'--render', '0',
'--gamma', '0.98',
'--n_episodes', '20',
'--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', '02',
]
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 == 'FetchPushMulti-v1':
path = './models_paper/obj/obj_push_7d_20ep/'
elif env_name == 'FetchPickAndPlaceMulti-v1':
path = './models_paper/obj/obj_pnp_7d_20ep/'
elif env_name == 'FetchSlideMulti-v1':
path = './models_paper/obj/obj_slide_7d_20ep/'
print('loading object model')
for i_exp in range(int(exp_config['start_n_exp']),
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_name_0[i_env].replace(
'Dense', '') == 'HandManipulateEggRotateMulti-v0':
path = './models_paper/obj/egg_rotate_7d_50ep/'
elif env_name_0[i_env].replace(
'Dense', '') == 'HandManipulateBlockRotateXYZMulti-v0':
path = './models_paper/obj/block_rotate_7d_50ep/'