316 lines
13 KiB
Python
316 lines
13 KiB
Python
#!/usr/bin/env python
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try:
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from OpenGL import GLU
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except:
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print("no OpenGL.GLU")
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import warnings
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warnings.filterwarnings('ignore', category=FutureWarning)
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warnings.filterwarnings('ignore', category=DeprecationWarning)
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import functools
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import os.path as osp
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from functools import partial
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import os
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import gym
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import dmc2gym
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import utils
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import tensorflow as tf
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from baselines import logger
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from baselines.bench import Monitor
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from baselines.common.atari_wrappers import NoopResetEnv, FrameStack
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from mpi4py import MPI
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from dynamic_bottleneck import DynamicBottleneck
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from cnn_policy import CnnPolicy
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from cppo_agent import PpoOptimizer
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from utils import random_agent_ob_mean_std
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from wrappers import MontezumaInfoWrapper, make_mario_env, make_robo_pong, make_robo_hockey, \
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make_multi_pong, AddRandomStateToInfo, MaxAndSkipEnv, ProcessFrame84, ExtraTimeLimit, StickyActionEnv
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import datetime
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from wrappers import PixelNoiseWrapper, RandomBoxNoiseWrapper
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import json
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getsess = tf.get_default_session
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def start_experiment(**args):
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make_env = partial(make_env_all_params, add_monitor=True, args=args)
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trainer = Trainer(make_env=make_env,
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num_timesteps=args['num_timesteps'], hps=args,
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envs_per_process=args['envs_per_process'])
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log, tf_sess, saver, logger_dir = get_experiment_environment(**args)
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with log, tf_sess:
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logdir = logger.get_dir()
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print("results will be saved to ", logdir)
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trainer.train(saver, logger_dir)
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class Trainer(object):
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def __init__(self, make_env, hps, num_timesteps, envs_per_process):
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self.make_env = make_env
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self.hps = hps
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self.envs_per_process = envs_per_process
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self.num_timesteps = num_timesteps
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self._set_env_vars()
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self.policy = CnnPolicy(scope='pol',
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ob_space=self.ob_space,
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ac_space=self.ac_space,
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hidsize=512,
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feat_dim=512,
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ob_mean=self.ob_mean,
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ob_std=self.ob_std,
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layernormalize=False,
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nl=tf.nn.leaky_relu)
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self.dynamic_bottleneck = DynamicBottleneck(
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policy=self.policy, feat_dim=512, tau=hps['momentum_tau'], loss_kl_weight=hps['loss_kl_weight'],
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loss_nce_weight=hps['loss_nce_weight'], loss_l2_weight=hps['loss_l2_weight'], aug=hps['aug'])
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self.agent = PpoOptimizer(
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scope='ppo',
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ob_space=self.ob_space,
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ac_space=self.ac_space,
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stochpol=self.policy,
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use_news=hps['use_news'],
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gamma=hps['gamma'],
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lam=hps["lambda"],
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nepochs=hps['nepochs'],
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nminibatches=hps['nminibatches'],
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lr=hps['lr'],
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cliprange=0.1,
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nsteps_per_seg=hps['nsteps_per_seg'],
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nsegs_per_env=hps['nsegs_per_env'],
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ent_coef=hps['ent_coeff'],
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normrew=hps['norm_rew'],
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normadv=hps['norm_adv'],
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ext_coeff=hps['ext_coeff'],
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int_coeff=hps['int_coeff'],
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dynamic_bottleneck=self.dynamic_bottleneck
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)
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self.agent.to_report['db'] = tf.reduce_mean(self.dynamic_bottleneck.loss)
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self.agent.total_loss += self.agent.to_report['db']
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self.agent.db_loss = tf.reduce_mean(self.dynamic_bottleneck.loss)
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self.agent.to_report['feat_var'] = tf.reduce_mean(tf.nn.moments(self.dynamic_bottleneck.features, [0, 1])[1])
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def _set_env_vars(self):
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env = self.make_env(0, add_monitor=False)
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# ob_space.shape=(84, 84, 4) ac_space.shape=Discrete(4)
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self.ob_space, self.ac_space = env.observation_space, env.action_space
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self.ob_mean, self.ob_std = random_agent_ob_mean_std(env)
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del env
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self.envs = [functools.partial(self.make_env, i) for i in range(self.envs_per_process)]
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def train(self, saver, logger_dir):
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self.agent.start_interaction(self.envs, nlump=self.hps['nlumps'], dynamic_bottleneck=self.dynamic_bottleneck)
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previous_saved_tcount = 0
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# add bai. initialize IB parameters
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print("***Init Momentum Network in Dynamic-Bottleneck.")
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getsess().run(self.dynamic_bottleneck.init_updates)
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while True:
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info = self.agent.step() #
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if info['DB_loss_info']: # add bai. for debug
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logger.logkvs(info['DB_loss_info'])
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if info['update']:
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logger.logkvs(info['update'])
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logger.dumpkvs()
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if self.hps["save_period"] and (int(self.agent.rollout.stats['tcount'] / self.hps["save_freq"]) > previous_saved_tcount):
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previous_saved_tcount += 1
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save_path = saver.save(tf.get_default_session(), os.path.join(logger_dir, "model_"+str(previous_saved_tcount)+".ckpt"))
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print("Periodically model saved in path:", save_path)
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if self.agent.rollout.stats['tcount'] %10000: #self.agent.rollout.stats['tcount'] > self.num_timesteps:
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save_path = saver.save(tf.get_default_session(), os.path.join(logger_dir, "model_last.ckpt"))
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print("Model saved in path:", save_path)
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#break
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self.agent.stop_interaction()
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def make_env_all_params(rank, add_monitor, args):
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env = dmc2gym.make(
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domain_name='cartpole',
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task_name='swingup',
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seed=args["seed"],
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visualize_reward=False,
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from_pixels='pixel',
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height=84,
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width=84,
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frame_skip=4,
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img_source=args["img_source"],
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resource_files=args["resource_files"],
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total_frames=args["total_frames"]
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)
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env.seed(args["seed"])
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env = utils.FrameStack(env, k=4)
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"""
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if args["env_kind"] == 'atari':
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env = gym.make(args['env'])
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assert 'NoFrameskip' in env.spec.id
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if args["stickyAtari"]: #
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env._max_episode_steps = args['max_episode_steps'] * 4
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env = StickyActionEnv(env)
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else:
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env = NoopResetEnv(env, noop_max=args['noop_max'])
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env = MaxAndSkipEnv(env, skip=4) #
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if args['pixelNoise']: # add pixel noise
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env = PixelNoiseWrapper(env)
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if args['randomBoxNoise']:
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env = RandomBoxNoiseWrapper(env)
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env = ProcessFrame84(env, crop=False) #
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env = FrameStack(env, 4) #
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# env = ExtraTimeLimit(env, args['max_episode_steps'])
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if not args["stickyAtari"]:
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env = ExtraTimeLimit(env, args['max_episode_steps']) #
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if 'Montezuma' in args['env']: #
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env = MontezumaInfoWrapper(env)
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env = AddRandomStateToInfo(env)
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elif args["env_kind"] == 'mario': #
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env = make_mario_env()
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elif args["env_kind"] == "retro_multi": #
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env = make_multi_pong()
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elif args["env_kind"] == 'robopong':
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if args["env"] == "pong":
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env = make_robo_pong()
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elif args["env"] == "hockey":
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env = make_robo_hockey()
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"""
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if add_monitor:
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env = Monitor(env, osp.join(logger.get_dir(), '%.2i' % rank))
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return env
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def get_experiment_environment(**args):
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from utils import setup_mpi_gpus, setup_tensorflow_session
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from baselines.common import set_global_seeds
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from gym.utils.seeding import hash_seed
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process_seed = args["seed"] + 1000 * MPI.COMM_WORLD.Get_rank()
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process_seed = hash_seed(process_seed, max_bytes=4)
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set_global_seeds(process_seed)
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setup_mpi_gpus()
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# log dir name
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logger_dir = './logs/' + args["env"].replace("NoFrameskip-v4", "")
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# logger_dir += "-KLloss-"+str(args["loss_kl_weight"])
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# logger_dir += "-NCEloss-" + str(args["loss_nce_weight"])
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# logger_dir += "-L2loss-" + str(args["loss_l2_weight"])
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if args['pixelNoise'] is True:
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logger_dir += "-pixelNoise"
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if args['randomBoxNoise'] is True:
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logger_dir += "-randomBoxNoise"
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if args['stickyAtari'] is True:
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logger_dir += "-stickyAtari"
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if args["comments"] != "":
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logger_dir += '-' + args["comments"]
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logger_dir += datetime.datetime.now().strftime("-%m-%d-%H-%M-%S")
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# write config
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logger.configure(dir=logger_dir)
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with open(os.path.join(logger_dir, 'parameters.txt'), 'w') as f:
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f.write("\n".join([str(x[0]) + ": " + str(x[1]) for x in args.items()]))
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logger_context = logger.scoped_configure(
