adding reacher as env

AcquistionFunctions/PreferenceExpectedImprovement.py

@@ -68,7 +68,7 @@ class PreferenceExpectedImprovement:
 
     def likelihood(self, preference):
         covariance_diag = np.ones((self.nr_dims,)) * self.initial_variance
-        covariance_diag[preference] = 0.1
+        covariance_diag[preference] = 0.05
 
         covariance = np.diag(covariance_diag)
 
@@ -77,7 +77,7 @@ class PreferenceExpectedImprovement:
     def update_proposal_model(self, preference_mean, preference_bool):
 
         covariance_diag = np.ones((self.nr_dims,)) * self.initial_variance
-        covariance_diag[preference_bool] = 0.1
+        covariance_diag[preference_bool] = 0.05
 
         preference_cov = np.diag(covariance_diag)
 
@@ -116,34 +116,38 @@ class PreferenceExpectedImprovement:
 
 
 if __name__ == '__main__':
-    acquisition = PreferenceExpectedImprovement(10, 10, 10e4, -1.0, 1.0, 5.0)
-    sample_res = acquisition.rejection_sampling()
-    print(f"finished: {sample_res}")
-    # acquisition = PreferenceExpectedImprovement(10, 2, 10e4, -1.0, 1.0, 10.0)
-    # mean_ = np.array([0.5, 0.23])
-    # preference_ = [False, True]
-    # likelihood_cov = acquisition.likelihood(preference_)
-    #
-    # acquisition.plot_2D(acquisition.proposal_mean, acquisition.proposal_cov)
-    # acquisition.plot_2D(mean_, likelihood_cov)
-    #
-    # acquisition.update_proposal_model(mean_, preference_)
-    # acquisition.plot_2D(acquisition.proposal_mean, acquisition.proposal_cov)
-    #
-    # mean2 = np.array([0.33, 0.24])
-    # preference2 = [True, False]
-    # likelihood_cov2 = acquisition.likelihood(preference2)
-    #
-    # acquisition.plot_2D(mean2, likelihood_cov2)
-    #
-    # acquisition.update_proposal_model(mean2, preference2)
-    # acquisition.plot_2D(acquisition.proposal_mean, acquisition.proposal_cov)
-    #
-    # mean2 = np.array([-0.66, -0.5])
-    # preference2 = [True, True]
-    # likelihood_cov2 = acquisition.likelihood(preference2)
-    #
-    # acquisition.plot_2D(mean2, likelihood_cov2)
-    #
-    # acquisition.update_proposal_model(mean2, preference2)
-    # acquisition.plot_2D(acquisition.proposal_mean, acquisition.proposal_cov)
+    # acquisition = PreferenceExpectedImprovement(10, 10, 10e4, -1.0, 1.0, 5.0)
+    # sample_res = acquisition.rejection_sampling()
+    # print(f"finished: {sample_res}")
+    acquisition = PreferenceExpectedImprovement(10, 2, 10e4, -1.0, 1.0, 10.0)
+    mean_ = np.array([0.5, 0.23])
+    preference_ = [False, True]
+    likelihood_cov = acquisition.likelihood(preference_)
+
+    acquisition.plot_2D(acquisition.proposal_mean, acquisition.proposal_cov)
+    acquisition.plot_2D(mean_, likelihood_cov)
+
+    acquisition.update_proposal_model(mean_, preference_)
+    acquisition.plot_2D(acquisition.proposal_mean, acquisition.proposal_cov)
+
+    mean2 = np.array([0.33, 0.24])
+    preference2 = [True, False]
+    likelihood_cov2 = acquisition.likelihood(preference2)
+
+    acquisition.plot_2D(mean2, likelihood_cov2)
+
+    acquisition.update_proposal_model(mean2, preference2)
+    acquisition.plot_2D(acquisition.proposal_mean, acquisition.proposal_cov)
+
+    mean2 = np.array([-0.66, -0.5])
+    preference2 = [False, False]
+    likelihood_cov2 = acquisition.likelihood(preference2)
+
+    acquisition.plot_2D(mean2, likelihood_cov2)
+
+    acquisition.update_proposal_model(mean2, preference2)
+    acquisition.update_proposal_model(mean2, preference2)
+    acquisition.update_proposal_model(mean2, preference2)
+    acquisition.update_proposal_model(mean2, preference2)
+    acquisition.update_proposal_model(mean2, preference2)
+    acquisition.plot_2D(acquisition.proposal_mean, acquisition.proposal_cov)

