def main():
tdm_trials = get_trials(
"/home/vitchyr/git/railrl/data/doodads3/01-03-final-gym-pusher3d/",
criteria={
'exp_id': '16',
'algorithm': 'DDPG-TDM',
})
mb_trials = get_trials(
"/home/vitchyr/git/railrl/data/doodads3/01-03-final-gym-pusher3d/",
criteria={
'exp_id': '2',
'algorithm': 'Model-Based-Dagger',
})
ddpg_trials = get_trials(
"/home/vitchyr/git/railrl/data/doodads3/01-03-final-gym-pusher3d/",
criteria={
'exp_id': '7',
'algorithm': 'DDPG',
})
her_trials = get_trials(
"/home/vitchyr/git/railrl/data/doodads3/01-03-final-gym-pusher3d/",
criteria={
'exp_id': '10',
'algorithm': 'HER-Andrychowicz',
})
ddpg_sparse_trials = get_trials(
"/home/vitchyr/git/railrl/data/doodads3/01-03-final-gym-pusher3d/",
criteria={
'exp_id': '8',
'algorithm': 'DDPG-Sparse',
})
MAX_ITERS = 1000000
plt.figure()
base_key = 'Multitask Final L2 distance to goal Mean'
for trials, name, key in [
(tdm_trials, 'TDMs', base_key),
(ddpg_trials, 'DDPG', base_key),
(ddpg_sparse_trials, 'DDPG-Sparse', base_key),
(her_trials, 'HER', base_key),
(mb_trials, 'Model-Based', base_key),
]:
key = key.replace(" ", "_")
all_values = []
for trial in trials:
try:
values_ts = trial.data[key]
except:
import ipdb
ipdb.set_trace()
values_ts = sliding_mean(values_ts, window=10)
all_values.append(values_ts)
min_len = min(map(len, all_values))
costs = np.vstack([values[:min_len] for values in all_values])
costs = costs[:, :min(costs.shape[1], MAX_ITERS)]
mean = np.mean(costs, axis=0)
std = np.std(costs, axis=0)
epochs = np.arange(0, len(costs[0]))
plt.fill_between(epochs, mean - std, mean + std, alpha=0.1)
plt.plot(epochs, mean, label=name)
plt.xlabel("Environment Samples (x1,000)")
plt.ylabel("Final Euclidean Distance to Goal Position")
plt.legend()
plt.savefig('results/iclr2018/gym-pusher-3d.jpg')
plt.show()
def main():
tdm_trials = get_trials(
"/home/vitchyr/git/railrl/data/doodads3/01-03-final-ant-max-distance-6/",
criteria={
'algorithm': 'DDPG-TDM',
'exp_id': '4',
}
)
ddpg_trials = get_trials(
"/home/vitchyr/git/railrl/data/doodads3/01-04-ddpg-ant-max-d-6-post-sweep/",
criteria={
'algorithm': 'DDPG',
'exp_id': '7',
}
)
ddpg_sparse_trials = get_trials(
"/home/vitchyr/git/railrl/data/doodads3/01-03-final-ant-max-distance-6/",
criteria={
'algorithm': 'DDPG-Sparse',
'exp_id': '0',
}
)
her_trials = get_trials(
"/home/vitchyr/git/railrl/data/doodads3/01-03-final-ant-max-distance-6/",
criteria={
'algorithm': 'HER-Andrychowicz',
'exp_id': '13',
}
)
mb_trials = get_trials(
"/home/vitchyr/git/railrl/data/doodads3/01-03-final-ant-max-distance-6/",
criteria={
'algorithm': 'Model-Based-Dagger',
'exp_id': '2',
}
)
MAX_ITERS = 1000000
plt.figure()
key = 'Final Distance to goal Mean'
# key = 'Multitask Final L2 distance to goal Mean'
for trials, name in [
(tdm_trials, 'TDM'),
(ddpg_trials, 'DDPG'),
(her_trials, 'HER'),
(ddpg_sparse_trials, 'DDPG-Sparse'),
(mb_trials, 'Model-Based'),
]:
key = key.replace(" ", "_")
all_values = []
for trial in trials:
try:
values_ts = trial.data[key]
except:
import ipdb; ipdb.set_trace()
