def get_theta_bounds_pyo(model: pyo.ConcreteModel, input):
if model.component("obj"):
model.del_component(model.obj)
model.obj = pyo.Objective(expr=input[2], sense=pyo.maximize)
result = Experiment.solve(model, solver=Experiment.use_solver)
assert (result.solver.status
== SolverStatus.ok) and (result.solver.termination_condition
== TerminationCondition.optimal)
max_theta = pyo.value(model.obj)
model.del_component(model.obj)
model.obj = pyo.Objective(expr=input[2], sense=pyo.minimize)
result = Experiment.solve(model, solver=Experiment.use_solver)
assert (result.solver.status
== SolverStatus.ok) and (result.solver.termination_condition
== TerminationCondition.optimal)
min_theta = pyo.value(model.obj)
model.del_component(model.obj)
model.obj = pyo.Objective(expr=input[3], sense=pyo.maximize)
result = Experiment.solve(model, solver=Experiment.use_solver)
assert (result.solver.status
== SolverStatus.ok) and (result.solver.termination_condition
== TerminationCondition.optimal)
max_theta_dot = pyo.value(model.obj)
model.del_component(model.obj)
model.obj = pyo.Objective(expr=input[3], sense=pyo.minimize)
result = Experiment.solve(model, solver=Experiment.use_solver)
assert (result.solver.status
== SolverStatus.ok) and (result.solver.termination_condition
== TerminationCondition.optimal)
min_theta_dot = pyo.value(model.obj)
return max_theta, min_theta, max_theta_dot, min_theta_dot
def __init__(self):
env_input_size: int = 6
super().__init__(env_input_size)
self.post_fn_remote = self.post_milp
self.get_nn_fn = self.get_nn
self.plot_fn = self.plot
self.template_2d: np.ndarray = np.array([[1, 0, 0, 0, 0, 0],
[1, -1, 0, 0, 0, 0]])
input_boundaries, input_template = self.get_template(0)
self.input_boundaries: List = input_boundaries
self.input_template: np.ndarray = input_template
_, template = self.get_template(1)
self.analysis_template: np.ndarray = template
collision_distance = 0
distance = [Experiment.e(6, 0) - Experiment.e(6, 1)]
# self.use_bfs = True
# self.n_workers = 1
self.rounding_value = 2**10
self.use_rounding = False
self.time_horizon = 40000
self.unsafe_zone: List[Tuple] = [(distance,
np.array([collision_distance]))]
self.input_epsilon = 0
# self.nn_path = os.path.join(utils.get_save_dir(),"tune_PPO_stopping_car/PPO_StoppingCar_acc24_00000_0_cost_fn=0,epsilon_input=0_2021-01-21_02-30-49/checkpoint_39/checkpoint-39")
self.nn_path = os.path.join(
utils.get_save_dir(),
"tune_PPO_stopping_car/PPO_StoppingCar_acc24_00001_1_cost_fn=0,epsilon_input=0_2021-01-21_02-30-49/checkpoint_58/checkpoint-58"
)
def post_milp(self, x, nn, output_flag, t, template):
"""milp method"""
post = []
for chosen_action in range(2):
observable_template = self.observable_templates[chosen_action]
observable_result = self.observable_results[chosen_action]
gurobi_model = grb.Model()
gurobi_model.setParam('OutputFlag', output_flag)
gurobi_model.setParam('Threads', 2)
input = Experiment.generate_input_region(gurobi_model, template, x,
self.env_input_size)
observation = gurobi_model.addMVar(shape=(2, ),
lb=float("-inf"),
ub=float("inf"),
name="input")
gurobi_model.addConstr(
observation[1] <= input[0] - input[1] + self.input_epsilon / 2,
name=f"obs_constr21")
gurobi_model.addConstr(
observation[1] >= input[0] - input[1] - self.input_epsilon / 2,
name=f"obs_constr22")
gurobi_model.addConstr(
observation[0] <= input[2] - input[3] + self.input_epsilon / 2,
name=f"obs_constr11")
gurobi_model.addConstr(
observation[0] >= input[2] - input[3] - self.input_epsilon / 2,
name=f"obs_constr12")
# feasible_action = Experiment.generate_nn_guard(gurobi_model, observation, nn, action_ego=chosen_action)
# feasible_action = Experiment.generate_nn_guard(gurobi_model, input, nn, action_ego=chosen_action)
Experiment.generate_region_constraints(gurobi_model,
observable_template,
observation,
observable_result, 2)
gurobi_model.optimize()
feasible_action = gurobi_model.status == 2
if feasible_action:
