From 50c89843f5485855a47df2e975b3d96e5932d992 Mon Sep 17 00:00:00 2001
From: Florian Gawrilowicz <floicz@gmail.com>
Date: Sat, 8 Jun 2019 22:12:40 +0200
Subject: [PATCH] final push
---
hw4/logger.py | 2 +-
hw4/main.py | 6 +++---
hw4/model_based_policy.py | 18 ++++++++++++++----
hw4/model_based_rl.py | 18 +++++++++---------
hw4/run_all.sh | 0
hw4/utils.py | 2 +-
6 files changed, 28 insertions(+), 18 deletions(-)
mode change 100644 => 100755 hw4/run_all.sh
diff --git a/hw4/logger.py b/hw4/logger.py
index 8df593e..b6f4f41 100644
--- a/hw4/logger.py
+++ b/hw4/logger.py
@@ -6,7 +6,7 @@ from colorlog import ColoredFormatter
import pandas
import numpy as np
-from hw4.tabulate import tabulate
+from tabulate import tabulate
class LoggerClass(object):
diff --git a/hw4/main.py b/hw4/main.py
index f6db504..de4cad0 100644
--- a/hw4/main.py
+++ b/hw4/main.py
@@ -2,9 +2,9 @@ import os
import argparse
import time
-from hw4.half_cheetah_env import HalfCheetahEnv
-from hw4.logger import logger
-from hw4.model_based_rl import ModelBasedRL
+from half_cheetah_env import HalfCheetahEnv
+from logger import logger
+from model_based_rl import ModelBasedRL
parser = argparse.ArgumentParser()
parser.add_argument('question', type=str, choices=('q1, q2, q3'))
diff --git a/hw4/model_based_policy.py b/hw4/model_based_policy.py
index 70aaafe..4fd9764 100644
--- a/hw4/model_based_policy.py
+++ b/hw4/model_based_policy.py
@@ -1,7 +1,7 @@
import tensorflow as tf
import numpy as np
-import hw4.utils as utils
+import utils
class ModelBasedPolicy(object):
@@ -141,7 +141,17 @@ class ModelBasedPolicy(object):
"""
### PROBLEM 2
### YOUR CODE HERE
- raise NotImplementedError
+ actions = tf.random_uniform(
+ shape=[self._num_random_action_selection, self._horizon, self._action_dim],
+ minval=self._action_space_low, maxval=self._action_space_high
+ )
+ costs = tf.zeros(self._num_random_action_selection)
+ states = tf.stack([state_ph[0]] * self._num_random_action_selection)
+ for t in range(self._horizon):
+ next_states = self._dynamics_func(states, actions[:, t, :], True)
+ costs += self._cost_fn(states, actions[:, t, :], next_states)
+ states = next_states
+ best_action = actions[tf.argmin(costs)][0]
return best_action
@@ -165,7 +175,7 @@ class ModelBasedPolicy(object):
### PROBLEM 2
### YOUR CODE HERE
- best_action = None
+ best_action = self._setup_action_selection(state_ph)
sess.run(tf.global_variables_initializer())
@@ -222,7 +232,7 @@ class ModelBasedPolicy(object):
### PROBLEM 2
### YOUR CODE HERE
- raise NotImplementedError
+ best_action = self._sess.run(self._best_action, feed_dict={self._state_ph: [state]})
assert np.shape(best_action) == (self._action_dim,)
return best_action
diff --git a/hw4/model_based_rl.py b/hw4/model_based_rl.py
index 531fe9e..a7c634a 100644
--- a/hw4/model_based_rl.py
+++ b/hw4/model_based_rl.py
@@ -3,10 +3,10 @@ import os
import numpy as np
import matplotlib.pyplot as plt
-from hw4.model_based_policy import ModelBasedPolicy
-import hw4.utils as utils
-from hw4.logger import logger
-from hw4.timer import timeit
+from model_based_policy import ModelBasedPolicy
+import utils
+from logger import logger
+from timer import timeit
class ModelBasedRL(object):
@@ -164,12 +164,12 @@ class ModelBasedRL(object):
logger.info('Training policy....')
### PROBLEM 2
### YOUR CODE HERE
- raise NotImplementedError
+ self._train_policy(self._random_dataset)
logger.info('Evaluating policy...')
### PROBLEM 2
### YOUR CODE HERE
- raise NotImplementedError
+ eval_dataset = self._gather_rollouts(self._policy, self._num_onpolicy_rollouts)
logger.info('Trained policy')
self._log(eval_dataset)
@@ -193,16 +193,16 @@ class ModelBasedRL(object):
### PROBLEM 3
### YOUR CODE HERE
logger.info('Training policy...')
- raise NotImplementedError
+ self._train_policy(dataset)
### PROBLEM 3
### YOUR CODE HERE
logger.info('Gathering rollouts...')
- raise NotImplementedError
+ new_dataset = self._gather_rollouts(self._policy, self._num_onpolicy_rollouts)
### PROBLEM 3
### YOUR CODE HERE
logger.info('Appending dataset...')
- raise NotImplementedError
+ dataset.append(new_dataset)
self._log(new_dataset)
diff --git a/hw4/run_all.sh b/hw4/run_all.sh
old mode 100644
new mode 100755
diff --git a/hw4/utils.py b/hw4/utils.py
index 13cd698..5d90585 100644
--- a/hw4/utils.py
+++ b/hw4/utils.py
@@ -1,7 +1,7 @@
import numpy as np
import tensorflow as tf
-from hw4.logger import logger
+from logger import logger
############
--
GitLab