def planner():
print("-----Planning Demonstration-----")
MAP_NAME = 'resources/GridWorldMaps/experiment1.txt'
gmap = np.loadtxt(MAP_NAME, dtype=np.uint8)
g = GridWorldEnv(copy.copy(gmap), noise=0.1)
g.generateRandomStartGoal()
v = ValueIterationPlanner(g)
traj = v.plan(max_depth=100)
new_traj = []
for t in traj:
a = np.zeros(shape=(4, 1))
s = np.zeros(shape=(2, 1))
a[t[1]] = 1
s[0:2, 0] = t[0]
new_traj.append((s, a))
return new_traj
def runPolicies(demonstrations=100,
super_iterations=2000,
sub_iterations=0,
learning_rate=1e-2,
env_noise=0.3):
m = GridWorldNNModel(2, statedim=(2,1))
MAP_NAME = 'resources/GridWorldMaps/experiment1.txt'
gmap = np.loadtxt(MAP_NAME, dtype=np.uint8)
full_traj = []
vis_traj = []
for i in range(0,demonstrations):
print("Traj",i)
g = GridWorldEnv(copy.copy(gmap), noise=env_noise)
g.generateRandomStartGoal()
start = np.argwhere(g.map == g.START)[0]
goal = np.argwhere(g.map == g.GOAL)[0]
#generate trajectories start in same room and end different room
while not ((inRoom1(start) and inRoom2(goal)) or\
(inRoom2(start) and inRoom1(goal))):
g.generateRandomStartGoal()
start = np.argwhere(g.map == g.START)[0]
goal = np.argwhere(g.map == g.GOAL)[0]
print(np.argwhere(g.map == g.START), np.argwhere(g.map == g.GOAL))
v = ValueIterationPlanner(g)
traj = v.plan(max_depth=100)
new_traj = []
for t in traj:
a = np.zeros(shape=(4,1))
s = np.zeros(shape=(2,1))
a[t[1]] = 1
s[:,0] = t[0]
#s[2:4,0] = np.argwhere(g.map == g.START)[0]
#s[4:6,0] = np.argwhere(g.map == g.GOAL)[0]
new_traj.append((s,a))
full_traj.append(new_traj)
vis_traj.extend(new_traj)
#raise ValueError("")
#g.visualizePlan(vis_traj,blank=True, filename="resources/results/exp1-trajs.png")
m.sess.run(tf.initialize_all_variables())
with tf.variable_scope("optimizer"):
opt = tf.train.AdamOptimizer(learning_rate=learning_rate)
m.train(opt, full_traj, super_iterations, sub_iterations)
actions = np.eye(4)
g = GridWorldEnv(copy.copy(gmap), noise=0.1)
g.generateRandomStartGoal()
for i in range(m.k):
states = g.getAllStates()
policy_hash = {}
trans_hash = {}
for s in states:
t = np.zeros(shape=(2,1))
t[:,0] = s
#t[2:4,0] = np.argwhere(g.map == g.START)[0]
#t[4:6,0] = np.argwhere(g.map == g.GOAL)[0]
l = [ np.ravel(m.evalpi(i, [(t, actions[j,:])] )) for j in g.possibleActions(s)]
if len(l) == 0:
continue
#print(i, s,l, m.evalpsi(i,ns))
action = g.possibleActions(s)[np.argmax(l)]
policy_hash[s] = action
print("Transition: ",m.evalpsi(i, [(t, actions[1,:])]), t)
trans_hash[s] = np.ravel(m.evalpsi(i, [(t, actions[1,:])]))
g.visualizePolicy(policy_hash, trans_hash, blank=True, filename="resources/results/exp1a-policy"+str(i)+".png")
def runPolicies(demonstrations=200,
super_iterations=1000,
sub_iterations=1,
learning_rate=1e-3,
env_noise=0.1):
m = GridWorldModel(4)
MAP_NAME = 'resources/GridWorldMaps/experiment2.txt'
gmap = np.loadtxt(MAP_NAME, dtype=np.uint8)
full_traj = []
vis_traj = []
for i in range(0, demonstrations):
print("Traj", i)
g = GridWorldEnv(copy.copy(gmap), noise=env_noise)
g.generateRandomStartGoal()
v = ValueIterationPlanner(g)
traj = v.plan(max_depth=100)
new_traj = []
for t in traj:
a = np.zeros(shape=(4, 1))
a[t[1]] = 1
new_traj.append((t[0], a))
full_traj.append(new_traj)
vis_traj.extend(new_traj)
#g.visualizePlan(vis_traj,blank=True, filename="resources/results/exp2-trajs.png")
opt = tf.train.AdamOptimizer(learning_rate=learning_rate)
m.train(opt, full_traj, super_iterations, sub_iterations)
actions = np.eye(4)
g = GridWorldEnv(copy.copy(gmap), noise=0.0)
for i in range(m.k):
states = g.getAllStates()
policy_hash = {}
trans_hash = {}
for s in states:
#print([m.evalpi(i,ns, actions[:,j]) for j in range(4)])
l = [
np.ravel(m.evalpi(i, [(s, actions[j, :])]))
for j in g.possibleActions(s)
]
if len(l) == 0:
continue
#print(i, s,l, m.evalpsi(i,ns))
action = g.possibleActions(s)[np.argmax(l)]
policy_hash[s] = action
#print(transitions[i].eval(np.array(ns)))
trans_hash[s] = np.ravel(m.evalpsi(i, [(s, actions[1, :])]))
g.visualizePolicy(policy_hash,
trans_hash,
blank=True,
filename="resources/results/exp2-policy" + str(i) +
".png")
def runPolicies(demonstrations=100,
super_iterations=100,
sub_iterations=1000,
learning_rate=1e-3,
env_noise=0.1):
m = GridWorldModel((2, 1), (4, 1), 3)
MAP_NAME = 'resources/GridWorldMaps/experiment3.txt'
gmap = np.loadtxt(MAP_NAME, dtype=np.uint8)
full_traj = []
vis_traj = []
for i in range(0, demonstrations):
print("Traj", i)
g = GridWorldEnv(copy.copy(gmap), noise=env_noise)
g.generateRandomStartGoal()
v = ValueIterationPlanner(g)
traj = v.plan(max_depth=100)
new_traj = []
for t in traj:
a = np.zeros(shape=(4, 1))
a[t[1]] = 1
new_traj.append((t[0], a))
full_traj.append(new_traj)
vis_traj.extend(new_traj)
g.visualizePlan(vis_traj,
blank=True,
filename="resources/results/exp3-trajs.png")
opt = tf.train.AdamOptimizer(learning_rate=learning_rate)
loss = m.getLossFunction()[0]
train = opt.minimize(loss)
init = tf.initialize_all_variables()
#with m.sess as sess:
m.sess.run(init)
for it in range(super_iterations):
print("Iteration", it)
batch = m.sampleBatch(full_traj)
for i in range(sub_iterations):
m.sess.run(train, batch)
actions = np.eye(4)
g = GridWorldEnv(copy.copy(gmap), noise=0.0)
for i in range(m.k):
states = g.getAllStates()
policy_hash = {}
trans_hash = {}
for s in states:
#print([m.evalpi(i,ns, actions[:,j]) for j in range(4)])
l = [
np.ravel(m.evalpi(i, [(s, actions[j, :])]))
for j in g.possibleActions(s)
]
if len(l) == 0:
continue
#print(i, s,l, m.evalpsi(i,ns))
action = g.possibleActions(s)[np.argmax(l)]
policy_hash[s] = action
#print(transitions[i].eval(np.array(ns)))
trans_hash[s] = 0
g.visualizePolicy(policy_hash,
trans_hash,
blank=True,
filename="resources/results/exp3-policy" + str(i) +
".png")
mmap = np.loadtxt('resources/GridWorldMaps/11x11-Rooms-Modes.txt',
dtype=np.uint8)
m = GridWorldModel(3, statedim=(gmap.shape[0], gmap.shape[1]))
demonstrations = 100
full_traj = []
vis_traj = []
print(gmap.shape)
for i in range(demonstrations):
print("Traj", i)
# g = SwitchedGridWorldEnv(copy.copy(gmap), copy.copy(mmap), noise=0.3)
g = GridWorldEnv(copy.copy(gmap), noise=0.3)
v = ValueIterationPlanner(g)
traj = v.plan(max_depth=100)
# g.visualizePlan(traj)
print("Beg Traj")
print(traj)
print("End Traj")
new_traj = []
for t in traj:
a = np.zeros(shape=(4, 1))
s = np.zeros(shape=(gmap.shape[0], gmap.shape[1]))
a[t[1]] = 1
def runPolicies(
demonstrations=20,
super_iterations=1000, #10000
sub_iterations=0,
learning_rate=10,
env_noise=0.3):
m = GridWorldModel(4, statedim=(8, 9))
MAP_NAME = 'resources/GridWorldMaps/experiment1.txt'
gmap = np.loadtxt(MAP_NAME, dtype=np.uint8)
full_traj = []
vis_traj = []
for i in range(0, demonstrations):
print("Traj", i)
g = GridWorldEnv(copy.copy(gmap), noise=env_noise)
# print("Initialized")
g.generateRandomStartGoal()
start = np.argwhere(g.map == g.START)[0]
goal = np.argwhere(g.map == g.GOAL)[0]
#generate trajectories start in same room and end different room
while not ((inRoom1(start) and inRoom2(goal)) or\
(inRoom2(start) and inRoom1(goal))):
# print(inr)
g.generateRandomStartGoal()
start = np.argwhere(g.map == g.START)[0]
goal = np.argwhere(g.map == g.GOAL)[0]
print(np.argwhere(g.map == g.START), np.argwhere(g.map == g.GOAL))
v = ValueIterationPlanner(g)
traj = v.plan(max_depth=100)
print(len(traj), 'length of the trajectory')
#this is length depends on the start, and goal state and the planner output.
new_traj = []
for t in traj:
# now for the length of the trajectory it took to get there, iterate over each step
a = np.zeros(shape=(4, 1))
s = np.zeros(shape=(8, 9))
a[t[1]] = 1
s[t[0][0], t[0][1]] = 1
#s[2:4,0] = np.argwhere(g.map == g.START)[0]
#s[4:6,0] = np.argwhere(g.map == g.GOAL)[0]
new_traj.append((s, a))
full_traj.append(new_traj)
vis_traj.extend(new_traj)
print(np.shape(full_traj[0][0][1]), "full trajectory")
#raise ValueError("")
#g.visualizePlan(vis_traj,blank=True, filename="resources/results/exp1-trajs.png")
m.sess.run(tf.initialize_all_variables())
with tf.variable_scope("optimizer"):
opt = tf.train.GradientDescentOptimizer(learning_rate=learning_rate)
#define he optimizer, put the full trajectorty, 1000, 0
closs, tloss = m.train(opt, full_traj, super_iterations,
sub_iterations)
print(closs, len(closs), 'this is closs')
plt.plot(range(len(closs)), closs)
plt.savefig('closs.png')
plt.plot(range(len(tloss)), tloss)
plt.savefig('tloss.png')
actions = np.eye(4)
g = GridWorldEnv(copy.copy(gmap), noise=0.0)
g.generateRandomStartGoal()
for i in range(m.k):
states = g.getAllStates()
print('\n', states, '\n', 'this is all states', m.k)
policy_hash = {}
trans_hash = {}
for s in states:
t = np.zeros(shape=(8, 9))
t[s[0], s[1]] = 1
#t[2:4,0] = np.argwhere(g.map == g.START)[0]
#t[4:6,0] = np.argwhere(g.map == g.GOAL)[0]
#np.ravel returns the elements of the combined set of elements.
l = [
np.ravel(m.evalpi(i, [(t, actions[j, :])]))
for j in g.possibleActions(s)
]
print('\n', l, 'l', g.possibleActions(s), 'possible actioins')
if len(l) == 0:
continue
#print(i, s,l, m.evalpsi(i,ns))
action = g.possibleActions(s)[np.argmax(l)]
policy_hash[s] = action
#print("Transition: ",m.evalpsi(i, [(t, actions[1,:])]), t)
trans_hash[s] = np.ravel(m.evalpsi(i, [(t, actions[1, :])]))
g.visualizePolicy(policy_hash,
trans_hash,
blank=True,
filename="resources/results/exp1-policy" + str(i) +
".png")