values_ts = sliding_mean(values_ts, window=10)
all_values.append(values_ts)
# if len(values_ts) > 450:
# all_values.append(values_ts)
min_len = min(map(len, all_values))
max_len = max(map(len, all_values))
all_values = [
np.pad(values, (0, max_len - len(values)), 'constant',
constant_values=np.nan)
for values in all_values
]
costs = np.vstack([
# values[:min_len]
values
for values in all_values
])
costs = costs[:, :min(costs.shape[1], MAX_ITERS)]
mean = np.nanmean(costs, axis=0)
std = np.nanstd(costs, axis=0)
epochs = np.arange(0, len(costs[0]))
plt.fill_between(epochs, mean - std, mean + std, alpha=0.1)
plt.plot(epochs, mean, label=name)
plt.xlabel("Environment Samples (x1,000)")
plt.ylabel("Final Distance to Goal Position")
plt.legend()
plt.savefig('results/iclr2018/ant-max-distance-6.jpg')
plt.show()
import os
from railrl.misc.data_processing import get_trials
from subprocess import call
base_dir = '/home/vitchyr/git/railrl/data/papers/nips2018/for-ashvin' \
'/reacher-main-results-ours'
trials = get_trials(
'/home/vitchyr/git/railrl/data/papers/nips2018/reacher-abalation-resample-strategy/',
criteria={
'replay_kwargs.fraction_resampled_goals_are_env_goals': 0.5,
'replay_kwargs.fraction_goals_are_rollout_goals': 0.2,
'algo_kwargs.num_updates_per_env_step': 5,
}
)
output_dir = base_dir
os.makedirs(output_dir, exist_ok=True)
print("Making dir", output_dir)
for trial in trials:
dir = trial[2]
print("cp -r {} {}".format(dir, output_dir))
call(["cp", "-r", dir, output_dir])
import matplotlib.pyplot as plt
from railrl.misc.data_processing import get_trials
from railrl.visualization.plot_util import plot_trials, padded_ma_filter
plt.style.use("ggplot")
vae_trials = get_trials(
# '/home/vitchyr/git/railrl/data/doodads3/05-12-sawyer-reach-vae-rl-log-prob-rewards-2',
'/home/vitchyr/git/railrl/data/doodads3/05-14-paper-sawyer-reach-vae-rl-lprob-rewards-min-var-after-fact/',
criteria={
'replay_kwargs.fraction_resampled_goals_are_env_goals': 0.5,
'replay_kwargs.fraction_goals_are_rollout_goals': 0.2,
'reward_params.min_variance': 1,
'vae_wrapped_env_kwargs.sample_from_true_prior': False,
})
state_her_td3 = get_trials(
'/home/vitchyr/git/railrl/data/doodads3/05-13-full-state-sawyer-reach-2/',
criteria={
'replay_buffer_kwargs.fraction_resampled_goals_are_env_goals': 0.5,
'replay_buffer_kwargs.fraction_goals_are_rollout_goals': 0.2,
'exploration_type': 'ou',
})
state_tdm_ddpg = get_trials(
'/home/vitchyr/git/railrl/data/doodads3/05-14-tdm-ddpg-reach-sweep-2/',
criteria={
'env_class.$class':
'railrl.envs.mujoco.sawyer_gripper_env.SawyerXYEnv',
'algo_kwargs.base_kwargs.num_updates_per_env_step': 10,
'algo_kwargs.tdm_kwargs.max_tau': 5,
},
def main():
her_andry_trials = get_trials(
"/home/vitchyr/git/railrl/data/doodads3/12-24-her-andrychowicz-pusher-rebutal/",
criteria={
'exp_id': '11',
},
)
ddpg_path = "/mnt/data-backup-12-02-2017/doodads3/10-25-ddpg-pusher-again-baseline-with-reward-bonus/"
ddpg_criteria = {
'algo_params.num_updates_per_env_step': 5,
'algo_params.scale_reward': 1,
