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add contextual obs option to invalid trajectory callback

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This commit is contained in:
Hongyi Zhou 2022-11-25 22:34:46 +01:00
parent c242c32a41
commit 2735e0bf24
3 changed files with 19 additions and 17 deletions
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17
fancy_gym/black_box/black_box_wrapper.py
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@ -169,8 +169,6 @@ class BlackBoxWrapper(gym.ObservationWrapper):
infos = dict() infos = dict()
done = False done = False
if traj_is_valid: if traj_is_valid:
self.plan_steps += 1 self.plan_steps += 1
for t, (pos, vel) in enumerate(zip(position, velocity)): for t, (pos, vel) in enumerate(zip(position, velocity)):
@ -207,18 +205,19 @@ class BlackBoxWrapper(gym.ObservationWrapper):
infos.update({k: v[:t+1] for k, v in infos.items()}) infos.update({k: v[:t+1] for k, v in infos.items()})
self.current_traj_steps += t + 1 self.current_traj_steps += t + 1
if self.verbose >= 2: if self.verbose >= 2:
infos['positions'] = position infos['positions'] = position
infos['velocities'] = velocity infos['velocities'] = velocity
infos['step_actions'] = actions[:t + 1] infos['step_actions'] = actions[:t + 1]
infos['step_observations'] = observations[:t + 1] infos['step_observations'] = observations[:t + 1]
infos['step_rewards'] = rewards[:t + 1] infos['step_rewards'] = rewards[:t + 1]
infos['trajectory_length'] = t + 1 infos['trajectory_length'] = t + 1
trajectory_return = self.reward_aggregation(rewards[:t + 1]) trajectory_return = self.reward_aggregation(rewards[:t + 1])
return self.observation(obs), trajectory_return, done, infos return self.observation(obs), trajectory_return, done, infos
else: else:
obs, trajectory_return, done, infos = self.env.invalid_traj_callback(action, position, velocity) obs, trajectory_return, done, infos = self.env.invalid_traj_callback(action, position, velocity,
self.return_context_observation)
return self.observation(obs), trajectory_return, done, infos return self.observation(obs), trajectory_return, done, infos
def render(self, **kwargs): def render(self, **kwargs):

6
fancy_gym/envs/mujoco/table_tennis/mp_wrapper.py
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@ -55,8 +55,8 @@ class MPWrapper(RawInterfaceWrapper):
return False return False
return True return True
def invalid_traj_callback(self, action, pos_traj: np.ndarray, vel_traj: np.ndarray) \ def invalid_traj_callback(self, action, pos_traj: np.ndarray, vel_traj: np.ndarray,
-> Tuple[np.ndarray, float, bool, dict]: return_contextual_obs: bool) -> Tuple[np.ndarray, float, bool, dict]:
tau_invalid_penalty = 3 * (np.max([0, action[0] - tau_bound[1]]) + np.max([0, tau_bound[0] - action[0]])) tau_invalid_penalty = 3 * (np.max([0, action[0] - tau_bound[1]]) + np.max([0, tau_bound[0] - action[0]]))
delay_invalid_penalty = 3 * (np.max([0, action[1] - delay_bound[1]]) + np.max([0, delay_bound[0] - action[1]])) delay_invalid_penalty = 3 * (np.max([0, action[1] - delay_bound[1]]) + np.max([0, delay_bound[0] - action[1]]))
violate_high_bound_error = np.mean(np.maximum(pos_traj - jnt_pos_high, 0)) violate_high_bound_error = np.mean(np.maximum(pos_traj - jnt_pos_high, 0))
@ -64,6 +64,8 @@ class MPWrapper(RawInterfaceWrapper):
invalid_penalty = tau_invalid_penalty + delay_invalid_penalty + \ invalid_penalty = tau_invalid_penalty + delay_invalid_penalty + \
violate_high_bound_error + violate_low_bound_error violate_high_bound_error + violate_low_bound_error
obs = np.concatenate([self.get_obs(), np.array([0])]) obs = np.concatenate([self.get_obs(), np.array([0])])
if return_contextual_obs:
obs = self.get_obs()
return obs, -invalid_penalty, True, { return obs, -invalid_penalty, True, {
"hit_ball": [False], "hit_ball": [False],
"ball_returned_success": [False], "ball_returned_success": [False],

13
fancy_gym/examples/examples_movement_primitives.py
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@ -157,17 +157,18 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
if __name__ == '__main__': if __name__ == '__main__':
render = True render = True
# DMP # DMP
example_mp("HoleReacherDMP-v0", seed=10, iterations=5, render=render) # example_mp("HoleReacherDMP-v0", seed=10, iterations=5, render=render)
# ProMP # ProMP
example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render) # example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render)
example_mp("BoxPushingTemporalSparseProMP-v0", seed=10, iterations=1, render=render) # example_mp("BoxPushingTemporalSparseProMP-v0", seed=10, iterations=1, render=render)
example_mp("TableTennis4DProMP-v0", seed=10, iterations=20, render=render)
# ProDMP # ProDMP
example_mp("BoxPushingDenseReplanProDMP-v0", seed=10, iterations=4, render=render) # example_mp("BoxPushingDenseReplanProDMP-v0", seed=10, iterations=4, render=render)
# Altered basis functions # Altered basis functions
obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render) # obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render)
# Custom MP # Custom MP
example_fully_custom_mp(seed=10, iterations=1, render=render) # example_fully_custom_mp(seed=10, iterations=1, render=render)