6-Imitation-Learning.jl

### A Pluto.jl notebook ###
# v0.16.0

using Markdown
using InteractiveUtils

# This Pluto notebook uses @bind for interactivity. When running this notebook outside of Pluto, the following 'mock version' of @bind gives bound variables a default value (instead of an error).
macro bind(def, element)
    quote
        local el = $(esc(element))
        global $(esc(def)) = Core.applicable(Base.get, el) ? Base.get(el) : missing
        el
    end
end

# ╔═╡ 7e5e2396-4d38-415d-a339-ce409c92ffa4
using Pkg

# ╔═╡ 9a3d4059-b940-43bc-8c93-f9a89f5d711f
pkg"add https://github.com/ancorso/Crux.jl"

# ╔═╡ 55f4a907-b069-407b-8031-bc8c7543f7ad
pkg"add https://github.com/ancorso/POMDPGym.jl"

# ╔═╡ 6fbea38c-51a6-418b-a9ee-a493f1f599b3
begin
	using PlutoUI

	md"""
	# Imitation Learning
	##### Julia Academy: _Decision Making Under Uncertainty with POMDPs.jl_
	
	An quick introduction to _imitation learning_ (i.e., learning from demonstrations) using [`Crux`](https://github.com/ancorso/Crux.jl).
	- For more formal information, see Stanford's course _Reinforcement Learning_ available on [YouTube](https://www.youtube.com/playlist?list=PLoROMvodv4rOSOPzutgyCTapiGlY2Nd8u).

	-- Robert Moss (Stanford University) as part of [_Julia Academy_](https://juliaacademy.com/) (Github: [mossr](https://github.com/mossr))
	"""
end

# ╔═╡ 0650274b-f015-4fb2-831d-3b4acb5e96e7
using Crux, Flux, POMDPs, BSON 

# ╔═╡ 9fdb6580-0252-4082-a522-4757fe517908
using POMDPGym

# ╔═╡ ef4ce22a-690a-4331-95fd-23350e0e3e9c
md"""
## Swinging Pendulum
The _swinging pendulum_ problem (same as the deep RL notebook) is an MDP consisting of a pole fixed at a single point, and control actions apply torque to attempt to balance the pole upright.
"""

# ╔═╡ 01aecb66-baa6-4c42-99c5-ebc7642ff05b
md"""
## Learning from Demonstrations
"""

# ╔═╡ d561a013-d39e-4cfc-8731-5f72f11da99f
md"""
We first download the expert data and save it to a BSON file (hidden for brevity).
"""

# ╔═╡ 59ff66cf-2c87-4687-8d41-5d2109701116
expert_data_path = "https://github.com/ancorso/Crux/blob/master/examples/il/expert_data/pendulum.bson?raw=true";

# ╔═╡ 74866d32-a0d7-4ae1-9876-d8197f98d08c
begin
	using HTTP
	result = HTTP.get(expert_data_path)
	expert_filename = "pendulum-expert.bson"
	io = open(expert_filename, "w+")
	write(io, result.body)
	close(io)
	md"> `Unhide to see download code.`"
end

# ╔═╡ d0575c3b-d57f-44bd-90d7-f56ad8e73c98
md"""
Fill a buffer with expert trajectories.
"""

# ╔═╡ 1307ad00-314b-4424-aa48-330ff59b4ba2
begin
	expert_trajectories = BSON.load(expert_filename, @__MODULE__)[:data]
	expert_perf = sum(expert_trajectories[:r]) / length(episodes(expert_trajectories))
	expert_trajectories[:r] .= 1 # reset the rewards
end;

# ╔═╡ da99e2b2-3695-45eb-8c34-52f9c6c58eb5
expert_trajectories.data

# ╔═╡ 5d33ad78-e885-45cc-b0d9-96b676308494
md"""
### Action space (continuous)
The actions correspond to torque applied in the clockwise and counter-clockwise directions (negative and positive values, respectively).

