64 lines
2.4 KiB
Python
64 lines
2.4 KiB
Python
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import os
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import pickle
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from baselines import logger
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from mpi4py import MPI
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class Recorder(object):
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def __init__(self, nenvs, nlumps):
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self.nenvs = nenvs
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self.nlumps = nlumps
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self.nenvs_per_lump = nenvs // nlumps
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self.acs = [[] for _ in range(nenvs)]
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self.int_rews = [[] for _ in range(nenvs)]
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self.ext_rews = [[] for _ in range(nenvs)]
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self.ep_infos = [{} for _ in range(nenvs)]
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self.filenames = [self.get_filename(i) for i in range(nenvs)]
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if MPI.COMM_WORLD.Get_rank() == 0:
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logger.info("episode recordings saved to ", self.filenames[0])
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def record(self, timestep, lump, acs, infos, int_rew, ext_rew, news):
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for out_index in range(self.nenvs_per_lump):
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in_index = out_index + lump * self.nenvs_per_lump
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if timestep == 0:
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self.acs[in_index].append(acs[out_index])
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else:
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if self.is_first_episode_step(in_index):
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try:
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self.ep_infos[in_index]['random_state'] = infos[out_index]['random_state']
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except:
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pass
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self.int_rews[in_index].append(int_rew[out_index])
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self.ext_rews[in_index].append(ext_rew[out_index])
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if news[out_index]:
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self.ep_infos[in_index]['ret'] = infos[out_index]['episode']['r']
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self.ep_infos[in_index]['len'] = infos[out_index]['episode']['l']
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self.dump_episode(in_index)
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self.acs[in_index].append(acs[out_index])
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def dump_episode(self, i):
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episode = {'acs': self.acs[i],
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'int_rew': self.int_rews[i],
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'info': self.ep_infos[i]}
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filename = self.filenames[i]
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if self.episode_worth_saving(i):
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with open(filename, 'ab') as f:
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pickle.dump(episode, f, protocol=-1)
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self.acs[i].clear()
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self.int_rews[i].clear()
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self.ext_rews[i].clear()
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self.ep_infos[i].clear()
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def episode_worth_saving(self, i):
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return (i == 0 and MPI.COMM_WORLD.Get_rank() == 0)
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def is_first_episode_step(self, i):
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return len(self.int_rews[i]) == 0
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def get_filename(self, i):
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filename = os.path.join(logger.get_dir(), 'env{}_{}.pk'.format(MPI.COMM_WORLD.Get_rank(), i))
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return filename
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