
break
print('Done! Submitting...')
client.submit()
# remote_host=REMOTE_HOST, # remote_port=REMOTE_PORT # ) # # Create environment # observation = client.env_create() # Settings remote_base = "http://osim-rl-grader.aicrowd.com/" aicrowd_token = "b5f5cd09cb870c14547db176596d09e5" # use your aicrowd token # your aicrowd token (API KEY) can be found at your prorfile page at https://www.aicrowd.com client = Client(remote_base) # Create environment observation = client.env_create(aicrowd_token, env_id='L2M2019Env') """ The grader runs N simulations of at most 1000 steps each. We stop after the last one A new simulation starts when `clinet.env_step` returns `done==True` and all the simulations end when the subsequent `client.env_reset()` returns a False """ mode = '3D' difficulty = 2 visualize = False seed = None sim_dt = 0.01 sim_t = 10 timstep_limit = int(round(sim_t / sim_dt))
critic = Critic(layer_norm=layer_norm)
actor = Actor(nb_actions, layer_norm=layer_norm)
agent = DDPG(actor, critic, memory, (158,), (19,),
gamma=0.99)
saver=tf.train.Saver()
# IMPLEMENTATION OF YOUR CONTROLLER
# my_controller = ... (for example the one trained in keras_rl)
sess=tf.InteractiveSession()
agent.initialize(sess)
sess.graph.finalize()
agent.reset()
filename="/home/vaisakhs_shaj/Desktop/MODEL/tfSteps"+str(30000)+".model"
saver.restore(sess,filename)
# Create environment
observation = Client.env_create(env_id="ProstheticsEnv",token=crowdai_token)
#print([n.name for n in tf.get_default_graph().as_graph_def().node])
def my_controller(obs):
obs=np.array(dict_to_list(obs))
action=agent.pi(obs, apply_noise=False, compute_Q=False)[0]
action=action.tolist()
return action
while True:
[observation, reward, done, info] = Client.env_step(my_controller(observation), True)
import opensim as osim
from osim.http.client import Client
from osim.env import RunEnv
import pickle, sys
import numpy as np
# Settings
remote_base = "http://grader.crowdai.org:1729"
crowdai_token = "e5d9c43bc6add5150e8e23029d118215"
client = Client(remote_base)
# Create environment
observation = client.env_create(crowdai_token)
f = open('values_jump_new.txt', 'rb')
arrs = pickle.load(f)
g = open('values_second_leg.txt', 'rb')
arrs_new = pickle.load(g)
def my_controller(observation, ctr):
return [float(x) for x in list(arr_list[min(ctr, max_action_steps - 1)])]
ep_no = 2
arr_list = arrs[ep_no]
ep_no_new = 1
def main():
args = parse_args()
logger.configure()
gamma = 0.99
tau = 0.01
normalize_returns = False
normalize_observations = True
batch_size = 64
action_noise = None
stddev = 0.2
param_noise = AdaptiveParamNoiseSpec(initial_stddev=float(stddev),
desired_action_stddev=float(stddev))
critic_l2_reg = 1e-2
actor_lr = 1e-4
critic_lr = 1e-3
popart = False
clip_norm = None
reward_scale = 1.
env = prosthetics_env.Wrapper(osim_env.ProstheticsEnv(visualize=False),
frameskip=4,
reward_shaping=True,
reward_shaping_x=1,
feature_embellishment=True,
relative_x_pos=True,
relative_z_pos=True)
top_model_dir = 'top-models/'
# create tf sessions and graphs
sess_list = []
graph_list = []
for i in range(len(args.model_files)):
graph_list.append(tf.Graph())
sess_list.append(tf.Session(graph=graph_list[i]))
ddpg_agents = []
for i in range(len(args.model_files)):
model_name = args.model_files[i]
sess = sess_list[i]
graph = graph_list[i]
l_size = args.layer_sizes[i]
with sess.as_default():
#with U.make_session(num_cpu=1, graph=g) as sess:
with graph.as_default():
#tf.global_variables_initializer()
# restore agents from model files and store in ddpg_agents
print("Restoring from..." + model_name)
# Configure components.
memory = Memory(limit=int(1e6), action_shape=env.action_space.shape,
observation_shape=env.observation_space.shape)
critic = Critic(layer_norm=True, activation='relu', layer_sizes=[l_size, l_size])
actor = Actor(env.action_space.shape[-1], layer_norm=True,
activation='relu', layer_sizes=[l_size, l_size])
agent = DDPG(actor, critic, memory, env.observation_space.shape,
env.action_space.shape, gamma=gamma, tau=tau,
normalize_returns=normalize_returns,
normalize_observations=normalize_observations,
batch_size=batch_size, action_noise=action_noise,
param_noise=param_noise, critic_l2_reg=critic_l2_reg,
actor_lr=actor_lr, critic_lr=critic_lr,
enable_popart=popart, clip_norm=clip_norm,
reward_scale=reward_scale)
# restore adam state and param noise
restore_model_path = top_model_dir + model_name
saver = tf.train.Saver(max_to_keep=500)
# restore network weights
saver.restore(sess, restore_model_path)
adam_optimizer_store = pickle.load(open(restore_model_path
+ ".pkl", "rb"))
agent.actor_optimizer.m = adam_optimizer_store['actor_optimizer']['m']
agent.actor_optimizer.v = adam_optimizer_store['actor_optimizer']['v']
agent.actor_optimizer.t = adam_optimizer_store['actor_optimizer']['t']
agent.critic_optimizer.m = adam_optimizer_store['critic_optimizer']['m']
agent.critic_optimizer.v = adam_optimizer_store['critic_optimizer']['v']
agent.critic_optimizer.t = adam_optimizer_store['critic_optimizer']['t']
if 'param_noise' in adam_optimizer_store:
agent.param_noise = adam_optimizer_store['param_noise']
# intialize and prepare agent session.
agent.initialize(sess)
#sess.graph.finalize()
agent.reset()
ddpg_agents.append(agent)
agent = BlendedAgent(ddpg_agents, sess_list, graph_list)
if args.evaluation:
# setup eval env
eval_env = prosthetics_env.EvaluationWrapper(osim_env.ProstheticsEnv(visualize=False),
frameskip=4,
reward_shaping=True,
reward_shaping_x=1,
feature_embellishment=True,
relative_x_pos=True,
relative_z_pos=True)
eval_env.change_model(model=('3D').upper(), prosthetic=True, difficulty=0, seed=0)
eval_env = bench.Monitor(eval_env, os.path.join(logger.get_dir(), 'gym_eval'))
nb_eval_steps = 1000
# reward, mean_q, final_steps = evaluate_one_episode(eval_env, ddpg_agents, sess_list, graph_list,
# nb_eval_steps=nb_eval_steps,
# render=False)
reward, mean_q, final_steps = evaluate_one_episode(eval_env, agent, nb_eval_steps, render=False)
print("Reward: " + str(reward))
print("Mean Q: " + str(mean_q))
print("Final num steps: " + str(final_steps))
# Submit to crowdai competition. What a hack. :)
# if crowdai_client is not None and crowdai_token is not None and eval_env is not None:
crowdai_submit_count = 0
if args.crowdai_submit:
remote_base = "http://grader.crowdai.org:1729"
crowdai_client = Client(remote_base)
eval_obs_dict = crowdai_client.env_create(args.crowdai_token, env_id="ProstheticsEnv")
eval_obs_dict, eval_obs_projection = prosthetics_env.transform_observation(
eval_obs_dict,
reward_shaping=True,
reward_shaping_x=1.,
feature_embellishment=True,
relative_x_pos=True,
relative_z_pos=True)
while True:
action, _ = agent.pi(eval_obs_projection, apply_noise=False, compute_Q=False)
submit_action = prosthetics_env.openai_to_crowdai_submit_action(action)
clipped_submit_action = np.clip(submit_action, 0., 1.)
