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add yapf style and apply yapf to format all Python files

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This recreates pull request #2192
This commit is contained in:
Erwin Coumans
2019-04-27 07:31:15 -07:00
parent c591735042
commit ef9570c315
347 changed files with 70304 additions and 22752 deletions
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1
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/__init__.py
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@@ -11,7 +11,6 @@
# 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.
"""Tools for reinforcement learning."""
from __future__ import absolute_import

1
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/attr_dict.py
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@@ -11,7 +11,6 @@
# 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.
"""Wrap a dictionary to access keys as attributes."""
from __future__ import absolute_import

1
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/attr_dict_test.py
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@@ -11,7 +11,6 @@
# 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.
"""Tests for the attribute dictionary."""
from __future__ import absolute_import

9
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/batch_env.py
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@@ -11,7 +11,6 @@
# 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.
"""Combine multiple environments to step them in batch."""
from __future__ import absolute_import
@@ -84,13 +83,9 @@ class BatchEnv(object):
message = 'Invalid action at index {}: {}'
raise ValueError(message.format(index, action))
if self._blocking:
transitions = [
env.step(action)
for env, action in zip(self._envs, actions)]
transitions = [env.step(action) for env, action in zip(self._envs, actions)]
else:
transitions = [
env.step(action, blocking=False)
for env, action in zip(self._envs, actions)]
transitions = [env.step(action, blocking=False) for env, action in zip(self._envs, actions)]
transitions = [transition() for transition in transitions]
observs, rewards, dones, infos = zip(*transitions)
observ = np.stack(observs)

1
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/count_weights.py
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@@ -11,7 +11,6 @@
# 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.
"""Count learnable parameters."""
from __future__ import absolute_import

1
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/count_weights_test.py
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@@ -11,7 +11,6 @@
# 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.
"""Tests for the weight counting utility."""
from __future__ import absolute_import

44
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/in_graph_batch_env.py
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@@ -11,7 +11,6 @@
# 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.
"""Batch of environments inside the TensorFlow graph."""
from __future__ import absolute_import
@@ -42,18 +41,18 @@ class InGraphBatchEnv(object):
action_shape = self._parse_shape(self._batch_env.action_space)
action_dtype = self._parse_dtype(self._batch_env.action_space)
with tf.variable_scope('env_temporary'):
self._observ = tf.Variable(
tf.zeros((len(self._batch_env),) + observ_shape, observ_dtype),
name='observ', trainable=False)
self._action = tf.Variable(
tf.zeros((len(self._batch_env),) + action_shape, action_dtype),
name='action', trainable=False)
self._reward = tf.Variable(
tf.zeros((len(self._batch_env),), tf.float32),
name='reward', trainable=False)
self._done = tf.Variable(
tf.cast(tf.ones((len(self._batch_env),)), tf.bool),
name='done', trainable=False)
self._observ = tf.Variable(tf.zeros((len(self._batch_env),) + observ_shape, observ_dtype),
name='observ',
trainable=False)
self._action = tf.Variable(tf.zeros((len(self._batch_env),) + action_shape, action_dtype),
name='action',
trainable=False)
self._reward = tf.Variable(tf.zeros((len(self._batch_env),), tf.float32),
name='reward',
trainable=False)
self._done = tf.Variable(tf.cast(tf.ones((len(self._batch_env),)), tf.bool),
name='done',
trainable=False)
def __getattr__(self, name):
"""Forward unimplemented attributes to one of the original environments.
@@ -89,16 +88,13 @@ class InGraphBatchEnv(object):
if action.dtype in (tf.float16, tf.float32, tf.float64):
action = tf.check_numerics(action, 'action')
observ_dtype = self._parse_dtype(self._batch_env.observation_space)
observ, reward, done = tf.py_func(
lambda a: self._batch_env.step(a)[:3], [action],
[observ_dtype, tf.float32, tf.bool], name='step')
observ, reward, done = tf.py_func(lambda a: self._batch_env.step(a)[:3], [action],
[observ_dtype, tf.float32, tf.bool],
name='step')
observ = tf.check_numerics(observ, 'observ')
reward = tf.check_numerics(reward, 'reward')
return tf.group(
self._observ.assign(observ),
self._action.assign(action),
self._reward.assign(reward),
self._done.assign(done))
return tf.group(self._observ.assign(observ), self._action.assign(action),
self._reward.assign(reward), self._done.assign(done))
def reset(self, indices=None):
"""Reset the batch of environments.
@@ -112,15 +108,15 @@ class InGraphBatchEnv(object):
if indices is None:
indices = tf.range(len(self._batch_env))
observ_dtype = self._parse_dtype(self._batch_env.observation_space)
observ = tf.py_func(
self._batch_env.reset, [indices], observ_dtype, name='reset')
observ = tf.py_func(self._batch_env.reset, [indices], observ_dtype, name='reset')
observ = tf.check_numerics(observ, 'observ')
reward = tf.zeros_like(indices, tf.float32)
done = tf.zeros_like(indices, tf.bool)
with tf.control_dependencies([
tf.scatter_update(self._observ, indices, observ),
tf.scatter_update(self._reward, indices, reward),
tf.scatter_update(self._done, indices, done)]):
tf.scatter_update(self._done, indices, done)
]):
return tf.identity(observ)
@property