plotter/reward_plotter.py

@@ -35,11 +35,13 @@ def plot_csv(paths, x_axis, y_axis):
 
 
 if __name__ == '__main__':
-    filenames = ['cp-ei-bo--20-1687348670_183786.csv',
-                 'cp-pei-regular-20_0-20-1690217019_225133.csv',
+    filenames = ['cp-e150r10-bf15-base/cp-ei-random-1_0-15-1690282051_2959082.csv',
+                 'cp-e150r10-bf15-noshaping/cp-pei-random-0_95-15-1690276946_1944933.csv',
+                 'cp-e150r10-bf15-noshaping/cp-pei-regular-25_0-15-1690290021_6843266.csv',
+                 'cp-e150r10-bf15-noshaping/cp-pei-improvement-0_1-15-1690292664_0382216.csv',
                  ]
     home_dir = os.path.expanduser('~')
-    file_path = os.path.join(home_dir, 'Documents/IntRLResults/cp-e100r10-bf20')
+    file_path = os.path.join(home_dir, 'Documents/IntRLResults/CP-Results')
     paths = [os.path.join(file_path, filename) for filename in filenames]
     plot_csv(paths, 'Episodes', 'Reward')
     #

runner/BOReacher.py

@@ -0,0 +1,67 @@
+# Control Suite
+from dm_control import suite
+
+# General
+import copy
+import numpy as np
+
+# Graphics-related
+import matplotlib.pyplot as plt
+
+# Bayesian Optimization
+from BayesianOptimization.BOwithGym import BayesianOptimization
+
+import warnings
+from sklearn.exceptions import ConvergenceWarning
+
+warnings.filterwarnings("ignore", category=ConvergenceWarning)
+
+random_state = np.random.RandomState()
+env = suite.load('reacher', 'hard', task_kwargs={'random': random_state})
+
+nr_steps = 100
+nr_runs = 10
+iteration_steps = 50
+acquisition_fun = 'ei'
+
+# storage arrays
+finished_store = np.zeros((1, nr_runs))
+best_policy = np.zeros((nr_steps, nr_runs, 2))
+reward_store = np.zeros((iteration_steps, nr_runs))
+
+spec = env.action_spec()
+time_step = env.reset()
+
+def main():
+    global finished_store, best_policy, reward_store
+
+
+for i in range(nr_steps):
+    action = random_state.uniform(spec.minimum, spec.maximum, spec.shape)
+    time_step = env.step(action)
+
+    camera0 = env.physics.render(camera_id=0, height=400, width=600)
+    frames.append(camera0)  # Directly append the frame without any modification
+    rewards.append(time_step.reward)
+    observations.append(copy.deepcopy(time_step.observation))
+    ticks.append(env.physics.data.time)
+
+# Show video and plot reward and observations
+for i in range(len(frames)):
+    if i % 20 == 0:  # Display every 20th frame for example purposes
+        print(frames[i].shape)
+        fig, ax = plt.subplots(1, 1)
+        ax.imshow(frames[i])
+        ax.axis('off')  # Turn off the axis
+
+        # Remove any whitespace from the edges
+        ax.set_xticks([])
+        ax.set_yticks([])
+        plt.subplots_adjust(left=0, right=1, top=1, bottom=0, wspace=0, hspace=0)
+        plt.margins(0, 0)
+        plt.gca().xaxis.set_major_locator(plt.NullLocator())
+        plt.gca().yaxis.set_major_locator(plt.NullLocator())
+
+        plt.show()
+
+