forked from aunum/gold
/
env.go
473 lines (421 loc) · 11.5 KB
/
env.go
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// Package env provides a wrapper for interacting with Sphere as well as normalization tools.
package env
import (
"bufio"
"context"
"fmt"
"io"
"io/ioutil"
"os"
"path/filepath"
"github.com/aunum/log"
"github.com/aunum/gold/pkg/v1/common/num"
spherev1alpha "github.com/aunum/sphere/api/gen/go/v1alpha"
"github.com/skratchdot/open-golang/open"
"gorgonia.org/tensor"
)
// Env is a convienience environment wrapper.
type Env struct {
*spherev1alpha.Environment
// Client to connect to the Sphere server.
Client spherev1alpha.EnvironmentAPIClient
// VideoPaths of result videos downloadloaded from the server.
VideoPaths []string
// Normalizer normalizes observation data.
Normalizer Normalizer
// GoalNormalizer normalizes goal data.
GoalNormalizer Normalizer
logger *log.Logger
recording bool
wrappers []*spherev1alpha.EnvWrapper
reshape []int
}
// Opt is an environment option.
type Opt func(*Env)
// Make an environment.
func (s *Server) Make(model string, opts ...Opt) (*Env, error) {
e := &Env{
Client: s.Client,
logger: s.logger,
}
for _, opt := range opts {
opt(e)
}
ctx := context.Background()
resp, err := s.Client.CreateEnv(ctx, &spherev1alpha.CreateEnvRequest{ModelName: model, Wrappers: e.wrappers})
if err != nil {
return nil, err
}
env := resp.Environment
s.logger.Successf("created env: %s", env.Id)
e.Environment = env
if e.Normalizer != nil {
err = e.Normalizer.Init(e)
if err != nil {
return nil, err
}
}
if e.GoalNormalizer != nil {
err = e.GoalNormalizer.Init(e)
if err != nil {
return nil, err
}
}
if e.recording {
resp, err := e.Client.StartRecordEnv(ctx, &spherev1alpha.StartRecordEnvRequest{Id: e.Environment.Id})
if err != nil {
return nil, err
}
e.logger.Success(resp.Message)
}
return e, nil
}
// WithRecorder adds a recorder to the environment
func WithRecorder() func(*Env) {
return func(e *Env) {
e.recording = true
}
}
// WithNormalizer adds a normalizer for observation data.
func WithNormalizer(normalizer Normalizer) func(*Env) {
return func(e *Env) {
e.Normalizer = normalizer
}
}
// WithGoalNormalizer adds a normalizer for goal data.
func WithGoalNormalizer(normalizer Normalizer) func(*Env) {
return func(e *Env) {
e.GoalNormalizer = normalizer
}
}
// WithWrapper adds an environment wrapper.
func WithWrapper(wrapper spherev1alpha.IsEnvWrapper) func(*Env) {
return func(e *Env) {
e.wrappers = append(e.wrappers, &spherev1alpha.EnvWrapper{Wrapper: wrapper})
}
}
// WithLogger adds a logger to the env.
func WithLogger(logger *log.Logger) func(*Env) {
return func(e *Env) {
e.logger = logger
}
}
// DefaultAtariWrapper is the default deepmind atari wrapper.
var DefaultAtariWrapper = &spherev1alpha.EnvWrapper_DeepmindAtariWrapper{
DeepmindAtariWrapper: &spherev1alpha.DeepmindAtariWrapper{EpisodeLife: true, ClipRewards: true},
}
// Outcome of taking an action.
type Outcome struct {
// Observation of the current state.
Observation *tensor.Dense
// Action that was taken
Action int
// Reward from action.
Reward float32
// Whether the environment is done.
Done bool
}
// Step through the environment.
func (e *Env) Step(value int) (*Outcome, error) {
ctx := context.Background()
resp, err := e.Client.StepEnv(ctx, &spherev1alpha.StepEnvRequest{Id: e.Id, Action: int32(value)})
if err != nil {
return nil, err
}
observation := resp.Observation.Dense()
if e.Normalizer != nil {
observation, err = e.Normalizer.Norm(observation)
if err != nil {
return nil, err
}
}
return &Outcome{observation, value, resp.Reward, resp.Done}, nil
}
// SampleAction returns a sample action for the environment.
func (e *Env) SampleAction() (int, error) {
ctx := context.Background()
resp, err := e.Client.SampleAction(ctx, &spherev1alpha.SampleActionRequest{Id: e.Id})
if err != nil {
return 0, err
}
return int(resp.Value), nil
}
// Render the environment.
// TODO: should maybe be a stream.
func (e *Env) Render() (*spherev1alpha.Image, error) {
ctx := context.Background()
resp, err := e.Client.RenderEnv(ctx, &spherev1alpha.RenderEnvRequest{Id: e.Id})
if err != nil {
return nil, err
}
return resp.Frame, nil
}
// InitialState of the environment.
type InitialState struct {
// Observation of the environment.
Observation *tensor.Dense
// Goal if present.
Goal *tensor.Dense
}
// Reset the environment.
func (e *Env) Reset() (init *InitialState, err error) {
ctx := context.Background()
resp, err := e.Client.ResetEnv(ctx, &spherev1alpha.ResetEnvRequest{Id: e.Id})
if err != nil {
return nil, err
}
observation := resp.Observation.Dense()
var goal *tensor.Dense
if resp.GetGoal().Data != nil {
goal = resp.GetGoal().Dense()
}
if e.Normalizer != nil {
observation, err = e.Normalizer.Norm(observation)
if err != nil {
return nil, err
}
}
if e.GoalNormalizer != nil {
if goal != nil {
goal, err = e.GoalNormalizer.Norm(goal)
if err != nil {
return nil, err
}
}
}
return &InitialState{Observation: observation, Goal: goal}, nil
}
// Close the environment.
func (e *Env) Close() error {
ctx := context.Background()
resp, err := e.Client.DeleteEnv(ctx, &spherev1alpha.DeleteEnvRequest{Id: e.Id})
if err != nil {
return err
}
e.logger.Success(resp.Message)
return nil
}
// Results from an environment run.
type Results struct {
// Episodes is a map of episode id to result.
Episodes map[int32]*spherev1alpha.EpisodeResult
// Videos is a map of episode id to result.
Videos map[int32]*spherev1alpha.Video
// AverageReward is the average reward of the episodes.
AverageReward float32
}
// Results results for the environment.
func (e *Env) Results() (*Results, error) {
ctx := context.Background()
resp, err := e.Client.Results(ctx, &spherev1alpha.ResultsRequest{Id: e.Id})
if err != nil {
return nil, err
}
var cumulative float32
for _, res := range resp.EpisodeResults {
cumulative += res.Reward
}
avg := cumulative / float32(len(resp.EpisodeResults))
res := &Results{
Episodes: resp.EpisodeResults,
Videos: resp.Videos,
AverageReward: avg,
}
return res, nil
}
// PrintResults results for the environment.
func (e *Env) PrintResults() error {
results, err := e.Results()
if err != nil {
return err
}
e.logger.Infoy("results", results)
e.logger.Infov("avg reward", results.AverageReward)
return nil
}
// Videos saves all the videos for the environment episodes to the given path.
// Defaults to current directory. Returns an array of video paths.
func (e *Env) Videos(path string) ([]string, error) {
if path == "" {
path = fmt.Sprintf("./results/%s", e.Id)
}
ctx := context.Background()
results, err := e.Results()
if err != nil {
return nil, err
}
videoPaths := []string{}
for _, video := range results.Videos {
stream, err := e.Client.GetVideo(ctx, &spherev1alpha.GetVideoRequest{Id: e.Id, EpisodeId: video.EpisodeId})
if err != nil {
return nil, err
}
fp := filepath.Join(path, fmt.Sprintf("%s-episode%d.mp4", e.Id, video.EpisodeId))
f, err := os.Create(fp)
if err != nil {
return nil, err
}
defer f.Close()
for {
resp, err := stream.Recv()
if err == io.EOF {
err := stream.CloseSend()
if err != nil {
return nil, err
}
break
}
if err != nil {
return nil, err
}
_, err = f.Write(resp.Chunk)
if err != nil {
return nil, err
}
}
videoPaths = append(videoPaths, fp)
}
e.VideoPaths = videoPaths
return videoPaths, nil
}
// End is a helper function that will close an environment and return the
// results and play any videos.
func (e *Env) End() {
if e.recording {
err := e.PrintResults()
if err != nil {
e.logger.Fatal(err)
}
dir, err := ioutil.TempDir("", "sphere")
if err != nil {
e.logger.Fatal(err)
}
videoPaths, err := e.Videos(dir)
if err != nil {
e.logger.Fatal(err)
}
e.logger.Successy("saved videos", videoPaths)
}
err := e.Close()
if err != nil {
e.logger.Fatal(err)
}
}
// PlayAll videos stored locally.
func (e *Env) PlayAll() {
if !e.recording {
log.Fatal("no recordings present, use the WithRecorder() option to record.")
}
for _, video := range e.VideoPaths {
e.logger.Debugf("playing video: %s", video)
err := open.Run(video)
if err != nil {
e.logger.Fatal(err)
}
}
fmt.Print("\npress any key to remove videos or ctrl+c to exit and keep\n")
input := bufio.NewScanner(os.Stdin)
input.Scan()
e.Clean()
}
// Clean any results/videos saved locally.
func (e *Env) Clean() {
for _, videoPath := range e.VideoPaths {
err := os.Remove(videoPath)
if err != nil {
e.logger.Fatal(err)
}
e.logger.Debugf("removed video: %s", videoPath)
}
e.logger.Success("removed all local videos")
}
// MaxSteps that can be taken per episode.
func (e *Env) MaxSteps() int {
return int(e.MaxEpisodeSteps)
}
// ActionSpaceShape is the shape of the action space.
// TODO: should this be in the API of off the generated code?
func (e *Env) ActionSpaceShape() []int {
return SpaceShape(e.ActionSpace)
}
// ObservationSpaceShape is the shape of the observation space.
func (e *Env) ObservationSpaceShape() []int {
if len(e.reshape) != 0 {
return e.reshape
}
return SpaceShape(e.ObservationSpace)
}
// SpaceShape return the shape of the given space.
func SpaceShape(space *spherev1alpha.Space) []int {
shape := []int{}
switch s := space.GetInfo().(type) {
case *spherev1alpha.Space_Box:
shape = num.I32SliceToI(s.Box.GetShape())
case *spherev1alpha.Space_Discrete:
shape = []int{1}
case *spherev1alpha.Space_MultiDiscrete:
shape = []int{len(s.MultiDiscrete.DiscreteSpaces)}
case *spherev1alpha.Space_MultiBinary:
shape = []int{int(s.MultiBinary.GetN())}
case *spherev1alpha.Space_StructSpace:
log.Fatalf("struct space not supported")
default:
log.Fatalf("unknown action space type: %v", space)
}
if len(shape) == 0 {
log.Fatalf("space had no shape: %v", space)
}
return shape
}
// PotentialsShape is an overloaded method that will return a dense tensor of potentials for a given space.
func PotentialsShape(space *spherev1alpha.Space) []int {
shape := []int{}
switch s := space.GetInfo().(type) {
case *spherev1alpha.Space_Box:
shape = num.I32SliceToI(s.Box.GetShape())
case *spherev1alpha.Space_Discrete:
shape = []int{int(s.Discrete.N)}
case *spherev1alpha.Space_MultiDiscrete:
shape = num.I32SliceToI(s.MultiDiscrete.DiscreteSpaces)
case *spherev1alpha.Space_MultiBinary:
shape = []int{int(s.MultiBinary.N)}
case *spherev1alpha.Space_StructSpace:
log.Fatalf("struct space not supported")
default:
log.Fatalf("unknown action space type: %v", space)
}
if len(shape) == 0 {
log.Fatalf("space had no shape: %v", space)
}
return shape
}
// BoxSpace is a helper for box spaces that converts the values to dense tensors.
// TODO: make proto plugin to do this automagically (protoc-gen-tensor)
type BoxSpace struct {
// High values for this space.
High *tensor.Dense
// Low values for this space.
Low *tensor.Dense
// Shape of the space.
Shape []int
}
// BoxSpace returns the box space as dense tensors.
func (e *Env) BoxSpace() (*BoxSpace, error) {
space := e.GetObservationSpace()
if sp := space.GetBox(); sp != nil {
shape := []int{}
for _, i := range sp.GetShape() {
shape = append(shape, int(i))
}
return &BoxSpace{
High: tensor.New(tensor.WithShape(shape...), tensor.WithBacking(sp.GetHigh())),
Low: tensor.New(tensor.WithShape(shape...), tensor.WithBacking(sp.GetLow())),
Shape: shape,
}, nil
}
return nil, fmt.Errorf("env is not a box space: %+v", space)
}
// Print a YAML representation of the environment.
func (e *Env) Print() {
e.logger.Infoy("environment", e.Environment)
}