def tester(model,
device,
n=5,
task_config_file="config_files/config_example.json"):
episode_reward = []
rnn_size = 128
env = AI2ThorEnv(config_file=task_config_file)
for _ in range(n):
# Wait for trainer to inform next job
total_r = 0.
d = False
x = reset(env, rnn_size, device)
while not d:
with torch.no_grad():
a_t, _, _, _, state_t = model(x)
# interact with environment
o, r, d, _ = env.step(a_t.data.item())
total_r += r # accumulate reward within one rollout.
# prepare inputs for next step
x["observation"] = torch.Tensor(o / 255.).to(device)
x["memory"]["state"] = state_t
x["memory"]["mask"] = torch.tensor(
(d + 1) % 2, dtype=torch.float32).to(device)
x["memory"]["action"] = a_t
episode_reward.append(total_r)
print("Episode reward:", total_r)
env.close()
print(f"Average eposide reward ({np.mean(episode_reward)})")
def test_environments_runs(self):
"""
Checks to see if the environment still runs and nothing breaks. Useful for continuous
deployment and keeping master stable. Also, we check how much time 10 steps takes within
the environment. Final assert checks if max_episode_length is equal to the number of steps
taken and no off-by-one errors.
Prints the execution time at the end of the test for performance check.
"""
num_steps = 10
env = AI2ThorEnv()
start = time.time()
all_step_times = []
env.reset()
for step_num in range(num_steps):
start_of_step = time.time()
action = env.action_space.sample()
state, reward, done, _ = env.step(action)
time_for_step = time.time() - start_of_step
print(
'Step: {}. env.task.step_num: {}. Time taken for step: {:.3f}'.
format(step_num, env.task.step_num, time_for_step))
all_step_times.append(time_for_step)
if done:
break
print('Time taken altogether: {}\nAverage time taken per step: {:.3f}'.
format(time.time() - start,
sum(all_step_times) / len(all_step_times)))
self.assertTrue(len(all_step_times) == num_steps)
env.close()
def test_config_override(self):
"""
Check if reading both a config file and a config dict at the same time works and that the
correct warning occurs for overwriting. Afterwards, check if scene_id was correctly
changed from overwriting
"""
with warnings.catch_warnings(record=True) as warning_objs:
env = AI2ThorEnv(config_dict={'scene_id': 'FloorPlan27'})
# checking if correct warning appears (there could be multiple depending on user)
self.assertTrue([
w for w in warning_objs
if 'Key: scene_id already in config file' in w.message.args[0]
])
self.assertTrue(env.scene_id == 'FloorPlan27')
env.close()
def test_cup_task_and_interaction_actions(self):
"""
Check if picking up and putting down cup works and agent receives reward of 2 for doing it
twice. For putting the cup down, the agent places it in the microwave and then picks it up
again. Also this implicitly checks there is no random initialisation and that the same
actions in the same environment will achieve the same reward each time.
"""
# actions_to_look_at_cup = ['RotateRight', 'RotateRight', 'MoveAhead', 'MoveAhead',
# 'RotateRight', 'MoveAhead', 'MoveAhead', 'RotateLeft', 'MoveAhead', 'MoveAhead',
# 'MoveAhead', 'RotateLeft', 'LookDown', 'PickupObject', 'PutObject', 'LookUp',
# 'MoveRight', 'OpenObject', 'PutObject', 'PickupObject', 'CloseObject']
actions_to_look_at_cup = [
'MoveAhead', 'MoveBack', 'RotateRight', 'RotateLeft', 'LookUp',
'LookDown', 'Stop'
]
env = AI2ThorEnv(
config_dict={
'scene_id': 'FloorPlan28',
'gridSize': 0.25,
'acceptable_receptacles': [
'Microwave' # the used receptacle below
],
'target_objects': {
'Mug': 1
}
})
movement_penalty = len(
actions_to_look_at_cup) * env.task.movement_reward
for episode in range(2): # twice to make sure no random initialisation
env.reset()
rewards = []
for action_str in actions_to_look_at_cup:
action = env.action_names.index(action_str)
state, reward, done, _ = env.step(action)
rewards.append(reward)
if done:
break
# self.assertAlmostEqual(sum(rewards), 2 + movement_penalty)
env.close()
def main(args=None):
# Parse arguments
if args is None:
args = sys.argv[1:]
args = parse_args(args)
# Check if a GPU ID was set
if args.gpu:
os.environ['CUDA_VISIBLE_DEVICES'] = args.gpu
set_session(get_session())
# Environment Initialization
if args.is_ai2thor:
config_dict = {'max_episode_length': 2000}
env = AI2ThorEnv(config_dict=config_dict)
env.reset()
state = env.reset()
state_dim = state.shape
action_dim = env.action_space.n
elif (args.is_atari):
# Atari Environment Wrapper
env = AtariEnvironment(args)
state_dim = env.get_state_size()
action_dim = env.get_action_size()
else:
# Standard Environments
env = Environment(gym.make(args.env), args.consecutive_frames)
env.reset()
state_dim = env.get_state_size()
action_dim = gym.make(args.env).action_space.n
algo = A3C(action_dim, state_dim, args.consecutive_frames, is_atari=args.is_atari, is_ai2thor=args.is_ai2thor)
algo.load_weights(args.actor_path, args.critic_path)
# Display agent
old_state, time = env.reset(), 0
while True:
a = algo.policy_action(old_state)
old_state, r, done, _ = env.step(a)
time += 1
if done:
print('----- done, resetting env ----')
env.reset()
def test_all_task_init(self):
"""
Test that the creation of all tasks still works by taking a few random steps after
resetting environment
"""
param_list = [{
'pickup_objects': ['Mug', 'Apple'],
'task': {
'task_name': 'PickUpTask',
'target_objects': {
'Mug': 1,
'Apple': 5
}
}
}]
for params in param_list:
env = AI2ThorEnv(config_dict=params)
state = env.reset()
for i in range(5):
action = env.action_space.sample()
state, reward, done, _ = env.step(action)
env.close()
def train(rank, args, shared_model, counter, lock, optimizer):
torch.manual_seed(args.seed + rank)
env = AI2ThorEnv(config_dict=args.config_dict)
env.seed(args.seed + rank)
if args.point_cloud_model:
model = ActorCritic(env.action_space.n)
else:
args.frame_dim = env.config['resolution'][-1]
model = ActorCritic(env.action_space.n, env.observation_space.shape[0],
args.frame_dim)
if args.cuda:
model = model.cuda()
model.train()
state = env.reset()
done = True
# monitoring
total_reward_for_num_steps_list = []
episode_total_rewards_list = []
avg_reward_for_num_steps_list = []
total_length = 0
episode_length = 0
n_episode = 0
total_reward_for_episode = 0
all_rewards_in_episode = []
while True:
# Sync with the shared model
model.load_state_dict(shared_model.state_dict())
if done:
cx = torch.zeros(1, 256)
hx = torch.zeros(1, 256)
else:
cx = cx.detach()
hx = hx.detach()
values = []
log_probs = []
rewards = []
entropies = []
for step in range(args.num_steps):
episode_length += 1
total_length += 1
if args.cuda:
if args.point_cloud_model:
state = (state[0].cuda(), state[1].cuda())
else:
state = state.cuda()
cx = cx.cuda()
hx = hx.cuda()
value, logit, (hx, cx) = model((state, (hx, cx)))
prob = F.softmax(logit, dim=-1)
log_prob = F.log_softmax(logit, dim=-1)
entropy = -(log_prob * prob).sum(1, keepdim=True)
entropies.append(entropy)
action = prob.multinomial(num_samples=1).detach()
log_prob = log_prob.gather(1, action)
log_probs.append(log_prob)
action_int = action.cpu().numpy()[0][0].item()
state, reward, done, _ = env.step(action_int, verbose=False)
done = done or episode_length >= args.max_episode_length
with lock:
counter.value += 1
if done:
total_length -= 1
total_reward_for_episode = sum(all_rewards_in_episode)
episode_total_rewards_list.append(total_reward_for_episode)
all_rewards_in_episode = []
state = env.reset()
print(
'Process {} Episode {} Over with Length: {} and Reward: {: .2f}. Total Trained Length: {}'
.format(rank, n_episode, episode_length,
total_reward_for_episode, total_length))
sys.stdout.flush()
episode_length = 0
n_episode += 1
values.append(value)
rewards.append(reward)
all_rewards_in_episode.append(reward)
if done:
break
if args.synchronous:
if total_reward_for_episode >= args.solved_reward:
print("Process {} Solved with Reward {}".format(
rank, total_reward_for_episode))
env.close()
break
total_reward_for_num_steps = sum(rewards)
total_reward_for_num_steps_list.append(total_reward_for_num_steps)
avg_reward_for_num_steps = total_reward_for_num_steps / len(rewards)
avg_reward_for_num_steps_list.append(avg_reward_for_num_steps)
# Backprop and optimisation
R = torch.zeros(1, 1)
gae = torch.zeros(1, 1)
if args.cuda:
if args.point_cloud_model:
state = (state[0].cuda(), state[1].cuda())
else:
state = state.cuda()
R = R.cuda()
gae = gae.cuda()
if not done: # to change last reward to predicted value to ....