The _continuous_ action space is defined by a Gaussian with mean zero and unit variance (i.e., variance of one). Actions are then sampled from this policy, represented by a distribution.
"""

# ╔═╡ b6085349-c0cb-4535-bbfe-c4dda30801e6
md"""
### State space (continuous)
A state value is the real-valued angle $\theta$ and the angular velocity $\omega$ of the pole:

$$s = (\theta, \omega)$$

The _continuous_ state space is represented as two independent Gaussian (normal) distributions with mean zero and unit variance.
"""

# ╔═╡ 312926d3-aab3-493d-b2ba-1298da9d7781
md"""
### Pendulum MDP
Create the Pendulum MDP from `POMDPGym.jl`.
"""

# ╔═╡ a64ed34b-1553-44fa-8907-1fcc3ca4e5da
mdp = PendulumMDP();

# ╔═╡ 216f31d9-8a35-4a35-ad31-ea543875210c
render(mdp, [0.1, 0], -1.0)

# ╔═╡ 937d8e10-dc78-4e14-823b-aed23c6591e0
𝒮 = state_space(mdp)

# ╔═╡ fcd6e17c-3fe7-4983-b257-e3bf2b9a3635
md"""
## Behavior Cloning
Using supervised learning, _behavior cloning_ attempts to learn a policy by mimicing actions provided by a teacher (or _expert demonstrations_)—meaning we have a target we want to learn, which we get from the demonstrations.$^1$
"""

# ╔═╡ 624f8110-2c09-497b-bfc2-eb1e004dabb6
md"""
A continuous neural network policy is trained to match the actions from the demonstrations. 
"""

# ╔═╡ 3dfb2eb4-f49d-45b5-bfd5-5f5a799d27f0
function π_network()
	layer1 = Dense(2, 64, relu, init=Flux.orthogonal)
	layer2 = Dense(64, 64, relu, init=Flux.orthogonal)
	layer3 = Dense(64, 1, tanh, init=Flux.orthogonal)
	layer4 = x -> 2f0*x
	return ContinuousNetwork(Chain(layer1, layer2, layer3, layer4), 1)
end

# ╔═╡ 96e5ff37-537a-426e-a1be-4bc1d6428b56
md"""
Solve for an approximately optimal policy.
"""

# ╔═╡ 8d55c1b8-c27b-4956-a6c8-9d8052a8ee99
solver_bc = BC(π=π_network(), 𝒟_demo=expert_trajectories, S=𝒮, log=(period=100,));

# ╔═╡ ee476d91-054f-4279-b3c0-c063801724ad
md"Reload `policy` from file? $(@bind reload CheckBox(false))"

# ╔═╡ 53491306-9d55-4463-816b-de3c476a1d7c
if reload
	policy = BSON.load("pendulum-expert-policy.bson", @__MODULE__)[:policy]
else
	policy = solve(solver_bc, mdp)
	BSON.@save "pendulum-expert-policy.bson" policy
end

# ╔═╡ 32a6dd05-a928-4da4-9b3a-95a05e92b7dc
action_space(policy)

# ╔═╡ 21a9fbbb-730f-435b-af64-9ec6ae53dc02
md"""
You can use `BSON` to save the policy to a file, thus not having to re-learn everytime!
"""

# ╔═╡ 92d18d0b-0ef0-4989-b8f4-d5e2a39a3638
md"""
## Plotting Performance
We can use the `plot_learning` function to show the training curves of _behavior cloning_ compared to the _expert demonstrations_.
"""

# ╔═╡ 41a98ba3-bd69-4f14-a6f6-10597d14fa87
begin
	p = plot_learning([solver_bc],
		title="Pendulum Swingup Imitation Learning Curves",
		labels=["Behavior Cloning"], legend=:right)
	Crux.plot!(p, [1, 5000], [expert_perf, expert_perf], color=:black, label="Expert")
end

# ╔═╡ e81de1d1-1dd8-444c-b9e2-866f91337e07
md"""
## Animated Policy GIF
Lastly, we can see how the policy works in action using the `gif` function!
"""

# ╔═╡ d34b14fd-3a9d-4dce-98a6-e1affc12a50e
begin
	!isdir("gifs") && mkdir("gifs") # create "gifs" directory
	gifname = "gifs/pendulum_behavior_cloned.gif"
	gif(mdp, policy, gifname, max_steps=200)
	isfile(gifname) && LocalResource("./$gifname")
end

