def test_ddpg_exploration_and_with_random_prerun(self):
"""Tests DDPG's Exploration (w/ random actions for n timesteps)."""
core_config = ddpg.DEFAULT_CONFIG.copy()
core_config["num_workers"] = 0 # Run locally.
obs = np.array([0.0, 0.1, -0.1])
# Test against all frameworks.
for _ in framework_iterator(core_config):
config = core_config.copy()
# Default OUNoise setup.
trainer = ddpg.DDPGTrainer(config=config, env="Pendulum-v0")
# Setting explore=False should always return the same action.
a_ = trainer.compute_action(obs, explore=False)
self.assertEqual(trainer.get_policy().global_timestep, 1)
for i in range(50):
a = trainer.compute_action(obs, explore=False)
self.assertEqual(trainer.get_policy().global_timestep, i + 2)
check(a, a_)
# explore=None (default: explore) should return different actions.
actions = []
for i in range(50):
actions.append(trainer.compute_action(obs))
self.assertEqual(trainer.get_policy().global_timestep, i + 52)
check(np.std(actions), 0.0, false=True)
trainer.stop()
# Check randomness at beginning.
config["exploration_config"] = {
# Act randomly at beginning ...
"random_timesteps": 50,
# Then act very closely to deterministic actions thereafter.
"ou_base_scale": 0.001,
"initial_scale": 0.001,
"final_scale": 0.001,
}
trainer = ddpg.DDPGTrainer(config=config, env="Pendulum-v0")
# ts=0 (get a deterministic action as per explore=False).
deterministic_action = trainer.compute_action(obs, explore=False)
self.assertEqual(trainer.get_policy().global_timestep, 1)
# ts=1-49 (in random window).
random_a = []
for i in range(1, 50):
random_a.append(trainer.compute_action(obs, explore=True))
self.assertEqual(trainer.get_policy().global_timestep, i + 1)
check(random_a[-1], deterministic_action, false=True)
self.assertTrue(np.std(random_a) > 0.5)
# ts > 50 (a=deterministic_action + scale * N[0,1])
for i in range(50):
a = trainer.compute_action(obs, explore=True)
self.assertEqual(trainer.get_policy().global_timestep, i + 51)
check(a, deterministic_action, rtol=0.1)
# ts >> 50 (BUT: explore=False -> expect deterministic action).
for i in range(50):
a = trainer.compute_action(obs, explore=False)
self.assertEqual(trainer.get_policy().global_timestep, i + 101)
check(a, deterministic_action)
trainer.stop()
def __init__(self, agent_name, env, config, logger_creator):
assert agent_name in [
"td3",
"ddpg",
"ppo",
], "Some policies are not currently supported (dqn,sac)" # dqn and sac not currently supported
self.agent_name = agent_name
if self.agent_name == "ppo":
self.trainer = ppo.PPOTrainer(
env=env,
config=config,
logger_creator=logger_creator,
)
elif self.agent_name == "ddpg":
self.trainer = ddpg.DDPGTrainer(
env=env,
config=config,
logger_creator=logger_creator,
)
elif self.agent_name == "td3":
self.trainer = ddpg.TD3Trainer(
env=env,
config=config,
logger_creator=logger_creator,
)
def test_ddpg_compilation(self):
"""Test whether a DDPGTrainer can be built with both frameworks."""
config = ddpg.DEFAULT_CONFIG.copy()
