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wrapping all environments in timelimit to stop runs longer than 100s, since some others were erroring

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Arec
2022-02-21 17:54:29 -08:00
parent e7f8385628
commit e7f4f6a871
7 changed files with 49 additions and 35 deletions
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48
evaluate_models.sh
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@@ -14,26 +14,26 @@ python -m src.eval_main
python -m src.eval_main --method=idm
# behavior cloning
python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=0
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=1
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=2
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=3
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=4
python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=0
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=1
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=2
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=3
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=4
#python -m src.evaluation.utils load_and_average out/bc
# GAIL
python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=0
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=1
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=2
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=3
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=4
python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=0
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=1
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=2
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=3
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=4
#python -m src.evaluation.utils load_and_average out/gail
# options GAIL
python -m src.eval_main --method=ogail --policy_file='checkpoints/gail-options-setobs2-Feb15_18-49-05.pt' --env='NormalizedOptionsEvalEnv' --env_kwargs='{stop_on_collision:True}'
python -m src.eval_main --method=ogail --policy_file='checkpoints/gail-options-setobs2-Feb15_18-49-05.pt' --env='NormalizedOptionsEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}'
# options GAIL-PPO
python -m src.eval_main --method=ogail-ppo --policy_file='checkpoints/gail-ppo-options-setobs2-Feb15_22-05-38.pt' --env='NormalizedOptionsEvalEnv' --env_kwargs='{stop_on_collision:True}'
python -m src.eval_main --method=ogail-ppo --policy_file='checkpoints/gail-ppo-options-setobs2-Feb15_22-05-38.pt' --env='NormalizedOptionsEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}'
# SHAIL
python -m src.eval_main --method=sgail --policy_file='checkpoints/sgail-options-setobs2-Feb21_13-30-45.pt' --env='NormalizedSafeOptionsEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}'
@@ -51,26 +51,26 @@ python -m src.eval_main --locations='[(0,4)]'
python -m src.eval_main --method=idm --locations='[(0,4)]'
# behavior cloning
python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=0 --locations='[(0,4)]'
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=1 --locations='[(0,4)]'
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=2 --locations='[(0,4)]'
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=3 --locations='[(0,4)]'
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=4 --locations='[(0,4)]'
python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=0 --locations='[(0,4)]'
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=1 --locations='[(0,4)]'
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=2 --locations='[(0,4)]'
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=3 --locations='[(0,4)]'
#python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=4 --locations='[(0,4)]'
#python -m src.evaluation.utils load_and_average out/bc
# GAIL
python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=0 --locations='[(0,4)]'
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=1 --locations='[(0,4)]'
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=2 --locations='[(0,4)]'
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=3 --locations='[(0,4)]'
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=4 --locations='[(0,4)]'
python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=0 --locations='[(0,4)]'
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=1 --locations='[(0,4)]'
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=2 --locations='[(0,4)]'
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=3 --locations='[(0,4)]'
#python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --seed=4 --locations='[(0,4)]'
#python -m src.evaluation.utils load_and_average out/gail
# options GAIL
python -m src.eval_main --method=ogail --policy_file='checkpoints/gail-options-setobs2-Feb15_18-49-05.pt' --env='NormalizedOptionsEvalEnv' --env_kwargs='{stop_on_collision:True}' --locations='[(0,4)]'
python -m src.eval_main --method=ogail --policy_file='checkpoints/gail-options-setobs2-Feb15_18-49-05.pt' --env='NormalizedOptionsEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --locations='[(0,4)]'
# options GAIL-PPO
python -m src.eval_main --method=ogail-ppo --policy_file='checkpoints/gail-ppo-options-setobs2-Feb15_22-05-38.pt' --env='NormalizedOptionsEvalEnv' --env_kwargs='{stop_on_collision:True}' --locations='[(0,4)]'
python -m src.eval_main --method=ogail-ppo --policy_file='checkpoints/gail-ppo-options-setobs2-Feb15_22-05-38.pt' --env='NormalizedOptionsEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --locations='[(0,4)]'
# SHAIL
python -m src.eval_main --method=sgail --policy_file='checkpoints/sgail-options-setobs2-Feb21_13-30-45.pt' --env='NormalizedSafeOptionsEvalEnv' --env_kwargs='{stop_on_collision:True,max_episode_steps:1000}' --locations='[(0,4)]'

