def env_fn():
if args.game == 'fetch':
assert args.fetch_target_location is not None, 'For now, we require a target location for fetch'
kwargs = {}
dargs = vars(args)
for attr in dargs:
if attr.startswith('fetch_'):
if attr == 'fetch_type':
kwargs['model_file'] = f'teleOp_{args.fetch_type}.xml'
elif attr != 'fetch_total_timestep':
kwargs[attr[len('fetch_'):]] = dargs[attr]
env = goexplore_py.complex_fetch_env.ComplexFetchEnv(
**kwargs
)
elif args.game == 'fetch_dumb':
env = goexplore_py.dumb_fetch_env.ComplexFetchEnv()
else:
env = gym.make(args.game + 'NoFrameskip-v4')
if args.seed_env:
env.seed(0)
# if args.unlimited_score:
# # This removes the TimeLimit wrapper around the env
# env = env.env
# env = PreventSlugEnv(env)
# change for long runs
# env._max_episode_steps *= 1000
env = bench.Monitor(env, "{}.monitor.json".format(rank), allow_early_resets=True)
if False and rank%nenvs == 0 and hvd.local_rank()==0:
os.makedirs(args.save_path + '/vids/' + args.game, exist_ok=True)
videofile_prefix = args.save_path + '/vids/' + args.game
env = VideoWriter(env, videofile_prefix)
if 'fetch' not in args.game:
if args.noops:
os.makedirs(args.save_path, exist_ok=True)
env = NoopResetEnv(env, 30, nenvs, args.save_path, num_per_noop=args.num_per_noop, unlimited_score=args.unlimited_score)
env = my_wrapper(env, clip_rewards=True, sticky=args.sticky)
if args.epsgreedy:
env = EpsGreedyEnv(env)
else:
os.makedirs(f'{args.save_path}', exist_ok=True)
env = FetchSaveEnv(env, rank=rank, n_ranks=nenvs, save_path=f'{args.save_path}/', demo_path=args.demo)
env = TanhWrap(env)
# def print_rec(e):
# print(e.__class__.__name__)
# if hasattr(e, 'env'):
# print_rec(e.env)
# import time
# import random
# time.sleep(random.random() * 10)
# print('\tSHOWING STUFF')
# print_rec(env)
# print('\n\n\n')
return env
def env_fn():
env = gym.make(game_name + 'NoFrameskip-v4')
env = ReplayResetEnv(env,
demo_file_name='demos/' + game_name + '.demo',
seed=rank,
workers_per_sp=workers_per_sp)
if rank % nenvs == 0 and hvd.local_rank(
) == 0: # write videos during training to track progress
dir = os.path.join(save_path, game_name)
os.makedirs(dir, exist_ok=True)
videofile_prefix = os.path.join(dir, 'episode')
env = VideoWriter(env, videofile_prefix)
env = my_wrapper(env, clip_rewards=True)
return env
def env_fn():
env = gym.make(game_name + 'NoFrameskip-v4')
env = bench.Monitor(env, "{}.monitor.json".format(rank))
if rank % nenvs == 0 and hvd.local_rank() == 0:
os.makedirs('results/' + game_name, exist_ok=True)
videofile_prefix = 'results/' + game_name
env = VideoWriter(env, videofile_prefix)
if noops:
env = NoopResetEnv(env)
if sticky:
env = StickyActionEnv(env)
env = my_wrapper(env, clip_rewards=True)
if epsgreedy:
env = EpsGreedyEnv(env)
return env
def env_fn():
if args.game == 'fetch':
assert args.fetch_target_location is not None, 'For now, we require a target location for fetch'
kwargs = {}
dargs = vars(args)
for attr in dargs:
if attr.startswith('fetch_'):
if attr == 'fetch_type':
kwargs[
'model_file'] = f'teleOp_{args.fetch_type}.xml'
elif attr != 'fetch_total_timestep':
kwargs[attr[len('fetch_'):]] = dargs[attr]
env = goexplore_py.complex_fetch_env.ComplexFetchEnv(**kwargs)
elif args.game == 'fetch_dumb':
env = goexplore_py.dumb_fetch_env.ComplexFetchEnv(
incl_extra_full_state=args.fetch_incl_extra_full_state)
else:
env = gym.make(args.game + 'NoFrameskip-v4')
env = ReplayResetEnv(env,
args,
seed=rank,
workers_per_sp=workers_per_sp,
is_extra_sil=is_extra_sil,
frameskip=frameskip)
if 'fetch' not in args.game:
if rank % args.nenvs == 0 and hvd.local_rank(
) == 0: # write videos during training to track progress
dir = os.path.join(args.save_path, args.game)
os.makedirs(dir, exist_ok=True)
if args.videos:
videofile_prefix = os.path.join(dir, 'episode')
env = VideoWriter(env, videofile_prefix)
env = my_wrapper(
env,
# clip_rewards=args.clip_rewards,
frame_resize_wrapper=frame_resize_wrapper,
# scale_rewards=args.scale_rewards,
sticky=args.sticky)
else:
env = TanhWrap(env)
return env