# apply dynamic
# x_prime_results = self.optimise(template, gurobi_model, input) # h representation
# x_prime = Experiment.generate_input_region(gurobi_model, template, x_prime_results, self.env_input_size)
x_second = StoppingCarExperiment.apply_dynamic(
input,
gurobi_model,
action=chosen_action,
env_input_size=self.env_input_size)
gurobi_model.update()
gurobi_model.optimize()
found_successor, x_second_results = self.h_repr_to_plot(
gurobi_model, template, x_second)
if found_successor:
post.append(tuple(x_second_results))
return post
def post_milp(self, x, nn, output_flag, t, template):
"""milp method"""
post = []
for chosen_action in range(2):
gurobi_model = grb.Model()
gurobi_model.setParam('OutputFlag', output_flag)
gurobi_model.setParam('Threads', 2)
input = Experiment.generate_input_region(gurobi_model, template, x,
self.env_input_size)
max_theta, min_theta, max_theta_dot, min_theta_dot = self.get_theta_bounds(
gurobi_model, input)
sin_cos_table = self.get_sin_cos_table(max_theta,
min_theta,
max_theta_dot,
min_theta_dot,
action=chosen_action)
feasible_action = CartpoleExperiment.generate_nn_guard(
gurobi_model, input, nn, action_ego=chosen_action)
if feasible_action:
thetaacc, xacc = CartpoleExperiment.generate_angle_milp(
gurobi_model, input, sin_cos_table)
# apply dynamic
x_prime = self.apply_dynamic(
input,
gurobi_model,
thetaacc=thetaacc,
xacc=xacc,
env_input_size=self.env_input_size)
gurobi_model.update()
gurobi_model.optimize()
found_successor, x_prime_results = self.h_repr_to_plot(
gurobi_model, template, x_prime)
if found_successor:
post.append(tuple(x_prime_results))
return post
def get_template(self, mode=0):
p = Experiment.e(self.env_input_size, 0)
v = Experiment.e(self.env_input_size, 1)
if mode == 0: # box directions with intervals
# input_boundaries = [0, 0, 10, 10]
input_boundaries = [9, -8, 0, 0.1]
# optimise in a direction
template = []
for dimension in range(self.env_input_size):
template.append(Experiment.e(self.env_input_size, dimension))
template.append(-Experiment.e(self.env_input_size, dimension))
template = np.array(template) # the 6 dimensions in 2 variables
return input_boundaries, template
if mode == 1: # directions to easily find fixed point
input_boundaries = None
template = np.array([v + p, -v - p, -p])
return input_boundaries, template
def generate_nn_polyhedral_guard(self, nn, chosen_action, output_flag):
gurobi_model = grb.Model()
gurobi_model.setParam('OutputFlag', output_flag)
gurobi_model.setParam('Threads', 2)
observation = gurobi_model.addMVar(shape=(2, ),
lb=float("-inf"),
ub=float("inf"),
name="observation")
Experiment.generate_nn_guard(gurobi_model,
observation,
nn,
action_ego=chosen_action)
observable_template = Experiment.octagon(2)
self.env_input_size = 2
observable_result = self.optimise(observable_template, gurobi_model,
observation)
self.env_input_size = 6
return observable_template, observable_result
def __init__(self):
env_input_size: int = 2
super().__init__(env_input_size)
self.post_fn_remote = self.post_milp
self.get_nn_fn = self.get_nn
self.plot_fn = self.plot
self.template_2d: np.ndarray = np.array([[0, 1], [1, 0]])
input_boundaries, input_template = self.get_template(0)
self.input_boundaries: List = input_boundaries
self.input_template: np.ndarray = input_template
_, template = self.get_template(0)
self.analysis_template: np.ndarray = template
self.time_horizon = 500
self.rounding_value = 2**8
p = Experiment.e(self.env_input_size, 0)
v = Experiment.e(self.env_input_size, 1)
self.unsafe_zone: List[Tuple] = [([p, -v, v], np.array([0, 1, 0]))]
self.nn_path = os.path.join(
utils.get_save_dir(),
"tune_PPO_bouncing_ball/PPO_BouncingBall_c7326_00000_0_2021-01-16_05-43-36/checkpoint_36/checkpoint-36"
)
def run_parameterised_experiment(config):
# Hyperparameters
trial_dir = tune.get_trial_dir()
problem, method, other_config = config["main_params"]
n_workers = config["n_workers"]
experiment = CartpoleExperiment()
experiment.nn_path = other_config[
"folder"] # nn_paths_cartpole[other_config["nn_path"]]
experiment.tau = other_config["tau"]
if other_config["template"] == 2: # octagon
experiment.analysis_template = Experiment.octagon(
