def _build_agent(self, id, agent_file):
Logger.print2('Agent {:d}: {}'.format(id, agent_file))
if (agent_file == 'none'):
agent = None
else:
agent = AgentBuilder.build_agent(self, id, agent_file)
assert (agent != None), 'Failed to build agent {:d} from: {}'.format(id, agent_file)
return agent
def save_model(self, out_path):
with self.sess.as_default(), self.graph.as_default():
try:
save_path = self.saver.save(self.sess,
out_path,
write_meta_graph=False,
write_state=False)
Logger.print2('Model saved to: ' + save_path)
except:
Logger.print2("Failed to save model to: " + save_path)
return
def _build_nets(self, json_data):
assert self.ACTOR_NET_KEY in json_data
assert self.CRITIC_NET_KEY in json_data
actor_net_name = json_data[self.ACTOR_NET_KEY]
critic_net_name = json_data[self.CRITIC_NET_KEY]
actor_init_output_scale = 1 if (
self.ACTOR_INIT_OUTPUT_SCALE_KEY
not in json_data) else json_data[self.ACTOR_INIT_OUTPUT_SCALE_KEY]
s_size = self.get_state_size()
g_size = self.get_goal_size()
a_size = self.get_action_size()
# setup input tensors
self.s_tf = tf.placeholder(tf.float32, shape=[None, s_size], name="s")
self.a_tf = tf.placeholder(tf.float32, shape=[None, a_size], name="a")
self.tar_val_tf = tf.placeholder(tf.float32,
shape=[None],
name="tar_val")
self.adv_tf = tf.placeholder(tf.float32, shape=[None], name="adv")
self.g_tf = tf.placeholder(
tf.float32,
shape=([None, g_size] if self.has_goal() else None),
name="g")
self.old_logp_tf = tf.placeholder(tf.float32,
shape=[None],
name="old_logp")
self.exp_mask_tf = tf.placeholder(tf.float32,
shape=[None],
name="exp_mask")
with tf.variable_scope('main'):
with tf.variable_scope('actor'):
self.a_mean_tf = self._build_net_actor(
actor_net_name, actor_init_output_scale)
with tf.variable_scope('critic'):
self.critic_tf = self._build_net_critic(critic_net_name)
if (self.a_mean_tf != None):
Logger.print2('Built actor net: ' + actor_net_name)
if (self.critic_tf != None):
Logger.print2('Built critic net: ' + critic_net_name)
self.norm_a_std_tf = self.exp_params_curr.noise * tf.ones(a_size)
norm_a_noise_tf = self.norm_a_std_tf * tf.random_normal(
shape=tf.shape(self.a_mean_tf))
norm_a_noise_tf *= tf.expand_dims(self.exp_mask_tf, axis=-1)
self.sample_a_tf = self.a_mean_tf + norm_a_noise_tf * self.a_norm.std_tf
self.sample_a_logp_tf = TFUtil.calc_logp_gaussian(
x_tf=norm_a_noise_tf, mean_tf=None, std_tf=self.norm_a_std_tf)
return
def build_arg_parser(args):
arg_parser = ArgParser()
arg_parser.load_args(args)
arg_file = arg_parser.parse_string('arg_file', '')
if (arg_file != ''):
path = pybullet_data_local.getDataPath() + "/args/" + arg_file
succ = arg_parser.load_file(path)
Logger.print2(arg_file)
assert succ, Logger.print2('Failed to load args from: ' + arg_file)
return arg_parser
def main():
# Command line arguments
args = sys.argv[1:]
arg_parser = ArgParser()
arg_parser.load_args(args)
num_workers = arg_parser.parse_int('num_workers', 1)
assert (num_workers > 0)
Logger.print2('Running with {:d} workers'.format(num_workers))
cmd = 'mpiexec -n {:d} python DeepMimic_Optimizer.py '.format(num_workers)
cmd += ' '.join(args)
Logger.print2('cmd: ' + cmd)
subprocess.call(cmd, shell=True)
return
def update(self):
new_count = MPIUtil.reduce_sum(self.new_count)
new_sum = MPIUtil.reduce_sum(self.new_sum)
new_sum_sq = MPIUtil.reduce_sum(self.new_sum_sq)
new_total = self.count + new_count
if (self.count // self.CHECK_SYNC_COUNT !=
new_total // self.CHECK_SYNC_COUNT):
assert self.check_synced(), Logger.print2(
'Normalizer parameters desynchronized')
if new_count > 0:
new_mean = self._process_group_data(new_sum / new_count, self.mean)
new_mean_sq = self._process_group_data(new_sum_sq / new_count,
