def main():
if LooseVersion(torch.__version__) < LooseVersion("1.5.0"):
raise Exception("This script requires a PyTorch version >= 1.5.0")
parser = argparse.ArgumentParser()
parser.add_argument('-w',
'--weight_dir',
type=str,
default='',
help='path to trained')
parser.add_argument('-s',
'--step_to_load',
type=int,
default=0,
help='step checkpoint to load')
parser.add_argument('--gpu',
type=int,
default=0,
help='gpu id (-1 for cpu)')
args = parser.parse_args()
weight_dir = args.weight_dir
step_to_load = args.step_to_load
task_path = os.path.dirname(os.path.realpath(__file__))
rsc_path = task_path + "/../rsc"
save_path = os.path.join(
weight_dir, 'testing_' + str(step_to_load),
datetime.datetime.now().strftime('%Y-%m-%d_%H-%M-%S'))
os.makedirs(save_path)
for file in os.listdir(weight_dir):
if file.startswith('cfg_sac'):
cfg_abs_path = weight_dir + '/' + file
# config
cfg = YAML().load(open(cfg_abs_path, 'r'))
cfg['environment']['num_envs'] = 1
cfg['environment']['num_threads'] = 1
cfg['environment']['control_dt'] = cfg['testing']['control_dt']
cfg['environment']['render'] = cfg['testing']['render']
impl = anymal_example_env(rsc_path,
dump(cfg['environment'], Dumper=RoundTripDumper))
env = VecEnvPython(impl)
obs_space = env.observation_space
action_space = env.action_space
print("Observation space:", obs_space)
print("Action space:", action_space)
# seeding
seed = cfg['environment']['seed']
torch.manual_seed(seed)
utils.set_random_seed(seed) # Set a random seed used in PFRL
obs_size = obs_space.low.size
action_size = action_space.low.size
def squashed_diagonal_gaussian_head(x):
assert x.shape[-1] == action_size * 2
mean, log_scale = torch.chunk(x, 2, dim=1)
log_scale = torch.clamp(log_scale, -20.0, 2.0)
var = torch.exp(log_scale * 2)
base_distribution = distributions.Independent(
distributions.Normal(loc=mean, scale=torch.sqrt(var)), 1)
# cache_size=1 is required for numerical stability
return distributions.transformed_distribution.TransformedDistribution(
base_distribution,
[distributions.transforms.TanhTransform(cache_size=1)])
policy = nn.Sequential(
nn.Linear(obs_size, 256),
nn.ReLU(),
nn.Linear(256, 256),
nn.ReLU(),
nn.Linear(256, action_size * 2),
Lambda(squashed_diagonal_gaussian_head),
)
policy_optimizer = torch.optim.Adam(policy.parameters(),
lr=cfg['algorithm']['learning_rate'])
def make_q_func_with_optimizer():
q_func = nn.Sequential(
pfrl.nn.ConcatObsAndAction(),
nn.Linear(obs_size + action_size, 256),
nn.ReLU(),
nn.Linear(256, 256),
nn.ReLU(),
nn.Linear(256, 1),
)
torch.nn.init.xavier_uniform_(q_func[1].weight)
torch.nn.init.xavier_uniform_(q_func[3].weight)
torch.nn.init.xavier_uniform_(q_func[5].weight)
q_func_optimizer = torch.optim.Adam(
q_func.parameters(), lr=cfg['algorithm']['learning_rate'])
return q_func, q_func_optimizer
q_func1, q_func1_optimizer = make_q_func_with_optimizer()
q_func2, q_func2_optimizer = make_q_func_with_optimizer()
rbuf = replay_buffers.ReplayBuffer(cfg['algorithm']['replay_buffer_size'])
def burnin_action_func():
"""Select random actions until model is updated one or more times."""