config["num_workers"] = 1
config["num_envs_per_worker"] = 2
config["learning_starts"] = 0
config["exploration_config"]["random_timesteps"] = 100
num_iterations = 1
# Test against all frameworks.
for _ in framework_iterator(config):
trainer = ddpg.DDPGTrainer(config=config, env="Pendulum-v0")
for i in range(num_iterations):
results = trainer.train()
print(results)
check_compute_single_action(trainer)
# Ensure apply_gradient_fn is being called and updating global_step
if config["framework"] == "tf":
a = trainer.get_policy().global_step.eval(
trainer.get_policy().get_session())
else:
a = trainer.get_policy().global_step
check(a, 500)
trainer.stop()
def test(self, algo, path, lr, fc_hid, fc_act):
"""Test trained agent for a single episode. Return the episode reward"""
# instantiate env class
unused_shared = []
unused_own = []
unsatisfied_shared = []
unsatisfied_own = []
episode_reward = 0
#self.config["num_workers"] = 0
self.config["lr"] = lr
self.config['model']["fcnet_hiddens"] = fc_hid
self.config['model']["fcnet_activation"] = fc_act
if algo == "ppo":
self.agent = ppo.PPOTrainer(config=self.config)
if algo == "ddpg":
self.agent = ddpg.DDPGTrainer(config=self.config)
if algo == "a3c":
self.agent = a3c.A3CTrainer(config=self.config)
if algo == "impala":
self.agent = impala.ImpalaTrainer(config=self.config)
if algo == "appo":
self.agent = ppo.APPOTrainer(config=self.config)
if algo == "td3":
self.agent = ddpg.TD3Trainer(config=self.config)
self.agent.restore(path)
env = caching_vM(config=self.config)
obs = env.reset()
done = False
action = {}
for agent_id, agent_obs in obs.items():
policy_id = self.config['multiagent']['policy_mapping_fn'](
agent_id)
action[agent_id] = self.agent.compute_action(agent_obs,
policy_id=policy_id)
obs, reward, done, info = env.step(action)
done = done['__all__']
for x in range(len(info)):
res = ast.literal_eval(info[x])
unused_shared.append(res[0])
unused_own.append(res[1])
unsatisfied_shared.append(res[2])
unsatisfied_own.append(res[3])
print("reward == ", reward)
# sum up reward for all agents
episode_reward += sum(reward.values())
return episode_reward, unused_shared, unused_own, unsatisfied_shared, unsatisfied_own
def test(self,algo, path, lr, fc_hid, fc_act):
"""Test trained agent for a single episode. Return the episode reward"""
# instantiate env class
unused_shared = []
unused_own = []
unsatisfied_shared = []
unsatisfied_own = []
episode_reward = 0
self.config_test["num_workers"] = 0
self.config_test["lr"] = lr
self.config_test['model']["fcnet_hiddens"] = fc_hid
self.config_test['model']["fcnet_activation"] = fc_act
if algo == "ppo":
self.agent = ppo.PPOTrainer(config=self.config_test)
if algo == "ddpg":
self.agent = ddpg.DDPGTrainer(config=self.config_test)
if algo == "a3c":
self.agent = a3c.A3CTrainer(config=self.config_test)
if algo == "impala":
self.agent = impala.ImpalaTrainer(config=self.config_test)
if algo == "appo":
self.agent = ppo.APPOTrainer(config=self.config_test)
if algo == "td3":
self.agent = ddpg.TD3Trainer(config=self.config_test)
self.agent.restore(path)
#env = self.agent.workers.local_worker().env
#env = self.env_class(self.env_config)
#env = ContentCaching(*self.config_train)
#env = self.config_train["env"]#env_config)
#env = self.env_class(3)
#env = ContentCaching
#env = self.env
#self.env = ContentCaching
#env = self.config_train["env"]
obs = ContentCaching.reset()
done = False
while not done:
action = self.agent.compute_action(obs)
obs, reward, done, info = self.env.step(action)
episode_reward += reward
unused_shared.append(info["unused_shared"])
unused_own.append(info["unused_own"])
unsatisfied_shared.append(info["unsatisfied_shared"])
unsatisfied_own.append(info["unsatisfied_own"])
return episode_reward, unused_shared, unused_own, unsatisfied_shared, unsatisfied_own
def test_ddpg_compilation(self):
"""Test whether a DDPGTrainer can be built with both frameworks."""
config = ddpg.DEFAULT_CONFIG.copy()
config["num_workers"] = 0 # Run locally.
