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replaced all detpmp with promp

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This commit is contained in:
Maximilian Huettenrauch
2021-11-30 16:11:32 +01:00
parent 655d52aa35
commit 8b88ce3476
20 changed files with 121 additions and 407 deletions
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alr_envs/dmc/README.MD
+3 -3
View File
@@ -11,9 +11,9 @@ environments in order to use our Motion Primitive gym interface with them.
|Name| Description|Trajectory Horizon|Action Dimension|Context Dimension
|---|---|---|---|---|
|`dmc_ball_in_cup-catch_detpmp-v0`| A DetPmP wrapped version of the "catch" task for the "ball_in_cup" environment. | 1000 | 10 | 2
|`dmc_ball_in_cup-catch_promp-v0`| A ProMP wrapped version of the "catch" task for the "ball_in_cup" environment. | 1000 | 10 | 2
|`dmc_ball_in_cup-catch_dmp-v0`| A DMP wrapped version of the "catch" task for the "ball_in_cup" environment. | 1000| 10 | 2
|`dmc_reacher-easy_detpmp-v0`| A DetPmP wrapped version of the "easy" task for the "reacher" environment. | 1000 | 10 | 4
|`dmc_reacher-easy_promp-v0`| A ProMP wrapped version of the "easy" task for the "reacher" environment. | 1000 | 10 | 4
|`dmc_reacher-easy_dmp-v0`| A DMP wrapped version of the "easy" task for the "reacher" environment. | 1000| 10 | 4
|`dmc_reacher-hard_detpmp-v0`| A DetPmP wrapped version of the "hard" task for the "reacher" environment.| 1000 | 10 | 4
|`dmc_reacher-hard_promp-v0`| A ProMP wrapped version of the "hard" task for the "reacher" environment.| 1000 | 10 | 4
|`dmc_reacher-hard_dmp-v0`| A DMP wrapped version of the "hard" task for the "reacher" environment. | 1000 | 10 | 4
alr_envs/dmc/__init__.py
+22 -29
View File
@@ -1,6 +1,6 @@
from . import manipulation, suite
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "DetPMP": []}
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
from gym.envs.registration import register
@@ -34,8 +34,8 @@ register(
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_ball_in_cup-catch_dmp-v0")
register(
id=f'dmc_ball_in_cup-catch_detpmp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id=f'dmc_ball_in_cup-catch_promp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"ball_in_cup-catch",
"time_limit": 20,
@@ -45,7 +45,6 @@ register(
"num_dof": 2,
"num_basis": 5,
"duration": 20,
"width": 0.025,
"policy_type": "motor",
"zero_start": True,
"policy_kwargs": {
@@ -55,7 +54,7 @@ register(
}
}
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("dmc_ball_in_cup-catch_detpmp-v0")
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_ball_in_cup-catch_promp-v0")
register(
id=f'dmc_reacher-easy_dmp-v0',
@@ -86,8 +85,8 @@ register(
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-easy_dmp-v0")
register(
id=f'dmc_reacher-easy_detpmp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id=f'dmc_reacher-easy_promp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"reacher-easy",
"time_limit": 20,
@@ -97,7 +96,6 @@ register(
"num_dof": 2,
"num_basis": 5,
"duration": 20,
"width": 0.025,
"policy_type": "motor",
"weights_scale": 0.2,
"zero_start": True,
@@ -108,7 +106,7 @@ register(
}
}
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("dmc_reacher-easy_detpmp-v0")
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_reacher-easy_promp-v0")
register(
id=f'dmc_reacher-hard_dmp-v0',
@@ -139,8 +137,8 @@ register(
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-hard_dmp-v0")
register(
id=f'dmc_reacher-hard_detpmp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id=f'dmc_reacher-hard_promp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"reacher-hard",
"time_limit": 20,
@@ -150,7 +148,6 @@ register(
"num_dof": 2,
"num_basis": 5,
"duration": 20,
"width": 0.025,
"policy_type": "motor",
"weights_scale": 0.2,
"zero_start": True,
@@ -161,7 +158,7 @@ register(
}
}
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("dmc_reacher-hard_detpmp-v0")
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_reacher-hard_promp-v0")
_dmc_cartpole_tasks = ["balance", "balance_sparse", "swingup", "swingup_sparse"]
@@ -196,10 +193,10 @@ for _task in _dmc_cartpole_tasks:
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
_env_id = f'dmc_cartpole-{_task}_detpmp-v0'
_env_id = f'dmc_cartpole-{_task}_promp-v0'
register(
id=_env_id,
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"cartpole-{_task}",
# "time_limit": 1,
@@ -210,7 +207,6 @@ for _task in _dmc_cartpole_tasks:
"num_dof": 1,
"num_basis": 5,
"duration": 10,
"width": 0.025,
"policy_type": "motor",
"weights_scale": 0.2,
"zero_start": True,
@@ -221,7 +217,7 @@ for _task in _dmc_cartpole_tasks:
}
}
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
_env_id = f'dmc_cartpole-two_poles_dmp-v0'
register(
@@ -253,10 +249,10 @@ register(
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
_env_id = f'dmc_cartpole-two_poles_detpmp-v0'
_env_id = f'dmc_cartpole-two_poles_promp-v0'
register(
id=_env_id,
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"cartpole-two_poles",
# "time_limit": 1,
@@ -267,7 +263,6 @@ register(
"num_dof": 1,
"num_basis": 5,
"duration": 10,
"width": 0.025,
"policy_type": "motor",
"weights_scale": 0.2,
"zero_start": True,
@@ -278,7 +273,7 @@ register(
}
}
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
_env_id = f'dmc_cartpole-three_poles_dmp-v0'
register(
@@ -310,10 +305,10 @@ register(
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
_env_id = f'dmc_cartpole-three_poles_detpmp-v0'
_env_id = f'dmc_cartpole-three_poles_promp-v0'
register(
id=_env_id,
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"cartpole-three_poles",
# "time_limit": 1,
@@ -324,7 +319,6 @@ register(
"num_dof": 1,
"num_basis": 5,
"duration": 10,
"width": 0.025,
"policy_type": "motor",
"weights_scale": 0.2,
"zero_start": True,
@@ -335,7 +329,7 @@ register(
}
}
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
# DeepMind Manipulation
@@ -364,8 +358,8 @@ register(
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_manipulation-reach_site_dmp-v0")
register(
id=f'dmc_manipulation-reach_site_detpmp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id=f'dmc_manipulation-reach_site_promp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"manipulation-reach_site_features",
# "time_limit": 1,
@@ -375,11 +369,10 @@ register(
"num_dof": 9,
"num_basis": 5,
"duration": 10,
"width": 0.025,
"policy_type": "velocity",
"weights_scale": 0.2,
"zero_start": True,
}
}
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("dmc_manipulation-reach_site_detpmp-v0")
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_manipulation-reach_site_promp-v0")