actions_equal = clipped_submit_action == submit_action
if not np.all(actions_equal):
logger.debug("crowdai_submit_count:", crowdai_submit_count)
logger.debug(" openai-action:", action)
logger.debug(" submit-action:", submit_action)
crowdai_submit_count += 1
[eval_obs_dict, reward, done, info] = crowdai_client.env_step(clipped_submit_action.tolist(), True)
# [eval_obs_dict, reward, done, info] = crowdai_client.env_step(agent.pi(eval_obs_projection, apply_noise=False, compute_Q=False), True)
eval_obs_dict, eval_obs_projection = prosthetics_env.transform_observation(
eval_obs_dict,
reward_shaping=True,
reward_shaping_x=1.,
feature_embellishment=True,
relative_x_pos=True,
relative_z_pos=True)
if done:
logger.debug("done: crowdai_submit_count:", crowdai_submit_count)
eval_obs_dict = crowdai_client.env_reset()
if not eval_obs_dict:
break
logger.debug("done: eval_obs_dict exists after reset")
eval_obs_dict, eval_obs_projection = prosthetics_env.transform_observation(
eval_obs_dict,
reward_shaping=True,
reward_shaping_x=1.,
feature_embellishment=True,
relative_x_pos=True,
relative_z_pos=True)
crowdai_client.submit()
for i in range(len(sess_list)):
sess_list[i].close()
def observation_filter(observation):
return observation
def action_filter(action):
return action
def reward_filter(observation, action, reward):
return reward
# need to change if
observation = observation_filter(client.env_create(args.token))
action = action_filter(np.zeros(env.action_space.shape))
numo = len(observation)
numa = len(action)
print("numo = " + str(numo) + " numa = " + str(numa))
sumreward = 0
numsteps = 0
first = 1
while True:
message = socket.recv()
off = 0
if USE_BINARY_PROTO:
cmd = struct.unpack_from('@B', message, offset=off)[0]
off += 1
req = bytearray()
use_lstm = True
if args.token:
# Submit to competition
# Reference: https://github.com/stanfordnmbl/osim-rl/blob/master/examples/submit.py
remote_base = 'http://grader.crowdai.org:1729' # Submission to Round-1
#remote_base = 'http://grader.crowdai.org:1730' # Submission to Round-2
crowdai_token = args.token
# Dummy environment, just need process_state_desc()
dummy_env = create_env(agent_config['env_config'])
# Create environment w/ Client
client = Client(remote_base)
state_desc = client.env_create(crowdai_token, env_id="ProstheticsEnv")
state = dummy_env.process_state_desc(state_desc) # initial state
if use_lstm:
# Initial hidden state at start of episode
hidden = agent.local_evaluator.policy_map['default'].get_initial_state()
# Evaluation loop
while True:
# NOTE TODO: reduce action space is hard-coded in train.py!
if use_lstm:
action, hidden, logits_dict = agent.compute_action(observation=state, state=hidden)
else:
action = agent.compute_action(state)
action = dummy_env.expand_action(action) # get back original action space, this is also a list now
def main(env_name, num_episodes, gamma, lam, kl_targ, batch_size, nprocs,
policy_hid_list, valfunc_hid_list, gpu_pct, restore_path, animate,
submit):
""" Main training loop
Args:
env_name: OpenAI Gym environment name, e.g. 'Hopper-v1'
num_episodes: maximum number of episodes to run
gamma: reward discount factor (float)
lam: lambda from Generalized Advantage Estimate
kl_targ: D_KL target for policy update [D_KL(pi_old || pi_new)
batch_size: number of episodes per policy training batch
"""
# killer = GracefulKiller()
env, obs_dim, act_dim = init_osim(animate)
env.seed(111 + mpi_util.rank)
mpi_util.set_global_seeds(111 + mpi_util.rank)
obs_dim += 1 # add 1 to obs dimension for time step feature (see run_episode())
now = datetime.utcnow().strftime(
"%b-%d_%H:%M:%S") # create unique directories
if mpi_util.rank == 0:
#aigym_path = os.path.join('/tmp', env_name, now)
#env = wrappers.Monitor(env, aigym_path, force=True)
logger = Logger(logname=env_name, now=now)
episode = 0
checkpoint = Checkpoint("saves", now)
