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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/open_ai/README.MD
+4 -4
View File
@@ -8,7 +8,7 @@ These environments are wrapped-versions of their OpenAI-gym counterparts.
|Name| Description|Trajectory Horizon|Action Dimension|Context Dimension
|---|---|---|---|---|
|`ContinuousMountainCarDetPMP-v0`| A DetPmP wrapped version of the ContinuousMountainCar-v0 environment. | 100 | 1
|`ReacherDetPMP-v2`| A DetPmP wrapped version of the Reacher-v2 environment. | 50 | 2
|`FetchSlideDenseDetPMP-v1`| A DetPmP wrapped version of the FetchSlideDense-v1 environment. | 50 | 4
|`FetchReachDenseDetPMP-v1`| A DetPmP wrapped version of the FetchReachDense-v1 environment. | 50 | 4
|`ContinuousMountainCarProMP-v0`| A ProMP wrapped version of the ContinuousMountainCar-v0 environment. | 100 | 1
|`ReacherProMP-v2`| A ProMP wrapped version of the Reacher-v2 environment. | 50 | 2
|`FetchSlideDenseProMP-v1`| A ProMP wrapped version of the FetchSlideDense-v1 environment. | 50 | 4
|`FetchReachDenseProMP-v1`| A ProMP wrapped version of the FetchReachDense-v1 environment. | 50 | 4
alr_envs/open_ai/__init__.py
+22 -29
View File
@@ -3,7 +3,7 @@ from gym.wrappers import FlattenObservation
from . import classic_control, mujoco, robotics
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "DetPMP": []}
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
# Short Continuous Mountain Car
register(
@@ -16,8 +16,8 @@ register(
# Open AI
# Classic Control
register(
id='ContinuousMountainCarDetPMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id='ContinuousMountainCarProMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": "alr_envs:MountainCarContinuous-v1",
"wrappers": [classic_control.continuous_mountain_car.MPWrapper],
@@ -26,7 +26,6 @@ register(
"num_basis": 4,
"duration": 2,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "motor",
"policy_kwargs": {
@@ -36,11 +35,11 @@ register(
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("ContinuousMountainCarDetPMP-v1")
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ContinuousMountainCarProMP-v1")
register(
id='ContinuousMountainCarDetPMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id='ContinuousMountainCarProMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": "gym.envs.classic_control:MountainCarContinuous-v0",
"wrappers": [classic_control.continuous_mountain_car.MPWrapper],
@@ -49,7 +48,6 @@ register(
"num_basis": 4,
"duration": 19.98,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "motor",
"policy_kwargs": {
@@ -59,11 +57,11 @@ register(
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("ContinuousMountainCarDetPMP-v0")
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ContinuousMountainCarProMP-v0")
register(
id='ReacherDetPMP-v2',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id='ReacherProMP-v2',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": "gym.envs.mujoco:Reacher-v2",
"wrappers": [mujoco.reacher_v2.MPWrapper],
@@ -72,7 +70,6 @@ register(
"num_basis": 6,
"duration": 1,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "motor",
"policy_kwargs": {
@@ -82,11 +79,11 @@ register(
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("ReacherDetPMP-v2")
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ReacherProMP-v2")
register(
id='FetchSlideDenseDetPMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id='FetchSlideDenseProMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": "gym.envs.robotics:FetchSlideDense-v1",
"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
@@ -95,17 +92,16 @@ register(
"num_basis": 5,
"duration": 2,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "position"
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("FetchSlideDenseDetPMP-v1")
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchSlideDenseProMP-v1")
register(
id='FetchSlideDetPMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id='FetchSlideProMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": "gym.envs.robotics:FetchSlide-v1",
"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
@@ -114,17 +110,16 @@ register(
"num_basis": 5,
"duration": 2,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "position"
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("FetchSlideDetPMP-v1")
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchSlideProMP-v1")
register(
id='FetchReachDenseDetPMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id='FetchReachDenseProMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": "gym.envs.robotics:FetchReachDense-v1",
"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
@@ -133,17 +128,16 @@ register(
"num_basis": 5,
"duration": 2,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "position"
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("FetchReachDenseDetPMP-v1")
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchReachDenseProMP-v1")
register(
id='FetchReachDetPMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id='FetchReachProMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": "gym.envs.robotics:FetchReach-v1",
"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
@@ -152,10 +146,9 @@ register(
"num_basis": 5,
"duration": 2,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "position"
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("FetchReachDetPMP-v1")
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchReachProMP-v1")