43
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/in_graph_env.py
View File

@@ -11,7 +11,6 @@
# 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.
"""Put an OpenAI Gym environment into the TensorFlow graph."""
from __future__ import absolute_import
@@ -42,16 +41,15 @@ class InGraphEnv(object):
action_shape = self._parse_shape(self._env.action_space)
action_dtype = self._parse_dtype(self._env.action_space)
with tf.name_scope('environment'):
self._observ = tf.Variable(
tf.zeros(observ_shape, observ_dtype), name='observ', trainable=False)
self._action = tf.Variable(
tf.zeros(action_shape, action_dtype), name='action', trainable=False)
self._reward = tf.Variable(
0.0, dtype=tf.float32, name='reward', trainable=False)
self._done = tf.Variable(
True, dtype=tf.bool, name='done', trainable=False)
self._step = tf.Variable(
0, dtype=tf.int32, name='step', trainable=False)
self._observ = tf.Variable(tf.zeros(observ_shape, observ_dtype),
name='observ',
trainable=False)
self._action = tf.Variable(tf.zeros(action_shape, action_dtype),
name='action',
trainable=False)
self._reward = tf.Variable(0.0, dtype=tf.float32, name='reward', trainable=False)
self._done = tf.Variable(True, dtype=tf.bool, name='done', trainable=False)
self._step = tf.Variable(0, dtype=tf.int32, name='step', trainable=False)
def __getattr__(self, name):
"""Forward unimplemented attributes to the original environment.
@@ -79,17 +77,14 @@ class InGraphEnv(object):
if action.dtype in (tf.float16, tf.float32, tf.float64):
action = tf.check_numerics(action, 'action')
observ_dtype = self._parse_dtype(self._env.observation_space)
observ, reward, done = tf.py_func(
lambda a: self._env.step(a)[:3], [action],
[observ_dtype, tf.float32, tf.bool], name='step')
observ, reward, done = tf.py_func(lambda a: self._env.step(a)[:3], [action],
[observ_dtype, tf.float32, tf.bool],
name='step')
observ = tf.check_numerics(observ, 'observ')
reward = tf.check_numerics(reward, 'reward')
return tf.group(
self._observ.assign(observ),
self._action.assign(action),
self._reward.assign(reward),
self._done.assign(done),
self._step.assign_add(1))
return tf.group(self._observ.assign(observ), self._action.assign(action),
self._reward.assign(reward), self._done.assign(done),
self._step.assign_add(1))
def reset(self):
"""Reset the environment.
@@ -100,10 +95,10 @@ class InGraphEnv(object):
observ_dtype = self._parse_dtype(self._env.observation_space)
observ = tf.py_func(self._env.reset, [], observ_dtype, name='reset')
observ = tf.check_numerics(observ, 'observ')
with tf.control_dependencies([
self._observ.assign(observ),
self._reward.assign(0),
self._done.assign(False)]):
with tf.control_dependencies(
[self._observ.assign(observ),
self._reward.assign(0),
self._done.assign(False)]):
return tf.identity(observ)
@property

45
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/loop.py
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@@ -11,7 +11,6 @@
# 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.
"""Execute operations in a loop and coordinate logging and checkpoints."""
from __future__ import absolute_import
@@ -25,10 +24,8 @@ import tensorflow as tf
from pybullet_envs.minitaur.agents.tools import streaming_mean
_Phase = collections.namedtuple(
'Phase',
'name, writer, op, batch, steps, feed, report_every, log_every,'
'Phase', 'name, writer, op, batch, steps, feed, report_every, log_every,'
'checkpoint_every')
@@ -56,16 +53,22 @@ class Loop(object):
reset: Tensor indicating to the model to start a new computation.
"""
self._logdir = logdir
self._step = (
tf.Variable(0, False, name='global_step') if step is None else step)
self._step = (tf.Variable(0, False, name='global_step') if step is None else step)
self._log = tf.placeholder(tf.bool) if log is None else log
self._report = tf.placeholder(tf.bool) if report is None else report
self._reset = tf.placeholder(tf.bool) if reset is None else reset
self._phases = []
def add_phase(
self, name, done, score, summary, steps,
report_every=None, log_every=None, checkpoint_every=None, feed=None):
def add_phase(self,
name,
done,
score,
summary,
steps,
report_every=None,
log_every=None,
checkpoint_every=None,
feed=None):
"""Add a phase to the loop protocol.
If the model breaks long computation into multiple steps, the done tensor
@@ -97,13 +100,12 @@ class Loop(object):
if done.shape.ndims is None or score.shape.ndims is None:
raise ValueError("Rank of 'done' and 'score' tensors must be known.")
writer = self._logdir and tf.summary.FileWriter(
os.path.join(self._logdir, name), tf.get_default_graph(),
flush_secs=60)
os.path.join(self._logdir, name), tf.get_default_graph(), flush_secs=60)
op = self._define_step(done, score, summary)
batch = 1 if score.shape.ndims == 0 else score.shape[0].value
self._phases.append(_Phase(
name, writer, op, batch, int(steps), feed, report_every,
log_every, checkpoint_every))
self._phases.append(
_Phase(name, writer, op, batch, int(steps), feed, report_every, log_every,
checkpoint_every))
def run(self, sess, saver, max_step=None):
"""Run the loop schedule for a specified number of steps.
@@ -133,13 +135,11 @@ class Loop(object):
tf.logging.info(message.format(phase.name, phase_step, global_step))
# Populate book keeping tensors.
phase.feed[self._reset] = (steps_in < steps_made)
phase.feed[self._log] = (
phase.writer and
self._is_every_steps(phase_step, phase.batch, phase.log_every))
phase.feed[self._report] = (
self._is_every_steps(phase_step, phase.batch, phase.report_every))
summary, mean_score, global_step, steps_made = sess.run(
phase.op, phase.feed)
phase.feed[self._log] = (phase.writer and
self._is_every_steps(phase_step, phase.batch, phase.log_every))
phase.feed[self._report] = (self._is_every_steps(phase_step, phase.batch,
phase.report_every))
summary, mean_score, global_step, steps_made = sess.run(phase.op, phase.feed)
if self._is_every_steps(phase_step, phase.batch, phase.checkpoint_every):
self._store_checkpoint(sess, saver, global_step)
if self._is_every_steps(phase_step, phase.batch, phase.report_every):
@@ -207,8 +207,7 @@ class Loop(object):
score_mean = streaming_mean.StreamingMean((), tf.float32)
with tf.control_dependencies([done, score, summary]):
done_score = tf.gather(score, tf.where(done)[:, 0])
submit_score = tf.cond(
tf.reduce_any(done), lambda: score_mean.submit(done_score), tf.no_op)
submit_score = tf.cond(tf.reduce_any(done), lambda: score_mean.submit(done_score), tf.no_op)
with tf.control_dependencies([submit_score]):
mean_score = tf.cond(self._report, score_mean.clear, float)
steps_made = tf.shape(score)[0]

