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Generate videos of expert data

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This commit is contained in:
ebuehrle
2022-03-04 16:07:15 +01:00
parent 1e70303c57
commit 575e299fc8
3 changed files with 6 additions and 1 deletions
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2
eval_experiments.py
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@@ -11,7 +11,7 @@ def main(method:str='expert', folder:str=None, locations=[(0,0)], skip_running=F
exclude_keys_from_policy_kwargs = {'learning_rate', 'learning_rate_decay', 'clip_ratio', 'iterations_per_epoch', 'option'} exclude_keys_from_policy_kwargs = {'learning_rate', 'learning_rate_decay', 'clip_ratio', 'iterations_per_epoch', 'option'}
policy_kwargs = {} policy_kwargs = {}
if method in ['expert', 'idm']: if method in ['expert', 'expert_agent', 'idm']:
env, env_kwargs ='NRasterizedRouteIncrementingAgent', {} env, env_kwargs ='NRasterizedRouteIncrementingAgent', {}
elif method in ['bc','gail']: elif method in ['bc','gail']:
env='NormalizedContinuousEvalEnv' env='NormalizedContinuousEvalEnv'

2
generate_videos.sh
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@@ -3,6 +3,7 @@
# Experiment A # Experiment A
python -m eval_experiments python -m eval_experiments
python -m eval_experiments --method expert_agent --save_videos
python -m eval_experiments --method idm --save_videos python -m eval_experiments --method idm --save_videos
python -m eval_experiments --method bc --folder='test_policies/bc/expA' --save_videos python -m eval_experiments --method bc --folder='test_policies/bc/expA' --save_videos
python -m eval_experiments --method gail --folder='test_policies/gail/expA' --save_videos python -m eval_experiments --method gail --folder='test_policies/gail/expA' --save_videos
@@ -11,6 +12,7 @@ python -m eval_experiments --method shail --folder='test_policies/shail/expA' --
# Experiment B # Experiment B
python -m eval_experiments --locations='[(0,4)]' python -m eval_experiments --locations='[(0,4)]'
python -m eval_experiments --method expert_agent --locations='[(0,4)]' --save_videos
python -m eval_experiments --method idm --locations='[(0,4)]' --save_videos python -m eval_experiments --method idm --locations='[(0,4)]' --save_videos
python -m eval_experiments --method bc --folder='test_policies/bc/expB' --locations='[(0,4)]' --save_videos python -m eval_experiments --method bc --folder='test_policies/bc/expB' --locations='[(0,4)]' --save_videos
python -m eval_experiments --method gail --folder='test_policies/gail/expB' --locations='[(0,4)]' --save_videos python -m eval_experiments --method gail --folder='test_policies/gail/expB' --locations='[(0,4)]' --save_videos

3
src/eval_main.py
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@@ -5,6 +5,7 @@ import intersim
from intersim.envs import Intersimple from intersim.envs import Intersimple
from stable_baselines3.common.base_class import BaseAlgorithm from stable_baselines3.common.base_class import BaseAlgorithm
from src.baselines import IDMRulePolicy from src.baselines import IDMRulePolicy
from src.data.expert import NormalizedIntersimpleExpert
from src.evaluation import IntersimpleEvaluation from src.evaluation import IntersimpleEvaluation
import src.gail.options as options_envs import src.gail.options as options_envs
from src.evaluation.metrics import divergence, visualize_distribution, rwse from src.evaluation.metrics import divergence, visualize_distribution, rwse
@@ -40,6 +41,8 @@ def load_policy(method:str,
ml = torch.device('cpu') if not torch.cuda.is_available() else None ml = torch.device('cpu') if not torch.cuda.is_available() else None
if method == 'idm': if method == 'idm':
policy = IDMRulePolicy(env, **policy_kwargs) policy = IDMRulePolicy(env, **policy_kwargs)
elif method == 'expert_agent':
policy = NormalizedIntersimpleExpert(env, **policy_kwargs)
elif method == 'bc': elif method == 'bc':
policy = SetPolicy(env.action_space.shape[-1], **policy_kwargs) policy = SetPolicy(env.action_space.shape[-1], **policy_kwargs)
policy.load_state_dict(torch.load(policy_file, map_location=ml)) policy.load_state_dict(torch.load(policy_file, map_location=ml))