# Test against all frameworks.
for _ in framework_iterator(config, "tf"):
trainer = ddpg.DDPGTrainer(config=config, env="Pendulum-v0")
num_iterations = 2
for i in range(num_iterations):
results = trainer.train()
print(results)
def test_ddpg_checkpoint_save_and_restore(self):
"""Test whether a DDPGTrainer can save and load checkpoints."""
config = ddpg.DEFAULT_CONFIG.copy()
config["num_workers"] = 1
config["num_envs_per_worker"] = 2
config["learning_starts"] = 0
config["exploration_config"]["random_timesteps"] = 100
# Test against all frameworks.
for _ in framework_iterator(config):
trainer = ddpg.DDPGTrainer(config=config, env="Pendulum-v0")
trainer.train()
with TemporaryDirectory() as temp_dir:
checkpoint = trainer.save(temp_dir)
trainer.restore(checkpoint)
trainer.stop()
def test_ddpg_compilation(self):
"""Test whether a DDPGTrainer can be built with both frameworks."""
config = ddpg.DEFAULT_CONFIG.copy()
config["num_workers"] = 0 # Run locally.
# Test against all frameworks.
for fw in ["tf", "eager", "torch"]:
if fw != "tf":
continue
config["eager"] = True if fw == "eager" else False
config["use_pytorch"] = True if fw == "torch" else False
trainer = ddpg.DDPGTrainer(config=config, env="Pendulum-v0")
num_iterations = 2
for i in range(num_iterations):
results = trainer.train()
print(results)
def test_ddpg_fake_multi_gpu_learning(self):
"""Test whether DDPGTrainer can run SimpleEnv w/ faked multi-GPU."""
config = ddpg.DEFAULT_CONFIG.copy()
# Fake GPU setup.
config["num_gpus"] = 2
config["_fake_gpus"] = True
env = "ray.rllib.agents.sac.tests.test_sac.SimpleEnv"
config["env_config"] = {"config": {"repeat_delay": 0}}
for _ in framework_iterator(config, frameworks=("tf", "torch")):
trainer = ddpg.DDPGTrainer(config=config, env=env)
num_iterations = 2
for i in range(num_iterations):
results = trainer.train()
print(results)
trainer.stop()
def test_ddpg_compilation(self):
"""Test whether a DDPGTrainer can be built with both frameworks."""
config = ddpg.DEFAULT_CONFIG.copy()
config["num_workers"] = 1
config["num_envs_per_worker"] = 2
config["learning_starts"] = 0
config["exploration_config"]["random_timesteps"] = 100
num_iterations = 2
# Test against all frameworks.
for _ in framework_iterator(config, ("tf", "torch")):
trainer = ddpg.DDPGTrainer(config=config, env="Pendulum-v0")
for i in range(num_iterations):
results = trainer.train()
print(results)
check_compute_single_action(trainer)
def test_ddpg_fake_multi_gpu_learning(self):
"""Test whether DDPGTrainer can learn CartPole w/ faked multi-GPU."""
config = ddpg.DEFAULT_CONFIG.copy()
# Fake GPU setup.
config["num_gpus"] = 2
config["_fake_gpus"] = True
env = "ray.rllib.agents.sac.tests.test_sac.SimpleEnv"
config["env_config"] = {"config": {"repeat_delay": 0}}
for _ in framework_iterator(config, frameworks=("tf", "torch")):
trainer = ddpg.DDPGTrainer(config=config, env=env)
num_iterations = 50
learnt = False
for i in range(num_iterations):
results = trainer.train()
print(f"R={results['episode_reward_mean']}")
if results["episode_reward_mean"] > 70.0:
learnt = True
break
assert learnt, \
f"DDPG multi-GPU (with fake-GPUs) did not learn {env}!"
trainer.stop()
def _continuous_run(self):
import ray
from ray import tune
from ray.rllib.agents import ppo,ddpg
ray.init(num_cpus=4,num_gpus=1,local_mode=True)
configs={
'num_gpus':1,
'num_workers':4,
# 'num_gpus_per_worker':1,
'framework':'torch',
"simple_optimizer":True,
}
AGENT_CONFIG={
'ddpg':ddpg.DDPGTrainer(config=configs,env="MountainCarContinuous-v0"),
'ppo':ppo.PPOTrainer(config=configs,env="MountainCarContinuous-v0"),
}
trainer=AGENT_CONFIG[self.configs['algorithm']]
# tune.run(agent, config={"env": "MountainCarContinuous-v0","framework":"torch","num_gpus":0,})
for i in range(2000): # 2000epoch
result=trainer.train()#1 epoch
print(result)
return
def test_ddpg_loss_function(self):
"""Tests DDPG loss function results across all frameworks."""
