def __init__(self, env_fns, start_method=None):
self.waiting = False
self.closed = False
n_envs = len(env_fns)
if start_method is None:
# Fork is not a thread safe method (see issue #217)
# but is more user friendly (does not require to wrap the code in
# a `if __name__ == "__main__":`)
fork_available = 'fork' in multiprocessing.get_all_start_methods()
start_method = 'fork' if fork_available else 'spawn'
ctx = multiprocessing.get_context(start_method)
self.remotes, self.work_remotes = zip(
*[ctx.Pipe() for _ in range(n_envs)])
self.processes = []
for work_remote, remote, env_fn in zip(self.work_remotes, self.remotes,
env_fns):
args = (work_remote, remote, CloudpickleWrapper(env_fn))
# daemon=True: if the main process crashes, we should not cause things to hang
process = ctx.Process(target=_worker, args=args, daemon=True)
process.start()
self.processes.append(process)
work_remote.close()
self.remotes[0].send(('get_spaces', None))
observation_space, action_space = self.remotes[0].recv()
VecEnv.__init__(self, len(env_fns), observation_space, action_space)
def __init__(self, env_fns, start_method=None):
self.waiting = False
self.closed = False
n_envs = len(env_fns)
if start_method is None:
# Use thread safe method, see issue #217.
# forkserver faster than spawn but not always available.
forkserver_available = 'forkserver' in multiprocessing.get_all_start_methods()
start_method = 'forkserver' if forkserver_available else 'spawn'
ctx = multiprocessing.get_context(start_method)
self.remotes, self.work_remotes = zip(*[ctx.Pipe() for _ in range(n_envs)])
self.processes = []
for work_remote, remote, env_fn in zip(self.work_remotes, self.remotes, env_fns):
args = (work_remote, remote, CloudpickleWrapper(env_fn))
# daemon=True: if the main process crashes, we should not cause things to hang
process = ctx.Process(target=_worker, args=args, daemon=True)
process.start()
self.processes.append(process)
work_remote.close()
self.remotes[0].send(('get_spaces', None))
observation_space, action_space = self.remotes[0].recv()
VecEnv.__init__(self, len(env_fns), observation_space, action_space)
def __init__(self, env_id, n_agents):
env_path = UnityVecEnv.GetFilePath(env_id, n_agents=n_agents)
print("**** ", env_path)
env = UnityEnv(env_path, multiagent=True)
self.env = env
env.num_envs = env.number_agents
VecEnv.__init__(self, env.num_envs, env.observation_space,
env.action_space)
obs_space = env.observation_space
# self.keys, shapes, dtypes = obs_space_info(obs_space)
# self.buf_obs = { k: np.zeros((self.num_envs,) + tuple(shapes[k]), dtype=dtypes[k]) for k in self.keys }
# self.buf_dones = np.zeros((self.num_envs,), dtype=np.bool)
# self.buf_rews = np.zeros((self.num_envs,), dtype=np.float32)
self.buf_infos = [{} for _ in range(self.num_envs)]
# Fake Monitor
self.tstart = time.time()
self.results_writer = ResultsWriter("filename",
header={
"t_start": time.time(),
'env_id': env.spec
and env.spec.id
},
extra_keys=() + ())
self.reset_keywords = ()
self.info_keywords = ()
self.allow_early_resets = True
self.rewards = None
self.needs_reset = True
self.episode_rewards = []
self.episode_lengths = []
self.episode_times = []
self.total_steps = 0
self.current_reset_info = {
} # extra info about the current episode, that was passed in during reset()
def evaluate_policy_rewards(
model,
env: VecEnv,
n_eval_episodes: int = 10,
deterministic: bool = True,
render: bool = False) -> Tuple[List[float], List[int], List[int]]:
if isinstance(env, VecEnv):
assert env.num_envs == 1, "You must pass only one environment when using this function"
episode_rewards, episode_lengths, rewards_memory_episodes = [], [], []
for i in range(n_eval_episodes):
if not isinstance(env, VecEnv) or i == 0:
obs = env.reset()
rewards_memory = []
done, state = False, None
episode_reward = 0.0
episode_length = 0
while not done:
action, state = model.predict(obs,
state=state,
deterministic=deterministic)
obs, reward, done, _info = env.step(action)
rewards_memory.append(reward[0])
episode_reward += reward[0]
episode_length += 1
if render:
env.render()
rewards_memory_episodes.append(rewards_memory)
episode_rewards.append(episode_reward)
episode_lengths.append(episode_length)
return episode_rewards, episode_lengths, rewards_memory_episodes
def __init__(self, env_fns):
"""
:param env_fns: ([function])
"""
assert len(env_fns) == 1, "This dummy class does not support multiprocessing"
self.envs = [fn() for fn in env_fns]
env = self.envs[0]
VecEnv.__init__(self, len(env_fns), env.observation_space, env.action_space)
self.env = self.envs[0]
self.actions = None
self.obs = None
self.reward, self.done, self.infos = None, None, None
def __init__(self, env_fns, start_method=None):
"""
@brief Constructor
@warning Only 'forkserver' and 'spawn' start methods are thread-safe, which is
important when TensorFlow sessions or other non thread-safe libraries
are used in the parent.