# restore from checkpoint?
if restore_path:
(policy, val_func, scaler, episode, obs_dim, act_dim,
kl_targ) = checkpoint.restore(restore_path)
else:
policy = Policy(obs_dim, act_dim, kl_targ)
val_func = NNValueFunction(obs_dim)
scaler = Scaler(obs_dim)
if mpi_util.rank == 0:
# run a few episodes (on node 0) of untrained policy to initialize scaler:
trajectories = run_policy(env, policy, scaler, episodes=5)
unscaled = np.concatenate(
[t['unscaled_obs'] for t in trajectories])
scaler.update(
unscaled) # update running statistics for scaling observations
# broadcast policy weights, scaler, val_func
(policy, scaler, val_func) = mpi_util.broadcast_policy_scaler_val(
policy, scaler, val_func)
if mpi_util.rank == 0:
checkpoint.save(policy, val_func, scaler, episode)
if animate:
observes, actions, rewards, unscaled_obs = run_episode(env,
policy,
scaler,
animate=animate)
exit(0)
if submit:
# Settings
#remote_base = 'http://grader.crowdai.org:1729'
remote_base = 'http://grader.crowdai.org:1730'
token = 'a83412a94593cae3a491f3ee28ff44e1'
client = Client(remote_base)
# Create environment
observation = client.env_create(token)
step = 0.0
observes, actions, rewards, unscaled_obs = [], [], [], []
scale, offset = scaler.get()
scale[-1] = 1.0 # don't scale time step feature
offset[-1] = 0.0 # don't offset time step feature
# Run a single step
#
# The grader runs 3 simulations of at most 1000 steps each. We stop after the last one
while True:
obs = np.array(observation).astype(np.float32).reshape((1, -1))
print("OBSERVATION TYPE:", type(obs), obs.shape)
print(obs)
obs = np.append(obs, [[step]], axis=1) # add time step feature
unscaled_obs.append(obs)
obs = (obs - offset) * scale # center and scale observations
observes.append(obs)
action = policy.sample(obs).astype(np.float32).reshape((-1, 1))
print("ACTION TYPE:", type(action), action.shape)
print(action)
actions.append(action)
[observation, reward, done,
info] = client.env_step(action.tolist())
print("step:", step, "reward:", reward)
if not isinstance(reward, float):
reward = np.asscalar(reward)
rewards.append(reward)
step += 1e-3 # increment time step feature
if done:
print(
"================================== RESTARTING ================================="
)
observation = client.env_reset()
step = 0.0
observes, actions, rewards, unscaled_obs = [], [], [], []
scale, offset = scaler.get()
scale[-1] = 1.0 # don't scale time step feature
offset[-1] = 0.0 # don't offset time step feature
if not observation:
break
client.submit()
exit(0)
######
worker_batch_size = int(batch_size / mpi_util.nworkers) # HACK
if (worker_batch_size * mpi_util.nworkers != batch_size):
print("batch_size:", batch_size, " is not divisible by nworkers:",
mpi_util.nworkers)
exit(1)
batch = 0
while episode < num_episodes:
if mpi_util.rank == 0 and batch > 0 and batch % 10 == 0:
checkpoint.save(policy, val_func, scaler, episode)
batch = batch + 1
trajectories = run_policy(env,
policy,
scaler,
episodes=worker_batch_size)
trajectories = mpi_util.gather_trajectories(trajectories)
if mpi_util.rank == 0:
# concatentate trajectories into one list
trajectories = list(itertools.chain.from_iterable(trajectories))
print("did a batch of ", len(trajectories), " trajectories")
print([t['rewards'].sum() for t in trajectories])
episode += len(trajectories)
add_value(trajectories,
val_func) # add estimated values to episodes
add_disc_sum_rew(trajectories,
gamma) # calculated discounted sum of Rs
add_gae(trajectories, gamma, lam) # calculate advantage
# concatenate all episodes into single NumPy arrays
observes, actions, advantages, disc_sum_rew = build_train_set(
trajectories)
# add various stats to training log:
logger.log({
'_MeanReward':
np.mean([t['rewards'].sum() for t in trajectories]),
'Steps':
np.sum([t['observes'].shape[0] for t in trajectories])
})
log_batch_stats(observes, actions, advantages, disc_sum_rew,
logger, episode)
policy.update(observes, actions, advantages,
logger) # update policy
val_func.fit(observes, disc_sum_rew,
logger) # update value function
unscaled = np.concatenate(
[t['unscaled_obs'] for t in trajectories])
scaler.update(
unscaled) # update running statistics for scaling observations
logger.write(
display=True) # write logger results to file and stdout
# if mpi_util.rank == 0 and killer.kill_now:
# if input('Terminate training (y/[n])? ') == 'y':
# break
# killer.kill_now = False
# broadcast policy weights, scaler, val_func
(policy, scaler, val_func) = mpi_util.broadcast_policy_scaler_val(
