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Added code on required files, no testing yet #3

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Apr 25, 2022
Merged

Added code on required files, no testing yet #3

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40 changes: 20 additions & 20 deletions experiments/gp_rc/gp_rc_cartpole.yaml
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Original file line number Diff line number Diff line change
@@ -1,18 +1,14 @@
cartpole_config:
task_config:
info_in_reset: True
ctrl_freq: 50
pyb_freq: 50
gui: False
normalized_rl_action_space: False
episode_len_sec: 5
# State initialization
init_state: null
randomized_init: True
init_state_randomization_info: null
# Randomization
inertial_prop: null
randomized_inertial_prop: False
inertial_prop_randomization_info: null

# Task
task: stabilization
task_info: null
Expand All @@ -22,19 +18,23 @@ cartpole_config:
dynamics:
- disturbance_func: white_noise
std: 0.01
adversary_disturbance: null
adversary_disturbance_offset: 0.0
adversary_disturbance_scale: 0.01
# Constraints
constraints: null
done_on_violation: False
use_constraint_penalty: False
constraint_penalty: -1
# Misc
verbose: False
# RL Hyper-parameters
obs_wrap_angle: False
rew_state_weight: 1.0
rew_act_weight: 0.0001
rew_exponential: True
done_on_out_of_bound: True


algo_config:
q: [1]
r: [0.1]
# GP training args
train_samples: 500
validation_samples: 200
train_iterations: [1000]
learning_rate: [0.1]

#H2 optimization args
step_size: 0.1
max_optim_tries: 100

# Runner args
deque_size: 10
eval_batch_size: 1
3 changes: 0 additions & 3 deletions experiments/gp_rc/gp_rc_experiment.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,8 +33,6 @@ def train(config):
# Create the controller/control_agent.
control_agent = make(config.algo,
env_func,
training=True,
checkpoint_path=os.path.join(config.output_dir, "model_latest.pt"),
output_dir=config.output_dir,
device=config.device,
seed=config.seed,
Expand Down Expand Up @@ -86,7 +84,6 @@ def test_policy(config):
# Create the controller/control_agent.
control_agent = make(config.algo,
env_func,
training=False,
checkpoint_path=os.path.join(config.output_dir, "model_latest.pt"),
output_dir=config.output_dir,
device=config.device,
Expand Down
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