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dir=logger_dir,
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format_strs=['stdout', 'log', 'csv'] if MPI.COMM_WORLD.Get_rank() == 0 else ['log'])
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tf_context = setup_tensorflow_session()
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# saver
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saver = tf.train.Saver()
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return logger_context, tf_context, saver, logger_dir
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def add_environments_params(parser):
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parser.add_argument('--env', help='environment ID', default='BreakoutNoFrameskip-v4', type=str)
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parser.add_argument('--max-episode-steps', help='maximum number of timesteps for episode', default=4500, type=int)
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parser.add_argument('--env_kind', type=str, default="atari")
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parser.add_argument('--noop_max', type=int, default=30)
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parser.add_argument('--stickyAtari', action='store_true', default=False)
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parser.add_argument('--pixelNoise', action='store_true', default=False)
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parser.add_argument('--randomBoxNoise', action='store_true', default=False)
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parser.add_argument('--img_source', default=None, type=str, choices=['color', 'noise', 'images', 'video', 'none'])
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parser.add_argument('--resource_files', type=str)
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parser.add_argument('--total_frames', default=100, type=int)
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def add_optimization_params(parser):
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parser.add_argument('--lambda', type=float, default=0.95)
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parser.add_argument('--gamma', type=float, default=0.99) # lambda, gamma 用于计算 GAE advantage
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parser.add_argument('--nminibatches', type=int, default=8)
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parser.add_argument('--norm_adv', type=int, default=1) #
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parser.add_argument('--norm_rew', type=int, default=1) #
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parser.add_argument('--lr', type=float, default=1e-4) #
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parser.add_argument('--ent_coeff', type=float, default=0.001) #
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parser.add_argument('--nepochs', type=int, default=3) #
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parser.add_argument('--num_timesteps', type=int, default=int(1e8))
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parser.add_argument('--save_period', action='store_true', default=False) # 1e7
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parser.add_argument('--save_freq', type=int, default=int(1e7)) # 1e7
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# Parameters of Dynamic-Bottleneck
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parser.add_argument('--loss_kl_weight', type=float, default=0.1) # KL loss weight
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parser.add_argument('--loss_l2_weight', type=float, default=0.1) # l2 loss weight
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parser.add_argument('--loss_nce_weight', type=float, default=0.01) # nce loss weight
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parser.add_argument('--momentum_tau', type=float, default=0.001) # momentum tau
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parser.add_argument('--aug', action='store_true', default=False) # data augmentation (bottleneck)
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parser.add_argument('--comments', type=str, default="")
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def add_rollout_params(parser):
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parser.add_argument('--nsteps_per_seg', type=int, default=128)
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parser.add_argument('--nsegs_per_env', type=int, default=1)
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parser.add_argument('--envs_per_process', type=int, default=128)
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parser.add_argument('--nlumps', type=int, default=1)
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if __name__ == '__main__':
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import argparse
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parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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add_environments_params(parser)
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add_optimization_params(parser)
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add_rollout_params(parser)
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parser.add_argument('--exp_name', type=str, default='')
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parser.add_argument('--seed', help='RNG seed', type=int, default=0)
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parser.add_argument('--dyn_from_pixels', type=int, default=0)
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parser.add_argument('--use_news', type=int, default=0)
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parser.add_argument('--ext_coeff', type=float, default=0.)
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parser.add_argument('--int_coeff', type=float, default=1.)
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parser.add_argument('--layernorm', type=int, default=0)
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args = parser.parse_args()
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# load paramets
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with open("para.json") as f:
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d = json.load(f)
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env_name_para = args.env.replace("NoFrameskip-v4", "")
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if env_name_para not in list(d["standard"].keys()):
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env_name_para = "other"
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if args.pixelNoise is True:
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print("pixel noise")
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args.loss_kl_weight = d["pixelNoise"][env_name_para]["kl"]
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args.loss_nce_weight = d["pixelNoise"][env_name_para]["nce"]
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elif args.randomBoxNoise is True:
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print("random box noise")
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args.loss_kl_weight = d["randomBox"][env_name_para]["kl"]
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args.loss_nce_weight = d["randomBox"][env_name_para]["nce"]
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elif args.stickyAtari is True:
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print("sticky noise")
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args.loss_kl_weight = d["stickyAtari"][env_name_para]["kl"]
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args.loss_nce_weight = d["stickyAtari"][env_name_para]["nce"]
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else:
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print("standard atari")
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args.loss_kl_weight = d["standard"][env_name_para]["kl"]
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args.loss_nce_weight = d["standard"][env_name_para]["nce"]
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print("env_name:", env_name_para, "kl:", args.loss_kl_weight, ", nce:", args.loss_nce_weight)
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start_experiment(**args.__dict__)
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