policy, scaler, val_func)
if mpi_util.rank == 0: logger.close()
policy.close_sess()
if mpi_util.rank == 0: val_func.close_sess()
from osim.http.client import Client
from osim.env import ProstheticsEnv
import numpy as np
import argparse
# Settings
remote_base = 'http://grader.crowdai.org:1729'
# Command line parameters
parser = argparse.ArgumentParser(description='Submit the result to crowdAI')
parser.add_argument('--token', dest='token', action='store', required=True)
args = parser.parse_args()
client = Client(remote_base)
# Create environment
observation = client.env_create(args.token, env_id="ProstheticsEnv")
env = ProstheticsEnv()
# Run a single step
# The grader runs 3 simulations of at most 1000 steps each. We stop after the last one
while True:
print(observation)
[observation, reward, done, info] = client.env_step(env.action_space.sample().tolist())
if done:
observation = client.env_reset()
if not observation:
break
client.submit()
from evo_rbc.main.prosthetic_map_elites.common import get_MAPElites
load_path = "map_elites_repertoire_50.pkl"
map_elites = get_MAPElites()
map_elites.load_repertoire(load_path)
# Settings
remote_base = "http://grader.crowdai.org:1729"
crowdai_token = "f5969a7bb0466e0da072c72d6eb6d667"
client = Client(remote_base)
# Create environment
observation = client.env_create(crowdai_token, env_id="ProstheticsEnv")
# IMPLEMENTATION OF YOUR CONTROLLER
# my_controller = ... (for example the one trained in keras_rl)
def my_controller(observation, time_step):
bin_index = (0, )
genome = map_elites.container.grid[bin_index]["genome"]
action = []
for muscle_index in range(19):
action.append(
genome.control_function(muscle_index=muscle_index,
time_step=time_step)[0])
return action
args = parser.parse_args()
if args.agent not in globals():
raise ValueError('[run] Agent {} not found.'.format(args.agent))
SpecifiedAgent = globals()[args.agent]
if args.submit and args.nb_steps:
raise ValueError('[run] Cannot train and submit agent at same time.')
if args.submit and args.visualize:
raise ValueError('[run] Cannot visualize agent while submitting.')
if args.submit:
# Submit agent
client = Client(remote_base)
client.env_create(crowdai_token, env_id='ProstheticsEnv')
client_env = ClientToEnv(client)
client_env = DictToListFull(client_env)
client_env = JSONable(client_env)
agent = SpecifiedAgent(client_env.observation_space,
client_env.action_space)
agent.submit(client_env)
elif args.nb_steps:
# Train agent locally
env = ProstheticsEnv(visualize=args.visualize)
env = ForceDictObservation(env)
env = DictToListFull(env)
env = JSONable(env)
agent = SpecifiedAgent(env.observation_space, env.action_space)
if MPI.COMM_WORLD.Get_rank() == 0:
logger.configure()
# if done:
# observation = env.reset()
# if not observation:
# break
# client.submit()
# If TEST and no TOKEN, run some test experiments
if args.token:
agent.load_weights(args.model)
remote_base = 'http://grader.crowdai.org:1729'
client = Client(remote_base)
# Create environment
observation = client.env_create(args.token)
# Run a single step
# The grader runs 3 simulations of at most 1000 steps each. We stop after the last one
while True:
v = np.array(observation).reshape((env.observation_space.shape[0]))
action = agent.forward(v)
[observation, reward, done, info] = client.env_step(action.tolist())
observation = process_observation(observation)
total_reward += reward
if done:
observation = client.env_reset()
if not observation:
break
client.submit()
def str2bool(v):
return v.lower() in ("yes", "true", "1")
remote_base = 'http://grader.crowdai.org:1729'
client = Client(remote_base)
config = ConfigParser.ConfigParser()
config.readfp(open('config.ini'))
learning = False
env = RunEnv(visualize=False)
observation = client.env_create('2060a86df422ef5a67dea16c5320c8ad')
nb_sensors = env.observation_space.shape[0]
if config.get('simulation', 'agent_type') == 'cacla':
ag = CaclaAg(env.action_space.shape[0], nb_sensors)
else:
ag = OffNFACAg(env.action_space.shape[0], nb_sensors)
ag.load(int(config.get('simulation', 'load_episode')))
stop = False
while not stop:
#env stoch but testing only on one episode
ag.start_ep(observation, learning)
ac = ag.run(0, observation, learning, False, False)
total_reward = 0.0
step = 0
while True:
#-1 1 to 0 1