return np.random.uniform(action_space.low,
action_space.high).astype(np.float32)
agent = pfrl.agents.SoftActorCritic(
policy,
q_func1,
q_func2,
policy_optimizer,
q_func1_optimizer,
q_func2_optimizer,
rbuf,
gamma=cfg['algorithm']['discount_factor'],
replay_start_size=cfg['algorithm']['replay_start_size'],
gpu=args.gpu,
minibatch_size=cfg['algorithm']['minibatch_size'],
burnin_action_func=burnin_action_func,
entropy_target=-action_size,
temperature_optimizer_lr=cfg['algorithm']['temperature_optimizer_lr'],
)
agent.load(weight_dir + '/' + str(step_to_load) + '_checkpoint')
if cfg['testing']['render']:
env.wrapper.showWindow()
if cfg['testing']['record_video']:
env.start_recording_video(save_path + '/test.mp4')
test_steps = int(cfg['testing']['seconds'] / cfg['testing']['control_dt'])
torch.manual_seed(cfg['environment']['seed'])
act = np.ndarray(shape=(1, env.wrapper.getActionDim()), dtype=np.float32)
_, _, _, new_info = env.step(act, visualize=cfg['testing']['render'])
ob = env.reset()
try:
for i in range(test_steps):
if i % 100 == 0:
env.reset()
with agent.eval_mode():
agent.act_deterministically = True
act = agent.batch_act(ob)
ob, rew, done, info = env.step(act,
visualize=cfg['testing']['render'])
except KeyboardInterrupt:
pass
finally:
if cfg['testing']['record_video']:
env.stop_recording_video()
def main():
parser = argparse.ArgumentParser()
parser.add_argument("--seed", type=int, default=0, help="Random seed [0, 2 ** 32)")
parser.add_argument('--cfg_name', type=str, default='/cfg_trpo.yaml', help='configuration file')
parser.add_argument('--gpu', type=int, default=0, help='gpu id (-1 for cpu)')
args = parser.parse_args()
cfg_name = args.cfg_name
device = args.gpu if args.gpu > 0 else 'cpu'
task_path = os.path.dirname(os.path.realpath(__file__))
rsc_path = task_path + "/../rsc"
env_path = task_path + "/.."
cfg_abs_path = task_path + "/.." + cfg_name
log_dir = os.path.join(task_path, 'runs/rsl_trpo')
save_items = [env_path+'/Environment.hpp',
cfg_abs_path,
os.path.realpath(__file__)]
cfg_saver = ConfigurationSaver(log_dir, save_items, args)
# config
cfg = YAML().load(open(cfg_abs_path, 'r'))
impl = anymal_example_env(rsc_path, dump(cfg['environment'], Dumper=RoundTripDumper))
env = VecEnvPython(impl)
n_steps = math.floor(cfg['environment']['max_time'] / cfg['environment']['control_dt'])
total_steps_per_episode = n_steps * cfg['environment']['num_envs']
torch.manual_seed(args.seed)
actor_net = rslgym_module.MLP([256, 128],
nn.Tanh,
env.observation_space.shape[0],
env.action_space.shape[0],
init_scale=1.4)
critic_net = rslgym_module.MLP([256, 128],
nn.Tanh,
env.observation_space.shape[0],
1,
init_scale=1.4)
actor = rslgym_module.Actor(actor_net,
rslgym_module.MultivariateGaussianDiagonalCovariance(env.action_space.shape[0], 1.0),
env.observation_space.shape[0], env.action_space.shape[0],
device)
critic = rslgym_module.Critic(critic_net,
env.observation_space.shape[0],
device)
agent = TRPO(
actor=actor,
critic=critic,
num_envs=cfg['environment']['num_envs'],
num_transitions_per_env=n_steps,
critic_learning_epochs=cfg['algorithm']['critic_learning']['epochs'],
critic_learning_rate=cfg['algorithm']['critic_learning']['learning_rate'],
critic_mini_batches=cfg['algorithm']['critic_learning']['num_mini_batches'],
max_d_kl=cfg['algorithm']['max_kld'],
gamma=cfg['algorithm']['discount_factor'],
lam=cfg['algorithm']['gae_lam'],
entropy_coef=cfg['algorithm']['entropy_coef'],
device=device,
log_dir=cfg_saver.data_dir,
mini_batch_sampling="in_order"
)
avg_rewards = []
for update in range(cfg['algorithm']['total_algorithm_updates']):
start = time.time()
obs = env.reset()
reward_ll_sum = 0
ep_len = np.zeros(shape=env.num_envs)
ep_len_collected = []
if update % cfg['environment']['eval_every_n'] == 0:
env.show_window()
if cfg['environment']['record_video']:
env.start_recording_video(cfg_saver.data_dir + "/" + str(update) + ".mp4")
for step in range(n_steps):
action_ll, _ = actor.sample(torch.from_numpy(obs).to(agent.device))
obs, reward_ll, dones, info = env.step(action_ll.cpu().detach().numpy(), True)
agent.save_training(cfg_saver.data_dir, update, update)
obs = env.reset()
if cfg['environment']['record_video']:
env.stop_recording_video()
env.hide_window()
for step in range(n_steps):
actor_obs = obs
critic_obs = obs
action = agent.observe(actor_obs)
obs, reward, dones, info = env.step(action, False)
agent.step(value_obs=critic_obs, rews=reward, dones=dones, infos=[])
reward_ll_sum = reward_ll_sum + sum(reward)
ep_len += 1
if any(dones):
ep_len_collected += list(ep_len[dones])
ep_len[dones] = 0
if step == n_steps - 1:
for length in list(ep_len):
if length == n_steps:
ep_len_collected.append(length)
agent.update(actor_obs=obs,
value_obs=obs,
log_this_iteration=update % 10 == 0,
update=update)
end = time.time()
actor.distribution.enforce_minimum_std((torch.ones(12) * 0.2).to(device))
average_ll_performance = reward_ll_sum / total_steps_per_episode
avg_rewards.append(average_ll_performance)
if len(ep_len_collected)> 0:
avg_ep_leng = sum(ep_len_collected)/len(ep_len_collected) #incorrect
else:
avg_ep_leng = n_steps
agent.writer.add_scalar('Policy/average_reward', average_ll_performance, update)
agent.writer.add_scalar('Training/elapsed_time_episode', end - start, update)
agent.writer.add_scalar('Training/fps', total_steps_per_episode / (end - start), update)
agent.writer.add_scalar('Policy/avg_ep_len', avg_ep_leng, update)
print('----------------------------------------------------')
print('{:>6}th iteration'.format(update))
print('{:<40} {:>6}'.format("average ll reward: ", '{:0.10f}'.format(average_ll_performance)))
print('{:<40} {:>6}'.format("avg_ep_len: ", '{:0.6f}'.format(avg_ep_leng)))
print('{:<40} {:>6}'.format("time elapsed in this iteration: ", '{:6.4f}'.format(end - start)))
print('{:<40} {:>6}'.format("fps: ", '{:6.0f}'.format(total_steps_per_episode / (end - start))))
print('{:<40} {:>6}'.format("std: ", '{}'.format(actor.distribution.log_std.exp())))
print('----------------------------------------------------\n')
def main():
if LooseVersion(torch.__version__) < LooseVersion("1.5.0"):
raise Exception("This script requires a PyTorch version >= 1.5.0")
# config file arg
parser = argparse.ArgumentParser()
parser.add_argument('--cfg_name',
type=str,
default='cfg_sac.yaml',
help='configuration file')
parser.add_argument("--demo",
action="store_true",
help="Just run evaluation, not training.")
parser.add_argument("--demo-record",
action="store_true",
help="Save video of demo.")
parser.add_argument("--load",
type=str,
default="",
help="Directory to load agent from.")
parser.add_argument(
"--log-interval",
type=int,
default=1000,
help=
"Interval in timesteps between outputting log messages during training",
)
parser.add_argument(
"--eval-interval",
type=int,
default=5000,
help="Interval in timesteps between evaluations.",
)
parser.add_argument(
"--checkpoint-interval",
type=int,
default=5000,
help="Interval in timesteps between saving checkpoint",
)
parser.add_argument(
"--eval-n-runs",
type=int,
default=10,
help="Number of episodes run for each evaluation.",
)
parser.add_argument('--gpu',
type=int,
default=0,
help='gpu id (-1 for cpu)')
args = parser.parse_args()
cfg_name = args.cfg_name
# folder config & logdir
task_path = os.path.dirname(os.path.realpath(__file__))
rsc_path = task_path + "/../rsc"
env_path = task_path + "/.."