'algo_params.tau': 0.01,
}
mb_path = "/mnt/data-backup-12-02-2017/doodads3/10-25-abhishek-mb-baseline-pusher-again-shaped/"
mb_criteria = None
our_path = "/mnt/data-backup-12-02-2017/doodads3/11-02-get-results-handxyxy-small-sweep"
our_criteria = {
'algo_params.num_updates_per_env_step': 5,
'epoch_discount_schedule_params.value': 5,
'algo_params.tau': 0.001,
}
ddpg_trials = get_trials(ddpg_path, criteria=ddpg_criteria)
mb_trials = get_trials(mb_path, criteria=mb_criteria)
our_trials = get_trials(our_path, criteria=our_criteria)
ddpg_sparse_trials = get_trials(
"/home/vitchyr/git/railrl/data/doodads3/12-23-ddpg-sparse-sweep-4/",
criteria={
'env_class.$class': 'railrl.envs.multitask.pusher2d.CylinderXYPusher2DEnv',
'ddpg_tdm_kwargs.base_kwargs.num_updates_per_env_step': 1,
}
)
MAX_ITERS = 100
base_key = 'Final_Euclidean_distance_to_goal_Mean'
plt.figure()
for trials, name, key in [
(our_trials, 'TDM', 'test_'+base_key),
(ddpg_trials, 'DDPG', base_key),
(her_andry_trials, 'HER', "Final Distance object to goal Mean"),
(ddpg_sparse_trials, 'DDPG-Sparse', "Final Distance object to goal Mean"),
(mb_trials, 'Model Based', base_key),
]:
key = key.replace(" ", "_")
all_values = []
min_len = np.inf
for trial in trials:
values_ts = trial.data[key]
min_len = min(min_len, len(values_ts))
all_values.append(values_ts)
try:
costs = np.vstack([
values[:min_len]
for values in all_values
])
except ValueError as e:
import ipdb; ipdb.set_trace()
costs = costs[:, :min(costs.shape[1], MAX_ITERS)]
if name == 'HER':
costs = sliding_mean(costs, 20)
mean = np.mean(costs, axis=0)
std = np.std(costs, axis=0)
epochs = np.arange(0, len(costs[0]))
plt.fill_between(epochs, mean - std, mean + std, alpha=0.1)
plt.plot(epochs, mean, label=name)
# plt.xscale('log')
plt.xlabel("Environment Samples (x1000)")
plt.ylabel("Final Distance to Goal Position")
plt.legend()
plt.savefig('results/iclr2018/pusher.jpg')
plt.show()
import matplotlib.pyplot as plt
from railrl.misc.data_processing import get_trials
from railrl.visualization.plot_util import plot_trials
plt.style.use("ggplot")
state_trials = get_trials(
'/home/vitchyr/git/railrl/data/doodads3/05-12-sawyer-push-and-reach-easy/',
criteria={
'replay_buffer_kwargs.fraction_resampled_goals_are_env_goals': 0.5,
'replay_buffer_kwargs.fraction_goals_are_rollout_goals': 0.2,
'exploration_type': 'ou'
})
td3_trials = get_trials(
'/home/vitchyr/git/railrl/data/doodads3/05-12-sawyer-push-and-reach-easy/',
criteria={
'replay_buffer_kwargs.fraction_goals_are_rollout_goals': 1.0,
'exploration_type': 'ou'
})
my_trials = get_trials(
'/home/vitchyr/git/railrl/data/doodads3/05-12-sawyer-push-and-reach-easy-vae-rl',
criteria={
'replay_kwargs.fraction_resampled_goals_are_env_goals': 0.5,
'replay_kwargs.fraction_goals_are_rollout_goals': 0.2,
})
vae_td3_trials = get_trials(
'/home/vitchyr/git/railrl/data/doodads3/05-12-sawyer-push-and-reach-easy-vae-rl',
criteria={
'replay_kwargs.fraction_goals_are_rollout_goals': 1.,
})
from railrl.misc.data_processing import get_trials
