def test_prediction_long_term_hard_brake(self):
config = TestConfig()
config.n_global_steps = 20000
config.env_id = 'HeuristicRiskEnv-v0'
config.discount = 0. # 599. / 600
config.max_timesteps = 10000
config.prime_timesteps = 50
config.learning_rate = 1e-3
config.adam_beta1 = .995
config.adam_beta2 = .999
config.dropout_keep_prob = 1.
config.l2_reg = 0.
config.local_steps_per_update = 20
config.hidden_layer_sizes = [32, 16]
config.hard_brake_threshold = -3.
config.hard_brake_n_past_frames = 1
config.target_loss_index = 3
config.loss_type = 'mse'
env = build_envs.create_env(config)
test_state = env.reset()
summary_writer = tf.summary.FileWriter('/tmp/test')
with tf.Session() as sess:
trainer = async_td.AsyncTD(env, 0, config)
sess.run(tf.global_variables_initializer())
sess.run(trainer.sync)
trainer.start(sess, summary_writer)
global_step = sess.run(trainer.global_step)
c, h = trainer.network.get_initial_features()
while global_step < config.n_global_steps:
trainer.process(sess)
global_step = sess.run(trainer.global_step)
value = trainer.network.value(test_state, c, h)
print(value)
def test_validate_const_reward_discounted_env(self):
# config
config = TestConfig()
config.n_global_steps = 50000
config.env_id = 'RandObsConstRewardEnv-v0'
config.discount = .9
config.value_dim = 2
config.adam_beta1 = .9
config.local_steps_per_update = 1000
config.hidden_layer_sizes = [256]
config.learning_rate = 1e-3
config.learning_rate_end = 1e-5
config.loss_type = 'mse'
config.target_loss_index = None
# build env
const_reward = .01
horizon = 10000000
rand_obs = False
env = debug_envs.RandObsConstRewardEnv(horizon=horizon,
reward=const_reward,
value_dim=config.value_dim,
rand_obs=rand_obs)
env.spec = gym.envs.registration.EnvSpec(
id='RandObsConstRewardEnv-v0',
tags={'wrapper_config.TimeLimit.max_episode_steps': horizon + 1})
n_samples = 2
n_timesteps = 10 # predict after seeing this many timesteps
n_prediction_timesteps = 10 # determines discount
input_dim = 1
obs_gen = np.random.randn if rand_obs else np.ones
x = obs_gen(np.prod((n_samples, n_timesteps, input_dim))).reshape(
(n_samples, n_timesteps, input_dim))
y = (const_reward * np.ones(
(n_samples, config.value_dim)) * n_prediction_timesteps)
w = np.ones((n_samples, 1))
dataset = validation.Dataset(x, y, w)
# run it
summary_writer = tf.summary.FileWriter('/tmp/test')
avg_loss = -1
with tf.Session() as sess:
trainer = async_td.AsyncTD(env, 0, config)
sess.run(tf.global_variables_initializer())
sess.run(trainer.sync)
trainer.start(sess, summary_writer)
global_step = sess.run(trainer.global_step)
while global_step < config.n_global_steps:
trainer.process(sess)
if global_step % 10 == 0:
avg_loss = trainer.validate(sess, dataset)
global_step = sess.run(trainer.global_step)
def test_validate(self):
# config
config = TestConfig()
config.n_global_steps = 5000
config.env_id = 'SeqSumDebugEnv-v0'
config.discount = 1.