cfg_abs_path = task_path + "/../" + cfg_name
log_dir = os.path.join(task_path, 'runs/pfrl_sac')
save_items = [env_path + '/Environment.hpp', cfg_abs_path, __file__]
if not args.demo:
cfg_saver = ConfigurationSaver(log_dir, save_items, args)
# environment
cfg = YAML().load(open(cfg_abs_path, 'r'))
impl = anymal_example_env(rsc_path,
dump(cfg['environment'], Dumper=RoundTripDumper))
env = VecEnvPython(impl)
steps_per_episode = math.floor(cfg['environment']['max_time'] /
cfg['environment']['control_dt'])
total_steps_per_iteration = steps_per_episode * cfg['environment'][
'num_envs']
total_training_steps = cfg['algorithm'][
'total_algorithm_updates'] * total_steps_per_iteration
obs_space = env.observation_space
action_space = env.action_space
print("Observation space:", obs_space)
print("Action space:", action_space)
# seeding
seed = cfg['environment']['seed']
torch.manual_seed(seed)
utils.set_random_seed(seed) # Set a random seed used in PFRL
obs_size = obs_space.low.size
action_size = action_space.low.size
def squashed_diagonal_gaussian_head(x):
assert x.shape[-1] == action_size * 2
mean, log_scale = torch.chunk(x, 2, dim=1)
log_scale = torch.clamp(log_scale, -20.0, 2.0)
var = torch.exp(log_scale * 2)
base_distribution = distributions.Independent(
distributions.Normal(loc=mean, scale=torch.sqrt(var)), 1)
# cache_size=1 is required for numerical stability
return distributions.transformed_distribution.TransformedDistribution(
base_distribution,
[distributions.transforms.TanhTransform(cache_size=1)])
policy = nn.Sequential(
nn.Linear(obs_size, 256),
nn.ReLU(),
nn.Linear(256, 256),
nn.ReLU(),
nn.Linear(256, action_size * 2),
Lambda(squashed_diagonal_gaussian_head),
)
torch.nn.init.xavier_uniform_(policy[0].weight)
torch.nn.init.xavier_uniform_(policy[2].weight)
torch.nn.init.xavier_uniform_(policy[4].weight, gain=1.0)
policy_optimizer = torch.optim.Adam(policy.parameters(),
lr=cfg['algorithm']['learning_rate'])
def make_q_func_with_optimizer():
q_func = nn.Sequential(
pfrl.nn.ConcatObsAndAction(),
nn.Linear(obs_size + action_size, 256),
nn.ReLU(),
nn.Linear(256, 256),
nn.ReLU(),
nn.Linear(256, 1),
)
torch.nn.init.xavier_uniform_(q_func[1].weight)
torch.nn.init.xavier_uniform_(q_func[3].weight)
torch.nn.init.xavier_uniform_(q_func[5].weight)
q_func_optimizer = torch.optim.Adam(
q_func.parameters(), lr=cfg['algorithm']['learning_rate'])
return q_func, q_func_optimizer
q_func1, q_func1_optimizer = make_q_func_with_optimizer()
q_func2, q_func2_optimizer = make_q_func_with_optimizer()
rbuf = replay_buffers.ReplayBuffer(cfg['algorithm']['replay_buffer_size'])
def burnin_action_func():
"""Select random actions until model is updated one or more times."""
return np.random.uniform(action_space.low,
action_space.high).astype(np.float32)
# Hyperparameters in http://arxiv.org/abs/1802.09477
agent = pfrl.agents.SoftActorCritic(
policy,
q_func1,
q_func2,
policy_optimizer,
q_func1_optimizer,
q_func2_optimizer,
rbuf,
gamma=cfg['algorithm']['discount_factor'],
replay_start_size=cfg['algorithm']['replay_start_size'],
gpu=args.gpu,
minibatch_size=cfg['algorithm']['minibatch_size'],
burnin_action_func=burnin_action_func,
entropy_target=-action_size,
temperature_optimizer_lr=cfg['algorithm']['temperature_optimizer_lr'],
)
# logger settings
logging.basicConfig(level=logging.INFO, stream=sys.stdout, format='')
logger = logging.getLogger(__name__)
if len(args.load) > 0:
agent.load(args.load)
if args.demo:
if cfg['environment']['render']:
env.show_window()
if args.demo_record:
env.start_recording_video(args.load + "/../demo_" +
os.path.basename(args.load) + ".mp4")
eval_stats = eval_performance_pfrl(
env=env,
agent=agent,
n_steps=None,
n_episodes=args.eval_n_runs,
max_episode_len=steps_per_episode,
visualize=cfg['environment']['render'],
)
if cfg['environment']['render']:
if args.demo_record:
env.stop_recording_video()
env.hide_window()