self.mean_sq)
w_old = float(self.count) / new_total
w_new = float(new_count) / new_total
self.mean = w_old * self.mean + w_new * new_mean
self.mean_sq = w_old * self.mean_sq + w_new * new_mean_sq
self.count = new_total
self.std = self.calc_std(self.mean, self.mean_sq)
self.new_count = 0
self.new_sum.fill(0)
self.new_sum_sq.fill(0)
return
def _build_nets(self, json_data):
assert self.ACTOR_NET_KEY in json_data
assert self.CRITIC_NET_KEY in json_data
actor_net_name = json_data[self.ACTOR_NET_KEY]
critic_net_name = json_data[self.CRITIC_NET_KEY]
actor_init_output_scale = 1 if (
self.ACTOR_INIT_OUTPUT_SCALE_KEY
not in json_data) else json_data[self.ACTOR_INIT_OUTPUT_SCALE_KEY]
s_size = self.get_state_size()
g_size = self.get_goal_size()
a_size = self.get_action_size()
# setup input tensors
self.s_tf = tf.placeholder(tf.float32, shape=[None, s_size],
name="s") # observations
self.tar_val_tf = tf.placeholder(tf.float32,
shape=[None],
name="tar_val") # target value s
self.adv_tf = tf.placeholder(tf.float32, shape=[None],
name="adv") # advantage
self.a_tf = tf.placeholder(tf.float32, shape=[None, a_size],
name="a") # target actions
self.g_tf = tf.placeholder(
tf.float32,
shape=([None, g_size] if self.has_goal() else None),
name="g") # goals
with tf.variable_scope('main'):
with tf.variable_scope('actor'):
self.actor_tf = self._build_net_actor(actor_net_name,
actor_init_output_scale)
with tf.variable_scope('critic'):
self.critic_tf = self._build_net_critic(critic_net_name)
if (self.actor_tf != None):
Logger.print2('Built actor net: ' + actor_net_name)
if (self.critic_tf != None):
Logger.print2('Built critic net: ' + critic_net_name)
return
def _update_mode(self):
if (self._mode == self.Mode.TRAIN):
self._update_mode_train()
elif (self._mode == self.Mode.TRAIN_END):
self._update_mode_train_end()
elif (self._mode == self.Mode.TEST):
self._update_mode_test()
else:
assert False, Logger.print2("Unsupported RL agent mode" +
str(self._mode))
return
def store(self, path):
start_idx = MathUtil.INVALID_IDX
n = path.pathlength()
if (n > 0):
assert path.is_valid()
if path.check_vals():
if self.buffers is None:
self._init_buffers(path)
idx = self._request_idx(n + 1)
self._store_path(path, idx)
self._add_sample_buffers(idx)
self.num_paths += 1
self.total_count += n + 1
start_idx = idx[0]
else:
Logger.print2('Invalid path data value detected')
return start_idx
def __init__(self, world, id, json_data):
self.world = world
self.id = id
self.logger = Logger()
self._mode = self.Mode.TRAIN
assert self._check_action_space(), \
Logger.print2("Invalid action space, got {:s}".format(str(self.get_action_space())))
self._enable_training = True
self.path = Path()
self.iter = int(0)
self.start_time = time.time()
self._update_counter = 0
self.update_period = 1.0 # simulated time (seconds) before each training update
self.iters_per_update = int(1)
self.discount = 0.95
self.mini_batch_size = int(32)
self.replay_buffer_size = int(50000)
self.init_samples = int(1000)
self.normalizer_samples = np.inf
self._local_mini_batch_size = self.mini_batch_size # batch size for each work for multiprocessing
self._need_normalizer_update = True
self._total_sample_count = 0
self._output_dir = ""
self._int_output_dir = ""
self.output_iters = 100
self.int_output_iters = 100
self.train_return = 0.0
self.test_episodes = int(0)
self.test_episode_count = int(0)
self.test_return = 0.0
self.avg_test_return = 0.0
self.exp_anneal_samples = 320000
self.exp_params_beg = ExpParams()
self.exp_params_end = ExpParams()
self.exp_params_curr = ExpParams()
self._load_params(json_data)
self._build_replay_buffer(self.replay_buffer_size)
self._build_normalizers()
