class Session:
'''
The base unit of instantiated RL system.
Given a spec,
session creates agent(s) and environment(s),
run the RL system and collect data, e.g. fitness metrics, till it ends,
then return the session data.
'''
def __init__(self, spec, info_space=None):
info_space = info_space or InfoSpace()
init_thread_vars(spec, info_space, unit='session')
self.spec = deepcopy(spec)
self.info_space = info_space
self.coor, self.index = self.info_space.get_coor_idx(self)
self.random_seed = 100 * (info_space.get('trial') or 0) + self.index
torch.cuda.manual_seed_all(self.random_seed)
torch.manual_seed(self.random_seed)
np.random.seed(self.random_seed)
self.data = None
self.aeb_space = AEBSpace(self.spec, self.info_space)
self.env_space = EnvSpace(self.spec, self.aeb_space)
self.agent_space = AgentSpace(self.spec, self.aeb_space)
logger.info(util.self_desc(self))
self.aeb_space.init_body_space()
self.aeb_space.post_body_init()
logger.info(f'Initialized session {self.index}')
def close(self):
'''
Close session and clean up.
Save agent, close env.
Prepare self.df.
'''
self.agent_space.close()
self.env_space.close()
logger.info('Session done, closing.')
def run_all_episodes(self):
'''
Run all episodes, where each env can step and reset at its own clock_speed and timeline. Will terminate when all envs done running max_episode.
'''
_reward_space, state_space, _done_space = self.env_space.reset()
_action_space = self.agent_space.reset(
state_space) # nan action at t=0 for bookkeeping in data_space
while True:
end_session = self.aeb_space.tick_clocks(self)
if end_session:
break
action_space = self.agent_space.act(state_space)
reward_space, state_space, done_space = self.env_space.step(
action_space)
self.agent_space.update(action_space, reward_space, state_space,
done_space)
def run(self):
self.run_all_episodes()
self.data = analysis.analyze_session(self) # session fitness
self.close()
return self.data
class Session:
'''
The base unit of instantiated RL system.
Given a spec,
session creates agent(s) and environment(s),
run the RL system and collect data, e.g. fitness metrics, till it ends,
then return the session data.
'''
def __init__(self, spec, info_space=None):
info_space = info_space or InfoSpace()
init_thread_vars(spec, info_space, unit='session')
self.spec = deepcopy(spec)
self.info_space = info_space
self.coor, self.index = self.info_space.get_coor_idx(self)
self.random_seed = 100 * (info_space.get('trial') or 0) + self.index
torch.cuda.manual_seed_all(self.random_seed)
torch.manual_seed(self.random_seed)
np.random.seed(self.random_seed)
self.data = None
self.aeb_space = AEBSpace(self.spec, self.info_space)
self.env_space = EnvSpace(self.spec, self.aeb_space)
self.agent_space = AgentSpace(self.spec, self.aeb_space)
logger.info(util.self_desc(self))
self.aeb_space.init_body_space()
self.aeb_space.post_body_init()
logger.info(f'Initialized session {self.index}')
def close(self):
'''
Close session and clean up.
Save agent, close env.
Prepare self.df.
'''
self.agent_space.close()
self.env_space.close()
logger.info('Session done, closing.')
def run_all_episodes(self):
'''
Run all episodes, where each env can step and reset at its own clock_speed and timeline. Will terminate when all envs done running max_episode.
'''
_reward_space, state_space, _done_space = self.env_space.reset()
_action_space = self.agent_space.reset(state_space) # nan action at t=0 for bookkeeping in data_space
while True:
end_session = self.aeb_space.tick_clocks(self)
if end_session:
break
action_space = self.agent_space.act(state_space)
reward_space, state_space, done_space = self.env_space.step(action_space)
self.agent_space.update(action_space, reward_space, state_space, done_space)
def run(self):
self.run_all_episodes()
self.data = analysis.analyze_session(self) # session fitness
self.close()
return self.data
class Session:
'''
The base unit of instantiated RL system.
Given a spec,
session creates agent(s) and environment(s),
run the RL system and collect data, e.g. fitness metrics, till it ends,
then return the session data.
'''
def __init__(self, spec, info_space=InfoSpace()):
self.spec = spec
if info_space.get('session') is None:
info_space.tick('session')
self.info_space = info_space
self.coor, self.index = self.info_space.get_coor_idx(self)
# TODO option to set rand_seed. also set np random seed
self.torch_rand_seed = torch.initial_seed()
self.data = None
self.aeb_space = AEBSpace(self.spec, self.info_space)
self.env_space = EnvSpace(self.spec, self.aeb_space)
self.agent_space = AgentSpace(self.spec, self.aeb_space)
logger.info(util.self_desc(self))
self.aeb_space.init_body_space()
self.aeb_space.post_body_init()
def close(self):
'''
Close session and clean up.
Save agent, close env.
Prepare self.df.
'''
self.agent_space.close()
self.env_space.close()
logger.info('Session done, closing.')
def run_all_episodes(self):
'''
Run all episodes, where each env can step and reset at its own clock_speed and timeline. Will terminate when all envs done running max_episode.
'''
_reward_space, state_space, _done_space = self.env_space.reset()
self.agent_space.reset(state_space)
while True:
end_session = self.aeb_space.tick_clocks()
if end_session:
break
action_space = self.agent_space.act(state_space)
reward_space, state_space, done_space = self.env_space.step(
action_space)
self.agent_space.update(action_space, reward_space, state_space,
done_space)
def run(self):
self.run_all_episodes()
self.data = analysis.analyze_session(self) # session fitness
self.close()
return self.data
def test_prioritized_replay_memory(request):
memspec = spec_util.get('base.json', 'base_prioritized_replay_memory')
memspec = util.override_test_spec(memspec)
aeb_mem_space = AEBSpace(memspec, InfoSpace())
env_space = EnvSpace(memspec, aeb_mem_space)
agent_space = AgentSpace(memspec, aeb_mem_space)
aeb_mem_space.init_body_space()
aeb_mem_space.post_body_init()
agent = agent_space.agents[0]
body = agent.nanflat_body_a[0]
res = (body.memory, ) + request.param
return res
def test_prioritized_replay_memory(request):
memspec = spec_util.get('base.json', 'base_prioritized_replay_memory')
memspec = util.override_test_spec(memspec)
aeb_mem_space = AEBSpace(memspec, InfoSpace())
env_space = EnvSpace(memspec, aeb_mem_space)
agent_space = AgentSpace(memspec, aeb_mem_space)
aeb_mem_space.init_body_space()
aeb_mem_space.post_body_init()
agent = agent_space.agents[0]
body = agent.nanflat_body_a[0]
res = (body.memory, ) + request.param
return res