# else:
# sampler_cls = BatchSampler
created_session = True if (sess is None) else False
if sess is None:
sess = tf.Session()
sess.__enter__()
n_itr = 1
sess.run(tf.global_variables_initializer())
# sampler_cls.start_worker()
for itr in range(n_itr):
# rollout(env, policy, animated=True, max_path_length=1000)
o = env.reset()
policy.reset()
d = False
while not d:
env.render()
flat_obs = policy.observation_space.flatten(o)
mean, log_std = [x[0] for x in policy._f_dist([flat_obs])]
# rnd = np.random.normal(size=mean.shape)
# action = rnd * np.exp(log_std) + mean
action = mean
next_o, r, d, env_info = env.step(action)
o = next_o
# sampler_cls.shutdown_worker()
if created_session:
sess.close()
# done = False
# obs = env.reset()
# rewards = []
'xml_file': xml_file,
'distractors': True
})
env = TfEnv(normalize(pusher_env))
# path = rollout(env, policy, max_path_length=120, speedup=1,
path = rollout(env,
policy,
max_path_length=max_path_length,
speedup=1,
noise=noise,
animated=True,
always_return_paths=True,
save_video=False,
vision=True)
# close the window after rollout
env.render(close=True)
import time
time.sleep(0.1)
# if path['observations'][-1,0] > joint_thresh:
# num_tries = max_num_tries
#if path['rewards'].sum() > filter_thresh and path['observations'][-1,0] < joint_thresh:
if eval_success(
path
): # and path['observations'][-1,0] < joint_thresh:
print('xml for distractor is', xml_file1)
pusher_env = PusherEnvVision2D(**{
'xml_file': xml_file1,
'distractors': True
})
env = TfEnv(normalize(pusher_env))
# path = rollout(env, policy, max_path_length=120, speedup=1,
def main():
import matplotlib.pyplot as plt
plt.ion()
parser = argparse.ArgumentParser()
parser.add_argument('env_name', type=str, help="name of gym env")
parser.add_argument('model_path', type=str, help="path of trained model")
parser.add_argument('--cos_forward', action='store_true')
parser.add_argument('--norm_input', action='store_true')
parser.add_argument('--mode',
type=str,
choices=['render', 'record'],
default='render')
parser.add_argument('--data_path', type=str, default='/tmp/data')
parser.add_argument('--num_sample', type=int, default=100000)
args = parser.parse_args()
with tf.Session() as sess:
data = joblib.load(args.model_path)
_encoder = data["encoder"]
_inverse_model = data["inverse_model"]
_forward_model = data["forward_model"]
env = TfEnv(
normalize(env=GymEnv('Box3dReachPixel-v11',
record_video=False,
log_dir='/tmp/gym_test',
record_log=False)))
s1_ph = tf.placeholder(tf.float32,
[None] + list(env.observation_space.shape))
s2_ph = tf.placeholder(tf.float32,
[None] + list(env.observation_space.shape))
action_ph = tf.placeholder(tf.float32,
[None] + list(env.action_space.shape))
encoder1 = _encoder.get_weight_tied_copy(observation_input=s1_ph)
encoder2 = _encoder.get_weight_tied_copy(observation_input=s2_ph)
inverse_model = _inverse_model.get_weight_tied_copy(
feature_input1=encoder1.output, feature_input2=encoder2.output)
forward_model = _forward_model.get_weight_tied_copy(
feature_input=encoder1.output, action_input=action_ph)
if args.cos_forward:
forward_loss = cos_loss(encoder2.output, forward_model.output)
else:
forward_loss = tf.reduce_mean(
tf.square(encoder2.output - forward_model.output))
inverse_loss = tf.reduce_mean(
tf.square(action_ph - inverse_model.output))
# Start running the env
obs = env.reset()
next_obs = None
x = []
inverse_losses_results = []
forward_losses_results = []
if args.mode == 'render':
f, (ax1, ax2) = plt.subplots(2)
ax1.set_title("Inverse loss")
ax2.set_title("Forward loss")
elif args.mode == 'record':
images = np.zeros([args.num_sample, 500, 500, 3], dtype='uint8')
inverse_losses = np.zeros(args.num_sample, dtype='float32')
forward_losses = np.zeros(args.num_sample, dtype='float32')
boxes_contacts = np.zeros(args.num_sample, dtype='uint8')
table_contacts = np.zeros(args.num_sample, dtype='uint8')
for t in range(args.num_sample):
if t % LOG_FREQ == 0:
print("Sample: {}".format(t))
action = env.action_space.sample()
next_obs, reward, done, env_info = env.step(action)
if args.mode == 'render':
env.render()
elif args.mode == 'record':
img = env.wrapped_env._wrapped_env.env.env.render(
mode='rgb_array')
images[t, :, :, :] = img
inverse_loss_result, forward_loss_result = sess.run(
[inverse_loss, forward_loss], {
s1_ph: [obs / 255.0 - 0.5],
s2_ph: [next_obs / 255.0 - 0.5],
action_ph: [action]
})
if args.mode == 'render':
x.append(t)
inverse_losses_results.append(inverse_loss_result)
forward_losses_results.append(forward_loss_result)
ax1.plot(x, inverse_losses_results, c="blue")
ax2.plot(x, forward_losses_results, c="blue")
plt.pause(0.001)
plt.show()
elif args.mode == 'record':
boxes_contacts[t] = env_info["contact_reward"]
table_contacts[t] = env_info["table_contact_reward"]
forward_losses[t] = forward_loss_result
inverse_losses[t] = inverse_loss_result
if done:
obs = env.reset()
else:
obs = next_obs
if args.mode == 'record':
data_dict = dict(images=images,
forward_losses=forward_losses,
inverse_losses=inverse_losses,
boxes_contacts=boxes_contacts,
table_contacts=table_contacts)
joblib.dump(data_dict, args.data_path)
print("Saved data to {}".format(args.data_path))