self._build_bounds()
self.reset()
return
def record(self, x):
size = self.get_size()
is_array = isinstance(x, np.ndarray)
if not is_array:
assert (size == 1)
x = np.array([[x]])
assert x.shape[-1] == size, \
Logger.print2('Normalizer shape mismatch, expecting size {:d}, but got {:d}'.format(size, x.shape[-1]))
x = np.reshape(x, [-1, size])
self.new_count += x.shape[0]
self.new_sum += np.sum(x, axis=0)
self.new_sum_sq += np.sum(np.square(x), axis=0)
return
def end_episode(self):
if (self.path.pathlength() > 0):
self._end_path()
if (self._mode == self.Mode.TRAIN
or self._mode == self.Mode.TRAIN_END):
if (self.enable_training and self.path.pathlength() > 0):
self._store_path(self.path)
elif (self._mode == self.Mode.TEST):
self._update_test_return(self.path)
else:
assert False, Logger.print2("Unsupported RL agent mode" +
str(self._mode))
self._update_mode()
return
def update_flatgrad(self, flat_grad, grad_scale=1.0):
if self.iter % self.CHECK_SYNC_ITERS == 0:
assert self.check_synced(), Logger.print2(
'Network parameters desynchronized')
if grad_scale != 1.0:
flat_grad *= grad_scale
MPI.COMM_WORLD.Allreduce(flat_grad, self._global_flat_grad, op=MPI.SUM)
self._global_flat_grad /= MPIUtil.get_num_procs()
self._load_flat_grad(self._global_flat_grad)
self.sess.run([self._update], self._grad_feed)
self.iter += 1
return
def set_mean_std(self, mean, std):
size = self.get_size()
is_array = isinstance(mean, np.ndarray) and isinstance(std, np.ndarray)
if not is_array:
assert (size == 1)
mean = np.array([mean])
std = np.array([std])
assert len(mean) == size and len(std) == size, \
Logger.print2('Normalizer shape mismatch, expecting size {:d}, but got {:d} and {:d}'.format(size, len(mean), len(std)))
self.mean = mean
self.std = std
self.mean_sq = self.calc_mean_sq(self.mean, self.std)
return
def build_agents(self):
num_agents = self.env.get_num_agents()
print("num_agents=", num_agents)
self.agents = []
Logger.print2('')
Logger.print2('Num Agents: {:d}'.format(num_agents))
agent_files = self.arg_parser.parse_strings('agent_files')
print("len(agent_files)=", len(agent_files))
assert (len(agent_files) == num_agents or len(agent_files) == 0)
model_files = self.arg_parser.parse_strings('model_files')
assert (len(model_files) == num_agents or len(model_files) == 0)
output_path = self.arg_parser.parse_string('output_path')
int_output_path = self.arg_parser.parse_string('int_output_path')
for i in range(num_agents):
curr_file = agent_files[i]
curr_agent = self._build_agent(i, curr_file)
if curr_agent is not None:
curr_agent.output_dir = output_path
curr_agent.int_output_dir = int_output_path
Logger.print2(str(curr_agent))
if (len(model_files) > 0):
curr_model_file = model_files[i]
if curr_model_file != 'none':
curr_agent.load_model(pybullet_data_local.getDataPath() + "/" + curr_model_file)
self.agents.append(curr_agent)
Logger.print2('')
self.set_enable_training(self.enable_training)
return
from pybullet_utils_local.logger import Logger
logger = Logger()
logger.configure_output_file("e:/mylog.txt")
for i in range(10):
logger.log_tabular("Iteration", 1)
Logger.print2("hello world")
logger.print_tabular()
logger.dump_tabular()
def shutdown():
global world
Logger.print2('Shutting down...')
world.shutdown()
return
def __init__(self, renders=False, arg_file=''):
self._arg_parser = ArgParser()
Logger.print2(
"===========================================================")
succ = False
if (arg_file != ''):
path = pybullet_data_local.getDataPath() + "/args/" + arg_file
succ = self._arg_parser.load_file(path)
Logger.print2(arg_file)
assert succ, Logger.print2('Failed to load args from: ' + arg_file)
self._p = None
self._time_step = 1. / 240.
self._internal_env = None
self._renders = renders
self._discrete_actions = False
self._arg_file = arg_file
self._render_height = 200
self._render_width = 320
self.theta_threshold_radians = 12 * 2 * math.pi / 360
self.x_threshold = 0.4 #2.4
high = np.array([
self.x_threshold * 2,
np.finfo(np.float32).max, self.theta_threshold_radians * 2,
np.finfo(np.float32).max
])
ctrl_size = 43 #numDof
root_size = 7 # root
action_dim = ctrl_size - root_size
action_bound_min = np.array([
-4.79999999999, -1.00000000000, -1.00000000000, -1.00000000000,
-4.00000000000, -1.00000000000, -1.00000000000, -1.00000000000,
-7.77999999999, -1.00000000000, -1.000000000, -1.000000000,
-7.850000000, -6.280000000, -1.000000000, -1.000000000,
-1.000000000, -12.56000000, -1.000000000, -1.000000000,
-1.000000000, -4.710000000, -7.779999999, -1.000000000,
-1.000000000, -1.000000000, -7.850000000, -6.280000000,
-1.000000000, -1.000000000, -1.000000000, -8.460000000,
-1.000000000, -1.000000000, -1.000000000, -4.710000000
])
#print("len(action_bound_min)=",len(action_bound_min))
action_bound_max = np.array([
4.799999999, 1.000000000, 1.000000000, 1.000000000, 4.000000000,
1.000000000, 1.000000000, 1.000000000, 8.779999999, 1.000000000,
1.0000000, 1.0000000, 4.7100000, 6.2800000, 1.0000000, 1.0000000,
1.0000000, 12.560000, 1.0000000, 1.0000000, 1.0000000, 7.8500000,
8.7799999, 1.0000000, 1.0000000, 1.0000000, 4.7100000, 6.2800000,
1.0000000, 1.0000000, 1.0000000, 10.100000, 1.0000000, 1.0000000,
1.0000000, 7.8500000
])
#print("len(action_bound_max)=",len(action_bound_max))
self.action_space = spaces.Box(action_bound_min, action_bound_max)
observation_min = np.array([0.0] + [-100.0] + [-4.0] * 105 +
[-500.0] * 90)
observation_max = np.array([1.0] + [100.0] + [4.0] * 105 +
[500.0] * 90)
state_size = 197
self.observation_space = spaces.Box(observation_min,
observation_min,
dtype=np.float32)
self.seed()
self.viewer = None
self._configure()
def _train(self):
samples = self.replay_buffer.total_count
self._total_sample_count = int(MPIUtil.reduce_sum(samples))
end_training = False
if (self.replay_buffer_initialized):
if (self._valid_train_step()):
prev_iter = self.iter
iters = self._get_iters_per_update()
avg_train_return = MPIUtil.reduce_avg(self.train_return)
for i in range(iters):
curr_iter = self.iter
wall_time = time.time() - self.start_time
wall_time /= 60 * 60 # store time in hours
has_goal = self.has_goal()
s_mean = np.mean(self.s_norm.mean)
s_std = np.mean(self.s_norm.std)
g_mean = np.mean(self.g_norm.mean) if has_goal else 0
g_std = np.mean(self.g_norm.std) if has_goal else 0
self.logger.log_tabular("Iteration", self.iter)
self.logger.log_tabular("Wall_Time", wall_time)
self.logger.log_tabular("Samples",
self._total_sample_count)
self.logger.log_tabular("Train_Return", avg_train_return)
self.logger.log_tabular("Test_Return",
self.avg_test_return)
self.logger.log_tabular("State_Mean", s_mean)
self.logger.log_tabular("State_Std", s_std)
self.logger.log_tabular("Goal_Mean", g_mean)
self.logger.log_tabular("Goal_Std", g_std)
self._log_exp_params()
self._update_iter(self.iter + 1)
self._train_step()
Logger.print2("Agent " + str(self.id))
self.logger.print_tabular()
Logger.print2("")
if (self._enable_output()
and curr_iter % self.int_output_iters == 0):
self.logger.dump_tabular()
if (prev_iter // self.int_output_iters !=
self.iter // self.int_output_iters):
end_training = self.enable_testing()
else:
Logger.print2("Agent " + str(self.id))
Logger.print2("Samples: " + str(self._total_sample_count))
Logger.print2("")
if (self._total_sample_count >= self.init_samples):
self.replay_buffer_initialized = True
end_training = self.enable_testing()
if self._need_normalizer_update:
self._update_normalizers()
self._need_normalizer_update = self.normalizer_samples > self._total_sample_count
if end_training:
self._init_mode_train_end()
return
def load_model(self, in_path):
with self.sess.as_default(), self.graph.as_default():
self.saver.restore(self.sess, in_path)
self._load_normalizers()
Logger.print2('Model loaded from: ' + in_path)
return