54
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/loop_test.py
View File

@@ -11,7 +11,6 @@
# 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.
"""Tests for the training loop."""
from __future__ import absolute_import
@@ -28,8 +27,7 @@ class LoopTest(tf.test.TestCase):
def test_report_every_step(self):
step = tf.Variable(0, False, dtype=tf.int32, name='step')
loop = tools.Loop(None, step)
loop.add_phase(
'phase_1', done=True, score=0, summary='', steps=1, report_every=3)
loop.add_phase('phase_1', done=True, score=0, summary='', steps=1, report_every=3)
# Step: 0 1 2 3 4 5 6 7 8
# Report: x x x
with self.test_session() as sess:
@@ -45,15 +43,33 @@ class LoopTest(tf.test.TestCase):
def test_phases_feed(self):
score = tf.placeholder(tf.float32, [])
loop = tools.Loop(None)
loop.add_phase(
'phase_1', done=True, score=score, summary='', steps=1, report_every=1,
log_every=None, checkpoint_every=None, feed={score: 1})
loop.add_phase(
'phase_2', done=True, score=score, summary='', steps=3, report_every=1,
log_every=None, checkpoint_every=None, feed={score: 2})
loop.add_phase(
'phase_3', done=True, score=score, summary='', steps=2, report_every=1,
log_every=None, checkpoint_every=None, feed={score: 3})
loop.add_phase('phase_1',
done=True,
score=score,
summary='',
steps=1,
report_every=1,
log_every=None,
checkpoint_every=None,
feed={score: 1})
loop.add_phase('phase_2',
done=True,
score=score,
summary='',
steps=3,
report_every=1,
log_every=None,
checkpoint_every=None,
feed={score: 2})
loop.add_phase('phase_3',
done=True,
score=score,
summary='',
steps=2,
report_every=1,
log_every=None,
checkpoint_every=None,
feed={score: 3})
with self.test_session() as sess:
sess.run(tf.global_variables_initializer())
scores = list(loop.run(sess, saver=None, max_step=15))
@@ -61,10 +77,8 @@ class LoopTest(tf.test.TestCase):
def test_average_score_over_phases(self):
loop = tools.Loop(None)
loop.add_phase(
'phase_1', done=True, score=1, summary='', steps=1, report_every=2)
loop.add_phase(
'phase_2', done=True, score=2, summary='', steps=2, report_every=5)
loop.add_phase('phase_1', done=True, score=1, summary='', steps=1, report_every=2)
loop.add_phase('phase_2', done=True, score=2, summary='', steps=2, report_every=5)
# Score: 1 2 2 1 2 2 1 2 2 1 2 2 1 2 2 1 2
# Report 1: x x x
# Report 2: x x
@@ -78,8 +92,7 @@ class LoopTest(tf.test.TestCase):
done = tf.equal((step + 1) % 2, 0)
score = tf.cast(step, tf.float32)
loop = tools.Loop(None, step)
loop.add_phase(
'phase_1', done, score, summary='', steps=1, report_every=3)
loop.add_phase('phase_1', done, score, summary='', steps=1, report_every=3)
# Score: 0 1 2 3 4 5 6 7 8
# Done: x x x x
# Report: x x x
@@ -91,10 +104,9 @@ class LoopTest(tf.test.TestCase):
def test_not_done_batch(self):
step = tf.Variable(0, False, dtype=tf.int32, name='step')
done = tf.equal([step % 3, step % 4], 0)
score = tf.cast([step, step ** 2], tf.float32)
score = tf.cast([step, step**2], tf.float32)
loop = tools.Loop(None, step)
loop.add_phase(
'phase_1', done, score, summary='', steps=1, report_every=8)
loop.add_phase('phase_1', done, score, summary='', steps=1, report_every=8)
# Step: 0 2 4 6
# Score 1: 0 2 4 6
# Done 1: x x

1
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/mock_algorithm.py
View File

@@ -11,7 +11,6 @@
# 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.
"""Mock algorithm for testing reinforcement learning code."""
from __future__ import absolute_import

1
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/mock_environment.py
View File

@@ -11,7 +11,6 @@
# 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.
"""Mock environment for testing reinforcement learning code."""
from __future__ import absolute_import

