def construct_episodes(actions, rewards, **kwargs):
"""Constructs episodes from actions and rewards nested lists.
Args:
actions (list): Each episode actions, example:
[
[a00, a01, a02, ...], # Actions in the first episode.
[a10, a11, a12, ...], # Actions in the second episode.
...
]
rewards (list): Each episode rewards, example:
[
[r00, r01, r02, ...], # Rewards in the first episode.
[r10, r11, r12, ...], # Rewards in the second episode.
...
]
**kwargs (dict): Keyword arguments passed to Episode.
Return:
list of Episodes where:
- Transition observations and next observations are set to None.
- Done flag is True only for the last transition in the episode.
- Episode.return_ is calculated as an undiscounted sum of rewards.
"""
episodes = []
for acts, rews in zip(actions, rewards):
transitions = [
data.Transition(None, act, rew, False, None, {}, {})
for act, rew in zip(acts[:-1], rews[:-1])
]
transitions.append(
data.Transition(None, acts[-1], rews[-1], True, None, {}, {}))
transition_batch = data.nested_stack(transitions)
episodes.append(data.Episode(transition_batch, sum(rews), **kwargs))
return episodes
def construct_episodes(actions, rewards):
"""Constructs episodes from actions and rewards nested lists."""
episodes = []
for acts, rews in zip(actions, rewards):
transitions = [
# TODO(koz4k): Initialize using kwargs.
data.Transition(None, act, rew, False, None, {})
for act, rew in zip(acts[:-1], rews[:-1])
]
transitions.append(
data.Transition(None, acts[-1], rews[-1], True, None, {}))
transition_batch = data.nested_stack(transitions)
episodes.append(data.Episode(transition_batch, sum(rews)))
return episodes
def solve(self, env, epoch=None, init_state=None, time_limit=None):
"""Solves a given environment using OnlineAgent.act().
Args:
env (gym.Env): Environment to solve.
epoch (int): Current training epoch or None if no training.
init_state (object): Reset the environment to this state.
If None, then do normal gym.Env.reset().
time_limit (int or None): Maximum number of steps to make on the
solved environment. None means no time limit.
Yields:
Network-dependent: A stream of Network inputs requested for
inference.
Returns:
data.Episode: Episode object containing a batch of collected
transitions and the return for the episode.
"""
yield from super().solve(env, epoch, init_state, time_limit)
self._epoch = epoch
model_env = env
if time_limit is not None:
# Add the TimeLimitWrapper _after_ passing the model env to the
# agent, so the states cloned/restored by the agent do not contain
# the number of steps made so far - this would break state lookup
# in some Agents.
env = envs.TimeLimitWrapper(env, time_limit)
if init_state is None:
# Model-free case...
full_observation = env.reset()
observation = np.concatenate([
full_observation['observation'],
full_observation['desired_goal']
],
axis=-1)
else:
# Model-based case...
observation = env.restore_state(init_state)
# print('init observation', observation)
yield from self.reset(model_env, observation)
#for x in self.reset(model_env, observation):
##print(x)
#yield np.concatenate([x['observation'], x['desired_goal']], axis=-1)
transitions = []
done = False
info = {}
places = {tuple(observation.flatten())}
while not done:
# Forward network prediction requests to BatchStepper.
# print("solving...")
#print(observation)
(action, agent_info) = yield from self.act(observation)
# print("has action!")
# TODO
(full_next_observation, reward, done, info) = env.step(action)
next_observation = np.concatenate([
full_next_observation['observation'],
full_next_observation['desired_goal']
],
axis=-1)
places.add(tuple(next_observation.flatten()))
transitions.append(
data.Transition(
observation=full_observation,
action=action,
reward=reward,
done=done,
next_observation=full_next_observation,
agent_info=agent_info,
))
full_observation = full_next_observation
observation = next_observation
return_ = sum(transition.reward for transition in transitions)
transitions = self.postprocess_transitions(transitions)
solved = info['solved'] if 'solved' in info else None
truncated = (info['TimeLimit.truncated']
if 'TimeLimit.truncated' in info else None)
transition_batch = data.nested_stack(transitions)
info = {'move_diversity': len(places)}
# neptune_logger('move diversity', len(places))
# sys.exit(0)
return data.Episode(
transition_batch=transition_batch,
return_=return_,
solved=solved,
truncated=truncated,
info=info,
)
def solve(self, env, epoch=None, init_state=None, time_limit=None):
"""Solves a given environment using OnlineAgent.act().