11
src/eval_main.py
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@@ -14,6 +14,7 @@ from src.core.reparam_module import ReparamPolicy, ReparamSafePolicy
from src.options import envs as options_envs2
from src.safe_options.policy import SetMaskedDiscretePolicy
from src.safe_options import options as options_envs3
from src.util.wrappers import IntersimpleTimeLimit
from typing import Optional, List, Dict, Tuple
import torch
@@ -214,6 +215,13 @@ def evaluate_policy(locations:List[Tuple[int,int]],
# initialize environment
Env = envs_dict[env_class]
# wrap in TimeLimit
if 'max_episode_steps' in it_env_kwargs.keys():
steps = it_env_kwargs.pop('max_episode_steps')
eval_env = IntersimpleTimeLimit(Env(**it_env_kwargs),
max_episode_steps=steps)
else:
eval_env = Env(**it_env_kwargs)
evaluator = IntersimpleEvaluation(eval_env)
@@ -364,7 +372,8 @@ def eval_main(
np.random.seed(seed)
torch.manual_seed(seed)
pfilename = policy_file.split('/')[-1].split('.')[0]
outbase = f'out/{method}/{pfilename}_seed{seed}'
locstr = 'loc_'+'_'.join([f'r{ro}t{tr}' for (ro,tr) in locations])
outbase = f'out/{method}/{locstr}/{pfilename}_seed{seed}'
# load expert metrics
expert_metrics = generate_expert_metrics(locations)

8
src/evaluation/evaluation.py
View File

@@ -6,8 +6,9 @@ from typing import Callable, Dict, Optional
import os
import pickle
from tqdm import tqdm
from src.util.wrappers import IntersimpleTimeLimit
from src.options.envs import OptionsEnv
from src.util.wrappers import OptionsTimeLimit
from src.safe_options.options import SafeOptionsEnv
class IntersimpleEvaluation:
"""
@@ -36,7 +37,10 @@ class IntersimpleEvaluation:
self.env = eval_env
self.n_episodes = eval_env.nv
self.use_pbar = use_pbar
self.is_options_env = isinstance(self.env, (OptionsEnv, OptionsTimeLimit))
if isinstance(self.env, IntersimpleTimeLimit):
self.is_options_env = isinstance(self.env.env, (OptionsEnv, SafeOptionsEnv))
else:
self.is_options_env = isinstance(self.env, (OptionsEnv, SafeOptionsEnv))
# metrics present on every step of every episode
self.metric_keys_all = ['x_all', 'y_all', 'v_all', 'a_all', 'col_all']

2
src/evaluation/metrics.py
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@@ -24,7 +24,7 @@ def rwse(expert:List[np.ndarray], policy:List[np.ndarray], dt:float=0.1) -> Dict
assert len(expert) == len(policy)
# calculate rwse
times = [1,2,5,10,15,20]
times = [1,2,5,10,15,20,25,30]
time_indices = [int(t/dt) for t in times]
rwse_dict_keys = [f'rwse_{t}s' for t in times]+['rwse_end']
se_dict = {key:[] for key in rwse_dict_keys}

1
src/evaluation/utils.py
View File

@@ -2,6 +2,7 @@ import pickle
import os
import numpy as np
from typing import List,Dict
def save_metrics(metrics:dict, filestr:str):
"""
Save metric dict to filestr

8
src/safe_options/options.py
View File

@@ -14,7 +14,7 @@ from src.options.envs import OptionsEnv
from src.safe_options.collisions import feasible
from intersim.envs import IntersimpleLidarFlatIncrementingAgent
from src.util.wrappers import OptionsTimeLimit, Setobs, TransformObservation
from src.util.wrappers import Setobs, TransformObservation
@dataclass
class Buffer:
@@ -251,10 +251,10 @@ obs_max = np.array([
[50, np.pi, 20, 20, np.pi, 1e-1],
]).reshape(-1)
def NormalizedSafeOptionsEvalEnv(max_episode_steps=float('inf'), safe_actions_collision_method=None, abort_unsafe_collision_method=None, **kwargs):
return OptionsTimeLimit(SafeOptionsEnv(Setobs(
def NormalizedSafeOptionsEvalEnv(safe_actions_collision_method=None, abort_unsafe_collision_method=None, **kwargs):
return SafeOptionsEnv(Setobs(
TransformObservation(IntersimpleLidarFlatIncrementingAgent(
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), (10, 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)

2
src/util/wrappers.py
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@@ -9,7 +9,7 @@ class TransformObservation(gym.wrappers.TransformObservation):
def __getattr__(self, name):
return getattr(self.env, name)
class OptionsTimeLimit(gym.wrappers.TimeLimit):
class IntersimpleTimeLimit(gym.wrappers.TimeLimit):
def __getattr__(self, name):
return getattr(self.env, name)