experiment.env_input_size)
elif other_config["template"] == 0: # box
experiment.analysis_template = Experiment.box(
experiment.env_input_size)
else:
_, template = experiment.get_template(1)
experiment.analysis_template = template # standard
experiment.n_workers = n_workers
experiment.show_progressbar = False
experiment.show_progress_plot = False
# experiment.use_rounding = False
experiment.save_dir = trial_dir
experiment.update_progress_fn = update_progress
elapsed_seconds, safe, max_t = experiment.run_experiment()
safe_value = 0
if safe is None:
safe_value = 0
elif safe:
safe_value = 1
elif not safe:
safe_value = -1
tune.report(elapsed_seconds=elapsed_seconds,
safe=safe_value,
max_t=max_t,
done=True)
def get_template(self, mode=0):
x = Experiment.e(self.env_input_size, 0)
x_dot = Experiment.e(self.env_input_size, 1)
theta = Experiment.e(self.env_input_size, 2)
theta_dot = Experiment.e(self.env_input_size, 3)
if mode == 0: # box directions with intervals
# input_boundaries = [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
input_boundaries = [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
# input_boundaries = [0.04373426, -0.04373426, -0.04980056, 0.04980056, 0.045, -0.045, -0.51, 0.51]
# optimise in a direction
template = []
for dimension in range(self.env_input_size):
template.append(Experiment.e(self.env_input_size, dimension))
template.append(-Experiment.e(self.env_input_size, dimension))
template = np.array(template) # the 6 dimensions in 2 variables
return input_boundaries, template
if mode == 1: # directions to easily find fixed point
input_boundaries = None
template = np.array([
theta, -theta, theta_dot, -theta_dot, theta + theta_dot,
-(theta + theta_dot), (theta - theta_dot), -(theta - theta_dot)
]) # x_dot, -x_dot,theta_dot - theta
return input_boundaries, template
if mode == 2:
input_boundaries = None
template = np.array([theta, -theta, theta_dot, -theta_dot])
return input_boundaries, template
if mode == 3:
input_boundaries = None
template = np.array([theta, theta_dot, -theta_dot])
return input_boundaries, template
if mode == 4:
input_boundaries = [0.09375, 0.625, 0.625, 0.0625, 0.1875]
# input_boundaries = [0.09375, 0.5, 0.5, 0.0625, 0.09375]
template = np.array([
theta, theta_dot, -theta_dot, theta + theta_dot,
(theta - theta_dot)
])
return input_boundaries, template
if mode == 5:
input_boundaries = [0.125, 0.0625, 0.1875]
template = np.array(
[theta, theta + theta_dot, (theta - theta_dot)])
return input_boundaries, template
def post_milp(self, x, nn, output_flag, t, template):
post = []
observable_template_action1 = self.observable_templates[1]
observable_result_action1 = self.observable_results[1]
observable_template_action0 = self.observable_templates[0]
observable_result_action0 = self.observable_results[0]
def standard_op():
gurobi_model = grb.Model()
gurobi_model.setParam('OutputFlag', output_flag)
input = self.generate_input_region(gurobi_model, template, x,
self.env_input_size)
z = self.apply_dynamic(input, gurobi_model, self.env_input_size)
return gurobi_model, z, input
# case 0
gurobi_model, z, input = standard_op()
feasible0 = self.generate_guard(gurobi_model, z, case=0) # bounce
if feasible0: # action is irrelevant in this case
# apply dynamic
x_prime_results = self.optimise(template, gurobi_model, z)
gurobi_model = grb.Model()
gurobi_model.setParam('OutputFlag', output_flag)
input2 = self.generate_input_region(gurobi_model, template,
x_prime_results,
self.env_input_size)
x_second = self.apply_dynamic2(input2,
gurobi_model,
case=0,
env_input_size=self.env_input_size)
found_successor, x_second_results = self.h_repr_to_plot(
gurobi_model, template, x_second)
if found_successor:
post.append(tuple(x_second_results))
# case 1 : ball going down and hit
gurobi_model, z, input = standard_op()
feasible11 = self.generate_guard(gurobi_model, z, case=1)
if feasible11:
Experiment.generate_region_constraints(
gurobi_model, observable_template_action1, input,
observable_result_action1, 2)
gurobi_model.optimize()