value, _, _ = model((state, (hx, cx)))
R = value.detach()
values.append(R)
policy_loss = 0
value_loss = 0
# import pdb;pdb.set_trace() # good place to breakpoint to see training cycle
for i in reversed(range(len(rewards))):
R = args.gamma * R + rewards[i]
advantage = R - values[i]
value_loss = value_loss + 0.5 * advantage.pow(2)
# Generalized Advantage Estimation
delta_t = rewards[i] + args.gamma * values[i + 1] - values[i]
gae = gae * args.gamma * args.tau + delta_t
policy_loss = policy_loss - log_probs[i] * gae.detach() - \
args.entropy_coef * entropies[i]
optimizer.zero_grad()
(policy_loss + args.value_loss_coef * value_loss).backward()
torch.nn.utils.clip_grad_norm_(model.parameters(), args.max_grad_norm)
ensure_shared_grads(model, shared_model)
optimizer.step()
from gym_ai2thor.envs.ai2thor_env import AI2ThorEnv
import numpy as np
if __name__ == '__main__':
env = AI2ThorEnv()
n = env.action_space.n
env.reset()
episodes = []
for i in range(5):
env.reset()
d = False
total_r = 0.
while not d:
a = np.random.choice(n)
o,r,d,_ = env.step(a)
total_r +=r
episodes.append(total_r)
print(f'Total reward in episode {i} is {total_r}')
print("AVG episode rewards:",episodes, np.mean(episodes))
mp.set_start_method("spawn")
os.environ['OMP_NUM_THREADS'] = '1'
# os.environ['CUDA_VISIBLE_DEVICES'] = ""
args = parser.parse_args()
args.cuda = not args.no_cuda and torch.cuda.is_available()
if args.cuda:
print('Using', torch.cuda.get_device_name(0))
torch.cuda.init()
torch.manual_seed(args.seed)
args.config_dict = {
'max_episode_length': args.max_episode_length,
'point_cloud_model': args.point_cloud_model
}
env = AI2ThorEnv(config_dict=args.config_dict)
if args.point_cloud_model:
shared_model = ActorCritic(env.action_space.n)
else:
args.frame_dim = env.config['resolution'][-1]
shared_model = ActorCritic(env.action_space.n,
env.observation_space.shape[0],
args.frame_dim)
if args.cuda:
shared_model = shared_model.cuda()
shared_model.share_memory()
env.close(
) # above env initialisation was only to find certain params needed
if torch.cuda.is_available() and not args.disable_cuda:
args.device = torch.device('cuda')
torch.cuda.manual_seed(np.random.randint(1, 10000))
# Disable non deterministic ops (not sure if critical but better safe than sorry)
torch.backends.cudnn.enabled = False
else:
args.device = torch.device('cpu')
# Simple ISO 8601 timestamped logger
def log(s):
print('[' + str(datetime.now().strftime('%Y-%m-%dT%H:%M:%S')) + '] ' +
s)
# Environment selection
if args.game == 'ai2thor':
env = FrameStackEnv(AI2ThorEnv(config_file=args.config_file),
args.history_length, args.device)
args.resolution = env.config['resolution']
args.img_channels = env.observation_space.shape[0]
else:
env = Env(args)
env.train()
args.resolution = (84, 84)
args.img_channels = 1
action_space = env.action_space
# Agent
dqn = Agent(args, env)
mem = ReplayMemory(args, args.memory_capacity)
""" Priority weights are linearly annealed and increase every step by priority_weight_increase from
args.priority_weight to 1.
def test(rank, args, shared_model, counter):
torch.manual_seed(args.seed + rank)
if args.atari:
env = create_atari_env(args.atari_env_name)
else:
args.config_dict = {'max_episode_length': args.max_episode_length}
env = AI2ThorEnv(config_dict=args.config_dict)
env.seed(args.seed + rank)
model = ActorCritic(env.observation_space.shape[0], env.action_space.n, args.frame_dim)
if args.cuda:
model = model.cuda()
model.eval()
state = env.reset()
state = torch.from_numpy(state)
reward_sum = 0
done = True
start_time = time.time()
# a quick hack to prevent the agent from stucking
actions = deque(maxlen=100)
episode_length = 0
while True:
episode_length += 1
if args.atari and args.atari_render:
env.render()
# Sync with the shared model
if done:
model.load_state_dict(shared_model.state_dict())
cx = torch.zeros(1, 64)
hx = torch.zeros(1, 64)
else:
cx = cx.detach()
hx = hx.detach()
with torch.no_grad():
if args.cuda:
state = state.cuda()
cx = cx.cuda()
hx = hx.cuda()
value, logit, (hx, cx) = model((state.unsqueeze(0).float(), (hx, cx)))
prob = F.softmax(logit, dim=-1)
# log_prob = F.log_softmax(logit, dim=-1)
# print(prob)
# entropy = -(log_prob * prob).sum(1, keepdim=True)
# print(prob.max(1, keepdim=True)[0].cpu().numpy())
# print(entropy)
action = prob.max(1, keepdim=True)[1].cpu().numpy()
state, reward, done, _ = env.step(action[0, 0], verbose=False)
done = done or episode_length >= args.max_episode_length
reward_sum += reward
# a quick hack to prevent the agent from stucking
# i.e. in test mode an agent can repeat an action ad infinitum
actions.append(action[0, 0])
if actions.count(actions[0]) == actions.maxlen:
print('In test. Episode over because agent repeated action {} times'.format(
actions.maxlen))
done = True
if done:
print("Time {}, num steps over all threads {}, FPS {:.0f}, episode reward {}, episode length {}".format(
time.strftime("%Hh %Mm %Ss",
time.gmtime(time.time() - start_time)),
counter.value, counter.value / (time.time() - start_time),
reward_sum, episode_length))
if reward_sum >= args.solved_reward:
print("Solved Testing with Reward {}".format(reward_sum))
torch.save(model.state_dict(), "solved_{}.pth".format("atari" if args.atari else "ai2thor"))
env.close()
break
reward_sum = 0
episode_length = 0
actions.clear()
state = env.reset()
time.sleep(args.test_sleep_time)
state = torch.from_numpy(state)
def worker(worker_id,
policy,
storage,
ready_to_work,
queue,
exit_flag,
use_priors=False,
task_config_file="config_files/config_example.json"):
'''
Worker function to collect experience based on policy and store the experience in storage
:param worker_id: id used for store the experience in storage
:param policy: function/actor-critic
:param storage:
:param ready_to_work: condition to synchronize work and training
:param queue: message queue to send episode reward to learner
:param exit_flag: flag set by leaner to exit the job
:param task_config_file: the task configuration file
:return:
'''
print(f"Worker with Id:{worker_id} pid ({os.getpid()}) starts ...")
steps_per_epoch = storage.block_size
state_size = storage.h_buf.shape[1]
device = storage.device
env = AI2ThorEnv(config_file=task_config_file)
x = reset(env, state_size, device)
episode_rewards, episode_steps = [], []
r_sum, step_sum = 0., 0
# Wait for start job
print('waiting>>>>>>>>>>>>>>>>>>')
ready_to_work.wait()
print('waiting<<<<<<<<<<<<<<<<<<')
while exit_flag.value != 1:
for i in range(steps_per_epoch):
with torch.no_grad():
a_t, logp_t, _, v_t, state_t = policy(x)
# interact with environment
o, r, d, _ = env.step(a_t.item())
# print('o.shape', o.shape, type(o.shape))
r_sum += r # accumulate reward within one rollout.
step_sum += 1
r_t = torch.tensor(r, dtype=torch.float32).to(device)
# save experience
storage.store(worker_id, x["observation"], a_t, r_t, v_t, logp_t,
x["memory"]["state"], x["memory"]["mask"])
# prepare inputs for next step
if use_priors:
x["observation"] = o
else:
x["observation"] = torch.Tensor(o / 255.).to(
device) # 128x128 -> 1x128x128
# print('x["observation"]', x["observation"].shape)
x["memory"]["state"] = state_t
x["memory"]["mask"] = torch.tensor((d + 1) % 2,
dtype=torch.float32).to(device)
x["memory"]["action"] = a_t
# check terminal state
if d: # calculate the returns and GAE and reset environment
storage.finish_path(worker_id, 0)
# print(f"Worker:{worker_id} {device} pid:{os.getpid()} finishes goal at steps :{i}")
episode_rewards.append(r_sum)
episode_steps.append(step_sum)
x = reset(env, state_size, device)
r_sum, step_sum = 0., 0
# env does not reaches end
if not d:
_, _, _, last_val, _ = policy(x)
storage.finish_path(worker_id, last_val)
# print(f"Worker:{worker_id} {device} pid:{os.getpid()} begins to notify Learner Episode done")
queue.put((episode_rewards, episode_steps, worker_id))
# print(f"Worker:{worker_id} waits for next episode")
episode_rewards, episode_steps = [], []
# x = reset(env, state_size)
# r_sum, step_sum = 0., 0
# Wait for next job
ready_to_work.clear()
ready_to_work.wait()
# print(f"Worker:{worker_id} {device} pid:{os.getpid()} starts new episode")
env.close()
print(f"Worker with pid ({os.getpid()}) finished job")
def test(rank, args, shared_model, counter):
torch.manual_seed(args.seed + rank)
if args.atari:
env = create_atari_env(args.atari_env_name)
else:
args.config_dict = {'max_episode_length': args.max_episode_length}
env = AI2ThorEnv(config_dict=args.config_dict)
env.seed(args.seed + rank)
model = ActorCritic(env.observation_space.shape[0], env.action_space.n,
args.frame_dim)
model.eval()
state = env.reset()
state = torch.from_numpy(state)
reward_sum = 0
done = True # be True at the beginning
start_time = time.time()
# a quick hack to prevent the agent from stucking
actions = deque(maxlen=100)
episode_length = 0
episodes = 0
vis = Visdom()
assert vis.check_connection()
vis.close()
win = vis.line(X=[0.],
Y=[0.],
win='testing_Rewards',
opts=dict(title='testing_Rewards'))
while True:
episode_length += 1
if args.atari and args.atari_render:
env.render()
# Sync with the shared model
if done:
model.load_state_dict(shared_model.state_dict())
cx = torch.zeros(1, 256)
hx = torch.zeros(1, 256)
else:
cx = cx.detach()
hx = hx.detach()
with torch.no_grad():
value, logit, (hx, cx) = model(
(state.unsqueeze(0).float(), (hx, cx)))
prob = F.softmax(logit, dim=-1)
action = prob.max(1, keepdim=True)[1].numpy()
state, reward, done, _ = env.step(action[0, 0])
done = done or episode_length >= args.max_episode_length
reward_sum += reward
# a quick hack to prevent the agent from stucking
# i.e. in test mode an agent can repeat an action ad infinitum
actions.append(action[0, 0])
if actions.count(actions[0]) == actions.maxlen:
print(
'In test. Episode over because agent repeated action {} times'.