49
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/simulate.py
View File

@@ -11,7 +11,6 @@
# 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.
"""In-graph simulation step of a vecrotized algorithm with environments."""
from __future__ import absolute_import
@@ -55,7 +54,8 @@ def simulate(batch_env, algo, log=True, reset=False):
reset_ops = [
batch_env.reset(agent_indices),
tf.scatter_update(score, agent_indices, zero_scores),
tf.scatter_update(length, agent_indices, zero_durations)]
tf.scatter_update(length, agent_indices, zero_durations)
]
with tf.control_dependencies(reset_ops):
return algo.begin_episode(agent_indices)
@@ -76,9 +76,8 @@ def simulate(batch_env, algo, log=True, reset=False):
add_score = score.assign_add(batch_env.reward)
inc_length = length.assign_add(tf.ones(len(batch_env), tf.int32))
with tf.control_dependencies([add_score, inc_length]):
experience_summary = algo.experience(
prevob, batch_env.action, batch_env.reward, batch_env.done,
batch_env.observ)
experience_summary = algo.experience(prevob, batch_env.action, batch_env.reward,
batch_env.done, batch_env.observ)
return tf.summary.merge([step_summary, experience_summary])
def _define_end_episode(agent_indices):
@@ -94,8 +93,7 @@ def simulate(batch_env, algo, log=True, reset=False):
"""
assert agent_indices.shape.ndims == 1
submit_score = mean_score.submit(tf.gather(score, agent_indices))
submit_length = mean_length.submit(
tf.cast(tf.gather(length, agent_indices), tf.float32))
submit_length = mean_length.submit(tf.cast(tf.gather(length, agent_indices), tf.float32))
with tf.control_dependencies([submit_score, submit_length]):
return algo.end_episode(agent_indices)
@@ -105,41 +103,34 @@ def simulate(batch_env, algo, log=True, reset=False):
Returns:
Summary string.
"""
score_summary = tf.cond(
tf.logical_and(log, tf.cast(mean_score.count, tf.bool)),
lambda: tf.summary.scalar('mean_score', mean_score.clear()), str)
length_summary = tf.cond(
tf.logical_and(log, tf.cast(mean_length.count, tf.bool)),
lambda: tf.summary.scalar('mean_length', mean_length.clear()), str)
score_summary = tf.cond(tf.logical_and(log, tf.cast(
mean_score.count, tf.bool)), lambda: tf.summary.scalar('mean_score', mean_score.clear()),
str)
length_summary = tf.cond(tf.logical_and(
log, tf.cast(mean_length.count,
tf.bool)), lambda: tf.summary.scalar('mean_length', mean_length.clear()), str)
return tf.summary.merge([score_summary, length_summary])
with tf.name_scope('simulate'):
log = tf.convert_to_tensor(log)
reset = tf.convert_to_tensor(reset)
with tf.variable_scope('simulate_temporary'):
score = tf.Variable(
tf.zeros(len(batch_env), dtype=tf.float32), False, name='score')
length = tf.Variable(
tf.zeros(len(batch_env), dtype=tf.int32), False, name='length')
score = tf.Variable(tf.zeros(len(batch_env), dtype=tf.float32), False, name='score')
length = tf.Variable(tf.zeros(len(batch_env), dtype=tf.int32), False, name='length')
mean_score = streaming_mean.StreamingMean((), tf.float32)
mean_length = streaming_mean.StreamingMean((), tf.float32)
agent_indices = tf.cond(
reset,
lambda: tf.range(len(batch_env)),
lambda: tf.cast(tf.where(batch_env.done)[:, 0], tf.int32))
begin_episode = tf.cond(
tf.cast(tf.shape(agent_indices)[0], tf.bool),
lambda: _define_begin_episode(agent_indices), str)
agent_indices = tf.cond(reset, lambda: tf.range(len(batch_env)), lambda: tf.cast(
tf.where(batch_env.done)[:, 0], tf.int32))
begin_episode = tf.cond(tf.cast(tf.shape(agent_indices)[0],
tf.bool), lambda: _define_begin_episode(agent_indices), str)
with tf.control_dependencies([begin_episode]):
step = _define_step()
with tf.control_dependencies([step]):
agent_indices = tf.cast(tf.where(batch_env.done)[:, 0], tf.int32)
end_episode = tf.cond(
tf.cast(tf.shape(agent_indices)[0], tf.bool),
lambda: _define_end_episode(agent_indices), str)
end_episode = tf.cond(tf.cast(tf.shape(agent_indices)[0],
tf.bool), lambda: _define_end_episode(agent_indices), str)
with tf.control_dependencies([end_episode]):
summary = tf.summary.merge([
_define_summaries(), begin_episode, step, end_episode])
summary = tf.summary.merge([_define_summaries(), begin_episode, step, end_episode])
with tf.control_dependencies([summary]):
done, score = tf.identity(batch_env.done), tf.identity(score)
return done, score, summary

8
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/simulate_test.py
View File

@@ -11,7 +11,6 @@
# 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.
"""Tests for the simulation operation."""
from __future__ import absolute_import
@@ -84,9 +83,10 @@ class SimulateTest(tf.test.TestCase):
def _create_test_batch_env(self, durations):
envs = []
for duration in durations:
env = tools.MockEnvironment(
observ_shape=(2, 3), action_shape=(3,),
min_duration=duration, max_duration=duration)
env = tools.MockEnvironment(observ_shape=(2, 3),
action_shape=(3,),
min_duration=duration,
max_duration=duration)
env = tools.wrappers.ConvertTo32Bit(env)
envs.append(env)
batch_env = tools.BatchEnv(envs, blocking=True)

6
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/streaming_mean.py
View File

@@ -11,7 +11,6 @@
# 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.
"""Compute a streaming estimation of the mean of submitted tensors."""
from __future__ import absolute_import
@@ -53,9 +52,8 @@ class StreamingMean(object):
# Add a batch dimension if necessary.
if value.shape.ndims == self._sum.shape.ndims:
value = value[None, ...]
return tf.group(
self._sum.assign_add(tf.reduce_sum(value, 0)),
self._count.assign_add(tf.shape(value)[0]))
return tf.group(self._sum.assign_add(tf.reduce_sum(value, 0)),
self._count.assign_add(tf.shape(value)[0]))
def clear(self):
"""Return the mean estimate and reset the streaming statistics."""