However, compared to 'fork' they incur a small start-up cost and have
restrictions on global variables. With those methods, users must wrap
the code in an ``if __name__ == "__main__":``
For more information, see the multiprocessing documentation.
@param[in] env_fns List of Gym Environments to run in subprocesses
@param[in] start_method Method used to start the subprocesses. Must be one of the
methods returned by multiprocessing.get_all_start_methods().
Optional: Defaults to 'fork' on available platforms, and 'spawn' otherwise.
@return Instance of SubprocVecEnvLock.
"""
global lock
self.waiting = False
self.closed = False
n_envs = len(env_fns)
if start_method is None:
# Fork is not a thread safe method (see issue #217)
# but is more user friendly (does not require to wrap the code in
# a `if __name__ == "__main__":`)
fork_available = 'fork' in multiprocessing.get_all_start_methods()
start_method = 'fork' if fork_available else 'spawn'
ctx = multiprocessing.get_context(start_method)
self.remotes, self.work_remotes = zip(
*[ctx.Pipe() for _ in range(n_envs)])
self.processes = []
for work_remote, remote, env_fn in zip(self.work_remotes, self.remotes,
env_fns):
args = (work_remote, remote, CloudpickleWrapper(env_fn), lock)
# daemon=True: if the main process crashes, we should not cause things to hang
process = ctx.Process(target=_worker, args=args, daemon=True)
process.start()
self.processes.append(process)
work_remote.close()
self.remotes[0].send(('get_spaces', None))
observation_space, action_space = self.remotes[0].recv()
VecEnv.__init__(self, len(env_fns), observation_space, action_space)
def __init__(self, env_fns, **env_args):
self.envs = [fn(**env_args) for fn in env_fns]
env = self.envs[0]
VecEnv.__init__(self, len(env_fns), env.observation_space,
env.action_space)
obs_space = env.observation_space
self.keys, shapes, dtypes = obs_space_info(obs_space)
self.buf_obs = OrderedDict([(k,
np.zeros(
(self.num_envs, ) + tuple(shapes[k]),
dtype=dtypes[k])) for k in self.keys])
self.buf_dones = np.zeros((self.num_envs, ), dtype=np.bool)
self.buf_rews = np.zeros((self.num_envs, ), dtype=np.float32)
self.buf_infos = [{} for _ in range(self.num_envs)]
self.actions = None
def __init__(self,
env_name: str,
env: VecEnv,
model,
n_steps=5,
gamma=0.99):
"""
A runner to learn the policy of an environment for an a2c model
:param env: (Gym environment) The environment to learn from
:param model: (Model) The model to learn
:param n_steps: (int) The number of steps to run for each environment
:param gamma: (float) Discount factor
"""
self.env = env
self.model = model
n_env = env.num_envs
self.batch_ob_shape = (n_env * n_steps, ) + env.observation_space.shape
self.obs = np.zeros((n_env, ) + env.observation_space.shape,
dtype=env.observation_space.dtype.name)
self.obs[:] = env.reset()
self.n_steps = n_steps
self.dones = [False for _ in range(n_env)]
self.gamma = gamma
self.states = np.zeros((n_env, self.model.step_model.n_lstm * 2),
dtype=np.float32)
self.env_name = env_name
def __init__(self, env_fns):
self.waiting = False
self.closed = False
n_envs = len(env_fns)
self.remotes, self.work_remotes = zip(*[Pipe() for _ in range(n_envs)])
self.processes = [Process(target=_worker, args=(work_remote, remote, CloudpickleWrapper(env_fn)))
for (work_remote, remote, env_fn) in zip(self.work_remotes, self.remotes, env_fns)]
for process in self.processes:
process.daemon = True # if the main process crashes, we should not cause things to hang
process.start()
for remote in self.work_remotes:
remote.close()
self.remotes[0].send(('get_spaces', None))
observation_space, action_space = self.remotes[0].recv()
VecEnv.__init__(self, len(env_fns), observation_space, action_space)
def from_venv(cls, venv: vec_env.VecEnv, *args, **kwargs):
"""Factory constructor, extracting spaces and target from environment."""
target = venv.env_method("get_body_com", "target")
assert np.all(target[0] == target)
return PointMazeReward(
venv.observation_space, venv.action_space, target[0], *args, **kwargs
)
def __init__(self, env_fns, create_method):
self.waiting = False
self.closed = False
n_envs = len(env_fns)
self.remotes, self.work_remotes = zip(
*[create_pipe() for _ in range(n_envs)])
self.processes = []
for work_remote, env_fn in zip(self.work_remotes, env_fns):
args = (work_remote, CloudpickleWrapper(env_fn))
# daemon=True: if the main process crashes, we should not cause
# things to hang
process = create_method(target=_worker, args=args, daemon=True)
process.start()
self.processes.append(process)
self.remotes[0].send(('get_spaces', None))
observation_space, action_space = self.remotes[0].recv()
VecEnv.__init__(self, len(env_fns), observation_space, action_space)
def __init__(self, num_envs, num_agents, observation_space, action_space):
VecEnv.__init__(self, num_envs, observation_space, action_space)
self.num_agents = num_agents
def generate_trajectories(policy,
venv: VecEnv,
sample_until: GenTrajTerminationFn,
*,
deterministic_policy: bool = False,
) -> Sequence[Trajectory]:
"""Generate trajectory dictionaries from a policy and an environment.
Args:
policy (BasePolicy or BaseRLModel): A stable_baselines policy or RLModel,
trained on the gym environment.
venv: The vectorized environments to interact with.
sample_until: A function determining the termination condition.
It takes a sequence of trajectories, and returns a bool.
Most users will want to use one of `min_episodes` or `min_timesteps`.
deterministic_policy: If True, asks policy to deterministically return
action. Note the trajectories might still be non-deterministic if the
environment has non-determinism!
Returns:
Sequence of `Trajectory` named tuples.
"""
if isinstance(policy, BaseRLModel):
get_action = policy.predict
policy.set_env(venv)
else:
get_action = functools.partial(get_action_policy, policy)
# Collect rollout tuples.
trajectories = []
# accumulator for incomplete trajectories
trajectories_accum = TrajectoryAccumulator()
obs = venv.reset()
for env_idx, ob in enumerate(obs):
# Seed with first obs only. Inside loop, we'll only add second obs from
# each (s,a,r,s') tuple, under the same "obs" key again. That way we still
# get all observations, but they're not duplicated into "next obs" and
# "previous obs" (this matters for, e.g., Atari, where observations are
# really big).
trajectories_accum.add_step(dict(obs=ob), env_idx)
while not sample_until(trajectories):
acts, _ = get_action(obs, deterministic=deterministic_policy)
obs, rews, dones, infos = venv.step(acts)
new_trajs = trajectories_accum.add_steps_and_auto_finish(
acts, obs, rews, dones, infos)
trajectories.extend(new_trajs)