format(actions.maxlen))
done = True
if done:
print(
"In test. Time {}, num steps over all threads {}, FPS {:.0f}, episode reward {}, episode length {}"
.format(
time.strftime("%Hh %Mm %Ss",
time.gmtime(time.time() - start_time)),
counter.value, counter.value / (time.time() - start_time),
reward_sum, episode_length))
vis.line(X=[episodes],
Y=[reward_sum],
win='testing_Rewards',
update='append')
episodes += 1
reward_sum = 0
episode_length = 0
actions.clear()
state = env.reset()
time.sleep(args.test_sleep_time) # wasting resource...
print('testing...')
state = torch.from_numpy(state)
def test(rank, args, shared_model, counter):
torch.manual_seed(args.seed + rank)
env = AI2ThorEnv(config_dict=args.config_dict)
env.seed(args.seed + rank)
if args.point_cloud_model:
model = ActorCritic(env.action_space.n)
else:
args.frame_dim = env.config['resolution'][-1]
model = ActorCritic(env.action_space.n, env.observation_space.shape[0],
args.frame_dim)
if args.cuda:
model = model.cuda()
model.eval()
state = env.reset()
reward_sum = 0
done = True
save = '{}-steps{}-process{}-lr{}-entropy_coef{}'.format(
"point" if args.point_cloud_model else "conv", args.num_steps,
args.num_processes, args.lr, args.entropy_coef)
save = os.path.join('logs', save)
os.makedirs(save, exist_ok=True)
if args.model:
shared_model.load_state_dict(
torch.load(os.path.join(save, "solved_ai2thor.pth")))
else:
logger = CSVLogger(os.path.join(save, 'test.csv'))
fileds = ['episode_reward', 'frames_rendered']
logger.log(fileds)
start_time = time.time()
# a quick hack to prevent the agent from stucking
# actions = deque(maxlen=100)
episode_length = 0
while True:
episode_length += 1
# Sync with the shared model
if done:
model.load_state_dict(deepcopy(shared_model.state_dict()))
cx = torch.zeros(1, 256)
hx = torch.zeros(1, 256)
else:
cx = cx.detach()
hx = hx.detach()
with torch.no_grad():
if args.cuda:
if args.point_cloud_model:
state = (state[0].cuda(), state[1].cuda())
else:
state = state.cuda()
cx = cx.cuda()
hx = hx.cuda()
value, logit, (hx, cx) = model((state, (hx, cx)))
prob = F.softmax(logit, dim=-1)
# log_prob = F.log_softmax(logit, dim=-1)
# print(prob)
# entropy = -(log_prob * prob).sum(1, keepdim=True)
# print(prob.max(1, keepdim=True)[0].cpu().numpy())
# print(entropy)
action = prob.max(1, keepdim=True)[1].cpu().numpy()
state, reward, done, _ = env.step(action[0, 0], verbose=False)
done = done or episode_length >= args.max_episode_length
reward_sum += reward
# a quick hack to prevent the agent from stucking
# i.e. in test mode an agent can repeat an action ad infinitum
# actions.append(action[0, 0])
# if actions.count(actions[0]) == actions.maxlen:
# print('In test. Episode over because agent repeated action {} times'.format(
# actions.maxlen))
# done = True
if done:
print(
"Time {}, num steps over all threads {}, FPS {:.0f}, episode reward {: .2f}, episode length {}"
.format(
time.strftime("%Hh %Mm %Ss",
time.gmtime(time.time() - start_time)),
counter.value, counter.value / (time.time() - start_time),
reward_sum, episode_length))
if not args.model:
logger.log(["{: .2f}".format(reward_sum), counter.value])
if reward_sum >= args.solved_reward:
print("Solved Testing with Reward {}".format(reward_sum))