feasible12 = gurobi_model.status == 2
# feasible12 = self.generate_nn_guard(gurobi_model, input, nn, action_ego=1) # check for action =1 over input (not z!)
if feasible12:
# apply dynamic
x_prime_results = self.optimise(template, gurobi_model, z)
gurobi_model = grb.Model()
gurobi_model.setParam('OutputFlag', output_flag)
input2 = self.generate_input_region(gurobi_model, template,
x_prime_results,
self.env_input_size)
x_second = self.apply_dynamic2(
input2,
gurobi_model,
case=1,
env_input_size=self.env_input_size)
found_successor, x_second_results = self.h_repr_to_plot(
gurobi_model, template, x_second)
if found_successor:
post.append(tuple(x_second_results))
# case 2 : ball going up and hit
gurobi_model, z, input = standard_op()
feasible21 = self.generate_guard(gurobi_model, z, case=2)
if feasible21:
Experiment.generate_region_constraints(
gurobi_model, observable_template_action1, input,
observable_result_action1, 2)
gurobi_model.optimize()
feasible22 = gurobi_model.status == 2
# feasible22 = self.generate_nn_guard(gurobi_model, input, nn, action_ego=1) # check for action =1 over input (not z!)
if feasible22:
# apply dynamic
x_prime_results = self.optimise(template, gurobi_model, z)
gurobi_model = grb.Model()
gurobi_model.setParam('OutputFlag', output_flag)
input2 = self.generate_input_region(gurobi_model, template,
x_prime_results,
self.env_input_size)
x_second = self.apply_dynamic2(
input2,
gurobi_model,
case=2,
env_input_size=self.env_input_size)
found_successor, x_second_results = self.h_repr_to_plot(
gurobi_model, template, x_second)
if found_successor:
post.append(tuple(x_second_results))
# case 1 alt : ball going down and NO hit
gurobi_model, z, input = standard_op()
feasible11_alt = self.generate_guard(gurobi_model, z, case=1)
if feasible11_alt:
Experiment.generate_region_constraints(
gurobi_model, observable_template_action0, input,
observable_result_action0, 2)
gurobi_model.optimize()
feasible12_alt = gurobi_model.status == 2
# feasible12_alt = self.generate_nn_guard(gurobi_model, input, nn, action_ego=0) # check for action = 0 over input (not z!)
if feasible12_alt:
# apply dynamic
x_prime_results = self.optimise(template, gurobi_model, z)
gurobi_model = grb.Model()
gurobi_model.setParam('OutputFlag', output_flag)
input2 = self.generate_input_region(gurobi_model, template,
x_prime_results,
self.env_input_size)
x_second = self.apply_dynamic2(
input2,
gurobi_model,
case=3,
env_input_size=self.env_input_size)
found_successor, x_second_results = self.h_repr_to_plot(
gurobi_model, template, x_second)
if found_successor:
post.append(tuple(x_second_results))
# case 2 alt : ball going up and NO hit
gurobi_model, z, input = standard_op()
feasible21_alt = self.generate_guard(gurobi_model, z, case=2)
if feasible21_alt:
Experiment.generate_region_constraints(
gurobi_model, observable_template_action0, input,
observable_result_action0, 2)
gurobi_model.optimize()
feasible22_alt = gurobi_model.status == 2
# feasible22_alt = self.generate_nn_guard(gurobi_model, input, nn, action_ego=0) # check for action = 0 over input (not z!)