config = ddpg.DEFAULT_CONFIG.copy()
# Run locally.
config["num_workers"] = 0
config["learning_starts"] = 0
config["twin_q"] = True
config["use_huber"] = True
config["huber_threshold"] = 1.0
config["gamma"] = 0.99
# Make this small (seems to introduce errors).
config["l2_reg"] = 1e-10
config["prioritized_replay"] = False
# Use very simple nets.
config["actor_hiddens"] = [10]
config["critic_hiddens"] = [10]
# Make sure, timing differences do not affect trainer.train().
config["min_iter_time_s"] = 0
config["timesteps_per_iteration"] = 100
map_ = {
# Normal net.
"default_policy/actor_hidden_0/kernel":
"policy_model.action_0."
"_model.0.weight",
"default_policy/actor_hidden_0/bias":
"policy_model.action_0."
"_model.0.bias",
"default_policy/actor_out/kernel":
"policy_model.action_out."
"_model.0.weight",
"default_policy/actor_out/bias":
"policy_model.action_out."
"_model.0.bias",
"default_policy/sequential/q_hidden_0/kernel":
"q_model.q_hidden_0"
"._model.0.weight",
"default_policy/sequential/q_hidden_0/bias":
"q_model.q_hidden_0."
"_model.0.bias",
"default_policy/sequential/q_out/kernel":
"q_model.q_out._model."
"0.weight",
"default_policy/sequential/q_out/bias":
"q_model.q_out._model."
"0.bias",
# -- twin.
"default_policy/sequential_1/twin_q_hidden_0/kernel":
"twin_"
"q_model.twin_q_hidden_0._model.0.weight",
"default_policy/sequential_1/twin_q_hidden_0/bias":
"twin_"
"q_model.twin_q_hidden_0._model.0.bias",
"default_policy/sequential_1/twin_q_out/kernel":
"twin_"
"q_model.twin_q_out._model.0.weight",
"default_policy/sequential_1/twin_q_out/bias":
"twin_"
"q_model.twin_q_out._model.0.bias",
# Target net.
"default_policy/actor_hidden_0_1/kernel":
"policy_model.action_0."
"_model.0.weight",
"default_policy/actor_hidden_0_1/bias":
"policy_model.action_0."
"_model.0.bias",
"default_policy/actor_out_1/kernel":
"policy_model.action_out."
"_model.0.weight",
"default_policy/actor_out_1/bias":
"policy_model.action_out._model"
".0.bias",
"default_policy/sequential_2/q_hidden_0/kernel":
"q_model."
"q_hidden_0._model.0.weight",
"default_policy/sequential_2/q_hidden_0/bias":
"q_model."
"q_hidden_0._model.0.bias",
"default_policy/sequential_2/q_out/kernel":
"q_model."
"q_out._model.0.weight",
"default_policy/sequential_2/q_out/bias":
"q_model."
"q_out._model.0.bias",
# -- twin.
"default_policy/sequential_3/twin_q_hidden_0/kernel":
"twin_"
"q_model.twin_q_hidden_0._model.0.weight",
"default_policy/sequential_3/twin_q_hidden_0/bias":
"twin_"
"q_model.twin_q_hidden_0._model.0.bias",
"default_policy/sequential_3/twin_q_out/kernel":
"twin_"
"q_model.twin_q_out._model.0.weight",
"default_policy/sequential_3/twin_q_out/bias":
"twin_"
"q_model.twin_q_out._model.0.bias",
}
env = SimpleEnv
batch_size = 100
if env is SimpleEnv:
obs_size = (batch_size, 1)
actions = np.random.random(size=(batch_size, 1))
elif env == "CartPole-v0":
obs_size = (batch_size, 4)
actions = np.random.randint(0, 2, size=(batch_size, ))
else:
obs_size = (batch_size, 3)
actions = np.random.random(size=(batch_size, 1))
# Batch of size=n.
input_ = self._get_batch_helper(obs_size, actions, batch_size)
