def test_learning(self):
ob_space = self.env.real_observation_space
skill_space = self.env.skill_space
ob_skill_space = self.env.observation_space
ac_space = self.env.action_space
ob_dim = ob_skill_space.shape[0] - 4
f_dim = ob_dim
def discrim_f(x): return x
pol_net = PolNet(ob_skill_space, ac_space)
pol = GaussianPol(ob_skill_space, ac_space, pol_net)
qf_net1 = QNet(ob_skill_space, ac_space)
qf1 = DeterministicSAVfunc(ob_skill_space, ac_space, qf_net1)
targ_qf_net1 = QNet(ob_skill_space, ac_space)
targ_qf_net1.load_state_dict(qf_net1.state_dict())
targ_qf1 = DeterministicSAVfunc(ob_skill_space, ac_space, targ_qf_net1)
qf_net2 = QNet(ob_skill_space, ac_space)
qf2 = DeterministicSAVfunc(ob_skill_space, ac_space, qf_net2)
targ_qf_net2 = QNet(ob_skill_space, ac_space)
targ_qf_net2.load_state_dict(qf_net2.state_dict())
targ_qf2 = DeterministicSAVfunc(ob_skill_space, ac_space, targ_qf_net2)
qfs = [qf1, qf2]
targ_qfs = [targ_qf1, targ_qf2]
log_alpha = nn.Parameter(torch.ones(()))
high = np.array([np.finfo(np.float32).max]*f_dim)
f_space = gym.spaces.Box(-high, high, dtype=np.float32)
discrim_net = DiaynDiscrimNet(
f_space, skill_space, h_size=100, discrim_f=discrim_f)
discrim = DeterministicSVfunc(f_space, discrim_net)
optim_pol = torch.optim.Adam(pol_net.parameters(), 1e-4)
optim_qf1 = torch.optim.Adam(qf_net1.parameters(), 3e-4)
optim_qf2 = torch.optim.Adam(qf_net2.parameters(), 3e-4)
optim_qfs = [optim_qf1, optim_qf2]
optim_alpha = torch.optim.Adam([log_alpha], 1e-4)
optim_discrim = torch.optim.SGD(discrim.parameters(),
lr=0.001, momentum=0.9)
off_traj = Traj()
sampler = EpiSampler(self.env, pol, num_parallel=1)
epis = sampler.sample(pol, max_steps=200)
on_traj = Traj()
on_traj.add_epis(epis)
on_traj = ef.add_next_obs(on_traj)
on_traj = ef.compute_diayn_rews(
on_traj, lambda x: diayn_sac.calc_rewards(x, 4, discrim))
on_traj.register_epis()
off_traj.add_traj(on_traj)
step = on_traj.num_step
log_alpha = nn.Parameter(np.log(0.1)*torch.ones(())) # fix alpha
result_dict = diayn_sac.train(
off_traj, pol, qfs, targ_qfs, log_alpha,
optim_pol, optim_qfs, optim_alpha,
step, 128, 5e-3, 0.99, 1, discrim, 4, True)
discrim_losses = diayn.train(
discrim, optim_discrim, on_traj, 32, 100, 4)
del sampler
discrim_total_step = []
# train loop
while args.max_episodes > total_epi:
print('totalepi:', total_epi, 'mean_rew', mean_rew)
# sample trajectories
with measure('sample'):
epis = sampler.sample(pol, max_steps=args.max_steps_per_iter)
with measure('train'):
on_traj = Traj()
on_traj.add_epis(epis)
on_traj = ef.add_next_obs(on_traj)
on_traj = ef.compute_diayn_rews(
on_traj, lambda x: diayn_sac.calc_rewards(x, args.num_skill, discrim))
on_traj.register_epis()
off_traj.add_traj(on_traj)
total_epi += on_traj.num_epi
step = on_traj.num_step
total_step += step
log_alpha = nn.Parameter(
np.log(0.1)*torch.ones((), device=device)) # fix alpha
result_dict = diayn_sac.train(
off_traj,
pol, qfs, targ_qfs, log_alpha,
optim_pol, optim_qfs, optim_alpha,
step, args.batch_size,
args.tau, args.gamma, args.sampling,