Port TRPO, PPO, GAIL

scratch/etienne/trpo/trpo-intersimple-minobs2.py

@@ -0,0 +1,87 @@
+# %%
+import gym
+from core.sampling import rollout
+from core.trpo import trpo
+from core.value import Value
+from core.policy import Policy
+import torch.optim
+from intersim.envs import IntersimpleLidarFlatRandom
+from intersim.envs.intersimple import speed_reward
+import functools
+import numpy as np
+from gym.wrappers import TransformObservation
+from wrappers import CollisionPenaltyWrapper
+from core.reparam_module import ReparamPolicy
+
+from wrappers import Minobs
+
+obs_min = np.array([
+    [-1000, -1000, 0, -np.pi, -1e-1, 0.],
+    [0, -np.pi, -20, -20, -np.pi, -1e-1],
+    [0, -np.pi, -20, -20, -np.pi, -1e-1],
+    [0, -np.pi, -20, -20, -np.pi, -1e-1],
+    [0, -np.pi, -20, -20, -np.pi, -1e-1],
+    [0, -np.pi, -20, -20, -np.pi, -1e-1],
+]).reshape(-1)
+
+obs_max = np.array([
+    [1000, 1000, 20, np.pi, 1e-1, 0.],
+    [50, np.pi, 20, 20, np.pi, 1e-1],
+    [50, np.pi, 20, 20, np.pi, 1e-1],
+    [50, np.pi, 20, 20, np.pi, 1e-1],
+    [50, np.pi, 20, 20, np.pi, 1e-1],
+    [50, np.pi, 20, 20, np.pi, 1e-1],
+]).reshape(-1)
+
+envs = [Minobs(TransformObservation(CollisionPenaltyWrapper(IntersimpleLidarFlatRandom(
+    n_rays=5,
+    reward=functools.partial(
+        speed_reward,
+        collision_penalty=0
+    ),
+    stop_on_collision=False,
+), collision_distance=6, collision_penalty=100), lambda obs: (obs - obs_min) / (obs_max - obs_min + 1e-10))) for _ in range(50)]
+
+env_fn = lambda i: envs[i]
+policy = Policy(env_fn(0).action_space.shape[0])
+value = Value()
+v_opt = torch.optim.Adam(value.parameters(), lr=1e-4, weight_decay=1e-3)
+
+# %%
+value, policy = trpo(
+    env_fn=env_fn,
+    value=value,
+    policy=policy,
+    epochs=200,
+    rollout_episodes=30,
+    rollout_steps=100,
+    gamma=0.99,
+    gae_lambda=0.95,
+    delta=0.01,
+    backtrack_coeff=0.9,
+    backtrack_iters=50,
+    v_opt=v_opt,
+    v_iters=1000,
+    cg_damping=0.1,
+)
+
+torch.save(policy.state_dict(), 'trpo-intersimple-minobs2.pt')
+
+# %%
+policy = Policy(env_fn(0).action_space.shape[0])
+policy(torch.zeros(env_fn(0).observation_space.shape))
+policy = ReparamPolicy(policy)
+policy.load_state_dict(torch.load('trpo-intersimple-minobs2.pt'))
+
+env = env_fn(0)
+obs = env.reset()
+env.render(mode='post')
+for i in range(300):
+    #action, _ = policy.predict(torch.tensor(obs))
+    action = policy.sample(policy(torch.tensor(obs, dtype=torch.float32)))
+    obs, reward, done, _ = env.step(action)
+    env.render(mode='post')
+    print('step', i, 'reward', reward)
+    if done:
+        break
+env.close()