print("n_runs: {} mean: {} median: {} stdev {}".format(
args.eval_n_runs,
eval_stats["mean"],
eval_stats["median"],
eval_stats["stdev"],
))
else:
train_agent_batch_with_evaluation_pfrl(
agent=agent,
env=env,
outdir=cfg_saver.data_dir,
steps=total_training_steps,
eval_n_steps=steps_per_episode,
eval_n_episodes=None,
eval_interval=args.eval_interval,
log_interval=args.log_interval,
max_episode_len=steps_per_episode,
visualize=cfg['environment']['render'],
use_tensorboard=True,
checkpoint_freq=args.checkpoint_interval,
logger=logger)
#!/usr/bin/env python3
import os
import numpy as np
import ruamel.yaml
from rslgym.wrapper import VecEnvPython # import python wrapper interface
from rslgym_wrapper_anymal import anymal_example_env # import your environment
task_path = os.path.dirname(os.path.realpath(__file__))
rsc_path = task_path + "/../rsc"
cfg_abs_path = task_path + "/../cfg_ppo.yaml"
cfg = ruamel.yaml.YAML().load(open(cfg_abs_path, 'r'))
dumped_cfg = ruamel.yaml.dump(cfg['environment'], Dumper=ruamel.yaml.RoundTripDumper)
env = VecEnvPython(anymal_example_env(rsc_path, dumped_cfg))
print('action_space ', env.action_space)
print('obs_space ', env.observation_space)
print('num_envs ', env.num_envs)
render = cfg['environment']['render']
if render:
env.show_window()
obs = env.reset()
info = env.get_info()
# loop for env
for step in range(10000):
# action = np.zeros((env.num_envs, env.action_space.shape[0])).astype(np.float32)
action = np.random.randn(env.num_envs, env.action_space.shape[0]).astype(np.float32) * 0.1
obs, reward, dones, info = env.step(action, visualize=render)
def main():
parser = argparse.ArgumentParser()
parser.add_argument("--seed",
type=int,
default=0,
help="Random seed [0, 2 ** 32)")
parser.add_argument('-w',
'--weight_dir',
type=str,
default='',
help='path to trained')
parser.add_argument('-i',
'--iteration',
type=int,
default=0,
help='algo iteration')
parser.add_argument('-s',
'--seconds',
type=int,
default=10,
help='testing duration')
args = parser.parse_args()
weight_dir = args.weight_dir
iteration = args.iteration
task_path = os.path.dirname(os.path.realpath(__file__))
rsc_path = task_path + "/../rsc"
env_path = task_path + "/.."
save_path = os.path.join(
weight_dir, 'testing_' + str(iteration),
datetime.datetime.now().strftime('%Y-%m-%d_%H-%M-%S'))
os.makedirs(save_path)
for file in os.listdir(weight_dir):
if file.startswith('cfg_ppo'):
cfg_abs_path = weight_dir + '/' + file
# config
cfg = YAML().load(open(cfg_abs_path, 'r'))
cfg['environment']['num_envs'] = 1
impl = anymal_example_env(rsc_path,
dump(cfg['environment'], Dumper=RoundTripDumper))
env = VecEnvPython(impl)
obs_size = env.observation_space.shape[0]
action_size = env.action_space.shape[0]
actor_net = nn.Sequential(
rslgym_module.EmpiricalNormalization([obs_size]),
rslgym_module.MLP([256, 128],
nn.Tanh,
obs_size,
action_size,
init_scale=1.4))
actor = rslgym_module.Actor(
actor_net,
rslgym_module.MultivariateGaussianDiagonalCovariance(
env.action_space.shape[0], 1.0), env.observation_space.shape[0],
env.action_space.shape[0], 'cpu')
snapshot = torch.load(weight_dir + '/snapshot' + str(iteration) + '.pt')
actor.load_state_dict(snapshot['actor_state_dict'])
if cfg['environment']['render']:
env.wrapper.showWindow()
if cfg['environment']['record_video']:
env.start_recording_video(save_path + '/test.mp4')
test_steps = int(args.seconds / cfg['environment']['control_dt'])
torch.manual_seed(args.seed)
act = np.ndarray(shape=(1, env.wrapper.getActionDim()), dtype=np.float32)
_, _, _, new_info = env.step(act, visualize=cfg['environment']['render'])
ob = env.reset()
try:
for i in range(test_steps):
if i % 100 == 0:
env.reset()
act = actor.noiseless_action(ob).cpu().detach().numpy()
ob, rew, done, info = env.step(
act, visualize=cfg['environment']['render'])
except KeyboardInterrupt:
pass
finally:
if cfg['environment']['record_video']:
env.stop_recording_video()