def visualization_post_processing(save_vis, save_video, epoch):
vis_list = vis_variant.get('vis_list', [])
if save_vis:
if vae_env.vae_input_key_prefix == 'state':
vae_env.dump_reconstructions(epoch,
n_recon=vis_variant.get(
'n_recon', 16))
vae_env.dump_samples(epoch,
n_samples=vis_variant.get('n_samples', 64))
if 'latent_representation' in vis_list:
vae_env.dump_latent_plots(epoch)
if any(elem in vis_list for elem in [
'latent_histogram', 'latent_histogram_mu',
'latent_histogram_2d', 'latent_histogram_mu_2d'
]):
vae_env.compute_latent_histogram()
if not save_video and ('latent_histogram' in vis_list):
vae_env.dump_latent_histogram(epoch=epoch,
noisy=True,
use_true_prior=True)
if not save_video and ('latent_histogram_mu' in vis_list):
vae_env.dump_latent_histogram(epoch=epoch,
noisy=False,
use_true_prior=True)
if save_video and save_vis:
from railrl.envs.vae_wrappers import temporary_mode
from railrl.misc.video_gen import dump_video
from railrl.core import logger
vae_env.compute_goal_encodings()
logdir = logger.get_snapshot_dir()
filename = osp.join(logdir,
'video_{epoch}.mp4'.format(epoch=epoch))
variant['dump_video_kwargs']['epoch'] = epoch
temporary_mode(vae_env,
mode='video_env',
func=dump_video,
args=(vae_env, random_policy, filename,
rollout_function),
kwargs=variant['dump_video_kwargs'])
if not vis_variant.get('save_video_env_only', True):
filename = osp.join(
logdir, 'video_{epoch}_vae.mp4'.format(epoch=epoch))
temporary_mode(vae_env,
mode='video_vae',
func=dump_video,
args=(vae_env, random_policy, filename,
rollout_function),
kwargs=variant['dump_video_kwargs'])
def save_video(algo, epoch):
if epoch % save_period == 0 or epoch == algo.num_epochs:
filename = osp.join(
logdir, 'video_{epoch}_env.mp4'.format(epoch=epoch))
temporary_mode(image_env,
mode='video_env',
func=dump_video,
args=(image_env, policy, filename,
rollout_function),
kwargs=dump_video_kwargs)
filename = osp.join(
logdir, 'video_{epoch}_vae.mp4'.format(epoch=epoch))
temporary_mode(image_env,
mode='video_vae',
func=dump_video,
args=(image_env, policy, filename,
rollout_function),
kwargs=dump_video_kwargs)
def save_video(algo, epoch):
dump_video_kwargs["epoch"] = epoch
if hasattr(algo, "qf1"):
dump_video_kwargs['qf'] = algo.qf1
if hasattr(algo, "vf"):
dump_video_kwargs['vf'] = algo.vf
if epoch % save_period == 0 or epoch == algo.num_epochs - 1:
filename = osp.join(logdir, 'video_{epoch}.mp4'.format(epoch=epoch))
temporary_mode(
image_env,
mode='video_env',
func=dump_video,
args=(image_env, algo.eval_policy, filename, rollout_function),
kwargs=dump_video_kwargs
)
if vis_variant.get('save_video_exp_policy', False):
filename = osp.join(logdir, 'video_{epoch}_exp.mp4'.format(epoch=epoch))
temporary_mode(
image_env,
mode='video_env',
func=dump_video,
args=(image_env, algo.exploration_policy, filename, rollout_function),
kwargs=dump_video_kwargs
)
if not vis_variant.get('save_video_env_only', True):
filename = osp.join(logdir, 'video_{epoch}_vae.mp4'.format(epoch=epoch))
temporary_mode(
image_env,
mode='video_vae',
func=dump_video,
args=(image_env, algo.eval_policy, filename, rollout_function),
kwargs=dump_video_kwargs
)