def test_icm_cmaes(encoder, inverse_model, forward_model, env, policy, sess): policy = CMAESPolicy(env.spec, encoder, inverse_model, forward_model, sess=sess) o = env.reset() while True: a, _ = policy.get_action([o], env=env) next_o, r, d, env_info = env.step(a) if d: o = env.reset() else: o = next_o env.render() time.sleep(0.05)
pass
# else:
# raise ValueError("Unsupported snapshot!")
env = data['env']
if args.test_state_hist:
test_state_hist(env)
elif args.get_max_reward:
get_max_reward(env, policy, num_trajs=200)
elif args.icm:
if args.cmaes:
from railrl.policies.cmaes_icm import CMAESPolicy
policy = CMAESPolicy(env.spec,
encoder,
inverse_model,
forward_model,
sess=sess)
test_icm_cmaes(encoder, inverse_model, forward_model, env,
policy, sess)
elif args.test_inverse_loss:
investigate_inverse_loss(encoder,
inverse_model,
forward_model,
env,
policy,
sess,
img_path=args.data_path,
num_trajs=100,
animate=args.render)
elif args.test_forward_loss: