parser.add_argument("-currentvs", action='store_true')
parser.add_argument("-i", "--instance")
parser.add_argument("-a","--agent")
args = parser.parse_args()
return args
if __name__ == '__main__':
args = parse_args()
# input:
# - policy
# - instance
param = SingleIntegratorParam()
env = SingleIntegrator(param)
if args.barrier:
# policy_fn = '../models/singleintegrator/barrier.pt'
policy_fn = '../results/singleintegrator/empty_2/il_current.pt'
policy = torch.load(policy_fn)
elif args.empty:
policy_fn = '../models/singleintegrator/empty.pt'
policy = torch.load(policy_fn)
elif args.current:
policy_fn = '../models/singleintegrator/il_current.pt'
policy = torch.load(policy_fn)
elif args.currenta:
policy_fn = '../models/singleintegrator/ad_current.pt'
policy = torch.load(policy_fn)
elif args.currentvs:
(param.sim_times[0:step].reshape(-1, 1), states_and_actions))
basename = os.path.splitext(os.path.basename(instance))[0]
folder_name = "../results/singleintegrator/{}".format(name)
if not os.path.exists(folder_name):
os.mkdir(folder_name)
output_file = "{}/{}.npy".format(folder_name, basename)
with open(output_file, "wb") as f:
np.save(f, result.astype(np.float32), allow_pickle=False)
if __name__ == '__main__':
args = parse_args()
param = SingleIntegratorParam()
env = SingleIntegrator(param)
if args.il:
run(param, env, None, None, args)
exit()
controllers = {
# exp1
'empty':
Empty_Net_wAPF(
param, env,
torch.load(
'../results/singleintegrator/exp1Empty_0/il_current.pt')),
# 'empty': torch.load('../results/singleintegrator/exp1Empty_0/il_current.pt'),
# 'empty': torch.load('/home/whoenig/pCloudDrive/caltech/neural_pid_results/exp1/exp1Empty_0/il_current.pt'),
# 'barrier': torch.load('../results/singleintegrator/exp1Barrier_0/il_current.pt'),