def get_sonar_objects(request, result_base_folder, dcm, mem):
"""
Return a dictionary with several objects for
each X coordinate of all horizontal segments
"""
dico = {}
dico["Front_Sonar"] = Sonar(dcm, mem, "Front")
dico["Back_Sonar"] = Sonar(dcm, mem, "Back")
logger = tools.Logger()
dico["logger"] = logger
def fin():
"""Method executed after a joint test."""
result_file_path = "/".join([result_base_folder, "Sonar_Log"]) + ".csv"
logger.log_file_write(result_file_path)
request.addfinalizer(fin)
return dico
def get_accelerometer_objects(request, result_base_folder, dcm, mem):
"""
Return a dictionary with several objects for
each accelerometer of the inertial base
"""
dico = {}
dico["Acc_x"] = InertialSensorBase(dcm, mem, "AccelerometerX")
dico["Acc_y"] = InertialSensorBase(dcm, mem, "AccelerometerY")
dico["Acc_z"] = InertialSensorBase(dcm, mem, "AccelerometerZ")
logger = tools.Logger()
dico["logger"] = logger
def fin():
"""Method executed after a joint test."""
result_file_path = "/".join([result_base_folder, "Accelerometer_Log"
]) + ".csv"
logger.log_file_write(result_file_path)
request.addfinalizer(fin)
return dico
def get_all_inertialbase_objects(request, result_base_folder, dcm, mem):
"""
Return a dictionary with several objects for
each sensor value of the inertial base
"""
dico = {}
coord = ["X", "Y", "Z"]
for each in coord:
dico["Acc" + each] = InertialSensorBase(dcm, mem,
"Accelerometer" + each)
dico["Angle" + each] = InertialSensorBase(dcm, mem, "Angle" + each)
dico["Gyr" + each] = InertialSensorBase(dcm, mem, "Gyr" + each)
logger = tools.Logger()
dico["logger"] = logger
def fin():
"""Method executed after a joint test."""
result_file_path = "/".join([result_base_folder, "InertialBase_Log"
]) + ".csv"
logger.log_file_write(result_file_path)
request.addfinalizer(fin)
return dico
def main(logdir, config):
logdir = pathlib.Path(logdir).expanduser()
config.traindir = config.traindir or logdir / 'train_eps'
config.evaldir = config.evaldir or logdir / 'eval_eps'
config.steps //= config.action_repeat
config.eval_every //= config.action_repeat
config.log_every //= config.action_repeat
config.time_limit //= config.action_repeat
config.act = getattr(tf.nn, config.act)
if config.debug:
tf.config.experimental_run_functions_eagerly(True)
if config.gpu_growth:
message = 'No GPU found. To actually train on CPU remove this assert.'
assert tf.config.experimental.list_physical_devices('GPU'), message
for gpu in tf.config.experimental.list_physical_devices('GPU'):
tf.config.experimental.set_memory_growth(gpu, True)
assert config.precision in (16, 32), config.precision
if config.precision == 16:
prec.set_policy(prec.Policy('mixed_float16'))
print('Logdir', logdir)
logdir.mkdir(parents=True, exist_ok=True)
step = count_steps(config.traindir)
logger = tools.Logger(logdir, config.action_repeat * step)
print('Create envs.')
if config.offline_traindir:
directory = config.offline_traindir.format(**vars(config))
else:
directory = config.traindir
train_eps = tools.load_episodes(directory, limit=config.dataset_size)
if config.offline_evaldir:
directory = config.offline_evaldir.format(**vars(config))
else:
directory = config.evaldir
eval_eps = tools.load_episodes(directory, limit=1)
make = lambda mode: make_env(config, logger, mode, train_eps, eval_eps)
train_envs = [make('train') for _ in range(config.envs)]
eval_envs = [make('eval') for _ in range(config.envs)]
acts = train_envs[0].action_space
config.num_actions = acts.n if hasattr(acts, 'n') else acts.shape[0]
prefill = max(0, config.prefill - count_steps(config.traindir))
print(f'Prefill dataset ({prefill} steps).')
random_agent = lambda o, d, s: ([acts.sample() for _ in d], s)
tools.simulate(random_agent, train_envs, prefill)
tools.simulate(random_agent, eval_envs, episodes=1)
logger.step = config.action_repeat * count_steps(config.traindir)
print('Simulate agent.')
train_dataset = make_dataset(train_eps, config)
eval_dataset = iter(make_dataset(eval_eps, config))
agent = Dreamer(config, logger, train_dataset)
if (logdir / 'variables.pkl').exists():
agent.load(logdir / 'variables.pkl')
agent._should_pretrain._once = False
state = None
while agent._step.numpy().item() < config.steps:
logger.write()
print('Start evaluation.')
video_pred = agent._wm.video_pred(next(eval_dataset))
logger.video('eval_openl', video_pred)
eval_policy = functools.partial(agent, training=False)
tools.simulate(eval_policy, eval_envs, episodes=1)
print('Start training.')
state = tools.simulate(agent,
train_envs,
config.eval_every,
state=state)
agent.save(logdir / 'variables.pkl')
for env in train_envs + eval_envs:
try:
env.close()
except Exception:
pass