161 lines
4.3 KiB
Python
161 lines
4.3 KiB
Python
# Copyright 2017 The TensorFlow Agents Authors.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Example configurations using the PPO algorithm."""
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from __future__ import absolute_import
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from __future__ import division
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from __future__ import print_function
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import functools
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from . import ppo
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from . import networks
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from pybullet_envs.bullet import minitaur_gym_env
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from pybullet_envs.bullet import minitaur_duck_gym_env
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from pybullet_envs.bullet import minitaur_env_randomizer
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import pybullet_envs.bullet.minitaur_gym_env as minitaur_gym_env
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import pybullet_envs
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import tensorflow as tf
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def default():
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"""Default configuration for PPO."""
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# General
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algorithm = ppo.PPOAlgorithm
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num_agents = 30
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eval_episodes = 30
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use_gpu = False
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# Network
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network = networks.feed_forward_gaussian
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weight_summaries = dict(
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all=r'.*',
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policy=r'.*/policy/.*',
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value=r'.*/value/.*')
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policy_layers = 200, 100
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value_layers = 200, 100
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init_mean_factor = 0.1
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init_logstd = -1
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# Optimization
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update_every = 30
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update_epochs = 25
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optimizer = tf.train.AdamOptimizer
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update_epochs_policy = 64
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update_epochs_value = 64
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learning_rate = 1e-4
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# Losses
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discount = 0.995
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kl_target = 1e-2
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kl_cutoff_factor = 2
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kl_cutoff_coef = 1000
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kl_init_penalty = 1
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return locals()
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def pybullet_pendulum():
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locals().update(default())
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env = 'InvertedPendulumBulletEnv-v0'
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max_length = 200
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steps = 5e7 # 50M
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return locals()
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def pybullet_doublependulum():
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locals().update(default())
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env = 'InvertedDoublePendulumBulletEnv-v0'
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max_length = 1000
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steps = 5e7 # 50M
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return locals()
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def pybullet_pendulumswingup():
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locals().update(default())
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env = 'InvertedPendulumSwingupBulletEnv-v0'
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max_length = 1000
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steps = 5e7 # 50M
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return locals()
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def pybullet_cheetah():
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"""Configuration for MuJoCo's half cheetah task."""
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locals().update(default())
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# Environment
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env = 'HalfCheetahBulletEnv-v0'
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max_length = 1000
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steps = 1e8 # 100M
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return locals()
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def pybullet_ant():
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locals().update(default())
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env = 'AntBulletEnv-v0'
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max_length = 1000
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steps = 5e7 # 50M
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return locals()
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def pybullet_kuka_grasping():
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"""Configuration for Bullet Kuka grasping task."""
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locals().update(default())
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# Environment
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env = 'KukaBulletEnv-v0'
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max_length = 1000
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steps = 1e7 # 10M
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return locals()
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def pybullet_racecar():
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"""Configuration for Bullet MIT Racecar task."""
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locals().update(default())
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# Environment
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env = 'RacecarBulletEnv-v0' #functools.partial(racecarGymEnv.RacecarGymEnv, isDiscrete=False, renders=True)
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max_length = 10
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steps = 1e7 # 10M
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return locals()
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def pybullet_humanoid():
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locals().update(default())
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randomizer = (minitaur_env_randomizer.MinitaurEnvRandomizer())
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env = 'HumanoidBulletEnv-v0'
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max_length = 1000
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steps = 3e7 # 30M
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return locals()
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def pybullet_minitaur():
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"""Configuration specific to minitaur_gym_env.MinitaurBulletEnv class."""
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locals().update(default())
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randomizer = (minitaur_env_randomizer.MinitaurEnvRandomizer())
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env = functools.partial(
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minitaur_gym_env.MinitaurBulletEnv,
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accurate_motor_model_enabled=True,
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motor_overheat_protection=True,
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pd_control_enabled=True,
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env_randomizer=randomizer,
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render=False)
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max_length = 1000
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steps = 3e7 # 30M
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return locals()
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def pybullet_duck_minitaur():
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"""Configuration specific to minitaur_gym_env.MinitaurBulletDuckEnv class."""
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locals().update(default())
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randomizer = (minitaur_env_randomizer.MinitaurEnvRandomizer())
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env = functools.partial(
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minitaur_gym_env.MinitaurBulletDuckEnv,
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accurate_motor_model_enabled=True,
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motor_overheat_protection=True,
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pd_control_enabled=True,
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env_randomizer=randomizer,
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render=False)
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max_length = 1000
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steps = 3e7 # 30M
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return locals()
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