def main():
args = parser.parse_args()
if args.on_server:
# matplotlib without monitor
matplotlib.use('Agg')
# pygame without monitor
os.environ['SDL_VIDEODRIVER'] = 'dummy'
#####for the logger
ts = time.time()
st = datetime.datetime.fromtimestamp(ts).strftime('%Y-%m-%d_%H:%M:%S')
###################
if not args.save_folder:
print('Provide save folder.')
exit()
policy_net_dims = '-policy_net-'
for dim in args.policy_net_hidden_dims:
policy_net_dims += str(dim)
policy_net_dims += '-'
reward_net_dims = '-reward_net-'
for dim in args.reward_net_hidden_dims:
reward_net_dims += str(dim)
reward_net_dims += '-'
parent_dir = './results/' + str(
args.save_folder) + st + policy_net_dims + reward_net_dims
to_save = './results/'+str(args.save_folder)+st+policy_net_dims + reward_net_dims + \
'-reg-'+str(args.regularizer)+ \
'-seed-'+str(args.seed)+'-lr-'+str(args.lr_irl)
log_file = 'Experiment_info.txt'
experiment_logger = Logger(to_save, log_file)
experiment_logger.log_header('Arguments for the experiment :')
experiment_logger.log_info(vars(args))
#from rlmethods.rlutils import LossBasedTermination
#for rl
from rlmethods.b_actor_critic import ActorCritic
from rlmethods.soft_ac_pi import SoftActorCritic
from rlmethods.rlutils import ReplayBuffer
#for irl
from irlmethods.deep_maxent import DeepMaxEnt
import irlmethods.irlUtils as irlUtils
from featureExtractor.gridworld_featureExtractor import OneHot, LocalGlobal, SocialNav, FrontBackSideSimple
agent_width = 10
step_size = 2
obs_width = 10
grid_size = 10
if args.feat_extractor is None:
print('Feature extractor missing.')
exit()
#check for the feature extractor being used
#initialize feature extractor
if args.feat_extractor == 'Onehot':
feat_ext = OneHot(grid_rows=10, grid_cols=10)
if args.feat_extractor == 'SocialNav':
feat_ext = SocialNav()
if args.feat_extractor == 'FrontBackSideSimple':
feat_ext = FrontBackSideSimple(
thresh1=1,
thresh2=2,
thresh3=3,
thresh4=4,
step_size=step_size,
agent_width=agent_width,
obs_width=obs_width,
)
if args.feat_extractor == 'LocalGlobal':
feat_ext = LocalGlobal(
window_size=5,
grid_size=grid_size,
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
)
if args.feat_extractor == 'DroneFeatureSAM1':
feat_ext = DroneFeatureSAM1(agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
thresh1=5,
thresh2=10)
if args.feat_extractor == 'DroneFeatureRisk':
feat_ext = DroneFeatureRisk(agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
thresh1=15,
thresh2=30)
if args.feat_extractor == 'DroneFeatureRisk_v2':
feat_ext = DroneFeatureRisk_v2(agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
thresh1=15,
thresh2=30)
if args.feat_extractor == 'DroneFeatureRisk_speed':
feat_ext = DroneFeatureRisk_speed(agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
thresh1=10,
thresh2=15)
if args.feat_extractor == 'DroneFeatureRisk_speedv2':
feat_ext = DroneFeatureRisk_speedv2(agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
thresh1=18,
thresh2=30)
experiment_logger.log_header('Parameters of the feature extractor :')
experiment_logger.log_info(feat_ext.__dict__)
#initialize the environment
if not args.dont_save and args.save_folder is None:
print('Specify folder to save the results.')
exit()
'''
environment can now initialize without an annotation file
if args.annotation_file is None:
print('Specify annotation file for the environment.')
exit()
'''
if args.exp_trajectory_path is None:
print('Specify expert trajectory folder.')
exit()
#**set is_onehot to false
goal_state = np.asarray([1, 5])
'''
env = GridWorld(display=args.render, is_onehot= False,is_random=False,
rows =10,
cols =10,
seed = 7,
obstacles = [np.asarray([5,5])],
goal_state = np.asarray([1,5]))
'''
env = GridWorld(display=args.render,
is_random=True,
rows=576,
cols=720,
agent_width=agent_width,
step_size=step_size,
obs_width=obs_width,
width=grid_size,
subject=args.subject,
annotation_file=args.annotation_file,
goal_state=goal_state,
step_wrapper=utils.step_wrapper,
seed=args.seed,
replace_subject=args.replace_subject,
segment_size=args.segment_size,
external_control=True,
continuous_action=True,
reset_wrapper=utils.reset_wrapper,
consider_heading=True,
is_onehot=False)
experiment_logger.log_header('Environment details :')
experiment_logger.log_info(env.__dict__)
#CHANGE HEREq
#CHANGE HERE
#initialize loss based termination
# intialize RL method
#CHANGE HERE
replay_buffer = ReplayBuffer(args.replay_buffer_size)
tbx_writer = SummaryWriter(to_save)
rl_method = SoftActorCritic(
env,
replay_buffer,
feat_ext,
buffer_sample_size=args.replay_buffer_sample_size,
tbx_writer=tbx_writer,
entropy_tuning=True,
tau=0.005,
log_alpha=args.log_alpha,
entropy_target=args.entropy_target,
render=args.render,
checkpoint_interval=100000000,
play_interval=args.play_interval,
)
print("RL method initialized.")