# ╔═╡ d44f3c2f-1d1c-4680-abbd-cc5d893b994c
md"""
## Inspecting Actions
Let's now inspect the actions output by the learned policy.
"""

# ╔═╡ bd685306-6a7f-49eb-9a33-533ad94721df
md"θ: $(@bind θ Slider(-π:0.01:π, default=0, show_value=true)) | ω: $(@bind ω Slider(-1:0.01:1, default=0, show_value=true))"

# ╔═╡ ddf970c4-71bb-4a2f-ac68-0f95012a1023
s = [θ, ω]

# ╔═╡ 109d2603-03cc-469f-b3ab-2cac8f12ca57
a = action(policy, s)

# ╔═╡ e50e600b-8575-4616-87a5-975f8a5957ac
render(mdp, s, a)

# ╔═╡ 2d38a259-f4c1-4d62-8aff-22cb685c1d56
md"""
## References
1. Dean A. Pomerleau, "ALVINN: An Autonomous Land Vehicle in a Neural Network", *NIPS*, 1989.


"""

# ╔═╡ 39529ef1-2e10-46a5-afa4-9e1e22aa4cf7
TableOfContents(title="Imitation Learning", depth=4)

# ╔═╡ a22eb4e1-4a8d-40d5-9116-2e361fb9ef67
md"""
---
"""

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[[Dates]]
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[[DelimitedFiles]]
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[[DiffResults]]
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[[DiffRules]]
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[[Distances]]
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[[Distributed]]
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[[Distributions]]
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[[DocStringExtensions]]
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[[Downloads]]
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[[EarCut_jll]]
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[[EllipsisNotation]]
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[[Expat_jll]]
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[[FFMPEG]]
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[[FFMPEG_jll]]
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[[FFTViews]]
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[[FFTW]]
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[[FFTW_jll]]
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[[FileIO]]
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[[FillArrays]]
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[[FixedPointNumbers]]
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[[Flux]]
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[[Fontconfig]]
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[[Fontconfig_jll]]
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[[ForwardDiff]]
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[[FreeType2_jll]]
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[[FriBidi_jll]]
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[[GLFW_jll]]
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[[GPUArrays]]
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[[GPUCompiler]]
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[[GR]]
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[[GR_jll]]
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[[GeometryBasics]]
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[[Gettext_jll]]
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[[Glib_jll]]
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[[Graphite2_jll]]
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[[HTTP]]
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[[IfElse]]
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[[ImageContrastAdjustment]]
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[[ImageCore]]
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[[ImageDistances]]
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[[ImageFiltering]]
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[[ImageIO]]
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[[ImageMagick]]
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[[ImageQualityIndexes]]
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[[ImageShow]]
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[[Images]]
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[[Imath_jll]]
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[[Inflate]]
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[[IniFile]]
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[[IntelOpenMP_jll]]
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[[InteractiveUtils]]
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[[Interpolations]]
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[[IntervalSets]]
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[[IrrationalConstants]]
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[[IteratorInterfaceExtensions]]
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[[JLLWrappers]]
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[[JSON]]
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[[JpegTurbo_jll]]
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[[Random123]]
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[[RandomNumbers]]
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[[RangeArrays]]
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[[Ratios]]
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[[RecipesBase]]
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[[RecipesPipeline]]
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[[Reexport]]
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[[Requires]]
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[[Rmath]]
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[[Rmath_jll]]
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[[Rotations]]
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[[SHA]]
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[[Scratch]]
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[[Serialization]]
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[[SharedArrays]]
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[[Showoff]]
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[[SimpleTraits]]
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[[Sockets]]
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[[SortingAlgorithms]]
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[[SparseArrays]]
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[[SpecialFunctions]]
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[[StackViews]]
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[[Static]]
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[[StaticArrays]]
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[[Statistics]]
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[[StatsAPI]]
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[[StatsBase]]
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[[StatsFuns]]
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[[StructArrays]]
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[[SuiteSparse]]
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[[Suppressor]]
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[[TOML]]
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[[TableTraits]]
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[[Tables]]
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[[Tar]]
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[[TensorBoardLogger]]
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[[TensorCore]]
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[[Test]]
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[[TiffImages]]
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[[TiledIteration]]
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[[TimerOutputs]]
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[[TranscodingStreams]]
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[[Tricks]]
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[[URIs]]
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[[UUIDs]]
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[[UnPack]]
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[[Unicode]]
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[[UnicodePlots]]
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[[ValueHistories]]
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[[VersionParsing]]
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[[Wayland_jll]]
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[[Wayland_protocols_jll]]
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[[WoodburyMatrices]]
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[[XML2_jll]]
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[[XSLT_jll]]
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[[Xorg_libX11_jll]]
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[[Xorg_libXau_jll]]
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[[Xorg_libXcursor_jll]]
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[[Xorg_libXdmcp_jll]]
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[[Xorg_libXext_jll]]
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[[Xorg_libXfixes_jll]]
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[[Xorg_libXi_jll]]
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[[Xorg_libXinerama_jll]]
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[[Xorg_libXrandr_jll]]
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[[Xorg_libXrender_jll]]
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[[Xorg_libpthread_stubs_jll]]
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[[Xorg_libxcb_jll]]
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[[Xorg_libxkbfile_jll]]
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[[Xorg_xcb_util_image_jll]]
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[[Xorg_xcb_util_jll]]
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[[Xorg_xcb_util_keysyms_jll]]
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[[Xorg_xcb_util_renderutil_jll]]
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[[Xorg_xcb_util_wm_jll]]
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[[Xorg_xkbcomp_jll]]
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[[Xorg_xkeyboard_config_jll]]
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[[Xorg_xtrans_jll]]
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[[ZipFile]]
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[[Zlib_jll]]
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[[Zstd_jll]]
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[[Zygote]]
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[[ZygoteRules]]
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version = "0.2.1"

