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Add route, increase resolution

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This commit is contained in:
ebuehrle
2021-10-26 13:18:09 +02:00
parent 9a1038d832
commit 24b91d4eec
2 changed files with 10 additions and 8 deletions
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12
scratch/etienne/intersimple/gail_options_image_random.py
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@@ -4,7 +4,7 @@ from imitation.algorithms import adversarial
import stable_baselines3
import torch.utils.data
import numpy as np
from intersim.envs.intersimple import NRasterizedRandomAgent
from intersim.envs.intersimple import NRasterizedRouteRandomAgent
import itertools
from torch.distributions import Categorical
import gym
@@ -21,12 +21,12 @@ from gail.options import OptionsEnv, LLOptions, HLOptions, RenderOptions
from gail.train import train_discriminator, train_generator
model_name = 'gail_options_image_random'
env_settings = {'width': 36, 'height': 36, 'm_per_px': 2}
env_settings = {'width': 70, 'height': 70, 'm_per_px': 1}
ALL_OPTIONS = [(v,t) for v in [0,2,4,6,8] for t in [5, 10, 20]] # option 0 is safe fallback
def train(expert_data, epochs=20, expert_batch_size=32, generator_steps=1024, discount=0.99):
env = NRasterizedRandomAgent(**env_settings)
env = NRasterizedRouteRandomAgent(**env_settings)
env.discount = discount
tempdir = tempfile.TemporaryDirectory(prefix="quickstart")
@@ -34,7 +34,7 @@ def train(expert_data, epochs=20, expert_batch_size=32, generator_steps=1024, di
logger.configure(tempdir_path / "GAIL/")
print(f"All Tensorboards and logging are being written inside {tempdir_path}/.")
venv = make_vec_env(NRasterizedRandomAgent, n_envs=1, env_kwargs=env_settings)
venv = make_vec_env(NRasterizedRouteRandomAgent, n_envs=1, env_kwargs=env_settings)
discriminator = adversarial.GAIL(
expert_data=expert_data,
expert_batch_size=expert_batch_size,
@@ -68,7 +68,7 @@ def train(expert_data, epochs=20, expert_batch_size=32, generator_steps=1024, di
if __name__ == '__main__':
# %%
with open("data/NormalizedIntersimpleExpertMu.001N10000_NRasterizedRandomAgentw36h36mppx2.pkl", "rb") as f:
with open("data/NormalizedIntersimpleExpertMu.001N10000_NRasterizedRouteRandomAgentw70h70mppx1.pkl", "rb") as f:
trajectories = pickle.load(f)
transitions = rollout.flatten_trajectories(trajectories)
generator = train(transitions, epochs=100)
@@ -78,7 +78,7 @@ if __name__ == '__main__':
# %%
model = stable_baselines3.PPO.load(model_name)
env = RenderOptions(NRasterizedRandomAgent(**env_settings))
env = RenderOptions(NRasterizedRouteRandomAgent(**env_settings))
for s in env.sample_ll(model):
if s['dones']: