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Merge branch 'main' of https://github.com/sisl/InteractionImitation into main

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Arec Jamgochian
2022-02-28 01:57:28 -08:00
parent 81e38f55ab 51eb810f5c
commit 6f181a7351
9 changed files with 265 additions and 1 deletions
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33
best_configs/hail-etienne2_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": 10,
"n_hidden_layers": 3,
"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": 2,
"hidden_layer_size": 10,
"activation": 0
},
"train_epochs": 100,
"seed": 0
}

33
best_configs/hail-etienne2_expB.json Normal file
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{
"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": 10,
"n_hidden_layers": 3,
"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": 2,
"hidden_layer_size": 10,
"activation": 0
},
"train_epochs": 100,
"seed": 0
}

33
best_configs/hail-etienne3_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": 40,
"n_hidden_layers": 3,
"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": 2,
"hidden_layer_size": 10,
"activation": 0
},
"train_epochs": 100,
"seed": 0
}

33
best_configs/hail-etienne3_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": 40,
"n_hidden_layers": 3,
"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": 2,
"hidden_layer_size": 10,
"activation": 0
},
"train_epochs": 100,
"seed": 0
}

33
best_configs/shail-etienne2_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": 10,
"n_hidden_layers": 3,
"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": 2,
"hidden_layer_size": 10,
"activation": 0
},
"train_epochs": 100,
"seed": 0
}

33
best_configs/shail-etienne2_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": 10,
"n_hidden_layers": 3,
"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": 2,
"hidden_layer_size": 10,
"activation": 0
},
"train_epochs": 100,
"seed": 0
}

33
best_configs/shail-etienne3_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": 40,
"n_hidden_layers": 3,
"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": 2,
"hidden_layer_size": 10,
"activation": 0
},
"train_epochs": 100,
"seed": 0
}

33
best_configs/shail-etienne3_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": 40,
"n_hidden_layers": 3,
"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": 2,
"hidden_layer_size": 10,
"activation": 0
},
"train_epochs": 100,
"seed": 0
}

2
eval_experiments.py
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@@ -12,7 +12,7 @@ def main(method:str='expert', folder:str=None, locations=[(0,0)], skip_running=F
env_kwargs={'stop_on_collision':True, 'max_episode_steps':1000}
elif method in ['hail']:
env = 'NormalizedOptionsEvalEnv'
env_kwargs={'stop_on_collision':True, 'max_episode_steps':1000}
env_kwargs={'stop_on_collision':True, 'max_episode_steps':1000, 'safe_actions_collision_method': None, 'abort_unsafe_collision_method': None}
elif method in ['shail']:
env = 'NormalizedSafeOptionsEvalEnv'
env_kwargs={'stop_on_collision':True, 'max_episode_steps':1000}