def train(env, num_episodes, horizon, iw_method, iw_norm, natural, bound, delta, seed, policy, max_offline_iters, gamma, center_return, clipping=False, njobs=1, entropy='none', max_iters=500, positive_return=False):
def make_env():
if env == 'lunarlander-sparse':
_env = gym.make('LunarLanderContinuous-v2')
_env = SparseReward(_env)
else:
_env = gym.make(env)
return _env
if policy == 'linear':
hid_size = num_hid_layers = 0
elif policy == 'nn':
hid_size = [100, 50, 25]
num_hid_layers = 3
def make_policy(name, ob_space, ac_space):
return MlpPolicy(name=name, ob_space=ob_space, ac_space=ac_space,
hid_size=hid_size, num_hid_layers=num_hid_layers, gaussian_fixed_var=True, use_bias=False, use_critic=False,
hidden_W_init=tf.contrib.layers.xavier_initializer(),
output_W_init=tf.contrib.layers.xavier_initializer())
sampler = ParallelSampler(make_policy, make_env, num_episodes, horizon, True, n_workers=njobs, seed=seed)
affinity = len(os.sched_getaffinity(0))
sess = U.make_session(affinity)
sess.__enter__()
set_global_seeds(seed)
gym.logger.setLevel(logging.WARN)
pois.learn(make_env, make_policy, n_episodes=num_episodes, max_iters=max_iters,
horizon=horizon, gamma=gamma, delta=delta, use_natural_gradient=natural,
iw_method=iw_method, iw_norm=iw_norm, bound=bound, save_weights=True, sampler=sampler,
center_return=center_return, render_after=None, max_offline_iters=max_offline_iters,
clipping=clipping, entropy=entropy, positive_return=positive_return)
sampler.close()
def train(env, num_episodes, horizon, iw_method, iw_norm, natural, bound, delta, seed, policy, max_offline_iters, njobs=1):
env_rllab_class = rllab_env_from_name(env)
def make_env():
env_rllab = env_rllab_class()
env = Rllab2GymWrapper(env_rllab)
return env
if policy == 'linear':
hid_size = num_hid_layers = 0
elif policy == 'nn':
hid_size = [100, 50, 25]
num_hid_layers = 3
def make_policy(name, ob_space, ac_space):
return MlpPolicy(name=name, ob_space=ob_space, ac_space=ac_space,
hid_size=hid_size, num_hid_layers=num_hid_layers, gaussian_fixed_var=True, use_bias=False, use_critic=False,
hidden_W_init=tf.contrib.layers.xavier_initializer(),
output_W_init=tf.contrib.layers.xavier_initializer())
sampler = ParallelSampler(make_policy, make_env, num_episodes, horizon, True, n_workers=njobs, seed=seed)
affinity = len(os.sched_getaffinity(0))
sess = U.make_session(affinity)
sess.__enter__()
set_global_seeds(seed)
gym.logger.setLevel(logging.WARN)
pois.learn(make_env, make_policy, n_episodes=num_episodes, max_iters=500,
horizon=horizon, gamma=1., delta=delta, use_natural_gradient=natural,
iw_method=iw_method, iw_norm=iw_norm, bound=bound, save_weights=True, sampler=sampler,
center_return=True, render_after=None, max_offline_iters=max_offline_iters,)
sampler.close()
def train(env, policy, policy_init, n_episodes, horizon, seed, njobs=1, save_weights=False, **alg_args):
if env.startswith('rllab.'):
# Get env name and class
env_name = re.match('rllab.(\S+)', env).group(1)
env_rllab_class = rllab_env_from_name(env_name)
# Define env maker
def make_env():
env_rllab = env_rllab_class()
_env = Rllab2GymWrapper(env_rllab)
return _env
# Used later
env_type = 'rllab'
else:
# Normal gym, get if Atari or not.
env_type = get_env_type(env)
assert env_type is not None, "Env not recognized."