Args:
env (gym.Env): Environment to solve.
epoch (int): Current training epoch or None if no training.
init_state (object): Reset the environment to this state.
If None, then do normal gym.Env.reset().
time_limit (int or None): Maximum number of steps to make on the
solved environment. None means no time limit.
Yields:
Network-dependent: A stream of Network inputs requested for
inference.
Returns:
data.Episode: Episode object containing a batch of collected
transitions and the return for the episode.
"""
yield from super().solve(env, epoch, init_state, time_limit)
self._epoch = epoch
model_env = env
if time_limit is not None:
# Add the TimeLimitWrapper _after_ passing the model env to the
# agent, so the states cloned/restored by the agent do not contain
# the number of steps made so far - this would break state lookup
# in some Agents.
env = envs.TimeLimitWrapper(env, time_limit)
if init_state is None:
# Model-free case...
observation = env.reset()
else:
# Model-based case...
observation = env.restore_state(init_state)
yield from self.reset(model_env, observation)
for callback in self._callbacks:
callback.on_episode_begin(env, observation, epoch)
transitions = []
done = False
info = {}
while not done:
# Forward network prediction requests to BatchStepper.
(action, agent_info) = yield from self.act(observation)
(next_observation, reward, done, info) = env.step(action)
for callback in self._callbacks:
callback.on_real_step(agent_info, action, next_observation,
reward, done)
transitions.append(
data.Transition(
observation=observation,
action=action,
reward=reward,
done=done,
next_observation=next_observation,
agent_info=agent_info,
))
observation = next_observation
for callback in self._callbacks:
callback.on_episode_end()
transitions = self.postprocess_transitions(transitions)
return_ = sum(transition.reward for transition in transitions)
solved = info['solved'] if 'solved' in info else None
truncated = (info['TimeLimit.truncated']
if 'TimeLimit.truncated' in info else None)
transition_batch = data.nested_stack(transitions)
additional_info = info[
'additional_info'] if 'additional_info' in info else None
return data.Episode(transition_batch=transition_batch,
return_=return_,
solved=solved,
truncated=truncated,
additional_info=additional_info)
def solve(self, env, epoch=None, init_state=None, time_limit=None):
yield from super().solve(env, epoch, init_state, time_limit)
self._epoch = epoch
model_env = env
if time_limit is not None:
env = envs.TimeLimitWrapper(env, time_limit)
if init_state is None:
observation = env.reset()
else:
observation = env.restore_state(init_state)
yield from self.reset(model_env, observation)
for callback in self._callbacks:
callback.on_episode_begin(env, observation, epoch)
transitions = []
done = False
info = {}
while not done:
(action, agent_info) = yield from self.act(observation)
(next_observation, reward, done, info) = env.step(action)
for callback in self._callbacks:
callback.on_real_step(agent_info, action, next_observation,
reward, done)
transitions.append(
data.Transition(
observation=observation,
action=action,
reward=reward,
done=done,
next_observation=next_observation,
agent_info=agent_info,
))
observation = next_observation
for callback in self._callbacks:
callback.on_episode_end()
transitions = self.postprocess_transitions(transitions)
return_ = sum(transition.reward for transition in transitions)
solved = info['solved'] if 'solved' in info else None
truncated = (info['TimeLimit.truncated']
if 'TimeLimit.truncated' in info else None)
transition_batch = data.nested_stack(transitions)
action_space_size = space.max_size(model_env.action_space)
return data.Episode(transition_batch=transition_batch,
return_=return_,
solved=solved,
truncated=truncated,
action_space_size=action_space_size)