import matplotlib.pyplot as plt
import numpy as np
her_andry_trials = get_trials(
'/home/vitchyr/git/railrl/data/doodads3/12-24-her-andrychowicz-reacher-rebutal/',
criteria={
'exp_id': '7',
},
)
mb_path = "/home/vitchyr/git/railrl/data/doodads3/12-24-model-based-reacher-multitask-fixed-2/"
ddpg_indicator_trials = get_trials(
"/home/vitchyr/git/railrl/data/doodads3/12-23-ddpg-sparse-sweep-4/",
criteria={
'env_class.$class':
"railrl.envs.multitask.reacher_7dof.Reacher7DofXyzGoalState",
'ddpg_tdm_kwargs.base_kwargs.num_updates_per_env_step': 1,
},
)
tdm_trials = get_trials(
"/mnt/data-backup-12-02-2017/doodads3/10-27-sdql-reacher-get-long-results",
criteria={
'epoch_discount_schedule_params.value': 15,
'eval_with_oc_policy': False,
'algo_params.num_updates_per_env_step': 25,
})
ddpg_trials = get_trials(
"/mnt/data-backup-12-02-2017/doodads3/10-25-ddpg-reacher-pusher-baseline/",
import os
import shutil
from railrl.misc.data_processing import get_trials
from subprocess import call
base_dir = '/home/vitchyr/git/railrl/data/papers/nips2018/for-ashvin' \
'/reacher-baseline-oracle'
trials = get_trials(
'/home/vitchyr/git/railrl/data/doodads3/05-16-paper-reacher-results-full-state-oracle-ish/',
criteria={
'replay_buffer_kwargs.fraction_resampled_goals_are_env_goals': 1.0,
'algo_kwargs.num_updates_per_env_step': 5,
'exploration_type': 'epsilon',
})
output_dir = base_dir
os.makedirs(output_dir, exist_ok=True)
print("Making dir", output_dir)
for trial in trials:
dir = trial[2]
print("cp -r {} {}".format(dir, output_dir))
call(["cp", "-r", dir, output_dir])
vitchyr_base_dir,
format_func,
configure_matplotlib,
)
import matplotlib.pyplot as plt
from railrl.visualization import plot_util as plot
from railrl.misc import data_processing as dp
configure_matplotlib(matplotlib)
pusher_dir = vitchyr_base_dir + 'papers/nips2018/pusher-online-vae'
online_pusher = dp.get_trials(pusher_dir,
criteria={
'rdim':
250,
'algo_kwargs.should_train_vae.$function':
'railrl.torch.vae.vae_schedules.every_three',
})
offline_pusher = dp.get_trials(
pusher_dir,
criteria={
'rdim':
250,
'algo_kwargs.should_train_vae.$function':
'railrl.torch.vae.vae_schedules.never_train',
})
plt.figure(figsize=(6, 5))
plot.plot_trials(
OrderedDict([
("Online", online_pusher),
def get_fanova_info(
base_dir,
params_to_ignore=('seed', 'exp_id', 'unique_id', 'exp_name'),
ylabel='AverageReturn',
):
data_and_variants = get_trials(base_dir)
experiment_data_list, variants_list = zip(*data_and_variants)
ylabel = ylabel.replace(' ', '_')
ylabel = ylabel.replace('-', '')
if ylabel not in experiment_data_list[0].dtype.names:
print("Possible ylabels:")
for name in experiment_data_list[0].dtype.names:
print(" - {}".format(name))
raise ValueError("Invalid ylabel: {}".format(ylabel))
indices_of_experiments_with_data = [
i for i, exp in enumerate(experiment_data_list)
if exp[ylabel].size >= 1
]
if len(indices_of_experiments_with_data) != len(experiment_data_list):
print("WARNING: Skipping some experiments. Probably because they only "
"have one data point.")