torch.save(model.state_dict(),
os.path.join(save, "solved_ai2thor.pth"))
env.close()
logger.close()
break
reward_sum = 0
episode_length = 0
# actions.clear()
state = env.reset()
time.sleep(args.test_sleep_time)
def train(rank, args, shared_model, counter, lock, device, optimizer=None):
torch.manual_seed(args.seed + rank)
if args.atari:
env = create_atari_env(args.atari_env_name)
else:
args.config_dict = {'max_episode_length': args.max_episode_length}
env = AI2ThorEnv(config_dict=args.config_dict)
env.seed(args.seed + rank)
model = ActorCritic(env.observation_space.shape[0], env.action_space.n,
args.frame_dim)
model = model.to(device)
if optimizer is None:
optimizer = optim.Adam(shared_model.parameters(), lr=args.lr)
model.train()
state = env.reset()
state = torch.from_numpy(state)
done = True
# monitoring
total_reward_for_num_steps_list = []
episode_total_rewards_list = []
all_rewards_in_episode = []
avg_reward_for_num_steps_list = []
total_length = 0
episode_length = 0
episodes = 0
vis = Visdom()
assert vis.check_connection()
vis.close()
vis.line(X=[0.],
Y=[0.],
win='training_Rewards' + str(rank),
opts=dict(title='training_Rewards' + str(rank)))
while True:
episodes += 1
# Sync with the shared model
model.load_state_dict(shared_model.state_dict())
if done:
cx = torch.zeros(1, 256)
hx = torch.zeros(1, 256)
else:
cx = cx.detach()
hx = hx.detach()
values = []
log_probs = []
rewards = []
entropies = []
for step in range(args.num_steps):
episode_length += 1
total_length += 1
value, logit, (hx, cx) = model(
(state.unsqueeze(0).float().cuda(), (hx.cuda(), cx.cuda())))
value = value.cpu()
logit = logit.cpu()
hx = hx.cpu()
cx = cx.cpu()
prob = F.softmax(logit, dim=-1)
log_prob = F.log_softmax(logit, dim=-1)
entropy = -(log_prob * prob).sum(1, keepdim=True)
entropies.append(entropy)
action = prob.multinomial(num_samples=1).detach()
log_prob = log_prob.gather(1, action)
action_int = action.numpy()[0][0].item()
state, reward, done, _ = env.step(action_int)
done = done or episode_length >= args.max_episode_length
with lock:
counter.value += 1
if done:
total_length -= 1
total_reward_for_episode = sum(all_rewards_in_episode)
episode_total_rewards_list.append(total_reward_for_episode)
all_rewards_in_episode = []
vis.line(X=[episodes],
Y=[total_reward_for_episode],
win='training_Rewards' + str(rank),
update='append')
print(
'In Train. Episode Over. Total Length: {}. Total reward for episode: {}'
.format(total_length, total_reward_for_episode))
print('In Train. Step no: {}. total length: {}'.format(
episode_length, total_length))
episode_length = 0
state = env.reset()
state = torch.from_numpy(state)
values.append(value)
log_probs.append(log_prob)
rewards.append(reward)
all_rewards_in_episode.append(reward)
if done:
break
# No interaction with environment below.
# Monitoring
total_reward_for_num_steps = sum(rewards) # accumulate at each step
total_reward_for_num_steps_list.append(total_reward_for_num_steps)
avg_reward_for_num_steps = total_reward_for_num_steps / len(rewards)
avg_reward_for_num_steps_list.append(avg_reward_for_num_steps)
# Backprop and optimisation
R = torch.zeros(1, 1)
if not done: # to change last reward to predicted value to ....
