plt.plot(r)
plt.pause(0.001) # pause a bit so that plots are updated
if is_ipython:
display.clear_output(wait=True)
display.display(plt.gcf())
if __name__ == '__main__':
monitor_macddpg_p2 = []
monitor_macddpg_p2_test = []
for i in range(0,5):
config = get_params(args=['--exp_id','MACDDPG_P2_120K_'+ str(i+1),
'--random_seed', str(i+1),
'--agent_alg', 'MACDDPG',
'--protocol_type', str(2),
'--n_episodes', '120000',
'--verbose', '2',
]
)
model, experiment_args = init(config)
env, memory, ounoise, config, summaries, saver, start_episode = experiment_args
tic = time.time()
monitor = run(model, experiment_args, train=True)
monitor_test = run(model, experiment_args, train=False)
toc = time.time()
env.close()
for summary in summaries:
if exp_config['obj_rew'] == 'True':
####################### loading object ###########################
model_name = 'DDPG_BD'
exp_args = [
'--env_id', env_name, '--exp_id',
model_name + '_fooobj_' + str(0), '--random_seed',
str(0), '--agent_alg', model_name, '--verbose', '2',
'--render', '0', '--gamma', '0.99', '--n_episodes', '50',
'--n_cycles', '50', '--n_rollouts', '38', '--n_test_rollouts',
'38', '--n_envs', '1', '--n_batches', '40', '--batch_size',
'4864', '--obj_action_type', '0123456', '--max_nb_objects',
'1', '--observe_obj_grp', 'False', '--rob_policy', '01'
]
config = get_params(args=exp_args)
model, experiment_args = init(config,
agent='object',
her=True,
object_Qfunc=None,
backward_dyn=None,
object_policy=None)
env, memory, noise, config, normalizer, agent_id = experiment_args
#loading the object model
if env_name == 'HandManipulateEggRotateMulti-v0':
path = './models_paper/obj/egg_rotate_7d_50ep/'
elif env_name == 'HandManipulateBlockRotateXYZMulti-v0':
path = './models_paper/obj/block_rotate_7d_50ep/'
elif env_name == 'HandManipulatePenRotateMulti-v0':
path = './models_paper/obj/pen_rotate_7d_50ep/'
int(exp_config['n_exp'])):
if exp_config['obj_rew'] == 'True':
####################### loading object ###########################
exp_args_0 = [
'--env_id', env_name_0[i_env], '--exp_id',
model_name + '_fooobj_' + str(0), '--random_seed',
str(0), '--agent_alg', model_name, '--verbose', '2',
'--render', '0', '--gamma', '0.99', '--n_episodes', '50',
'--n_cycles', '50', '--n_rollouts', '38', '--n_test_rollouts',
'38', '--n_envs', '1', '--n_batches', '40', '--batch_size',
'4864', '--obj_action_type', '0123456', '--max_nb_objects',
'1', '--observe_obj_grp', 'False', '--rob_policy', '01'
]
config_0 = get_params(args=exp_args_0)
model_0, experiment_args_0 = init(config_0,
agent='object',
her=True,
object_Qfunc=None,
backward_dyn=None,
object_policy=None)
env_0, memory_0, noise_0, config_0, normalizer_0, agent_id_0 = experiment_args_0
#loading the object model
if ENV == 'Egg':
path = './models_paper/obj/egg_rotate_7d_50ep/'
elif ENV == 'Block':
path = './models_paper/obj/block_rotate_7d_50ep/'
elif ENV == 'Pen':
path = './models_paper/obj/pen_rotate_7d_50ep/'
