README.md

@@ -52,19 +52,16 @@ while an evaluation entry:
 ```
 which just tells the expected reward `ER` evaluating current policy after `S` steps. Note that `ER` is average evaluation performance over `num_eval_episodes` episodes (usually 10).
 
-### Running the natural video setting
-You can download the Kinetics 400 dataset and grab the driving_car label from the train dataset to replicate our setup. Some instructions for downloading the dataset can be found here: https://github.com/Showmax/kinetics-downloader.
-
 ## CARLA
 Download CARLA from https://github.com/carla-simulator/carla/releases, e.g.:
-1. https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.6.tar.gz
-2. https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/AdditionalMaps_0.9.6.tar.gz
+1. https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.8.tar.gz
+2. https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/AdditionalMaps_0.9.8.tar.gz
 
 Add to your python path:
 ```
-export PYTHONPATH=$PYTHONPATH:/home/rmcallister/code/bisim_metric/CARLA_0.9.6/PythonAPI
-export PYTHONPATH=$PYTHONPATH:/home/rmcallister/code/bisim_metric/CARLA_0.9.6/PythonAPI/carla
-export PYTHONPATH=$PYTHONPATH:/home/rmcallister/code/bisim_metric/CARLA_0.9.6/PythonAPI/carla/dist/carla-0.9.8-py3.5-linux-x86_64.egg
+export PYTHONPATH=$PYTHONPATH:/home/rmcallister/code/bisim_metric/CARLA_0.9.8/PythonAPI
+export PYTHONPATH=$PYTHONPATH:/home/rmcallister/code/bisim_metric/CARLA_0.9.8/PythonAPI/carla
+export PYTHONPATH=$PYTHONPATH:/home/rmcallister/code/bisim_metric/CARLA_0.9.8/PythonAPI/carla/dist/carla-0.9.8-py3.5-linux-x86_64.egg
 ```
 and merge the directories.
 

conda_env.yml

@@ -13,7 +13,7 @@ dependencies:
     - git+git://github.com/deepmind/dm_control.git
     - git+git://github.com/1nadequacy/dmc2gym.git
     - opencv-python
-    - pillow==6.1
+    - pillow=6.1
     - scikit-image
     - scikit-video
     - tb-nightly

train.py

@@ -20,7 +20,7 @@ from video import VideoRecorder
 from agent.baseline_agent import BaselineAgent
 from agent.bisim_agent import BisimAgent
 from agent.deepmdp_agent import DeepMDPAgent
-#from agents.navigation.carla_env import CarlaEnv
+from agents.navigation.carla_env import CarlaEnv
 
 
 def parse_args():
@@ -34,15 +34,14 @@ def parse_args():
     parser.add_argument('--resource_files', type=str)
     parser.add_argument('--eval_resource_files', type=str)
     parser.add_argument('--img_source', default=None, type=str, choices=['color', 'noise', 'images', 'video', 'none'])
-    parser.add_argument('--total_frames', default=100, type=int)
-    parser.add_argument('--high_noise', action='store_true')
+    parser.add_argument('--total_frames', default=1000, type=int)
     # replay buffer
-    parser.add_argument('--replay_buffer_capacity', default=50000, type=int)
+    parser.add_argument('--replay_buffer_capacity', default=1000000, type=int)
     # train
     parser.add_argument('--agent', default='bisim', type=str, choices=['baseline', 'bisim', 'deepmdp'])
     parser.add_argument('--init_steps', default=1000, type=int)
-    parser.add_argument('--num_train_steps', default=1000050, type=int)
-    parser.add_argument('--batch_size', default=128, type=int)   # 512
+    parser.add_argument('--num_train_steps', default=1000000, type=int)
+    parser.add_argument('--batch_size', default=512, type=int)
     parser.add_argument('--hidden_dim', default=256, type=int)
     parser.add_argument('--k', default=3, type=int, help='number of steps for inverse model')
     parser.add_argument('--bisim_coef', default=0.5, type=float, help='coefficient for bisim terms')
@@ -51,12 +50,12 @@ def parse_args():
     parser.add_argument('--eval_freq', default=10, type=int)  # TODO: master had 10000
     parser.add_argument('--num_eval_episodes', default=20, type=int)
     # critic
-    parser.add_argument('--critic_lr', default=1e-5, type=float)
+    parser.add_argument('--critic_lr', default=1e-3, type=float)
     parser.add_argument('--critic_beta', default=0.9, type=float)
     parser.add_argument('--critic_tau', default=0.005, type=float)
     parser.add_argument('--critic_target_update_freq', default=2, type=int)
     # actor
-    parser.add_argument('--actor_lr', default=1e-5, type=float)
+    parser.add_argument('--actor_lr', default=1e-3, type=float)
     parser.add_argument('--actor_beta', default=0.9, type=float)
     parser.add_argument('--actor_log_std_min', default=-10, type=float)
     parser.add_argument('--actor_log_std_max', default=2, type=float)
@@ -64,19 +63,19 @@ def parse_args():
     # encoder/decoder
     parser.add_argument('--encoder_type', default='pixel', type=str, choices=['pixel', 'pixelCarla096', 'pixelCarla098', 'identity'])
     parser.add_argument('--encoder_feature_dim', default=50, type=int)
-    parser.add_argument('--encoder_lr', default=1e-5, type=float)
+    parser.add_argument('--encoder_lr', default=1e-3, type=float)
     parser.add_argument('--encoder_tau', default=0.005, type=float)
     parser.add_argument('--encoder_stride', default=1, type=int)
     parser.add_argument('--decoder_type', default='pixel', type=str, choices=['pixel', 'identity', 'contrastive', 'reward', 'inverse', 'reconstruction'])
-    parser.add_argument('--decoder_lr', default=1e-5, type=float)
+    parser.add_argument('--decoder_lr', default=1e-3, type=float)
     parser.add_argument('--decoder_update_freq', default=1, type=int)
     parser.add_argument('--decoder_weight_lambda', default=0.0, type=float)
     parser.add_argument('--num_layers', default=4, type=int)
     parser.add_argument('--num_filters', default=32, type=int)
     # sac
     parser.add_argument('--discount', default=0.99, type=float)
-    parser.add_argument('--init_temperature', default=0.1, type=float)
-    parser.add_argument('--alpha_lr', default=1e-4, type=float)
+    parser.add_argument('--init_temperature', default=0.01, type=float)
+    parser.add_argument('--alpha_lr', default=1e-3, type=float)
     parser.add_argument('--alpha_beta', default=0.9, type=float)
     # misc
     parser.add_argument('--seed', default=1, type=int)
@@ -89,9 +88,6 @@ def parse_args():
     parser.add_argument('--render', default=False, action='store_true')
     parser.add_argument('--port', default=2000, type=int)
     args = parser.parse_args()
-    #from dmc2gym.wrappers import set_global_var
-    #set_global_var(args.high_noise)
-    
     return args
 
 
@@ -322,7 +318,7 @@ def main():
         )
 
     # stack several consecutive frames together
-    if args.encoder_type.startswith('pixel'):
+    if args.encoder_type == 'pixel':
         env = utils.FrameStack(env, k=args.frame_stack)
         eval_env = utils.FrameStack(eval_env, k=args.frame_stack)
 

video.py

@@ -22,7 +22,7 @@ class VideoRecorder(object):
         self.frames = []
         if resource_files:
             files = glob.glob(os.path.expanduser(resource_files))
-            self._bg_source = RandomVideoSource((height, width), files, grayscale=False, max_videos=50, random_bg=False)
+            self._bg_source = RandomVideoSource((height, width), files, grayscale=False, total_frames=1000)
         else:
             self._bg_source = None