# Define the correct env maker
if env_type == 'atari':
# Atari, custom env creation
def make_env():
_env = make_atari(env)
return wrap_deepmind(_env)
else:
# Not atari, standard env creation
def make_env():
env_rllab = gym.make(env)
return env_rllab
if policy == 'linear':
hid_size = num_hid_layers = 0
elif policy == 'nn':
hid_size = [100, 50, 25]
num_hid_layers = 3
if policy_init == 'xavier':
policy_initializer = tf.contrib.layers.xavier_initializer()
elif policy_init == 'zeros':
policy_initializer = U.normc_initializer(0.0)
else:
raise Exception('Unrecognized policy initializer.')
if policy == 'linear' or policy == 'nn':
def make_policy(name, ob_space, ac_space):
return MlpPolicy(name=name, ob_space=ob_space, ac_space=ac_space,
hid_size=hid_size, num_hid_layers=num_hid_layers, gaussian_fixed_var=True, use_bias=False, use_critic=False,
hidden_W_init=policy_initializer, output_W_init=policy_initializer)
elif policy == 'cnn':
def make_policy(name, ob_space, ac_space):
return CnnPolicy(name=name, ob_space=ob_space, ac_space=ac_space,
gaussian_fixed_var=True, use_bias=False, use_critic=False,
hidden_W_init=policy_initializer,
output_W_init=policy_initializer)
else:
raise Exception('Unrecognized policy type.')
sampler = ParallelSampler(make_policy, make_env, n_episodes, horizon, True, n_workers=njobs, seed=seed)
try:
affinity = len(os.sched_getaffinity(0))
except:
affinity = njobs
sess = U.make_session(affinity)
sess.__enter__()
set_global_seeds(seed)
gym.logger.setLevel(logging.WARN)
pois.learn(make_env, make_policy, n_episodes=n_episodes, horizon=horizon,
sampler=sampler, save_weights=save_weights, **alg_args)
sampler.close()
def train(env,
num_episodes,
horizon,
iw_method,
iw_norm,
natural,
bound,
delta,
seed,
policy,
max_offline_iters,
gamma,
center_return,
clipping=False,
njobs=1,
entropy='none',
max_iters=500,
positive_return=False):
if env == 'swimmer':
make_env_rllab = SwimmerEnv
elif env == 'ant':
make_env_rllab = AntEnv
elif env == 'half-cheetah':
make_env_rllab = HalfCheetahEnv
elif env == 'hopper':
make_env_rllab = HopperEnv
elif env == 'simple-humanoid':
make_env_rllab = SimpleHumanoidEnv
elif env == 'full-humanoid':
make_env_rllab = HumanoidEnv
elif env == 'walker':
make_env_rllab = Walker2DEnv
elif env == 'cartpole':
make_env_rllab = CartpoleEnv
elif env == 'mountain-car':
make_env_rllab = MountainCarEnv
elif env == 'inverted-pendulum':
make_env_rllab = InvertedPendulumEnv
elif env == 'acrobot':
make_env_rllab = AcrobotEnv
elif env == 'inverted-double-pendulum':
make_env_rllab = InvertedDoublePendulumEnv
def make_env():
env_rllab = make_env_rllab()
env = Rllab2GymWrapper(env_rllab)
return env
if policy == 'linear':
hid_size = num_hid_layers = 0
elif policy == 'nn':
hid_size = [100, 50, 25]
num_hid_layers = 3
def make_policy(name, ob_space, ac_space):
return MlpPolicy(name=name,
ob_space=ob_space,
ac_space=ac_space,
hid_size=hid_size,
num_hid_layers=num_hid_layers,
gaussian_fixed_var=True,
use_bias=False,
use_critic=False,
hidden_W_init=tf.contrib.layers.xavier_initializer(),
output_W_init=tf.contrib.layers.xavier_initializer())
sampler = ParallelSampler(make_policy,
make_env,
num_episodes,
horizon,
True,
n_workers=njobs,
seed=seed)
affinity = len(os.sched_getaffinity(0))
sess = U.make_session(affinity)
sess.__enter__()
set_global_seeds(seed)
gym.logger.setLevel(logging.WARN)
pois.learn(make_env,
make_policy,
n_episodes=num_episodes,
max_iters=max_iters,
horizon=horizon,
gamma=gamma,
delta=delta,
use_natural_gradient=natural,
iw_method=iw_method,
iw_norm=iw_norm,
bound=bound,
save_weights=True,
sampler=sampler,
center_return=center_return,
render_after=None,
max_offline_iters=max_offline_iters,
clipping=clipping,
entropy=entropy,
positive_return=positive_return)
sampler.close()