value, _, _ = model((state.unsqueeze(0).float(), (hx, cx)))
R = value.detach()
values.append(R)
policy_loss = 0
value_loss = 0
# import pdb;pdb.set_trace() # good place to breakpoint to see training cycle
gae = torch.zeros(1, 1)
for i in reversed(range(len(rewards))):
R = args.gamma * R + rewards[i]
advantage = R - values[i]
value_loss = value_loss + 0.5 * advantage.pow(2)
# Generalized Advantage Estimation
delta_t = rewards[i] + args.gamma * values[i + 1] - values[i]
gae = gae * args.gamma * args.tau + delta_t
policy_loss = policy_loss - log_probs[i] * gae.detach() - \
args.entropy_coef * entropies[i]
optimizer.zero_grad()
(policy_loss + args.value_loss_coef * value_loss).cuda().backward()
torch.nn.utils.clip_grad_norm_(model.parameters(), args.max_grad_norm)
ensure_shared_grads(model, shared_model)
optimizer.step()
parser.add_argument('--gamma', type=float, default=0.99)
parser.add_argument('--lr', type=float, default=3e-4)
parser.add_argument('--clip-param', type=float, default=0.2)
parser.add_argument('--value_loss_coef', type=float, default=0.2)
parser.add_argument('--entropy_coef', type=float, default=0.001)
parser.add_argument('--max-kl', type=float, default=0.01)
parser.add_argument('--use-priors', type=bool, default=False)
parser.add_argument('--use-attention', type=bool, default=True)
parser.add_argument('--attention', type=str, default='CBAM')
args = parser.parse_args()
torch.multiprocessing.set_start_method('spawn')
# get observation dimension
env = AI2ThorEnv(config_file="config_files/multiMugTaskTrain.json")
env.reset()
obs_dim = env.observation_space.shape
# Share information about action space with policy architecture
ac_kwargs = dict()
ac_kwargs['action_space'] = env.action_space
ac_kwargs['state_size'] = args.state_size
ac_kwargs['use_attention'] = args.use_attention
ac_kwargs['attention'] = args.attention
env.close()
# Main model
print("Initialize Model...")
# Construct Model
ac_model = ActorCritic(obs_shape=obs_dim, **ac_kwargs)
if args.model_path:
ac_model.load_state_dict(torch.load(args.model_path))
'cameraY': -0.85,
'gridSize': 0.1, # 0.01
'continuous_movement': True,
'build_file_name': args.build_file_name,
'task': {
'task_name': 'PickUpTask',
'target_objects': {
'Mug': 1,
'Bowl': 5
}
}
}
# Input config_dict to env which will overwrite a few values given in the default config_file.
# Therefore, a few warnings will occur
env = AI2ThorEnv(config_dict=config_dict)
max_episode_length = env.task.max_episode_length
N_EPISODES = 3
for episode in range(N_EPISODES):
start = time.time()
state = env.reset()
for step_num in range(max_episode_length):
action = env.action_space.sample()
state, reward, done, _ = env.step(action)
if done:
break
if step_num + 1 > 0 and (step_num + 1) % 100 == 0:
print('Episode: {}. Step: {}/{}. Time taken: {:.3f}s'.format(
episode + 1, (step_num + 1), max_episode_length,
time.time() - start))
def main(args=None):
# Parse arguments
if args is None:
args = sys.argv[1:]
args = parse_args(args)
# Check if a GPU ID was set
if args.gpu:
os.environ['CUDA_VISIBLE_DEVICES'] = args.gpu
# Environment Initialization
if args.is_ai2thor:
config_dict = {'max_episode_length': 500}
env = AI2ThorEnv(config_dict=config_dict)
env.reset()
state = env.reset()
state_dim = state.shape
action_dim = env.action_space.n
args.env = 'ai2thor'
elif (args.is_atari):
# Atari Environment Wrapper
env = AtariEnvironment(args)
state_dim = env.get_state_size()
action_dim = env.get_action_size()
print(state_dim)
print(action_dim)
else:
# Standard Environments
env = Environment(gym.make(args.env), args.consecutive_frames)
env.reset()
state_dim = env.get_state_size()
action_dim = gym.make(args.env).action_space.n
set_session(get_session())
summary_writer = tf.summary.FileWriter(args.type + "/tensorboard_" +
args.env)
algo = A3C(action_dim,
state_dim,
args.consecutive_frames,
is_atari=args.is_atari,
is_ai2thor=args.is_ai2thor)
# Train
stats = algo.train(env, args, summary_writer)
# Export results to CSV
if args.gather_stats:
df = pd.DataFrame(np.array(stats))
df.to_csv(args.type + "/logs.csv",
header=['Episode', 'Mean', 'Stddev'],
float_format='%10.5f')
# Save weights and close environments
exp_dir = '{}/models/'.format(args.type)
if not os.path.exists(exp_dir):
os.makedirs(exp_dir)
export_path = '{}{}_ENV_{}_NB_EP_{}_BS_{}'.format(exp_dir, args.type,
args.env,
args.nb_episodes,
args.batch_size)
algo.save_weights(export_path)
env.close()