[[libass_jll]]
deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"]
git-tree-sha1 = "5982a94fcba20f02f42ace44b9894ee2b140fe47"
uuid = "0ac62f75-1d6f-5e53-bd7c-93b484bb37c0"
version = "0.15.1+0"

[[libfdk_aac_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "daacc84a041563f965be61859a36e17c4e4fcd55"
uuid = "f638f0a6-7fb0-5443-88ba-1cc74229b280"
version = "2.0.2+0"

[[libpng_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"]
git-tree-sha1 = "94d180a6d2b5e55e447e2d27a29ed04fe79eb30c"
uuid = "b53b4c65-9356-5827-b1ea-8c7a1a84506f"
version = "1.6.38+0"

[[libvorbis_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Ogg_jll", "Pkg"]
git-tree-sha1 = "c45f4e40e7aafe9d086379e5578947ec8b95a8fb"
uuid = "f27f6e37-5d2b-51aa-960f-b287f2bc3b7a"
version = "1.3.7+0"

[[nghttp2_jll]]
deps = ["Artifacts", "Libdl"]
uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d"

[[p7zip_jll]]
deps = ["Artifacts", "Libdl"]
uuid = "3f19e933-33d8-53b3-aaab-bd5110c3b7a0"

[[protoc_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "89b92b537ffde09cab61ad20636da135d0791007"
uuid = "c7845625-083e-5bbe-8504-b32d602b7110"
version = "3.15.6+0"

[[x264_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "4fea590b89e6ec504593146bf8b988b2c00922b2"
uuid = "1270edf5-f2f9-52d2-97e9-ab00b5d0237a"
version = "2021.5.5+0"

[[x265_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "ee567a171cce03570d77ad3a43e90218e38937a9"
uuid = "dfaa095f-4041-5dcd-9319-2fabd8486b76"
version = "3.5.0+0"

[[xkbcommon_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Wayland_jll", "Wayland_protocols_jll", "Xorg_libxcb_jll", "Xorg_xkeyboard_config_jll"]
git-tree-sha1 = "ece2350174195bb31de1a63bea3a41ae1aa593b6"
uuid = "d8fb68d0-12a3-5cfd-a85a-d49703b185fd"
version = "0.9.1+5"
"""

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