VRL_CodeReview/magnetic-pointer.py at master · rowangithub/VRL_CodeReview · GitHub

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from main import *
from Environment import Environment
from DDPG import *
from shield import Shield
import argparse

def magneticpointer (learning_method, number_of_rollouts, simulation_steps,learning_eposides, critic_structure, actor_structure, train_dir,\
            nn_test=False, retrain_shield=False, shield_test=False, test_episodes=100):
  A = np.matrix([[2.6629,-1.1644,0.66598],
    [2, 0, 0],
    [0, 0.5, 0]
    ])

  B = np.matrix([[0.25],
    [0],
    [0]
    ])

  #intial state space
  s_min = np.array([[-1.0],[-1.0], [-1.0]])
  s_max = np.array([[ 1.0],[ 1.0], [ 1.0]])


  Q = np.matrix("1 0 0 ; 0 1 0; 0 0 1")
  R = np.matrix("1")

  x_min = np.array([[-3.5],[-3.5],[-3.5]])
  x_max = np.array([[ 3.5],[ 3.5],[ 3.5]])
  u_min = np.array([[-15.]])
  u_max = np.array([[ 15.]])

  env = Environment(A, B, u_min, u_max, s_min, s_max, x_min, x_max, Q, R)

  args = { 'actor_lr': 0.0001,
           'critic_lr': 0.001,
           'actor_structure': actor_structure,
           'critic_structure': critic_structure,
           'buffer_size': 1000000,
           'gamma': 0.99,
           'max_episode_len': 100,
           'max_episodes': learning_eposides,
           'minibatch_size': 64,
           'random_seed': 6553,
           'tau': 0.005,
           'model_path': train_dir+"model.chkp",
           'enable_test': nn_test,
           'test_episodes': test_episodes,
           'test_episodes_len': 1000}

  actor = DDPG(env, args)

  #################### Shield #################
  model_path = os.path.split(args['model_path'])[0]+'/'
  linear_func_model_name = 'K.model'
  model_path = model_path+linear_func_model_name+'.npy'

  def rewardf(x, Q, u, R):
    return np.matrix([env.reward(x, u)])

  shield = Shield(env, actor, model_path, force_learning=retrain_shield, debug=False)
  shield.train_shield(learning_method, number_of_rollouts, simulation_steps, rewardf=rewardf, eq_err=0, explore_mag = 0.04, step_size = 0.05, without_nn_guide=True)
  if shield_test:
    shield.test_shield(test_episodes, 1000, mode="single")

if __name__ == "__main__":
  parser = argparse.ArgumentParser(description='Running Options')
  parser.add_argument('--nn_test', action="store_true", dest="nn_test")
  parser.add_argument('--retrain_shield', action="store_true", dest="retrain_shield")
  parser.add_argument('--shield_test', action="store_true", dest="shield_test")
  parser.add_argument('--test_episodes', action="store", dest="test_episodes", type=int)
  parser_res = parser.parse_args()
  nn_test = parser_res.nn_test
  retrain_shield = parser_res.retrain_shield
  shield_test = parser_res.shield_test
  test_episodes = parser_res.test_episodes if parser_res.test_episodes is not None else 100

  magneticpointer("random_search", 1000, 150, 0, [240,200], [280,240,200], "ddpg_chkp/magnetic_pointer/240200280240200/", nn_test=nn_test, retrain_shield=retrain_shield, shield_test=shield_test, test_episodes=test_episodes)