config.value_dim = 1
config.adam_beta1 = .99
config.local_steps_per_update = 100000
config.hidden_layer_sizes = [128]
config.learning_rate = 5e-4
config.learning_rate_end = 5e-6
config.loss_type = 'mse'
config.target_loss_index = None
# build env
env = gym.make(config.env_id)
# build validation set
# in this case just sequences of either 1s or 0s (const per sequence)
# e.g.,
# horizon = 4, and seeing 1s: [1 1 1 1]
# then after seeing [1 1], should predict a value from this point of 2
# because that is the amount of reward expect to accrue in the future
horizon = 4
n_samples = 2
n_timesteps = 2 # predict after seeing this many timesteps
input_dim = 1
# half ones and half neg ones
x = np.ones((n_samples, n_timesteps, input_dim))
x[int(n_samples / 2):] = -1
# expect value to be how many timesteps have left * -1 or 1
y = x[:, 0, :] * (horizon - n_timesteps + 1)
w = np.ones(n_samples)
dataset = validation.Dataset(x, y, w)
# run it
summary_writer = tf.summary.FileWriter('/tmp/test')
avg_loss = -1
with tf.Session() as sess:
trainer = async_td.AsyncTD(env, 0, config)
sess.run(tf.global_variables_initializer())
sess.run(trainer.sync)
trainer.start(sess, summary_writer)
global_step = sess.run(trainer.global_step)
while global_step < config.n_global_steps:
trainer.process(sess)
if global_step % 10 == 0:
avg_loss = trainer.validate(sess, dataset)
global_step = sess.run(trainer.global_step)
self.assertTrue(avg_loss < .1)
def test_heuristic_deterministic_case(self):
config = TestConfig()
config.n_global_steps = 50000
config.max_timesteps = 50
config.env_id = 'BayesNetRiskEnv-v0'
config.discount = 1. # 49. / 50
config.value_dim = 5
config.adam_beta1 = .9
config.local_steps_per_update = 100
config.hidden_layer_sizes = [128]
config.learning_rate = 1e-3
config.learning_rate_end = 5e-6
config.loss_type = 'mse'
config.target_loss_index = 1
config.validation_dataset_filepath = '/Users/wulfebw/Dropbox/School/Stanford/research/risk/risk_prediction/data/experiments/heuristic_determinstic_1_lane_5_sec/data/subselect_proposal_prediction_data.h5'
config.max_validation_samples = 1
config.validate_every = 1000
config.visualize_every = 10000
config.summarize_features = True
validation.transfer_dataset_settings_to_config(
config.validation_dataset_filepath, config)
config.base_bn_filepath = '/Users/wulfebw/Dropbox/School/Stanford/research/risk/risk_prediction/data/experiments/heuristic_determinstic_1_lane_5_sec/data/base_bn_filepath.h5'
config.base_prop_filepath = '/Users/wulfebw/Dropbox/School/Stanford/research/risk/risk_prediction/data/experiments/heuristic_determinstic_1_lane_5_sec/data/prop_bn_filepath.h5'
config.max_validation_samples = 1000
# config.roadway_radius = 400.
# config.roadway_length = 100.
# config.lon_accel_std_dev = 0.
# config.lat_accel_std_dev = 0.
# config.overall_response_time = .2
# config.lon_response_time = .0
# config.err_p_a_to_i = .15
# config.err_p_i_to_a = .3
# config.max_num_vehicles = 50
# config.min_num_vehicles = 50
# config.hard_brake_threshold = -3.
# config.hard_brake_n_past_frames = 2
# config.min_base_speed = 30.
# config.max_base_speed = 30.
# config.min_vehicle_length = 5.
# config.max_vehicle_length = 5.
# config.min_vehicle_width = 2.5
# config.max_vehicle_width = 2.5
# config.min_init_dist = 10.
# config.heuristic_behavior_type = "normal"
# build env
env = build_envs.create_env(config)
dataset = validation.build_dataset(config, env)
print('mean validation targets: {}'.format(np.mean(dataset.y, axis=0)))
# run it
summary_writer = tf.summary.FileWriter('/tmp/test')
avg_loss = -1
last_global_step_val = 0
with tf.Session() as sess:
trainer = async_td.AsyncTD(env, 0, config)
sess.run(tf.global_variables_initializer())
sess.run(trainer.sync)
trainer.start(sess, summary_writer)
global_step = sess.run(trainer.global_step)
while global_step < config.n_global_steps:
trainer.process(sess)
if (global_step -
last_global_step_val) > config.validate_every:
avg_loss = trainer.validate(sess, dataset)
last_global_step_val = global_step
global_step = sess.run(trainer.global_step)