# Simply compare loss values AND grads of all frameworks with each
# other.
prev_fw_loss = weights_dict = None
expect_c, expect_a, expect_t = None, None, None
# History of tf-updated NN-weights over n training steps.
tf_updated_weights = []
# History of input batches used.
tf_inputs = []
for fw, sess in framework_iterator(config,
frameworks=("tf", "torch"),
session=True):
# Generate Trainer and get its default Policy object.
trainer = ddpg.DDPGTrainer(config=config, env=env)
policy = trainer.get_policy()
p_sess = None
if sess:
p_sess = policy.get_session()
# Set all weights (of all nets) to fixed values.
if weights_dict is None:
assert fw == "tf" # Start with the tf vars-dict.
weights_dict = policy.get_weights()
else:
assert fw == "torch" # Then transfer that to torch Model.
model_dict = self._translate_weights_to_torch(
weights_dict, map_)
policy.model.load_state_dict(model_dict)
policy.target_model.load_state_dict(model_dict)
if fw == "torch":
# Actually convert to torch tensors.
input_ = policy._lazy_tensor_dict(input_)
input_ = {k: input_[k] for k in input_.keys()}
# Only run the expectation once, should be the same anyways
# for all frameworks.
if expect_c is None:
expect_c, expect_a, expect_t = \
self._ddpg_loss_helper(
input_, weights_dict, sorted(weights_dict.keys()), fw,
gamma=config["gamma"],
huber_threshold=config["huber_threshold"],
l2_reg=config["l2_reg"],
sess=sess)
# Get actual outs and compare to expectation AND previous
# framework. c=critic, a=actor, e=entropy, t=td-error.
if fw == "tf":
c, a, t, tf_c_grads, tf_a_grads = \
p_sess.run([
policy.critic_loss,
policy.actor_loss,
policy.td_error,
policy._critic_optimizer.compute_gradients(
policy.critic_loss,
policy.model.q_variables()),
policy._actor_optimizer.compute_gradients(
policy.actor_loss,
policy.model.policy_variables())],
feed_dict=policy._get_loss_inputs_dict(
input_, shuffle=False))
# Check pure loss values.
check(c, expect_c)
check(a, expect_a)
check(t, expect_t)
tf_c_grads = [g for g, v in tf_c_grads]
tf_a_grads = [g for g, v in tf_a_grads]
elif fw == "torch":
loss_torch(policy, policy.model, None, input_)
c, a, t = policy.critic_loss, policy.actor_loss, \
policy.td_error
# Check pure loss values.
check(c, expect_c)
check(a, expect_a)
check(t, expect_t)
# Test actor gradients.
policy._actor_optimizer.zero_grad()
assert all(v.grad is None for v in policy.model.q_variables())
assert all(v.grad is None
for v in policy.model.policy_variables())
a.backward()
# `actor_loss` depends on Q-net vars
# (but not twin-Q-net vars!).
assert not any(v.grad is None
for v in policy.model.q_variables()[:4])
assert all(v.grad is None
for v in policy.model.q_variables()[4:])
assert not all(
torch.mean(v.grad) == 0
for v in policy.model.policy_variables())
assert not all(
torch.min(v.grad) == 0
for v in policy.model.policy_variables())
# Compare with tf ones.
torch_a_grads = [
v.grad for v in policy.model.policy_variables()
]
for tf_g, torch_g in zip(tf_a_grads, torch_a_grads):
if tf_g.shape != torch_g.shape:
check(tf_g, np.transpose(torch_g))
else:
check(tf_g, torch_g)
# Test critic gradients.
policy._critic_optimizer.zero_grad()
assert all(v.grad is None or torch.mean(v.grad) == 0.0
for v in policy.model.q_variables())
assert all(v.grad is None or torch.min(v.grad) == 0.0
for v in policy.model.q_variables())
c.backward()
assert not all(
torch.mean(v.grad) == 0
for v in policy.model.q_variables())
assert not all(
torch.min(v.grad) == 0 for v in policy.model.q_variables())
# Compare with tf ones.
torch_c_grads = [v.grad for v in policy.model.q_variables()]
for tf_g, torch_g in zip(tf_c_grads, torch_c_grads):
if tf_g.shape != torch_g.shape:
check(tf_g, np.transpose(torch_g))
else:
check(tf_g, torch_g)
