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getting best shail/hail configs outsave up and running, adding shell for test runs

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This commit is contained in:
Arec Jamgochian
2022-02-27 01:22:39 -08:00
parent acb4fdc518
commit 21cbd1c956
5 changed files with 207 additions and 41 deletions
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33
best_configs/hail_expA.json Normal file
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@@ -0,0 +1,33 @@
{
"experiment": "A",
"trainenv": {
"stop_on_collision": false,
"safe_actions_collision_method": null,
"abort_unsafe_collision_method": null
},
"policy": {
"learning_rate": 0.0003,
"learning_rate_decay": 1.0,
"clip_ratio": 0.2,
"iterations_per_epoch": 100,
"hidden_layer_size": 20,
"n_hidden_layers": 2,
"activation": 0,
"option": 0
},
"value": {
"learning_rate": 0.001,
"iterations_per_epoch": 1000
},
"discriminator": {
"learning_rate": 0.001,
"weight_decay": 0.0001,
"iterations_per_epoch": 100,
"n_hidden_layers_element": 3,
"n_hidden_layers_global": 1,
"hidden_layer_size": 10,
"activation": 0
},
"train_epochs": 2,
"seed": 0
}

33
best_configs/hail_expB.json Normal file
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@@ -0,0 +1,33 @@
{
"experiment": "B",
"trainenv": {
"stop_on_collision": false,
"safe_actions_collision_method": null,
"abort_unsafe_collision_method": null
},
"policy": {
"learning_rate": 0.0003,
"learning_rate_decay": 1.0,
"clip_ratio": 0.2,
"iterations_per_epoch": 100,
"hidden_layer_size": 20,
"n_hidden_layers": 2,
"activation": 0,
"option": 0
},
"value": {
"learning_rate": 0.001,
"iterations_per_epoch": 1000
},
"discriminator": {
"learning_rate": 0.001,
"weight_decay": 0.0001,
"iterations_per_epoch": 100,
"n_hidden_layers_element": 3,
"n_hidden_layers_global": 1,
"hidden_layer_size": 10,
"activation": 0
},
"train_epochs": 2,
"seed": 0
}

33
best_configs/shail_expA.json Normal file
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@@ -0,0 +1,33 @@
{
"experiment": "A",
"trainenv": {
"stop_on_collision": false,
"safe_actions_collision_method": "circle",
"abort_unsafe_collision_method": "circle"
},
"policy": {
"learning_rate": 0.0003,
"learning_rate_decay": 1.0,
"clip_ratio": 0.2,
"iterations_per_epoch": 100,
"hidden_layer_size": 20,
"n_hidden_layers": 2,
"activation": 0,
"option": 0
},
"value": {
"learning_rate": 0.001,
"iterations_per_epoch": 1000
},
"discriminator": {
"learning_rate": 0.001,
"weight_decay": 0.0001,
"iterations_per_epoch": 100,
"n_hidden_layers_element": 3,
"n_hidden_layers_global": 1,
"hidden_layer_size": 10,
"activation": 0
},
"train_epochs": 2,
"seed": 0
}

33
best_configs/shail_expB.json Normal file
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@@ -0,0 +1,33 @@
{
"experiment": "B",
"trainenv": {
"stop_on_collision": false,
"safe_actions_collision_method": "circle",
"abort_unsafe_collision_method": "circle"
},
"policy": {
"learning_rate": 0.0003,
"learning_rate_decay": 1.0,
"clip_ratio": 0.2,
"iterations_per_epoch": 100,
"hidden_layer_size": 20,
"n_hidden_layers": 2,
"activation": 0,
"option": 0
},
"value": {
"learning_rate": 0.001,
"iterations_per_epoch": 1000
},
"discriminator": {
"learning_rate": 0.001,
"weight_decay": 0.0001,
"iterations_per_epoch": 100,
"n_hidden_layers_element": 3,
"n_hidden_layers_global": 1,
"hidden_layer_size": 10,
"activation": 0
},
"train_epochs": 2,
"seed": 0
}

42
shail-experiment.py
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@@ -142,8 +142,8 @@ def training_function(config):
v_opt=v_opt,
v_iters=config['value']['iterations_per_epoch'],
epochs=config['train_epochs'],
rollout_episodes=60,
rollout_steps=60,
rollout_episodes=6, #60, FIXME
rollout_steps=6, #60, FIXME
gamma=0.99,
gae_lambda=0.9,
clip_ratio=config['policy']['clip_ratio'],
@@ -162,9 +162,12 @@ if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('experiment', choices=['A', 'B'])
parser.add_argument('--epochs', type=int, default=200)
parser.add_argument('--test', type=str, help='path to config file to run final training on')
parser.add_argument('--test_seeds', type=int, default=5)
args = parser.parse_args()
# if no test config specified, train
if args.test is None:
print('Running Tuning for Experiment %s'%(args.experiment))
analysis = tune.run(
training_function,
@@ -202,4 +205,35 @@ if __name__ == '__main__':
'seed': 0,
}
)
print('Best config: ', analysis.get_best_config(metric='gen_collision_rate', mode='min'))
best_config = analysis.get_best_config(metric='gen_collision_rate', mode='min')
print('Best config: ', best_config)
# safe best_config
if not os.path.isdir(os.path.join(DIR, 'best_configs')):
os.mkdir(os.path.join(DIR, 'best_configs'))
# save shail
with open(os.path.join(DIR, 'best_configs',f'shail_exp{args.experiment}.json'), 'w', encoding='utf-8') as f:
json.dump(best_config, f, ensure_ascii=False, indent=4)
# save hail
best_config['trainenv']['safe_actions_collision_method']=None
best_config['trainenv']['abort_unsafe_collision_method']=None
with open(os.path.join(DIR, 'best_configs',f'hail_exp{args.experiment}.json'), 'w', encoding='utf-8') as f:
json.dump(best_config, f, ensure_ascii=False, indent=4)
# if config file specified, rerun it with appropriate number of seeds
else:
with open(args.test, 'rb') as f:
config = json.load(f)
print(f'Retraining {args.test} with {args.test_seed} seeds on experiment {config["experiment"]}')
# rerun with appropriate number of seeds
config['seed'] = tune.grid_search(list(range(1,args.test_seeds+1)))
analysis = tune.run(training_function, config)
# move final policies to appropriate directory
# import pdb
# pdb.set_trace()
# a = 0