if feasible22_alt:
# apply dynamic
x_prime_results = self.optimise(template, gurobi_model, z)
gurobi_model = grb.Model()
gurobi_model.setParam('OutputFlag', output_flag)
input2 = self.generate_input_region(gurobi_model, template,
x_prime_results,
self.env_input_size)
x_second = self.apply_dynamic2(
input2,
gurobi_model,
case=3,
env_input_size=self.env_input_size)
found_successor, x_second_results = self.h_repr_to_plot(
gurobi_model, template, x_second)
if found_successor:
post.append(tuple(x_second_results))
# case 3 : ball out of reach and not bounce
gurobi_model, z, input = standard_op()
feasible3 = self.generate_guard(gurobi_model, z,
case=3) # out of reach
if feasible3: # action is irrelevant in this case
# apply dynamic
x_prime_results = self.optimise(template, gurobi_model, z)
gurobi_model = grb.Model()
gurobi_model.setParam('OutputFlag', output_flag)
input2 = self.generate_input_region(gurobi_model, template,
x_prime_results,
self.env_input_size)
x_second = self.apply_dynamic2(input2,
gurobi_model,
case=3,
env_input_size=self.env_input_size)
found_successor, x_second_results = self.h_repr_to_plot(
gurobi_model, template, x_second)
if found_successor:
post.append(tuple(x_second_results))
return post
def post_milp(self, x, nn, output_flag, t, template):
"""milp method"""
post = []
for chosen_action in range(2):
observable_template = self.observable_templates[chosen_action]
observable_result = self.observable_results[chosen_action]
if USE_GUROBI:
gurobi_model = grb.Model()
gurobi_model.setParam('OutputFlag', output_flag)
gurobi_model.setParam('Threads', 2)
input = Experiment.generate_input_region(
gurobi_model, template, x, self.env_input_size)
Experiment.generate_region_constraints(
gurobi_model,
observable_template,
input,
observable_result,
env_input_size=self.env_input_size)
gurobi_model.optimize()
feasible_action = gurobi_model.status == 2
if feasible_action:
max_theta, min_theta, max_theta_dot, min_theta_dot = self.get_theta_bounds(
gurobi_model, input)
sin_cos_table = self.get_sin_cos_table(
max_theta,
min_theta,
max_theta_dot,
min_theta_dot,
action=chosen_action,
step_thetaacc=100)
x_prime_results = self.optimise(template, gurobi_model,
input) # h representation
x_prime = Experiment.generate_input_region(
gurobi_model, template, x_prime_results,
self.env_input_size)
thetaacc, xacc = CartpoleExperiment.generate_angle_milp(
gurobi_model, x_prime, sin_cos_table)
# apply dynamic
x_second = self.apply_dynamic(
x_prime,
gurobi_model,
thetaacc=thetaacc,
xacc=xacc,
env_input_size=self.env_input_size)
gurobi_model.update()
gurobi_model.optimize()
found_successor, x_second_results = self.h_repr_to_plot(
gurobi_model, template, x_second)
if found_successor:
post.append(tuple(x_second_results))
else:
model = pyo.ConcreteModel()
input = Experiment.generate_input_region_pyo(
model, template, x, self.env_input_size)
feasible_action = ORACartpoleExperiment.generate_nn_guard_pyo(
model, input, nn, action_ego=chosen_action, M=1e04)
if feasible_action: # performs action 2 automatically when battery is dead
max_theta, min_theta, max_theta_dot, min_theta_dot = self.get_theta_bounds_pyo(
model, input)
sin_cos_table = self.get_sin_cos_table(
max_theta,
min_theta,
max_theta_dot,
min_theta_dot,
action=chosen_action,
step_thetaacc=100)
x_prime_results = self.optimise_pyo(template, model, input)
x_prime = Experiment.generate_input_region_pyo(
model,
template,
x_prime_results,
self.env_input_size,
name="x_prime_input")
thetaacc, xacc = ORACartpoleExperiment.generate_angle_milp_pyo(
model, x_prime, sin_cos_table)
model.del_component(model.obj)
model.obj = pyo.Objective(expr=thetaacc,
sense=pyo.maximize)
result = Experiment.solve(model,
solver=Experiment.use_solver)
assert (result.solver.status == SolverStatus.ok) and (
result.solver.termination_condition
== TerminationCondition.optimal
