revert to original agents train/visualize scripts, but using pybullet envs in configs.py (agents lacks a convenient way to extend environments)

examples/pybullet/gym/pybullet_envs/agents/configs.py

@@ -0,0 +1,126 @@
+# Copyright 2017 The TensorFlow Agents Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Example configurations using the PPO algorithm."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+# pylint: disable=unused-variable
+
+from agents import ppo
+from agents.scripts import networks
+from pybullet_envs.bullet import minitaur_gym_env
+from pybullet_envs.bullet import minitaur_env_randomizer
+import pybullet_envs.bullet.minitaur_gym_env as minitaur_gym_env
+import pybullet_envs
+
+
+def default():
+  """Default configuration for PPO."""
+  # General
+  algorithm = ppo.PPOAlgorithm
+  num_agents = 10
+  eval_episodes = 25
+  use_gpu = False
+  # Network
+  network = networks.ForwardGaussianPolicy
+  weight_summaries = dict(
+      all=r'.*',
+      policy=r'.*/policy/.*',
+      value=r'.*/value/.*')
+  policy_layers = 200, 100
+  value_layers = 200, 100
+  init_mean_factor = 0.05
+  init_logstd = -1
+  # Optimization
+  update_every = 25
+  policy_optimizer = 'AdamOptimizer'
+  value_optimizer = 'AdamOptimizer'
+  update_epochs_policy = 50
+  update_epochs_value = 50
+  policy_lr = 1e-4
+  value_lr = 3e-4
+  # Losses
+  discount = 0.985
+  kl_target = 1e-2
+  kl_cutoff_factor = 2
+  kl_cutoff_coef = 1000
+  kl_init_penalty = 1
+  return locals()
+
+
+def pybullet_pendulum():
+  locals().update(default())
+  env = 'InvertedPendulumBulletEnv-v0'
+  max_length = 200
+  steps = 5e7  # 50M
+  return locals()
+
+def pybullet_doublependulum():
+  locals().update(default())
+  env = 'InvertedDoublePendulumBulletEnv-v0'
+  max_length = 1000
+  steps = 5e7  # 50M
+  return locals()
+
+def pybullet_pendulumswingup():
+  locals().update(default())
+  env = 'InvertedPendulumSwingupBulletEnv-v0'
+  max_length = 1000
+  steps = 5e7  # 50M
+  return locals()
+
+def pybullet_cheetah():
+  """Configuration for MuJoCo's half cheetah task."""
+  locals().update(default())
+  # Environment
+  env = 'HalfCheetahBulletEnv-v0'
+  max_length = 1000
+  steps = 1e8  # 100M
+  return locals()
+
+def pybullet_ant():
+  locals().update(default())
+  env = 'AntBulletEnv-v0'
+  max_length = 1000
+  steps = 5e7  # 50M
+  return locals()
+
+def pybullet_racecar():
+  """Configuration for Bullet MIT Racecar task."""
+  locals().update(default())
+  # Environment
+  env = 'RacecarBulletEnv-v0' #functools.partial(racecarGymEnv.RacecarGymEnv, isDiscrete=False, renders=True)
+  max_length = 10
+  steps = 1e7  # 10M
+  return locals()
+
+
+def pybullet_minitaur():
+  """Configuration specific to minitaur_gym_env.MinitaurBulletEnv class."""
+  locals().update(default())
+  randomizer = (minitaur_env_randomizer.MinitaurEnvRandomizer())
+  env = functools.partial(
+      minitaur_gym_env.MinitaurBulletEnv,
+      accurate_motor_model_enabled=True,
+      motor_overheat_protection=True,
+      pd_control_enabled=True,
+      env_randomizer=randomizer,
+      render=False)
+  max_length = 1000
+  steps = 3e7  # 30M
+  return locals()
+