print(rl_method.policy)
experiment_logger.log_header('Details of the RL method :')
experiment_logger.log_info(rl_method.__dict__)
# initialize IRL method
#CHANGE HERE
trajectory_path = args.exp_trajectory_path
if args.scale_svf is None:
scale = False
if args.scale_svf:
scale = args.scale_svf
irl_method = DeepMaxEnt(trajectory_path,
rlmethod=rl_method,
rl_episodes=args.rl_episodes,
env=env,
iterations=args.irl_iterations,
on_server=args.on_server,
l1regularizer=args.regularizer,
learning_rate=args.lr_irl,
seed=args.seed,
graft=False,
scale_svf=scale,
rl_max_ep_len=args.max_episode_length,
hidden_dims=args.reward_net_hidden_dims,
clipping_value=args.clipping_value,
enumerate_all=True,
save_folder=parent_dir)
print("IRL method intialized.")
print(irl_method.reward)
experiment_logger.log_header('Details of the IRL method :')
experiment_logger.log_info(irl_method.__dict__)
irl_method.train()
if not args.dont_save:
pass
def main():
args = parser.parse_args()
experiment_logger = Logger('temp_save.txt')
experiment_logger.log_header('Arguments for the experiment :')
experiment_logger.log_info(vars(args))
mp.set_start_method('spawn')
if args.render:
from envs.gridworld import GridWorld
else:
from envs.gridworld_clockless import GridWorldClockless as GridWorld
agent_width = 10
step_size = 10
obs_width = 10
grid_size = 10
if args.feat_extractor == 'Onehot':
feat_ext = OneHot(grid_rows=10, grid_cols=10)
if args.feat_extractor == 'SocialNav':
feat_ext = SocialNav(fieldList=['agent_state', 'goal_state'])
if args.feat_extractor == 'FrontBackSideSimple':
feat_ext = FrontBackSideSimple(
thresh1=1,
thresh2=2,
thresh3=3,
thresh4=4,
step_size=step_size,
agent_width=agent_width,
obs_width=obs_width,
)
if args.feat_extractor == 'LocalGlobal':
feat_ext = LocalGlobal(
window_size=3,
grid_size=grid_size,
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
)
experiment_logger.log_header('Parameters of the feature extractor :')
experiment_logger.log_info(feat_ext.__dict__)
'''
np.asarray([2,2]),np.asarray([7,4]),np.asarray([3,5]),
np.asarray([5,2]),np.asarray([8,3]),np.asarray([7,5]),
np.asarray([3,3]),np.asarray([3,7]),np.asarray([5,7])
'''
env = GridWorld(display=args.render,
is_onehot=False,
is_random=True,
rows=100,
agent_width=agent_width,
step_size=step_size,
obs_width=obs_width,
width=grid_size,
cols=100,
seed=7,
buffer_from_obs=0,
obstacles=3,
goal_state=np.asarray([5, 5]))
experiment_logger.log_header('Environment details :')
experiment_logger.log_info(env.__dict__)
model = ActorCritic(env,
feat_extractor=feat_ext,
gamma=0.99,
log_interval=100,
max_ep_length=40,
hidden_dims=args.policy_net_hidden_dims,
max_episodes=4000)
experiment_logger.log_header('Details of the RL method :')
experiment_logger.log_info(model.__dict__)
pdb.set_trace()
if args.policy_path is not None:
model.policy.load(args.policy_path)
if not args.play and not args.play_user:
if args.reward_path is None:
model.train_mp(n_jobs=4)
else:
from irlmethods.deep_maxent import RewardNet
state_size = featExtract.extract_features(env.reset()).shape[0]
reward_net = RewardNet(state_size)
reward_net.load(args.reward_path)
print(next(reward_net.parameters()).is_cuda)
model.train_mp(reward_net=reward_net, n_jobs=4)
if not args.dont_save:
model.policy.save('./saved-models/')
if args.play:
env.tickSpeed = 15
assert args.policy_path is not None, 'pass a policy to play from!'
model.generate_trajectory(args.num_trajs,
'./trajs/ac_fbs_simple4_static_map7/')
if args.play_user:
env.tickSpeed = 200
model.generate_trajectory_user(args.num_trajs,
'./trajs/ac_gridworld_user/')
def main():
args = parser.parse_args()
if args.on_server:
# matplotlib without monitor
matplotlib.use('Agg')
# pygame without monitor
os.environ['SDL_VIDEODRIVER'] = 'dummy'
#####for the logger
base_folder = './results/' + str(args.save_folder) + '-reg-' + str(
args.regularizer) + '-seed-' + str(args.seed) + '-lr-' + str(args.lr)
log_file = 'Experiment_info.txt'
experiment_logger = Logger(base_folder, log_file)
experiment_logger.log_header('Arguments for the experiment :')
experiment_logger.log_info(vars(args))
from rlmethods.rlutils import LossBasedTermination
from rlmethods.b_actor_critic import ActorCritic
from irlmethods.deep_maxent import DeepMaxEnt
import irlmethods.irlUtils as irlUtils
from featureExtractor.gridworld_featureExtractor import OneHot, LocalGlobal, SocialNav, FrontBackSideSimple
agent_width = 10
step_size = 10
obs_width = 10
grid_size = 10
if args.feat_extractor is None:
print('Feature extractor missing.')
exit()
#check for the feature extractor being used
#initialize feature extractor
if args.feat_extractor == 'Onehot':
feat_ext = OneHot(grid_rows=10, grid_cols=10)
if args.feat_extractor == 'SocialNav':
feat_ext = SocialNav()
if args.feat_extractor == 'FrontBackSideSimple':
feat_ext = FrontBackSideSimple(
thresh1=1,
thresh2=2,
thresh3=3,
thresh4=4,
step_size=step_size,
agent_width=agent_width,
obs_width=obs_width,
)
if args.feat_extractor == 'LocalGlobal':
feat_ext = LocalGlobal(
window_size=5,
grid_size=grid_size,
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
)
experiment_logger.log_header('Parameters of the feature extractor :')
experiment_logger.log_info(feat_ext.__dict__)
#initialize the environment
if not args.dont_save and args.save_folder is None:
print('Specify folder to save the results.')
exit()
if args.annotation_file is None:
print('Specify annotation file for the environment.')
exit()
if args.exp_trajectory_path is None:
print('Specify expert trajectory folder.')
exit()
#**set is_onehot to false
goal_state = np.asarray([1, 5])
'''
env = GridWorld(display=args.render, is_onehot= False,is_random=False,
rows =10,
cols =10,
seed = 7,
obstacles = [np.asarray([5,5])],
goal_state = np.asarray([1,5]))
'''
env = GridWorld(display=args.render,
is_random=True,
rows=576,
cols=720,
agent_width=agent_width,
step_size=step_size,
obs_width=obs_width,
width=grid_size,
annotation_file=args.annotation_file,
goal_state=goal_state,
step_wrapper=utils.step_wrapper,
seed=args.seed,
reset_wrapper=utils.reset_wrapper,
is_onehot=False)
experiment_logger.log_header('Environment details :')
experiment_logger.log_info(env.__dict__)
#CHANGE HEREq
#CHANGE HERE
#initialize loss based termination
# intialize RL method
#CHANGE HERE
rlMethod = ActorCritic(env,
gamma=0.99,
log_interval=args.rl_log_intervals,
max_episodes=args.rl_episodes,
max_ep_length=args.rl_ep_length,
termination=None,
hidden_dims=args.reward_net_hidden_dims,
feat_extractor=feat_ext)
print("RL method initialized.")
print(rlMethod.policy)
if args.policy_path is not None:
rlMethod.policy.load(args.policy_path)
experiment_logger.log_header('Details of the RL method :')
experiment_logger.log_info(rlMethod.__dict__)
# initialize IRL method
#CHANGE HERE
trajectory_path = args.exp_trajectory_path
folder_to_save = '/results/' + args.save_folder
irlMethod = DeepMaxEnt(trajectory_path,
rlmethod=rlMethod,
env=env,
iterations=args.irl_iterations,
log_intervals=5,
on_server=args.on_server,
regularizer=args.regularizer,
learning_rate=args.lr,
graft=True,
hidden_dims=args.reward_net_hidden_dims,
save_folder=folder_to_save)
print("IRL method intialized.")
print(irlMethod.reward)
experiment_logger.log_header('Details of the IRL method :')
experiment_logger.log_info(irlMethod.__dict__)
rewardNetwork = irlMethod.train()
if not args.dont_save:
pass
def main():
args = parser.parse_args()
utils.seed_all(args.seed)
if args.on_server:
# matplotlib without monitor
matplotlib.use("Agg")
# pygame without monitor
os.environ["SDL_VIDEODRIVER"] = "dummy"
#####for the logger
ts = time.time()
st = datetime.datetime.fromtimestamp(ts).strftime("%Y-%m-%d_%H:%M:%S")
###################
if not args.save_folder:
print("Provide save folder.")
exit()
policy_net_dims = "-policy_net-"
for dim in args.policy_net_hidden_dims:
policy_net_dims += str(dim)
policy_net_dims += "-"
reward_net_dims = "-reward_net-"
for dim in args.reward_net_hidden_dims:
reward_net_dims += str(dim)
reward_net_dims += "-"
parent_dir = ("./results/" + str(args.save_folder) + st + policy_net_dims +
reward_net_dims)
to_save = ("./results/" + str(args.save_folder) + st + policy_net_dims +
reward_net_dims + "-reg-" + str(args.regularizer) + "-seed-" +
str(args.seed) + "-lr-" + str(args.lr_irl))
log_file = "Experiment_info.txt"
experiment_logger = Logger(to_save, log_file)
experiment_logger.log_header("Arguments for the experiment :")
repo = git.Repo(search_parent_directories=True)
experiment_logger.log_info({'From branch : ': repo.active_branch.name})
experiment_logger.log_info({'Commit number : ': repo.head.object.hexsha})
experiment_logger.log_info(vars(args))
# from rlmethods.rlutils import LossBasedTermination
# for rl
from rlmethods.b_actor_critic import ActorCritic
from rlmethods.soft_ac_pi import SoftActorCritic
from rlmethods.soft_ac import SoftActorCritic as QSAC
from rlmethods.rlutils import ReplayBuffer
# for irl
from irlmethods.deep_maxent import DeepMaxEnt
import irlmethods.irlUtils as irlUtils
from featureExtractor.gridworld_featureExtractor import (
OneHot,
LocalGlobal,
SocialNav,
FrontBackSideSimple,
)
agent_width = 10
step_size = 2
obs_width = 10
grid_size = 10
if args.feat_extractor is None:
print("Feature extractor missing.")
exit()
# check for the feature extractor being used
# initialize feature extractor
if args.feat_extractor == "Onehot":
feat_ext = OneHot(grid_rows=10, grid_cols=10)
if args.feat_extractor == "SocialNav":
feat_ext = SocialNav()
if args.feat_extractor == "FrontBackSideSimple":
feat_ext = FrontBackSideSimple(
thresh1=1,
thresh2=2,
thresh3=3,
thresh4=4,
step_size=step_size,
agent_width=agent_width,
obs_width=obs_width,
)
if args.feat_extractor == "LocalGlobal":
feat_ext = LocalGlobal(
window_size=5,
grid_size=grid_size,
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
)
if args.feat_extractor == "DroneFeatureSAM1":
feat_ext = DroneFeatureSAM1(
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
thresh1=5,
thresh2=10,
)
if args.feat_extractor == "DroneFeatureRisk":
feat_ext = DroneFeatureRisk(
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
thresh1=15,
thresh2=30,
)
if args.feat_extractor == "DroneFeatureRisk_v2":
feat_ext = DroneFeatureRisk_v2(
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
thresh1=15,
thresh2=30,
)
if args.feat_extractor == "DroneFeatureRisk_speed":
feat_ext = DroneFeatureRisk_speed(
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
thresh1=10,
thresh2=15,
)
if args.feat_extractor == "DroneFeatureRisk_speedv2":
feat_ext = DroneFeatureRisk_speedv2(
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
thresh1=18,
thresh2=30,
)
if args.feat_extractor == 'VasquezF1':
feat_ext = VasquezF1(agent_width * 6, 0.5, 1.0)
if args.feat_extractor == 'VasquezF2':
feat_ext = VasquezF1(agent_width * 6, 0.5, 1.0)
if args.feat_extractor == 'VasquezF3':
feat_ext = VasquezF3(agent_width)
if args.feat_extractor == "Fahad":
feat_ext = Fahad(36, 60, 0.5, 1.0)
if args.feat_extractor == "GoalConditionedFahad":
feat_ext = GoalConditionedFahad(36, 60, 0.5, 1.0)
experiment_logger.log_header("Parameters of the feature extractor :")
experiment_logger.log_info(feat_ext.__dict__)
# initialize the environment
if not args.dont_save and args.save_folder is None:
print("Specify folder to save the results.")
exit()
"""
environment can now initialize without an annotation file
if args.annotation_file is None:
print('Specify annotation file for the environment.')
exit()
"""
if args.exp_trajectory_path is None:
print("Specify expert trajectory folder.")
exit()
"""
env = GridWorld(display=args.render, is_onehot= False,is_random=False,
rows =10,
cols =10,
seed = 7,
obstacles = [np.asarray([5,5])],
goal_state = np.asarray([1,5]))
"""
env = GridWorld(
display=args.render,
is_random=True,
rows=576,
cols=720,
agent_width=agent_width,
step_size=step_size,
obs_width=obs_width,
width=grid_size,
subject=args.subject,
annotation_file=args.annotation_file,
goal_state=None,
step_wrapper=utils.step_wrapper,
seed=args.seed,
replace_subject=args.replace_subject,
segment_size=args.segment_size,
external_control=True,
continuous_action=False,
reset_wrapper=utils.reset_wrapper,
consider_heading=True,
is_onehot=False,
)
experiment_logger.log_header("Environment details :")
experiment_logger.log_info(env.__dict__)
# CHANGE HEREq
# CHANGE HERE
# initialize loss based termination
# intialize RL method
# CHANGE HERE
if args.rl_method == "ActorCritic":
rl_method = ActorCritic(
env,
feat_extractor=feat_ext,
gamma=1,
log_interval=args.rl_log_intervals,
max_episode_length=args.rl_ep_length,
hidden_dims=args.policy_net_hidden_dims,
save_folder=to_save,
lr=args.lr_rl,
max_episodes=args.rl_episodes,
)
if args.rl_method == "SAC":
if not env.continuous_action:
print("The action space needs to be continuous for SAC to work.")
exit()
replay_buffer = ReplayBuffer(args.replay_buffer_size)
rl_method = SoftActorCritic(
env,
replay_buffer,
feat_ext,
play_interval=500,
learning_rate=args.lr_rl,
buffer_sample_size=args.replay_buffer_sample_size,
)
if args.rl_method == "discrete_SAC":
if not isinstance(env.action_space, gym.spaces.Discrete):
print(
"discrete SAC requires a discrete action space environmnet to work."
)
exit()
replay_buffer = ReplayBuffer(args.replay_buffer_size)
rl_method = QSAC(
env,
replay_buffer,
feat_ext,
args.replay_buffer_sample_size,
learning_rate=args.lr_rl,
entropy_tuning=True,
entropy_target=0.3,
play_interval=args.play_interval,
)
print("RL method initialized.")
print(rl_method.policy)
if args.policy_path is not None:
rl_method.policy.load(args.policy_path)
experiment_logger.log_header("Details of the RL method :")
experiment_logger.log_info(rl_method.__dict__)
# initialize IRL method
# CHANGE HERE
trajectory_path = args.exp_trajectory_path
if args.scale_svf is None:
scale = False
if args.scale_svf:
scale = args.scale_svf
irl_method = DeepMaxEnt(
trajectory_path,
rlmethod=rl_method,
env=env,
iterations=args.irl_iterations,
on_server=args.on_server,
l1regularizer=args.regularizer,
learning_rate=args.lr_irl,
seed=args.seed,
graft=False,
scale_svf=scale,
hidden_dims=args.reward_net_hidden_dims,
clipping_value=args.clipping_value,
enumerate_all=True,
save_folder=parent_dir,
rl_max_ep_len=args.rl_ep_length,
rl_episodes=args.rl_episodes,
)
print("IRL method intialized.")
print(irl_method.reward)
experiment_logger.log_header("Details of the IRL method :")
experiment_logger.log_info(irl_method.__dict__)
smoothing_flag = False
if args.svf_smoothing:
smoothing_flag = True
irl_method.train(smoothing=smoothing_flag)
if not args.dont_save:
pass
def main():
#####for the logger
ts = time.time()
st = datetime.datetime.fromtimestamp(ts).strftime("%Y-%m-%d %H:%M:%S")
###################
args = parser.parse_args()
seed_all(args.seed)
if args.on_server:
matplotlib.use("Agg")
# pygame without monitor
os.environ["SDL_VIDEODRIVER"] = "dummy"
from matplotlib import pyplot as plt
mp.set_start_method("spawn")
from rlmethods.b_actor_critic import ActorCritic
from rlmethods.soft_ac import SoftActorCritic, QSoftActorCritic
from rlmethods.rlutils import ReplayBuffer
from envs.gridworld_drone import GridWorldDrone
from featureExtractor.drone_feature_extractor import (
DroneFeatureSAM1,
DroneFeatureOccup,
DroneFeatureRisk,
DroneFeatureRisk_v2,
VasquezF1,
VasquezF2,
VasquezF3,
Fahad,
GoalConditionedFahad,
)
from featureExtractor.gridworld_featureExtractor import (
FrontBackSide,
LocalGlobal,
OneHot,
SocialNav,
FrontBackSideSimple,
)
from featureExtractor.drone_feature_extractor import (
DroneFeatureRisk_speed,
DroneFeatureRisk_speedv2,
)
from featureExtractor.drone_feature_extractor import VasquezF1
save_folder = None
if not args.dont_save and not args.play:
if not args.save_folder:
print("Provide save folder.")
exit()
policy_net_dims = "-policy_net-"
for dim in args.policy_net_hidden_dims:
policy_net_dims += str(dim)
policy_net_dims += "-"
reward_net_dims = "-reward_net-"
for dim in args.reward_net_hidden_dims:
reward_net_dims += str(dim)
reward_net_dims += "-"
save_folder = (
"./results/"
+ args.save_folder
+ st
+ args.feat_extractor
+ "-seed-"
+ str(args.seed)
+ policy_net_dims
+ reward_net_dims
+ "-total-ep-"
+ str(args.total_episodes)
+ "-max-ep-len-"
+ str(args.max_ep_length)
)
experiment_logger = Logger(save_folder, "experiment_info.txt")
experiment_logger.log_header("Arguments for the experiment :")
repo = git.Repo(search_parent_directories=True)
experiment_logger.log_info({'From branch : ' : repo.active_branch.name})
experiment_logger.log_info({'Commit number : ' : repo.head.object.hexsha})
experiment_logger.log_info(vars(args))
window_size = 9
step_size = 2
agent_width = 10
obs_width = 10
grid_size = 10
feat_ext = None
# initialize the feature extractor to be used
if args.feat_extractor == "Onehot":
feat_ext = OneHot(grid_rows=10, grid_cols=10)
if args.feat_extractor == "SocialNav":
feat_ext = SocialNav(fieldList=["agent_state", "goal_state"])
if args.feat_extractor == "FrontBackSideSimple":
feat_ext = FrontBackSideSimple(
thresh1=1,
thresh2=2,
thresh3=3,
thresh4=4,
step_size=step_size,
agent_width=agent_width,
obs_width=obs_width,
)
if args.feat_extractor == "LocalGlobal":
feat_ext = LocalGlobal(
window_size=11,
grid_size=grid_size,
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
)
if args.feat_extractor == "DroneFeatureSAM1":
feat_ext = DroneFeatureSAM1(
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
thresh1=15,
thresh2=30,
)
if args.feat_extractor == "DroneFeatureOccup":
feat_ext = DroneFeatureOccup(
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
window_size=window_size,
)
if args.feat_extractor == "DroneFeatureRisk":
feat_ext = DroneFeatureRisk(
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
show_agent_persp=False,
thresh1=15,
thresh2=30,
)
if args.feat_extractor == "DroneFeatureRisk_v2":
feat_ext = DroneFeatureRisk_v2(
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
show_agent_persp=False,
thresh1=15,
thresh2=30,
)
if args.feat_extractor == "DroneFeatureRisk_speed":
feat_ext = DroneFeatureRisk_speed(
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
show_agent_persp=False,
return_tensor=False,
thresh1=10,
thresh2=15,
)
if args.feat_extractor == "DroneFeatureRisk_speedv2":
feat_ext = DroneFeatureRisk_speedv2(
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
show_agent_persp=False,
return_tensor=False,
thresh1=18,
thresh2=30,
)
if args.feat_extractor == "VasquezF1":
feat_ext = VasquezF1(agent_width * 6, 0.5, 1.0)
if args.feat_extractor == "VasquezF2":
feat_ext = VasquezF1(agent_width * 6, 0.5, 1.0)
if args.feat_extractor == "VasquezF3":
feat_ext = VasquezF3(agent_width)
if args.feat_extractor == "Fahad":
feat_ext = Fahad(36, 60, 0.5, 1.0)
if args.feat_extractor == "GoalConditionedFahad":
feat_ext = GoalConditionedFahad(36, 60, 0.5, 1.0)
if feat_ext is None:
print("Please enter proper feature extractor!")
exit()
# log feature extractor info
if not args.dont_save and not args.play:
experiment_logger.log_header("Parameters of the feature extractor :")
experiment_logger.log_info(feat_ext.__dict__)
# initialize the environment
if args.replace_subject:
replace_subject = True
else:
replace_subject = False
env = GridWorldDrone(
display=args.render,
is_onehot=False,
seed=args.seed,
obstacles=None,
show_trail=False,
is_random=True,
annotation_file=args.annotation_file,
subject=args.subject,
tick_speed=60,
obs_width=10,
step_size=step_size,
agent_width=agent_width,
replace_subject=replace_subject,
segment_size=args.segment_size,
external_control=True,
step_reward=0.001,
show_comparison=True,
consider_heading=True,
show_orientation=True,
# rows=200, cols=200, width=grid_size)
rows=576,
cols=720,
width=grid_size,
)
# env = gym.make('Acrobot-v1')
# log environment info
if not args.dont_save and not args.play:
experiment_logger.log_header("Environment details :")
experiment_logger.log_info(env.__dict__)
# initialize RL
if args.rl_method == "ActorCritic":
model = ActorCritic(
env,
feat_extractor=feat_ext,
gamma=1,
log_interval=100,
max_episode_length=args.max_ep_length,
hidden_dims=args.policy_net_hidden_dims,
save_folder=save_folder,
lr=args.lr,
entropy_coeff=args.entropy_coeff,
max_episodes=args.total_episodes,
)
if args.rl_method == "SAC":
replay_buffer = ReplayBuffer(args.replay_buffer_size)
model = SoftActorCritic(
env,
replay_buffer,
feat_ext,
buffer_sample_size=args.replay_buffer_sample_size,
entropy_tuning=True,
play_interval=args.play_interval,
entropy_target=args.entropy_target,
gamma=args.gamma,
learning_rate=args.lr,
)
if args.rl_method == "discrete_QSAC":
replay_buffer = ReplayBuffer(args.replay_buffer_size)
model = QSoftActorCritic(
env,
replay_buffer,
feat_ext,
buffer_sample_size=args.replay_buffer_sample_size,
entropy_tuning=True,
play_interval=args.play_interval,
entropy_target=args.entropy_target,
gamma=args.gamma,
learning_rate=args.lr,
)
# log RL info
if not args.dont_save and not args.play:
experiment_logger.log_header("Details of the RL method :")
experiment_logger.log_info(model.__dict__)
if args.policy_path is not None:
from debugtools import numericalSort
policy_file_list = []
reward_across_models = []
# print(args.policy_path)
if os.path.isfile(args.policy_path):
policy_file_list.append(args.policy_path)
if os.path.isdir(args.policy_path):
policy_names = glob.glob(os.path.join(args.policy_path, "*.pt"))
policy_file_list = sorted(policy_names, key=numericalSort)
xaxis = np.arange(len(policy_file_list))
if not args.play and not args.play_user:
# no playing of any kind, so training
if args.reward_path is None:
if args.policy_path:
model.policy.load(args.policy_path)
if args.rl_method == "SAC" or args.rl_method == "discrete_QSAC":
model.train(args.total_episodes, args.max_ep_length)
else:
model.train()
else:
from irlmethods.deep_maxent import RewardNet
state_size = feat_ext.extract_features(env.reset()).shape[0]
reward_net = RewardNet(state_size, args.reward_net_hidden_dims)
reward_net.load(args.reward_path)
print(next(reward_net.parameters()).is_cuda)
model.train(reward_net=reward_net)
if not args.dont_save:
model.policy.save(save_folder + "/policy-models/")
if args.play:
# env.tickSpeed = 15
from debugtools import compile_results
xaxis = []
counter = 1
plt.figure(0)
avg_reward_list = []
frac_good_run_list = []
print(policy_file_list)
for policy_file in policy_file_list:
print("Playing for policy :", policy_file)
model.policy.load(policy_file)
policy_folder = policy_file.strip().split("/")[0:-2]
save_folder = ""
for p in policy_folder:
save_folder = save_folder + p + "/"
print("The final save folder ", save_folder)
# env.tickSpeed = 10
assert args.policy_path is not None, "pass a policy to play from!"
if args.exp_trajectory_path is not None:
from irlmethods.irlUtils import calculate_expert_svf
expert_svf = calculate_expert_svf(
args.exp_trajectory_path,
max_time_steps=args.max_ep_length,
feature_extractor=feat_ext,
gamma=1,
)
# reward_across_models.append(model.generate_trajectory(args.num_trajs, args.render))
if args.exp_trajectory_path is None:
if args.dont_save:
rewards, state_info, sub_info = model.generate_trajectory(
args.num_trajs, args.render
)
else:
rewards, state_info, sub_info = model.generate_trajectory(
args.num_trajs,
args.render,
store_raw=args.store_raw_states,
path=save_folder + "/agent_generated_trajectories/",
)
else:
if args.dont_save:
rewards, state_info, sub_info = model.generate_trajectory(
args.num_trajs, args.render, expert_svf=expert_svf
)
else:
rewards, state_info, sub_info = model.generate_trajectory(
args.num_trajs,
args.render,
path=save_folder + "/agent_generated_trajectories/",
expert_svf=expert_svf,
)
avg_reward, good_run_frac = compile_results(
rewards, state_info, sub_info
)
avg_reward_list.append(avg_reward)
frac_good_run_list.append(good_run_frac)
plt.plot(avg_reward_list, c="r")
plt.plot(frac_good_run_list, c="g")
plt.draw()
plt.show()
if args.play_user:
env.tickSpeed = 200
model.generate_trajectory_user(
args.num_trajs, args.render, path="./user_generated_trajectories/"
)
def main():
#####for the logger
ts = time.time()
st = datetime.datetime.fromtimestamp(ts).strftime('%Y-%m-%d %H:%M:%S')
###################
args = parser.parse_args()
if args.on_server:
matplotlib.use('Agg')
# pygame without monitor
os.environ['SDL_VIDEODRIVER'] = 'dummy'
from matplotlib import pyplot as plt
mp.set_start_method('spawn')
from rlmethods.scott_SAC.SAC import SAC
from envs.gridworld_drone import GridWorldDrone
from featureExtractor.drone_feature_extractor import DroneFeatureSAM1, DroneFeatureOccup, DroneFeatureRisk, DroneFeatureRisk_v2
from featureExtractor.gridworld_featureExtractor import FrontBackSide, LocalGlobal, OneHot, SocialNav, FrontBackSideSimple
from featureExtractor.drone_feature_extractor import DroneFeatureRisk_speed
save_folder = None
if not args.dont_save and not args.play:
if not args.save_folder:
print('Provide save folder.')
exit()
policy_net_dims = '-policy_net-'
for dim in args.policy_net_hidden_dims:
policy_net_dims += str(dim)
policy_net_dims += '-'
reward_net_dims = '-reward_net-'
for dim in args.reward_net_hidden_dims:
reward_net_dims += str(dim)
reward_net_dims += '-'
save_folder = './results/'+ args.save_folder +st + args.feat_extractor + \
'-seed-'+str(args.seed) + policy_net_dims + reward_net_dims + \
'-total-ep-'+str(args.total_episodes)+'-max-ep-len-'+ str(args.max_ep_length)
experiment_logger = Logger(save_folder, 'experiment_info.txt')
experiment_logger.log_header('Arguments for the experiment :')
experiment_logger.log_info(vars(args))
window_size = 9
step_size = 2
agent_width = 10
obs_width = 10
grid_size = 10
feat_ext = None
#initialize the feature extractor to be used
if args.feat_extractor == 'Onehot':
feat_ext = OneHot(grid_rows=10, grid_cols=10)
if args.feat_extractor == 'SocialNav':
feat_ext = SocialNav(fieldList=['agent_state', 'goal_state'])
if args.feat_extractor == 'FrontBackSideSimple':
feat_ext = FrontBackSideSimple(
thresh1=1,
thresh2=2,
thresh3=3,
thresh4=4,
step_size=step_size,
agent_width=agent_width,
obs_width=obs_width,
)
if args.feat_extractor == 'LocalGlobal':
feat_ext = LocalGlobal(
window_size=11,
grid_size=grid_size,
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
)
if args.feat_extractor == 'DroneFeatureSAM1':
feat_ext = DroneFeatureSAM1(agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
thresh1=15,
thresh2=30)
if args.feat_extractor == 'DroneFeatureOccup':
feat_ext = DroneFeatureOccup(agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
window_size=window_size)
if args.feat_extractor == 'DroneFeatureRisk':
feat_ext = DroneFeatureRisk(agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
show_agent_persp=True,
thresh1=15,
thresh2=30)
if args.feat_extractor == 'DroneFeatureRisk_v2':
feat_ext = DroneFeatureRisk_v2(agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
show_agent_persp=True,
thresh1=15,
thresh2=30)
if args.feat_extractor == 'DroneFeatureRisk_speed':
feat_ext = DroneFeatureRisk_speed(agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
grid_size=grid_size,
show_agent_persp=False,
thresh1=10,
thresh2=15)
if feat_ext is None:
print('Please enter proper feature extractor!')
exit()
#log feature extractor info
if not args.dont_save and not args.play:
experiment_logger.log_header('Parameters of the feature extractor :')
experiment_logger.log_info(feat_ext.__dict__)
#initialize the environment
if args.replace_subject:
replace_subject = True
else:
replace_subject = False
env = GridWorldDrone(
display=args.render,
is_onehot=False,
seed=args.seed,
obstacles=None,
show_trail=False,
is_random=True,
annotation_file=args.annotation_file,
subject=args.subject,
tick_speed=60,
obs_width=10,
step_size=step_size,
agent_width=agent_width,
replace_subject=replace_subject,
segment_size=args.segment_size,
external_control=True,
step_reward=0.001,
show_comparison=True,
consider_heading=True,
show_orientation=True,
#rows=200, cols=300, width=grid_size)
rows=576,
cols=720,
width=grid_size)
#log environment info
if not args.dont_save and not args.play:
experiment_logger.log_header('Environment details :')
experiment_logger.log_info(env.__dict__)
#initialize RL
model = SAC(env,
feat_extractor=feat_ext,
log_interval=100,
max_ep_length=args.max_ep_length,
hidden_dims=args.policy_net_hidden_dims,
save_folder=save_folder,
max_episodes=args.total_episodes)
#log RL info
if not args.dont_save and not args.play:
experiment_logger.log_header('Details of the RL method :')
experiment_logger.log_info(model.__dict__)
if args.policy_path is not None:
from debugtools import numericalSort
policy_file_list = []
reward_across_models = []
if os.path.isfile(args.policy_path):
policy_file_list.append(args.policy_path)
if os.path.isdir(args.policy_path):
policy_names = glob.glob(os.path.join(args.policy_path, '*.pt'))
policy_file_list = sorted(policy_names, key=numericalSort)
xaxis = np.arange(len(policy_file_list))
if not args.play and not args.play_user:
#no playing of any kind, so training
if args.reward_path is None:
if args.policy_path:
model.policy.load(args.policy_path)
model.train()
else:
from irlmethods.deep_maxent import RewardNet
state_size = feat_ext.extract_features(env.reset()).shape[0]
reward_net = RewardNet(state_size, args.reward_net_hidden_dims)
reward_net.load(args.reward_path)
print(next(reward_net.parameters()).is_cuda)
model.train(reward_net=reward_net)
if not args.dont_save:
model.policy.save(save_folder + '/policy-models/')
if args.play:
#env.tickSpeed = 15
from debugtools import compile_results
xaxis = []
counter = 1
plt.figure(0)
avg_reward_list = []
frac_good_run_list = []
for policy_file in policy_file_list:
print('Playing for policy :', policy_file)
model.policy.load(policy_file)
policy_folder = policy_file.strip().split('/')[0:-2]
save_folder = ''
for p in policy_folder:
save_folder = save_folder + p + '/'
print('The final save folder ', save_folder)
#env.tickSpeed = 10
assert args.policy_path is not None, 'pass a policy to play from!'