valid_experiment_data_list = [
d for i, d in enumerate(experiment_data_list)
if i in indices_of_experiments_with_data
]
variants_list = [
v for i, v in enumerate(variants_list)
if i in indices_of_experiments_with_data
]
Y = np.array([
exp[ylabel][-1] if exp[ylabel].size > 1 else np.array(
float(exp[ylabel]), dtype=np.double)
for exp in valid_experiment_data_list
])
filtered_variants_list = remove_keys_with_nonunique_values(
variants_list, params_to_ignore=params_to_ignore)
filtered_variants_to_values = get_dict_key_to_values(
filtered_variants_list)
names = list(filtered_variants_list[0].keys())
X_raw = _extract_features(filtered_variants_list, names)
config_space, X, categorical_remapping = (
_get_config_space_and_new_features(
X_raw,
names,
filtered_variants_to_values,
))
# Not sure why, but config_space shuffles the order of the hyperparameters
new_name_order = [
config_space.get_hyperparameter_by_idx(i) for i in range(len(names))
]
new_order = [names.index(name) for name in new_name_order]
X = [X[i] for i in new_order]
# X has be [feature_dim X batch_size], but Fanova expects the transpose
X = np.array(X, dtype=object).T
return FanovaInfo(
fANOVA(X, Y, config_space=config_space),
config_space,
X,
Y,
categorical_remapping,
variants_list,
)
from visualization.grill.config import (
output_dir,
vitchyr_base_dir,
format_func,
configure_matplotlib,
)
import matplotlib.pyplot as plt
from railrl.visualization import plot_util as plot
from railrl.misc import data_processing as dp
configure_matplotlib(matplotlib)
reacher_dir = vitchyr_base_dir + 'papers/nips2018/reacher_online_vae'
online_reacher = dp.get_trials(
reacher_dir,
criteria={
'algo_kwargs.should_train_vae.$function':
'railrl.torch.vae.vae_schedules.always_train',
})
offline_reacher = dp.get_trials(
reacher_dir,
criteria={
'algo_kwargs.should_train_vae.$function':
'railrl.torch.vae.vae_schedules.never_train',
})
plt.figure(figsize=(6, 5))
plot.plot_trials(
OrderedDict([
("Online", online_reacher),
("Offline", offline_reacher),
]),
def main():
parser = argparse.ArgumentParser()
parser.add_argument("expdir",
help="experiment dir, e.g., /tmp/experiments")
parser.add_argument("--ylabel", default='AverageReturn')
args = parser.parse_args()
y_label = args.ylabel
"""
Load data
"""
trials = get_trials(args.expdir)
data = trials[0][0]
if y_label not in data.dtype.names:
print("Invalid ylabel. Valid ylabels:")
for name in sorted(data.dtype.names):
print(name)
return
"""
Get the unique parameters
"""
_, all_variants = zip(*trials)
unique_param_to_values = get_unique_param_to_values(all_variants)
unique_numeric_param_to_values = {
k: unique_param_to_values[k]
for k in unique_param_to_values
if is_numeric(list(unique_param_to_values[k])[0])
}
# TODO(vitchyr): Use bar plot if xlabel is not numeric, rather than just
# ignoring it
value_to_unique_params = defaultdict(dict)
"""
Plot results
"""
num_params = len(unique_numeric_param_to_values)
fig, axes = plt.subplots(num_params)
if num_params == 1:
axes = [axes]
for i, x_label in enumerate(unique_numeric_param_to_values):
x_value_to_y_values = defaultdict(list)
for data, variant in trials:
if len(data[y_label]) > 0:
print(
"WARNING. data is missing this label: {}".format(y_label))
x_value_to_y_values[variant[x_label]].append(data[y_label][-1])
y_means = []
y_stds = []
x_values = []
for x_value, y_values in x_value_to_y_values.items():
x_values.append(x_value)
y_means.append(np.mean(y_values))
y_stds.append(np.std(y_values))
value_to_unique_params[np.mean(y_values)][x_label] = x_value
x_values, y_means, y_stds = sort_by_first(x_values, y_means, y_stds)
axes[i].errorbar(x_values, y_means, yerr=y_stds)
axes[i].set_ylabel(y_label)
axes[i].set_xlabel(x_label)
"""
Display information about the best parameters
"""
value_and_unique_params = sorted(value_to_unique_params.items(),
key=lambda v_and_params: -v_and_params[0])
unique_params = list(unique_numeric_param_to_values.keys())
default_params = {k: variant[k] for k in variant if k not in unique_params}
print("Default Param", default_params)
print("Top 3 params")
for value, params in value_and_unique_params[:3]:
for k, v in params.items():
print("\t{}: {}".format(k, v))
print("Value", value)
plt.show()