15
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/wrappers.py
View File

@@ -11,7 +11,6 @@
# 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.
"""Wrappers for OpenAI Gym environments."""
from __future__ import absolute_import
@@ -150,8 +149,7 @@ class FrameHistory(object):
return self._select_frames()
def _select_frames(self):
indices = [
(self._step - index) % self._capacity for index in self._past_indices]
indices = [(self._step - index) % self._capacity for index in self._past_indices]
observ = self._buffer[indices]
if self._flatten:
observ = np.reshape(observ, (-1,) + observ.shape[2:])
@@ -192,14 +190,14 @@ class RangeNormalize(object):
def __init__(self, env, observ=None, action=None):
self._env = env
self._should_normalize_observ = (
observ is not False and self._is_finite(self._env.observation_space))
self._should_normalize_observ = (observ is not False and
self._is_finite(self._env.observation_space))
if observ is True and not self._should_normalize_observ:
raise ValueError('Cannot normalize infinite observation range.')
if observ is None and not self._should_normalize_observ:
tf.logging.info('Not normalizing infinite observation range.')
self._should_normalize_action = (
action is not False and self._is_finite(self._env.action_space))
self._should_normalize_action = (action is not False and
self._is_finite(self._env.action_space))
if action is True and not self._should_normalize_action:
raise ValueError('Cannot normalize infinite action range.')
if action is None and not self._should_normalize_action:
@@ -327,8 +325,7 @@ class ExternalProcess(object):
action_space: The cached action space of the environment.
"""
self._conn, conn = multiprocessing.Pipe()
self._process = multiprocessing.Process(
target=self._worker, args=(constructor, conn))
self._process = multiprocessing.Process(target=self._worker, args=(constructor, conn))
atexit.register(self.close)
self._process.start()
self._observ_space = None

29
examples/pybullet/gym/pybullet_envs/minitaur/agents/tools/wrappers_test.py
View File

@@ -11,7 +11,6 @@
# 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.
"""Tests for environment wrappers."""
from __future__ import absolute_import
@@ -28,18 +27,20 @@ from agents import tools
class ExternalProcessTest(tf.test.TestCase):
def test_close_no_hang_after_init(self):
constructor = functools.partial(
tools.MockEnvironment,
observ_shape=(2, 3), action_shape=(2,),
min_duration=2, max_duration=2)
constructor = functools.partial(tools.MockEnvironment,
observ_shape=(2, 3),
action_shape=(2,),
min_duration=2,
max_duration=2)
env = tools.wrappers.ExternalProcess(constructor)
env.close()
def test_close_no_hang_after_step(self):
constructor = functools.partial(
tools.MockEnvironment,
observ_shape=(2, 3), action_shape=(2,),
min_duration=5, max_duration=5)
constructor = functools.partial(tools.MockEnvironment,
observ_shape=(2, 3),
action_shape=(2,),
min_duration=5,
max_duration=5)
env = tools.wrappers.ExternalProcess(constructor)
env.reset()
env.step(env.action_space.sample())
@@ -53,8 +54,7 @@ class ExternalProcessTest(tf.test.TestCase):
env.step(env.action_space.sample())
def test_reraise_exception_in_step(self):
constructor = functools.partial(
MockEnvironmentCrashInStep, crash_at_step=3)
constructor = functools.partial(MockEnvironmentCrashInStep, crash_at_step=3)
env = tools.wrappers.ExternalProcess(constructor)
env.reset()
env.step(env.action_space.sample())
@@ -74,9 +74,10 @@ class MockEnvironmentCrashInStep(tools.MockEnvironment):
"""Raise an error after specified number of steps in an episode."""
def __init__(self, crash_at_step):
super(MockEnvironmentCrashInStep, self).__init__(
observ_shape=(2, 3), action_shape=(2,),
min_duration=crash_at_step + 1, max_duration=crash_at_step + 1)
super(MockEnvironmentCrashInStep, self).__init__(observ_shape=(2, 3),
action_shape=(2,),
min_duration=crash_at_step + 1,
max_duration=crash_at_step + 1)
self._crash_at_step = crash_at_step
def step(self, *args, **kwargs):