if args.exp_trajectory_path is not None:
from irlmethods.irlUtils import calculate_expert_svf
expert_svf = calculate_expert_svf(
args.exp_trajectory_path,
max_time_steps=args.max_ep_length,
feature_extractor=feat_ext,
gamma=1)
#reward_across_models.append(model.generate_trajectory(args.num_trajs, args.render))
if args.exp_trajectory_path is None:
if args.dont_save:
rewards, state_info, sub_info = model.generate_trajectory(
args.num_trajs, args.render)
else:
rewards, state_info, sub_info = model.generate_trajectory(
args.num_trajs,
args.render,
path=save_folder + '/agent_generated_trajectories/')
else:
if args.dont_save:
rewards, state_info, sub_info = model.generate_trajectory(
args.num_trajs, args.render, expert_svf=expert_svf)
else:
rewards, state_info, sub_info = model.generate_trajectory(
args.num_trajs,
args.render,
path=save_folder + '/agent_generated_trajectories/',
expert_svf=expert_svf)
avg_reward, good_run_frac = compile_results(
rewards, state_info, sub_info)
#pdb.set_trace()
avg_reward_list.append(avg_reward)
frac_good_run_list.append(good_run_frac)
plt.plot(avg_reward_list, c='r')
plt.plot(frac_good_run_list, c='g')
plt.draw()
plt.show()
if args.play_user:
env.tickSpeed = 200
model.generate_trajectory_user(args.num_trajs,
args.render,
path='./user_generated_trajectories/')
def main():
args = parser.parse_args()
mp.set_start_method('spawn')
from envs.gridworld_drone import GridWorldDrone
agent_width = 10
step_size = 2
obs_width = 10
grid_size = 10
if args.feat_extractor == 'Onehot':
feat_ext = OneHot(grid_rows=10, grid_cols=10)
if args.feat_extractor == 'SocialNav':
feat_ext = SocialNav(fieldList=['agent_state', 'goal_state'])
if args.feat_extractor == 'FrontBackSideSimple':
feat_ext = FrontBackSideSimple(
thresh1=1,
thresh2=2,
thresh3=3,
thresh4=4,
step_size=step_size,
agent_width=agent_width,
obs_width=obs_width,
fieldList=['agent_state', 'goal_state', 'obstacles'])
if args.feat_extractor == 'LocalGlobal':
feat_ext = LocalGlobal(
window_size=3,
grid_size=grid_size,
agent_width=agent_width,
obs_width=obs_width,
step_size=step_size,
fieldList=['agent_state', 'goal_state', 'obstacles'])
#featExtract = OneHot(grid_rows=10,grid_cols=10)
#featExtract = FrontBackSideSimple(thresh1 = 1,fieldList = ['agent_state','goal_state','obstacles'])
#featExtract = SocialNav(fieldList = ['agent_state','goal_state'])
'''
np.asarray([2,2]),np.asarray([7,4]),np.asarray([3,5]),
np.asarray([5,2]),np.asarray([8,3]),np.asarray([7,5]),
np.asarray([3,3]),np.asarray([3,7]),np.asarray([5,7])
env = GridWorld(display=args.render, is_onehot= False,is_random=True,
rows=10, agent_width=agent_width,step_size=step_size,
obs_width=obs_width,width=grid_size,
cols=10,
seed = 7,
obstacles = '../envs/map3.jpg',
goal_state = np.asarray([5,5]))
'''
env = GridWorldDrone(display=args.render,
is_onehot=False,
seed=999,
obstacles=None,
show_trail=False,
is_random=False,
annotation_file=args.annotation_file,
subject=None,
tick_speed=90,
obs_width=10,
step_size=step_size,
agent_width=agent_width,
show_comparison=True,
rows=576,
cols=720,
width=grid_size)
model = ActorCritic(env,
feat_extractor=featExtract,
gamma=0.99,
log_interval=50,
max_ep_length=500,
max_episodes=2000)
if args.policy_path is not None:
model.policy.load(args.policy_path)
if not args.play and not args.play_user:
if args.reward_path is None:
model.train_mp(n_jobs=4)
else:
from irlmethods.deep_maxent import RewardNet
state_size = featExtract.extract_features(env.reset()).shape[0]
reward_net = RewardNet(state_size)
reward_net.load(args.reward_path)
print(next(reward_net.parameters()).is_cuda)
model.train_mp(reward_net=reward_net, n_jobs=4)
if not args.dont_save:
model.policy.save('./saved-models/')
if args.play:
#env.tickSpeed = 15
assert args.policy_path is not None, 'pass a policy to play from!'
model.generate_trajectory(
args.num_trajs, './trajs/ac_loc_glob_rectified_win_3_static_map3/')
if args.play_user:
env.tickSpeed = 200
model.generate_trajectory_user(args.num_trajs,
'./trajs/ac_gridworld_user/')