def __init__(self, env_type='train', sample_all=False):
assert env_type == 'train' or env_type == 'test'
Serializable.quick_init(self, locals())
cls_dict = {}
args_kwargs = {}
for k in HARD_MODE_CLS_DICT.keys():
for task in HARD_MODE_CLS_DICT[k].keys():
cls_dict[task] = HARD_MODE_CLS_DICT[k][task]
args_kwargs[task] = HARD_MODE_ARGS_KWARGS[k][task]
assert len(cls_dict.keys()) == 50
super().__init__(
task_env_cls_dict=cls_dict,
task_args_kwargs=args_kwargs,
sample_goals=False,
obs_type='with_goal_id',
sample_all=sample_all,)
goals_dict = {
t: [e.goal.copy()]
for t, e in zip(self._task_names, self._task_envs)
}
self.discretize_goal_space(goals_dict)
assert self._fully_discretized
def __init__(self,
task_name,
env_type='train',
n_goals=50,
sample_all=False):
assert env_type == 'train' or env_type == 'test'
Serializable.quick_init(self, locals())
if task_name in HARD_MODE_CLS_DICT['train']:
cls_dict = {task_name: HARD_MODE_CLS_DICT['train'][task_name]}
args_kwargs = {
task_name: HARD_MODE_ARGS_KWARGS['train'][task_name]
}
elif task_name in HARD_MODE_CLS_DICT['test']:
cls_dict = {task_name: HARD_MODE_CLS_DICT['test'][task_name]}
args_kwargs = {task_name: HARD_MODE_ARGS_KWARGS['test'][task_name]}
else:
raise NotImplementedError
super().__init__(task_env_cls_dict=cls_dict,
task_args_kwargs=args_kwargs,
sample_goals=True,
obs_type='plain',
sample_all=sample_all)
goals = self.active_env.sample_goals_(n_goals)
self.discretize_goal_space({task_name: goals})
def __init__(self,
task_env_cls=None,
task_args=None,
task_kwargs=None,):
Serializable.quick_init(self, locals())
self._task_envs = [
task_env_cls(*t_args, **t_kwargs)
for t_args, t_kwargs in zip(task_args, task_kwargs)
]
self._active_task = None
def __init__(self, env_type='train', sample_all=False):
assert env_type == 'train' or env_type == 'test'
Serializable.quick_init(self, locals())
cls_dict = DEBUG_MODE_CLS_DICT[env_type]
args_kwargs = DEBUG_MODE_ARGS_KWARGS[env_type]
super().__init__(task_env_cls_dict=cls_dict,
task_args_kwargs=args_kwargs,
sample_goals=True,
obs_type='plain',
sample_all=sample_all)
def __init__(
self,
task_env_cls_dict,
task_args_kwargs,
sample_all=True,
sample_goals=False,
obs_type='plain',
repeat_times=1,
):
Serializable.quick_init(self, locals())
super().__init__(task_env_cls_dict, task_args_kwargs, sample_all,
sample_goals, obs_type)
self.train_mode = True
self.repeat_times = repeat_times
def __init__(
self,
task_env_cls_dict,
task_args_kwargs,
sample_all=True,
sample_goals=False,
obs_type='plain',
):
Serializable.quick_init(self, locals())
assert len(task_env_cls_dict.keys()) == len(task_args_kwargs.keys())
assert len(task_env_cls_dict.keys()) >= 1
for k in task_env_cls_dict.keys():
assert k in task_args_kwargs
self._task_envs = []
self._task_names = []
self._sampled_all = sample_all
self._sample_goals = sample_goals
self._obs_type = obs_type
for task, env_cls in task_env_cls_dict.items():
task_args = task_args_kwargs[task]['args']
task_kwargs = task_args_kwargs[task]['kwargs']
task_env = env_cls(*task_args, **task_kwargs)
# this multitask env only accept plain observations
# since it handles all the observation augmentations
assert task_env.obs_type == 'plain'
self._task_envs.append(task_env)
self._task_names.append(task)
