47 lines
1.1 KiB
Python
47 lines
1.1 KiB
Python
#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
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import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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parentdir = os.path.dirname(os.path.dirname(currentdir))
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os.sys.path.insert(0,parentdir)
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import gym
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from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
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from baselines import deepq
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import datetime
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def callback(lcl, glb):
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# stop training if reward exceeds 199
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total = sum(lcl['episode_rewards'][-101:-1]) / 100
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totalt = lcl['t']
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#print("totalt")
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#print(totalt)
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is_solved = totalt > 2000 and total >= 10
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return is_solved
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def main():
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env = KukaGymEnv(renders=False, isDiscrete=True)
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model = deepq.models.mlp([64])
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act = deepq.learn(
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env,
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q_func=model,
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lr=1e-3,
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max_timesteps=10000000,
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buffer_size=50000,
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exploration_fraction=0.1,
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exploration_final_eps=0.02,
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print_freq=10,
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callback=callback
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)
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print("Saving model to kuka_model.pkl")
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act.save("kuka_model.pkl")
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if __name__ == '__main__':
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main()
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