# Note that we just drop partial trajectories. This is not ideal for some
# algos; e.g. BC can probably benefit from partial trajectories, too.
# Sanity checks.
for trajectory in trajectories:
n_steps = len(trajectory.acts)
# extra 1 for the end
exp_obs = (n_steps + 1, ) + venv.observation_space.shape
real_obs = trajectory.obs.shape
assert real_obs == exp_obs, f"expected shape {exp_obs}, got {real_obs}"
exp_act = (n_steps, ) + venv.action_space.shape
real_act = trajectory.acts.shape
assert real_act == exp_act, f"expected shape {exp_act}, got {real_act}"
exp_rew = (n_steps,)
real_rew = trajectory.rews.shape
assert real_rew == exp_rew, f"expected shape {exp_rew}, got {real_rew}"
return trajectories
def generate_trajectories(
policy,
venv: VecEnv,
sample_until: GenTrajTerminationFn,
*,
deterministic_policy: bool = False,
rng: np.random.RandomState = np.random,
) -> Sequence[types.TrajectoryWithRew]:
"""Generate trajectory dictionaries from a policy and an environment.
Args:
policy (BasePolicy or BaseRLModel): A stable_baselines policy or RLModel,
trained on the gym environment.
venv: The vectorized environments to interact with.
sample_until: A function determining the termination condition.
It takes a sequence of trajectories, and returns a bool.
Most users will want to use one of `min_episodes` or `min_timesteps`.
deterministic_policy: If True, asks policy to deterministically return
action. Note the trajectories might still be non-deterministic if the
environment has non-determinism!
rng: used for shuffling trajectories.
Returns:
Sequence of trajectories, satisfying `sample_until`. Additional trajectories
may be collected to avoid biasing process towards short episodes; the user
should truncate if required.
"""
if isinstance(policy, BaseRLModel):
get_action = policy.predict
policy.set_env(venv)
else:
get_action = functools.partial(get_action_policy, policy)
# Collect rollout tuples.
trajectories = []
# accumulator for incomplete trajectories
trajectories_accum = TrajectoryAccumulator()
obs = venv.reset()
for env_idx, ob in enumerate(obs):
# Seed with first obs only. Inside loop, we'll only add second obs from
# each (s,a,r,s') tuple, under the same "obs" key again. That way we still
# get all observations, but they're not duplicated into "next obs" and
# "previous obs" (this matters for, e.g., Atari, where observations are
# really big).
trajectories_accum.add_step(dict(obs=ob), env_idx)
# Now, we sample until `sample_until(trajectories)` is true.
# If we just stopped then this would introduce a bias towards shorter episodes,
# since longer episodes are more likely to still be active, i.e. in the process
# of being sampled from. To avoid this, we continue sampling until all epsiodes
# are complete.
#
# To start with, all environments are active.
active = np.ones(venv.num_envs, dtype=np.bool)
while np.any(active):
acts, _ = get_action(obs, deterministic=deterministic_policy)
obs, rews, dones, infos = venv.step(acts)
# If an environment is inactive, i.e. the episode completed for that
# environment after `sample_until(trajectories)` was true, then we do
# *not* want to add any subsequent trajectories from it. We avoid this
# by just making it never done.
dones &= active
new_trajs = trajectories_accum.add_steps_and_auto_finish(
acts, obs, rews, dones, infos)
trajectories.extend(new_trajs)
if sample_until(trajectories):
