def train(self): cur_std = self.sigma0 cur_mean = self.policy.get_param_values() es = cma_es_lib.CMAEvolutionStrategy(cur_mean, cur_std) parallel_sampler.populate_task(self.env, self.policy) if self.plot: plotter.init_plot(self.env, self.policy) cur_std = self.sigma0 cur_mean = self.policy.get_param_values() itr = 0 while itr < self.n_itr and not es.stop(): if self.batch_size is None: # Sample from multivariate normal distribution. xs = es.ask() xs = np.asarray(xs) # For each sample, do a rollout. infos = (stateful_pool.singleton_pool.run_map( sample_return, [(x, self.max_path_length, self.discount) for x in xs])) else: cum_len = 0 infos = [] xss = [] done = False while not done: sbs = stateful_pool.singleton_pool.n_parallel * 2 # Sample from multivariate normal distribution. # You want to ask for sbs samples here. xs = es.ask(sbs) xs = np.asarray(xs) xss.append(xs) sinfos = stateful_pool.singleton_pool.run_map( sample_return, [(x, self.max_path_length, self.discount) for x in xs]) for info in sinfos: infos.append(info) cum_len += len(info['returns']) if cum_len >= self.batch_size: xs = np.concatenate(xss) done = True break # Evaluate fitness of samples (negative as it is minimization # problem). fs = -np.array([info['returns'][0] for info in infos]) # When batching, you could have generated too many samples compared # to the actual evaluations. So we cut it off in this case. xs = xs[:len(fs)] # Update CMA-ES params based on sample fitness. es.tell(xs, fs) logger.push_prefix('itr #%d | ' % itr) logger.record_tabular('Iteration', itr) logger.record_tabular('CurStdMean', np.mean(cur_std)) undiscounted_returns = np.array( [info['undiscounted_return'] for info in infos]) logger.record_tabular('AverageReturn', np.mean(undiscounted_returns)) logger.record_tabular('StdReturn', np.mean(undiscounted_returns)) logger.record_tabular('MaxReturn', np.max(undiscounted_returns)) logger.record_tabular('MinReturn', np.min(undiscounted_returns)) logger.record_tabular('AverageDiscountedReturn', np.mean(fs)) logger.record_tabular( 'AvgTrajLen', np.mean([len(info['returns']) for info in infos])) self.env.log_diagnostics(infos) self.policy.log_diagnostics(infos) logger.save_itr_params( itr, dict( itr=itr, policy=self.policy, env=self.env, )) logger.dump_tabular(with_prefix=False) if self.plot: plotter.update_plot(self.policy, self.max_path_length) logger.pop_prefix() # Update iteration. itr += 1 # Set final params. self.policy.set_param_values(es.result()[0])
def start_worker(self): self.sampler.start_worker() if self.plot: plotter.init_plot(self.env, self.policy)
def train(self): cur_std = self.sigma0 cur_mean = self.policy.get_param_values() es = cma_es_lib.CMAEvolutionStrategy( cur_mean, cur_std) parallel_sampler.populate_task(self.env, self.policy) if self.plot: plotter.init_plot(self.env, self.policy) cur_std = self.sigma0 cur_mean = self.policy.get_param_values() itr = 0 while itr < self.n_itr and not es.stop(): if self.batch_size is None: # Sample from multivariate normal distribution. xs = es.ask() xs = np.asarray(xs) # For each sample, do a rollout. infos = ( stateful_pool.singleton_pool.run_map(sample_return, [(x, self.max_path_length, self.discount) for x in xs])) else: cum_len = 0 infos = [] xss = [] done = False while not done: sbs = stateful_pool.singleton_pool.n_parallel * 2 # Sample from multivariate normal distribution. # You want to ask for sbs samples here. xs = es.ask(sbs) xs = np.asarray(xs) xss.append(xs) sinfos = stateful_pool.singleton_pool.run_map( sample_return, [(x, self.max_path_length, self.discount) for x in xs]) for info in sinfos: infos.append(info) cum_len += len(info['returns']) if cum_len >= self.batch_size: xs = np.concatenate(xss) done = True break # Evaluate fitness of samples (negative as it is minimization # problem). fs = - np.array([info['returns'][0] for info in infos]) # When batching, you could have generated too many samples compared # to the actual evaluations. So we cut it off in this case. xs = xs[:len(fs)] # Update CMA-ES params based on sample fitness. es.tell(xs, fs) logger.push_prefix('itr #%d | ' % itr) logger.record_tabular('Iteration', itr) logger.record_tabular('CurStdMean', np.mean(cur_std)) undiscounted_returns = np.array( [info['undiscounted_return'] for info in infos]) logger.record_tabular('AverageReturn', np.mean(undiscounted_returns)) logger.record_tabular('StdReturn', np.mean(undiscounted_returns)) logger.record_tabular('MaxReturn', np.max(undiscounted_returns)) logger.record_tabular('MinReturn', np.min(undiscounted_returns)) logger.record_tabular('AverageDiscountedReturn', np.mean(fs)) logger.record_tabular('AvgTrajLen', np.mean([len(info['returns']) for info in infos])) self.env.log_diagnostics(infos) self.policy.log_diagnostics(infos) logger.save_itr_params(itr, dict( itr=itr, policy=self.policy, env=self.env, )) logger.dump_tabular(with_prefix=False) if self.plot: plotter.update_plot(self.policy, self.max_path_length) logger.pop_prefix() # Update iteration. itr += 1 # Set final params. self.policy.set_param_values(es.result()[0]) parallel_sampler.terminate_task()
