Add SHAIL-PPO

evaluate_models.sh

@@ -27,3 +27,6 @@ python -m src.eval_main --method=ogail-ppo --policy_file='checkpoints/gail-ppo-o
 
 # SHAIL
 python -m src.eval_main --method=sgail --policy_file='checkpoints/sgail-options-setobs2.pt' --env='NormalizedSafeOptionsEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}'
+
+# SHAIL-PPO
+python -m src.eval_main --method=sgail-ppo --policy_file='checkpoints/sgail-ppo-options-setobs2-17-02-2022.pt' --env='NormalizedSafeOptionsEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}'

src/eval_main.py

@@ -72,6 +72,10 @@ def load_policy(method:str,
         policy = ReparamPolicy(policy)
         policy.load_state_dict(torch.load(policy_file))
         policy.eval()
+    elif method == 'sgail-ppo':
+        policy = SetMaskedDiscretePolicy(env.action_space.n)
+        policy.load_state_dict(torch.load(policy_file))
+        policy.eval()
     else:
         raise NotImplementedError
     return policy

src/safe_options/options.py

@@ -257,4 +257,4 @@ def NormalizedSafeOptionsEvalEnv(max_episode_steps=float('inf'), safe_actions_co
             n_rays=5,
             **kwargs,
         ), lambda obs: (obs - obs_min) / (obs_max - obs_min + 1e-10))
-    ), options=[(0, 5), (1, 5), (2, 5), (4, 5), (6, 5), (8, 5)], safe_actions_collision_method=safe_actions_collision_method, abort_unsafe_collision_method=abort_unsafe_collision_method), max_episode_steps=max_episode_steps)
+    ), options=[(0, 5), (1, 5), (2, 5), (4, 5), (6, 5), (8, 5), (10, 5)], safe_actions_collision_method=safe_actions_collision_method, abort_unsafe_collision_method=abort_unsafe_collision_method), max_episode_steps=max_episode_steps)