# Compare (unchanged(!) actor grads) with tf ones.
torch_a_grads = [
v.grad for v in policy.model.policy_variables()
]
for tf_g, torch_g in zip(tf_a_grads, torch_a_grads):
if tf_g.shape != torch_g.shape:
check(tf_g, np.transpose(torch_g))
else:
check(tf_g, torch_g)
# Store this framework's losses in prev_fw_loss to compare with
# next framework's outputs.
if prev_fw_loss is not None:
check(c, prev_fw_loss[0])
check(a, prev_fw_loss[1])
check(t, prev_fw_loss[2])
prev_fw_loss = (c, a, t)
# Update weights from our batch (n times).
for update_iteration in range(10):
print("train iteration {}".format(update_iteration))
if fw == "tf":
in_ = self._get_batch_helper(obs_size, actions, batch_size)
tf_inputs.append(in_)
# Set a fake-batch to use
# (instead of sampling from replay buffer).
buf = LocalReplayBuffer.get_instance_for_testing()
buf._fake_batch = in_
trainer.train()
updated_weights = policy.get_weights()
# Net must have changed.
if tf_updated_weights:
check(updated_weights[
"default_policy/actor_hidden_0/kernel"],
tf_updated_weights[-1]
["default_policy/actor_hidden_0/kernel"],
false=True)
tf_updated_weights.append(updated_weights)
# Compare with updated tf-weights. Must all be the same.
else:
tf_weights = tf_updated_weights[update_iteration]
in_ = tf_inputs[update_iteration]
# Set a fake-batch to use
# (instead of sampling from replay buffer).
buf = LocalReplayBuffer.get_instance_for_testing()
buf._fake_batch = in_
trainer.train()
# Compare updated model and target weights.
for tf_key in tf_weights.keys():
tf_var = tf_weights[tf_key]
# Model.
if re.search(
"actor_out_1|actor_hidden_0_1|sequential_"
"[23]", tf_key):
torch_var = policy.target_model.state_dict()[
map_[tf_key]]
# Target model.
else:
torch_var = policy.model.state_dict()[map_[tf_key]]
if tf_var.shape != torch_var.shape:
check(tf_var, np.transpose(torch_var), rtol=0.07)
else:
check(tf_var, torch_var, rtol=0.07)
config["num_gpus"] = 0
if algorithm == 'A2C':
RLAgent = a2c.A2CTrainer(env=env_name, config=config)
elif algorithm == 'ADQN':
RLAgent = adqn.ApexTrainer(env=env_name, config=config)
elif algorithm == 'DQN':
RLAgent = dqn.DQNTrainer(env=env_name, config=config)
elif algorithm == 'IMPALA':
RLAgent = impala.ImpalaTrainer(env=env_name, config=config)
elif algorithm == 'PPO':
RLAgent = ppo.PPOTrainer(env=env_name, config=config)
elif algorithm == 'RDQN':
RLAgent = dqn.DQNTrainer(env=env_name, config=config)
elif algorithm == "DDPG":
RLAgent = ddpg.DDPGTrainer(env=env_name, config=config)
print(checkpoint_path, flush=True)
#RLAgent.restore(checkpoint_path)
num_runs = 50
totalRewards = np.empty((num_runs, ))
policy = RLAgent.get_policy("policy_0")
for j in range(num_runs):
observations = env.reset()
rewards, action_dict = {}, {}
for agent_id in env.agents:
rewards[agent_id] = 0
totalReward = 0
def render(checkpoint, home_path):
"""
Renders pybullet and mujoco environments.
"""
alg = re.match('.+?(?=_)', os.path.basename(os.path.normpath(home_path))).group(0)
current_env = re.search("(?<=_).*?(?=_)", os.path.basename(os.path.normpath(home_path))).group(0)
checkpoint_path = home_path + "checkpoint_" + str(checkpoint) + "/checkpoint-" + str(checkpoint)
config = json.load(open(home_path + "params.json"))
config_bin = pickle.load(open(home_path + "params.pkl", "rb"))
ray.shutdown()
import pybullet_envs
ray.init()
ModelCatalog.register_custom_model("RBF", RBFModel)
ModelCatalog.register_custom_model("MLP_2_64", MLP)
ModelCatalog.register_custom_model("linear", Linear)
if alg == "PPO":
trainer = ppo.PPOTrainer(config_bin)
if alg == "SAC":
trainer = sac.SACTrainer(config)
if alg == "DDPG":
trainer = ddpg.DDPGTrainer(config)
if alg == "PG":
trainer = pg.PGTrainer(config)
if alg == "A3C":
trainer = a3c.A3CTrainer(config)
if alg == "TD3":
trainer = td3.TD3Trainer(config)
if alg == "ES":
trainer = es.ESTrainer(config)
if alg == "ARS":
trainer = ars.ARSTrainer(config)
# "normalize_actions": true,
trainer.restore(checkpoint_path)
if "Bullet" in current_env:
env = gym.make(current_env, render=True)
else:
env = gym.make(current_env)
#env.unwrapped.reset_model = det_reset_model
env._max_episode_steps = 10000
obs = env.reset()
action_hist = []
m_act_hist = []
state_hist = []
obs_hist = []
reward_hist = []
done = False
step = 0
for t in range(10000):
# for some algorithms you can get the sample mean out, need to change the value on the index to match your env for now
# mean_actions = out_dict['behaviour_logits'][:17]
# actions = trainer.compute_action(obs.flatten())
# sampled_actions, _ , out_dict = trainer.compute_action(obs.flatten(),full_fetch=True)
sampled_actions = trainer.compute_action(obs.flatten())
# sampled_actions, _ , out_dict = trainer.compute_action(obs.flatten(),full_fetch=True)
actions = sampled_actions
obs, reward, done, _ = env.step(np.asarray(actions))
# env.camera_adjust()
env.render(mode='human')
time.sleep(0.01)
# env.render()
# env.render(mode='rgb_array', close = True)
# p.computeViewMatrix(cameraEyePosition=[0,10,5], cameraTargetPosition=[0,0,0], cameraUpVector=[0,0,0])
# if step % 1000 == 0:
# env.reset()
# step += 1
action_hist.append(np.copy(actions))
obs_hist.append(np.copy(obs))
reward_hist.append(np.copy(reward))
if done:
obs = env.reset()
# print(sum(reward_hist))
# print((obs_hist))
#plt.plot(action_hist)
#plt.figure()
#plt.figure()
#plt.plot(obs_hist)
#plt.figure()
# Reminder that the bahavior logits that come out are the mean and logstd (not log mean, despite the name logit)
# trainer.compute_action(obs, full_fetch=True)
trainer.compute_action(obs)
"pol0":
(None, temp_env.observation_space[0], temp_env.action_space[0], {
"agent_id": 0,
}),
"pol1":
(None, temp_env.observation_space[1], temp_env.action_space[1], {
"agent_id": 1,
}),
},
"policy_mapping_fn": lambda x: "pol0"
if x == 0 else "pol1", # # Function mapping agent ids to policy ids
# "observation_fn": central_critic_observer, # See rllib/evaluation/observation_function.py for more info
}
#### Restore agent #########################################
agent = ddpg.DDPGTrainer(config=config)
# with open(ARGS.exp+'/checkpoint.txt', 'r+') as f:
# checkpoint = f.read()
checkpoint = "/home/mahendra/git/gym-pybullet-drones/experiments/learning/results/save-payloadcoop-2-cc-payload_one_sensor-xyz_yaw-03.25.2021_20.20.48/DDPG_2021-03-25_20-20-51/DDPG_this-aviary-v0_ebf05_00000_0_2021-03-25_20-20-52/checkpoint_40/checkpoint-40"
agent.restore(checkpoint)
#### Extract and print policies ############################
policy0 = agent.get_policy("pol0")
# print("action model 0", policy0.model.action_model)
# print("value model 0", policy0.model.value_model)
policy1 = agent.get_policy("pol1")
# print("action model 1", policy1.model.action_model)
# print("value model 1", policy1.model.value_model)
#### Create test environment ###############################
test_env = PayloadCoop(num_drones=NUM_DRONES,