def start_worker(self): parallel_sampler.populate_task(self.env, self.policies, self.bnn) if self.plot: plotter.init_plot(self.env, self.policies)
def train(self): parallel_sampler.populate_task(self.env, self.policy) if self.plot: plotter.init_plot(self.env, self.policy) cur_std = self.init_std cur_mean = self.policy.get_param_values() # K = cur_mean.size n_best = max(1, int(self.n_samples * self.best_frac)) for itr in range(self.n_itr): # sample around the current distribution extra_var_mult = max(1.0 - itr / self.extra_decay_time, 0) sample_std = np.sqrt(np.square(cur_std) + np.square(self.extra_std) * extra_var_mult) if self.batch_size is None: criterion = 'paths' threshold = self.n_samples else: criterion = 'samples' threshold = self.batch_size infos = stateful_pool.singleton_pool.run_collect( _worker_rollout_policy, threshold=threshold, args=(dict(cur_mean=cur_mean, sample_std=sample_std, max_path_length=self.max_path_length, discount=self.discount, criterion=criterion),) ) xs = np.asarray([info[0] for info in infos]) paths = [info[1] for info in infos] fs = np.array([path['returns'][0] for path in paths]) print((xs.shape, fs.shape)) best_inds = (-fs).argsort()[:n_best] best_xs = xs[best_inds] cur_mean = best_xs.mean(axis=0) cur_std = best_xs.std(axis=0) best_x = best_xs[0] logger.push_prefix('itr #%d | ' % itr) logger.record_tabular('Iteration', itr) logger.record_tabular('CurStdMean', np.mean(cur_std)) undiscounted_returns = np.array([path['undiscounted_return'] for path in paths]) logger.record_tabular('AverageReturn', np.mean(undiscounted_returns)) logger.record_tabular('StdReturn', np.mean(undiscounted_returns)) logger.record_tabular('MaxReturn', np.max(undiscounted_returns)) logger.record_tabular('MinReturn', np.min(undiscounted_returns)) logger.record_tabular('AverageDiscountedReturn', np.mean(fs)) logger.record_tabular('AvgTrajLen', np.mean([len(path['returns']) for path in paths])) logger.record_tabular('NumTrajs', len(paths)) self.policy.set_param_values(best_x) self.env.log_diagnostics(paths) self.policy.log_diagnostics(paths) logger.save_itr_params(itr, dict( itr=itr, policy=self.policy, env=self.env, cur_mean=cur_mean, cur_std=cur_std, )) logger.dump_tabular(with_prefix=False) logger.pop_prefix() if self.plot: plotter.update_plot(self.policy, self.max_path_length) parallel_sampler.terminate_task()
def train(self): parallel_sampler.populate_task(self.env, self.policy) if self.plot: plotter.init_plot(self.env, self.policy) cur_std = self.init_std cur_mean = self.policy.get_param_values() # K = cur_mean.size n_best = max(1, int(self.n_samples * self.best_frac)) for itr in range(self.n_itr): # sample around the current distribution extra_var_mult = max(1.0 - itr / self.extra_decay_time, 0) sample_std = np.sqrt( np.square(cur_std) + np.square(self.extra_std) * extra_var_mult) if self.batch_size is None: criterion = 'paths' threshold = self.n_samples else: criterion = 'samples' threshold = self.batch_size infos = stateful_pool.singleton_pool.run_collect( _worker_rollout_policy, threshold=threshold, args=(dict(cur_mean=cur_mean, sample_std=sample_std, max_path_length=self.max_path_length, discount=self.discount, criterion=criterion, n_evals=self.n_evals), )) xs = np.asarray([info[0] for info in infos]) paths = [info[1] for info in infos] fs = np.array([path['returns'][0] for path in paths]) print((xs.shape, fs.shape)) best_inds = (-fs).argsort()[:n_best] best_xs = xs[best_inds] cur_mean = best_xs.mean(axis=0) cur_std = best_xs.std(axis=0) best_x = best_xs[0] logger.push_prefix('itr #%d | ' % itr) logger.record_tabular('Iteration', itr) logger.record_tabular('CurStdMean', np.mean(cur_std)) undiscounted_returns = np.array( [path['undiscounted_return'] for path in paths]) logger.record_tabular('AverageReturn', np.mean(undiscounted_returns)) logger.record_tabular('StdReturn', np.std(undiscounted_returns)) logger.record_tabular('MaxReturn', np.max(undiscounted_returns)) logger.record_tabular('MinReturn', np.min(undiscounted_returns)) logger.record_tabular('AverageDiscountedReturn', np.mean(fs)) logger.record_tabular('NumTrajs', len(paths)) paths = list(chain( *[d['full_paths'] for d in paths])) #flatten paths for the case n_evals > 1 logger.record_tabular( 'AvgTrajLen', np.mean([len(path['returns']) for path in paths])) self.policy.set_param_values(best_x) self.env.log_diagnostics(paths) self.policy.log_diagnostics(paths) logger.save_itr_params( itr, dict( itr=itr, policy=self.policy, env=self.env, cur_mean=cur_mean, cur_std=cur_std, )) logger.dump_tabular(with_prefix=False) logger.pop_prefix() if self.plot: plotter.update_plot(self.policy, self.max_path_length) parallel_sampler.terminate_task()
def start_worker(self): self.sampler.start_worker() if self.plot: plotter.init_plot(self.env, self.policy, self.max_path_length) # Call rollout once to display glfw window rollout(self.env, self.policy, animated=True, max_path_length=self.max_path_length)
def start_worker(self): parallel_sampler.populate_task(self.env, self.policy) if self.plot: plotter.init_plot(self.env, self.policy)