def main(_):
# gym.logger.set_level(gym.logger.DEBUG)
hparams = registry.hparams(FLAGS.loop_hparams_set)
hparams.parse(FLAGS.loop_hparams)
# Not important for experiments past 2018
if "wm_policy_param_sharing" not in hparams.values().keys():
hparams.add_hparam("wm_policy_param_sharing", False)
directories = player_utils.infer_paths(output_dir=FLAGS.output_dir,
world_model=FLAGS.wm_dir,
policy=FLAGS.policy_dir,
data=FLAGS.episodes_data_dir)
epoch = FLAGS.epoch if FLAGS.epoch == "last" else int(FLAGS.epoch)
if FLAGS.simulated_env:
env = player_utils.load_data_and_make_simulated_env(
directories["data"],
directories["world_model"],
hparams,
which_epoch_data=epoch)
else:
env = player_utils.setup_and_load_epoch(hparams,
data_dir=directories["data"],
which_epoch_data=epoch)
env = FlatBatchEnv(env)
env = PlayerEnvWrapper(env) # pylint: disable=redefined-variable-type
env = player_utils.wrap_with_monitor(env, FLAGS.video_dir)
if FLAGS.dry_run:
for _ in range(5):
env.reset()
for i in range(50):
env.step(i % 3)
env.step(PlayerEnvWrapper.RESET_ACTION) # reset
return
play.play(env, zoom=FLAGS.zoom, fps=FLAGS.fps)
class SimulatedGymEnv(gym.Env):
"""Gym environment, running with world model.
Allows passing custom initial frames.
Examples:
Setup simulated env from some point of real rollout.
>>> sim_env = SimulatedGymEnv(setable_initial_frames=True, **kwargs)
>>> real_env = FlatBatchEnv(T2TGymEnv(...))
>>> while ...:
>>> ob, _, _, _ = real_env.step(action)
>>> sim_env.add_to_initial_stack(ob)
>>> sim_env.reset()
>>> # Continue sim_env rollout.
"""
def __init__(self,
real_env,
world_model_dir,
hparams,
random_starts,
setable_initial_frames=False):
"""Init.
Args:
real_env: gym environment.
world_model_dir: path to world model checkpoint directory.
hparams: hparams for rlmb pipeline.
random_starts: if restart world model from random frames, or only
from initial ones (from beginning of episodes). Valid only when
`setable_initial_fames` set to False.
setable_initial_frames: if True, initial_frames for world model should be
set by `add_to_initial_stack`.
"""
self._setable_initial_frames = setable_initial_frames
if self._setable_initial_frames:
real_obs_shape = real_env.observation_space.shape
shape = (1, hparams.frame_stack_size) + real_obs_shape
self._initial_frames = np.zeros(shape=shape, dtype=np.uint8)
def initial_frame_chooser(batch_size):
assert batch_size == 1
return self._initial_frames
else:
initial_frame_chooser = rl_utils.make_initial_frame_chooser(
real_env,
hparams.frame_stack_size,
simulation_random_starts=random_starts,
simulation_flip_first_random_for_beginning=False)
env_fn = make_simulated_env_fn_from_hparams(
real_env,
hparams,
batch_size=1,
initial_frame_chooser=initial_frame_chooser,
model_dir=world_model_dir,
)
env = env_fn(in_graph=False)
self.env = FlatBatchEnv(env)
self.observation_space = self.env.observation_space
self.action_space = self.env.action_space
def reset(self):
return self.env.reset()
def step(self, action):
return self.env.step(action)
def add_to_initial_stack(self, frame):
"""Adds new frame to (initial) frame stack, removes last one."""
if not self._setable_initial_frames:
raise ValueError(
"This instance does not allow to manually set initial frame stack."
)
assert_msg = "{}, {}".format(frame.shape,
self._initial_frames.shape[:1])
assert frame.shape == self._initial_frames.shape[2:], assert_msg
initial_frames = np.roll(self._initial_frames, shift=-1, axis=1)
initial_frames[0, -1, ...] = frame
self._initial_frames = initial_frames