# Termination condition has been reached. Mark as inactive any environments
# where a trajectory was completed this timestep.
active &= ~dones
# Note that we just drop partial trajectories. This is not ideal for some
# algos; e.g. BC can probably benefit from partial trajectories, too.
# Each trajectory is sampled i.i.d.; however, shorter episodes are added to
# `trajectories` sooner. Shuffle to avoid bias in order. This is important
# when callees end up truncating the number of trajectories or transitions.
# It is also cheap, since we're just shuffling pointers.
rng.shuffle(trajectories)
# Sanity checks.
for trajectory in trajectories:
n_steps = len(trajectory.acts)
# extra 1 for the end
exp_obs = (n_steps + 1, ) + venv.observation_space.shape
real_obs = trajectory.obs.shape
assert real_obs == exp_obs, f"expected shape {exp_obs}, got {real_obs}"
exp_act = (n_steps, ) + venv.action_space.shape
real_act = trajectory.acts.shape
assert real_act == exp_act, f"expected shape {exp_act}, got {real_act}"
exp_rew = (n_steps, )
real_rew = trajectory.rews.shape
assert real_rew == exp_rew, f"expected shape {exp_rew}, got {real_rew}"
return trajectories
def generate_trajectories(
policy,
venv: VecEnv,
sample_until: GenTrajTerminationFn,
*,
deterministic_policy: bool = False,
) -> Sequence[Trajectory]:
"""Generate trajectory dictionaries from a policy and an environment.
Args:
policy (BasePolicy or BaseRLModel): A stable_baselines policy or RLModel,
trained on the gym environment.
venv: The vectorized environments to interact with.
sample_until: A function determining the termination condition.
It takes a sequence of trajectories, and returns a bool.
Most users will want to use one of `min_episodes` or `min_timesteps`.
deterministic_policy: If True, asks policy to deterministically return
action. Note the trajectories might still be non-deterministic if the
environment has non-determinism!
Returns:
Sequence of `Trajectory` named tuples.
"""
if isinstance(policy, BaseRLModel):
get_action = policy.predict
policy.set_env(venv)
else:
get_action = functools.partial(get_action_policy, policy)
# Collect rollout tuples.
trajectories = []
# accumulator for incomplete trajectories
trajectories_accum = _TrajectoryAccumulator()
obs_batch = venv.reset()
for env_idx, obs in enumerate(obs_batch):
# Seed with first obs only. Inside loop, we'll only add second obs from
# each (s,a,r,s') tuple, under the same "obs" key again. That way we still
# get all observations, but they're not duplicated into "next obs" and
# "previous obs" (this matters for, e.g., Atari, where observations are
# really big).
trajectories_accum.add_step(env_idx, dict(obs=obs))
while not sample_until(trajectories):
obs_old_batch = obs_batch
act_batch, _ = get_action(obs_old_batch,
deterministic=deterministic_policy)
obs_batch, rew_batch, done_batch, info_batch = venv.step(act_batch)
# Don't save tuples if there is a done. The next_obs for any environment
# is incorrect for any timestep where there is an episode end, so we fix it
# with returned state info.
zip_iter = enumerate(
zip(obs_old_batch, act_batch, obs_batch, rew_batch, done_batch,
info_batch))
for env_idx, (obs_old, act, obs, rew, done, info) in zip_iter:
real_obs = obs
if done:
# actual obs is inaccurate, so we use the one inserted into step info
# by stable baselines wrapper
real_obs = info['terminal_observation']
trajectories_accum.add_step(
env_idx,
dict(
acts=act,
rews=rew,
# this is not the obs corresponding to `act`, but rather the obs
# *after* `act` (see above)
obs=real_obs,
infos=info))
if done:
# finish env_idx-th trajectory
new_traj = trajectories_accum.finish_trajectory(env_idx)
trajectories.append(new_traj)
trajectories_accum.add_step(env_idx, dict(obs=obs))
continue
# Note that we just drop partial trajectories. This is not ideal for some
# algos; e.g. BC can probably benefit from partial trajectories, too.
# Sanity checks.
for trajectory in trajectories:
n_steps = len(trajectory.acts)
# extra 1 for the end
exp_obs = (n_steps + 1, ) + venv.observation_space.shape
real_obs = trajectory.obs.shape
assert real_obs == exp_obs, f"expected shape {exp_obs}, got {real_obs}"
exp_act = (n_steps, ) + venv.action_space.shape
real_act = trajectory.acts.shape
assert real_act == exp_act, f"expected shape {exp_act}, got {real_act}"
exp_rew = (n_steps, )
real_rew = trajectory.rews.shape
assert real_rew == exp_rew, f"expected shape {exp_rew}, got {real_rew}"
return trajectories