baseline_mtl = {}
task_order = np.random.permutation(num_tasks)
for task_id in range(num_tasks):
e[task_id] = e_unshuffled[task_order[task_id]]
baseline_mtl[task_id] = MLPBaseline(e[task_id].spec,
reg_coef=1e-3,
batch_size=64,
epochs=2,
learn_rate=1e-3,
use_gpu=True)
policy_mtl = LinearPolicyLPGFTW(e[0].spec, k=1, max_k=5, seed=SEED)
agent_mtl = NPGFTW(e,
policy_mtl,
baseline_mtl,
normalized_step_size=1,
seed=SEED,
save_logs=True,
new_col_mode='max_k')
for task_id in range(num_tasks):
ts = timer.time()
train_agent(job_name=job_name_lpgftw_seed,
agent=agent_mtl,
seed=SEED,
niter=50,
gamma=0.995,
gae_lambda=0.97,
num_cpu=num_cpu,
sample_mode='trajectories',
num_traj=10,
'policy_0.pickle', 'rb')
policy_mtl = pickle.load(f)
f.close()
f = open(
job_name_lpgftw_seed + '/iterations/task_{}/'.format(t) +
'baseline_0.pickle', 'rb')
baseline_mtl[t] = pickle.load(f)
f.close()
if isinstance(policy_mtl.model.theta, list):
policy_mtl.model.theta = torch.autograd.Variable(torch.zeros(0))
agent_mtl = NPGFTW(e,
policy_mtl,
baseline_mtl,
normalized_step_size=0.1,
seed=SEED,
save_logs=False,
new_col_mode='performance')
mean_test_perf = agent_mtl.test_tasks(test_rollouts=10,
num_cpu=num_cpu,
task_ids=np.array([t]))
forward_transfer_results = {
**forward_transfer_results,
**mean_test_perf
}
result_file = open(job_name_lpgftw_seed + '/start_results.txt', 'w')
result_file.write(str(forward_transfer_results))
agent_stl[task_id].hess = hess_stl[task_id]
k = 5
n = policy_stl[0].n
m = policy_stl[0].m
d = (n + 1) * m
A = np.zeros((d * k, d * k))
b = np.zeros((d * k, 1))
S = np.zeros((k, num_tasks))
L = np.zeros((d, k))
Theta = np.zeros((d, num_tasks))
policy_mtl = LinearPolicyLPGFTW(e[0].spec, k=k, max_k=k, seed=SEED)
agent_mtl = NPGFTW(e,
policy_mtl,
baseline_stl,
normalized_step_size=1,
seed=SEED,
save_logs=True,
new_col_mode='max_k')
lasso_solver = Lasso(alpha=1e-5, fit_intercept=False)
forward_transfer_results = {}
for task_id in range(num_tasks):
theta = policy_stl[task_id].trainable_params
theta = torch.cat((theta[0], torch.unsqueeze(theta[1], 1)), 1)
theta = theta.reshape((-1, 1)).data.numpy(
) # order of reshape same as for hessian in npg_cg.py
agent_mtl.theta[task_id] = theta
Theta[:, task_id] = theta.squeeze()
D = -agent_stl[task_id].hess