# If key (taskname) is in this `self._discrete_goals`, then this task are seen
# to be using a discrete goal space. This wrapper will
# set the property discrete_goal_space as True, update the goal_space
# and the sample_goals method will sample from a discrete space.
self._discrete_goals = dict()
self._env_discrete_index = {
task: i
for i, task in enumerate(self._task_names)
}
self._fully_discretized = True if not sample_goals else False
self._n_discrete_goals = len(task_env_cls_dict.keys())
self._active_task = 0
self._check_env_list()
def __init__(self, env_type='train', sample_all=False):
assert env_type == 'train' or env_type == 'test'
Serializable.quick_init(self, locals())
super().__init__(
task_env_cls_dict=EASY_MODE_CLS_DICT,
task_args_kwargs=EASY_MODE_ARGS_KWARGS,
sample_goals=False,
obs_type='with_goal_id',
sample_all=sample_all,
)
goals_dict = {
t: [e.goal.copy()]
for t, e in zip(self._task_names, self._task_envs)
}
self.discretize_goal_space(goals_dict)
assert self._fully_discretized
def __init__(
self,
env,
obs_means=None,
obs_stds=None,
obs_to_normalize_keys=['observation'],
):
# self._wrapped_env needs to be called first because
# Serializable.quick_init calls getattr, on this class. And the
# implementation of getattr (see below) calls self._wrapped_env.
# Without setting this first, the call to self._wrapped_env would call
# getattr again (since it's not set yet) and therefore loop forever.
# Or else serialization gets delegated to the wrapped_env. Serialize
# this env separately from the wrapped_env.
self._wrapped_env = env
Serializable.quick_init(self, locals())
ProxyEnv.__init__(self, env)
self._should_normalize = not (obs_means is None and obs_stds is None)
num_obs_types = len(obs_to_normalize_keys)
if self._should_normalize:
if obs_means is None:
obs_means = dict()
for key in self.obs_to_normalize_keys:
obs_means[key] = np.zeros_like(env.observation_space[key].low)
else:
obs_means = dict()
for key in self.obs_to_normalize_keys:
obs_means[key] = np.array(obs_means[key])
if obs_stds is None:
obs_stds = dict()
for key in self.obs_to_normalize_keys:
obs_stds[key] = np.zeros_like(env.observation_space[key].low)
else:
obs_stds = dict()
for key in self.obs_to_normalize_keys:
obs_stds[key] = np.array(obs_stds[key])
self._obs_means = obs_means
self._obs_stds = obs_stds
ub = np.ones(self._wrapped_env.action_space.shape)
self.action_space = Box(-1 * ub, ub)
self.obs_to_normalize_keys=obs_to_normalize_keys
def __init__(self,
env_type='train',
n_tasks=2,
randomize_tasks=True,
sample_all=False):
self._serializable_initialized = True
assert env_type == 'train' or env_type == 'test'
Serializable.quick_init(self, locals())
hard_cls_dict = dict(train=dict(
(k, HARD_MODE_CLS_DICT['train'][k])
for k in ('push-v1', 'button-press-v1', 'sweep-into-v1',
'plate-slide-v1')),
test=dict((m, HARD_MODE_CLS_DICT['train'][m])
for m in ('coffee-button-v1',
'drawer-close-v1')))
hard_args_dict = dict(train=dict(
(k, HARD_MODE_ARGS_KWARGS['train'][k])
for k in ('push-v1', 'button-press-v1', 'sweep-into-v1',
'plate-slide-v1')),
test=dict((m, HARD_MODE_ARGS_KWARGS['train'][m])
for m in ('coffee-button-v1',
'drawer-close-v1')))
cls_dict = hard_cls_dict[env_type]
args_kwargs = hard_args_dict[env_type]
super().__init__(task_env_cls_dict=cls_dict,
task_args_kwargs=args_kwargs,
sample_goals=True,
obs_type='plain',
sample_all=sample_all)
##self._max_plain_dim = 9
#ML1.__init__(self, task_name=task_name, env_type=env_type, n_goals=50)
#def initsample(self, n_tasks,randomize_tasks=True):
self.tasks = self.sample_tasks(n_tasks)
self.reset_task(0)