), f"LP wasn't optimally solved {x}"
# apply dynamic
x_second = self.apply_dynamic_pyo(
x_prime,
model,
thetaacc=thetaacc,
xacc=xacc,
env_input_size=self.env_input_size,
action=chosen_action)
x_second_results = self.optimise_pyo(
template, model, x_second)
found_successor = x_prime_results is not None
if found_successor:
post.append((tuple(x_second_results)))
return post
def run_parameterised_experiment(config):
# Hyperparameters
trial_dir = tune.get_trial_dir()
problem, method, other_config = config["main_params"]
n_workers = config["n_workers"]
if problem == "bouncing_ball":
if method == "ora":
experiment = ORABouncingBallExperiment()
else:
experiment = BouncingBallExperiment()
experiment.nn_path = os.path.join(utils.get_save_dir(), nn_paths_bouncing_ball[other_config["nn_path"]])
experiment.tau = other_config["tau"]
if other_config["template"] == 2: # octagon
experiment.analysis_template = Experiment.octagon(experiment.env_input_size)
elif other_config["template"] == 0: # box
experiment.analysis_template = Experiment.box(experiment.env_input_size)
else:
raise NotImplementedError()
experiment.n_workers = n_workers
experiment.show_progressbar = False
experiment.show_progress_plot = False
experiment.save_dir = trial_dir
experiment.update_progress_fn = update_progress
elapsed_seconds, safe, max_t = experiment.run_experiment()
elif problem == "stopping_car":
if method == "ora":
experiment = ORAStoppingCarExperiment()
experiment.nn_path = os.path.join(utils.get_save_dir(), nn_paths_stopping_car[other_config["nn_path"]])
experiment.input_epsilon = other_config["epsilon_input"]
if other_config["template"] == 2: # octagon
experiment.analysis_template = Experiment.octagon(experiment.env_input_size)
elif other_config["template"] == 0: # box
experiment.analysis_template = Experiment.box(experiment.env_input_size)
else:
_, template = experiment.get_template(1)
experiment.analysis_template = template # standard
experiment.n_workers = n_workers
experiment.show_progressbar = False
experiment.show_progress_plot = False
experiment.save_dir = trial_dir
experiment.update_progress_fn = update_progress
elapsed_seconds, safe, max_t = experiment.run_experiment()
else:
experiment = StoppingCarExperiment()
experiment.nn_path = os.path.join(utils.get_save_dir(), nn_paths_stopping_car[other_config["nn_path"]])
experiment.input_epsilon = other_config["epsilon_input"]
if other_config["template"] == 2: # octagon
experiment.analysis_template = Experiment.octagon(experiment.env_input_size)
elif other_config["template"] == 0: # box
experiment.analysis_template = Experiment.box(experiment.env_input_size)
else:
_, template = experiment.get_template(1)
experiment.analysis_template = template # standard
experiment.n_workers = n_workers
experiment.show_progressbar = False
experiment.show_progress_plot = False
experiment.save_dir = trial_dir
experiment.update_progress_fn = update_progress
elapsed_seconds, safe, max_t = experiment.run_experiment()
else:
if method == "ora":
experiment = ORACartpoleExperiment()
else:
experiment = CartpoleExperiment()
experiment.nn_path = os.path.join(utils.get_save_dir(), nn_paths_cartpole[other_config["nn_path"]])
experiment.tau = other_config["tau"]
if other_config["template"] == 2: # octagon
experiment.analysis_template = Experiment.octagon(experiment.env_input_size)
elif other_config["template"] == 0: # box
experiment.analysis_template = Experiment.box(experiment.env_input_size)
else:
_, template = experiment.get_template(1)
experiment.analysis_template = template # standard
experiment.n_workers = n_workers
experiment.show_progressbar = False
experiment.show_progress_plot = False
# experiment.use_rounding = False
experiment.save_dir = trial_dir
experiment.update_progress_fn = update_progress
elapsed_seconds, safe, max_t = experiment.run_experiment()
safe_value = 0
if safe is None:
safe_value = 0
elif safe:
safe_value = 1
elif not safe:
safe_value = -1
tune.report(elapsed_seconds=elapsed_seconds, safe=safe_value, max_t=max_t, done=True)
def get_template(self, mode=0):
x_lead = Experiment.e(6, 0)
x_ego = Experiment.e(6, 1)
v_lead = Experiment.e(6, 2)
v_ego = Experiment.e(6, 3)
a_lead = Experiment.e(6, 4)
a_ego = Experiment.e(6, 5)
if mode == 0: # box directions with intervals
input_boundaries = [
50, -40, 10, -0, 28, -28, 36, -36, 0, -0, 0, -0, 0
]
# optimise in a direction
template = []
for dimension in range(6):
template.append(Experiment.e(6, dimension))
template.append(-Experiment.e(6, dimension))
template = np.array(template) # the 6 dimensions in 2 variables
# t1 = [0] * 6
# t1[0] = -1
# t1[1] = 1
# template = np.vstack([template, t1])
return input_boundaries, template
if mode == 1: # directions to easily find fixed point
input_boundaries = [20]
template = np.array([
a_lead, -a_lead, a_ego, -a_ego, -v_lead, v_lead,
-(v_lead - v_ego), (v_lead - v_ego), -(x_lead - x_ego),
(x_lead - x_ego)
])
return input_boundaries, template
if mode == 2:
input_boundaries = [
0, -100, 30, -31, 20, -30, 0, -35, 0, -0, -10, -10, 20
]
# optimise in a direction
template = []
for dimension in range(6):
t1 = [0] * 6
t1[dimension] = 1
t2 = [0] * 6
t2[dimension] = -1
template.append(t1)
template.append(t2)
# template = np.array([[0, 1], [1, 1], [1, 0], [1, -1], [0, -1], [-1, -1], [-1, 0], [-1, 1]]) # the 8 dimensions in 2 variables
template = np.array(template) # the 6 dimensions in 2 variables
t1 = [0] * 6
t1[0] = 1
t1[1] = -1
template = np.vstack([template, t1])
return input_boundaries, template
if mode == 3: # single point box directions +diagonal
input_boundaries = [
30, -30, 0, -0, 28, -28, 36, -36, 0, -0, 0, -0, 0
]
# optimise in a direction
template = []
for dimension in range(6):
t1 = [0] * 6
t1[dimension] = 1
t2 = [0] * 6
t2[dimension] = -1
template.append(t1)
template.append(t2)
# template = np.array([[0, 1], [1, 1], [1, 0], [1, -1], [0, -1], [-1, -1], [-1, 0], [-1, 1]]) # the 8 dimensions in 2 variables
template = np.array(template) # the 6 dimensions in 2 variables
t1 = [0] * 6
t1[0] = -1
t1[1] = 1
template = np.vstack([template, t1])
return input_boundaries, template
if mode == 4: # octagon, every pair of variables
input_boundaries = [20]
template = []
for dimension in range(6):
t1 = [0] * 6
t1[dimension] = 1
t2 = [0] * 6
t2[dimension] = -1
template.append(t1)
template.append(t2)
for other_dimension in range(dimension + 1, 6):
t1 = [0] * 6
t1[dimension] = 1
t1[other_dimension] = -1
t2 = [0] * 6
t2[dimension] = -1
t2[other_dimension] = 1
t3 = [0] * 6
t3[dimension] = 1
t3[other_dimension] = 1
t4 = [0] * 6
t4[dimension] = -1
t4[other_dimension] = -1
template.append(t1)
template.append(t2)
template.append(t3)
template.append(t4)
return input_boundaries, np.array(template)
def get_nn(self):
config = get_PPO_config(1234)
trainer = ppo.PPOTrainer(config=config)
trainer.restore(self.nn_path)
policy = trainer.get_policy()
sequential_nn = convert_ray_policy_to_sequential(policy).cpu()
# l0 = torch.nn.Linear(6, 2, bias=False)
# l0.weight = torch.nn.Parameter(torch.tensor([[0, 0, 1, -1, 0, 0], [1, -1, 0, 0, 0, 0]], dtype=torch.float32))
# layers = [l0]
# for l in sequential_nn:
# layers.append(l)
#
# nn = torch.nn.Sequential(*layers)
nn = sequential_nn
# ray.shutdown()
return nn
if __name__ == '__main__':
ray.init(log_to_driver=False, local_mode=False)
experiment = StoppingCarExperiment()
experiment.plotting_time_interval = 60 * 2
experiment.show_progressbar = True
experiment.show_progress_plot = False
template = Experiment.octagon(experiment.env_input_size)
experiment.analysis_template = template # standard
input_boundaries = [40, -30, 10, -0, 28, -28, 36, -36, 0, -0, 0, -0, 0]
experiment.input_boundaries = input_boundaries
experiment.time_horizon = 150
experiment.run_experiment()